2021-02-16T04:20:15.595Z,1613449215.595 [Supervisor](DEBUG): Initializing supervisor.
2021-02-16T04:20:15.600Z,1613449215.600 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0
2021-02-16T04:20:15.600Z,1613449215.600 [SyncHandler](INFO): Protected caller Thread ID is 418
2021-02-16T04:20:15.601Z,1613449215.601 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread.
2021-02-16T04:20:15.602Z,1613449215.602 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0
2021-02-16T04:20:15.602Z,1613449215.602 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 419
2021-02-16T04:20:15.606Z,1613449215.606 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread.
2021-02-16T04:20:15.625Z,1613449215.625 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread.
2021-02-16T04:20:15.626Z,1613449215.626 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0
2021-02-16T04:20:15.626Z,1613449215.626 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 420
2021-02-16T04:20:15.628Z,1613449215.628 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread.
2021-02-16T04:20:15.629Z,1613449215.629 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0
2021-02-16T04:20:15.629Z,1613449215.629 [logger ThreadHandler](INFO): Protected caller Thread ID is 421
2021-02-16T04:20:15.633Z,1613449215.633 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread.
2021-02-16T04:20:15.633Z,1613449215.633 [Supervisor](INFO): Looking for Config files in directory: Config/
2021-02-16T04:20:15.635Z,1613449215.635 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg
2021-02-16T04:20:16.020Z,1613449216.020 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle
2021-02-16T04:20:16.020Z,1613449216.020 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg
2021-02-16T04:20:16.097Z,1613449216.097 [Supervisor](INFO): Opening Config file at: Config/Control.cfg
2021-02-16T04:20:16.406Z,1613449216.406 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control
2021-02-16T04:20:16.407Z,1613449216.407 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg
2021-02-16T04:20:16.505Z,1613449216.505 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation
2021-02-16T04:20:16.506Z,1613449216.506 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg
2021-02-16T04:20:16.695Z,1613449216.695 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT
2021-02-16T04:20:16.695Z,1613449216.695 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg
2021-02-16T04:20:17.191Z,1613449217.191 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator
2021-02-16T04:20:17.192Z,1613449217.192 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg
2021-02-16T04:20:17.416Z,1613449217.416 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation
2021-02-16T04:20:17.416Z,1613449217.416 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg
2021-02-16T04:20:17.558Z,1613449217.558 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation
2021-02-16T04:20:17.558Z,1613449217.558 [Supervisor](INFO): Opening Config file at: Config/logger.cfg
2021-02-16T04:20:17.740Z,1613449217.740 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger
2021-02-16T04:20:17.740Z,1613449217.740 [Supervisor](INFO): Opening Config file at: Config/secure.cfg
2021-02-16T04:20:17.835Z,1613449217.835 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure
2021-02-16T04:20:17.835Z,1613449217.835 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg
2021-02-16T04:20:18.042Z,1613449218.042 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock
2021-02-16T04:20:18.043Z,1613449218.043 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg
2021-02-16T04:20:18.337Z,1613449218.337 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo
2021-02-16T04:20:18.338Z,1613449218.338 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg
2021-02-16T04:20:18.417Z,1613449218.417 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg
2021-02-16T04:20:18.539Z,1613449218.539 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite
2021-02-16T04:20:18.540Z,1613449218.540 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg
2021-02-16T04:20:19.308Z,1613449219.308 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor
2021-02-16T04:20:19.309Z,1613449219.309 [Supervisor](INFO): Opening Config file at: Config/Science.cfg
2021-02-16T04:20:20.057Z,1613449220.057 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science
2021-02-16T04:20:20.139Z,1613449220.139 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-whoidhs/
2021-02-16T04:20:20.140Z,1613449220.140 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/vehicle.cfg
2021-02-16T04:20:20.330Z,1613449220.330 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Control.cfg
2021-02-16T04:20:20.427Z,1613449220.427 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/BIT.cfg
2021-02-16T04:20:20.523Z,1613449220.523 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Battery.cfg
2021-02-16T04:20:20.773Z,1613449220.773 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery
2021-02-16T04:20:20.773Z,1613449220.773 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Simulator.cfg
2021-02-16T04:20:20.857Z,1613449220.857 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Navigation.cfg
2021-02-16T04:20:20.951Z,1613449220.951 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/logger.cfg
2021-02-16T04:20:21.062Z,1613449221.062 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/secure.cfg
2021-02-16T04:20:21.146Z,1613449221.146 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Dock.cfg
2021-02-16T04:20:21.231Z,1613449221.231 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Servo.cfg
2021-02-16T04:20:21.337Z,1613449221.337 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/workSite.cfg
2021-02-16T04:20:21.434Z,1613449221.434 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Sensor.cfg
2021-02-16T04:20:21.614Z,1613449221.614 [Supervisor](INFO): Opening Config file at: Config/lrauv-whoidhs/Science.cfg
2021-02-16T04:20:21.746Z,1613449221.746 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg
2021-02-16T04:20:21.755Z,1613449221.755 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so
2021-02-16T04:20:22.103Z,1613449222.103 [AHRS_M2] Loaded
2021-02-16T04:20:22.104Z,1613449222.104 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread.
2021-02-16T04:20:22.832Z,1613449222.832 [BPC1] Loaded
2021-02-16T04:20:22.832Z,1613449222.832 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread.
2021-02-16T04:20:22.904Z,1613449222.904 [DataOverHttps] Loaded
2021-02-16T04:20:22.904Z,1613449222.904 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread.
2021-02-16T04:20:22.906Z,1613449222.906 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 407934E0
2021-02-16T04:20:22.906Z,1613449222.906 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 509
2021-02-16T04:20:22.924Z,1613449222.924 [Depth_Keller] Loaded
2021-02-16T04:20:22.924Z,1613449222.924 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread.
2021-02-16T04:20:22.929Z,1613449222.929 [DropWeight] Loaded
2021-02-16T04:20:22.929Z,1613449222.929 [ComponentRegistry](DEBUG): SyncComponent "DropWeight" handled in the control thread.
2021-02-16T04:20:22.969Z,1613449222.969 [DUSBL_Hydroid] Loaded
2021-02-16T04:20:22.970Z,1613449222.970 [ComponentRegistry](DEBUG): SyncComponent "DUSBL_Hydroid" handled in the control thread.
2021-02-16T04:20:23.004Z,1613449223.004 [Micromodem] Loaded
2021-02-16T04:20:23.004Z,1613449223.004 [ComponentRegistry](DEBUG): SyncComponent "Micromodem" handled in the control thread.
2021-02-16T04:20:23.060Z,1613449223.060 [NAL9602] Loaded
2021-02-16T04:20:23.060Z,1613449223.060 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread.
2021-02-16T04:20:23.087Z,1613449223.087 [Onboard] Loaded
2021-02-16T04:20:23.087Z,1613449223.087 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread.
2021-02-16T04:20:23.088Z,1613449223.088 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 407C34E0
2021-02-16T04:20:23.089Z,1613449223.089 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 510
2021-02-16T04:20:23.094Z,1613449223.094 [PowerOnly](INFO): Adding load control power supply at /dev/loadC1
2021-02-16T04:20:23.104Z,1613449223.104 [PowerOnly] Loaded
2021-02-16T04:20:23.104Z,1613449223.104 [ComponentRegistry](DEBUG): SyncComponent "PowerOnly" handled in the control thread.
2021-02-16T04:20:23.117Z,1613449223.117 [Radio_Surface] Loaded
2021-02-16T04:20:23.117Z,1613449223.117 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread.
2021-02-16T04:20:23.118Z,1613449223.118 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 407F34E0
2021-02-16T04:20:23.119Z,1613449223.119 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 511
2021-02-16T04:20:23.147Z,1613449223.147 [RDI_Pathfinder] Loaded
2021-02-16T04:20:23.147Z,1613449223.147 [ComponentRegistry](DEBUG): SyncComponent "RDI_Pathfinder" handled in the control thread.
2021-02-16T04:20:23.172Z,1613449223.172 [RDI_PathfinderUp] Loaded
2021-02-16T04:20:23.172Z,1613449223.172 [ComponentRegistry](DEBUG): SyncComponent "RDI_PathfinderUp" handled in the control thread.
2021-02-16T04:20:23.173Z,1613449223.173 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components)
2021-02-16T04:20:23.174Z,1613449223.174 [Module Loader](DEBUG): Loading Module at Modules/Sample.so
2021-02-16T04:20:23.184Z,1613449223.184 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components)
2021-02-16T04:20:23.185Z,1613449223.185 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so
2021-02-16T04:20:23.262Z,1613449223.262 [DeadReckonUsingMultipleVelocitySources] Loaded
2021-02-16T04:20:23.262Z,1613449223.262 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread.
2021-02-16T04:20:23.274Z,1613449223.274 [NavChart] Loaded
2021-02-16T04:20:23.274Z,1613449223.274 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread.
2021-02-16T04:20:23.280Z,1613449223.280 [UniversalFixResidualReporter] Loaded
2021-02-16T04:20:23.280Z,1613449223.280 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread.
2021-02-16T04:20:23.290Z,1613449223.290 [WorkSite] Loaded
2021-02-16T04:20:23.290Z,1613449223.290 [ComponentRegistry](DEBUG): SyncComponent "WorkSite" handled in the control thread.
2021-02-16T04:20:23.291Z,1613449223.291 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components)
2021-02-16T04:20:23.291Z,1613449223.291 [Module Loader](DEBUG): Loading Module at Modules/Dock.so
2021-02-16T04:20:23.375Z,1613449223.375 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking)
2021-02-16T04:20:23.376Z,1613449223.376 [Module Loader](DEBUG): Loading Module at Modules/Servo.so
2021-02-16T04:20:23.490Z,1613449223.490 [BuoyancyServo] Loaded
2021-02-16T04:20:23.490Z,1613449223.490 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread.
2021-02-16T04:20:23.510Z,1613449223.510 [ElevatorServo] Loaded
2021-02-16T04:20:23.510Z,1613449223.510 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread.
2021-02-16T04:20:23.530Z,1613449223.530 [MassServo] Loaded
2021-02-16T04:20:23.530Z,1613449223.530 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread.
2021-02-16T04:20:23.549Z,1613449223.549 [RudderServo] Loaded
2021-02-16T04:20:23.549Z,1613449223.549 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread.
2021-02-16T04:20:23.567Z,1613449223.567 [ThrusterServo] Loaded
2021-02-16T04:20:23.567Z,1613449223.567 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread.
2021-02-16T04:20:23.568Z,1613449223.568 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers)
2021-02-16T04:20:23.568Z,1613449223.568 [Module Loader](DEBUG): Loading Module at Modules/Science.so
2021-02-16T04:20:23.735Z,1613449223.735 [CTD_Seabird] Loaded
2021-02-16T04:20:23.735Z,1613449223.735 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread.
2021-02-16T04:20:23.736Z,1613449223.736 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409164E0
2021-02-16T04:20:23.736Z,1613449223.736 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 512
2021-02-16T04:20:23.755Z,1613449223.755 [PAR_Licor] Loaded
2021-02-16T04:20:23.755Z,1613449223.755 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread.
2021-02-16T04:20:23.786Z,1613449223.786 [WetLabsSeaOWL_UV_A] Loaded
2021-02-16T04:20:23.786Z,1613449223.786 [ComponentRegistry](DEBUG): Component "WetLabsSeaOWL_UV_A" handled in its own thread.
2021-02-16T04:20:23.787Z,1613449223.787 [WetLabsSeaOWL_UV_A ThreadHandler](DEBUG): Created PCaller Thread at 409464E0
2021-02-16T04:20:23.787Z,1613449223.787 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Protected caller Thread ID is 513
2021-02-16T04:20:23.788Z,1613449223.788 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components)
2021-02-16T04:20:23.789Z,1613449223.789 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so
2021-02-16T04:20:24.089Z,1613449224.089 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands)
2021-02-16T04:20:24.090Z,1613449224.090 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so
2021-02-16T04:20:24.130Z,1613449224.130 [DepthRateCalculator] Loaded
2021-02-16T04:20:24.130Z,1613449224.130 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread.
2021-02-16T04:20:24.135Z,1613449224.135 [PitchRateCalculator] Loaded
2021-02-16T04:20:24.136Z,1613449224.136 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread.
2021-02-16T04:20:24.145Z,1613449224.145 [SpeedCalculator] Loaded
2021-02-16T04:20:24.145Z,1613449224.145 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread.
2021-02-16T04:20:24.157Z,1613449224.157 [TempGradientCalculator] Loaded
2021-02-16T04:20:24.158Z,1613449224.158 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread.
2021-02-16T04:20:24.162Z,1613449224.162 [YawRateCalculator] Loaded
2021-02-16T04:20:24.163Z,1613449224.163 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread.
2021-02-16T04:20:24.183Z,1613449224.183 [ElevatorOffsetCalculator] Loaded
2021-02-16T04:20:24.183Z,1613449224.183 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread.
2021-02-16T04:20:24.184Z,1613449224.184 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components)
2021-02-16T04:20:24.184Z,1613449224.184 [Module Loader](DEBUG): Loading Module at Modules/BIT.so
2021-02-16T04:20:24.325Z,1613449224.325 [SBIT](DEBUG): Construct Startup Built In Test.
2021-02-16T04:20:24.336Z,1613449224.336 [SBIT] Loaded
2021-02-16T04:20:24.336Z,1613449224.336 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread.
2021-02-16T04:20:24.339Z,1613449224.339 [IBIT](DEBUG): Construct Initiated Built In Test.
2021-02-16T04:20:24.351Z,1613449224.351 [IBIT] Loaded
2021-02-16T04:20:24.352Z,1613449224.352 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread.
2021-02-16T04:20:24.357Z,1613449224.357 [CBIT](DEBUG): Construct Continuous Built In Test.
2021-02-16T04:20:24.453Z,1613449224.453 [CBIT] Loaded
2021-02-16T04:20:24.453Z,1613449224.453 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread.
2021-02-16T04:20:24.453Z,1613449224.453 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test)
2021-02-16T04:20:24.454Z,1613449224.454 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so
2021-02-16T04:20:24.615Z,1613449224.615 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components)
2021-02-16T04:20:24.616Z,1613449224.616 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so
2021-02-16T04:20:25.055Z,1613449225.055 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator)
2021-02-16T04:20:25.056Z,1613449225.056 [Module Loader](DEBUG): Loading Module at Modules/Control.so
2021-02-16T04:20:25.309Z,1613449225.309 [VerticalControl](DEBUG): Construct VerticalControl.
2021-02-16T04:20:25.410Z,1613449225.410 [VerticalControl] Loaded
2021-02-16T04:20:25.410Z,1613449225.410 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread.
2021-02-16T04:20:25.413Z,1613449225.413 [HorizontalControl](DEBUG): Construct HorizontalControl.
2021-02-16T04:20:25.447Z,1613449225.447 [HorizontalControl] Loaded
2021-02-16T04:20:25.447Z,1613449225.447 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread.
2021-02-16T04:20:25.450Z,1613449225.450 [SpeedControl](DEBUG): Construct SpeedControl.
2021-02-16T04:20:25.452Z,1613449225.452 [SpeedControl] Loaded
2021-02-16T04:20:25.452Z,1613449225.452 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread.
2021-02-16T04:20:25.454Z,1613449225.454 [LoopControl](DEBUG): Construct LoopControl.
2021-02-16T04:20:25.455Z,1613449225.455 [LoopControl] Loaded
2021-02-16T04:20:25.455Z,1613449225.455 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread.
2021-02-16T04:20:25.456Z,1613449225.456 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control)
2021-02-16T04:20:25.456Z,1613449225.456 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so
2021-02-16T04:20:25.488Z,1613449225.488 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions)
2021-02-16T04:20:25.494Z,1613449225.494 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread.
2021-02-16T04:20:25.497Z,1613449225.497 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread.
2021-02-16T04:20:25.507Z,1613449225.507 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread.
2021-02-16T04:20:25.508Z,1613449225.508 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AEF4E0
2021-02-16T04:20:25.508Z,1613449225.508 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 514
2021-02-16T04:20:25.513Z,1613449225.513 [Supervisor](INFO): Main Thread ID is 5669
2021-02-16T04:20:25.513Z,1613449225.513 [Supervisor](DEBUG): Running supervisor.
2021-02-16T04:20:25.513Z,1613449225.513 [CommandLine ThreadHandler](INFO): Handler Thread ID is 515
2021-02-16T04:20:25.516Z,1613449225.516 [controlThread ThreadHandler](INFO): Handler Thread ID is 516
2021-02-16T04:20:25.516Z,1613449225.516 [controlThread](DEBUG): Initializing ControlThread
2021-02-16T04:20:25.522Z,1613449225.522 [NavChart](DEBUG): Initialize NavChart Navigation.
2021-02-16T04:20:25.522Z,1613449225.522 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component.
2021-02-16T04:20:25.522Z,1613449225.522 [WorkSite](DEBUG): Initializing WorkSite component.
2021-02-16T04:20:25.527Z,1613449225.527 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator.
2021-02-16T04:20:25.528Z,1613449225.528 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator.
2021-02-16T04:20:25.528Z,1613449225.528 [SpeedCalculator](DEBUG): Initializing SpeedCalculator.
2021-02-16T04:20:25.528Z,1613449225.528 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator.
2021-02-16T04:20:25.529Z,1613449225.529 [YawRateCalculator](DEBUG): Initializing YawRateCalculator.
2021-02-16T04:20:25.529Z,1613449225.529 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator.
2021-02-16T04:20:25.530Z,1613449225.530 [SBIT](INFO): Initialize SBIT Component.
2021-02-16T04:20:25.530Z,1613449225.530 [SBIT](IMPORTANT): git: 2021-02-15
2021-02-16T04:20:25.531Z,1613449225.531 [SBIT](INFO): git hash: 2cd124a0e0845b789d2aa46a02e42482c8a7267f
2021-02-16T04:20:25.531Z,1613449225.531 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8
2021-02-16T04:20:25.532Z,1613449225.532 [SBIT](INFO): Kernel Reporting Different Version From Configuration.
Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018
Kernel Reported: #1 PREEMPT Thu Aug 6 12:04:53 PDT 2020
2021-02-16T04:20:25.533Z,1613449225.533 [SBIT](INFO): Beginning SBIT in 56.000000 seconds.
2021-02-16T04:20:25.534Z,1613449225.534 [IBIT](INFO): Initialize IBIT Component.
2021-02-16T04:20:25.535Z,1613449225.535 [CBIT](DEBUG): Initialize CBIT Component.
2021-02-16T04:20:25.536Z,1613449225.536 [logger ThreadHandler](INFO): Handler Thread ID is 517
2021-02-16T04:20:25.547Z,1613449225.547 [CBIT](DEBUG): Initialized mux pins.
2021-02-16T04:20:25.547Z,1613449225.547 [CBIT](DEBUG): Initializing the watchdog timer.
2021-02-16T04:20:25.555Z,1613449225.555 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 518
2021-02-16T04:20:25.556Z,1613449225.556 [DataOverHttps](DEBUG): dashIP=128.128.181.155 starts with a digit so assuming it is a numeric IP
2021-02-16T04:20:25.567Z,1613449225.567 [Onboard ThreadHandler](INFO): Handler Thread ID is 519
2021-02-16T04:20:25.572Z,1613449225.572 [CBIT](INFO): Last reboot was NOT due to watchdog timer.
2021-02-16T04:20:25.572Z,1613449225.572 [CBIT](DEBUG): Initializing heartbeat.
2021-02-16T04:20:25.585Z,1613449225.585 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 520
2021-02-16T04:20:25.603Z,1613449225.603 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 521
2021-02-16T04:20:25.604Z,1613449225.604 [CTD_Seabird](DEBUG): Initializing CTD_Seabird.
2021-02-16T04:20:25.608Z,1613449225.608 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Handler Thread ID is 523
2021-02-16T04:20:25.609Z,1613449225.609 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-02-16T04:20:25.623Z,1613449225.623 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 524
2021-02-16T04:20:25.631Z,1613449225.631 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000
2021-02-16T04:20:25.631Z,1613449225.631 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000
2021-02-16T04:20:25.631Z,1613449225.631 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000
2021-02-16T04:20:25.631Z,1613449225.631 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000
2021-02-16T04:20:25.632Z,1613449225.632 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000
2021-02-16T04:20:25.633Z,1613449225.633 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000
2021-02-16T04:20:25.643Z,1613449225.643 [CBIT](DEBUG): Deactivating GF circuits.
2021-02-16T04:20:25.643Z,1613449225.643 [CBIT](DEBUG): Deactivating emergency mode.
2021-02-16T04:20:25.679Z,1613449225.679 [CBIT](DEBUG): Backplane powered.
2021-02-16T04:20:25.679Z,1613449225.679 [VerticalControl](DEBUG): Initialize VerticalControlComponent.
2021-02-16T04:20:25.681Z,1613449225.681 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent.
2021-02-16T04:20:25.682Z,1613449225.682 [SpeedControl](DEBUG): Initialize SpeedControlComponent.
2021-02-16T04:20:25.682Z,1613449225.682 [LoopControl](DEBUG): Initialize LoopControlComponent.
2021-02-16T04:20:25.683Z,1613449225.683 [MissionManager](INFO): Loading Mission: Missions/Startup.xml
2021-02-16T04:20:25.707Z,1613449225.707 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-16T04:20:25.723Z,1613449225.723 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns="Tethys"
       xmlns:Control="Tethys/Control"
       xmlns:Guidance="Tethys/Guidance" 
       xmlns:Units="Tethys/Units"
       xmlns:Universal="Tethys/Universal"
       xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
       xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                           Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                           Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                           Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                           Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
       Id="Startup">

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

    <Aggregate Id="StartupSatComms">

        <Sequence/>

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

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

    </Aggregate>

</Mission>


2021-02-16T04:20:25.724Z,1613449225.724 [MissionManager](INFO): Loading Mission: Missions/underIce/DefaultWithUndock.xml
2021-02-16T04:20:25.876Z,1613449225.876 [MissionManager](INFO): DefineArg DefaultWithUndock.ElapsedSinceDefaultStarted = 0.000000 min
2021-02-16T04:20:25.892Z,1613449225.892 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachTimeout = 30.000000 min
2021-02-16T04:20:25.896Z,1613449225.896 [MissionManager](INFO): DefineArg DefaultWithUndock.TransponderCode = 2.000000 count
2021-02-16T04:20:25.920Z,1613449225.920 [MissionManager](INFO): DefineArg DefaultWithUndock.TrackingUpdatePeriod = 2.500000 s
2021-02-16T04:20:25.924Z,1613449225.924 [MissionManager](INFO): DefineArg DefaultWithUndock.NumberOfPings = 1.000000 count
2021-02-16T04:20:25.943Z,1613449225.943 [MissionManager](INFO): DefineArg DefaultWithUndock.DetachModeDDM = 2.000000 count
2021-02-16T04:20:25.944Z,1613449225.944 [DefaultWithUndock:A.Wait](DEBUG): Construct Wait.
2021-02-16T04:20:25.991Z,1613449225.991 [Radio_Surface](INFO): Powering up
2021-02-16T04:20:26.069Z,1613449226.069 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Construct.
2021-02-16T04:20:26.069Z,1613449226.069 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T04:20:26.130Z,1613449226.130 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-16T04:20:26.182Z,1613449226.182 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute.
2021-02-16T04:20:26.184Z,1613449226.184 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Construct Wait.
2021-02-16T04:20:26.218Z,1613449226.218 [DefaultWithUndock:E.Execute](DEBUG): Construct Execute.
2021-02-16T04:20:26.240Z,1613449226.240 [MissionManager](DEBUG): 
<?xml version="1.0" encoding="UTF-8"?>
<Mission xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns="Tethys"
         xmlns:Control="Tethys/Control"
         xmlns:Dock="Tethys/Dock"
         xmlns:Estimation="Tethys/Estimation"
         xmlns:Guidance="Tethys/Guidance"
         xmlns:Sensor="Tethys/Sensor"
         xmlns:Units="Tethys/Units"
         xmlns:Universal="Tethys/Universal"
         xsi:schemaLocation="Tethys http://okeanids.mbari.org/tethys/Xml/Tethys.xsd
                             Tethys/Control http://okeanids.mbari.org/tethys/Xml/Control.xsd
                             Tethys/Dock http://okeanids.mbari.org/tethys/Xml/Dock.xsd
                             Tethys/Estimation http://okeanids.mbari.org/tethys/Xml/Estimation.xsd
                             Tethys/Guidance http://okeanids.mbari.org/tethys/Xml/Guidance.xsd
                             Tethys/Sensor http://okeanids.mbari.org/tethys/Xml/Sensor.xsd
                             Tethys/Units http://okeanids.mbari.org/tethys/Xml/Units.xsd
                             Tethys/Universal http://okeanids.mbari.org/tethys/Xml/Universal.xsd"
         Id="DefaultWithUndock">

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

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

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

    <DefineArg Name="TrackingUpdatePeriod"><Description>
        Time duration between acoustic range queries while the
        mission is detaching from the dock.
    </Description><Units:second/><Value>2.5</Value></DefineArg>

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

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

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

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

        <!-- Acoustic tracking directives -->
        <Estimation:TrackAcousticContact>
            <Parallel/>
            <Setting><Estimation:TrackAcousticContact.contactLabelSetting/><Arg Name="TransponderCode"/></Setting>
            <Setting><Estimation:TrackAcousticContact.numberOfSamplesSetting/><Arg Name="NumberOfPings"/></Setting>
            <Setting><Estimation:TrackAcousticContact.updatePeriodSetting/><Arg Name="TrackingUpdatePeriod"/></Setting>
        </Estimation:TrackAcousticContact>

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

    </Aggregate>


    <Aggregate Id="SurfaceDefault">

        <Sequence/>

        <Aggregate Id="HoldLatchOpen">

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

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

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

        </Aggregate>

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

        <Aggregate Id="CheckIn">

            <Sequence Repeat="288"/>

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

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

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

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

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

        </Aggregate>

    </Aggregate>

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

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

</Mission>


2021-02-16T04:20:26.245Z,1613449226.245 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,DropWeight,DUSBL_Hydroid,Micromodem,NAL9602,PowerOnly,RDI_Pathfinder,RDI_PathfinderUp,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,WorkSite,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter,
2021-02-16T04:20:26.263Z,1613449226.263 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-02-16T04:20:26.421Z,1613449226.421 [DUSBL_Hydroid](INFO): Powering up
2021-02-16T04:20:26.422Z,1613449226.422 [DUSBL_Hydroid](DEBUG): Initializing DUSBL_Hydroid.
2021-02-16T04:20:26.509Z,1613449226.509 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:26.511Z,1613449226.511 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T04:20:26.512Z,1613449226.512 [ElevatorServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:26.519Z,1613449226.519 [ElevatorServo](DEBUG): Initializing ElevatorServo.
2021-02-16T04:20:26.520Z,1613449226.520 [MassServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:26.527Z,1613449226.527 [MassServo](DEBUG): Initializing MassServo.
2021-02-16T04:20:26.528Z,1613449226.528 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:26.535Z,1613449226.535 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-16T04:20:26.536Z,1613449226.536 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:26.543Z,1613449226.543 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T04:20:26.674Z,1613449226.674 [Micromodem](INFO): Powering up
2021-02-16T04:20:26.674Z,1613449226.674 [Micromodem](DEBUG): Initializing Micromodem.
2021-02-16T04:20:27.391Z,1613449227.391 [RudderServo](ERROR): Rudder initialization uart error serial timeout
2021-02-16T04:20:27.391Z,1613449227.391 [RudderServo](FAULT): Rudder failed to initialize
2021-02-16T04:20:27.391Z,1613449227.391 [RudderServo] Communications Fault, FailCount= 1
2021-02-16T04:20:27.391Z,1613449227.391 [RudderServo](ERROR): Communications Fault
2021-02-16T04:20:27.492Z,1613449227.492 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-02-16T04:20:27.664Z,1613449227.664 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-02-16T04:20:27.664Z,1613449227.664 [RudderServo](INFO): Powering down
2021-02-16T04:20:28.343Z,1613449228.343 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-16T04:20:28.464Z,1613449228.464 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-16T04:20:28.468Z,1613449228.468 [CBIT](INFO): Clearing failed state for component RudderServo
2021-02-16T04:20:28.468Z,1613449228.468 [RudderServo] No Fault, FailCount= 1
2021-02-16T04:20:31.580Z,1613449231.580 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-02-16T04:20:31.986Z,1613449231.986 [Micromodem](INFO): Nmea in: $CATMG,2021-02-16T04:20:31.000191Z,RTC,RTC*59

2021-02-16T04:20:31.986Z,1613449231.986 [Micromodem](ERROR): CFG response from modem unexpected: $CATMG,2021-02-16T04:20:31.000191Z,RTC,RTC*59

2021-02-16T04:20:32.381Z,1613449232.381 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-02-16T04:20:32.382Z,1613449232.382 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-02-16T04:20:32.785Z,1613449232.785 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-02-16T04:20:32.785Z,1613449232.785 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-02-16T04:20:33.198Z,1613449233.198 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-02-16T04:20:33.198Z,1613449233.198 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-02-16T04:20:33.590Z,1613449233.590 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-02-16T04:20:33.591Z,1613449233.591 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-02-16T04:20:34.001Z,1613449234.001 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-02-16T04:20:34.002Z,1613449234.002 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-02-16T04:20:34.401Z,1613449234.401 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-02-16T04:20:34.402Z,1613449234.402 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-02-16T04:20:34.797Z,1613449234.797 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-02-16T04:20:34.798Z,1613449234.798 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-02-16T04:20:35.190Z,1613449235.190 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-02-16T04:20:35.191Z,1613449235.191 [Micromodem](INFO): Nmea out: $CCCLK,2021,02,16,04,20,36*43

2021-02-16T04:20:35.608Z,1613449235.608 [Micromodem](INFO): Nmea in: $CACLK,2021,2,16,4,20,36*41

2021-02-16T04:20:35.627Z,1613449235.627 [Micromodem](INFO): Nmea in: $CATMS,0,2021-02-16T04:20:37Z*70

2021-02-16T04:20:35.998Z,1613449235.998 [Micromodem](INFO): Nmea in: $CATMG,2021-02-16T04:20:37.028176Z,USER_CMD,RTC*1D

2021-02-16T04:20:44.469Z,1613449244.469 [DUSBL_Hydroid](INFO): DUSBL Version:O
2021-02-16T04:20:53.366Z,1613449253.366 [NAL9602](INFO): Powering up NAL9602
2021-02-16T04:20:59.837Z,1613449259.837 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:21:01.857Z,1613449261.857 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:21:04.280Z,1613449264.280 [NAL9602](INFO): NAL9602 initialized
2021-02-16T04:21:19.219Z,1613449279.219 [NAL9602](INFO): SBD MO Status=0, MOMSN=13388, MT Status=0, MTMSN=0
2021-02-16T04:21:19.219Z,1613449279.219 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:21:22.075Z,1613449282.075 [SBIT](IMPORTANT): Beginning Startup BIT
2021-02-16T04:21:22.084Z,1613449282.084 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T04:21:33.532Z,1613449293.532 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.061338
CHAN A1 (24V): 0.108690
CHAN A2 (12V): 0.044143
CHAN A3 (5V): 0.010536
CHAN B0 (3.3V): 0.003760
CHAN B1 (3.15aV): 0.002603
CHAN B2 (3.15bV): 0.002935
CHAN B3 (GND): 0.001953
OPEN: 0.006556
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T04:21:53.155Z,1613449313.155 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042153.00,A,4133.02471,N,07042.39124,W,0.952,0.00,160221,,,A*7C
2021-02-16T04:21:53.158Z,1613449313.158 [NAL9602](INFO): GPS fix at 20210216T042153: (41.550412, -70.706521)
2021-02-16T04:22:16.200Z,1613449336.200 [SBIT](IMPORTANT): SBIT PASSED
2021-02-16T04:22:16.201Z,1613449336.201 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-02-16T04:22:16.203Z,1613449336.203 [SBIT](IMPORTANT): AHRS_M2.verbosity=0 count;

2021-02-16T04:22:16.203Z,1613449336.203 [SBIT](IMPORTANT): Courier mostRecent acoustic_contact_range;

2021-02-16T04:22:16.203Z,1613449336.203 [SBIT](IMPORTANT): DDM.loadAtStartup=0 bool;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): LineCapture.navigationGain=3 none;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=248.307034 cubic_centimeter;

2021-02-16T04:22:16.204Z,1613449336.204 [SBIT](IMPORTANT): VerticalControl.massDefault=-9.135016 millimeter;

2021-02-16T04:22:16.624Z,1613449336.624 [WorkSite](INFO): Already have valid position. Ignoring workSite position from Data/workSite.cfg
2021-02-16T04:22:16.629Z,1613449336.629 [MissionManager](IMPORTANT): Started mission Startup
2021-02-16T04:22:16.629Z,1613449336.629 [Startup] Running Loop=1
2021-02-16T04:22:16.629Z,1613449336.629 [Startup](DEBUG): Aggregate::initialize Startup
2021-02-16T04:22:16.629Z,1613449336.629 [Startup:A.GoToSurface] Running Loop=1
2021-02-16T04:22:16.629Z,1613449336.629 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T04:22:16.630Z,1613449336.630 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-02-16T04:22:16.630Z,1613449336.630 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-02-16T04:22:16.631Z,1613449336.631 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-02-16T04:22:16.631Z,1613449336.631 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T04:22:16.632Z,1613449336.632 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T04:22:16.633Z,1613449336.633 [Startup:StartupSatComms] Running Loop=1
2021-02-16T04:22:16.633Z,1613449336.633 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms
2021-02-16T04:22:16.633Z,1613449336.633 [Startup:StartupSatComms:A] Running Loop=1
2021-02-16T04:22:17.031Z,1613449337.031 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix
2021-02-16T04:22:18.618Z,1613449338.618 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042218.00,A,4133.02302,N,07042.39184,W,0.136,0.00,160221,,,A*73
2021-02-16T04:22:18.633Z,1613449338.633 [NAL9602](INFO): GPS fix at 20210216T042218: (41.550384, -70.706531)
2021-02-16T04:22:18.653Z,1613449338.653 [Startup:StartupSatComms:A] Stopped
2021-02-16T04:22:18.653Z,1613449338.653 [Startup:StartupSatComms:B] Running Loop=1
2021-02-16T04:22:19.065Z,1613449339.065 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-16T04:22:46.980Z,1613449366.980 [NAL9602](INFO): SBD MO Status=2, MOMSN=13389, MT Status=2, MTMSN=0
2021-02-16T04:22:46.981Z,1613449366.981 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T04:22:50.642Z,1613449370.642 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:23:04.437Z,1613449384.437 [NAL9602](INFO): SBD MO Status=1, MOMSN=13389, MT Status=0, MTMSN=0
2021-02-16T04:23:04.487Z,1613449384.487 [NAL9602](INFO): Sent 52 bytes from file Logs/20210215T224224/Courier0097.lzma
2021-02-16T04:23:04.487Z,1613449384.487 [NAL9602](INFO): Packets left to send: 0
2021-02-16T04:23:14.615Z,1613449394.615 [NAL9602](INFO): SBD MO Status=1, MOMSN=13390, MT Status=0, MTMSN=0
2021-02-16T04:23:14.671Z,1613449394.671 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Courier0000.lzma
2021-02-16T04:23:14.671Z,1613449394.671 [NAL9602](INFO): Packets left to send: 1
2021-02-16T04:23:18.784Z,1613449398.784 [Startup:StartupSatComms:B](INFO): Timed out from 2021-02-16T04:22:18.7Z
2021-02-16T04:23:18.785Z,1613449398.785 [Startup:StartupSatComms:B] Stopped
2021-02-16T04:23:18.785Z,1613449398.785 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms
2021-02-16T04:23:18.785Z,1613449398.785 [Startup:StartupSatComms] Stopped
2021-02-16T04:23:18.785Z,1613449398.785 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms
2021-02-16T04:23:18.786Z,1613449398.786 [Startup](INFO): Completed Startup
2021-02-16T04:23:18.786Z,1613449398.786 [MissionManager](INFO): Startup is completed.
2021-02-16T04:23:18.786Z,1613449398.786 [MissionManager](INFO): Uninitializing Mission Startup
2021-02-16T04:23:18.786Z,1613449398.786 [Startup] Stopped
2021-02-16T04:23:18.786Z,1613449398.786 [Startup](DEBUG): Aggregate::uninitialize Startup
2021-02-16T04:23:18.786Z,1613449398.786 [Startup:A.GoToSurface] Stopped
2021-02-16T04:23:18.786Z,1613449398.786 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T04:23:19.195Z,1613449399.195 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-02-16T04:23:19.196Z,1613449399.196 [DefaultWithUndock] Running Loop=1
2021-02-16T04:23:19.196Z,1613449399.196 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-02-16T04:23:19.196Z,1613449399.196 [DefaultWithUndock:A.Wait] Running Loop=1
2021-02-16T04:23:19.196Z,1613449399.196 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:23:36.556Z,1613449416.556 [NAL9602](INFO): SBD MO Status=2, MOMSN=13391, MT Status=2, MTMSN=0
2021-02-16T04:23:36.557Z,1613449416.557 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T04:23:45.397Z,1613449425.397 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004580
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:A.Wait] Stopped
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-02-16T04:23:49.478Z,1613449429.478 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-02-16T04:23:49.479Z,1613449429.479 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-02-16T04:23:49.479Z,1613449429.479 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-02-16T04:23:49.479Z,1613449429.479 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T04:23:49.910Z,1613449429.910 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T04:23:49.910Z,1613449429.910 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-02-16T04:23:50.278Z,1613449430.278 [PowerOnly](INFO): Powering up loadControl
2021-02-16T04:23:50.311Z,1613449430.311 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T04:23:50.730Z,1613449430.730 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T04:23:51.100Z,1613449431.100 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T04:23:51.101Z,1613449431.101 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-02-16T04:23:51.522Z,1613449431.522 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T04:23:52.312Z,1613449432.312 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:23:53.106Z,1613449433.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T04:23:53.548Z,1613449433.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T04:23:54.338Z,1613449434.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,042354.63*5F

2021-02-16T04:23:55.146Z,1613449435.146 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:23:56.750Z,1613449436.750 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T04:23:57.984Z,1613449437.984 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:23:58.762Z,1613449438.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T04:23:59.176Z,1613449439.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T04:23:59.979Z,1613449439.979 [Micromodem](INFO): Nmea in: $SNTTA,0.195662,,,,042400.29*46

2021-02-16T04:24:02.848Z,1613449442.848 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:24:03.614Z,1613449443.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T04:24:04.023Z,1613449444.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T04:24:04.826Z,1613449444.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,042405.14*5C

2021-02-16T04:24:07.264Z,1613449447.264 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:24:07.694Z,1613449447.694 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:24:08.457Z,1613449448.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T04:24:08.902Z,1613449448.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T04:24:09.679Z,1613449449.679 [Micromodem](INFO): Nmea in: $SNTTA,0.196065,,,,042409.98*47

2021-02-16T04:24:11.731Z,1613449451.731 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 293.88 m. Transitioning DDM to standby.
2021-02-16T04:24:12.118Z,1613449452.118 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T04:24:12.118Z,1613449452.118 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-02-16T04:24:12.569Z,1613449452.569 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T04:24:12.569Z,1613449452.569 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-02-16T04:24:12.570Z,1613449452.570 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T04:24:12.579Z,1613449452.579 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-02-16T04:24:12.579Z,1613449452.579 [DefaultWithUndock:LeaveDock] Stopped
2021-02-16T04:24:12.579Z,1613449452.579 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-02-16T04:24:12.579Z,1613449452.579 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-02-16T04:24:12.579Z,1613449452.579 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T04:24:12.580Z,1613449452.580 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-02-16T04:24:12.581Z,1613449452.581 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-02-16T04:24:12.581Z,1613449452.581 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-02-16T04:24:12.581Z,1613449452.581 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T04:24:12.582Z,1613449452.582 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-02-16T04:24:12.932Z,1613449452.932 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-02-16T04:24:13.324Z,1613449453.324 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-16T04:24:15.001Z,1613449455.001 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,042414.00,A,4133.01711,N,07042.39526,W,0.428,269.68,160221,,,A*79
2021-02-16T04:24:15.003Z,1613449455.003 [NAL9602](INFO): GPS fix at 20210216T042414: (41.550285, -70.706588)
2021-02-16T04:24:15.014Z,1613449455.014 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:24:15.015Z,1613449455.015 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:24:15.376Z,1613449455.376 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-16T04:24:15.809Z,1613449455.809 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T04:24:18.550Z,1613449458.550 [DataOverHttps](INFO): Sending 251 bytes from file Logs/20210216T042015/Courier0000.lzma
2021-02-16T04:24:19.552Z,1613449459.552 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0000.lzma.bak
2021-02-16T04:24:19.552Z,1613449459.552 [DataOverHttps](INFO): SBD MOMSN=81465
2021-02-16T04:24:28.591Z,1613449468.591 [DataOverHttps](INFO): Sending 199 bytes from file Logs/20210216T042015/Courier0004.lzma
2021-02-16T04:24:29.588Z,1613449469.588 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0004.lzma.bak
2021-02-16T04:24:29.589Z,1613449469.589 [DataOverHttps](INFO): SBD MOMSN=81468
2021-02-16T04:24:36.760Z,1613449476.760 [NAL9602](INFO): SBD MO Status=1, MOMSN=13391, MT Status=0, MTMSN=0
2021-02-16T04:24:36.760Z,1613449476.760 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:24:38.623Z,1613449478.623 [DataOverHttps](INFO): Sending 221 bytes from file Logs/20210215T224224/Express0098.lzma
2021-02-16T04:24:39.627Z,1613449479.627 [DataOverHttps](INFO): Moved sent file to Logs/20210215T224224/Express0098.lzma.bak
2021-02-16T04:24:39.627Z,1613449479.627 [DataOverHttps](INFO): SBD MOMSN=81471
2021-02-16T04:24:41.629Z,1613449481.629 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:24:48.664Z,1613449488.664 [DataOverHttps](INFO): Sending 908 bytes from file Logs/20210216T042015/Express0001.lzma
2021-02-16T04:24:49.674Z,1613449489.674 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0001.lzma.bak
2021-02-16T04:24:49.674Z,1613449489.674 [DataOverHttps](INFO): SBD MOMSN=81480
2021-02-16T04:24:58.711Z,1613449498.711 [DataOverHttps](INFO): Sending 281 bytes from file Logs/20210216T042015/Express0005.lzma
2021-02-16T04:24:59.713Z,1613449499.713 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0005.lzma.bak
2021-02-16T04:24:59.713Z,1613449499.713 [DataOverHttps](INFO): SBD MOMSN=81501
2021-02-16T04:25:01.011Z,1613449501.011 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:25:01.011Z,1613449501.011 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:25:01.011Z,1613449501.011 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:25:07.464Z,1613449507.464 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:25:21.610Z,1613449521.610 [PowerOnly](INFO): Powering down loadControl
2021-02-16T04:26:30.716Z,1613449590.716 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:27:07.479Z,1613449627.479 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T04:27:07.481Z,1613449627.481 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T04:30:01.645Z,1613449801.645 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:30:01.645Z,1613449801.645 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:30:01.646Z,1613449801.646 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:30:01.646Z,1613449801.646 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:30:02.024Z,1613449802.024 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:30:02.024Z,1613449802.024 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 6.713806 min 
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-02-16T04:30:02.428Z,1613449802.428 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:30:02.429Z,1613449802.429 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:30:04.436Z,1613449804.436 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043005.00,A,4132.99897,N,07042.41126,W,0.233,221.85,160221,,,A*75
2021-02-16T04:30:04.438Z,1613449804.438 [NAL9602](INFO): GPS fix at 20210216T043005: (41.549983, -70.706854)
2021-02-16T04:30:04.449Z,1613449804.449 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:30:04.450Z,1613449804.450 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:30:04.856Z,1613449804.856 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:30:25.063Z,1613449825.063 [NAL9602](INFO): SBD MO Status=1, MOMSN=13392, MT Status=0, MTMSN=0
2021-02-16T04:30:25.063Z,1613449825.063 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:30:36.115Z,1613449836.115 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T04:30:40.135Z,1613449840.135 [DataOverHttps](INFO): Sending 200 bytes from file Logs/20210216T042015/Courier0007.lzma
2021-02-16T04:30:41.137Z,1613449841.137 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0007.lzma.bak
2021-02-16T04:30:41.137Z,1613449841.137 [DataOverHttps](INFO): SBD MOMSN=81505
2021-02-16T04:30:50.175Z,1613449850.175 [DataOverHttps](INFO): Sending 167 bytes from file Logs/20210216T042015/Express0008.lzma
2021-02-16T04:30:51.177Z,1613449851.177 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0008.lzma.bak
2021-02-16T04:30:51.177Z,1613449851.177 [DataOverHttps](INFO): SBD MOMSN=81511
2021-02-16T04:30:52.612Z,1613449852.612 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:30:52.612Z,1613449852.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:30:52.612Z,1613449852.612 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:30:55.771Z,1613449855.771 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:32:40.023Z,1613449960.023 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,04C1*1B
 expected 19
2021-02-16T04:35:33.801Z,1613450133.801 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:35:53.191Z,1613450153.191 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:35:53.191Z,1613450153.191 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:35:53.191Z,1613450153.191 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:35:53.191Z,1613450153.191 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:35:53.619Z,1613450153.619 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:35:53.619Z,1613450153.619 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 12.573717 min 
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-02-16T04:35:54.007Z,1613450154.007 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-02-16T04:35:54.008Z,1613450154.008 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:35:54.008Z,1613450154.008 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:35:56.011Z,1613450156.011 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,043557.00,A,4132.98187,N,07042.43756,W,0.097,240.93,160221,,,A*71
2021-02-16T04:35:56.013Z,1613450156.013 [NAL9602](INFO): GPS fix at 20210216T043557: (41.549698, -70.707293)
2021-02-16T04:35:56.048Z,1613450156.048 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:35:56.048Z,1613450156.048 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:36:00.450Z,1613450160.450 [DataOverHttps](INFO): Sending 77 bytes from file Logs/20210216T042015/Courier0010.lzma
2021-02-16T04:36:01.453Z,1613450161.453 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0010.lzma.bak
2021-02-16T04:36:01.453Z,1613450161.453 [DataOverHttps](INFO): SBD MOMSN=81514
2021-02-16T04:36:10.490Z,1613450170.490 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210216T042015/Express0011.lzma
2021-02-16T04:36:11.496Z,1613450171.496 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0011.lzma.bak
2021-02-16T04:36:11.496Z,1613450171.496 [DataOverHttps](INFO): SBD MOMSN=81518
2021-02-16T04:36:12.654Z,1613450172.654 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:36:12.654Z,1613450172.654 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:36:12.654Z,1613450172.654 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:36:14.608Z,1613450174.608 [NAL9602](INFO): SBD MO Status=1, MOMSN=13393, MT Status=0, MTMSN=0
2021-02-16T04:36:14.609Z,1613450174.609 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:36:45.301Z,1613450205.301 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:39:47.612Z,1613450387.612 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:40:01.680Z,1613450401.680 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for BIT error
2021-02-16T04:40:07.766Z,1613450407.766 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T04:40:56.644Z,1613450456.644 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:41:13.199Z,1613450473.199 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:41:13.199Z,1613450473.199 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:41:13.199Z,1613450473.199 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:41:13.199Z,1613450473.199 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:41:13.638Z,1613450473.638 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:41:13.638Z,1613450473.638 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:41:14.029Z,1613450474.029 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 17.907367 min 
2021-02-16T04:41:14.029Z,1613450474.029 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:41:14.029Z,1613450474.029 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:41:14.029Z,1613450474.029 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:41:14.029Z,1613450474.029 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:41:14.030Z,1613450474.030 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-02-16T04:41:14.030Z,1613450474.030 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-02-16T04:41:14.030Z,1613450474.030 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:41:14.030Z,1613450474.030 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:41:16.016Z,1613450476.016 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044117.00,A,4132.96600,N,07042.46372,W,0.117,231.28,160221,,,A*78
2021-02-16T04:41:16.018Z,1613450476.018 [NAL9602](INFO): GPS fix at 20210216T044117: (41.549433, -70.707729)
2021-02-16T04:41:16.038Z,1613450476.038 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:41:16.039Z,1613450476.039 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:41:19.815Z,1613450479.815 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210216T042015/Courier0013.lzma
2021-02-16T04:41:20.817Z,1613450480.817 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0013.lzma.bak
2021-02-16T04:41:20.817Z,1613450480.817 [DataOverHttps](INFO): SBD MOMSN=81523
2021-02-16T04:41:27.730Z,1613450487.730 [NAL9602](INFO): SBD MO Status=1, MOMSN=13394, MT Status=0, MTMSN=0
2021-02-16T04:41:27.731Z,1613450487.731 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:41:29.857Z,1613450489.857 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210216T042015/Express0014.lzma
2021-02-16T04:41:30.857Z,1613450490.857 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0014.lzma.bak
2021-02-16T04:41:30.857Z,1613450490.857 [DataOverHttps](INFO): SBD MOMSN=81526
2021-02-16T04:41:32.200Z,1613450492.200 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:41:32.200Z,1613450492.200 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:41:32.200Z,1613450492.200 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:41:58.436Z,1613450518.436 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:42:47.744Z,1613450567.744 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:44:40.880Z,1613450680.880 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:46:32.815Z,1613450792.815 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:46:32.815Z,1613450792.815 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:46:32.815Z,1613450792.815 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:46:32.815Z,1613450792.815 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:46:33.204Z,1613450793.204 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:46:33.204Z,1613450793.204 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:46:33.636Z,1613450793.636 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 23.233470 min 
2021-02-16T04:46:33.636Z,1613450793.636 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:46:33.636Z,1613450793.636 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #5
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=5
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:46:33.637Z,1613450793.637 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:46:35.615Z,1613450795.615 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,044636.00,A,4132.95138,N,07042.48815,W,0.117,250.55,160221,,,D*7F
2021-02-16T04:46:35.617Z,1613450795.617 [NAL9602](INFO): GPS fix at 20210216T044636: (41.549190, -70.708136)
2021-02-16T04:46:35.658Z,1613450795.658 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:46:35.658Z,1613450795.658 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:46:39.131Z,1613450799.131 [DataOverHttps](INFO): Sending 71 bytes from file Logs/20210216T042015/Courier0016.lzma
2021-02-16T04:46:40.133Z,1613450800.133 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0016.lzma.bak
2021-02-16T04:46:40.133Z,1613450800.133 [DataOverHttps](INFO): SBD MOMSN=81531
2021-02-16T04:46:44.504Z,1613450804.504 [NAL9602](INFO): SBD MO Status=1, MOMSN=13395, MT Status=0, MTMSN=0
2021-02-16T04:46:44.504Z,1613450804.504 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:46:49.171Z,1613450809.171 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210216T042015/Express0017.lzma
2021-02-16T04:46:50.181Z,1613450810.181 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0017.lzma.bak
2021-02-16T04:46:50.181Z,1613450810.181 [DataOverHttps](INFO): SBD MOMSN=81534
2021-02-16T04:46:51.390Z,1613450811.390 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:46:51.390Z,1613450811.390 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:46:51.390Z,1613450811.390 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:47:15.205Z,1613450835.205 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:50:01.689Z,1613451001.689 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:51:51.993Z,1613451111.993 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:51:51.993Z,1613451111.993 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:51:51.993Z,1613451111.993 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:51:51.993Z,1613451111.993 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:51:52.383Z,1613451112.383 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:51:52.383Z,1613451112.383 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:51:52.823Z,1613451112.823 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 28.553131 min 
2021-02-16T04:51:52.823Z,1613451112.823 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #6
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=6
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:51:52.824Z,1613451112.824 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:51:54.796Z,1613451114.796 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045155.00,A,4132.93887,N,07042.51116,W,0.292,303.22,160221,,,D*7C
2021-02-16T04:51:54.799Z,1613451114.799 [NAL9602](INFO): GPS fix at 20210216T045155: (41.548981, -70.708519)
2021-02-16T04:51:54.820Z,1613451114.820 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:51:54.820Z,1613451114.820 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:51:58.462Z,1613451118.462 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210216T042015/Courier0019.lzma
2021-02-16T04:51:59.465Z,1613451119.465 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0019.lzma.bak
2021-02-16T04:51:59.465Z,1613451119.465 [DataOverHttps](INFO): SBD MOMSN=81539
2021-02-16T04:51:59.660Z,1613451119.660 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:52:08.505Z,1613451128.505 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210216T042015/Express0020.lzma
2021-02-16T04:52:08.588Z,1613451128.588 [NAL9602](INFO): SBD MO Status=1, MOMSN=13396, MT Status=0, MTMSN=0
2021-02-16T04:52:08.588Z,1613451128.588 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:52:09.505Z,1613451129.505 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0020.lzma.bak
2021-02-16T04:52:09.505Z,1613451129.505 [DataOverHttps](INFO): SBD MOMSN=81542
2021-02-16T04:52:10.967Z,1613451130.967 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:52:10.967Z,1613451130.967 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:52:10.967Z,1613451130.967 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:52:39.237Z,1613451159.237 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:55:28.934Z,1613451328.934 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:57:11.588Z,1613451431.588 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T04:57:11.588Z,1613451431.588 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T04:57:11.589Z,1613451431.589 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T04:57:11.589Z,1613451431.589 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T04:57:11.992Z,1613451431.992 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T04:57:11.992Z,1613451431.992 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T04:57:12.360Z,1613451432.360 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 33.879934 min 
2021-02-16T04:57:12.360Z,1613451432.360 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #7
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=7
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T04:57:12.361Z,1613451432.361 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T04:57:14.371Z,1613451434.371 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,045715.00,A,4132.92547,N,07042.54545,W,0.564,233.95,160221,,,A*7C
2021-02-16T04:57:14.373Z,1613451434.373 [NAL9602](INFO): GPS fix at 20210216T045715: (41.548758, -70.709091)
2021-02-16T04:57:14.384Z,1613451434.384 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T04:57:14.384Z,1613451434.384 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T04:57:18.794Z,1613451438.794 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210216T042015/Courier0022.lzma
2021-02-16T04:57:19.797Z,1613451439.797 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0022.lzma.bak
2021-02-16T04:57:19.797Z,1613451439.797 [DataOverHttps](INFO): SBD MOMSN=81547
2021-02-16T04:57:21.647Z,1613451441.647 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:57:28.835Z,1613451448.835 [DataOverHttps](INFO): Sending 120 bytes from file Logs/20210216T042015/Express0023.lzma
2021-02-16T04:57:29.837Z,1613451449.837 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0023.lzma.bak
2021-02-16T04:57:29.837Z,1613451449.837 [DataOverHttps](INFO): SBD MOMSN=81550
2021-02-16T04:57:31.364Z,1613451451.364 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T04:57:31.364Z,1613451451.364 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T04:57:31.365Z,1613451451.365 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T04:57:35.773Z,1613451455.773 [NAL9602](INFO): SBD MO Status=1, MOMSN=13397, MT Status=0, MTMSN=0
2021-02-16T04:57:35.773Z,1613451455.773 [NAL9602](INFO): No messages in MT queue
2021-02-16T04:58:06.477Z,1613451486.477 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T04:58:47.690Z,1613451527.690 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:58:47.696Z,1613451527.696 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T04:58:52.616Z,1613451532.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T04:59:07.896Z,1613451547.896 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T04:59:08.703Z,1613451548.703 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T04:59:10.799Z,1613451550.799 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T04:59:10.799Z,1613451550.799 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T04:59:10.799Z,1613451550.799 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T04:59:10.824Z,1613451550.824 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T04:59:11.191Z,1613451551.191 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T04:59:11.976Z,1613451551.976 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T04:59:11.976Z,1613451551.976 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T04:59:21.328Z,1613451561.328 [DataOverHttps](IMPORTANT): SBD MTMSN=20210216T045922
2021-02-16T04:59:25.347Z,1613451565.347 [DataOverHttps](INFO): Received command:configSet list
2021-02-16T04:59:25.436Z,1613451565.436 [CommandLine](IMPORTANT): got command configSet list
2021-02-16T04:59:25.436Z,1613451565.436 [CommandLine](IMPORTANT): Listing configuration overrides from Data/persisted.cfg
2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): AHRS_M2.verbosity=0 count;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): Courier mostRecent acoustic_contact_range;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): DDM.loadAtStartup=0 bool;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_salinity;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): Express none CTD_Seabird.bin_median_sea_water_temperature;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): LineCapture.navigationGain=3 none;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): PowerOnly.loadAtStartup=1 bool;

2021-02-16T04:59:25.437Z,1613451565.437 [CommandLine](IMPORTANT): VerticalControl.buoyancyNeutral=248.307034 cubic_centimeter;

2021-02-16T04:59:25.438Z,1613451565.438 [CommandLine](IMPORTANT): VerticalControl.massDefault=-9.135016 millimeter;

2021-02-16T05:02:22.153Z,1613451742.153 [DataOverHttps](IMPORTANT): SBD MTMSN=20210216T050222
2021-02-16T05:02:26.183Z,1613451746.183 [DataOverHttps](INFO): Received command:sched asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 3tfbu 1 2
2021-02-16T05:02:26.229Z,1613451746.229 [CommandLine](IMPORTANT): got command schedule asap "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" 3tfbu 1 2.000000
2021-02-16T05:02:26.229Z,1613451746.229 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=3tfbu
2021-02-16T05:02:26.230Z,1613451746.230 [CommandLine](IMPORTANT): Scheduled #1 (#1 of 2 with id='3tfbu'): "load Engineering/lineCaptureDepth.xml;set lineCaptureDepth.MissionTimeout 12 hour;set lineCaptureDepth.NeedCommsTime 90 minute;set lineCaptureDepth.MicromodemCommsInterval 30 minute;set lineCaptureDepth.Repeat 100 count" ASAP
2021-02-16T05:02:27.184Z,1613451747.184 [DataOverHttps](IMPORTANT): SBD MTMSN=20210216T050227
2021-02-16T05:02:31.192Z,1613451751.192 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 3tfbu 2 2
2021-02-16T05:02:31.240Z,1613451751.240 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" 3tfbu 2 2.000000
2021-02-16T05:02:31.241Z,1613451751.241 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=3tfbu
2021-02-16T05:02:31.244Z,1613451751.244 [CommandLine](IMPORTANT): Scheduled #2 (#2 of 2 with id='3tfbu'): "set lineCaptureDepth.WaitOnDockTimeout 0.01 minute;set lineCaptureDepth.MinAltitude 3 meter;set lineCaptureDepth.MaxDepth 9 meter;set lineCaptureDepth.MinOffshore 500 meter;run" ASAP
2021-02-16T05:02:31.456Z,1613451751.456 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-02-16T05:02:31.456Z,1613451751.456 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-02-16T05:02:31.610Z,1613451751.610 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-02-16T05:02:31.629Z,1613451751.629 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-02-16T05:02:31.632Z,1613451751.632 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-02-16T05:02:31.639Z,1613451751.639 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-02-16T05:02:31.642Z,1613451751.642 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-02-16T05:02:31.646Z,1613451751.646 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-02-16T05:02:31.656Z,1613451751.656 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-02-16T05:02:31.663Z,1613451751.663 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-02-16T05:02:31.666Z,1613451751.666 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-02-16T05:02:31.677Z,1613451751.677 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-02-16T05:02:31.680Z,1613451751.680 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-02-16T05:02:31.688Z,1613451751.688 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-02-16T05:02:31.688Z,1613451751.688 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-02-16T05:02:32.006Z,1613451752.006 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-02-16T05:02:32.009Z,1613451752.009 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-02-16T05:02:32.020Z,1613451752.020 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-02-16T05:02:32.022Z,1613451752.022 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-02-16T05:02:32.029Z,1613451752.029 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-02-16T05:02:32.032Z,1613451752.032 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-02-16T05:02:32.043Z,1613451752.043 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-02-16T05:02:32.046Z,1613451752.046 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-02-16T05:02:32.050Z,1613451752.050 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-02-16T05:02:32.060Z,1613451752.060 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-02-16T05:02:32.067Z,1613451752.067 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-02-16T05:02:32.070Z,1613451752.070 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-02-16T05:02:32.078Z,1613451752.078 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-02-16T05:02:32.082Z,1613451752.082 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-02-16T05:02:32.093Z,1613451752.093 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-02-16T05:02:32.101Z,1613451752.101 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-02-16T05:02:32.105Z,1613451752.105 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-02-16T05:02:32.116Z,1613451752.116 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-02-16T05:02:32.119Z,1613451752.119 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-02-16T05:02:32.126Z,1613451752.126 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-02-16T05:02:32.130Z,1613451752.130 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-02-16T05:02:32.141Z,1613451752.141 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-02-16T05:02:32.148Z,1613451752.148 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-02-16T05:02:32.155Z,1613451752.155 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-02-16T05:02:32.158Z,1613451752.158 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-02-16T05:02:32.166Z,1613451752.166 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-02-16T05:02:32.174Z,1613451752.174 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-02-16T05:02:32.178Z,1613451752.178 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-02-16T05:02:32.190Z,1613451752.190 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-02-16T05:02:32.203Z,1613451752.203 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-02-16T05:02:32.206Z,1613451752.206 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 m
2021-02-16T05:02:32.213Z,1613451752.213 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-02-16T05:02:32.221Z,1613451752.221 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-02-16T05:02:32.227Z,1613451752.227 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-02-16T05:02:32.238Z,1613451752.238 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-02-16T05:02:32.245Z,1613451752.245 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-02-16T05:02:32.248Z,1613451752.248 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-02-16T05:02:32.260Z,1613451752.260 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-02-16T05:02:32.263Z,1613451752.263 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-02-16T05:02:32.270Z,1613451752.270 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-02-16T05:02:32.281Z,1613451752.281 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-02-16T05:02:32.284Z,1613451752.284 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-02-16T05:02:32.320Z,1613451752.320 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-02-16T05:02:32.328Z,1613451752.328 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-02-16T05:02:32.426Z,1613451752.426 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-16T05:02:32.463Z,1613451752.463 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-02-16T05:02:32.493Z,1613451752.493 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-16T05:02:32.524Z,1613451752.524 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-16T05:02:32.568Z,1613451752.568 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-02-16T05:02:32.591Z,1613451752.591 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-02-16T05:02:32.627Z,1613451752.627 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-02-16T05:02:32.630Z,1613451752.630 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-02-16T05:02:32.634Z,1613451752.634 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-02-16T05:02:32.643Z,1613451752.643 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-02-16T05:02:32.664Z,1613451752.664 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-02-16T05:02:32.673Z,1613451752.673 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-02-16T05:02:32.760Z,1613451752.760 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-02-16T05:02:32.864Z,1613451752.864 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-02-16T05:02:32.866Z,1613451752.866 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-02-16T05:02:32.877Z,1613451752.877 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-02-16T05:02:32.881Z,1613451752.881 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-02-16T05:02:32.884Z,1613451752.884 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-02-16T05:02:32.895Z,1613451752.895 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-02-16T05:02:32.901Z,1613451752.901 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-02-16T05:02:32.908Z,1613451752.908 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-02-16T05:02:32.946Z,1613451752.946 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-02-16T05:02:32.998Z,1613451752.998 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-02-16T05:02:33.005Z,1613451753.005 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-02-16T05:02:33.044Z,1613451753.044 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-02-16T05:02:33.058Z,1613451753.058 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-02-16T05:02:33.367Z,1613451753.367 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-02-16T05:02:33.372Z,1613451753.372 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-02-16T05:02:33.383Z,1613451753.383 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-02-16T05:02:33.387Z,1613451753.387 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-02-16T05:02:33.394Z,1613451753.394 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-02-16T05:02:33.402Z,1613451753.402 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-02-16T05:02:33.409Z,1613451753.409 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-02-16T05:02:33.413Z,1613451753.413 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-02-16T05:02:33.424Z,1613451753.424 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-02-16T05:02:33.432Z,1613451753.432 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-02-16T05:02:33.436Z,1613451753.436 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-02-16T05:02:33.439Z,1613451753.439 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-02-16T05:02:33.442Z,1613451753.442 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-02-16T05:02:33.449Z,1613451753.449 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-02-16T05:02:33.454Z,1613451753.454 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-02-16T05:02:33.469Z,1613451753.469 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-02-16T05:02:33.472Z,1613451753.472 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-02-16T05:02:33.475Z,1613451753.475 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-02-16T05:02:33.482Z,1613451753.482 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-02-16T05:02:33.485Z,1613451753.485 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-02-16T05:02:33.498Z,1613451753.498 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-02-16T05:02:33.574Z,1613451753.574 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-02-16T05:02:33.589Z,1613451753.589 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-02-16T05:02:33.598Z,1613451753.598 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-02-16T05:02:33.614Z,1613451753.614 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-02-16T05:02:33.621Z,1613451753.621 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-02-16T05:02:33.634Z,1613451753.634 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-02-16T05:02:33.686Z,1613451753.686 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-02-16T05:02:33.694Z,1613451753.694 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-02-16T05:02:33.708Z,1613451753.708 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-02-16T05:02:33.709Z,1613451753.709 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-02-16T05:02:33.725Z,1613451753.725 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-02-16T05:02:33.746Z,1613451753.746 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-02-16T05:02:33.782Z,1613451753.782 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-02-16T05:02:33.802Z,1613451753.802 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-02-16T05:02:33.809Z,1613451753.809 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-02-16T05:02:33.809Z,1613451753.809 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T05:02:33.855Z,1613451753.855 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-02-16T05:02:33.858Z,1613451753.858 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-02-16T05:02:33.876Z,1613451753.876 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-02-16T05:02:33.903Z,1613451753.903 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:G.Circle](DEBUG): Construct.
2021-02-16T05:02:33.982Z,1613451753.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-02-16T05:02:34.006Z,1613451754.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-02-16T05:02:34.042Z,1613451754.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T05:02:34.042Z,1613451754.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T05:02:34.054Z,1613451754.054 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-02-16T05:02:34.070Z,1613451754.070 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-02-16T05:02:34.113Z,1613451754.113 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-02-16T05:02:34.124Z,1613451754.124 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-02-16T05:02:34.139Z,1613451754.139 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-02-16T05:02:34.142Z,1613451754.142 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-02-16T05:02:34.175Z,1613451754.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-02-16T05:02:34.205Z,1613451754.205 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Construct.
2021-02-16T05:02:34.205Z,1613451754.205 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-02-16T05:02:34.230Z,1613451754.230 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Construct.
2021-02-16T05:02:34.230Z,1613451754.230 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T05:02:34.309Z,1613451754.309 [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>


2021-02-16T05:02:34.310Z,1613451754.310 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-02-16T05:02:34.358Z,1613451754.358 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T05:02:34.358Z,1613451754.358 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T05:02:34.358Z,1613451754.358 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T05:02:34.358Z,1613451754.358 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T05:02:34.799Z,1613451754.799 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T05:02:34.799Z,1613451754.799 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T05:02:35.211Z,1613451755.211 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 39.259920 min 
2021-02-16T05:02:35.212Z,1613451755.212 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T05:02:35.212Z,1613451755.212 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T05:02:35.212Z,1613451755.212 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T05:02:35.212Z,1613451755.212 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T05:02:35.213Z,1613451755.213 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #8
2021-02-16T05:02:35.213Z,1613451755.213 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=8
2021-02-16T05:02:35.213Z,1613451755.213 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T05:02:35.214Z,1613451755.214 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T05:02:37.171Z,1613451757.171 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,050238.00,A,4132.91539,N,07042.58998,W,0.330,251.57,160221,,,D*70
2021-02-16T05:02:37.193Z,1613451757.193 [NAL9602](INFO): GPS fix at 20210216T050238: (41.548590, -70.709833)
2021-02-16T05:02:37.260Z,1613451757.260 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T05:02:37.260Z,1613451757.260 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T05:02:44.767Z,1613451764.767 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:02:45.754Z,1613451765.754 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 12.000000 hour
2021-02-16T05:02:45.756Z,1613451765.756 [CommandLine](IMPORTANT): got command set lineCaptureDepth.NeedCommsTime 90.000000 minute
2021-02-16T05:02:45.756Z,1613451765.756 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-02-16T05:02:45.757Z,1613451765.757 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 100.000000 count
2021-02-16T05:02:54.454Z,1613451774.454 [NAL9602](INFO): SBD MO Status=1, MOMSN=13398, MT Status=0, MTMSN=0
2021-02-16T05:02:54.454Z,1613451774.454 [NAL9602](INFO): No messages in MT queue
2021-02-16T05:02:54.606Z,1613451774.606 [CommandLine](IMPORTANT): got command set lineCaptureDepth.WaitOnDockTimeout 0.010000 minute
2021-02-16T05:02:54.613Z,1613451774.613 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-02-16T05:02:54.614Z,1613451774.614 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-02-16T05:02:54.615Z,1613451774.615 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 500.000000 meter
2021-02-16T05:02:54.616Z,1613451774.616 [CommandLine](IMPORTANT): got command run
2021-02-16T05:02:54.619Z,1613451774.619 [CommandLine](IMPORTANT): Running 
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock] Stopped
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock:SurfaceDefault] Stopped
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T05:02:54.899Z,1613451774.899 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T05:02:54.900Z,1613451774.900 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T05:02:54.900Z,1613451774.900 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T05:02:54.900Z,1613451774.900 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-02-16T05:02:54.900Z,1613451774.900 [lineCaptureDepth] Running Loop=1
2021-02-16T05:02:54.900Z,1613451774.900 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-02-16T05:02:54.900Z,1613451774.900 [lineCaptureDepth:Science] Running Loop=1
2021-02-16T05:02:54.900Z,1613451774.900 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-02-16T05:02:54.900Z,1613451774.900 [lineCaptureDepth:Science:A] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:B] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:C] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:D] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:E] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:F] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-02-16T05:02:54.901Z,1613451774.901 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-16T05:02:54.904Z,1613451774.904 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-02-16T05:02:54.904Z,1613451774.904 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-02-16T05:02:54.904Z,1613451774.904 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-02-16T05:02:54.904Z,1613451774.904 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-02-16T05:02:54.905Z,1613451774.905 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-02-16T05:02:54.905Z,1613451774.905 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-02-16T05:02:54.905Z,1613451774.905 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-02-16T05:02:54.905Z,1613451774.905 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-16T05:02:54.907Z,1613451774.907 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-02-16T05:02:54.907Z,1613451774.907 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-02-16T05:02:54.908Z,1613451774.908 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-02-16T05:02:54.908Z,1613451774.908 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-16T05:02:54.909Z,1613451774.909 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-02-16T05:02:54.909Z,1613451774.909 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-02-16T05:02:54.910Z,1613451774.910 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-02-16T05:02:54.910Z,1613451774.910 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-02-16T05:02:54.923Z,1613451774.923 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-02-16T05:02:54.923Z,1613451774.923 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-02-16T05:02:54.924Z,1613451774.924 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-02-16T05:02:54.924Z,1613451774.924 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-02-16T05:02:54.925Z,1613451774.925 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-02-16T05:02:54.925Z,1613451774.925 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-02-16T05:02:54.926Z,1613451774.926 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T05:02:54.926Z,1613451774.926 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-16T05:02:54.931Z,1613451774.931 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T05:02:54.931Z,1613451774.931 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-16T05:02:54.931Z,1613451774.931 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T05:02:54.931Z,1613451774.931 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:J.] Running Loop=1
2021-02-16T05:02:54.932Z,1613451774.932 [lineCaptureDepth:J.](INFO): Initializing TrackAcousticContact.
2021-02-16T05:02:54.933Z,1613451774.933 [lineCaptureDepth:C] Running Loop=1
2021-02-16T05:02:54.934Z,1613451774.934 [lineCaptureDepth:J.] Running Loop=1
2021-02-16T05:02:54.934Z,1613451774.934 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T05:02:54.937Z,1613451774.937 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-16T05:02:54.937Z,1613451774.937 [lineCaptureDepth:C] Stopped
2021-02-16T05:02:54.937Z,1613451774.937 [lineCaptureDepth:D] Running Loop=1
2021-02-16T05:02:54.937Z,1613451774.937 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-02-16T05:02:54.937Z,1613451774.937 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T05:02:54.938Z,1613451774.938 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T05:02:54.947Z,1613451774.947 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T05:02:54.948Z,1613451774.948 [lineCaptureDepth:Science] Running Loop=1
2021-02-16T05:02:54.948Z,1613451774.948 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-16T05:02:54.949Z,1613451774.949 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-02-16T05:02:54.950Z,1613451774.950 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-02-16T05:02:54.956Z,1613451774.956 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-02-16T05:02:54.957Z,1613451774.957 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-02-16T05:02:54.957Z,1613451774.957 [lineCaptureDepth:Science:F] Stopped
2021-02-16T05:02:54.957Z,1613451774.957 [lineCaptureDepth:Science:E] Stopped
2021-02-16T05:02:54.957Z,1613451774.957 [lineCaptureDepth:Science:D] Stopped
2021-02-16T05:02:54.957Z,1613451774.957 [lineCaptureDepth:Science:C] Running Loop=1
2021-02-16T05:02:54.958Z,1613451774.958 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-02-16T05:02:54.958Z,1613451774.958 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-02-16T05:02:54.958Z,1613451774.958 [lineCaptureDepth:Science:B] Running Loop=1
2021-02-16T05:02:54.963Z,1613451774.963 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-02-16T05:02:54.964Z,1613451774.964 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-02-16T05:02:54.964Z,1613451774.964 [lineCaptureDepth:Science:A] Stopped
2021-02-16T05:02:55.252Z,1613451775.252 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-02-16T05:02:55.276Z,1613451775.276 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T05:02:55.276Z,1613451775.276 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T05:02:55.276Z,1613451775.276 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T05:02:55.276Z,1613451775.276 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:02:55.277Z,1613451775.277 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T05:02:55.277Z,1613451775.277 [lineCaptureDepth:D] Stopped
2021-02-16T05:02:55.277Z,1613451775.277 [lineCaptureDepth:E] Running Loop=1
2021-02-16T05:02:55.681Z,1613451775.681 [lineCaptureDepth:E] Stopped
2021-02-16T05:02:55.681Z,1613451775.681 [lineCaptureDepth:G] Running Loop=1
2021-02-16T05:02:56.085Z,1613451776.085 [lineCaptureDepth:G] Stopped
2021-02-16T05:02:56.086Z,1613451776.086 [lineCaptureDepth:H] Running Loop=1
2021-02-16T05:02:56.482Z,1613451776.482 [lineCaptureDepth:H] Stopped
2021-02-16T05:02:56.482Z,1613451776.482 [lineCaptureDepth:L] Running Loop=1
2021-02-16T05:02:56.893Z,1613451776.893 [lineCaptureDepth:L] Stopped
2021-02-16T05:02:56.893Z,1613451776.893 [lineCaptureDepth:M] Running Loop=1
2021-02-16T05:02:57.328Z,1613451777.328 [lineCaptureDepth:M] Stopped
2021-02-16T05:02:57.328Z,1613451777.328 [lineCaptureDepth:N] Running Loop=1
2021-02-16T05:02:57.717Z,1613451777.717 [lineCaptureDepth:N] Stopped
2021-02-16T05:02:57.717Z,1613451777.717 [lineCaptureDepth:Lap] Running Loop=1
2021-02-16T05:02:57.717Z,1613451777.717 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-02-16T05:02:57.718Z,1613451777.718 [lineCaptureDepth:Lap:A] Running Loop=1
2021-02-16T05:02:57.718Z,1613451777.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:02:58.101Z,1613451778.101 [lineCaptureDepth:Lap:A] Stopped
2021-02-16T05:02:58.101Z,1613451778.101 [lineCaptureDepth:Lap:B] Running Loop=1
2021-02-16T05:02:58.101Z,1613451778.101 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-02-16T05:02:58.301Z,1613451778.301 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-02-16T05:02:58.488Z,1613451778.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture] Running Loop=1
2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T05:02:58.607Z,1613451778.607 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T05:02:58.608Z,1613451778.608 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T05:02:58.609Z,1613451778.609 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-02-16T05:02:58.610Z,1613451778.610 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T05:02:58.611Z,1613451778.611 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T05:02:58.615Z,1613451778.615 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T05:02:58.616Z,1613451778.616 [lineCaptureDepth:LineCapture:A] Stopped
2021-02-16T05:02:58.616Z,1613451778.616 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-02-16T05:02:58.887Z,1613451778.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:02:58.951Z,1613451778.951 [lineCaptureDepth:LineCapture:B] Stopped
2021-02-16T05:02:58.955Z,1613451778.955 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-02-16T05:02:59.328Z,1613451779.328 [lineCaptureDepth:LineCapture:D] Stopped
2021-02-16T05:02:59.328Z,1613451779.328 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-02-16T05:02:59.702Z,1613451779.702 [Micromodem](INFO): Nmea in: $SNTTA,0.294879,,,,050300.01*4E

2021-02-16T05:02:59.731Z,1613451779.731 [lineCaptureDepth:LineCapture:E] Stopped
2021-02-16T05:02:59.731Z,1613451779.731 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:F] Stopped
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T05:03:00.128Z,1613451780.128 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-02-16T05:03:00.129Z,1613451780.129 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:03:00.129Z,1613451780.129 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-02-16T05:03:00.129Z,1613451780.129 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-02-16T05:03:00.129Z,1613451780.129 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T05:03:00.129Z,1613451780.129 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T05:03:00.130Z,1613451780.130 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T05:03:00.131Z,1613451780.131 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T05:03:00.131Z,1613451780.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T05:03:00.132Z,1613451780.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T05:03:00.133Z,1613451780.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T05:03:00.133Z,1613451780.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T05:03:00.583Z,1613451780.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T05:03:00.584Z,1613451780.584 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T05:03:00.585Z,1613451780.585 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T05:03:00.585Z,1613451780.585 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T05:03:00.585Z,1613451780.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-02-16T05:03:00.585Z,1613451780.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:03:00.587Z,1613451780.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:00.910Z,1613451780.910 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:03:00.969Z,1613451780.969 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:03:01.355Z,1613451781.355 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:03:01.762Z,1613451781.762 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:03:01.763Z,1613451781.763 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-02-16T05:03:02.121Z,1613451782.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:02.137Z,1613451782.137 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T05:03:03.375Z,1613451783.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:04.147Z,1613451784.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:04.581Z,1613451784.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:05.361Z,1613451785.361 [Micromodem](INFO): Nmea in: $SNTTA,0.295052,,,,050305.66*4A

2021-02-16T05:03:06.227Z,1613451786.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:07.376Z,1613451787.376 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T05:03:07.787Z,1613451787.787 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:09.023Z,1613451789.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:09.347Z,1613451789.347 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T05:03:09.801Z,1613451789.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:10.227Z,1613451790.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:11.011Z,1613451791.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050311.32*59

2021-02-16T05:03:11.850Z,1613451791.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:13.366Z,1613451793.366 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210216T042015/Courier0025.lzma
2021-02-16T05:03:13.428Z,1613451793.428 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:14.369Z,1613451794.369 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0025.lzma.bak
2021-02-16T05:03:14.369Z,1613451794.369 [DataOverHttps](INFO): SBD MOMSN=81562
2021-02-16T05:03:14.694Z,1613451794.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:15.460Z,1613451795.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:15.854Z,1613451795.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:16.674Z,1613451796.674 [Micromodem](INFO): Nmea in: $SNTTA,0.295506,,,,050316.97*42

2021-02-16T05:03:19.527Z,1613451799.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:20.302Z,1613451800.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:20.704Z,1613451800.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:21.522Z,1613451801.522 [Micromodem](INFO): Nmea in: $SNTTA,0.295697,,,,050321.82*49

2021-02-16T05:03:22.388Z,1613451802.388 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 443.88 m. Transitioning DDM to standby.
2021-02-16T05:03:22.830Z,1613451802.830 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:03:22.830Z,1613451802.830 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-02-16T05:03:23.178Z,1613451803.178 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T05:03:23.178Z,1613451803.178 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-02-16T05:03:23.178Z,1613451803.178 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-02-16T05:03:23.640Z,1613451803.640 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-02-16T05:03:23.640Z,1613451803.640 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-02-16T05:03:23.640Z,1613451803.640 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-02-16T05:03:23.965Z,1613451803.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-02-16T05:03:23.965Z,1613451803.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:03:23.965Z,1613451803.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-02-16T05:03:23.965Z,1613451803.965 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:03:23.966Z,1613451803.966 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T05:03:24.353Z,1613451804.353 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T05:03:24.353Z,1613451804.353 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T05:03:24.354Z,1613451804.354 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T05:03:24.355Z,1613451804.355 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T05:03:24.369Z,1613451804.369 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T05:03:24.369Z,1613451804.369 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-02-16T05:03:24.370Z,1613451804.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:03:24.370Z,1613451804.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-02-16T05:03:24.373Z,1613451804.373 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 443.879974 m 
2021-02-16T05:03:24.373Z,1613451804.373 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-02-16T05:03:24.373Z,1613451804.373 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-02-16T05:03:24.379Z,1613451804.379 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-02-16T05:03:24.380Z,1613451804.380 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T05:03:24.380Z,1613451804.380 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-02-16T05:03:24.380Z,1613451804.380 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-02-16T05:03:24.382Z,1613451804.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T05:03:24.798Z,1613451804.798 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T05:03:24.799Z,1613451804.799 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T05:03:24.799Z,1613451804.799 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T05:03:24.799Z,1613451804.799 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T05:03:24.799Z,1613451804.799 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T05:03:24.799Z,1613451804.799 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T05:03:24.800Z,1613451804.800 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T05:03:25.167Z,1613451805.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:25.169Z,1613451805.169 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T05:03:25.278Z,1613451805.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T05:03:25.279Z,1613451805.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T05:03:25.283Z,1613451805.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T05:03:25.284Z,1613451805.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T05:03:25.284Z,1613451805.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T05:03:25.284Z,1613451805.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T05:03:25.284Z,1613451805.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T05:03:25.285Z,1613451805.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T05:03:25.286Z,1613451805.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-02-16T05:03:25.286Z,1613451805.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:03:25.287Z,1613451805.287 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-02-16T05:03:25.291Z,1613451805.291 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-02-16T05:03:25.583Z,1613451805.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:25.660Z,1613451805.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 443.879974 m, bearing: 13.307895 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:03:25.661Z,1613451805.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 13.307895deg and heading rate command to 0 deg/s.
2021-02-16T05:03:26.378Z,1613451806.378 [Micromodem](INFO): Nmea in: $SNTTA,0.295896,,,,050326.68*45

2021-02-16T05:03:27.231Z,1613451807.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:30.017Z,1613451810.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:32.594Z,1613451812.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:33.304Z,1613451813.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:33.719Z,1613451813.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:34.581Z,1613451814.581 [Micromodem](INFO): Nmea in: $SNTTA,0.295663,,,,050334.82*46

2021-02-16T05:03:35.390Z,1613451815.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:36.595Z,1613451816.595 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:38.252Z,1613451818.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:38.964Z,1613451818.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:39.370Z,1613451819.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:40.224Z,1613451820.224 [Micromodem](INFO): Nmea in: $SNTTA,0.294682,,,,050340.48*4D

2021-02-16T05:03:40.650Z,1613451820.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 442.380005 m, bearing: 10.398296 deg, deltaT: 18.695012 s, approachRate: -0.080234 m/s, LOS rate: -0.155635 deg/s, posRepo size: 2
2021-02-16T05:03:40.650Z,1613451820.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.155635 deg/s. Setting heading cmd to target bearing of 10.398296deg and heading rate command to 0 deg/s.
2021-02-16T05:03:43.062Z,1613451823.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:43.814Z,1613451823.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:44.218Z,1613451824.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:45.042Z,1613451825.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050345.33*59

2021-02-16T05:03:45.886Z,1613451825.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:47.452Z,1613451827.452 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:48.736Z,1613451828.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:49.469Z,1613451829.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:49.939Z,1613451829.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:50.728Z,1613451830.728 [Micromodem](INFO): Nmea in: $SNTTA,0.292484,,,,050350.98*43

2021-02-16T05:03:51.684Z,1613451831.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:52.760Z,1613451832.760 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:03:54.584Z,1613451834.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:55.274Z,1613451835.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:03:55.700Z,1613451835.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:03:56.518Z,1613451836.518 [Micromodem](INFO): Nmea in: $SNTTA,0.291304,,,,050356.79*46

2021-02-16T05:03:57.341Z,1613451837.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:03:58.906Z,1613451838.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:04:00.171Z,1613451840.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:00.937Z,1613451840.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:01.334Z,1613451841.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:02.187Z,1613451842.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050402.45*5C

2021-02-16T05:04:02.640Z,1613451842.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 434.220001 m, bearing: 12.576380 deg, deltaT: 21.890049 s, approachRate: -0.372772 m/s, LOS rate: 0.099501 deg/s, posRepo size: 3
2021-02-16T05:04:02.642Z,1613451842.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 434.220001 m,
      bearing: 12.576380 deg,
      approachRate: -0.372772 m/s,
      LOS rate: 0.099501 deg/s,
      cmd update: 0.298503 deg/s,
      cmd heading: 10.398296 deg,
      new cmd heading: 10.398296 deg.

2021-02-16T05:04:04.990Z,1613451844.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:05.776Z,1613451845.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:06.218Z,1613451846.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:06.990Z,1613451846.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050407.29*53

2021-02-16T05:04:07.878Z,1613451847.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:09.425Z,1613451849.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:04:10.685Z,1613451850.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:11.432Z,1613451851.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:11.837Z,1613451851.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:12.679Z,1613451852.679 [Micromodem](INFO): Nmea in: $SNTTA,0.285631,,,,050412.95*45

2021-02-16T05:04:13.086Z,1613451853.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 428.220001 m, bearing: 14.727812 deg, deltaT: 10.511909 s, approachRate: -0.570781 m/s, LOS rate: 0.204666 deg/s, posRepo size: 4
2021-02-16T05:04:13.088Z,1613451853.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 428.220001 m,
      bearing: 14.727812 deg,
      approachRate: -0.570781 m/s,
      LOS rate: 0.204666 deg/s,
      cmd update: 0.613998 deg/s,
      cmd heading: 13.536129 deg,
      new cmd heading: 13.647322 deg.

2021-02-16T05:04:15.502Z,1613451855.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:16.280Z,1613451856.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:16.698Z,1613451856.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:17.512Z,1613451857.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050417.80*51

2021-02-16T05:04:17.950Z,1613451857.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 425.399994 m, bearing: 13.426490 deg, deltaT: 4.868977 s, approachRate: -0.579179 m/s, LOS rate: -0.267268 deg/s, posRepo size: 4
2021-02-16T05:04:17.952Z,1613451857.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 425.399994 m,
      bearing: 13.426490 deg,
      approachRate: -0.579179 m/s,
      LOS rate: -0.267268 deg/s,
      cmd update: -0.801804 deg/s,
      cmd heading: 16.510699 deg,
      new cmd heading: 16.751126 deg.

2021-02-16T05:04:20.361Z,1613451860.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:21.137Z,1613451861.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:21.549Z,1613451861.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:22.401Z,1613451862.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050422.65*5C

2021-02-16T05:04:23.212Z,1613451863.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:24.767Z,1613451864.767 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:04:26.013Z,1613451866.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:26.785Z,1613451866.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:27.211Z,1613451867.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:28.007Z,1613451868.007 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050428.30*56

2021-02-16T05:04:28.457Z,1613451868.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 418.920013 m, bearing: 14.838285 deg, deltaT: 10.459517 s, approachRate: -0.619530 m/s, LOS rate: 0.134977 deg/s, posRepo size: 4
2021-02-16T05:04:28.464Z,1613451868.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 418.920013 m,
      bearing: 14.838285 deg,
      approachRate: -0.619530 m/s,
      LOS rate: 0.134977 deg/s,
      cmd update: 0.404931 deg/s,
      cmd heading: 8.120843 deg,
      new cmd heading: 7.785760 deg.

2021-02-16T05:04:30.869Z,1613451870.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:31.654Z,1613451871.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:32.050Z,1613451872.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:32.440Z,1613451872.440 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:04:32.891Z,1613451872.891 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050433.17*59

2021-02-16T05:04:33.278Z,1613451873.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 415.799988 m, bearing: 14.329619 deg, deltaT: 4.899977 s, approachRate: -0.636743 m/s, LOS rate: -0.103810 deg/s, posRepo size: 4
2021-02-16T05:04:33.280Z,1613451873.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 415.799988 m,
      bearing: 14.329619 deg,
      approachRate: -0.636743 m/s,
      LOS rate: -0.103810 deg/s,
      cmd update: -0.311430 deg/s,
      cmd heading: 10.113216 deg,
      new cmd heading: 10.249165 deg.

2021-02-16T05:04:34.889Z,1613451874.889 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:04:35.717Z,1613451875.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:36.485Z,1613451876.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:36.885Z,1613451876.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:37.700Z,1613451877.700 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050438.00*54

2021-02-16T05:04:38.145Z,1613451878.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 413.039978 m, bearing: 13.412404 deg, deltaT: 4.783424 s, approachRate: -0.576995 m/s, LOS rate: -0.191749 deg/s, posRepo size: 4
2021-02-16T05:04:38.148Z,1613451878.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 413.039978 m,
      bearing: 13.412404 deg,
      approachRate: -0.576995 m/s,
      LOS rate: -0.191749 deg/s,
      cmd update: -0.575246 deg/s,
      cmd heading: 8.623548 deg,
      new cmd heading: 8.493714 deg.

2021-02-16T05:04:40.595Z,1613451880.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:41.334Z,1613451881.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:41.734Z,1613451881.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:42.581Z,1613451882.581 [Micromodem](INFO): Nmea in: $SNTTA,0.273490,,,,050442.85*41

2021-02-16T05:04:42.986Z,1613451882.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 410.220001 m, bearing: 12.979340 deg, deltaT: 4.929272 s, approachRate: -0.572088 m/s, LOS rate: -0.087856 deg/s, posRepo size: 4
2021-02-16T05:04:42.988Z,1613451882.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 410.220001 m,
      bearing: 12.979340 deg,
      approachRate: -0.572088 m/s,
      LOS rate: -0.087856 deg/s,
      cmd update: -0.263567 deg/s,
      cmd heading: 5.790397 deg,
      new cmd heading: 5.597474 deg.

2021-02-16T05:04:45.394Z,1613451885.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:46.209Z,1613451886.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:46.595Z,1613451886.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:47.419Z,1613451887.419 [Micromodem](INFO): Nmea in: $SNTTA,0.271521,,,,050447.73*44

2021-02-16T05:04:47.890Z,1613451887.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 406.979980 m, bearing: 17.740916 deg, deltaT: 4.788622 s, approachRate: -0.676608 m/s, LOS rate: 0.994352 deg/s, posRepo size: 4
2021-02-16T05:04:47.896Z,1613451887.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 406.979980 m,
      bearing: 17.740916 deg,
      approachRate: -0.676608 m/s,
      LOS rate: 0.994352 deg/s,
      cmd update: 2.983056 deg/s,
      cmd heading: 4.527210 deg,
      new cmd heading: 4.409550 deg.

2021-02-16T05:04:50.263Z,1613451890.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:51.031Z,1613451891.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:51.441Z,1613451891.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:52.301Z,1613451892.301 [Micromodem](INFO): Nmea in: $SNTTA,0.269922,,,,050452.55*42

2021-02-16T05:04:52.710Z,1613451892.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 404.639984 m, bearing: 16.791557 deg, deltaT: 4.938175 s, approachRate: -0.473859 m/s, LOS rate: -0.192249 deg/s, posRepo size: 4
2021-02-16T05:04:52.714Z,1613451892.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 404.639984 m,
      bearing: 16.791557 deg,
      approachRate: -0.473859 m/s,
      LOS rate: -0.192249 deg/s,
      cmd update: -0.576747 deg/s,
      cmd heading: 19.245927 deg,
      new cmd heading: 20.230437 deg.

2021-02-16T05:04:55.085Z,1613451895.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:04:55.872Z,1613451895.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:04:56.291Z,1613451896.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:04:57.102Z,1613451897.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050457.39*57

2021-02-16T05:04:57.583Z,1613451897.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 402.299957 m, bearing: 18.634754 deg, deltaT: 4.807759 s, approachRate: -0.486719 m/s, LOS rate: 0.383380 deg/s, posRepo size: 4
2021-02-16T05:04:57.585Z,1613451897.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 402.299957 m,
      bearing: 18.634754 deg,
      approachRate: -0.486719 m/s,
      LOS rate: 0.383380 deg/s,
      cmd update: 1.150139 deg/s,
      cmd heading: 16.486704 deg,
      new cmd heading: 16.246140 deg.

2021-02-16T05:04:59.942Z,1613451899.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:00.720Z,1613451900.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:01.135Z,1613451901.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:01.939Z,1613451901.939 [Micromodem](INFO): Nmea in: $SNTTA,0.266783,,,,050502.23*4D

2021-02-16T05:05:02.414Z,1613451902.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.239960 m, bearing: 15.732311 deg, deltaT: 4.807240 s, approachRate: -0.636539 m/s, LOS rate: -0.603765 deg/s, posRepo size: 4
2021-02-16T05:05:02.417Z,1613451902.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.239960 m,
      bearing: 15.732311 deg,
      approachRate: -0.636539 m/s,
      LOS rate: -0.603765 deg/s,
      cmd update: -1.811295 deg/s,
      cmd heading: 22.037453 deg,
      new cmd heading: 22.526994 deg.

2021-02-16T05:05:04.806Z,1613451904.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:05.611Z,1613451905.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:05.979Z,1613451905.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:07.224Z,1613451907.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050507.20*5B

2021-02-16T05:05:07.248Z,1613451907.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 399.239960 m, bearing: 16.548650 deg, deltaT: 4.924726 s, approachRate: 0.000000 m/s, LOS rate: 0.165763 deg/s, posRepo size: 4
2021-02-16T05:05:07.250Z,1613451907.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 399.239960 m,
      bearing: 16.548650 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.165763 deg/s,
      cmd update: 0.497290 deg/s,
      cmd heading: 13.108523 deg,
      new cmd heading: 12.510155 deg.

2021-02-16T05:05:09.655Z,1613451909.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:10.416Z,1613451910.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:10.823Z,1613451910.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:11.651Z,1613451911.651 [Micromodem](INFO): Nmea in: $SNTTA,0.263165,,,,050511.93*4F

2021-02-16T05:05:12.075Z,1613451912.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 394.619995 m, bearing: 14.481644 deg, deltaT: 4.754720 s, approachRate: -0.971659 m/s, LOS rate: -0.434727 deg/s, posRepo size: 4
2021-02-16T05:05:12.077Z,1613451912.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 394.619995 m,
      bearing: 14.481644 deg,
      approachRate: -0.971659 m/s,
      LOS rate: -0.434727 deg/s,
      cmd update: -1.304182 deg/s,
      cmd heading: 15.474892 deg,
      new cmd heading: 15.673087 deg.

2021-02-16T05:05:14.471Z,1613451914.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:15.285Z,1613451915.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:15.675Z,1613451915.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:16.492Z,1613451916.492 [Micromodem](INFO): Nmea in: $SNTTA,0.261003,,,,050516.80*49

2021-02-16T05:05:17.322Z,1613451917.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:18.900Z,1613451918.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:05:20.134Z,1613451920.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:20.933Z,1613451920.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:21.325Z,1613451921.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:22.153Z,1613451922.153 [Micromodem](INFO): Nmea in: $SNTTA,0.258829,,,,050522.45*4D

2021-02-16T05:05:22.622Z,1613451922.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 388.140015 m, bearing: 15.974470 deg, deltaT: 10.496311 s, approachRate: -0.617358 m/s, LOS rate: 0.142224 deg/s, posRepo size: 4
2021-02-16T05:05:22.624Z,1613451922.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.140015 m,
      bearing: 15.974470 deg,
      approachRate: -0.617358 m/s,
      LOS rate: 0.142224 deg/s,
      cmd update: 0.426672 deg/s,
      cmd heading: 1.786245 deg,
      new cmd heading: 1.199407 deg.

2021-02-16T05:05:24.999Z,1613451924.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:25.774Z,1613451925.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:26.208Z,1613451926.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:27.003Z,1613451927.003 [Micromodem](INFO): Nmea in: $SNTTA,0.256796,,,,050527.29*47

2021-02-16T05:05:27.420Z,1613451927.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 385.619995 m, bearing: 14.250096 deg, deltaT: 4.875681 s, approachRate: -0.516855 m/s, LOS rate: -0.353668 deg/s, posRepo size: 4
2021-02-16T05:05:27.421Z,1613451927.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.619995 m,
      bearing: 14.250096 deg,
      approachRate: -0.516855 m/s,
      LOS rate: -0.353668 deg/s,
      cmd update: -1.061005 deg/s,
      cmd heading: 3.862544 deg,
      new cmd heading: 4.025217 deg.

2021-02-16T05:05:29.857Z,1613451929.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:30.646Z,1613451930.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:31.150Z,1613451931.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:31.906Z,1613451931.906 [Micromodem](INFO): Nmea in: $SNTTA,0.255010,,,,050532.16*45

2021-02-16T05:05:32.437Z,1613451932.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 382.319977 m, bearing: 15.258216 deg, deltaT: 5.025317 s, approachRate: -0.656679 m/s, LOS rate: 0.200608 deg/s, posRepo size: 4
2021-02-16T05:05:32.455Z,1613451932.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.319977 m,
      bearing: 15.258216 deg,
      approachRate: -0.656679 m/s,
      LOS rate: 0.200608 deg/s,
      cmd update: 0.601825 deg/s,
      cmd heading: 358.553424 deg,
      new cmd heading: 358.134060 deg.

2021-02-16T05:05:34.862Z,1613451934.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:35.576Z,1613451935.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:36.024Z,1613451936.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:36.827Z,1613451936.827 [Micromodem](INFO): Nmea in: $SNTTA,0.253264,,,,050537.09*49

2021-02-16T05:05:37.352Z,1613451937.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 379.619965 m, bearing: 14.655397 deg, deltaT: 4.879905 s, approachRate: -0.553292 m/s, LOS rate: -0.123531 deg/s, posRepo size: 4
2021-02-16T05:05:37.376Z,1613451937.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 379.619965 m,
      bearing: 14.655397 deg,
      approachRate: -0.553292 m/s,
      LOS rate: -0.123531 deg/s,
      cmd update: -0.370593 deg/s,
      cmd heading: 1.499402 deg,
      new cmd heading: 1.743658 deg.

2021-02-16T05:05:39.693Z,1613451939.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:40.452Z,1613451940.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:40.859Z,1613451940.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:41.670Z,1613451941.670 [Micromodem](INFO): Nmea in: $SNTTA,0.251474,,,,050541.97*4A

2021-02-16T05:05:42.127Z,1613451942.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 376.980011 m, bearing: 14.776438 deg, deltaT: 4.810163 s, approachRate: -0.548828 m/s, LOS rate: 0.025164 deg/s, posRepo size: 4
2021-02-16T05:05:42.129Z,1613451942.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 376.980011 m,
      bearing: 14.776438 deg,
      approachRate: -0.548828 m/s,
      LOS rate: 0.025164 deg/s,
      cmd update: 0.075491 deg/s,
      cmd heading: 359.713796 deg,
      new cmd heading: 359.576231 deg.

2021-02-16T05:05:44.575Z,1613451944.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:45.302Z,1613451945.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:45.707Z,1613451945.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:46.541Z,1613451946.541 [Micromodem](INFO): Nmea in: $SNTTA,0.249767,,,,050546.82*41

2021-02-16T05:05:47.358Z,1613451947.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:48.935Z,1613451948.935 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:05:50.236Z,1613451950.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:50.957Z,1613451950.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:51.363Z,1613451951.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:52.210Z,1613451952.210 [Micromodem](INFO): Nmea in: $SNTTA,0.247563,,,,050552.47*45

2021-02-16T05:05:52.695Z,1613451952.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 371.819977 m, bearing: 14.463498 deg, deltaT: 10.491141 s, approachRate: -0.491847 m/s, LOS rate: -0.029829 deg/s, posRepo size: 4
2021-02-16T05:05:52.697Z,1613451952.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.819977 m,
      bearing: 14.463498 deg,
      approachRate: -0.491847 m/s,
      LOS rate: -0.029829 deg/s,
      cmd update: -0.089487 deg/s,
      cmd heading: 0.506086 deg,
      new cmd heading: 0.539026 deg.

2021-02-16T05:05:55.049Z,1613451955.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:05:55.810Z,1613451955.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:05:56.276Z,1613451956.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:05:57.039Z,1613451957.039 [Micromodem](INFO): Nmea in: $SNTTA,0.245732,,,,050557.32*46

2021-02-16T05:05:57.572Z,1613451957.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 369.059967 m, bearing: 13.895831 deg, deltaT: 4.891319 s, approachRate: -0.564267 m/s, LOS rate: -0.116056 deg/s, posRepo size: 4
2021-02-16T05:05:57.587Z,1613451957.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.059967 m,
      bearing: 13.895831 deg,
      approachRate: -0.564267 m/s,
      LOS rate: -0.116056 deg/s,
      cmd update: -0.348168 deg/s,
      cmd heading: 0.071828 deg,
      new cmd heading: 0.033816 deg.

2021-02-16T05:05:59.870Z,1613451959.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:00.673Z,1613451960.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:01.057Z,1613451961.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:01.885Z,1613451961.885 [Micromodem](INFO): Nmea in: $SNTTA,0.243971,,,,050602.19*43

2021-02-16T05:06:02.306Z,1613451962.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 365.699982 m, bearing: 14.704608 deg, deltaT: 4.763095 s, approachRate: -0.705421 m/s, LOS rate: 0.169801 deg/s, posRepo size: 4
2021-02-16T05:06:02.308Z,1613451962.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.699982 m,
      bearing: 14.704608 deg,
      approachRate: -0.705421 m/s,
      LOS rate: 0.169801 deg/s,
      cmd update: 0.509402 deg/s,
      cmd heading: 358.398632 deg,
      new cmd heading: 358.260361 deg.

2021-02-16T05:06:04.751Z,1613451964.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:05.505Z,1613451965.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:05.911Z,1613451965.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:06.723Z,1613451966.723 [Micromodem](INFO): Nmea in: $SNTTA,0.242329,,,,050607.02*4A

2021-02-16T05:06:07.212Z,1613451967.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 363.239990 m, bearing: 14.437903 deg, deltaT: 4.838125 s, approachRate: -0.508460 m/s, LOS rate: -0.055126 deg/s, posRepo size: 4
2021-02-16T05:06:07.214Z,1613451967.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.239990 m,
      bearing: 14.437903 deg,
      approachRate: -0.508460 m/s,
      LOS rate: -0.055126 deg/s,
      cmd update: -0.165377 deg/s,
      cmd heading: 0.863238 deg,
      new cmd heading: 1.097645 deg.

2021-02-16T05:06:09.254Z,1613451969.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:09.949Z,1613451969.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:10.355Z,1613451970.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:11.175Z,1613451971.175 [Micromodem](INFO): Nmea in: $SNTTA,0.240749,,,,050611.46*4D

2021-02-16T05:06:11.632Z,1613451971.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 361.619965 m, bearing: 13.866515 deg, deltaT: 4.478383 s, approachRate: -0.361743 m/s, LOS rate: -0.127588 deg/s, posRepo size: 4
2021-02-16T05:06:11.634Z,1613451971.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.619965 m,
      bearing: 13.866515 deg,
      approachRate: -0.361743 m/s,
      LOS rate: -0.127588 deg/s,
      cmd update: -0.382764 deg/s,
      cmd heading: 0.122989 deg,
      new cmd heading: 0.055454 deg.

2021-02-16T05:06:14.004Z,1613451974.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:14.794Z,1613451974.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:15.229Z,1613451975.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:16.009Z,1613451976.009 [Micromodem](INFO): Nmea in: $SNTTA,0.238933,,,,050616.31*46

2021-02-16T05:06:16.838Z,1613451976.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:18.426Z,1613451978.426 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:06:19.681Z,1613451979.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:20.457Z,1613451980.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:20.875Z,1613451980.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:21.672Z,1613451981.672 [Micromodem](INFO): Nmea in: $SNTTA,0.236922,,,,050621.97*40

2021-02-16T05:06:22.106Z,1613451982.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 355.559967 m, bearing: 16.286489 deg, deltaT: 10.499609 s, approachRate: -0.577164 m/s, LOS rate: 0.230482 deg/s, posRepo size: 4
2021-02-16T05:06:22.108Z,1613451982.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 355.559967 m,
      bearing: 16.286489 deg,
      approachRate: -0.577164 m/s,
      LOS rate: 0.230482 deg/s,
      cmd update: 0.691447 deg/s,
      cmd heading: 356.104860 deg,
      new cmd heading: 355.957460 deg.

2021-02-16T05:06:24.563Z,1613451984.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:25.317Z,1613451985.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:25.701Z,1613451985.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:26.575Z,1613451986.575 [Micromodem](INFO): Nmea in: $SNTTA,0.235193,,,,050626.83*43

2021-02-16T05:06:26.943Z,1613451986.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 352.980011 m, bearing: 16.917332 deg, deltaT: 4.904127 s, approachRate: -0.526079 m/s, LOS rate: 0.128635 deg/s, posRepo size: 4
2021-02-16T05:06:26.945Z,1613451986.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.980011 m,
      bearing: 16.917332 deg,
      approachRate: -0.526079 m/s,
      LOS rate: 0.128635 deg/s,
      cmd update: 0.385905 deg/s,
      cmd heading: 359.498559 deg,
      new cmd heading: 359.715599 deg.

2021-02-16T05:06:29.385Z,1613451989.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:30.157Z,1613451990.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:30.580Z,1613451990.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:31.373Z,1613451991.373 [Micromodem](INFO): Nmea in: $SNTTA,0.233361,,,,050631.67*46

2021-02-16T05:06:31.803Z,1613451991.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 350.220001 m, bearing: 16.640272 deg, deltaT: 4.769622 s, approachRate: -0.578664 m/s, LOS rate: -0.058088 deg/s, posRepo size: 4
2021-02-16T05:06:31.805Z,1613451991.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.220001 m,
      bearing: 16.640272 deg,
      approachRate: -0.578664 m/s,
      LOS rate: -0.058088 deg/s,
      cmd update: -0.174265 deg/s,
      cmd heading: 1.338598 deg,
      new cmd heading: 1.495056 deg.

2021-02-16T05:06:34.208Z,1613451994.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:35.010Z,1613451995.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:35.403Z,1613451995.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:36.229Z,1613451996.229 [Micromodem](INFO): Nmea in: $SNTTA,0.231522,,,,050636.52*44

2021-02-16T05:06:36.659Z,1613451996.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 347.520020 m, bearing: 17.049552 deg, deltaT: 4.854344 s, approachRate: -0.556199 m/s, LOS rate: 0.084312 deg/s, posRepo size: 4
2021-02-16T05:06:36.661Z,1613451996.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 347.520020 m,
      bearing: 17.049552 deg,
      approachRate: -0.556199 m/s,
      LOS rate: 0.084312 deg/s,
      cmd update: 0.252937 deg/s,
      cmd heading: 0.492353 deg,
      new cmd heading: 0.421688 deg.

2021-02-16T05:06:39.055Z,1613451999.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:39.846Z,1613451999.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:40.247Z,1613452000.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:41.068Z,1613452001.068 [Micromodem](INFO): Nmea in: $SNTTA,0.229643,,,,050641.36*4B

2021-02-16T05:06:41.498Z,1613452001.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 344.699982 m, bearing: 14.369159 deg, deltaT: 4.829405 s, approachRate: -0.583931 m/s, LOS rate: -0.555015 deg/s, posRepo size: 4
2021-02-16T05:06:41.500Z,1613452001.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.699982 m,
      bearing: 14.369159 deg,
      approachRate: -0.583931 m/s,
      LOS rate: -0.555015 deg/s,
      cmd update: -1.665046 deg/s,
      cmd heading: 1.713839 deg,
      new cmd heading: 1.819039 deg.

2021-02-16T05:06:43.927Z,1613452003.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:44.700Z,1613452004.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:45.094Z,1613452005.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:45.913Z,1613452005.913 [Micromodem](INFO): Nmea in: $SNTTA,0.227928,,,,050646.21*46

2021-02-16T05:06:46.355Z,1613452006.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 342.119995 m, bearing: 16.439941 deg, deltaT: 4.855680 s, approachRate: -0.531334 m/s, LOS rate: 0.426466 deg/s, posRepo size: 4
2021-02-16T05:06:46.357Z,1613452006.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.119995 m,
      bearing: 16.439941 deg,
      approachRate: -0.531334 m/s,
      LOS rate: 0.426466 deg/s,
      cmd update: 1.279398 deg/s,
      cmd heading: 353.628610 deg,
      new cmd heading: 352.935075 deg.

2021-02-16T05:06:48.761Z,1613452008.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:49.548Z,1613452009.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:49.941Z,1613452009.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:50.761Z,1613452010.761 [Micromodem](INFO): Nmea in: $SNTTA,0.226162,,,,050651.06*42

2021-02-16T05:06:51.220Z,1613452011.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 339.539978 m, bearing: 14.956745 deg, deltaT: 4.875522 s, approachRate: -0.529178 m/s, LOS rate: -0.304213 deg/s, posRepo size: 4
2021-02-16T05:06:51.222Z,1613452011.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 339.539978 m,
      bearing: 14.956745 deg,
      approachRate: -0.529178 m/s,
      LOS rate: -0.304213 deg/s,
      cmd update: -0.912638 deg/s,
      cmd heading: 359.861187 deg,
      new cmd heading: 0.380755 deg.

2021-02-16T05:06:53.627Z,1613452013.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:54.399Z,1613452014.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:54.809Z,1613452014.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:06:55.612Z,1613452015.612 [Micromodem](INFO): Nmea in: $SNTTA,0.224708,,,,050655.92*43

2021-02-16T05:06:56.030Z,1613452016.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 337.320007 m, bearing: 17.789178 deg, deltaT: 4.843550 s, approachRate: -0.458335 m/s, LOS rate: 0.584785 deg/s, posRepo size: 4
2021-02-16T05:06:56.032Z,1613452016.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.320007 m,
      bearing: 17.789178 deg,
      approachRate: -0.458335 m/s,
      LOS rate: 0.584785 deg/s,
      cmd update: 1.754354 deg/s,
      cmd heading: 355.455610 deg,
      new cmd heading: 355.096994 deg.

2021-02-16T05:06:58.462Z,1613452018.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:06:59.232Z,1613452019.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:06:59.644Z,1613452019.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:00.455Z,1613452020.455 [Micromodem](INFO): Nmea in: $SNTTA,0.222688,,,,050700.75*44

2021-02-16T05:07:00.896Z,1613452020.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 333.779999 m, bearing: 13.533563 deg, deltaT: 4.826883 s, approachRate: -0.733394 m/s, LOS rate: -0.881649 deg/s, posRepo size: 4
2021-02-16T05:07:00.898Z,1613452020.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.779999 m,
      bearing: 13.533563 deg,
      approachRate: -0.733394 m/s,
      LOS rate: -0.881649 deg/s,
      cmd update: -2.644946 deg/s,
      cmd heading: 3.959268 deg,
      new cmd heading: 4.681462 deg.

2021-02-16T05:07:03.314Z,1613452023.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:04.094Z,1613452024.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:04.490Z,1613452024.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:05.309Z,1613452025.309 [Micromodem](INFO): Nmea in: $SNTTA,0.221036,,,,050705.61*44

2021-02-16T05:07:05.739Z,1613452025.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 331.319977 m, bearing: 17.498458 deg, deltaT: 4.858980 s, approachRate: -0.506284 m/s, LOS rate: 0.815993 deg/s, posRepo size: 4
2021-02-16T05:07:05.741Z,1613452025.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 331.319977 m,
      bearing: 17.498458 deg,
      approachRate: -0.506284 m/s,
      LOS rate: 0.815993 deg/s,
      cmd update: 2.447980 deg/s,
      cmd heading: 351.112286 deg,
      new cmd heading: 350.061959 deg.

2021-02-16T05:07:08.154Z,1613452028.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:08.934Z,1613452028.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:09.334Z,1613452029.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:10.154Z,1613452030.154 [Micromodem](INFO): Nmea in: $SNTTA,0.219251,,,,050710.45*4E

2021-02-16T05:07:10.629Z,1613452030.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 328.619995 m, bearing: 17.299155 deg, deltaT: 4.882469 s, approachRate: -0.552995 m/s, LOS rate: -0.040820 deg/s, posRepo size: 4
2021-02-16T05:07:10.632Z,1613452030.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.619995 m,
      bearing: 17.299155 deg,
      approachRate: -0.552995 m/s,
      LOS rate: -0.040820 deg/s,
      cmd update: -0.122461 deg/s,
      cmd heading: 3.038263 deg,
      new cmd heading: 4.056138 deg.

2021-02-16T05:07:13.008Z,1613452033.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:13.782Z,1613452033.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:14.188Z,1613452034.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:15.002Z,1613452035.002 [Micromodem](INFO): Nmea in: $SNTTA,0.217511,,,,050715.30*44

2021-02-16T05:07:15.440Z,1613452035.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 326.579987 m, bearing: 17.817833 deg, deltaT: 4.791565 s, approachRate: -0.425750 m/s, LOS rate: 0.108248 deg/s, posRepo size: 4
2021-02-16T05:07:15.442Z,1613452035.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 326.579987 m,
      bearing: 17.817833 deg,
      approachRate: -0.425750 m/s,
      LOS rate: 0.108248 deg/s,
      cmd update: 0.324744 deg/s,
      cmd heading: 2.449951 deg,
      new cmd heading: 2.398203 deg.

2021-02-16T05:07:17.852Z,1613452037.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:18.631Z,1613452038.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:19.029Z,1613452039.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:19.855Z,1613452039.855 [Micromodem](INFO): Nmea in: $SNTTA,0.215937,,,,050720.15*4F

2021-02-16T05:07:20.278Z,1613452040.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 324.179993 m, bearing: 18.743685 deg, deltaT: 4.862415 s, approachRate: -0.493581 m/s, LOS rate: 0.190410 deg/s, posRepo size: 4
2021-02-16T05:07:20.280Z,1613452040.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 324.179993 m,
      bearing: 18.743685 deg,
      approachRate: -0.493581 m/s,
      LOS rate: 0.190410 deg/s,
      cmd update: 0.571230 deg/s,
      cmd heading: 4.028985 deg,
      new cmd heading: 4.158339 deg.

2021-02-16T05:07:22.704Z,1613452042.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:23.474Z,1613452043.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:23.879Z,1613452043.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:24.708Z,1613452044.708 [Micromodem](INFO): Nmea in: $SNTTA,0.214123,,,,050724.99*43

2021-02-16T05:07:25.118Z,1613452045.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 321.540009 m, bearing: 17.825151 deg, deltaT: 4.863305 s, approachRate: -0.542837 m/s, LOS rate: -0.188870 deg/s, posRepo size: 4
2021-02-16T05:07:25.137Z,1613452045.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.540009 m,
      bearing: 17.825151 deg,
      approachRate: -0.542837 m/s,
      LOS rate: -0.188870 deg/s,
      cmd update: -0.566611 deg/s,
      cmd heading: 6.806921 deg,
      new cmd heading: 7.021296 deg.

2021-02-16T05:07:27.590Z,1613452047.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:28.327Z,1613452048.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:28.726Z,1613452048.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:29.581Z,1613452049.581 [Micromodem](INFO): Nmea in: $SNTTA,0.212227,,,,050729.84*43

2021-02-16T05:07:29.970Z,1613452049.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 318.660004 m, bearing: 19.676426 deg, deltaT: 4.862635 s, approachRate: -0.592272 m/s, LOS rate: 0.380714 deg/s, posRepo size: 4
2021-02-16T05:07:29.972Z,1613452049.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.660004 m,
      bearing: 19.676426 deg,
      approachRate: -0.592272 m/s,
      LOS rate: 0.380714 deg/s,
      cmd update: 1.142143 deg/s,
      cmd heading: 4.051564 deg,
      new cmd heading: 3.845074 deg.

2021-02-16T05:07:32.441Z,1613452052.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:33.178Z,1613452053.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:33.600Z,1613452053.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:34.410Z,1613452054.410 [Micromodem](INFO): Nmea in: $SNTTA,0.210522,,,,050734.69*4C

2021-02-16T05:07:34.890Z,1613452054.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 315.600006 m, bearing: 21.947327 deg, deltaT: 4.835005 s, approachRate: -0.632884 m/s, LOS rate: 0.469679 deg/s, posRepo size: 4
2021-02-16T05:07:34.904Z,1613452054.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.600006 m,
      bearing: 21.947327 deg,
      approachRate: -0.632884 m/s,
      LOS rate: 0.469679 deg/s,
      cmd update: 1.409038 deg/s,
      cmd heading: 9.568856 deg,
      new cmd heading: 10.086806 deg.

2021-02-16T05:07:37.265Z,1613452057.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:38.054Z,1613452058.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:38.441Z,1613452058.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:39.295Z,1613452059.295 [Micromodem](INFO): Nmea in: $SNTTA,0.208966,,,,050739.57*49

2021-02-16T05:07:39.713Z,1613452059.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 313.799988 m, bearing: 18.860295 deg, deltaT: 4.935624 s, approachRate: -0.364699 m/s, LOS rate: -0.625459 deg/s, posRepo size: 4
2021-02-16T05:07:39.715Z,1613452059.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.799988 m,
      bearing: 18.860295 deg,
      approachRate: -0.364699 m/s,
      LOS rate: -0.625459 deg/s,
      cmd update: -1.876378 deg/s,
      cmd heading: 16.505669 deg,
      new cmd heading: 17.003451 deg.

2021-02-16T05:07:42.113Z,1613452062.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:42.873Z,1613452062.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:43.278Z,1613452063.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:44.096Z,1613452064.096 [Micromodem](INFO): Nmea in: $SNTTA,0.206893,,,,050744.39*4E

2021-02-16T05:07:44.578Z,1613452064.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 310.619995 m, bearing: 16.460928 deg, deltaT: 4.794710 s, approachRate: -0.663229 m/s, LOS rate: -0.500420 deg/s, posRepo size: 4
2021-02-16T05:07:44.585Z,1613452064.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.619995 m,
      bearing: 16.460928 deg,
      approachRate: -0.663229 m/s,
      LOS rate: -0.500420 deg/s,
      cmd update: -1.501259 deg/s,
      cmd heading: 7.493743 deg,
      new cmd heading: 6.714533 deg.

2021-02-16T05:07:46.960Z,1613452066.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:47.722Z,1613452067.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:48.127Z,1613452068.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:48.944Z,1613452068.944 [Micromodem](INFO): Nmea in: $SNTTA,0.205160,,,,050749.24*49

2021-02-16T05:07:49.412Z,1613452069.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 308.039978 m, bearing: 20.017189 deg, deltaT: 4.854979 s, approachRate: -0.531417 m/s, LOS rate: 0.732498 deg/s, posRepo size: 4
2021-02-16T05:07:49.414Z,1613452069.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 308.039978 m,
      bearing: 20.017189 deg,
      approachRate: -0.531417 m/s,
      LOS rate: 0.732498 deg/s,
      cmd update: 2.197493 deg/s,
      cmd heading: 0.204662 deg,
      new cmd heading: 359.655137 deg.

2021-02-16T05:07:51.831Z,1613452071.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:52.626Z,1613452072.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:53.112Z,1613452073.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:53.863Z,1613452073.863 [Micromodem](INFO): Nmea in: $SNTTA,0.203325,,,,050754.14*43

2021-02-16T05:07:54.299Z,1613452074.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.739990 m, bearing: 21.500995 deg, deltaT: 5.010420 s, approachRate: -0.658625 m/s, LOS rate: 0.296144 deg/s, posRepo size: 4
2021-02-16T05:07:54.309Z,1613452074.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.739990 m,
      bearing: 21.500995 deg,
      approachRate: -0.658625 m/s,
      LOS rate: 0.296144 deg/s,
      cmd update: 0.888432 deg/s,
      cmd heading: 11.161756 deg,
      new cmd heading: 11.809314 deg.

2021-02-16T05:07:56.734Z,1613452076.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:07:57.502Z,1613452077.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:07:57.907Z,1613452077.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:07:58.728Z,1613452078.728 [Micromodem](INFO): Nmea in: $SNTTA,0.201535,,,,050759.02*4C

2021-02-16T05:07:59.147Z,1613452079.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.100006 m, bearing: 20.582859 deg, deltaT: 4.739036 s, approachRate: -0.557072 m/s, LOS rate: -0.193739 deg/s, posRepo size: 4
2021-02-16T05:07:59.149Z,1613452079.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.100006 m,
      bearing: 20.582859 deg,
      approachRate: -0.557072 m/s,
      LOS rate: -0.193739 deg/s,
      cmd update: -0.581217 deg/s,
      cmd heading: 15.393654 deg,
      new cmd heading: 15.716354 deg.

2021-02-16T05:08:01.576Z,1613452081.576 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:08:01.607Z,1613452081.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:02.349Z,1613452082.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:02.755Z,1613452082.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:03.610Z,1613452083.610 [Micromodem](INFO): Nmea in: $SNTTA,0.199675,,,,050803.87*44

2021-02-16T05:08:03.994Z,1613452083.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.339966 m, bearing: 21.379990 deg, deltaT: 4.914078 s, approachRate: -0.561660 m/s, LOS rate: 0.162214 deg/s, posRepo size: 4
2021-02-16T05:08:03.996Z,1613452083.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.339966 m,
      bearing: 21.379990 deg,
      approachRate: -0.561660 m/s,
      LOS rate: 0.162214 deg/s,
      cmd update: 0.486641 deg/s,
      cmd heading: 12.552303 deg,
      new cmd heading: 12.355654 deg.

2021-02-16T05:08:06.406Z,1613452086.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:07.207Z,1613452087.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:07.591Z,1613452087.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:08.413Z,1613452088.413 [Micromodem](INFO): Nmea in: $SNTTA,0.198297,,,,050808.72*4C

2021-02-16T05:08:08.836Z,1613452088.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 297.239990 m, bearing: 20.804500 deg, deltaT: 4.790250 s, approachRate: -0.438385 m/s, LOS rate: -0.120138 deg/s, posRepo size: 4
2021-02-16T05:08:08.838Z,1613452088.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.239990 m,
      bearing: 20.804500 deg,
      approachRate: -0.438385 m/s,
      LOS rate: -0.120138 deg/s,
      cmd update: -0.360413 deg/s,
      cmd heading: 14.898529 deg,
      new cmd heading: 15.073040 deg.

2021-02-16T05:08:11.288Z,1613452091.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:12.034Z,1613452092.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:12.433Z,1613452092.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:13.252Z,1613452093.252 [Micromodem](INFO): Nmea in: $SNTTA,0.196203,,,,050813.55*40

2021-02-16T05:08:13.726Z,1613452093.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.059998 m, bearing: 20.999381 deg, deltaT: 4.786798 s, approachRate: -0.664326 m/s, LOS rate: 0.040712 deg/s, posRepo size: 4
2021-02-16T05:08:13.732Z,1613452093.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.059998 m,
      bearing: 20.999381 deg,
      approachRate: -0.664326 m/s,
      LOS rate: 0.040712 deg/s,
      cmd update: 0.122136 deg/s,
      cmd heading: 13.172288 deg,
      new cmd heading: 13.006816 deg.

2021-02-16T05:08:16.083Z,1613452096.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:16.882Z,1613452096.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:17.281Z,1613452097.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:18.101Z,1613452098.101 [Micromodem](INFO): Nmea in: $SNTTA,0.194351,,,,050818.40*4B

2021-02-16T05:08:18.586Z,1613452098.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 291.299988 m, bearing: 22.302212 deg, deltaT: 4.876264 s, approachRate: -0.566009 m/s, LOS rate: 0.267178 deg/s, posRepo size: 4
2021-02-16T05:08:18.592Z,1613452098.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.299988 m,
      bearing: 22.302212 deg,
      approachRate: -0.566009 m/s,
      LOS rate: 0.267178 deg/s,
      cmd update: 0.801534 deg/s,
      cmd heading: 13.764653 deg,
      new cmd heading: 13.822022 deg.

2021-02-16T05:08:20.973Z,1613452100.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:21.728Z,1613452101.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:22.129Z,1613452102.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:22.951Z,1613452102.951 [Micromodem](INFO): Nmea in: $SNTTA,0.192604,,,,050823.24*42

2021-02-16T05:08:23.374Z,1613452103.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.720001 m, bearing: 20.585523 deg, deltaT: 4.864811 s, approachRate: -0.530336 m/s, LOS rate: -0.352879 deg/s, posRepo size: 4
2021-02-16T05:08:23.376Z,1613452103.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.720001 m,
      bearing: 20.585523 deg,
      approachRate: -0.530336 m/s,
      LOS rate: -0.352879 deg/s,
      cmd update: -1.058637 deg/s,
      cmd heading: 17.681781 deg,
      new cmd heading: 17.978895 deg.

2021-02-16T05:08:25.819Z,1613452105.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:26.587Z,1613452106.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:26.986Z,1613452106.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:27.800Z,1613452107.800 [Micromodem](INFO): Nmea in: $SNTTA,0.190780,,,,050828.10*41

2021-02-16T05:08:28.283Z,1613452108.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 285.899994 m, bearing: 21.558613 deg, deltaT: 4.846053 s, approachRate: -0.581918 m/s, LOS rate: 0.200801 deg/s, posRepo size: 4
2021-02-16T05:08:28.285Z,1613452108.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.899994 m,
      bearing: 21.558613 deg,
      approachRate: -0.581918 m/s,
      LOS rate: 0.200801 deg/s,
      cmd update: 0.602402 deg/s,
      cmd heading: 12.551528 deg,
      new cmd heading: 12.092765 deg.

2021-02-16T05:08:30.642Z,1613452110.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:31.431Z,1613452111.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:31.826Z,1613452111.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:32.646Z,1613452112.646 [Micromodem](INFO): Nmea in: $SNTTA,0.188973,,,,050832.95*4C

2021-02-16T05:08:33.086Z,1613452113.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 283.199982 m, bearing: 19.943208 deg, deltaT: 4.857811 s, approachRate: -0.555808 m/s, LOS rate: -0.332538 deg/s, posRepo size: 4
2021-02-16T05:08:33.096Z,1613452113.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.199982 m,
      bearing: 19.943208 deg,
      approachRate: -0.555808 m/s,
      LOS rate: -0.332538 deg/s,
      cmd update: -0.997613 deg/s,
      cmd heading: 15.476444 deg,
      new cmd heading: 15.705994 deg.

2021-02-16T05:08:35.505Z,1613452115.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:36.268Z,1613452116.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:36.675Z,1613452116.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:37.506Z,1613452117.506 [Micromodem](INFO): Nmea in: $SNTTA,0.187187,,,,050837.78*46

2021-02-16T05:08:37.932Z,1613452117.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.559998 m, bearing: 18.164999 deg, deltaT: 4.861606 s, approachRate: -0.543027 m/s, LOS rate: -0.365766 deg/s, posRepo size: 4
2021-02-16T05:08:37.934Z,1613452117.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 280.559998 m,
      bearing: 18.164999 deg,
      approachRate: -0.543027 m/s,
      LOS rate: -0.365766 deg/s,
      cmd update: -1.097297 deg/s,
      cmd heading: 10.654401 deg,
      new cmd heading: 10.262157 deg.

2021-02-16T05:08:40.344Z,1613452120.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:41.116Z,1613452121.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:41.526Z,1613452121.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:42.350Z,1613452122.350 [Micromodem](INFO): Nmea in: $SNTTA,0.185492,,,,050842.63*4D

2021-02-16T05:08:42.805Z,1613452122.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.700012 m, bearing: 22.609670 deg, deltaT: 4.830544 s, approachRate: -0.385047 m/s, LOS rate: 0.920118 deg/s, posRepo size: 4
2021-02-16T05:08:42.811Z,1613452122.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.700012 m,
      bearing: 22.609670 deg,
      approachRate: -0.385047 m/s,
      LOS rate: 0.920118 deg/s,
      cmd update: 2.760354 deg/s,
      cmd heading: 5.320901 deg,
      new cmd heading: 4.875527 deg.

2021-02-16T05:08:45.236Z,1613452125.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:45.966Z,1613452125.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:46.375Z,1613452126.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:47.208Z,1613452127.208 [Micromodem](INFO): Nmea in: $SNTTA,0.183679,,,0.186173,050847.48*54

2021-02-16T05:08:47.624Z,1613452127.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.339996 m, bearing: 22.366952 deg, deltaT: 4.851532 s, approachRate: -0.692568 m/s, LOS rate: -0.050029 deg/s, posRepo size: 4
2021-02-16T05:08:47.626Z,1613452127.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.339996 m,
      bearing: 22.366952 deg,
      approachRate: -0.692568 m/s,
      LOS rate: -0.050029 deg/s,
      cmd update: -0.150087 deg/s,
      cmd heading: 18.724234 deg,
      new cmd heading: 19.741809 deg.

2021-02-16T05:08:50.026Z,1613452130.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:50.818Z,1613452130.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:51.221Z,1613452131.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:52.036Z,1613452132.036 [Micromodem](INFO): Nmea in: $SNTTA,0.181973,,,,050852.33*4F

2021-02-16T05:08:52.473Z,1613452132.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.699982 m, bearing: 22.965971 deg, deltaT: 4.795360 s, approachRate: -0.550535 m/s, LOS rate: 0.124916 deg/s, posRepo size: 4
2021-02-16T05:08:52.476Z,1613452132.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.699982 m,
      bearing: 22.965971 deg,
      approachRate: -0.550535 m/s,
      LOS rate: 0.124916 deg/s,
      cmd update: 0.374749 deg/s,
      cmd heading: 18.004510 deg,
      new cmd heading: 17.941017 deg.

2021-02-16T05:08:54.888Z,1613452134.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:08:55.666Z,1613452135.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:08:56.083Z,1613452136.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:08:56.880Z,1613452136.880 [Micromodem](INFO): Nmea in: $SNTTA,,,,,050857.18*58

2021-02-16T05:08:57.311Z,1613452137.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.119995 m, bearing: 24.333046 deg, deltaT: 4.890631 s, approachRate: -0.527537 m/s, LOS rate: 0.279529 deg/s, posRepo size: 4
2021-02-16T05:08:57.313Z,1613452137.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.119995 m,
      bearing: 24.333046 deg,
      approachRate: -0.527537 m/s,
      LOS rate: 0.279529 deg/s,
      cmd update: 0.838588 deg/s,
      cmd heading: 19.832840 deg,
      new cmd heading: 19.975949 deg.

2021-02-16T05:08:59.738Z,1613452139.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:00.509Z,1613452140.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:00.921Z,1613452140.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:01.728Z,1613452141.728 [Micromodem](INFO): Nmea in: $SNTTA,0.178469,,,,050902.02*49

2021-02-16T05:09:02.196Z,1613452142.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.199982 m, bearing: 20.386557 deg, deltaT: 4.812180 s, approachRate: -0.398990 m/s, LOS rate: -0.820104 deg/s, posRepo size: 4
2021-02-16T05:09:02.198Z,1613452142.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.199982 m,
      bearing: 20.386557 deg,
      approachRate: -0.398990 m/s,
      LOS rate: -0.820104 deg/s,
      cmd update: -2.460312 deg/s,
      cmd heading: 23.878374 deg,
      new cmd heading: 24.249537 deg.

2021-02-16T05:09:04.686Z,1613452144.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:05.362Z,1613452145.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:05.761Z,1613452145.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:06.594Z,1613452146.594 [Micromodem](INFO): Nmea in: $SNTTA,0.176723,,,,050906.88*4C

2021-02-16T05:09:07.010Z,1613452147.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.899994 m, bearing: 18.992340 deg, deltaT: 4.900201 s, approachRate: -0.673439 m/s, LOS rate: -0.284523 deg/s, posRepo size: 4
2021-02-16T05:09:07.012Z,1613452147.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.899994 m,
      bearing: 18.992340 deg,
      approachRate: -0.673439 m/s,
      LOS rate: -0.284523 deg/s,
      cmd update: -0.853568 deg/s,
      cmd heading: 11.832517 deg,
      new cmd heading: 10.945004 deg.

2021-02-16T05:09:09.467Z,1613452149.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:10.229Z,1613452150.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:10.609Z,1613452150.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:11.442Z,1613452151.442 [Micromodem](INFO): Nmea in: $SNTTA,0.174954,,,,050911.74*45

2021-02-16T05:09:11.868Z,1613452151.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 262.259979 m, bearing: 18.745039 deg, deltaT: 4.835294 s, approachRate: -0.545988 m/s, LOS rate: -0.051145 deg/s, posRepo size: 4
2021-02-16T05:09:11.870Z,1613452151.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.259979 m,
      bearing: 18.745039 deg,
      approachRate: -0.545988 m/s,
      LOS rate: -0.051145 deg/s,
      cmd update: -0.153435 deg/s,
      cmd heading: 7.720629 deg,
      new cmd heading: 7.378438 deg.

2021-02-16T05:09:14.269Z,1613452154.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:15.060Z,1613452155.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:15.470Z,1613452155.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:16.276Z,1613452156.276 [Micromodem](INFO): Nmea in: $SNTTA,0.173267,,,,050916.57*4F

2021-02-16T05:09:16.711Z,1613452156.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 259.739990 m, bearing: 17.415644 deg, deltaT: 4.812177 s, approachRate: -0.523669 m/s, LOS rate: -0.276257 deg/s, posRepo size: 4
2021-02-16T05:09:16.713Z,1613452156.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.739990 m,
      bearing: 17.415644 deg,
      approachRate: -0.523669 m/s,
      LOS rate: -0.276257 deg/s,
      cmd update: -0.828770 deg/s,
      cmd heading: 6.978881 deg,
      new cmd heading: 6.916018 deg.

2021-02-16T05:09:19.120Z,1613452159.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:19.901Z,1613452159.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:20.318Z,1613452160.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:21.120Z,1613452161.120 [Micromodem](INFO): Nmea in: $SNTTA,0.171668,,,,050921.42*46

2021-02-16T05:09:21.596Z,1613452161.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 257.279999 m, bearing: 22.682536 deg, deltaT: 4.837822 s, approachRate: -0.508492 m/s, LOS rate: 1.088691 deg/s, posRepo size: 4
2021-02-16T05:09:21.597Z,1613452161.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.279999 m,
      bearing: 22.682536 deg,
      approachRate: -0.508492 m/s,
      LOS rate: 1.088691 deg/s,
      cmd update: 3.266072 deg/s,
      cmd heading: 2.971004 deg,
      new cmd heading: 2.591241 deg.

2021-02-16T05:09:23.955Z,1613452163.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:24.767Z,1613452164.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:25.163Z,1613452165.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:25.980Z,1613452165.980 [Micromodem](INFO): Nmea in: $SNTTA,0.169867,,,,050926.28*45

2021-02-16T05:09:26.414Z,1613452166.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.520004 m, bearing: 21.932280 deg, deltaT: 4.855973 s, approachRate: -0.568371 m/s, LOS rate: -0.154502 deg/s, posRepo size: 4
2021-02-16T05:09:26.416Z,1613452166.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.520004 m,
      bearing: 21.932280 deg,
      approachRate: -0.568371 m/s,
      LOS rate: -0.154502 deg/s,
      cmd update: -0.463505 deg/s,
      cmd heading: 18.837093 deg,
      new cmd heading: 20.204663 deg.

2021-02-16T05:09:28.826Z,1613452168.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:29.596Z,1613452169.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:30.004Z,1613452170.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:30.827Z,1613452170.827 [Micromodem](INFO): Nmea in: $SNTTA,0.168169,,,,050931.11*4F

2021-02-16T05:09:31.314Z,1613452171.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.059982 m, bearing: 18.207915 deg, deltaT: 4.857390 s, approachRate: -0.506449 m/s, LOS rate: -0.766742 deg/s, posRepo size: 4
2021-02-16T05:09:31.316Z,1613452171.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.059982 m,
      bearing: 18.207915 deg,
      approachRate: -0.506449 m/s,
      LOS rate: -0.766742 deg/s,
      cmd update: -2.300226 deg/s,
      cmd heading: 16.585681 deg,
      new cmd heading: 16.371479 deg.

2021-02-16T05:09:33.753Z,1613452173.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:34.453Z,1613452174.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:34.868Z,1613452174.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:35.670Z,1613452175.670 [Micromodem](INFO): Nmea in: $SNTTA,0.166347,,,,050935.97*45

2021-02-16T05:09:36.094Z,1613452176.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.300003 m, bearing: 21.792482 deg, deltaT: 4.928116 s, approachRate: -0.560048 m/s, LOS rate: 0.727371 deg/s, posRepo size: 4
2021-02-16T05:09:36.096Z,1613452176.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.300003 m,
      bearing: 21.792482 deg,
      approachRate: -0.560048 m/s,
      LOS rate: 0.727371 deg/s,
      cmd update: 2.182112 deg/s,
      cmd heading: 5.287799 deg,
      new cmd heading: 4.527947 deg.

2021-02-16T05:09:38.603Z,1613452178.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:39.301Z,1613452179.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:39.707Z,1613452179.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:40.527Z,1613452180.527 [Micromodem](INFO): Nmea in: $SNTTA,0.164654,,,,050940.82*46

2021-02-16T05:09:40.956Z,1613452180.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.720001 m, bearing: 23.659249 deg, deltaT: 4.875763 s, approachRate: -0.529148 m/s, LOS rate: 0.382867 deg/s, posRepo size: 4
2021-02-16T05:09:40.958Z,1613452180.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.720001 m,
      bearing: 23.659249 deg,
      approachRate: -0.529148 m/s,
      LOS rate: 0.382867 deg/s,
      cmd update: 1.148600 deg/s,
      cmd heading: 15.926860 deg,
      new cmd heading: 16.618465 deg.

2021-02-16T05:09:43.424Z,1613452183.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:44.162Z,1613452184.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:44.594Z,1613452184.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:45.389Z,1613452185.389 [Micromodem](INFO): Nmea in: $SNTTA,0.163031,,,,050945.68*45

2021-02-16T05:09:45.823Z,1613452185.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.319977 m, bearing: 22.884419 deg, deltaT: 4.856616 s, approachRate: -0.494176 m/s, LOS rate: -0.159541 deg/s, posRepo size: 4
2021-02-16T05:09:45.825Z,1613452185.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.319977 m,
      bearing: 22.884419 deg,
      approachRate: -0.494176 m/s,
      LOS rate: -0.159541 deg/s,
      cmd update: -0.478624 deg/s,
      cmd heading: 21.504815 deg,
      new cmd heading: 21.880587 deg.

2021-02-16T05:09:48.286Z,1613452188.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:49.000Z,1613452189.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:49.407Z,1613452189.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:50.260Z,1613452190.260 [Micromodem](INFO): Nmea in: $SNTTA,0.161617,,,,050950.52*48

2021-02-16T05:09:50.668Z,1613452190.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.160004 m, bearing: 25.269342 deg, deltaT: 4.779630 s, approachRate: -0.451912 m/s, LOS rate: 0.498976 deg/s, posRepo size: 4
2021-02-16T05:09:50.670Z,1613452190.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.160004 m,
      bearing: 25.269342 deg,
      approachRate: -0.451912 m/s,
      LOS rate: 0.498976 deg/s,
      cmd update: 1.496929 deg/s,
      cmd heading: 19.211249 deg,
      new cmd heading: 19.031229 deg.

2021-02-16T05:09:53.152Z,1613452193.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:53.861Z,1613452193.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:54.286Z,1613452194.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:55.074Z,1613452195.074 [Micromodem](INFO): Nmea in: $SNTTA,0.160312,,,,050955.38*40

2021-02-16T05:09:55.507Z,1613452195.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.179993 m, bearing: 28.213896 deg, deltaT: 4.819849 s, approachRate: -0.410804 m/s, LOS rate: 0.610923 deg/s, posRepo size: 4
2021-02-16T05:09:55.509Z,1613452195.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.179993 m,
      bearing: 28.213896 deg,
      approachRate: -0.410804 m/s,
      LOS rate: 0.610923 deg/s,
      cmd update: 1.832768 deg/s,
      cmd heading: 26.432407 deg,
      new cmd heading: 27.024076 deg.

2021-02-16T05:09:57.913Z,1613452197.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:09:58.712Z,1613452198.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:09:59.101Z,1613452199.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:09:59.926Z,1613452199.926 [Micromodem](INFO): Nmea in: $SNTTA,0.158838,,,,051000.23*4A

2021-02-16T05:10:00.354Z,1613452200.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.079987 m, bearing: 18.432312 deg, deltaT: 4.848552 s, approachRate: -0.433120 m/s, LOS rate: -2.017424 deg/s, posRepo size: 4
2021-02-16T05:10:00.356Z,1613452200.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.079987 m,
      bearing: 18.432312 deg,
      approachRate: -0.433120 m/s,
      LOS rate: -2.017424 deg/s,
      cmd update: -6.052272 deg/s,
      cmd heading: 35.319406 deg,
      new cmd heading: 36.040690 deg.

2021-02-16T05:10:02.768Z,1613452202.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:03.570Z,1613452203.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:03.949Z,1613452203.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:04.795Z,1613452204.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,051005.08*57

2021-02-16T05:10:05.238Z,1613452205.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.740005 m, bearing: 22.845817 deg, deltaT: 4.874163 s, approachRate: -0.480079 m/s, LOS rate: 0.905490 deg/s, posRepo size: 4
2021-02-16T05:10:05.240Z,1613452205.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.740005 m,
      bearing: 22.845817 deg,
      approachRate: -0.480079 m/s,
      LOS rate: 0.905490 deg/s,
      cmd update: 2.716469 deg/s,
      cmd heading: 5.819181 deg,
      new cmd heading: 3.380679 deg.

2021-02-16T05:10:07.609Z,1613452207.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:08.410Z,1613452208.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:08.430Z,1613452208.430 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:10:08.803Z,1613452208.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:09.623Z,1613452209.623 [Micromodem](INFO): Nmea in: $SNTTA,0.155535,,,,051009.93*45

2021-02-16T05:10:10.041Z,1613452210.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.099991 m, bearing: 30.961347 deg, deltaT: 4.840722 s, approachRate: -0.545376 m/s, LOS rate: 1.676512 deg/s, posRepo size: 4
2021-02-16T05:10:10.043Z,1613452210.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.099991 m,
      bearing: 30.961347 deg,
      approachRate: -0.545376 m/s,
      LOS rate: 1.676512 deg/s,
      cmd update: 5.029537 deg/s,
      cmd heading: 18.892681 deg,
      new cmd heading: 19.962165 deg.

2021-02-16T05:10:12.458Z,1613452212.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:13.242Z,1613452213.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:13.646Z,1613452213.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:14.462Z,1613452214.462 [Micromodem](INFO): Nmea in: $SNTTA,0.153612,,,,051014.76*42

2021-02-16T05:10:14.908Z,1613452214.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.160004 m, bearing: 25.379964 deg, deltaT: 4.809653 s, approachRate: -0.611268 m/s, LOS rate: -1.160454 deg/s, posRepo size: 4
2021-02-16T05:10:14.910Z,1613452214.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.160004 m,
      bearing: 25.379964 deg,
      approachRate: -0.611268 m/s,
      LOS rate: -1.160454 deg/s,
      cmd update: -3.481363 deg/s,
      cmd heading: 43.224173 deg,
      new cmd heading: 45.348196 deg.

2021-02-16T05:10:16.893Z,1613452216.893 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:10:17.318Z,1613452217.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:18.088Z,1613452218.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:18.499Z,1613452218.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:19.322Z,1613452219.322 [Micromodem](INFO): Nmea in: $SNTTA,0.151638,,,,051019.61*43

2021-02-16T05:10:19.744Z,1613452219.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.159988 m, bearing: 20.909195 deg, deltaT: 4.920521 s, approachRate: -0.609695 m/s, LOS rate: -0.908597 deg/s, posRepo size: 4
2021-02-16T05:10:19.746Z,1613452219.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.159988 m,
      bearing: 20.909195 deg,
      approachRate: -0.609695 m/s,
      LOS rate: -0.908597 deg/s,
      cmd update: -2.725790 deg/s,
      cmd heading: 26.107880 deg,
      new cmd heading: 24.917243 deg.

2021-02-16T05:10:22.157Z,1613452222.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:22.936Z,1613452222.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:23.343Z,1613452223.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:24.166Z,1613452224.166 [Micromodem](INFO): Nmea in: $SNTTA,0.149639,,,,051024.45*43

2021-02-16T05:10:24.605Z,1613452224.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.979980 m, bearing: 23.604017 deg, deltaT: 4.818476 s, approachRate: -0.659961 m/s, LOS rate: 0.559269 deg/s, posRepo size: 4
2021-02-16T05:10:24.607Z,1613452224.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.979980 m,
      bearing: 23.604017 deg,
      approachRate: -0.659961 m/s,
      LOS rate: 0.559269 deg/s,
      cmd update: 1.677806 deg/s,
      cmd heading: 13.057859 deg,
      new cmd heading: 11.924961 deg.

2021-02-16T05:10:26.993Z,1613452226.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:27.784Z,1613452227.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:28.229Z,1613452228.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:29.004Z,1613452229.004 [Micromodem](INFO): Nmea in: $SNTTA,0.147543,,,,051029.30*4C

2021-02-16T05:10:29.453Z,1613452229.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.039993 m, bearing: 28.201889 deg, deltaT: 4.822714 s, approachRate: -0.609613 m/s, LOS rate: 0.953378 deg/s, posRepo size: 4
2021-02-16T05:10:29.455Z,1613452229.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.039993 m,
      bearing: 28.201889 deg,
      approachRate: -0.609613 m/s,
      LOS rate: 0.953378 deg/s,
      cmd update: 2.860135 deg/s,
      cmd heading: 21.200211 deg,
      new cmd heading: 21.888586 deg.

2021-02-16T05:10:31.865Z,1613452231.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:32.632Z,1613452232.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:33.039Z,1613452233.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:33.852Z,1613452233.852 [Micromodem](INFO): Nmea in: $SNTTA,0.145237,,,,051034.15*41

2021-02-16T05:10:34.309Z,1613452234.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.619995 m, bearing: 24.525807 deg, deltaT: 4.862199 s, approachRate: -0.703385 m/s, LOS rate: -0.756053 deg/s, posRepo size: 4
2021-02-16T05:10:34.310Z,1613452234.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.619995 m,
      bearing: 24.525807 deg,
      approachRate: -0.703385 m/s,
      LOS rate: -0.756053 deg/s,
      cmd update: -2.268160 deg/s,
      cmd heading: 35.107024 deg,
      new cmd heading: 36.262227 deg.

2021-02-16T05:10:36.735Z,1613452236.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:37.484Z,1613452237.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:37.885Z,1613452237.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:38.719Z,1613452238.719 [Micromodem](INFO): Nmea in: $SNTTA,0.142750,,,,051039.00*4B

2021-02-16T05:10:39.144Z,1613452239.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.080002 m, bearing: 22.177812 deg, deltaT: 4.835228 s, approachRate: -0.732125 m/s, LOS rate: -0.485602 deg/s, posRepo size: 4
2021-02-16T05:10:39.147Z,1613452239.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 22.177812 deg,
      approachRate: -0.732125 m/s,
      LOS rate: -0.485602 deg/s,
      cmd update: -1.456805 deg/s,
      cmd heading: 24.131672 deg,
      new cmd heading: 23.226409 deg.

2021-02-16T05:10:41.292Z,1613452241.292 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.251846
2021-02-16T05:10:41.583Z,1613452241.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:41.583Z,1613452241.583 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T05:10:41.584Z,1613452241.584 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T05:10:41.584Z,1613452241.584 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T05:10:41.584Z,1613452241.584 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:10:41.584Z,1613452241.584 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T05:10:42.224Z,1613452242.224 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B
2021-02-16T05:10:42.226Z,1613452242.226 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 335A296433E0
2021-02-16T05:10:42.227Z,1613452242.227 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T05:10:42.549Z,1613452242.549 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T05:10:42.550Z,1613452242.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:42.940Z,1613452242.940 [Micromodem](INFO): Nmea in: $CADRQ,051043,1,10,0,64,1*75

2021-02-16T05:10:42.940Z,1613452242.940 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,051043,1,10,0,64,1*75

2021-02-16T05:10:43.351Z,1613452243.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:43.766Z,1613452243.766 [Micromodem](INFO): Nmea in: $SNTTA,0.140262,,,,051044.06*41

2021-02-16T05:10:44.266Z,1613452244.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.179993 m, bearing: 18.100934 deg, deltaT: 5.206394 s, approachRate: -0.749081 m/s, LOS rate: -0.783052 deg/s, posRepo size: 4
2021-02-16T05:10:44.268Z,1613452244.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.179993 m,
      bearing: 18.100934 deg,
      approachRate: -0.749081 m/s,
      LOS rate: -0.783052 deg/s,
      cmd update: -2.349157 deg/s,
      cmd heading: 16.569778 deg,
      new cmd heading: 16.086371 deg.

2021-02-16T05:10:46.632Z,1613452246.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:47.412Z,1613452247.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:47.860Z,1613452247.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:48.275Z,1613452248.275 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-02-16T05:10:48.676Z,1613452248.676 [Micromodem](INFO): Nmea in: $SNTTA,0.137912,,,,051048.93*4D

2021-02-16T05:10:49.161Z,1613452249.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:51.913Z,1613452251.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:52.721Z,1613452252.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:53.118Z,1613452253.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:53.585Z,1613452253.585 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:10:53.935Z,1613452253.935 [Micromodem](INFO): Nmea in: $SNTTA,0.135536,,,,051054.24*44

2021-02-16T05:10:54.401Z,1613452254.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.159988 m, bearing: 15.580838 deg, deltaT: 10.073490 s, approachRate: -0.696879 m/s, LOS rate: -0.250171 deg/s, posRepo size: 4
2021-02-16T05:10:54.402Z,1613452254.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.159988 m,
      bearing: 15.580838 deg,
      approachRate: -0.696879 m/s,
      LOS rate: -0.250171 deg/s,
      cmd update: -0.750513 deg/s,
      cmd heading: 352.866837 deg,
      new cmd heading: 351.983333 deg.

2021-02-16T05:10:55.445Z,1613452255.445 [Radio_Surface](INFO): Powering down
2021-02-16T05:10:56.769Z,1613452256.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:10:57.569Z,1613452257.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:10:57.975Z,1613452257.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:10:58.366Z,1613452258.366 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:10:58.791Z,1613452258.791 [Micromodem](INFO): Nmea in: $SNTTA,0.133454,,,,051059.08*44

2021-02-16T05:10:59.257Z,1613452259.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.979980 m, bearing: 18.444712 deg, deltaT: 4.798616 s, approachRate: -0.662693 m/s, LOS rate: 0.596813 deg/s, posRepo size: 4
2021-02-16T05:10:59.258Z,1613452259.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.979980 m,
      bearing: 18.444712 deg,
      approachRate: -0.662693 m/s,
      LOS rate: 0.596813 deg/s,
      cmd update: 1.790438 deg/s,
      cmd heading: 349.265451 deg,
      new cmd heading: 348.939886 deg.

2021-02-16T05:11:01.630Z,1613452261.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:02.400Z,1613452262.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:02.868Z,1613452262.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:03.688Z,1613452263.688 [Micromodem](INFO): Nmea in: $SNTTA,0.131528,,,,051103.91*42

2021-02-16T05:11:03.712Z,1613452263.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.099991 m, bearing: 21.330604 deg, deltaT: 4.507179 s, approachRate: -0.638978 m/s, LOS rate: 0.640288 deg/s, posRepo size: 4
2021-02-16T05:11:03.714Z,1613452263.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.099991 m,
      bearing: 21.330604 deg,
      approachRate: -0.638978 m/s,
      LOS rate: 0.640288 deg/s,
      cmd update: 1.920863 deg/s,
      cmd heading: 357.335318 deg,
      new cmd heading: 358.019656 deg.

2021-02-16T05:11:06.230Z,1613452266.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:06.929Z,1613452266.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:07.330Z,1613452267.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:08.153Z,1613452268.153 [Micromodem](INFO): Nmea in: $SNTTA,0.129635,,,,051108.44*47

2021-02-16T05:11:08.600Z,1613452268.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.159988 m, bearing: 23.930673 deg, deltaT: 4.978050 s, approachRate: -0.590593 m/s, LOS rate: 0.522307 deg/s, posRepo size: 4
2021-02-16T05:11:08.602Z,1613452268.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.159988 m,
      bearing: 23.930673 deg,
      approachRate: -0.590593 m/s,
      LOS rate: 0.522307 deg/s,
      cmd update: 1.566920 deg/s,
      cmd heading: 6.895858 deg,
      new cmd heading: 7.457935 deg.

2021-02-16T05:11:11.030Z,1613452271.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:11.805Z,1613452271.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:12.235Z,1613452272.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:12.618Z,1613452272.618 [Micromodem](INFO): Nmea in: $CAERR,051113,DATA_TIMEOUT,1*49

2021-02-16T05:11:13.025Z,1613452273.025 [Micromodem](INFO): Nmea in: $SNTTA,0.127414,,,,051113.32*43

2021-02-16T05:11:13.484Z,1613452273.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.859985 m, bearing: 22.227741 deg, deltaT: 4.730925 s, approachRate: -0.697539 m/s, LOS rate: -0.359957 deg/s, posRepo size: 4
2021-02-16T05:11:13.487Z,1613452273.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.859985 m,
      bearing: 22.227741 deg,
      approachRate: -0.697539 m/s,
      LOS rate: -0.359957 deg/s,
      cmd update: -1.079872 deg/s,
      cmd heading: 14.309476 deg,
      new cmd heading: 15.002614 deg.

2021-02-16T05:11:15.553Z,1613452275.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:16.248Z,1613452276.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:16.654Z,1613452276.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:17.437Z,1613452277.437 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T05:11:17.491Z,1613452277.491 [Micromodem](INFO): Nmea in: $SNTTA,0.125265,,,,051117.76*45

2021-02-16T05:11:17.900Z,1613452277.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 21.496127 deg, deltaT: 4.535129 s, approachRate: -0.714424 m/s, LOS rate: -0.161322 deg/s, posRepo size: 4
2021-02-16T05:11:17.902Z,1613452277.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.619980 m,
      bearing: 21.496127 deg,
      approachRate: -0.714424 m/s,
      LOS rate: -0.161322 deg/s,
      cmd update: -0.483965 deg/s,
      cmd heading: 9.416412 deg,
      new cmd heading: 9.059860 deg.

2021-02-16T05:11:18.371Z,1613452278.371 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T05:11:18.371Z,1613452278.371 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T05:11:18.371Z,1613452278.371 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T05:11:18.440Z,1613452278.440 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T05:11:18.627Z,1613452278.627 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T05:11:18.804Z,1613452278.804 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T05:11:19.727Z,1613452279.727 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T05:11:19.727Z,1613452279.727 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T05:11:20.341Z,1613452280.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:21.102Z,1613452281.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:21.514Z,1613452281.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:22.348Z,1613452282.348 [Micromodem](INFO): Nmea in: $SNTTA,0.122986,,,,051122.62*47

2021-02-16T05:11:22.407Z,1613452282.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 17.770035 deg, deltaT: 4.362909 s, approachRate: 0.000000 m/s, LOS rate: -0.854038 deg/s, posRepo size: 4
2021-02-16T05:11:22.409Z,1613452282.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.619980 m,
      bearing: 17.770035 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.854038 deg/s,
      cmd update: -2.562115 deg/s,
      cmd heading: 7.303738 deg,
      new cmd heading: 7.075391 deg.

2021-02-16T05:11:24.759Z,1613452284.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:25.554Z,1613452285.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:25.954Z,1613452285.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:26.772Z,1613452286.772 [Micromodem](INFO): Nmea in: $SNTTA,0.120904,,,,051127.07*49

2021-02-16T05:11:27.239Z,1613452287.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 20.873685 deg, deltaT: 4.903161 s, approachRate: -1.309356 m/s, LOS rate: 0.632990 deg/s, posRepo size: 4
2021-02-16T05:11:27.241Z,1613452287.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.199997 m,
      bearing: 20.873685 deg,
      approachRate: -1.309356 m/s,
      LOS rate: 0.632990 deg/s,
      cmd update: 1.898969 deg/s,
      cmd heading: 354.736252 deg,
      new cmd heading: 353.714309 deg.

2021-02-16T05:11:29.654Z,1613452289.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:30.412Z,1613452290.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:30.802Z,1613452290.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:31.644Z,1613452291.644 [Micromodem](INFO): Nmea in: $SNTTA,0.118769,,,,051131.93*4D

2021-02-16T05:11:31.700Z,1613452291.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 20.461479 deg, deltaT: 4.437873 s, approachRate: -0.716558 m/s, LOS rate: -0.092884 deg/s, posRepo size: 4
2021-02-16T05:11:31.702Z,1613452291.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.020004 m,
      bearing: 20.461479 deg,
      approachRate: -0.716558 m/s,
      LOS rate: -0.092884 deg/s,
      cmd update: -0.278651 deg/s,
      cmd heading: 3.163739 deg,
      new cmd heading: 3.965155 deg.

2021-02-16T05:11:34.100Z,1613452294.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:34.842Z,1613452294.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:35.246Z,1613452295.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:36.072Z,1613452296.072 [Micromodem](INFO): Nmea in: $SNTTA,0.116905,,,,051136.36*4F

2021-02-16T05:11:36.096Z,1613452296.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.199997 m, bearing: 23.758369 deg, deltaT: 4.448518 s, approachRate: -0.633921 m/s, LOS rate: 0.741121 deg/s, posRepo size: 4
2021-02-16T05:11:36.098Z,1613452296.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.199997 m,
      bearing: 23.758369 deg,
      approachRate: -0.633921 m/s,
      LOS rate: 0.741121 deg/s,
      cmd update: 2.223363 deg/s,
      cmd heading: 1.924169 deg,
      new cmd heading: 1.821328 deg.

2021-02-16T05:11:38.592Z,1613452298.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:39.286Z,1613452299.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:39.697Z,1613452299.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:40.531Z,1613452300.531 [Micromodem](INFO): Nmea in: $SNTTA,0.114909,,,,051140.80*4D

2021-02-16T05:11:40.646Z,1613452300.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.199997 m, bearing: 23.489449 deg, deltaT: 4.441356 s, approachRate: 0.000000 m/s, LOS rate: -0.060549 deg/s, posRepo size: 4
2021-02-16T05:11:40.653Z,1613452300.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.199997 m,
      bearing: 23.489449 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.060549 deg/s,
      cmd update: -0.181647 deg/s,
      cmd heading: 11.757574 deg,
      new cmd heading: 12.862142 deg.

2021-02-16T05:11:42.954Z,1613452302.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:43.729Z,1613452303.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:44.161Z,1613452304.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:44.956Z,1613452304.956 [Micromodem](INFO): Nmea in: $SNTTA,0.112714,,,,051145.24*42

2021-02-16T05:11:44.000Z,1613452305.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.900009 m, bearing: 24.134031 deg, deltaT: 4.474316 s, approachRate: -1.408034 m/s, LOS rate: 0.144063 deg/s, posRepo size: 4
2021-02-16T05:11:45.002Z,1613452305.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.900009 m,
      bearing: 24.134031 deg,
      approachRate: -1.408034 m/s,
      LOS rate: 0.144063 deg/s,
      cmd update: 0.432188 deg/s,
      cmd heading: 10.941445 deg,
      new cmd heading: 10.876543 deg.

2021-02-16T05:11:47.378Z,1613452307.378 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T05:11:47.395Z,1613452307.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:47.850Z,1613452307.850 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B
2021-02-16T05:11:47.850Z,1613452307.850 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 335A296433E0
2021-02-16T05:11:47.851Z,1613452307.851 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T05:11:48.176Z,1613452308.176 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T05:11:48.177Z,1613452308.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:48.584Z,1613452308.584 [Micromodem](INFO): Nmea in: $CADRQ,051149,1,10,0,64,1*7E

2021-02-16T05:11:48.584Z,1613452308.584 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,051149,1,10,0,64,1*7E

2021-02-16T05:11:49.010Z,1613452309.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:49.437Z,1613452309.437 [Micromodem](INFO): Nmea in: $SNTTA,0.110518,,,,051149.69*4B

2021-02-16T05:11:49.491Z,1613452309.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.599991 m, bearing: 23.525248 deg, deltaT: 4.424598 s, approachRate: -0.745835 m/s, LOS rate: -0.137591 deg/s, posRepo size: 4
2021-02-16T05:11:49.493Z,1613452309.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 23.525248 deg,
      approachRate: -0.745835 m/s,
      LOS rate: -0.137591 deg/s,
      cmd update: -0.412772 deg/s,
      cmd heading: 12.853695 deg,
      new cmd heading: 13.034697 deg.

2021-02-16T05:11:51.880Z,1613452311.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:52.625Z,1613452312.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:53.021Z,1613452313.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:53.852Z,1613452313.852 [Micromodem](INFO): Nmea in: $SNTTA,0.108477,,,,051154.14*4C

2021-02-16T05:11:53.906Z,1613452313.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.599991 m, bearing: 23.451355 deg, deltaT: 4.379970 s, approachRate: 0.000000 m/s, LOS rate: -0.016871 deg/s, posRepo size: 4
2021-02-16T05:11:53.908Z,1613452313.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 23.451355 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.016871 deg/s,
      cmd update: -0.050612 deg/s,
      cmd heading: 11.046201 deg,
      new cmd heading: 10.856232 deg.

2021-02-16T05:11:56.268Z,1613452316.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:11:57.060Z,1613452317.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:11:57.471Z,1613452317.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:11:58.300Z,1613452318.300 [Micromodem](INFO): Nmea in: $SNTTA,0.106361,,,,051158.57*49

2021-02-16T05:11:58.330Z,1613452318.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 23.311186 deg, deltaT: 4.494676 s, approachRate: -1.388307 m/s, LOS rate: -0.031186 deg/s, posRepo size: 4
2021-02-16T05:11:58.334Z,1613452318.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.360001 m,
      bearing: 23.311186 deg,
      approachRate: -1.388307 m/s,
      LOS rate: -0.031186 deg/s,
      cmd update: -0.093557 deg/s,
      cmd heading: 10.819592 deg,
      new cmd heading: 10.799153 deg.

2021-02-16T05:12:00.814Z,1613452320.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:01.516Z,1613452321.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:01.930Z,1613452321.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:02.767Z,1613452322.767 [Micromodem](INFO): Nmea in: $SNTTA,0.104207,,,,051203.03*46

2021-02-16T05:12:02.837Z,1613452322.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 22.625973 deg, deltaT: 4.405835 s, approachRate: -0.735390 m/s, LOS rate: -0.155524 deg/s, posRepo size: 4
2021-02-16T05:12:02.839Z,1613452322.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.119995 m,
      bearing: 22.625973 deg,
      approachRate: -0.735390 m/s,
      LOS rate: -0.155524 deg/s,
      cmd update: -0.466572 deg/s,
      cmd heading: 10.405767 deg,
      new cmd heading: 10.359876 deg.

2021-02-16T05:12:05.228Z,1613452325.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:05.957Z,1613452325.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:06.353Z,1613452326.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:07.188Z,1613452327.188 [Micromodem](INFO): Nmea in: $SNTTA,0.102154,,,,051207.47*41

2021-02-16T05:12:07.238Z,1613452327.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 22.807760 deg, deltaT: 4.503643 s, approachRate: -0.692768 m/s, LOS rate: 0.040364 deg/s, posRepo size: 4
2021-02-16T05:12:07.240Z,1613452327.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.000015 m,
      bearing: 22.807760 deg,
      approachRate: -0.692768 m/s,
      LOS rate: 0.040364 deg/s,
      cmd update: 0.121093 deg/s,
      cmd heading: 8.305949 deg,
      new cmd heading: 8.123475 deg.

2021-02-16T05:12:09.632Z,1613452329.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:10.396Z,1613452330.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:10.819Z,1613452330.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:11.624Z,1613452331.624 [Micromodem](INFO): Nmea in: $SNTTA,0.100159,,,,051211.91*42

2021-02-16T05:12:11.710Z,1613452331.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 22.602404 deg, deltaT: 4.393064 s, approachRate: -0.682898 m/s, LOS rate: -0.046746 deg/s, posRepo size: 4
2021-02-16T05:12:11.713Z,1613452331.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.000000 m,
      bearing: 22.602404 deg,
      approachRate: -0.682898 m/s,
      LOS rate: -0.046746 deg/s,
      cmd update: -0.140237 deg/s,
      cmd heading: 8.835922 deg,
      new cmd heading: 8.894740 deg.

2021-02-16T05:12:14.073Z,1613452334.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:14.848Z,1613452334.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:15.259Z,1613452335.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:16.080Z,1613452336.080 [Micromodem](INFO): Nmea in: $SNTTA,0.098132,,,,051216.36*45

2021-02-16T05:12:16.127Z,1613452336.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 24.594845 deg, deltaT: 4.464033 s, approachRate: -0.672038 m/s, LOS rate: 0.446332 deg/s, posRepo size: 4
2021-02-16T05:12:16.129Z,1613452336.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.000000 m,
      bearing: 24.594845 deg,
      approachRate: -0.672038 m/s,
      LOS rate: 0.446332 deg/s,
      cmd update: 1.338996 deg/s,
      cmd heading: 8.207400 deg,
      new cmd heading: 8.148360 deg.

2021-02-16T05:12:18.101Z,1613452338.101 [Micromodem](INFO): Nmea in: $CAERR,051219,DATA_TIMEOUT,1*40

2021-02-16T05:12:18.569Z,1613452338.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:19.290Z,1613452339.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:19.690Z,1613452339.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:20.524Z,1613452340.524 [Micromodem](INFO): Nmea in: $SNTTA,0.096091,,,,051220.80*4B

2021-02-16T05:12:20.594Z,1613452340.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 25.019925 deg, deltaT: 4.475606 s, approachRate: -0.697111 m/s, LOS rate: 0.094977 deg/s, posRepo size: 4
2021-02-16T05:12:20.600Z,1613452340.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.880005 m,
      bearing: 25.019925 deg,
      approachRate: -0.697111 m/s,
      LOS rate: 0.094977 deg/s,
      cmd update: 0.284931 deg/s,
      cmd heading: 14.200901 deg,
      new cmd heading: 14.752761 deg.

2021-02-16T05:12:22.978Z,1613452342.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:23.734Z,1613452343.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:24.135Z,1613452344.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:24.968Z,1613452344.968 [Micromodem](INFO): Nmea in: $SNTTA,0.094101,,,,051225.25*4B

2021-02-16T05:12:25.018Z,1613452345.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 26.257578 deg, deltaT: 4.466581 s, approachRate: -0.658222 m/s, LOS rate: 0.277092 deg/s, posRepo size: 4
2021-02-16T05:12:25.020Z,1613452345.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.940002 m,
      bearing: 26.257578 deg,
      approachRate: -0.658222 m/s,
      LOS rate: 0.277092 deg/s,
      cmd update: 0.831275 deg/s,
      cmd heading: 15.474131 deg,
      new cmd heading: 15.579046 deg.

2021-02-16T05:12:27.385Z,1613452347.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:28.176Z,1613452348.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:28.599Z,1613452348.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:29.412Z,1613452349.412 [Micromodem](INFO): Nmea in: $SNTTA,0.092084,,,,051229.69*45

2021-02-16T05:12:29.459Z,1613452349.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.880005 m, bearing: 26.969693 deg, deltaT: 4.355993 s, approachRate: -0.702480 m/s, LOS rate: 0.163479 deg/s, posRepo size: 4
2021-02-16T05:12:29.461Z,1613452349.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.880005 m,
      bearing: 26.969693 deg,
      approachRate: -0.702480 m/s,
      LOS rate: 0.163479 deg/s,
      cmd update: 0.490438 deg/s,
      cmd heading: 19.095197 deg,
      new cmd heading: 19.471588 deg.

2021-02-16T05:12:31.930Z,1613452351.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:32.621Z,1613452352.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:33.024Z,1613452353.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:33.848Z,1613452353.848 [Micromodem](INFO): Nmea in: $SNTTA,0.090042,,,,051234.14*4B

2021-02-16T05:12:33.928Z,1613452353.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 27.711515 deg, deltaT: 4.447320 s, approachRate: -0.674564 m/s, LOS rate: 0.166802 deg/s, posRepo size: 4
2021-02-16T05:12:33.929Z,1613452353.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.880005 m,
      bearing: 27.711515 deg,
      approachRate: -0.674564 m/s,
      LOS rate: 0.166802 deg/s,
      cmd update: 0.500406 deg/s,
      cmd heading: 21.276431 deg,
      new cmd heading: 21.506652 deg.

2021-02-16T05:12:36.332Z,1613452356.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:37.067Z,1613452357.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:37.470Z,1613452357.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:38.316Z,1613452358.316 [Micromodem](INFO): Nmea in: $SNTTA,0.088013,,,,051238.58*42

2021-02-16T05:12:38.382Z,1613452358.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.820007 m, bearing: 28.499063 deg, deltaT: 4.494919 s, approachRate: -0.680768 m/s, LOS rate: 0.175209 deg/s, posRepo size: 4
2021-02-16T05:12:38.384Z,1613452358.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.820007 m,
      bearing: 28.499063 deg,
      approachRate: -0.680768 m/s,
      LOS rate: 0.175209 deg/s,
      cmd update: 0.525626 deg/s,
      cmd heading: 23.519575 deg,
      new cmd heading: 23.742678 deg.

2021-02-16T05:12:40.774Z,1613452360.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:41.509Z,1613452361.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:41.913Z,1613452361.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:42.736Z,1613452362.736 [Micromodem](INFO): Nmea in: $SNTTA,0.085906,,,,051243.02*41

2021-02-16T05:12:42.876Z,1613452362.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.699997 m, bearing: 28.586403 deg, deltaT: 4.412706 s, approachRate: -0.707052 m/s, LOS rate: 0.019793 deg/s, posRepo size: 4
2021-02-16T05:12:42.878Z,1613452362.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.699997 m,
      bearing: 28.586403 deg,
      approachRate: -0.707052 m/s,
      LOS rate: 0.019793 deg/s,
      cmd update: 0.059378 deg/s,
      cmd heading: 25.845451 deg,
      new cmd heading: 26.115845 deg.

2021-02-16T05:12:45.177Z,1613452365.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:45.950Z,1613452365.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:46.367Z,1613452366.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:47.180Z,1613452367.180 [Micromodem](INFO): Nmea in: $SNTTA,0.083785,,,,051247.46*46

2021-02-16T05:12:47.218Z,1613452367.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.520004 m, bearing: 29.384935 deg, deltaT: 4.458376 s, approachRate: -0.713263 m/s, LOS rate: 0.179108 deg/s, posRepo size: 4
2021-02-16T05:12:47.220Z,1613452367.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 29.384935 deg,
      approachRate: -0.713263 m/s,
      LOS rate: 0.179108 deg/s,
      cmd update: 0.537325 deg/s,
      cmd heading: 26.110167 deg,
      new cmd heading: 26.133856 deg.

2021-02-16T05:12:49.623Z,1613452369.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:50.397Z,1613452370.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:50.798Z,1613452370.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:51.624Z,1613452371.624 [Micromodem](INFO): Nmea in: $SNTTA,0.081730,,,,051251.91*47

2021-02-16T05:12:51.649Z,1613452371.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 29.569060 deg, deltaT: 4.441194 s, approachRate: -0.702514 m/s, LOS rate: 0.041458 deg/s, posRepo size: 4
2021-02-16T05:12:51.650Z,1613452371.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 29.569060 deg,
      approachRate: -0.702514 m/s,
      LOS rate: 0.041458 deg/s,
      cmd update: 0.124375 deg/s,
      cmd heading: 28.496471 deg,
      new cmd heading: 28.705026 deg.

2021-02-16T05:12:53.232Z,1613452373.232 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T05:12:53.671Z,1613452373.671 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B
2021-02-16T05:12:53.672Z,1613452373.672 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 335A296433E0
2021-02-16T05:12:53.672Z,1613452373.672 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T05:12:54.027Z,1613452374.027 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T05:12:54.069Z,1613452374.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:54.442Z,1613452374.442 [Micromodem](INFO): Nmea in: $CADRQ,051255,1,10,0,64,1*70

2021-02-16T05:12:54.445Z,1613452374.445 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B*3B

2021-02-16T05:12:54.841Z,1613452374.841 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T05:12:54.842Z,1613452374.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:55.240Z,1613452375.240 [Micromodem](INFO): Nmea in: $CADRQ,051255,1,10,0,64,2*73

2021-02-16T05:12:55.240Z,1613452375.240 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,051255,1,10,0,64,2*73

2021-02-16T05:12:55.653Z,1613452375.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:12:56.072Z,1613452376.072 [Micromodem](INFO): Nmea in: $SNTTA,0.079724,,,,051256.36*4F

2021-02-16T05:12:56.109Z,1613452376.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.340004 m, bearing: 29.229118 deg, deltaT: 4.533621 s, approachRate: -0.674957 m/s, LOS rate: -0.074982 deg/s, posRepo size: 4
2021-02-16T05:12:56.111Z,1613452376.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.340004 m,
      bearing: 29.229118 deg,
      approachRate: -0.674957 m/s,
      LOS rate: -0.074982 deg/s,
      cmd update: -0.224947 deg/s,
      cmd heading: 29.059843 deg,
      new cmd heading: 29.099503 deg.

2021-02-16T05:12:58.518Z,1613452378.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:12:59.284Z,1613452379.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:12:59.697Z,1613452379.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:00.540Z,1613452380.540 [Micromodem](INFO): Nmea in: $SNTTA,0.077684,,0.103002,,051300.80*5B

2021-02-16T05:13:00.589Z,1613452380.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.160004 m, bearing: 28.243041 deg, deltaT: 4.343498 s, approachRate: -0.732129 m/s, LOS rate: -0.227024 deg/s, posRepo size: 4
2021-02-16T05:13:00.590Z,1613452380.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.160004 m,
      bearing: 28.243041 deg,
      approachRate: -0.732129 m/s,
      LOS rate: -0.227024 deg/s,
      cmd update: -0.681072 deg/s,
      cmd heading: 28.084103 deg,
      new cmd heading: 27.980452 deg.

2021-02-16T05:13:02.962Z,1613452382.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:03.724Z,1613452383.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:04.137Z,1613452384.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:04.952Z,1613452384.952 [Micromodem](INFO): Nmea in: $SNTTA,0.075444,,,,051305.24*42

2021-02-16T05:13:04.000Z,1613452385.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 29.498720 deg, deltaT: 4.452649 s, approachRate: -0.714183 m/s, LOS rate: 0.282007 deg/s, posRepo size: 4
2021-02-16T05:13:05.001Z,1613452385.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.979996 m,
      bearing: 29.498720 deg,
      approachRate: -0.714183 m/s,
      LOS rate: 0.282007 deg/s,
      cmd update: 0.846022 deg/s,
      cmd heading: 25.044745 deg,
      new cmd heading: 24.766181 deg.

2021-02-16T05:13:07.375Z,1613452387.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:08.175Z,1613452388.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:08.575Z,1613452388.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:09.404Z,1613452389.404 [Micromodem](INFO): Nmea in: $SNTTA,0.073399,,,,051309.69*46

2021-02-16T05:13:09.438Z,1613452389.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 30.197550 deg, deltaT: 4.446027 s, approachRate: -0.688254 m/s, LOS rate: 0.157181 deg/s, posRepo size: 4
2021-02-16T05:13:09.440Z,1613452389.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.919998 m,
      bearing: 30.197550 deg,
      approachRate: -0.688254 m/s,
      LOS rate: 0.157181 deg/s,
      cmd update: 0.471543 deg/s,
      cmd heading: 28.806392 deg,
      new cmd heading: 29.146059 deg.

2021-02-16T05:13:11.894Z,1613452391.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:12.615Z,1613452392.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:13.038Z,1613452393.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:13.844Z,1613452393.844 [Micromodem](INFO): Nmea in: $SNTTA,0.071311,,,,051314.13*45

2021-02-16T05:13:13.898Z,1613452393.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.799995 m, bearing: 30.032144 deg, deltaT: 4.403118 s, approachRate: -0.708589 m/s, LOS rate: -0.037566 deg/s, posRepo size: 4
2021-02-16T05:13:13.900Z,1613452393.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 30.032144 deg,
      approachRate: -0.708589 m/s,
      LOS rate: -0.037566 deg/s,
      cmd update: -0.112697 deg/s,
      cmd heading: 30.882657 deg,
      new cmd heading: 31.098783 deg.

2021-02-16T05:13:16.301Z,1613452396.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:17.068Z,1613452397.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:17.476Z,1613452397.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:18.292Z,1613452398.292 [Micromodem](INFO): Nmea in: $SNTTA,0.069205,,,,051318.58*4B

2021-02-16T05:13:18.370Z,1613452398.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.559998 m, bearing: 29.028738 deg, deltaT: 4.483170 s, approachRate: -0.722702 m/s, LOS rate: -0.223816 deg/s, posRepo size: 4
2021-02-16T05:13:18.372Z,1613452398.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.559998 m,
      bearing: 29.028738 deg,
      approachRate: -0.722702 m/s,
      LOS rate: -0.223816 deg/s,
      cmd update: -0.671449 deg/s,
      cmd heading: 30.377422 deg,
      new cmd heading: 30.327026 deg.

2021-02-16T05:13:20.724Z,1613452400.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:21.504Z,1613452401.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:21.920Z,1613452401.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:22.752Z,1613452402.752 [Micromodem](INFO): Nmea in: $SNTTA,0.067147,,,,051323.02*47

2021-02-16T05:13:22.820Z,1613452402.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 29.633349 deg, deltaT: 4.401502 s, approachRate: -0.695217 m/s, LOS rate: 0.137365 deg/s, posRepo size: 4
2021-02-16T05:13:22.822Z,1613452402.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.500000 m,
      bearing: 29.633349 deg,
      approachRate: -0.695217 m/s,
      LOS rate: 0.137365 deg/s,
      cmd update: 0.412095 deg/s,
      cmd heading: 27.421996 deg,
      new cmd heading: 27.088998 deg.

2021-02-16T05:13:24.751Z,1613452404.751 [Micromodem](INFO): Nmea in: $CAERR,051325,DATA_TIMEOUT,2*4D

2021-02-16T05:13:24.871Z,1613452404.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:25.147Z,1613452405.147 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-02-16T05:13:25.556Z,1613452405.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:26.774Z,1613452406.774 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-02-16T05:13:26.776Z,1613452406.776 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-02-16T05:13:27.166Z,1613452407.166 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,051325.999975,3,0,200,4000,14500,1,1,10,1,2,1,3,64*44

2021-02-16T05:13:27.166Z,1613452407.166 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,051325.999975,3,0,200,4000,14500,1,1,10,1,2,1,3,64*44

2021-02-16T05:13:27.604Z,1613452407.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:28.795Z,1613452408.795 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T05:13:29.182Z,1613452409.182 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216051328.919066,06,5208,37,0265,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,14.5,7.00,17,-4.00,-01,1.27,36,14500,4000*58

2021-02-16T05:13:29.182Z,1613452409.182 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216051328.919066,06,5208,37,0265,0150,37,02,02,00,03,1,010,001,0,4,1,0,150,14.5,7.00,17,-4.00,-01,1.27,36,14500,4000*58

2021-02-16T05:13:30.409Z,1613452410.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:33.233Z,1613452413.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:36.092Z,1613452416.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:36.869Z,1613452416.869 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:37.263Z,1613452417.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:38.104Z,1613452418.104 [Micromodem](INFO): Nmea in: $SNTTA,0.059995,,,,051338.38*4E

2021-02-16T05:13:38.132Z,1613452418.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 29.608255 deg, deltaT: 15.409954 s, approachRate: -0.685271 m/s, LOS rate: -0.001628 deg/s, posRepo size: 4
2021-02-16T05:13:38.135Z,1613452418.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.940002 m,
      bearing: 29.608255 deg,
      approachRate: -0.685271 m/s,
      LOS rate: -0.001628 deg/s,
      cmd update: -0.004885 deg/s,
      cmd heading: 33.765637 deg,
      new cmd heading: 33.935969 deg.

2021-02-16T05:13:40.561Z,1613452420.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:41.313Z,1613452421.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:41.707Z,1613452421.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:42.553Z,1613452422.553 [Micromodem](INFO): Nmea in: $SNTTA,0.057931,,,,051342.83*43

2021-02-16T05:13:42.603Z,1613452422.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 28.180923 deg, deltaT: 4.455442 s, approachRate: -0.740668 m/s, LOS rate: -0.320357 deg/s, posRepo size: 4
2021-02-16T05:13:42.605Z,1613452422.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.639999 m,
      bearing: 28.180923 deg,
      approachRate: -0.740668 m/s,
      LOS rate: -0.320357 deg/s,
      cmd update: -0.961071 deg/s,
      cmd heading: 33.743811 deg,
      new cmd heading: 33.741774 deg.

2021-02-16T05:13:44.981Z,1613452424.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:45.756Z,1613452425.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:46.161Z,1613452426.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:46.976Z,1613452426.976 [Micromodem](INFO): Nmea in: $SNTTA,0.055764,,,,051347.27*44

2021-02-16T05:13:47.016Z,1613452427.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 28.392509 deg, deltaT: 4.410274 s, approachRate: -0.734648 m/s, LOS rate: 0.047976 deg/s, posRepo size: 4
2021-02-16T05:13:47.018Z,1613452427.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.400002 m,
      bearing: 28.392509 deg,
      approachRate: -0.734648 m/s,
      LOS rate: 0.047976 deg/s,
      cmd update: 0.143927 deg/s,
      cmd heading: 29.501608 deg,
      new cmd heading: 29.102214 deg.

2021-02-16T05:13:49.452Z,1613452429.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:50.188Z,1613452430.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:50.591Z,1613452430.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:51.416Z,1613452431.416 [Micromodem](INFO): Nmea in: $SNTTA,0.053703,,,,051351.70*46

2021-02-16T05:13:51.454Z,1613452431.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 28.023508 deg, deltaT: 4.428734 s, approachRate: -0.690942 m/s, LOS rate: -0.083320 deg/s, posRepo size: 4
2021-02-16T05:13:51.456Z,1613452431.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 28.023508 deg,
      approachRate: -0.690942 m/s,
      LOS rate: -0.083320 deg/s,
      cmd update: -0.249959 deg/s,
      cmd heading: 30.139059 deg,
      new cmd heading: 30.200225 deg.

2021-02-16T05:13:53.914Z,1613452433.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:54.628Z,1613452434.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:55.034Z,1613452435.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:55.860Z,1613452435.860 [Micromodem](INFO): Nmea in: $SNTTA,0.051540,,,,051356.14*44

2021-02-16T05:13:55.952Z,1613452435.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.040009 m, bearing: 28.113397 deg, deltaT: 4.452761 s, approachRate: -0.741112 m/s, LOS rate: 0.020187 deg/s, posRepo size: 4
2021-02-16T05:13:55.954Z,1613452435.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.040009 m,
      bearing: 28.113397 deg,
      approachRate: -0.741112 m/s,
      LOS rate: 0.020187 deg/s,
      cmd update: 0.060562 deg/s,
      cmd heading: 29.026053 deg,
      new cmd heading: 28.908504 deg.

2021-02-16T05:13:58.279Z,1613452438.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:13:58.690Z,1613452438.690 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T05:13:59.074Z,1613452439.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:13:59.478Z,1613452439.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:13:59.568Z,1613452439.568 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B
2021-02-16T05:13:59.569Z,1613452439.569 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 335A296433E0
2021-02-16T05:13:59.569Z,1613452439.569 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T05:13:59.916Z,1613452439.916 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T05:14:00.328Z,1613452440.328 [Micromodem](INFO): Nmea in: $CADRQ,051401,1,10,0,64,1*77

2021-02-16T05:14:00.329Z,1613452440.329 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B601E0000005D00000400320000000000000000151D80030C5669BF92F9E583AD71B8251F6B2839364FA5416D725E45C01C16D2F7811CB2B9B980DE702B*3B

2021-02-16T05:14:00.426Z,1613452440.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.160004 m, bearing: 28.643968 deg, deltaT: 4.515523 s, approachRate: -0.637801 m/s, LOS rate: 0.117499 deg/s, posRepo size: 4
2021-02-16T05:14:00.434Z,1613452440.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.160004 m,
      bearing: 28.643968 deg,
      approachRate: -0.637801 m/s,
      LOS rate: 0.117499 deg/s,
      cmd update: 0.352498 deg/s,
      cmd heading: 29.299520 deg,
      new cmd heading: 29.325099 deg.

2021-02-16T05:14:00.733Z,1613452440.733 [Micromodem](INFO): Nmea in: $SNTTA,0.049561,,0.082568,,051400.59*5C

2021-02-16T05:14:00.733Z,1613452440.733 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.049561,,0.082568,,051400.59*5C

2021-02-16T05:14:01.961Z,1613452441.961 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T05:14:02.348Z,1613452442.348 [Micromodem](INFO): Nmea in: $CADRQ,051401,1,10,0,64,2*74

2021-02-16T05:14:02.348Z,1613452442.348 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,335A296433E0*41

2021-02-16T05:14:02.748Z,1613452442.748 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-02-16T05:14:02.830Z,1613452442.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:03.146Z,1613452443.146 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-02-16T05:14:03.558Z,1613452443.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:05.575Z,1613452445.575 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-02-16T05:14:05.576Z,1613452445.576 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-02-16T05:14:05.602Z,1613452445.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:05.974Z,1613452445.974 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,051403.835549,3,0,200,4000,14500,1,1,10,1,2,2,3,70*45

2021-02-16T05:14:05.974Z,1613452445.974 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,051403.835549,3,0,200,4000,14500,1,1,10,1,2,2,3,70*45

2021-02-16T05:14:08.007Z,1613452448.007 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T05:14:08.405Z,1613452448.405 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T05:14:08.406Z,1613452448.406 [Micromodem](INFO): Sent 62 bytes from file Logs/20210216T042015/Courier0030.lzma.parts
2021-02-16T05:14:08.406Z,1613452448.406 [Micromodem](INFO): Packets left to send: 0
2021-02-16T05:14:08.558Z,1613452448.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:08.809Z,1613452448.809 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216051408.511366,06,8542,39,0268,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,19.9,6.00,16,-3.00,-01,1.18,32,14500,4000*53

2021-02-16T05:14:08.809Z,1613452448.809 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216051408.511366,06,8542,39,0268,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,19.9,6.00,16,-3.00,-01,1.18,32,14500,4000*53

2021-02-16T05:14:08.902Z,1613452448.902 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T05:14:08.902Z,1613452448.902 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T05:14:08.902Z,1613452448.902 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T05:14:08.903Z,1613452448.903 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:14:08.903Z,1613452448.903 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T05:14:11.276Z,1613452451.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:14.103Z,1613452454.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:14.855Z,1613452454.855 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:15.268Z,1613452455.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:16.084Z,1613452456.084 [Micromodem](INFO): Nmea in: $SNTTA,0.041667,,,,051416.37*41

2021-02-16T05:14:16.133Z,1613452456.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 26.580462 deg, deltaT: 15.724783 s, approachRate: -0.755496 m/s, LOS rate: -0.131226 deg/s, posRepo size: 4
2021-02-16T05:14:16.140Z,1613452456.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.279999 m,
      bearing: 26.580462 deg,
      approachRate: -0.755496 m/s,
      LOS rate: -0.131226 deg/s,
      cmd update: -0.393679 deg/s,
      cmd heading: 34.841609 deg,
      new cmd heading: 34.987184 deg.

2021-02-16T05:14:18.562Z,1613452458.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:19.310Z,1613452459.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:19.717Z,1613452459.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:19.740Z,1613452459.740 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:14:20.564Z,1613452460.564 [Micromodem](INFO): Nmea in: $SNTTA,0.039565,,,,051420.82*44

2021-02-16T05:14:20.590Z,1613452460.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 25.242014 deg, deltaT: 4.439147 s, approachRate: -0.702838 m/s, LOS rate: -0.301510 deg/s, posRepo size: 4
2021-02-16T05:14:20.612Z,1613452460.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 25.242014 deg,
      approachRate: -0.702838 m/s,
      LOS rate: -0.301510 deg/s,
      cmd update: -0.904530 deg/s,
      cmd heading: 33.093914 deg,
      new cmd heading: 32.924312 deg.

2021-02-16T05:14:22.970Z,1613452462.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:23.748Z,1613452463.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:24.159Z,1613452464.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:24.996Z,1613452464.996 [Micromodem](INFO): Nmea in: $SNTTA,0.037346,,,,051425.26*46

2021-02-16T05:14:25.020Z,1613452465.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 24.837901 deg, deltaT: 4.433590 s, approachRate: -0.744318 m/s, LOS rate: -0.091148 deg/s, posRepo size: 4
2021-02-16T05:14:25.022Z,1613452465.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.859997 m,
      bearing: 24.837901 deg,
      approachRate: -0.744318 m/s,
      LOS rate: -0.091148 deg/s,
      cmd update: -0.273444 deg/s,
      cmd heading: 29.081716 deg,
      new cmd heading: 28.697153 deg.

2021-02-16T05:14:27.436Z,1613452467.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:28.188Z,1613452468.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:28.611Z,1613452468.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:29.420Z,1613452469.420 [Micromodem](INFO): Nmea in: $SNTTA,0.035300,,,,051429.70*49

2021-02-16T05:14:29.457Z,1613452469.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 25.566865 deg, deltaT: 4.453348 s, approachRate: -0.687123 m/s, LOS rate: 0.163689 deg/s, posRepo size: 4
2021-02-16T05:14:29.459Z,1613452469.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.799999 m,
      bearing: 25.566865 deg,
      approachRate: -0.687123 m/s,
      LOS rate: 0.163689 deg/s,
      cmd update: 0.491067 deg/s,
      cmd heading: 27.866167 deg,
      new cmd heading: 27.751997 deg.

2021-02-16T05:14:31.896Z,1613452471.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:32.638Z,1613452472.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:33.074Z,1613452473.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:33.888Z,1613452473.888 [Micromodem](INFO): Nmea in: $SNTTA,0.033118,,0.046418,,051434.15*5A

2021-02-16T05:14:33.959Z,1613452473.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.439995 m, bearing: 24.716839 deg, deltaT: 4.498243 s, approachRate: -0.746959 m/s, LOS rate: -0.188968 deg/s, posRepo size: 4
2021-02-16T05:14:33.961Z,1613452473.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.439995 m,
      bearing: 24.716839 deg,
      approachRate: -0.746959 m/s,
      LOS rate: -0.188968 deg/s,
      cmd update: -0.566905 deg/s,
      cmd heading: 30.065704 deg,
      new cmd heading: 30.279686 deg.

2021-02-16T05:14:36.330Z,1613452476.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:37.108Z,1613452477.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:37.549Z,1613452477.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:38.336Z,1613452478.336 [Micromodem](INFO): Nmea in: $SNTTA,0.030951,,,,051438.62*41

2021-02-16T05:14:38.414Z,1613452478.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.619999 m, bearing: 24.074706 deg, deltaT: 4.412753 s, approachRate: -0.639056 m/s, LOS rate: -0.145518 deg/s, posRepo size: 4
2021-02-16T05:14:38.416Z,1613452478.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.619999 m,
      bearing: 24.074706 deg,
      approachRate: -0.639056 m/s,
      LOS rate: -0.145518 deg/s,
      cmd update: -0.436553 deg/s,
      cmd heading: 27.550904 deg,
      new cmd heading: 27.290644 deg.

2021-02-16T05:14:39.948Z,1613452479.948 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T05:14:40.820Z,1613452480.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:41.563Z,1613452481.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:41.959Z,1613452481.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:42.804Z,1613452482.804 [Micromodem](INFO): Nmea in: $SNTTA,0.028892,,,,051443.08*46

2021-02-16T05:14:42.871Z,1613452482.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 24.754250 deg, deltaT: 4.437120 s, approachRate: -0.784292 m/s, LOS rate: 0.153150 deg/s, posRepo size: 4
2021-02-16T05:14:42.873Z,1613452482.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 24.754250 deg,
      approachRate: -0.784292 m/s,
      LOS rate: 0.153150 deg/s,
      cmd update: 0.459449 deg/s,
      cmd heading: 25.612203 deg,
      new cmd heading: 25.405020 deg.

2021-02-16T05:14:45.212Z,1613452485.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:45.996Z,1613452485.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:46.418Z,1613452486.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:47.225Z,1613452487.225 [Micromodem](INFO): Nmea in: $SNTTA,0.026736,,,,051447.51*41

2021-02-16T05:14:47.261Z,1613452487.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 24.327990 deg, deltaT: 4.483704 s, approachRate: -0.722616 m/s, LOS rate: -0.095069 deg/s, posRepo size: 4
2021-02-16T05:14:47.261Z,1613452487.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m.
2021-02-16T05:14:47.263Z,1613452487.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.900002 m,
      bearing: 24.327990 deg,
      approachRate: -0.722616 m/s,
      LOS rate: -0.095069 deg/s,
      cmd update: -0.285206 deg/s,
      cmd heading: 27.668595 deg,
      new cmd heading: 27.847372 deg.

2021-02-16T05:14:47.629Z,1613452487.629 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:14:49.704Z,1613452489.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:50.440Z,1613452490.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:50.851Z,1613452490.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:51.675Z,1613452491.675 [Micromodem](INFO): Nmea in: $SNTTA,0.024632,,,,051451.95*49

2021-02-16T05:14:51.700Z,1613452491.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 22.787400 deg, deltaT: 4.399200 s, approachRate: -0.709220 m/s, LOS rate: -0.350198 deg/s, posRepo size: 4
2021-02-16T05:14:51.701Z,1613452491.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-02-16T05:14:51.701Z,1613452491.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.78 m.
2021-02-16T05:14:51.701Z,1613452491.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:14:51.703Z,1613452491.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 22.787400 deg,
      approachRate: -0.709220 m/s,
      LOS rate: -0.350198 deg/s,
      cmd update: -1.050593 deg/s,
      cmd heading: 26.411601 deg,
      new cmd heading: 26.291571 deg.

2021-02-16T05:14:54.120Z,1613452494.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:54.884Z,1613452494.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:55.295Z,1613452495.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:14:56.133Z,1613452496.133 [Micromodem](INFO): Nmea in: $SNTTA,0.022550,,0.075394,,051456.40*55

2021-02-16T05:14:56.189Z,1613452496.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 22.662136 deg, deltaT: 4.445784 s, approachRate: -0.701788 m/s, LOS rate: -0.028176 deg/s, posRepo size: 4
2021-02-16T05:14:56.195Z,1613452496.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.660000 m,
      bearing: 22.662136 deg,
      approachRate: -0.701788 m/s,
      LOS rate: -0.028176 deg/s,
      cmd update: -0.084528 deg/s,
      cmd heading: 21.740955 deg,
      new cmd heading: 21.253170 deg.

2021-02-16T05:14:58.584Z,1613452498.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:14:59.328Z,1613452499.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:14:59.756Z,1613452499.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:00.576Z,1613452500.576 [Micromodem](INFO): Nmea in: $SNTTA,0.020411,,0.042595,,051500.84*5A

2021-02-16T05:15:00.631Z,1613452500.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 22.034042 deg, deltaT: 4.437249 s, approachRate: -0.730183 m/s, LOS rate: -0.141550 deg/s, posRepo size: 4
2021-02-16T05:15:00.633Z,1613452500.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 22.034042 deg,
      approachRate: -0.730183 m/s,
      LOS rate: -0.141550 deg/s,
      cmd update: -0.424651 deg/s,
      cmd heading: 21.366103 deg,
      new cmd heading: 21.326237 deg.

2021-02-16T05:15:03.013Z,1613452503.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:03.813Z,1613452503.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:04.181Z,1613452504.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:05.017Z,1613452505.017 [Micromodem](INFO): Nmea in: $SNTTA,0.018309,,,,051505.33*47

2021-02-16T05:15:05.057Z,1613452505.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 22.877225 deg, deltaT: 4.444383 s, approachRate: -0.702009 m/s, LOS rate: 0.189719 deg/s, posRepo size: 4
2021-02-16T05:15:05.059Z,1613452505.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 22.877225 deg,
      approachRate: -0.702009 m/s,
      LOS rate: 0.189719 deg/s,
      cmd update: 0.569157 deg/s,
      cmd heading: 19.477755 deg,
      new cmd heading: 19.286422 deg.

2021-02-16T05:15:07.433Z,1613452507.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:08.216Z,1613452508.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:08.627Z,1613452508.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:09.444Z,1613452509.444 [Micromodem](INFO): Nmea in: $SNTTA,0.016251,,,,051509.73*4D

2021-02-16T05:15:09.478Z,1613452509.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 22.714028 deg, deltaT: 4.469798 s, approachRate: -0.698018 m/s, LOS rate: -0.036511 deg/s, posRepo size: 4
2021-02-16T05:15:09.480Z,1613452509.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 22.714028 deg,
      approachRate: -0.698018 m/s,
      LOS rate: -0.036511 deg/s,
      cmd update: -0.109533 deg/s,
      cmd heading: 22.017184 deg,
      new cmd heading: 22.250661 deg.

2021-02-16T05:15:11.923Z,1613452511.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:12.662Z,1613452512.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:13.066Z,1613452513.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:13.892Z,1613452513.892 [Micromodem](INFO): Nmea in: $SNTTA,0.014141,,,,051514.17*43

2021-02-16T05:15:13.962Z,1613452513.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 23.903767 deg, deltaT: 4.409443 s, approachRate: -0.707573 m/s, LOS rate: 0.269816 deg/s, posRepo size: 4
2021-02-16T05:15:13.970Z,1613452513.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 23.903767 deg,
      approachRate: -0.707573 m/s,
      LOS rate: 0.269816 deg/s,
      cmd update: 0.809448 deg/s,
      cmd heading: 21.533293 deg,
      new cmd heading: 21.481102 deg.

2021-02-16T05:15:16.329Z,1613452516.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:17.109Z,1613452517.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:17.552Z,1613452517.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:18.336Z,1613452518.336 [Micromodem](INFO): Nmea in: $SNTTA,0.012713,,,,051518.62*4A

2021-02-16T05:15:18.377Z,1613452518.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 23.840155 deg, deltaT: 4.489167 s, approachRate: -0.494523 m/s, LOS rate: -0.014170 deg/s, posRepo size: 4
2021-02-16T05:15:18.379Z,1613452518.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 23.840155 deg,
      approachRate: -0.494523 m/s,
      LOS rate: -0.014170 deg/s,
      cmd update: -0.042510 deg/s,
      cmd heading: 25.163726 deg,
      new cmd heading: 25.492871 deg.

2021-02-16T05:15:20.829Z,1613452520.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:21.601Z,1613452521.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:21.971Z,1613452521.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:22.813Z,1613452522.813 [Micromodem](INFO): Nmea in: $SNTTA,0.010016,,,0.060148,051523.12*50

2021-02-16T05:15:22.861Z,1613452522.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 23.276089 deg, deltaT: 4.402297 s, approachRate: -0.913160 m/s, LOS rate: -0.128130 deg/s, posRepo size: 4
2021-02-16T05:15:22.863Z,1613452522.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 23.276089 deg,
      approachRate: -0.913160 m/s,
      LOS rate: -0.128130 deg/s,
      cmd update: -0.384390 deg/s,
      cmd heading: 24.976412 deg,
      new cmd heading: 24.955832 deg.

2021-02-16T05:15:25.213Z,1613452525.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:25.998Z,1613452525.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:26.403Z,1613452526.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:27.228Z,1613452527.228 [Micromodem](INFO): Nmea in: $SNTTA,0.008007,,0.009132,,051527.51*58

2021-02-16T05:15:27.267Z,1613452527.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.820001 m, bearing: 23.882197 deg, deltaT: 4.485306 s, approachRate: -0.668851 m/s, LOS rate: 0.135132 deg/s, posRepo size: 4
2021-02-16T05:15:27.269Z,1613452527.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 23.882197 deg,
      approachRate: -0.668851 m/s,
      LOS rate: 0.135132 deg/s,
      cmd update: 0.405395 deg/s,
      cmd heading: 23.253856 deg,
      new cmd heading: 23.096853 deg.

2021-02-16T05:15:29.674Z,1613452529.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:30.441Z,1613452530.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:30.847Z,1613452530.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:31.676Z,1613452531.676 [Micromodem](INFO): Nmea in: $SNTTA,0.006064,,,,051531.95*4B

2021-02-16T05:15:31.721Z,1613452531.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 21.881896 deg, deltaT: 4.396125 s, approachRate: -0.682419 m/s, LOS rate: -0.455015 deg/s, posRepo size: 4
2021-02-16T05:15:31.723Z,1613452531.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 21.881896 deg,
      approachRate: -0.682419 m/s,
      LOS rate: -0.455015 deg/s,
      cmd update: -1.365044 deg/s,
      cmd heading: 25.037606 deg,
      new cmd heading: 25.225060 deg.

2021-02-16T05:15:34.102Z,1613452534.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:34.897Z,1613452534.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:35.291Z,1613452535.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:36.116Z,1613452536.116 [Micromodem](INFO): Nmea in: $SNTTA,0.004227,,,,051536.41*42

2021-02-16T05:15:36.167Z,1613452536.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 18.254709 deg, deltaT: 4.498400 s, approachRate: -0.600214 m/s, LOS rate: -0.806328 deg/s, posRepo size: 4
2021-02-16T05:15:36.170Z,1613452536.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 18.254709 deg,
      approachRate: -0.600214 m/s,
      LOS rate: -0.806328 deg/s,
      cmd update: -2.418985 deg/s,
      cmd heading: 18.922395 deg,
      new cmd heading: 18.338047 deg.

2021-02-16T05:15:38.583Z,1613452538.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:39.324Z,1613452539.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:39.744Z,1613452539.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:40.580Z,1613452540.580 [Micromodem](INFO): Nmea in: $SNTTA,0.002723,,,,051540.84*4D

2021-02-16T05:15:40.632Z,1613452540.632 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T05:15:40.632Z,1613452540.632 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:15:40.632Z,1613452540.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T05:15:40.632Z,1613452540.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:15:40.633Z,1613452540.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T05:15:40.633Z,1613452540.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.899999 m 
2021-02-16T05:15:40.633Z,1613452540.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T05:15:40.633Z,1613452540.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T05:15:40.634Z,1613452540.634 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T05:15:40.636Z,1613452540.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 12.618503 deg, deltaT: 4.404664 s, approachRate: -0.504011 m/s, LOS rate: -1.279599 deg/s, posRepo size: 4
2021-02-16T05:15:40.638Z,1613452540.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 12.618503 deg,
      approachRate: -0.504011 m/s,
      LOS rate: -1.279599 deg/s,
      cmd update: -3.838799 deg/s,
      cmd heading: 8.227758 deg,
      new cmd heading: 7.075719 deg.

2021-02-16T05:15:40.974Z,1613452540.974 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T051540: (41.552319, -70.708603)
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T05:15:40.975Z,1613452540.975 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T05:15:40.976Z,1613452540.976 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:15:43.001Z,1613452543.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:43.792Z,1613452543.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:44.178Z,1613452544.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:45.008Z,1613452545.008 [Micromodem](INFO): Nmea in: $SNTTA,0.002617,,,,051545.31*40

2021-02-16T05:15:45.049Z,1613452545.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 9.066640 deg, deltaT: 4.458756 s, approachRate: 0.000000 m/s, LOS rate: -0.796604 deg/s, posRepo size: 4
2021-02-16T05:15:45.050Z,1613452545.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 9.066640 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.796604 deg/s,
      cmd update: -2.389812 deg/s,
      cmd heading: 351.119316 deg,
      new cmd heading: 349.459718 deg.

2021-02-16T05:15:47.435Z,1613452547.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:48.217Z,1613452548.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:48.618Z,1613452548.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:49.448Z,1613452549.448 [Micromodem](INFO): Nmea in: $SNTTA,0.003876,0.020481,,,051549.73*53

2021-02-16T05:15:49.490Z,1613452549.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 352.195727 deg, deltaT: 4.465103 s, approachRate: 0.430001 m/s, LOS rate: -3.778393 deg/s, posRepo size: 4
2021-02-16T05:15:49.499Z,1613452549.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 352.195727 deg,
      approachRate: 0.430001 m/s,
      LOS rate: -3.778393 deg/s,
      cmd update: -11.335179 deg/s,
      cmd heading: 340.438574 deg,
      new cmd heading: 339.470958 deg.

2021-02-16T05:15:51.906Z,1613452551.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:52.656Z,1613452552.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:53.062Z,1613452553.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:53.888Z,1613452553.888 [Micromodem](INFO): Nmea in: $SNTTA,0.005454,,,,051554.17*46

2021-02-16T05:15:53.952Z,1613452553.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 340.099079 deg, deltaT: 4.398324 s, approachRate: 0.559304 m/s, LOS rate: -2.750286 deg/s, posRepo size: 4
2021-02-16T05:15:53.953Z,1613452553.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 340.099079 deg,
      approachRate: 0.559304 m/s,
      LOS rate: -2.750286 deg/s,
      cmd update: -8.250857 deg/s,
      cmd heading: 290.582128 deg,
      new cmd heading: 285.282864 deg.

2021-02-16T05:15:56.314Z,1613452556.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:15:57.104Z,1613452557.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:15:57.538Z,1613452557.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:15:58.332Z,1613452558.332 [Micromodem](INFO): Nmea in: $SNTTA,0.006969,,,,051558.62*48

2021-02-16T05:15:58.366Z,1613452558.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 338.471855 deg, deltaT: 4.466367 s, approachRate: 0.510482 m/s, LOS rate: -0.364328 deg/s, posRepo size: 4
2021-02-16T05:15:58.368Z,1613452558.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 338.471855 deg,
      approachRate: 0.510482 m/s,
      LOS rate: -0.364328 deg/s,
      cmd update: -1.092985 deg/s,
      cmd heading: 253.730857 deg,
      new cmd heading: 250.303723 deg.

2021-02-16T05:16:00.836Z,1613452560.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:01.563Z,1613452561.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:01.949Z,1613452561.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:02.813Z,1613452562.813 [Micromodem](INFO): Nmea in: $SNTTA,0.008460,,,,051603.08*43

2021-02-16T05:16:02.874Z,1613452562.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 333.652829 deg, deltaT: 4.416490 s, approachRate: 0.502661 m/s, LOS rate: -1.091144 deg/s, posRepo size: 4
2021-02-16T05:16:02.875Z,1613452562.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.78 m. Rolling out.
2021-02-16T05:16:02.875Z,1613452562.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T05:16:05.209Z,1613452565.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:05.999Z,1613452565.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:06.415Z,1613452566.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:07.224Z,1613452567.224 [Micromodem](INFO): Nmea in: $SNTTA,0.009798,,,,051607.51*4E

2021-02-16T05:16:07.266Z,1613452567.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 297.725405 deg, deltaT: 4.511445 s, approachRate: 0.452184 m/s, LOS rate: -7.963618 deg/s, posRepo size: 4
2021-02-16T05:16:09.668Z,1613452569.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:10.437Z,1613452570.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:10.843Z,1613452570.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:11.668Z,1613452571.668 [Micromodem](INFO): Nmea in: $SNTTA,0.010947,,,,051611.95*45

2021-02-16T05:16:11.709Z,1613452571.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 250.837932 deg, deltaT: 4.378499 s, approachRate: 0.369989 m/s, LOS rate: -10.708572 deg/s, posRepo size: 4
2021-02-16T05:16:14.113Z,1613452574.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:14.887Z,1613452574.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:15.282Z,1613452575.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:16.112Z,1613452576.112 [Micromodem](INFO): Nmea in: $SNTTA,0.011743,,,,051616.40*41

2021-02-16T05:16:16.139Z,1613452576.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 220.555196 deg, deltaT: 4.468778 s, approachRate: 0.268530 m/s, LOS rate: -6.776514 deg/s, posRepo size: 4
2021-02-16T05:16:18.576Z,1613452578.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:19.320Z,1613452579.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:19.762Z,1613452579.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:20.572Z,1613452580.572 [Micromodem](INFO): Nmea in: $SNTTA,0.012692,,,,051620.83*45

2021-02-16T05:16:20.625Z,1613452580.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.079998 m, bearing: 231.322579 deg, deltaT: 4.423648 s, approachRate: 0.325523 m/s, LOS rate: 2.434051 deg/s, posRepo size: 4
2021-02-16T05:16:22.176Z,1613452582.176 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:16:23.014Z,1613452583.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:23.793Z,1613452583.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:24.175Z,1613452584.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:25.008Z,1613452585.008 [Micromodem](INFO): Nmea in: $SNTTA,0.014016,,,,051625.31*45

2021-02-16T05:16:25.058Z,1613452585.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 240.921836 deg, deltaT: 4.447262 s, approachRate: 0.485692 m/s, LOS rate: 2.158464 deg/s, posRepo size: 4
2021-02-16T05:16:27.430Z,1613452587.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:28.209Z,1613452588.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:28.625Z,1613452588.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:29.456Z,1613452589.456 [Micromodem](INFO): Nmea in: $SNTTA,0.015608,,,0.018101,051629.73*50

2021-02-16T05:16:29.478Z,1613452589.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 255.170622 deg, deltaT: 4.468112 s, approachRate: 0.510283 m/s, LOS rate: 3.188995 deg/s, posRepo size: 4
2021-02-16T05:16:31.921Z,1613452591.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:32.652Z,1613452592.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:33.065Z,1613452593.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:33.884Z,1613452593.884 [Micromodem](INFO): Nmea in: $SNTTA,0.017132,,,,051634.17*45

2021-02-16T05:16:33.956Z,1613452593.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 278.759445 deg, deltaT: 4.482750 s, approachRate: 0.669232 m/s, LOS rate: 5.262132 deg/s, posRepo size: 4
2021-02-16T05:16:36.309Z,1613452596.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:37.096Z,1613452597.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:37.508Z,1613452597.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:38.327Z,1613452598.327 [Micromodem](INFO): Nmea in: $SNTTA,0.019033,,,,051638.61*46

2021-02-16T05:16:38.346Z,1613452598.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.580002 m, bearing: 213.259365 deg, deltaT: 4.403503 s, approachRate: 0.694902 m/s, LOS rate: -14.874540 deg/s, posRepo size: 4
2021-02-16T05:16:40.804Z,1613452600.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:41.560Z,1613452601.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:41.946Z,1613452601.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:42.800Z,1613452602.800 [Micromodem](INFO): Nmea in: $SNTTA,0.020874,,,,051643.07*4B

2021-02-16T05:16:42.846Z,1613452602.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 247.606624 deg, deltaT: 4.413138 s, approachRate: 0.557426 m/s, LOS rate: 7.782956 deg/s, posRepo size: 4
2021-02-16T05:16:44.871Z,1613452604.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:45.582Z,1613452605.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:45.985Z,1613452605.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:46.821Z,1613452606.821 [Micromodem](INFO): Nmea in: $SNTTA,0.022668,,0.053186,0.025162,051647.09*4B

2021-02-16T05:16:46.868Z,1613452606.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 207.196944 deg, deltaT: 4.038392 s, approachRate: 0.653725 m/s, LOS rate: -10.006379 deg/s, posRepo size: 4
2021-02-16T05:16:49.239Z,1613452609.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:50.042Z,1613452610.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:50.431Z,1613452610.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:51.268Z,1613452611.268 [Micromodem](INFO): Nmea in: $SNTTA,0.024821,,,,051651.56*48

2021-02-16T05:16:51.290Z,1613452611.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 267.486218 deg, deltaT: 4.470658 s, approachRate: 0.603938 m/s, LOS rate: 13.485549 deg/s, posRepo size: 4
2021-02-16T05:16:53.726Z,1613452613.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:54.468Z,1613452614.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:54.874Z,1613452614.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:16:55.704Z,1613452615.704 [Micromodem](INFO): Nmea in: $SNTTA,0.026892,,,,051655.98*44

2021-02-16T05:16:55.729Z,1613452615.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 218.683191 deg, deltaT: 4.422432 s, approachRate: 0.800465 m/s, LOS rate: -11.035337 deg/s, posRepo size: 4
2021-02-16T05:16:58.156Z,1613452618.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:16:58.912Z,1613452618.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:16:59.317Z,1613452619.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:00.145Z,1613452620.145 [Micromodem](INFO): Nmea in: $SNTTA,0.029116,,0.084403,,051700.42*5D

2021-02-16T05:17:00.196Z,1613452620.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.160000 m, bearing: 231.347851 deg, deltaT: 4.505015 s, approachRate: 0.719198 m/s, LOS rate: 2.811236 deg/s, posRepo size: 4
2021-02-16T05:17:02.593Z,1613452622.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:03.356Z,1613452623.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:03.794Z,1613452623.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:04.592Z,1613452624.592 [Micromodem](INFO): Nmea in: $SNTTA,0.031325,,,,051704.87*4E

2021-02-16T05:17:04.631Z,1613452624.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 212.324900 deg, deltaT: 4.401126 s, approachRate: 0.681643 m/s, LOS rate: -4.322292 deg/s, posRepo size: 4
2021-02-16T05:17:07.036Z,1613452627.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:07.803Z,1613452627.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:08.211Z,1613452628.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:09.052Z,1613452629.052 [Micromodem](INFO): Nmea in: $SNTTA,0.033405,,,,051709.32*4A

2021-02-16T05:17:09.076Z,1613452629.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 222.367136 deg, deltaT: 4.448772 s, approachRate: 0.782238 m/s, LOS rate: 2.257305 deg/s, posRepo size: 4
2021-02-16T05:17:11.453Z,1613452631.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:12.244Z,1613452632.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:12.661Z,1613452632.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:13.472Z,1613452633.472 [Micromodem](INFO): Nmea in: $SNTTA,0.035488,,,,051713.76*42

2021-02-16T05:17:13.565Z,1613452633.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.759995 m, bearing: 226.806554 deg, deltaT: 4.442602 s, approachRate: 0.702291 m/s, LOS rate: 0.999283 deg/s, posRepo size: 4
2021-02-16T05:17:13.884Z,1613452633.884 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:17:15.920Z,1613452635.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:16.688Z,1613452636.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:17.093Z,1613452637.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:17.920Z,1613452637.920 [Micromodem](INFO): Nmea in: $SNTTA,0.037515,,,,051718.20*4D

2021-02-16T05:17:17.981Z,1613452637.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 221.913010 deg, deltaT: 4.477440 s, approachRate: 0.589625 m/s, LOS rate: -1.092933 deg/s, posRepo size: 4
2021-02-16T05:17:18.739Z,1613452638.739 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:17:20.346Z,1613452640.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:21.133Z,1613452641.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:21.562Z,1613452641.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:22.364Z,1613452642.364 [Micromodem](INFO): Nmea in: $SNTTA,0.039581,,0.082586,,051722.65*59

2021-02-16T05:17:22.405Z,1613452642.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.820000 m, bearing: 237.448494 deg, deltaT: 4.417523 s, approachRate: 0.774188 m/s, LOS rate: 3.516786 deg/s, posRepo size: 4
2021-02-16T05:17:24.854Z,1613452644.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:25.576Z,1613452645.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:25.999Z,1613452645.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:26.832Z,1613452646.832 [Micromodem](INFO): Nmea in: $SNTTA,0.041581,,,,051727.09*46

2021-02-16T05:17:26.866Z,1613452646.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 230.559073 deg, deltaT: 4.426234 s, approachRate: 0.623556 m/s, LOS rate: -1.556497 deg/s, posRepo size: 4
2021-02-16T05:17:29.238Z,1613452649.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:30.020Z,1613452650.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:30.426Z,1613452650.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:31.248Z,1613452651.248 [Micromodem](INFO): Nmea in: $SNTTA,0.043680,,,,051731.53*4E

2021-02-16T05:17:31.286Z,1613452651.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 227.603855 deg, deltaT: 4.479406 s, approachRate: 0.803677 m/s, LOS rate: -0.659734 deg/s, posRepo size: 4
2021-02-16T05:17:33.673Z,1613452653.673 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:17:33.688Z,1613452653.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:34.464Z,1613452654.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:34.887Z,1613452654.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:35.696Z,1613452655.696 [Micromodem](INFO): Nmea in: $SNTTA,0.045754,,0.048515,,051735.98*50

2021-02-16T05:17:35.798Z,1613452655.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 225.410504 deg, deltaT: 4.411616 s, approachRate: 0.584820 m/s, LOS rate: -0.497176 deg/s, posRepo size: 4
2021-02-16T05:17:38.143Z,1613452658.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:38.925Z,1613452658.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:39.324Z,1613452659.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:40.150Z,1613452660.150 [Micromodem](INFO): Nmea in: $SNTTA,0.048063,,,,051740.44*4E

2021-02-16T05:17:40.183Z,1613452660.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.480003 m, bearing: 248.455016 deg, deltaT: 4.489962 s, approachRate: 0.828515 m/s, LOS rate: 5.132451 deg/s, posRepo size: 4
2021-02-16T05:17:42.587Z,1613452662.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:43.369Z,1613452663.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:43.788Z,1613452663.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:43.809Z,1613452663.809 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T05:17:44.597Z,1613452664.597 [Micromodem](INFO): Nmea in: $SNTTA,0.050291,,,,051744.88*4C

2021-02-16T05:17:44.641Z,1613452664.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 242.298966 deg, deltaT: 4.407187 s, approachRate: 0.762391 m/s, LOS rate: -1.396821 deg/s, posRepo size: 4
2021-02-16T05:17:47.021Z,1613452667.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:47.803Z,1613452667.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:48.217Z,1613452668.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:48.628Z,1613452668.628 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:17:49.040Z,1613452669.040 [Micromodem](INFO): Nmea in: $SNTTA,0.052491,,,,051749.32*44

2021-02-16T05:17:49.064Z,1613452669.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.020004 m, bearing: 241.880494 deg, deltaT: 4.438284 s, approachRate: 0.716493 m/s, LOS rate: -0.094287 deg/s, posRepo size: 4
2021-02-16T05:17:51.450Z,1613452671.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:52.241Z,1613452672.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:52.646Z,1613452672.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:53.482Z,1613452673.482 [Micromodem](INFO): Nmea in: $SNTTA,0.054492,,0.059854,,051753.82*5A

2021-02-16T05:17:53.576Z,1613452673.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.900002 m, bearing: 228.890185 deg, deltaT: 4.471931 s, approachRate: 0.644017 m/s, LOS rate: -2.904855 deg/s, posRepo size: 4
2021-02-16T05:17:53.875Z,1613452673.875 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:17:55.930Z,1613452675.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:17:56.695Z,1613452676.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:17:57.090Z,1613452677.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:17:57.920Z,1613452677.920 [Micromodem](INFO): Nmea in: $SNTTA,0.056657,,,,051758.21*4A

2021-02-16T05:17:57.973Z,1613452677.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 230.029542 deg, deltaT: 4.422921 s, approachRate: 0.732547 m/s, LOS rate: 0.257603 deg/s, posRepo size: 4
2021-02-16T05:18:00.356Z,1613452680.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:01.130Z,1613452681.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:01.566Z,1613452681.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:02.360Z,1613452682.360 [Micromodem](INFO): Nmea in: $SNTTA,0.058859,,,,051802.64*45

2021-02-16T05:18:02.393Z,1613452682.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.439995 m, bearing: 233.008625 deg, deltaT: 4.441803 s, approachRate: 0.742941 m/s, LOS rate: 0.670692 deg/s, posRepo size: 4
2021-02-16T05:18:03.599Z,1613452683.599 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T05:18:04.847Z,1613452684.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:05.589Z,1613452685.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:05.977Z,1613452685.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:06.813Z,1613452686.813 [Micromodem](INFO): Nmea in: $SNTTA,0.061119,,,,051807.10*44

2021-02-16T05:18:06.892Z,1613452686.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.800003 m, bearing: 239.938917 deg, deltaT: 4.422599 s, approachRate: 0.759736 m/s, LOS rate: 1.567018 deg/s, posRepo size: 4
2021-02-16T05:18:09.222Z,1613452689.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:10.026Z,1613452690.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:10.427Z,1613452690.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:11.252Z,1613452691.252 [Micromodem](INFO): Nmea in: $SNTTA,0.063213,,,,051811.54*48

2021-02-16T05:18:11.274Z,1613452691.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 235.632237 deg, deltaT: 4.484365 s, approachRate: 0.722510 m/s, LOS rate: -0.960377 deg/s, posRepo size: 4
2021-02-16T05:18:13.666Z,1613452693.666 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:18:13.706Z,1613452693.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:14.470Z,1613452694.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:14.866Z,1613452694.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:15.696Z,1613452695.696 [Micromodem](INFO): Nmea in: $SNTTA,0.065302,,,,051815.98*4B

2021-02-16T05:18:15.721Z,1613452695.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.220001 m, bearing: 237.068927 deg, deltaT: 4.398069 s, approachRate: 0.723045 m/s, LOS rate: 0.326664 deg/s, posRepo size: 4
2021-02-16T05:18:18.143Z,1613452698.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:18.909Z,1613452698.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:19.309Z,1613452699.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:20.137Z,1613452700.137 [Micromodem](INFO): Nmea in: $SNTTA,0.067489,,,,051820.42*4C

2021-02-16T05:18:20.186Z,1613452700.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 245.106775 deg, deltaT: 4.521680 s, approachRate: 0.703280 m/s, LOS rate: 1.777624 deg/s, posRepo size: 4
2021-02-16T05:18:22.617Z,1613452702.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:23.352Z,1613452703.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:23.792Z,1613452703.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:24.591Z,1613452704.591 [Micromodem](INFO): Nmea in: $SNTTA,0.069661,,,,051824.87*4B

2021-02-16T05:18:24.616Z,1613452704.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.640007 m, bearing: 239.792669 deg, deltaT: 4.402408 s, approachRate: 0.735960 m/s, LOS rate: -1.207091 deg/s, posRepo size: 4
2021-02-16T05:18:27.028Z,1613452707.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:27.800Z,1613452707.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:28.210Z,1613452708.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:29.028Z,1613452709.028 [Micromodem](INFO): Nmea in: $SNTTA,0.071766,,0.077365,,051829.31*5A

2021-02-16T05:18:29.076Z,1613452709.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.760002 m, bearing: 241.771348 deg, deltaT: 4.441188 s, approachRate: 0.702514 m/s, LOS rate: 0.445529 deg/s, posRepo size: 4
2021-02-16T05:18:31.469Z,1613452711.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:32.286Z,1613452712.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:32.651Z,1613452712.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:33.478Z,1613452713.478 [Micromodem](INFO): Nmea in: $SNTTA,0.073939,,,,051833.80*43

2021-02-16T05:18:33.565Z,1613452713.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 236.976637 deg, deltaT: 4.445317 s, approachRate: 0.742355 m/s, LOS rate: -1.078598 deg/s, posRepo size: 4
2021-02-16T05:18:35.916Z,1613452715.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:36.684Z,1613452716.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:37.090Z,1613452717.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:37.912Z,1613452717.912 [Micromodem](INFO): Nmea in: $SNTTA,0.076057,,,,051838.20*46

2021-02-16T05:18:37.946Z,1613452717.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.239998 m, bearing: 237.133731 deg, deltaT: 4.465040 s, approachRate: 0.712198 m/s, LOS rate: 0.035183 deg/s, posRepo size: 4
2021-02-16T05:18:40.335Z,1613452720.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:41.128Z,1613452721.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:41.572Z,1613452721.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:42.356Z,1613452722.356 [Micromodem](INFO): Nmea in: $SNTTA,0.078249,,,,051842.64*48

2021-02-16T05:18:42.378Z,1613452722.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 241.238839 deg, deltaT: 4.432658 s, approachRate: 0.758010 m/s, LOS rate: 0.926105 deg/s, posRepo size: 4
2021-02-16T05:18:44.816Z,1613452724.816 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:18:44.830Z,1613452724.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:45.573Z,1613452725.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:45.990Z,1613452725.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:46.816Z,1613452726.816 [Micromodem](INFO): Nmea in: $SNTTA,0.080263,,,,051847.09*49

2021-02-16T05:18:46.850Z,1613452726.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.540001 m, bearing: 245.843152 deg, deltaT: 4.424388 s, approachRate: 0.664499 m/s, LOS rate: 1.040667 deg/s, posRepo size: 4
2021-02-16T05:18:49.243Z,1613452729.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:50.021Z,1613452730.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:50.423Z,1613452730.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:51.251Z,1613452731.251 [Micromodem](INFO): Nmea in: $SNTTA,0.082450,,,,051851.53*45

2021-02-16T05:18:51.270Z,1613452731.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 246.073821 deg, deltaT: 4.455022 s, approachRate: 0.740738 m/s, LOS rate: 0.051777 deg/s, posRepo size: 4
2021-02-16T05:18:53.688Z,1613452733.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:54.478Z,1613452734.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:54.872Z,1613452734.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:18:55.696Z,1613452735.696 [Micromodem](INFO): Nmea in: $SNTTA,0.084604,,,,051855.99*42

2021-02-16T05:18:55.736Z,1613452735.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 253.702459 deg, deltaT: 4.438528 s, approachRate: 0.716452 m/s, LOS rate: 1.718732 deg/s, posRepo size: 4
2021-02-16T05:18:58.138Z,1613452738.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:18:58.909Z,1613452738.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:18:59.311Z,1613452739.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:00.137Z,1613452740.137 [Micromodem](INFO): Nmea in: $SNTTA,0.086772,,,,051900.42*47

2021-02-16T05:19:00.186Z,1613452740.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.319992 m, bearing: 247.025512 deg, deltaT: 4.487416 s, approachRate: 0.735389 m/s, LOS rate: -1.487927 deg/s, posRepo size: 4
2021-02-16T05:19:02.602Z,1613452742.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:03.348Z,1613452743.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:03.778Z,1613452743.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:04.588Z,1613452744.588 [Micromodem](INFO): Nmea in: $SNTTA,0.088745,,,,051904.86*41

2021-02-16T05:19:04.622Z,1613452744.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.259995 m, bearing: 252.784973 deg, deltaT: 4.397025 s, approachRate: 0.668634 m/s, LOS rate: 1.309854 deg/s, posRepo size: 4
2021-02-16T05:19:07.016Z,1613452747.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:07.803Z,1613452747.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:08.198Z,1613452748.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:09.032Z,1613452749.032 [Micromodem](INFO): Nmea in: $SNTTA,0.091068,,,,051909.32*43

2021-02-16T05:19:09.056Z,1613452749.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 245.060357 deg, deltaT: 4.475827 s, approachRate: 0.777512 m/s, LOS rate: -1.725852 deg/s, posRepo size: 4
2021-02-16T05:19:11.445Z,1613452751.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:12.236Z,1613452752.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:12.651Z,1613452752.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:13.475Z,1613452753.475 [Micromodem](INFO): Nmea in: $SNTTA,0.093115,,,,051913.75*42

2021-02-16T05:19:13.499Z,1613452753.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 247.558758 deg, deltaT: 4.416541 s, approachRate: 0.692849 m/s, LOS rate: 0.565692 deg/s, posRepo size: 4
2021-02-16T05:19:15.914Z,1613452755.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:16.680Z,1613452756.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:17.087Z,1613452757.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:17.917Z,1613452757.917 [Micromodem](INFO): Nmea in: $SNTTA,0.095161,,,,051918.19*46

2021-02-16T05:19:18.735Z,1613452758.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:20.316Z,1613452760.316 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:19:21.602Z,1613452761.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:22.358Z,1613452762.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:22.744Z,1613452762.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:23.601Z,1613452763.601 [Micromodem](INFO): Nmea in: $SNTTA,0.097897,,,,051923.87*4B

2021-02-16T05:19:23.678Z,1613452763.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 252.053843 deg, deltaT: 10.130885 s, approachRate: 0.710698 m/s, LOS rate: 0.443701 deg/s, posRepo size: 4
2021-02-16T05:19:26.008Z,1613452766.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:26.800Z,1613452766.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:27.195Z,1613452767.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:28.027Z,1613452768.027 [Micromodem](INFO): Nmea in: $SNTTA,0.100201,,,,051928.31*47

2021-02-16T05:19:28.051Z,1613452768.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.539993 m, bearing: 250.208517 deg, deltaT: 4.430263 s, approachRate: 0.799048 m/s, LOS rate: -0.416527 deg/s, posRepo size: 4
2021-02-16T05:19:28.051Z,1613452768.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.54 m. Resuming terminal guidance.
2021-02-16T05:19:28.051Z,1613452768.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:19:30.433Z,1613452770.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:31.224Z,1613452771.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:31.654Z,1613452771.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:32.452Z,1613452772.452 [Micromodem](INFO): Nmea in: $SNTTA,0.102318,,,,051932.74*46

2021-02-16T05:19:32.503Z,1613452772.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 256.004397 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:19:32.504Z,1613452772.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 256.004397deg and heading rate command to 0 deg/s.
2021-02-16T05:19:34.920Z,1613452774.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:35.674Z,1613452775.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:36.073Z,1613452776.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:36.908Z,1613452776.908 [Micromodem](INFO): Nmea in: $SNTTA,0.104545,,,,051937.19*40

2021-02-16T05:19:36.994Z,1613452776.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 266.925951 deg, deltaT: 4.417505 s, approachRate: 0.747029 m/s, LOS rate: 2.472336 deg/s, posRepo size: 2
2021-02-16T05:19:36.000Z,1613452777.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.960007 m,
      bearing: 266.925951 deg,
      approachRate: 0.747029 m/s,
      LOS rate: 2.472336 deg/s,
      cmd update: 7.417007 deg/s,
      cmd heading: 256.004397 deg,
      new cmd heading: 256.004397 deg.

2021-02-16T05:19:39.331Z,1613452779.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:40.120Z,1613452780.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:40.544Z,1613452780.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:41.344Z,1613452781.344 [Micromodem](INFO): Nmea in: $SNTTA,0.106602,,,,051941.63*4E

2021-02-16T05:19:41.380Z,1613452781.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.080017 m, bearing: 294.863583 deg, deltaT: 4.469681 s, approachRate: 0.698039 m/s, LOS rate: 6.250476 deg/s, posRepo size: 3
2021-02-16T05:19:41.382Z,1613452781.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.080017 m,
      bearing: 294.863583 deg,
      approachRate: 0.698039 m/s,
      LOS rate: 6.250476 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 289.155820 deg,
      new cmd heading: 292.177953 deg.

2021-02-16T05:19:43.830Z,1613452783.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:44.627Z,1613452784.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:44.965Z,1613452784.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:45.804Z,1613452785.804 [Micromodem](INFO): Nmea in: $SNTTA,0.108721,,,,051946.14*47

2021-02-16T05:19:46.217Z,1613452786.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.020004 m, bearing: 321.162926 deg, deltaT: 4.922713 s, approachRate: 0.597229 m/s, LOS rate: 5.342449 deg/s, posRepo size: 4
2021-02-16T05:19:46.219Z,1613452786.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.020004 m,
      bearing: 321.162926 deg,
      approachRate: 0.597229 m/s,
      LOS rate: 5.342449 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 348.178301 deg,
      new cmd heading: 352.091657 deg.

2021-02-16T05:19:48.678Z,1613452788.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:49.404Z,1613452789.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:49.814Z,1613452789.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:50.632Z,1613452790.632 [Micromodem](INFO): Nmea in: $SNTTA,0.110501,,,,051950.92*47

2021-02-16T05:19:50.677Z,1613452790.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.779999 m, bearing: 301.901164 deg, deltaT: 4.360442 s, approachRate: 0.632962 m/s, LOS rate: -4.417387 deg/s, posRepo size: 4
2021-02-16T05:19:50.679Z,1613452790.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.779999 m,
      bearing: 301.901164 deg,
      approachRate: 0.632962 m/s,
      LOS rate: -4.417387 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 40.554174 deg,
      new cmd heading: 45.609234 deg.

2021-02-16T05:19:53.075Z,1613452793.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:53.850Z,1613452793.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:54.264Z,1613452794.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:55.088Z,1613452795.088 [Micromodem](INFO): Nmea in: $SNTTA,0.111828,,,,051955.36*4B

2021-02-16T05:19:55.112Z,1613452795.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 358.361885 deg, deltaT: 4.441726 s, approachRate: 0.459279 m/s, LOS rate: 12.711437 deg/s, posRepo size: 4
2021-02-16T05:19:55.113Z,1613452795.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.711437 deg/s. Setting heading cmd to target bearing of 358.361885deg and heading rate command to 0 deg/s.
2021-02-16T05:19:57.503Z,1613452797.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:19:58.292Z,1613452798.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:19:58.707Z,1613452798.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:19:59.543Z,1613452799.543 [Micromodem](INFO): Nmea in: $SNTTA,0.112596,,,,051959.81*40

2021-02-16T05:19:59.582Z,1613452799.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 40.096745 deg, deltaT: 4.444194 s, approachRate: 0.000000 m/s, LOS rate: 9.390871 deg/s, posRepo size: 4
2021-02-16T05:19:59.584Z,1613452799.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.819992 m,
      bearing: 40.096745 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.390871 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 358.361885 deg,
      new cmd heading: 358.361885 deg.

2021-02-16T05:20:01.953Z,1613452801.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:02.745Z,1613452802.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:03.161Z,1613452803.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:03.972Z,1613452803.972 [Micromodem](INFO): Nmea in: $SNTTA,0.112803,,,,052004.26*4E

2021-02-16T05:20:04.002Z,1613452804.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 322.747093 deg, deltaT: 4.475392 s, approachRate: 0.321763 m/s, LOS rate: -17.283322 deg/s, posRepo size: 4
2021-02-16T05:20:04.003Z,1613452804.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.283322 deg/s. Setting heading cmd to target bearing of 322.747093deg and heading rate command to 0 deg/s.
2021-02-16T05:20:06.388Z,1613452806.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:07.192Z,1613452807.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:07.586Z,1613452807.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:08.416Z,1613452808.416 [Micromodem](INFO): Nmea in: $SNTTA,0.112330,,,,052008.70*4A

2021-02-16T05:20:08.465Z,1613452808.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 75.032995 deg, deltaT: 4.437668 s, approachRate: 0.000000 m/s, LOS rate: 25.302905 deg/s, posRepo size: 4
2021-02-16T05:20:08.465Z,1613452808.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.302905 deg/s. Setting heading cmd to target bearing of 75.032995deg and heading rate command to 0 deg/s.
2021-02-16T05:20:10.897Z,1613452810.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:11.632Z,1613452811.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:12.035Z,1613452812.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:12.864Z,1613452812.864 [Micromodem](INFO): Nmea in: $SNTTA,0.111079,,,,052013.14*4F

2021-02-16T05:20:12.916Z,1613452812.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 89.816318 deg, deltaT: 4.399945 s, approachRate: 0.000000 m/s, LOS rate: 3.359888 deg/s, posRepo size: 4
2021-02-16T05:20:12.918Z,1613452812.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.260010 m,
      bearing: 89.816318 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.359888 deg/s,
      cmd update: 10.079664 deg/s,
      cmd heading: 75.032995 deg,
      new cmd heading: 75.032995 deg.

2021-02-16T05:20:15.280Z,1613452815.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:16.073Z,1613452816.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:16.473Z,1613452816.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:17.300Z,1613452817.300 [Micromodem](INFO): Nmea in: $SNTTA,0.109970,,,,052017.59*4B

2021-02-16T05:20:17.322Z,1613452817.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 79.639275 deg, deltaT: 4.499817 s, approachRate: -1.066714 m/s, LOS rate: -2.261657 deg/s, posRepo size: 4
2021-02-16T05:20:17.344Z,1613452817.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 79.639275 deg,
      approachRate: -1.066714 m/s,
      LOS rate: -2.261657 deg/s,
      cmd update: -6.784971 deg/s,
      cmd heading: 120.358999 deg,
      new cmd heading: 124.106185 deg.

2021-02-16T05:20:19.736Z,1613452819.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:20.524Z,1613452820.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:20.919Z,1613452820.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:21.755Z,1613452821.755 [Micromodem](INFO): Nmea in: $SNTTA,0.108566,,,,052022.04*4F

2021-02-16T05:20:21.857Z,1613452821.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 81.237150 deg, deltaT: 4.390617 s, approachRate: 0.000000 m/s, LOS rate: 0.363929 deg/s, posRepo size: 4
2021-02-16T05:20:21.863Z,1613452821.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 81.237150 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.363929 deg/s,
      cmd update: 1.091788 deg/s,
      cmd heading: 90.552824 deg,
      new cmd heading: 87.067757 deg.

2021-02-16T05:20:24.174Z,1613452824.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:24.956Z,1613452824.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:25.371Z,1613452825.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:26.203Z,1613452826.203 [Micromodem](INFO): Nmea in: $SNTTA,0.106773,,,,052026.47*44

2021-02-16T05:20:26.227Z,1613452826.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.960007 m, bearing: 81.035987 deg, deltaT: 4.521868 s, approachRate: -0.995161 m/s, LOS rate: -0.044487 deg/s, posRepo size: 4
2021-02-16T05:20:26.229Z,1613452826.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.960007 m,
      bearing: 81.035987 deg,
      approachRate: -0.995161 m/s,
      LOS rate: -0.044487 deg/s,
      cmd update: -0.133460 deg/s,
      cmd heading: 95.478676 deg,
      new cmd heading: 95.884488 deg.

2021-02-16T05:20:28.624Z,1613452828.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:29.476Z,1613452829.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:29.812Z,1613452829.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:31.052Z,1613452831.052 [Micromodem](INFO): Nmea in: $SNTTA,0.104739,,,,052030.99*4C

2021-02-16T05:20:31.076Z,1613452831.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 81.938078 deg, deltaT: 4.819166 s, approachRate: -0.622514 m/s, LOS rate: 0.187188 deg/s, posRepo size: 4
2021-02-16T05:20:31.078Z,1613452831.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.960007 m,
      bearing: 81.938078 deg,
      approachRate: -0.622514 m/s,
      LOS rate: 0.187188 deg/s,
      cmd update: 0.561564 deg/s,
      cmd heading: 94.833961 deg,
      new cmd heading: 94.781900 deg.

2021-02-16T05:20:33.454Z,1613452833.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:34.248Z,1613452834.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:34.665Z,1613452834.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:35.476Z,1613452835.476 [Micromodem](INFO): Nmea in: $SNTTA,0.102549,,,,052035.76*4B

2021-02-16T05:20:35.534Z,1613452835.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.660004 m, bearing: 78.543856 deg, deltaT: 4.421864 s, approachRate: -0.746292 m/s, LOS rate: -0.767600 deg/s, posRepo size: 4
2021-02-16T05:20:35.551Z,1613452835.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.660004 m,
      bearing: 78.543856 deg,
      approachRate: -0.746292 m/s,
      LOS rate: -0.767600 deg/s,
      cmd update: -2.302799 deg/s,
      cmd heading: 97.317230 deg,
      new cmd heading: 97.554396 deg.

2021-02-16T05:20:37.994Z,1613452837.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:38.697Z,1613452838.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:39.103Z,1613452839.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:39.928Z,1613452839.928 [Micromodem](INFO): Nmea in: $SNTTA,0.100472,,,,052040.21*40

2021-02-16T05:20:39.998Z,1613452839.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 78.713675 deg, deltaT: 4.465108 s, approachRate: -0.712187 m/s, LOS rate: 0.038032 deg/s, posRepo size: 4
2021-02-16T05:20:40.004Z,1613452840.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.480011 m,
      bearing: 78.713675 deg,
      approachRate: -0.712187 m/s,
      LOS rate: 0.038032 deg/s,
      cmd update: 0.114097 deg/s,
      cmd heading: 87.044132 deg,
      new cmd heading: 86.055748 deg.

2021-02-16T05:20:42.342Z,1613452842.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:43.143Z,1613452843.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:43.563Z,1613452843.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:44.368Z,1613452844.368 [Micromodem](INFO): Nmea in: $SNTTA,0.098350,,,,052044.66*40

2021-02-16T05:20:44.410Z,1613452844.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.300003 m, bearing: 79.794293 deg, deltaT: 4.429176 s, approachRate: -0.717968 m/s, LOS rate: 0.243977 deg/s, posRepo size: 4
2021-02-16T05:20:44.412Z,1613452844.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.300003 m,
      bearing: 79.794293 deg,
      approachRate: -0.717968 m/s,
      LOS rate: 0.243977 deg/s,
      cmd update: 0.731932 deg/s,
      cmd heading: 87.549941 deg,
      new cmd heading: 87.596472 deg.

2021-02-16T05:20:46.829Z,1613452846.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:47.581Z,1613452847.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:48.009Z,1613452848.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:48.812Z,1613452848.812 [Micromodem](INFO): Nmea in: $SNTTA,0.096022,,,,052049.09*4C

2021-02-16T05:20:48.865Z,1613452848.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 78.923874 deg, deltaT: 4.424291 s, approachRate: -0.786566 m/s, LOS rate: -0.196736 deg/s, posRepo size: 4
2021-02-16T05:20:48.866Z,1613452848.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.820007 m,
      bearing: 78.923874 deg,
      approachRate: -0.786566 m/s,
      LOS rate: -0.196736 deg/s,
      cmd update: -0.590209 deg/s,
      cmd heading: 90.788248 deg,
      new cmd heading: 91.109009 deg.

2021-02-16T05:20:51.256Z,1613452851.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:52.042Z,1613452852.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:52.431Z,1613452852.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:53.265Z,1613452853.265 [Micromodem](INFO): Nmea in: $SNTTA,0.093885,,,,052053.55*4E

2021-02-16T05:20:53.320Z,1613452853.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.580002 m, bearing: 78.422941 deg, deltaT: 4.449034 s, approachRate: -0.728249 m/s, LOS rate: -0.112594 deg/s, posRepo size: 4
2021-02-16T05:20:53.322Z,1613452853.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.580002 m,
      bearing: 78.422941 deg,
      approachRate: -0.728249 m/s,
      LOS rate: -0.112594 deg/s,
      cmd update: -0.337781 deg/s,
      cmd heading: 88.162389 deg,
      new cmd heading: 87.907142 deg.

2021-02-16T05:20:55.691Z,1613452855.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:20:56.475Z,1613452856.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:20:56.891Z,1613452856.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:20:57.704Z,1613452857.704 [Micromodem](INFO): Nmea in: $SNTTA,0.091703,,,,052057.99*49

2021-02-16T05:20:57.729Z,1613452857.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 78.247774 deg, deltaT: 4.419410 s, approachRate: -0.733131 m/s, LOS rate: -0.039636 deg/s, posRepo size: 4
2021-02-16T05:20:57.731Z,1613452857.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 78.247774 deg,
      approachRate: -0.733131 m/s,
      LOS rate: -0.039636 deg/s,
      cmd update: -0.118908 deg/s,
      cmd heading: 86.669646 deg,
      new cmd heading: 86.523025 deg.

2021-02-16T05:20:59.807Z,1613452859.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:00.534Z,1613452860.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:00.913Z,1613452860.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:01.785Z,1613452861.785 [Micromodem](INFO): Nmea in: $SNTTA,0.089586,,,,052102.05*4B

2021-02-16T05:21:01.822Z,1613452861.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.100006 m, bearing: 78.137330 deg, deltaT: 4.048309 s, approachRate: -0.800332 m/s, LOS rate: -0.027282 deg/s, posRepo size: 4
2021-02-16T05:21:01.840Z,1613452861.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.100006 m,
      bearing: 78.137330 deg,
      approachRate: -0.800332 m/s,
      LOS rate: -0.027282 deg/s,
      cmd update: -0.081845 deg/s,
      cmd heading: 86.188255 deg,
      new cmd heading: 86.131291 deg.

2021-02-16T05:21:04.195Z,1613452864.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:04.968Z,1613452864.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:05.363Z,1613452865.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:06.192Z,1613452866.192 [Micromodem](INFO): Nmea in: $SNTTA,0.087521,,,,052106.48*45

2021-02-16T05:21:06.232Z,1613452866.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.040009 m, bearing: 78.656411 deg, deltaT: 4.510908 s, approachRate: -0.678355 m/s, LOS rate: 0.115072 deg/s, posRepo size: 4
2021-02-16T05:21:06.234Z,1613452866.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.040009 m,
      bearing: 78.656411 deg,
      approachRate: -0.678355 m/s,
      LOS rate: 0.115072 deg/s,
      cmd update: 0.345217 deg/s,
      cmd heading: 85.820379 deg,
      new cmd heading: 85.788130 deg.

2021-02-16T05:21:08.633Z,1613452868.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:09.397Z,1613452869.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:09.813Z,1613452869.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:10.628Z,1613452870.628 [Micromodem](INFO): Nmea in: $SNTTA,0.085276,,,,052110.91*41

2021-02-16T05:21:10.667Z,1613452870.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 78.199403 deg, deltaT: 4.405459 s, approachRate: -0.735452 m/s, LOS rate: -0.103737 deg/s, posRepo size: 4
2021-02-16T05:21:10.669Z,1613452870.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 78.199403 deg,
      approachRate: -0.735452 m/s,
      LOS rate: -0.103737 deg/s,
      cmd update: -0.311210 deg/s,
      cmd heading: 87.344401 deg,
      new cmd heading: 87.487479 deg.

2021-02-16T05:21:13.069Z,1613452873.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:13.850Z,1613452873.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:14.251Z,1613452874.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:15.076Z,1613452875.076 [Micromodem](INFO): Nmea in: $SNTTA,0.083090,,,,052115.36*45

2021-02-16T05:21:15.121Z,1613452875.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 78.005876 deg, deltaT: 4.412254 s, approachRate: -0.761516 m/s, LOS rate: -0.043861 deg/s, posRepo size: 4
2021-02-16T05:21:15.122Z,1613452875.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.440002 m,
      bearing: 78.005876 deg,
      approachRate: -0.761516 m/s,
      LOS rate: -0.043861 deg/s,
      cmd update: -0.131583 deg/s,
      cmd heading: 85.969130 deg,
      new cmd heading: 85.829428 deg.

2021-02-16T05:21:17.490Z,1613452877.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:18.285Z,1613452878.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:18.725Z,1613452878.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:19.523Z,1613452879.523 [Micromodem](INFO): Nmea in: $SNTTA,0.080720,,,,052119.80*4B

2021-02-16T05:21:19.573Z,1613452879.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 78.102619 deg, deltaT: 4.494216 s, approachRate: -0.787679 m/s, LOS rate: 0.021526 deg/s, posRepo size: 4
2021-02-16T05:21:19.574Z,1613452879.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.900002 m,
      bearing: 78.102619 deg,
      approachRate: -0.787679 m/s,
      LOS rate: 0.021526 deg/s,
      cmd update: 0.064578 deg/s,
      cmd heading: 85.379168 deg,
      new cmd heading: 85.324265 deg.

2021-02-16T05:21:21.961Z,1613452881.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:22.729Z,1613452882.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:23.135Z,1613452883.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:23.960Z,1613452883.960 [Micromodem](INFO): Nmea in: $SNTTA,0.078533,,,,052124.24*4C

2021-02-16T05:21:23.986Z,1613452883.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 76.996176 deg, deltaT: 4.431757 s, approachRate: -0.744626 m/s, LOS rate: -0.249662 deg/s, posRepo size: 4
2021-02-16T05:21:24.013Z,1613452884.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 76.996176 deg,
      approachRate: -0.744626 m/s,
      LOS rate: -0.249662 deg/s,
      cmd update: -0.748987 deg/s,
      cmd heading: 85.666039 deg,
      new cmd heading: 85.691063 deg.

2021-02-16T05:21:26.404Z,1613452886.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:27.194Z,1613452887.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:27.578Z,1613452887.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:28.412Z,1613452888.412 [Micromodem](INFO): Nmea in: $SNTTA,0.076376,,,,052128.71*49

2021-02-16T05:21:28.453Z,1613452888.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.300003 m, bearing: 76.681837 deg, deltaT: 4.417838 s, approachRate: -0.746971 m/s, LOS rate: -0.071152 deg/s, posRepo size: 4
2021-02-16T05:21:28.455Z,1613452888.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.300003 m,
      bearing: 76.681837 deg,
      approachRate: -0.746971 m/s,
      LOS rate: -0.071152 deg/s,
      cmd update: -0.213457 deg/s,
      cmd heading: 82.366140 deg,
      new cmd heading: 82.029042 deg.

2021-02-16T05:21:30.856Z,1613452890.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:31.617Z,1613452891.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:32.022Z,1613452892.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:32.863Z,1613452892.863 [Micromodem](INFO): Nmea in: $SNTTA,0.073985,,,,052133.13*44

2021-02-16T05:21:32.902Z,1613452892.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 78.788438 deg, deltaT: 4.460724 s, approachRate: -0.766691 m/s, LOS rate: 0.472255 deg/s, posRepo size: 4
2021-02-16T05:21:32.904Z,1613452892.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.880005 m,
      bearing: 78.788438 deg,
      approachRate: -0.766691 m/s,
      LOS rate: 0.472255 deg/s,
      cmd update: 1.416766 deg/s,
      cmd heading: 81.414829 deg,
      new cmd heading: 81.320471 deg.

2021-02-16T05:21:35.277Z,1613452895.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:36.076Z,1613452896.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:36.466Z,1613452896.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:37.311Z,1613452897.311 [Micromodem](INFO): Nmea in: $SNTTA,0.071694,,,0.074237,052137.59*58

2021-02-16T05:21:37.330Z,1613452897.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 77.385893 deg, deltaT: 4.452253 s, approachRate: -0.795103 m/s, LOS rate: -0.315019 deg/s, posRepo size: 4
2021-02-16T05:21:37.332Z,1613452897.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.340004 m,
      bearing: 77.385893 deg,
      approachRate: -0.795103 m/s,
      LOS rate: -0.315019 deg/s,
      cmd update: -0.945058 deg/s,
      cmd heading: 87.745251 deg,
      new cmd heading: 88.314535 deg.

2021-02-16T05:21:39.748Z,1613452899.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:40.522Z,1613452900.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:40.910Z,1613452900.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:41.745Z,1613452901.745 [Micromodem](INFO): Nmea in: $SNTTA,0.069585,,0.092548,,052142.03*58

2021-02-16T05:21:41.825Z,1613452901.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 75.283650 deg, deltaT: 4.419239 s, approachRate: -0.719583 m/s, LOS rate: -0.475703 deg/s, posRepo size: 4
2021-02-16T05:21:41.827Z,1613452901.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 75.283650 deg,
      approachRate: -0.719583 m/s,
      LOS rate: -0.475703 deg/s,
      cmd update: -1.427108 deg/s,
      cmd heading: 83.583858 deg,
      new cmd heading: 83.117767 deg.

2021-02-16T05:21:44.199Z,1613452904.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:44.959Z,1613452904.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:45.360Z,1613452905.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:46.192Z,1613452906.192 [Micromodem](INFO): Nmea in: $SNTTA,0.067379,,,,052146.47*4B

2021-02-16T05:21:46.231Z,1613452906.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.800011 m, bearing: 75.110532 deg, deltaT: 4.498099 s, approachRate: -0.746979 m/s, LOS rate: -0.038487 deg/s, posRepo size: 4
2021-02-16T05:21:46.233Z,1613452906.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 75.110532 deg,
      approachRate: -0.746979 m/s,
      LOS rate: -0.038487 deg/s,
      cmd update: -0.115461 deg/s,
      cmd heading: 77.141765 deg,
      new cmd heading: 76.591855 deg.

2021-02-16T05:21:48.626Z,1613452908.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:49.397Z,1613452909.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:49.815Z,1613452909.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:50.643Z,1613452910.643 [Micromodem](INFO): Nmea in: $SNTTA,0.065033,,,,052150.91*48

2021-02-16T05:21:50.668Z,1613452910.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 76.477075 deg, deltaT: 4.372242 s, approachRate: -0.782209 m/s, LOS rate: 0.312550 deg/s, posRepo size: 4
2021-02-16T05:21:50.670Z,1613452910.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 76.477075 deg,
      approachRate: -0.782209 m/s,
      LOS rate: 0.312550 deg/s,
      cmd update: 0.937649 deg/s,
      cmd heading: 76.636919 deg,
      new cmd heading: 76.584994 deg.

2021-02-16T05:21:53.077Z,1613452913.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:53.842Z,1613452913.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:54.247Z,1613452914.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:55.068Z,1613452915.068 [Micromodem](INFO): Nmea in: $SNTTA,0.062782,,,,052155.35*49

2021-02-16T05:21:55.122Z,1613452915.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 76.460730 deg, deltaT: 4.465682 s, approachRate: -0.765840 m/s, LOS rate: -0.003660 deg/s, posRepo size: 4
2021-02-16T05:21:55.124Z,1613452915.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.960007 m,
      bearing: 76.460730 deg,
      approachRate: -0.765840 m/s,
      LOS rate: -0.003660 deg/s,
      cmd update: -0.010980 deg/s,
      cmd heading: 80.809164 deg,
      new cmd heading: 81.234611 deg.

2021-02-16T05:21:57.526Z,1613452917.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:21:58.287Z,1613452918.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:21:58.701Z,1613452918.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:21:59.520Z,1613452919.520 [Micromodem](INFO): Nmea in: $SNTTA,0.060559,,,,052159.80*4D

2021-02-16T05:21:59.570Z,1613452919.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 75.863396 deg, deltaT: 4.423882 s, approachRate: -0.759514 m/s, LOS rate: -0.135025 deg/s, posRepo size: 4
2021-02-16T05:21:59.572Z,1613452919.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.600006 m,
      bearing: 75.863396 deg,
      approachRate: -0.759514 m/s,
      LOS rate: -0.135025 deg/s,
      cmd update: -0.405075 deg/s,
      cmd heading: 80.760415 deg,
      new cmd heading: 80.755341 deg.

2021-02-16T05:22:01.961Z,1613452921.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:02.733Z,1613452922.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:03.130Z,1613452923.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:03.960Z,1613452923.960 [Micromodem](INFO): Nmea in: $SNTTA,0.058245,,,,052204.25*48

2021-02-16T05:22:03.984Z,1613452923.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 75.369020 deg, deltaT: 4.485226 s, approachRate: -0.775881 m/s, LOS rate: -0.110223 deg/s, posRepo size: 4
2021-02-16T05:22:03.986Z,1613452923.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 75.369020 deg,
      approachRate: -0.775881 m/s,
      LOS rate: -0.110223 deg/s,
      cmd update: -0.330670 deg/s,
      cmd heading: 78.943474 deg,
      new cmd heading: 78.785110 deg.

2021-02-16T05:22:06.375Z,1613452926.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:07.180Z,1613452927.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:07.574Z,1613452927.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:08.404Z,1613452928.404 [Micromodem](INFO): Nmea in: $SNTTA,0.055969,,,,052208.69*44

2021-02-16T05:22:08.453Z,1613452928.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 74.450660 deg, deltaT: 4.411974 s, approachRate: -0.775165 m/s, LOS rate: -0.208152 deg/s, posRepo size: 4
2021-02-16T05:22:08.460Z,1613452928.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 74.450660 deg,
      approachRate: -0.775165 m/s,
      LOS rate: -0.208152 deg/s,
      cmd update: -0.624455 deg/s,
      cmd heading: 77.484574 deg,
      new cmd heading: 77.336323 deg.

2021-02-16T05:22:10.871Z,1613452930.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:11.617Z,1613452931.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:12.024Z,1613452932.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:12.847Z,1613452932.847 [Micromodem](INFO): Nmea in: $SNTTA,0.053723,,,,052213.13*45

2021-02-16T05:22:12.881Z,1613452932.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 75.039320 deg, deltaT: 4.456817 s, approachRate: -0.740439 m/s, LOS rate: 0.132081 deg/s, posRepo size: 4
2021-02-16T05:22:12.883Z,1613452932.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.399994 m,
      bearing: 75.039320 deg,
      approachRate: -0.740439 m/s,
      LOS rate: 0.132081 deg/s,
      cmd update: 0.396242 deg/s,
      cmd heading: 74.704005 deg,
      new cmd heading: 74.439787 deg.

2021-02-16T05:22:15.263Z,1613452935.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:16.061Z,1613452936.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:16.473Z,1613452936.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:17.288Z,1613452937.288 [Micromodem](INFO): Nmea in: $SNTTA,0.051641,,,,052217.57*46

2021-02-16T05:22:17.329Z,1613452937.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 74.963566 deg, deltaT: 4.468623 s, approachRate: -0.711627 m/s, LOS rate: -0.016952 deg/s, posRepo size: 4
2021-02-16T05:22:17.330Z,1613452937.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.220001 m,
      bearing: 74.963566 deg,
      approachRate: -0.711627 m/s,
      LOS rate: -0.016952 deg/s,
      cmd update: -0.050857 deg/s,
      cmd heading: 76.474661 deg,
      new cmd heading: 76.634093 deg.

2021-02-16T05:22:19.735Z,1613452939.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:20.512Z,1613452940.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:20.905Z,1613452940.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:21.736Z,1613452941.736 [Micromodem](INFO): Nmea in: $SNTTA,0.049426,,,,052222.02*4A

2021-02-16T05:22:21.820Z,1613452941.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 75.218469 deg, deltaT: 4.392416 s, approachRate: -0.751294 m/s, LOS rate: 0.058032 deg/s, posRepo size: 4
2021-02-16T05:22:21.822Z,1613452941.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 75.218469 deg,
      approachRate: -0.751294 m/s,
      LOS rate: 0.058032 deg/s,
      cmd update: 0.174097 deg/s,
      cmd heading: 76.251073 deg,
      new cmd heading: 76.225786 deg.

2021-02-16T05:22:23.818Z,1613452943.818 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:22:23.833Z,1613452943.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:24.561Z,1613452944.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:24.945Z,1613452944.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:25.800Z,1613452945.800 [Micromodem](INFO): Nmea in: $SNTTA,0.047391,,,,052226.07*4E

2021-02-16T05:22:25.859Z,1613452945.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 74.519959 deg, deltaT: 4.063492 s, approachRate: -0.738283 m/s, LOS rate: -0.171899 deg/s, posRepo size: 4
2021-02-16T05:22:25.861Z,1613452945.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.919998 m,
      bearing: 74.519959 deg,
      approachRate: -0.738283 m/s,
      LOS rate: -0.171899 deg/s,
      cmd update: -0.515697 deg/s,
      cmd heading: 76.955035 deg,
      new cmd heading: 77.040125 deg.

2021-02-16T05:22:28.203Z,1613452948.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:29.002Z,1613452949.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:29.401Z,1613452949.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:30.224Z,1613452950.224 [Micromodem](INFO): Nmea in: $SNTTA,0.045377,,,,052230.52*43

2021-02-16T05:22:30.246Z,1613452950.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 74.575024 deg, deltaT: 4.458183 s, approachRate: -0.686378 m/s, LOS rate: 0.012351 deg/s, posRepo size: 4
2021-02-16T05:22:30.248Z,1613452950.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.860001 m,
      bearing: 74.575024 deg,
      approachRate: -0.686378 m/s,
      LOS rate: 0.012351 deg/s,
      cmd update: 0.037054 deg/s,
      cmd heading: 74.645654 deg,
      new cmd heading: 74.438566 deg.

2021-02-16T05:22:32.663Z,1613452952.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:33.430Z,1613452953.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:33.839Z,1613452953.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:34.660Z,1613452954.660 [Micromodem](INFO): Nmea in: $SNTTA,0.043211,,,,052234.94*4A

2021-02-16T05:22:34.705Z,1613452954.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 74.376840 deg, deltaT: 4.408456 s, approachRate: -0.734951 m/s, LOS rate: -0.044956 deg/s, posRepo size: 4
2021-02-16T05:22:34.707Z,1613452954.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.620003 m,
      bearing: 74.376840 deg,
      approachRate: -0.734951 m/s,
      LOS rate: -0.044956 deg/s,
      cmd update: -0.134867 deg/s,
      cmd heading: 74.809007 deg,
      new cmd heading: 74.825752 deg.

2021-02-16T05:22:37.108Z,1613452957.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:37.877Z,1613452957.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:38.278Z,1613452958.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:39.124Z,1613452959.124 [Micromodem](INFO): Nmea in: $SNTTA,0.040910,,0.059035,,052239.39*5D

2021-02-16T05:22:39.129Z,1613452959.129 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:22:39.183Z,1613452959.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.200008 m, bearing: 75.012109 deg, deltaT: 4.471493 s, approachRate: -0.764844 m/s, LOS rate: 0.142071 deg/s, posRepo size: 4
2021-02-16T05:22:39.185Z,1613452959.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.200008 m,
      bearing: 75.012109 deg,
      approachRate: -0.764844 m/s,
      LOS rate: 0.142071 deg/s,
      cmd update: 0.426213 deg/s,
      cmd heading: 74.206495 deg,
      new cmd heading: 74.147525 deg.

2021-02-16T05:22:41.574Z,1613452961.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:42.316Z,1613452962.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:42.722Z,1613452962.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:43.592Z,1613452963.592 [Micromodem](INFO): Nmea in: $SNTTA,0.038584,,,,052243.83*4B

2021-02-16T05:22:43.617Z,1613452963.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.719997 m, bearing: 74.651188 deg, deltaT: 4.452236 s, approachRate: -0.781632 m/s, LOS rate: -0.081065 deg/s, posRepo size: 4
2021-02-16T05:22:43.619Z,1613452963.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.719997 m,
      bearing: 74.651188 deg,
      approachRate: -0.781632 m/s,
      LOS rate: -0.081065 deg/s,
      cmd update: -0.243195 deg/s,
      cmd heading: 76.105814 deg,
      new cmd heading: 76.293615 deg.

2021-02-16T05:22:46.001Z,1613452966.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:46.792Z,1613452966.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:47.173Z,1613452967.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:48.004Z,1613452968.004 [Micromodem](INFO): Nmea in: $SNTTA,0.036342,,,,052248.31*4B

2021-02-16T05:22:48.048Z,1613452968.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 74.749529 deg, deltaT: 4.425069 s, approachRate: -0.772868 m/s, LOS rate: 0.022224 deg/s, posRepo size: 4
2021-02-16T05:22:48.050Z,1613452968.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.300003 m,
      bearing: 74.749529 deg,
      approachRate: -0.772868 m/s,
      LOS rate: 0.022224 deg/s,
      cmd update: 0.066671 deg/s,
      cmd heading: 75.029659 deg,
      new cmd heading: 74.926026 deg.

2021-02-16T05:22:50.416Z,1613452970.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:51.213Z,1613452971.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:51.618Z,1613452971.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:52.447Z,1613452972.447 [Micromodem](INFO): Nmea in: $SNTTA,0.034391,,0.042904,,052252.73*5F

2021-02-16T05:22:52.470Z,1613452972.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 75.479041 deg, deltaT: 4.461889 s, approachRate: -0.658914 m/s, LOS rate: 0.163498 deg/s, posRepo size: 4
2021-02-16T05:22:52.472Z,1613452972.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 75.479041 deg,
      approachRate: -0.658914 m/s,
      LOS rate: 0.163498 deg/s,
      cmd update: 0.490495 deg/s,
      cmd heading: 75.327131 deg,
      new cmd heading: 75.354220 deg.

2021-02-16T05:22:54.883Z,1613452974.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:22:55.650Z,1613452975.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:22:56.053Z,1613452976.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:22:56.881Z,1613452976.881 [Micromodem](INFO): Nmea in: $SNTTA,0.032371,,0.035146,,052257.16*5F

2021-02-16T05:22:56.930Z,1613452976.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 74.250959 deg, deltaT: 4.442491 s, approachRate: -0.675296 m/s, LOS rate: -0.276440 deg/s, posRepo size: 4
2021-02-16T05:22:56.932Z,1613452976.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.360004 m,
      bearing: 74.250959 deg,
      approachRate: -0.675296 m/s,
      LOS rate: -0.276440 deg/s,
      cmd update: -0.829320 deg/s,
      cmd heading: 77.504204 deg,
      new cmd heading: 77.714264 deg.

2021-02-16T05:22:59.315Z,1613452979.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:00.097Z,1613452980.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:00.540Z,1613452980.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:01.324Z,1613452981.324 [Micromodem](INFO): Nmea in: $SNTTA,0.030290,,,,052301.61*4A

2021-02-16T05:23:01.361Z,1613452981.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 74.120912 deg, deltaT: 4.436484 s, approachRate: -0.716786 m/s, LOS rate: -0.029313 deg/s, posRepo size: 4
2021-02-16T05:23:01.363Z,1613452981.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.179996 m,
      bearing: 74.120912 deg,
      approachRate: -0.716786 m/s,
      LOS rate: -0.029313 deg/s,
      cmd update: -0.087939 deg/s,
      cmd heading: 73.821600 deg,
      new cmd heading: 73.474358 deg.

2021-02-16T05:23:03.830Z,1613452983.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:04.568Z,1613452984.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:04.942Z,1613452984.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:05.806Z,1613452985.806 [Micromodem](INFO): Nmea in: $SNTTA,0.028166,,,,052306.08*41

2021-02-16T05:23:05.844Z,1613452985.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.060001 m, bearing: 74.370692 deg, deltaT: 4.416505 s, approachRate: -0.706440 m/s, LOS rate: 0.056556 deg/s, posRepo size: 4
2021-02-16T05:23:05.846Z,1613452985.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.060001 m,
      bearing: 74.370692 deg,
      approachRate: -0.706440 m/s,
      LOS rate: 0.056556 deg/s,
      cmd update: 0.169668 deg/s,
      cmd heading: 73.433269 deg,
      new cmd heading: 73.390580 deg.

2021-02-16T05:23:08.191Z,1613452988.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:08.989Z,1613452988.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:09.043Z,1613452989.043 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:23:09.394Z,1613452989.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:10.216Z,1613452990.216 [Micromodem](INFO): Nmea in: $SNTTA,0.026125,,,,052310.50*42

2021-02-16T05:23:10.238Z,1613452990.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 73.169248 deg, deltaT: 4.504703 s, approachRate: -0.572734 m/s, LOS rate: -0.266709 deg/s, posRepo size: 4
2021-02-16T05:23:10.239Z,1613452990.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m.
2021-02-16T05:23:10.261Z,1613452990.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.480003 m,
      bearing: 73.169248 deg,
      approachRate: -0.572734 m/s,
      LOS rate: -0.266709 deg/s,
      cmd update: -0.800126 deg/s,
      cmd heading: 74.197286 deg,
      new cmd heading: 74.261207 deg.

2021-02-16T05:23:10.613Z,1613452990.613 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:23:12.642Z,1613452992.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:13.424Z,1613452993.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:13.853Z,1613452993.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:14.656Z,1613452994.656 [Micromodem](INFO): Nmea in: $SNTTA,0.023876,,,,052314.94*44

2021-02-16T05:23:14.705Z,1613452994.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 72.645537 deg, deltaT: 4.394949 s, approachRate: -0.873731 m/s, LOS rate: -0.119162 deg/s, posRepo size: 4
2021-02-16T05:23:14.706Z,1613452994.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-02-16T05:23:14.706Z,1613452994.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.64 m.
2021-02-16T05:23:14.706Z,1613452994.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:23:14.712Z,1613452994.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 72.645537 deg,
      approachRate: -0.873731 m/s,
      LOS rate: -0.119162 deg/s,
      cmd update: -0.357486 deg/s,
      cmd heading: 70.680401 deg,
      new cmd heading: 70.321726 deg.

2021-02-16T05:23:17.095Z,1613452997.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:17.868Z,1613452997.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:18.275Z,1613452998.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:19.108Z,1613452999.108 [Micromodem](INFO): Nmea in: $SNTTA,0.021548,,0.039884,,052319.38*5D

2021-02-16T05:23:19.164Z,1613452999.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.099998 m, bearing: 73.481764 deg, deltaT: 4.476417 s, approachRate: -0.790811 m/s, LOS rate: 0.186807 deg/s, posRepo size: 4
2021-02-16T05:23:19.167Z,1613452999.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.099998 m,
      bearing: 73.481764 deg,
      approachRate: -0.790811 m/s,
      LOS rate: 0.186807 deg/s,
      cmd update: 0.560422 deg/s,
      cmd heading: 69.080985 deg,
      new cmd heading: 68.926327 deg.

2021-02-16T05:23:21.574Z,1613453001.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:22.312Z,1613453002.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:22.722Z,1613453002.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:23.568Z,1613453003.568 [Micromodem](INFO): Nmea in: $SNTTA,0.019466,,0.032803,,052323.83*56

2021-02-16T05:23:23.630Z,1613453003.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 72.286597 deg, deltaT: 4.410757 s, approachRate: -0.707362 m/s, LOS rate: -0.270966 deg/s, posRepo size: 4
2021-02-16T05:23:23.636Z,1613453003.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.979998 m,
      bearing: 72.286597 deg,
      approachRate: -0.707362 m/s,
      LOS rate: -0.270966 deg/s,
      cmd update: -0.812899 deg/s,
      cmd heading: 71.553740 deg,
      new cmd heading: 71.826753 deg.

2021-02-16T05:23:26.002Z,1613453006.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:26.773Z,1613453006.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:27.177Z,1613453007.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:27.992Z,1613453007.992 [Micromodem](INFO): Nmea in: $SNTTA,0.017297,,,,052328.29*4F

2021-02-16T05:23:28.043Z,1613453008.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 72.580807 deg, deltaT: 4.482196 s, approachRate: -0.736247 m/s, LOS rate: 0.065640 deg/s, posRepo size: 4
2021-02-16T05:23:28.046Z,1613453008.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 72.580807 deg,
      approachRate: -0.736247 m/s,
      LOS rate: 0.065640 deg/s,
      cmd update: 0.196919 deg/s,
      cmd heading: 67.914691 deg,
      new cmd heading: 67.571692 deg.

2021-02-16T05:23:30.407Z,1613453010.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:31.204Z,1613453011.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:31.614Z,1613453011.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:32.432Z,1613453012.432 [Micromodem](INFO): Nmea in: $SNTTA,0.015194,,,,052332.72*48

2021-02-16T05:23:32.465Z,1613453012.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 72.148818 deg, deltaT: 4.420307 s, approachRate: -0.705832 m/s, LOS rate: -0.097728 deg/s, posRepo size: 4
2021-02-16T05:23:32.468Z,1613453012.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.560001 m,
      bearing: 72.148818 deg,
      approachRate: -0.705832 m/s,
      LOS rate: -0.097728 deg/s,
      cmd update: -0.293185 deg/s,
      cmd heading: 68.786751 deg,
      new cmd heading: 68.868821 deg.

2021-02-16T05:23:34.891Z,1613453014.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:35.654Z,1613453015.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:36.055Z,1613453016.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:36.888Z,1613453016.888 [Micromodem](INFO): Nmea in: $SNTTA,0.012964,,,,052337.17*4E

2021-02-16T05:23:36.959Z,1613453016.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 73.567421 deg, deltaT: 4.418355 s, approachRate: -0.760465 m/s, LOS rate: 0.321070 deg/s, posRepo size: 4
2021-02-16T05:23:36.961Z,1613453016.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 73.567421 deg,
      approachRate: -0.760465 m/s,
      LOS rate: 0.321070 deg/s,
      cmd update: 0.963211 deg/s,
      cmd heading: 67.491362 deg,
      new cmd heading: 67.348193 deg.

2021-02-16T05:23:39.295Z,1613453019.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:40.090Z,1613453020.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:40.497Z,1613453020.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:41.320Z,1613453021.320 [Micromodem](INFO): Nmea in: $SNTTA,0.010749,,,,052341.60*4C

2021-02-16T05:23:41.357Z,1613453021.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 72.988385 deg, deltaT: 4.495521 s, approachRate: -0.734064 m/s, LOS rate: -0.128803 deg/s, posRepo size: 4
2021-02-16T05:23:41.358Z,1613453021.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 72.988385 deg,
      approachRate: -0.734064 m/s,
      LOS rate: -0.128803 deg/s,
      cmd update: -0.386409 deg/s,
      cmd heading: 71.817611 deg,
      new cmd heading: 72.201338 deg.

2021-02-16T05:23:43.843Z,1613453023.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:44.557Z,1613453024.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:44.668Z,1613453024.668 [CTD_Seabird](ERROR): Failed to parse device response: 43,2862.76
2021-02-16T05:23:44.938Z,1613453024.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:45.791Z,1613453025.791 [Micromodem](INFO): Nmea in: $SNTTA,0.008642,,,,052346.07*49

2021-02-16T05:23:45.845Z,1613453025.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 73.459033 deg, deltaT: 4.394128 s, approachRate: -0.723693 m/s, LOS rate: 0.107108 deg/s, posRepo size: 4
2021-02-16T05:23:45.847Z,1613453025.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 73.459033 deg,
      approachRate: -0.723693 m/s,
      LOS rate: 0.107108 deg/s,
      cmd update: 0.321325 deg/s,
      cmd heading: 70.118101 deg,
      new cmd heading: 69.929244 deg.

2021-02-16T05:23:48.211Z,1613453028.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:48.982Z,1613453028.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:49.387Z,1613453029.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:50.212Z,1613453030.212 [Micromodem](INFO): Nmea in: $SNTTA,0.006587,,,,052350.50*48

2021-02-16T05:23:50.262Z,1613453030.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 74.212614 deg, deltaT: 4.500478 s, approachRate: -0.693260 m/s, LOS rate: 0.167445 deg/s, posRepo size: 4
2021-02-16T05:23:50.268Z,1613453030.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 74.212614 deg,
      approachRate: -0.693260 m/s,
      LOS rate: 0.167445 deg/s,
      cmd update: 0.502334 deg/s,
      cmd heading: 71.564202 deg,
      new cmd heading: 71.694276 deg.

2021-02-16T05:23:52.644Z,1613453032.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:53.425Z,1613453033.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:53.859Z,1613453033.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:54.663Z,1613453034.663 [Micromodem](INFO): Nmea in: $SNTTA,0.004777,,,,052354.94*4B

2021-02-16T05:23:54.688Z,1613453034.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 73.026600 deg, deltaT: 4.406631 s, approachRate: -0.626328 m/s, LOS rate: -0.269143 deg/s, posRepo size: 4
2021-02-16T05:23:54.690Z,1613453034.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 73.026600 deg,
      approachRate: -0.626328 m/s,
      LOS rate: -0.269143 deg/s,
      cmd update: -0.807429 deg/s,
      cmd heading: 73.777810 deg,
      new cmd heading: 73.990996 deg.

2021-02-16T05:23:57.095Z,1613453037.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:23:57.869Z,1613453037.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:23:58.270Z,1613453038.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:23:59.101Z,1613453039.101 [Micromodem](INFO): Nmea in: $SNTTA,0.003147,,0.006221,0.038033,052359.38*4E

2021-02-16T05:23:59.153Z,1613453039.153 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T05:23:59.153Z,1613453039.153 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:23:59.153Z,1613453039.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T05:23:59.153Z,1613453039.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:23:59.154Z,1613453039.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T05:23:59.154Z,1613453039.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T05:23:59.154Z,1613453039.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T05:23:59.154Z,1613453039.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T05:23:59.159Z,1613453039.159 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T05:23:59.162Z,1613453039.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 70.466406 deg, deltaT: 4.454040 s, approachRate: -0.538836 m/s, LOS rate: -0.574803 deg/s, posRepo size: 4
2021-02-16T05:23:59.169Z,1613453039.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 70.466406 deg,
      approachRate: -0.538836 m/s,
      LOS rate: -0.574803 deg/s,
      cmd update: -1.724408 deg/s,
      cmd heading: 70.181472 deg,
      new cmd heading: 69.822808 deg.

2021-02-16T05:23:59.553Z,1613453039.553 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T052359: (41.552319, -70.708603)
2021-02-16T05:23:59.553Z,1613453039.553 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T05:23:59.553Z,1613453039.553 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T05:23:59.554Z,1613453039.554 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:24:01.572Z,1613453041.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:02.308Z,1613453042.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:02.714Z,1613453042.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:03.565Z,1613453043.565 [Micromodem](INFO): Nmea in: $SNTTA,0.002504,0.052406,,,052403.82*52

2021-02-16T05:24:03.590Z,1613453043.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 62.113986 deg, deltaT: 4.451664 s, approachRate: -0.148260 m/s, LOS rate: -1.876247 deg/s, posRepo size: 4
2021-02-16T05:24:03.593Z,1613453043.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 62.113986 deg,
      approachRate: -0.148260 m/s,
      LOS rate: -1.876247 deg/s,
      cmd update: -5.628740 deg/s,
      cmd heading: 62.523313 deg,
      new cmd heading: 61.779373 deg.

2021-02-16T05:24:05.988Z,1613453045.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:06.773Z,1613453046.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:07.166Z,1613453047.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:07.996Z,1613453047.996 [Micromodem](INFO): Nmea in: $SNTTA,0.003677,,,,052408.28*44

2021-02-16T05:24:08.034Z,1613453048.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 60.183092 deg, deltaT: 4.446419 s, approachRate: 0.404821 m/s, LOS rate: -0.434258 deg/s, posRepo size: 4
2021-02-16T05:24:08.035Z,1613453048.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 60.183092 deg,
      approachRate: 0.404821 m/s,
      LOS rate: -0.434258 deg/s,
      cmd update: -1.302775 deg/s,
      cmd heading: 37.458522 deg,
      new cmd heading: 35.083622 deg.

2021-02-16T05:24:10.403Z,1613453050.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:11.196Z,1613453051.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:11.604Z,1613453051.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:12.424Z,1613453052.424 [Micromodem](INFO): Nmea in: $SNTTA,0.006671,,,,052412.71*40

2021-02-16T05:24:12.457Z,1613453052.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 37.250650 deg, deltaT: 4.438286 s, approachRate: 1.027423 m/s, LOS rate: -5.166959 deg/s, posRepo size: 4
2021-02-16T05:24:12.458Z,1613453052.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 37.250650 deg,
      approachRate: 1.027423 m/s,
      LOS rate: -5.166959 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 31.676383 deg,
      new cmd heading: 31.146550 deg.

2021-02-16T05:24:14.899Z,1613453054.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:15.642Z,1613453055.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:16.067Z,1613453056.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:16.892Z,1613453056.892 [Micromodem](INFO): Nmea in: $SNTTA,0.007117,,,,052417.15*41

2021-02-16T05:24:16.955Z,1613453056.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.800001 m, bearing: 47.189231 deg, deltaT: 4.421449 s, approachRate: 0.149273 m/s, LOS rate: 2.247811 deg/s, posRepo size: 4
2021-02-16T05:24:16.961Z,1613453056.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.800001 m,
      bearing: 47.189231 deg,
      approachRate: 0.149273 m/s,
      LOS rate: 2.247811 deg/s,
      cmd update: 6.743432 deg/s,
      cmd heading: 338.571414 deg,
      new cmd heading: 332.821002 deg.

2021-02-16T05:24:19.291Z,1613453059.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:20.101Z,1613453060.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:20.489Z,1613453060.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:21.320Z,1613453061.320 [Micromodem](INFO): Nmea in: $SNTTA,0.009055,,,,052421.61*4E

2021-02-16T05:24:21.357Z,1613453061.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 33.168536 deg, deltaT: 4.470679 s, approachRate: 0.657618 m/s, LOS rate: -3.136144 deg/s, posRepo size: 4
2021-02-16T05:24:21.359Z,1613453061.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 33.168536 deg,
      approachRate: 0.657618 m/s,
      LOS rate: -3.136144 deg/s,
      cmd update: -9.408433 deg/s,
      cmd heading: 8.691986 deg,
      new cmd heading: 11.491360 deg.

2021-02-16T05:24:23.795Z,1613453063.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:24.600Z,1613453064.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:24.948Z,1613453064.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:25.835Z,1613453065.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 19.139237 deg, deltaT: 4.438364 s, approachRate: 0.500185 m/s, LOS rate: -3.160917 deg/s, posRepo size: 4
2021-02-16T05:24:25.837Z,1613453065.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 19.139237 deg,
      approachRate: 0.500185 m/s,
      LOS rate: -3.160917 deg/s,
      cmd update: -9.482750 deg/s,
      cmd heading: 326.933409 deg,
      new cmd heading: 322.659290 deg.

2021-02-16T05:24:26.165Z,1613453066.165 [Micromodem](INFO): Nmea in: $SNTTA,0.010523,,,,052426.11*42

2021-02-16T05:24:28.198Z,1613453068.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:28.990Z,1613453068.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:29.387Z,1613453069.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:30.212Z,1613453070.212 [Micromodem](INFO): Nmea in: $SNTTA,0.011879,,,,052430.50*43

2021-02-16T05:24:30.237Z,1613453070.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.939997 m, bearing: 8.011645 deg, deltaT: 4.451514 s, approachRate: 0.444792 m/s, LOS rate: -2.499732 deg/s, posRepo size: 4
2021-02-16T05:24:30.239Z,1613453070.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.939997 m,
      bearing: 8.011645 deg,
      approachRate: 0.444792 m/s,
      LOS rate: -2.499732 deg/s,
      cmd update: -7.499196 deg/s,
      cmd heading: 284.683062 deg,
      new cmd heading: 280.876800 deg.

2021-02-16T05:24:32.639Z,1613453072.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:33.416Z,1613453073.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:33.824Z,1613453073.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:34.655Z,1613453074.655 [Micromodem](INFO): Nmea in: $SNTTA,0.013044,,,0.015562,052434.93*57

2021-02-16T05:24:34.680Z,1613453074.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.560001 m, bearing: 320.904171 deg, deltaT: 4.429724 s, approachRate: 0.365712 m/s, LOS rate: -10.634405 deg/s, posRepo size: 4
2021-02-16T05:24:34.681Z,1613453074.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.56 m. Rolling out.
2021-02-16T05:24:34.681Z,1613453074.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T05:24:37.077Z,1613453077.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:37.860Z,1613453077.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:38.265Z,1613453078.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:39.097Z,1613453079.097 [Micromodem](INFO): Nmea in: $SNTTA,0.013833,,,0.070408,052439.37*52

2021-02-16T05:24:39.148Z,1613453079.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 289.632150 deg, deltaT: 4.428644 s, approachRate: 0.270963 m/s, LOS rate: -7.061308 deg/s, posRepo size: 4
2021-02-16T05:24:41.561Z,1613453081.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:42.304Z,1613453082.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:42.727Z,1613453082.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:43.564Z,1613453083.564 [Micromodem](INFO): Nmea in: $SNTTA,0.014430,,,,052443.82*4C

2021-02-16T05:24:43.614Z,1613453083.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 272.267487 deg, deltaT: 4.464526 s, approachRate: 0.403179 m/s, LOS rate: -3.889475 deg/s, posRepo size: 4
2021-02-16T05:24:45.149Z,1613453085.149 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:24:45.989Z,1613453085.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:46.788Z,1613453086.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:47.166Z,1613453087.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:48.020Z,1613453088.020 [Micromodem](INFO): Nmea in: $SNTTA,0.014705,,,,052448.30*4B

2021-02-16T05:24:48.052Z,1613453088.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 257.624108 deg, deltaT: 4.442672 s, approachRate: -0.108044 m/s, LOS rate: -3.296075 deg/s, posRepo size: 4
2021-02-16T05:24:50.405Z,1613453090.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:51.192Z,1613453091.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:51.599Z,1613453091.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:52.431Z,1613453092.431 [Micromodem](INFO): Nmea in: $SNTTA,0.014666,,0.023266,,052452.70*5D

2021-02-16T05:24:52.450Z,1613453092.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 292.925203 deg, deltaT: 4.445623 s, approachRate: 0.000000 m/s, LOS rate: 7.940640 deg/s, posRepo size: 4
2021-02-16T05:24:54.878Z,1613453094.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:24:55.642Z,1613453095.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:24:56.066Z,1613453096.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:24:56.888Z,1613453096.888 [Micromodem](INFO): Nmea in: $SNTTA,0.014273,,,,052457.16*45

2021-02-16T05:24:56.938Z,1613453096.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 276.871717 deg, deltaT: 4.428264 s, approachRate: -0.081295 m/s, LOS rate: -3.625232 deg/s, posRepo size: 4
2021-02-16T05:24:59.287Z,1613453099.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:00.081Z,1613453100.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:00.505Z,1613453100.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:01.335Z,1613453101.335 [Micromodem](INFO): Nmea in: $SNTTA,0.013923,,,0.083054,052501.60*5B

2021-02-16T05:25:01.365Z,1613453101.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 217.348367 deg, deltaT: 4.468964 s, approachRate: -0.174538 m/s, LOS rate: -13.319273 deg/s, posRepo size: 4
2021-02-16T05:25:03.770Z,1613453103.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:04.558Z,1613453104.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:04.936Z,1613453104.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:05.793Z,1613453105.793 [Micromodem](INFO): Nmea in: $SNTTA,0.013974,,,0.016488,052506.07*56

2021-02-16T05:25:05.835Z,1613453105.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 184.581190 deg, deltaT: 4.413564 s, approachRate: 0.000000 m/s, LOS rate: -7.424199 deg/s, posRepo size: 4
2021-02-16T05:25:08.185Z,1613453108.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:08.986Z,1613453108.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:09.385Z,1613453109.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:10.215Z,1613453110.215 [Micromodem](INFO): Nmea in: $SNTTA,0.014431,,,,052510.50*45

2021-02-16T05:25:10.234Z,1613453110.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 211.334222 deg, deltaT: 4.523066 s, approachRate: 0.159184 m/s, LOS rate: 5.914800 deg/s, posRepo size: 4
2021-02-16T05:25:12.646Z,1613453112.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:13.412Z,1613453113.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:13.818Z,1613453113.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:14.640Z,1613453114.640 [Micromodem](INFO): Nmea in: $SNTTA,0.015146,,,,052514.92*4B

2021-02-16T05:25:14.685Z,1613453114.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 236.733756 deg, deltaT: 4.384067 s, approachRate: 0.260032 m/s, LOS rate: 5.793601 deg/s, posRepo size: 4
2021-02-16T05:25:17.084Z,1613453117.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:17.857Z,1613453117.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:18.277Z,1613453118.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:19.104Z,1613453119.104 [Micromodem](INFO): Nmea in: $SNTTA,0.015883,0.033089,,,052519.37*56

2021-02-16T05:25:19.128Z,1613453119.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 239.780157 deg, deltaT: 4.441155 s, approachRate: 0.418810 m/s, LOS rate: 0.685948 deg/s, posRepo size: 4
2021-02-16T05:25:21.558Z,1613453121.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:22.306Z,1613453122.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:22.706Z,1613453122.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:23.570Z,1613453123.570 [Micromodem](INFO): Nmea in: $SNTTA,0.017248,,,,052523.82*41

2021-02-16T05:25:23.625Z,1613453123.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.700003 m, bearing: 272.105174 deg, deltaT: 4.479880 s, approachRate: 0.455370 m/s, LOS rate: 7.215599 deg/s, posRepo size: 4
2021-02-16T05:25:25.972Z,1613453125.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:26.754Z,1613453126.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:27.169Z,1613453127.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:27.980Z,1613453127.980 [Micromodem](INFO): Nmea in: $SNTTA,0.018675,,,,052528.27*40

2021-02-16T05:25:28.017Z,1613453128.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 226.673037 deg, deltaT: 4.414291 s, approachRate: 0.570872 m/s, LOS rate: -10.292058 deg/s, posRepo size: 4
2021-02-16T05:25:30.409Z,1613453130.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:31.193Z,1613453131.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:31.593Z,1613453131.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:32.420Z,1613453132.420 [Micromodem](INFO): Nmea in: $SNTTA,0.020400,,,,052532.71*43

2021-02-16T05:25:32.466Z,1613453132.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 241.818613 deg, deltaT: 4.448739 s, approachRate: 0.350661 m/s, LOS rate: 3.404465 deg/s, posRepo size: 4
2021-02-16T05:25:34.871Z,1613453134.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:35.650Z,1613453135.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:36.051Z,1613453136.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:36.875Z,1613453136.875 [Micromodem](INFO): Nmea in: $SNTTA,0.022045,,,,052537.16*40

2021-02-16T05:25:36.909Z,1613453136.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 257.591214 deg, deltaT: 4.421606 s, approachRate: 0.542790 m/s, LOS rate: 3.567166 deg/s, posRepo size: 4
2021-02-16T05:25:39.288Z,1613453139.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:40.076Z,1613453140.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:40.482Z,1613453140.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:41.304Z,1613453141.304 [Micromodem](INFO): Nmea in: $SNTTA,0.023925,,,,052541.59*44

2021-02-16T05:25:41.346Z,1613453141.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 209.468323 deg, deltaT: 4.472870 s, approachRate: 0.751195 m/s, LOS rate: -10.758840 deg/s, posRepo size: 4
2021-02-16T05:25:43.802Z,1613453143.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:44.545Z,1613453144.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:44.932Z,1613453144.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:45.784Z,1613453145.784 [Micromodem](INFO): Nmea in: $SNTTA,0.025858,,0.062289,,052546.06*5D

2021-02-16T05:25:45.846Z,1613453145.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 207.807481 deg, deltaT: 4.398681 s, approachRate: 0.641102 m/s, LOS rate: -0.377577 deg/s, posRepo size: 4
2021-02-16T05:25:48.195Z,1613453148.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:48.974Z,1613453148.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:49.371Z,1613453149.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:50.188Z,1613453150.188 [Micromodem](INFO): Nmea in: $SNTTA,0.027843,,,,052550.49*40

2021-02-16T05:25:51.024Z,1613453151.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:52.598Z,1613453152.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:25:53.856Z,1613453153.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:54.622Z,1613453154.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:55.027Z,1613453155.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:25:55.852Z,1613453155.852 [Micromodem](INFO): Nmea in: $SNTTA,0.030581,,,,052556.13*4C

2021-02-16T05:25:55.901Z,1613453155.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 211.406390 deg, deltaT: 10.122744 s, approachRate: 0.693488 m/s, LOS rate: 0.355527 deg/s, posRepo size: 4
2021-02-16T05:25:58.287Z,1613453158.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:25:59.078Z,1613453159.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:25:59.471Z,1613453159.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:00.308Z,1613453160.308 [Micromodem](INFO): Nmea in: $SNTTA,0.032605,0.076781,,,052600.59*5E

2021-02-16T05:26:00.330Z,1613453160.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.500000 m, bearing: 216.982160 deg, deltaT: 4.460776 s, approachRate: 0.699430 m/s, LOS rate: 1.249955 deg/s, posRepo size: 4
2021-02-16T05:26:02.726Z,1613453162.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:03.518Z,1613453163.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:03.953Z,1613453163.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:04.759Z,1613453164.759 [Micromodem](INFO): Nmea in: $SNTTA,0.034683,,,,052605.04*4A

2021-02-16T05:26:04.838Z,1613453164.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.499996 m, bearing: 216.809015 deg, deltaT: 4.411825 s, approachRate: 0.679990 m/s, LOS rate: -0.039246 deg/s, posRepo size: 4
2021-02-16T05:26:07.194Z,1613453167.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:07.953Z,1613453167.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:08.363Z,1613453168.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:09.196Z,1613453169.196 [Micromodem](INFO): Nmea in: $SNTTA,0.036875,,,,052609.47*44

2021-02-16T05:26:09.233Z,1613453169.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.439999 m, bearing: 253.689400 deg, deltaT: 4.514159 s, approachRate: 0.651285 m/s, LOS rate: 8.169935 deg/s, posRepo size: 4
2021-02-16T05:26:11.626Z,1613453171.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:12.402Z,1613453172.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:12.827Z,1613453172.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:13.628Z,1613453173.628 [Micromodem](INFO): Nmea in: $SNTTA,0.038997,,,,052613.91*47

2021-02-16T05:26:13.667Z,1613453173.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 209.910660 deg, deltaT: 4.366366 s, approachRate: 0.810743 m/s, LOS rate: -10.026356 deg/s, posRepo size: 4
2021-02-16T05:26:16.080Z,1613453176.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:16.846Z,1613453176.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:17.246Z,1613453177.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:18.072Z,1613453178.072 [Micromodem](INFO): Nmea in: $SNTTA,0.041063,,,,052618.36*4D

2021-02-16T05:26:18.118Z,1613453178.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 213.573527 deg, deltaT: 4.491089 s, approachRate: 0.614551 m/s, LOS rate: 0.815585 deg/s, posRepo size: 4
2021-02-16T05:26:18.320Z,1613453178.320 [CTD_Seabird](ERROR): Failed to parse device response: ,1.3344,2.74833,2932.67
2021-02-16T05:26:20.519Z,1613453180.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:21.284Z,1613453181.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:21.690Z,1613453181.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:22.532Z,1613453182.532 [Micromodem](INFO): Nmea in: $SNTTA,0.043075,,,,052622.79*4A

2021-02-16T05:26:22.574Z,1613453182.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 228.802335 deg, deltaT: 4.427988 s, approachRate: 0.758811 m/s, LOS rate: 3.439216 deg/s, posRepo size: 4
2021-02-16T05:26:24.944Z,1613453184.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:25.728Z,1613453185.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:26.143Z,1613453186.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:26.960Z,1613453186.960 [Micromodem](INFO): Nmea in: $SNTTA,0.045022,,,,052627.24*43

2021-02-16T05:26:26.984Z,1613453186.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.740005 m, bearing: 229.938018 deg, deltaT: 4.474593 s, approachRate: 0.589998 m/s, LOS rate: 0.253807 deg/s, posRepo size: 4
2021-02-16T05:26:29.405Z,1613453189.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:30.184Z,1613453190.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:30.583Z,1613453190.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:31.417Z,1613453191.417 [Micromodem](INFO): Nmea in: $SNTTA,0.047199,,,,052631.70*46

2021-02-16T05:26:31.468Z,1613453191.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 242.300824 deg, deltaT: 4.393133 s, approachRate: 0.805803 m/s, LOS rate: 2.814121 deg/s, posRepo size: 4
2021-02-16T05:26:33.863Z,1613453193.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:34.627Z,1613453194.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:35.039Z,1613453195.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:35.864Z,1613453195.864 [Micromodem](INFO): Nmea in: $SNTTA,0.049433,,,,052636.14*48

2021-02-16T05:26:35.912Z,1613453195.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 217.802028 deg, deltaT: 4.449407 s, approachRate: 0.687732 m/s, LOS rate: -5.506081 deg/s, posRepo size: 4
2021-02-16T05:26:38.296Z,1613453198.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:39.093Z,1613453199.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:39.487Z,1613453199.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:40.317Z,1613453200.317 [Micromodem](INFO): Nmea in: $SNTTA,0.051870,,,,052640.60*48

2021-02-16T05:26:40.338Z,1613453200.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 274.730453 deg, deltaT: 4.517343 s, approachRate: 0.810210 m/s, LOS rate: 12.602192 deg/s, posRepo size: 4
2021-02-16T05:26:42.767Z,1613453202.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:43.554Z,1613453203.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:43.928Z,1613453203.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:44.771Z,1613453204.771 [Micromodem](INFO): Nmea in: $SNTTA,0.054154,,,,052645.07*46

2021-02-16T05:26:44.849Z,1613453204.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 231.660455 deg, deltaT: 4.379700 s, approachRate: 0.821976 m/s, LOS rate: -9.834006 deg/s, posRepo size: 4
2021-02-16T05:26:47.197Z,1613453207.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:47.965Z,1613453207.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:48.370Z,1613453208.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:49.196Z,1613453209.196 [Micromodem](INFO): Nmea in: $SNTTA,0.056429,,,,052649.48*4C

2021-02-16T05:26:49.232Z,1613453209.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 232.508764 deg, deltaT: 4.479609 s, approachRate: 0.709882 m/s, LOS rate: 0.189371 deg/s, posRepo size: 4
2021-02-16T05:26:51.637Z,1613453211.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:52.408Z,1613453212.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:52.814Z,1613453212.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:53.640Z,1613453213.640 [Micromodem](INFO): Nmea in: $SNTTA,0.058598,,,,052653.92*45

2021-02-16T05:26:53.665Z,1613453213.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 241.116169 deg, deltaT: 4.399858 s, approachRate: 0.790935 m/s, LOS rate: 1.956291 deg/s, posRepo size: 4
2021-02-16T05:26:56.074Z,1613453216.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:26:56.857Z,1613453216.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:26:57.275Z,1613453217.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:26:58.084Z,1613453218.084 [Micromodem](INFO): Nmea in: $SNTTA,0.060709,,,,052658.37*40

2021-02-16T05:26:58.114Z,1613453218.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.200005 m, bearing: 227.794513 deg, deltaT: 4.454779 s, approachRate: 0.659966 m/s, LOS rate: -2.990419 deg/s, posRepo size: 4
2021-02-16T05:27:00.522Z,1613453220.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:01.296Z,1613453221.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:01.707Z,1613453221.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:02.561Z,1613453222.561 [Micromodem](INFO): Nmea in: $SNTTA,0.062978,,,,052702.81*49

2021-02-16T05:27:02.600Z,1613453222.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 240.319195 deg, deltaT: 4.442580 s, approachRate: 0.783328 m/s, LOS rate: 2.819236 deg/s, posRepo size: 4
2021-02-16T05:27:04.976Z,1613453224.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:05.749Z,1613453225.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:06.154Z,1613453226.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:06.972Z,1613453226.972 [Micromodem](INFO): Nmea in: $SNTTA,0.065285,,,,052707.26*4F

2021-02-16T05:27:07.025Z,1613453227.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 231.291160 deg, deltaT: 4.478871 s, approachRate: 0.776981 m/s, LOS rate: -2.015694 deg/s, posRepo size: 4
2021-02-16T05:27:09.622Z,1613453229.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:10.188Z,1613453230.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:10.594Z,1613453230.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:11.416Z,1613453231.416 [Micromodem](INFO): Nmea in: $SNTTA,0.067446,,,,052711.70*40

2021-02-16T05:27:11.462Z,1613453231.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 247.482725 deg, deltaT: 4.428244 s, approachRate: 0.731670 m/s, LOS rate: 3.656430 deg/s, posRepo size: 4
2021-02-16T05:27:13.905Z,1613453233.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:14.657Z,1613453234.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:15.038Z,1613453235.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:15.880Z,1613453235.880 [Micromodem](INFO): Nmea in: $SNTTA,0.069621,,,,052716.17*4B

2021-02-16T05:27:15.926Z,1613453235.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.580002 m, bearing: 249.815371 deg, deltaT: 4.423511 s, approachRate: 0.718884 m/s, LOS rate: 0.527329 deg/s, posRepo size: 4
2021-02-16T05:27:18.282Z,1613453238.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:19.077Z,1613453239.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:19.482Z,1613453239.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:20.308Z,1613453240.308 [Micromodem](INFO): Nmea in: $SNTTA,0.071558,,0.086383,,052720.59*58

2021-02-16T05:27:20.343Z,1613453240.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 237.237878 deg, deltaT: 4.486889 s, approachRate: 0.641869 m/s, LOS rate: -2.803166 deg/s, posRepo size: 4
2021-02-16T05:27:22.785Z,1613453242.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:23.546Z,1613453243.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:23.925Z,1613453243.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:24.771Z,1613453244.771 [Micromodem](INFO): Nmea in: $SNTTA,0.073921,,,,052725.06*4F

2021-02-16T05:27:24.834Z,1613453244.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 230.205297 deg, deltaT: 4.433743 s, approachRate: 0.811956 m/s, LOS rate: -1.586150 deg/s, posRepo size: 4
2021-02-16T05:27:27.197Z,1613453247.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:27.965Z,1613453247.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:28.387Z,1613453248.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:29.213Z,1613453249.213 [Micromodem](INFO): Nmea in: $SNTTA,0.076120,,0.081733,,052729.48*55

2021-02-16T05:27:29.234Z,1613453249.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.360008 m, bearing: 228.377525 deg, deltaT: 4.457347 s, approachRate: 0.740351 m/s, LOS rate: -0.410058 deg/s, posRepo size: 4
2021-02-16T05:27:31.633Z,1613453251.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:32.408Z,1613453252.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:32.816Z,1613453252.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:33.636Z,1613453253.636 [Micromodem](INFO): Nmea in: $SNTTA,0.078345,,,,052733.92*46

2021-02-16T05:27:33.688Z,1613453253.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 233.309263 deg, deltaT: 4.393618 s, approachRate: 0.751088 m/s, LOS rate: 1.122478 deg/s, posRepo size: 4
2021-02-16T05:27:36.079Z,1613453256.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:36.852Z,1613453256.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:37.257Z,1613453257.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:38.084Z,1613453258.084 [Micromodem](INFO): Nmea in: $SNTTA,0.080652,,,,052738.36*47

2021-02-16T05:27:38.123Z,1613453258.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 240.216278 deg, deltaT: 4.482097 s, approachRate: 0.776421 m/s, LOS rate: 1.541023 deg/s, posRepo size: 4
2021-02-16T05:27:40.556Z,1613453260.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:41.297Z,1613453261.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:41.707Z,1613453261.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:42.556Z,1613453262.556 [Micromodem](INFO): Nmea in: $SNTTA,0.082771,,,,052742.81*44

2021-02-16T05:27:42.581Z,1613453262.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 238.915810 deg, deltaT: 4.437162 s, approachRate: 0.730196 m/s, LOS rate: -0.293086 deg/s, posRepo size: 4
2021-02-16T05:27:44.672Z,1613453264.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:45.342Z,1613453265.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:45.775Z,1613453265.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:46.562Z,1613453266.562 [Micromodem](INFO): Nmea in: $SNTTA,0.084861,,,,052746.85*4C

2021-02-16T05:27:47.384Z,1613453267.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:48.976Z,1613453268.976 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:27:50.226Z,1613453270.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:50.000Z,1613453271.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:51.402Z,1613453271.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:52.233Z,1613453272.233 [Micromodem](INFO): Nmea in: $SNTTA,0.087527,,,,052752.51*4C

2021-02-16T05:27:53.059Z,1613453273.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:54.632Z,1613453274.632 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:27:55.881Z,1613453275.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:27:56.653Z,1613453276.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:27:57.053Z,1613453277.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:27:57.877Z,1613453277.877 [Micromodem](INFO): Nmea in: $SNTTA,0.090163,,,,052758.16*47

2021-02-16T05:27:58.714Z,1613453278.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:00.282Z,1613453280.282 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:28:01.554Z,1613453281.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:02.305Z,1613453282.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:02.709Z,1613453282.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:03.558Z,1613453283.558 [Micromodem](INFO): Nmea in: $SNTTA,0.093042,,,,052803.82*4A

2021-02-16T05:28:03.584Z,1613453283.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 248.673882 deg, deltaT: 21.012546 s, approachRate: 0.730992 m/s, LOS rate: 0.464393 deg/s, posRepo size: 4
2021-02-16T05:28:05.976Z,1613453285.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:06.753Z,1613453286.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:07.161Z,1613453287.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:07.980Z,1613453287.980 [Micromodem](INFO): Nmea in: $SNTTA,0.095356,,,,052808.26*4F

2021-02-16T05:28:08.024Z,1613453288.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 243.532389 deg, deltaT: 4.451623 s, approachRate: 0.768259 m/s, LOS rate: -1.154970 deg/s, posRepo size: 4
2021-02-16T05:28:10.416Z,1613453290.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:11.200Z,1613453291.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:11.606Z,1613453291.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:12.424Z,1613453292.424 [Micromodem](INFO): Nmea in: $SNTTA,0.098206,,,,052812.71*4F

2021-02-16T05:28:12.458Z,1613453292.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.639999 m, bearing: 249.254039 deg, deltaT: 4.430638 s, approachRate: 0.785439 m/s, LOS rate: 1.291383 deg/s, posRepo size: 4
2021-02-16T05:28:14.875Z,1613453294.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:15.652Z,1613453295.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:16.083Z,1613453296.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:16.883Z,1613453296.883 [Micromodem](INFO): Nmea in: $SNTTA,0.099756,,,,052817.16*4A

2021-02-16T05:28:16.917Z,1613453296.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 242.673233 deg, deltaT: 4.451727 s, approachRate: 0.714331 m/s, LOS rate: -1.478259 deg/s, posRepo size: 4
2021-02-16T05:28:19.309Z,1613453299.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:20.085Z,1613453300.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:20.488Z,1613453300.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:21.312Z,1613453301.312 [Micromodem](INFO): Nmea in: $SNTTA,0.102076,,,,052821.60*48

2021-02-16T05:28:21.347Z,1613453301.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 245.246494 deg, deltaT: 4.475471 s, approachRate: 0.777574 m/s, LOS rate: 0.574970 deg/s, posRepo size: 4
2021-02-16T05:28:21.347Z,1613453301.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.30 m. Resuming terminal guidance.
2021-02-16T05:28:21.347Z,1613453301.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:28:23.794Z,1613453303.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:24.573Z,1613453304.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:24.942Z,1613453304.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:25.780Z,1613453305.780 [Micromodem](INFO): Nmea in: $SNTTA,0.104173,,,,052826.08*43

2021-02-16T05:28:26.187Z,1613453306.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 259.238819 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:28:26.188Z,1613453306.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 259.238819deg and heading rate command to 0 deg/s.
2021-02-16T05:28:28.601Z,1613453308.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:29.413Z,1613453309.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:29.827Z,1613453309.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:30.618Z,1613453310.618 [Micromodem](INFO): Nmea in: $SNTTA,0.106672,,,,052830.92*43

2021-02-16T05:28:30.657Z,1613453310.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.139999 m, bearing: 273.302343 deg, deltaT: 4.398154 s, approachRate: 0.845810 m/s, LOS rate: 3.197597 deg/s, posRepo size: 2
2021-02-16T05:28:30.659Z,1613453310.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.139999 m,
      bearing: 273.302343 deg,
      approachRate: 0.845810 m/s,
      LOS rate: 3.197597 deg/s,
      cmd update: 9.592791 deg/s,
      cmd heading: 259.238819 deg,
      new cmd heading: 259.238819 deg.

2021-02-16T05:28:33.041Z,1613453313.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:33.818Z,1613453313.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:34.235Z,1613453314.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:35.044Z,1613453315.044 [Micromodem](INFO): Nmea in: $SNTTA,0.109344,,,,052835.33*42

2021-02-16T05:28:35.082Z,1613453315.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.220001 m, bearing: 289.679388 deg, deltaT: 4.437217 s, approachRate: 0.919496 m/s, LOS rate: 3.690837 deg/s, posRepo size: 3
2021-02-16T05:28:35.084Z,1613453315.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.220001 m,
      bearing: 289.679388 deg,
      approachRate: 0.919496 m/s,
      LOS rate: 3.690837 deg/s,
      cmd update: 11.072511 deg/s,
      cmd heading: 301.814205 deg,
      new cmd heading: 305.718279 deg.

2021-02-16T05:28:37.470Z,1613453317.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:38.260Z,1613453318.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:38.677Z,1613453318.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:39.504Z,1613453319.504 [Micromodem](INFO): Nmea in: $SNTTA,0.110675,,,,052839.77*41

2021-02-16T05:28:39.572Z,1613453319.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 319.130016 deg, deltaT: 4.452472 s, approachRate: 0.444699 m/s, LOS rate: 6.614444 deg/s, posRepo size: 4
2021-02-16T05:28:39.574Z,1613453319.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 319.130016 deg,
      approachRate: 0.444699 m/s,
      LOS rate: 6.614444 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.112235 deg,
      new cmd heading: 356.038893 deg.

2021-02-16T05:28:41.956Z,1613453321.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:42.729Z,1613453322.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:43.127Z,1613453323.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:43.946Z,1613453323.946 [Micromodem](INFO): Nmea in: $SNTTA,0.112268,,,,052844.24*47

2021-02-16T05:28:43.980Z,1613453323.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 302.860177 deg, deltaT: 4.467484 s, approachRate: 0.510351 m/s, LOS rate: -3.641835 deg/s, posRepo size: 4
2021-02-16T05:28:44.003Z,1613453324.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 302.860177 deg,
      approachRate: 0.510351 m/s,
      LOS rate: -3.641835 deg/s,
      cmd update: -10.925504 deg/s,
      cmd heading: 44.676360 deg,
      new cmd heading: 49.336213 deg.

2021-02-16T05:28:46.360Z,1613453326.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:47.158Z,1613453327.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:47.586Z,1613453327.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:48.388Z,1613453328.388 [Micromodem](INFO): Nmea in: $SNTTA,0.113551,,,,052848.67*40

2021-02-16T05:28:48.410Z,1613453328.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 319.415572 deg, deltaT: 4.400751 s, approachRate: 0.000000 m/s, LOS rate: 3.761948 deg/s, posRepo size: 4
2021-02-16T05:28:48.412Z,1613453328.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 319.415572 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.761948 deg/s,
      cmd update: 11.285843 deg/s,
      cmd heading: 356.565379 deg,
      new cmd heading: 352.020315 deg.

2021-02-16T05:28:50.868Z,1613453330.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:51.597Z,1613453331.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:52.015Z,1613453332.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:52.828Z,1613453332.828 [Micromodem](INFO): Nmea in: $SNTTA,0.114563,,,,052853.11*4D

2021-02-16T05:28:52.886Z,1613453332.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 27.440584 deg, deltaT: 4.465295 s, approachRate: 0.000000 m/s, LOS rate: 15.234158 deg/s, posRepo size: 4
2021-02-16T05:28:52.886Z,1613453332.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.234158 deg/s. Setting heading cmd to target bearing of 27.440584deg and heading rate command to 0 deg/s.
2021-02-16T05:28:55.267Z,1613453335.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:28:56.065Z,1613453336.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:28:56.466Z,1613453336.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:28:57.280Z,1613453337.280 [Micromodem](INFO): Nmea in: $SNTTA,0.114647,,,,052857.58*41

2021-02-16T05:28:57.314Z,1613453337.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 24.151143 deg, deltaT: 4.474402 s, approachRate: 0.000000 m/s, LOS rate: -0.735169 deg/s, posRepo size: 4
2021-02-16T05:28:57.316Z,1613453337.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 24.151143 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.735169 deg/s,
      cmd update: -2.205507 deg/s,
      cmd heading: 27.440584 deg,
      new cmd heading: 27.440584 deg.

2021-02-16T05:28:59.709Z,1613453339.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:00.486Z,1613453340.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:00.890Z,1613453340.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:01.716Z,1613453341.716 [Micromodem](INFO): Nmea in: $SNTTA,0.114278,,,,052902.00*45

2021-02-16T05:29:01.796Z,1613453341.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 29.897715 deg, deltaT: 4.375977 s, approachRate: 0.000000 m/s, LOS rate: 1.313209 deg/s, posRepo size: 4
2021-02-16T05:29:01.798Z,1613453341.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 29.897715 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.313209 deg/s,
      cmd update: 3.939628 deg/s,
      cmd heading: 17.756431 deg,
      new cmd heading: 16.696826 deg.

2021-02-16T05:29:04.239Z,1613453344.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:04.925Z,1613453344.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:05.340Z,1613453345.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:06.167Z,1613453346.167 [Micromodem](INFO): Nmea in: $SNTTA,0.113354,,,,052906.44*49

2021-02-16T05:29:06.185Z,1613453346.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 26.767023 deg, deltaT: 4.509774 s, approachRate: 0.319310 m/s, LOS rate: -0.694202 deg/s, posRepo size: 4
2021-02-16T05:29:06.189Z,1613453346.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.920013 m,
      bearing: 26.767023 deg,
      approachRate: 0.319310 m/s,
      LOS rate: -0.694202 deg/s,
      cmd update: -2.082605 deg/s,
      cmd heading: 35.523769 deg,
      new cmd heading: 36.954126 deg.

2021-02-16T05:29:08.633Z,1613453348.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:09.423Z,1613453349.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:09.819Z,1613453349.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:10.609Z,1613453350.609 [Micromodem](INFO): Nmea in: $SNTTA,0.112347,,,,052910.93*47

2021-02-16T05:29:11.019Z,1613453351.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 93.295644 deg, deltaT: 4.837753 s, approachRate: -0.322470 m/s, LOS rate: 13.751968 deg/s, posRepo size: 4
2021-02-16T05:29:11.020Z,1613453351.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.751968 deg/s. Setting heading cmd to target bearing of 93.295644deg and heading rate command to 0 deg/s.
2021-02-16T05:29:13.423Z,1613453353.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:14.225Z,1613453354.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:14.622Z,1613453354.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:15.452Z,1613453355.452 [Micromodem](INFO): Nmea in: $SNTTA,0.110932,,,,052915.74*41

2021-02-16T05:29:15.496Z,1613453355.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 94.240901 deg, deltaT: 4.429318 s, approachRate: 0.000000 m/s, LOS rate: 0.213409 deg/s, posRepo size: 4
2021-02-16T05:29:15.504Z,1613453355.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 94.240901 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.213409 deg/s,
      cmd update: 0.640228 deg/s,
      cmd heading: 93.295644 deg,
      new cmd heading: 93.295644 deg.

2021-02-16T05:29:17.921Z,1613453357.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:18.662Z,1613453358.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:19.066Z,1613453359.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:19.892Z,1613453359.892 [Micromodem](INFO): Nmea in: $SNTTA,0.109660,,,,052920.17*42

2021-02-16T05:29:19.941Z,1613453359.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 83.706625 deg, deltaT: 4.469442 s, approachRate: -0.899435 m/s, LOS rate: -2.356955 deg/s, posRepo size: 4
2021-02-16T05:29:19.942Z,1613453359.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 83.706625 deg,
      approachRate: -0.899435 m/s,
      LOS rate: -2.356955 deg/s,
      cmd update: -7.070866 deg/s,
      cmd heading: 96.142584 deg,
      new cmd heading: 96.402451 deg.

2021-02-16T05:29:22.329Z,1613453362.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:23.112Z,1613453363.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:23.552Z,1613453363.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:24.336Z,1613453364.336 [Micromodem](INFO): Nmea in: $SNTTA,0.107954,,,,052924.62*42

2021-02-16T05:29:24.370Z,1613453364.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 83.395490 deg, deltaT: 4.435472 s, approachRate: -0.581678 m/s, LOS rate: -0.070147 deg/s, posRepo size: 4
2021-02-16T05:29:24.372Z,1613453364.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 83.395490 deg,
      approachRate: -0.581678 m/s,
      LOS rate: -0.070147 deg/s,
      cmd update: -0.210441 deg/s,
      cmd heading: 64.759703 deg,
      new cmd heading: 61.950462 deg.

2021-02-16T05:29:26.831Z,1613453366.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:27.562Z,1613453367.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:27.954Z,1613453367.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:28.807Z,1613453368.807 [Micromodem](INFO): Nmea in: $SNTTA,0.105972,,0.107161,,052929.08*5B

2021-02-16T05:29:28.865Z,1613453368.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 86.182029 deg, deltaT: 4.412129 s, approachRate: 0.000000 m/s, LOS rate: 0.631563 deg/s, posRepo size: 4
2021-02-16T05:29:28.871Z,1613453368.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.759995 m,
      bearing: 86.182029 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.631563 deg/s,
      cmd update: 1.894690 deg/s,
      cmd heading: 63.832522 deg,
      new cmd heading: 63.730179 deg.

2021-02-16T05:29:31.214Z,1613453371.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:32.014Z,1613453372.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:32.403Z,1613453372.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:33.244Z,1613453373.244 [Micromodem](INFO): Nmea in: $SNTTA,0.103877,,,,052933.52*43

2021-02-16T05:29:33.286Z,1613453373.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.639999 m, bearing: 86.412131 deg, deltaT: 4.462010 s, approachRate: -1.371578 m/s, LOS rate: 0.051569 deg/s, posRepo size: 4
2021-02-16T05:29:33.288Z,1613453373.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.639999 m,
      bearing: 86.412131 deg,
      approachRate: -1.371578 m/s,
      LOS rate: 0.051569 deg/s,
      cmd update: 0.154708 deg/s,
      cmd heading: 72.336169 deg,
      new cmd heading: 73.129012 deg.

2021-02-16T05:29:35.682Z,1613453375.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:36.461Z,1613453376.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:36.870Z,1613453376.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:37.680Z,1613453377.680 [Micromodem](INFO): Nmea in: $SNTTA,0.101791,,,,052937.97*4B

2021-02-16T05:29:37.724Z,1613453377.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 86.944265 deg, deltaT: 4.435720 s, approachRate: -0.716906 m/s, LOS rate: 0.119965 deg/s, posRepo size: 4
2021-02-16T05:29:37.726Z,1613453377.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.460007 m,
      bearing: 86.944265 deg,
      approachRate: -0.716906 m/s,
      LOS rate: 0.119965 deg/s,
      cmd update: 0.359896 deg/s,
      cmd heading: 73.022416 deg,
      new cmd heading: 73.087496 deg.

2021-02-16T05:29:40.098Z,1613453380.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:40.881Z,1613453380.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:41.303Z,1613453381.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:42.108Z,1613453382.108 [Micromodem](INFO): Nmea in: $SNTTA,0.099524,,,,052942.39*41

2021-02-16T05:29:42.165Z,1613453382.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 86.438872 deg, deltaT: 4.480589 s, approachRate: -0.763292 m/s, LOS rate: -0.112796 deg/s, posRepo size: 4
2021-02-16T05:29:42.172Z,1613453382.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 86.438872 deg,
      approachRate: -0.763292 m/s,
      LOS rate: -0.112796 deg/s,
      cmd update: -0.338388 deg/s,
      cmd heading: 74.622696 deg,
      new cmd heading: 74.772155 deg.

2021-02-16T05:29:44.580Z,1613453384.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:45.334Z,1613453385.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:45.730Z,1613453385.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:46.575Z,1613453386.575 [Micromodem](INFO): Nmea in: $SNTTA,0.097491,,,,052946.84*42

2021-02-16T05:29:46.601Z,1613453386.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 87.391027 deg, deltaT: 4.401589 s, approachRate: -0.695206 m/s, LOS rate: 0.216321 deg/s, posRepo size: 4
2021-02-16T05:29:46.603Z,1613453386.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 87.391027 deg,
      approachRate: -0.695206 m/s,
      LOS rate: 0.216321 deg/s,
      cmd update: 0.648963 deg/s,
      cmd heading: 73.123058 deg,
      new cmd heading: 72.981069 deg.

2021-02-16T05:29:49.006Z,1613453389.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:49.824Z,1613453389.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:50.199Z,1613453390.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:51.002Z,1613453391.002 [Micromodem](INFO): Nmea in: $SNTTA,0.095167,,,,052951.34*41

2021-02-16T05:29:51.056Z,1613453391.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 87.485748 deg, deltaT: 4.456321 s, approachRate: 0.000000 m/s, LOS rate: 0.021255 deg/s, posRepo size: 4
2021-02-16T05:29:51.058Z,1613453391.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 87.485748 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.021255 deg/s,
      cmd update: 0.063766 deg/s,
      cmd heading: 76.017609 deg,
      new cmd heading: 76.286618 deg.

2021-02-16T05:29:53.424Z,1613453393.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:54.227Z,1613453394.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:54.618Z,1613453394.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:55.452Z,1613453395.452 [Micromodem](INFO): Nmea in: $SNTTA,0.093311,,,,052955.74*44

2021-02-16T05:29:55.474Z,1613453395.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 87.673661 deg, deltaT: 4.411386 s, approachRate: -1.414519 m/s, LOS rate: 0.042597 deg/s, posRepo size: 4
2021-02-16T05:29:55.476Z,1613453395.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 87.673661 deg,
      approachRate: -1.414519 m/s,
      LOS rate: 0.042597 deg/s,
      cmd update: 0.127791 deg/s,
      cmd heading: 76.298901 deg,
      new cmd heading: 76.325781 deg.

2021-02-16T05:29:57.900Z,1613453397.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:29:58.671Z,1613453398.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:29:59.067Z,1613453399.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:29:59.912Z,1613453399.912 [Micromodem](INFO): Nmea in: $SNTTA,0.091263,,,,053000.18*40

2021-02-16T05:29:59.961Z,1613453399.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.620010 m, bearing: 88.024206 deg, deltaT: 4.432166 s, approachRate: -0.703944 m/s, LOS rate: 0.079091 deg/s, posRepo size: 4
2021-02-16T05:29:59.963Z,1613453399.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.620010 m,
      bearing: 88.024206 deg,
      approachRate: -0.703944 m/s,
      LOS rate: 0.079091 deg/s,
      cmd update: 0.237274 deg/s,
      cmd heading: 76.865279 deg,
      new cmd heading: 76.926146 deg.

2021-02-16T05:30:02.332Z,1613453402.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:03.107Z,1613453403.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:03.551Z,1613453403.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:04.345Z,1613453404.345 [Micromodem](INFO): Nmea in: $SNTTA,0.089191,,,,053004.62*4E

2021-02-16T05:30:04.366Z,1613453404.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.619995 m, bearing: 88.495756 deg, deltaT: 4.500996 s, approachRate: -0.666523 m/s, LOS rate: 0.104766 deg/s, posRepo size: 4
2021-02-16T05:30:04.368Z,1613453404.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.619995 m,
      bearing: 88.495756 deg,
      approachRate: -0.666523 m/s,
      LOS rate: 0.104766 deg/s,
      cmd update: 0.314297 deg/s,
      cmd heading: 77.932353 deg,
      new cmd heading: 78.023462 deg.

2021-02-16T05:30:06.822Z,1613453406.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:07.561Z,1613453407.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:07.953Z,1613453407.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:08.809Z,1613453408.809 [Micromodem](INFO): Nmea in: $SNTTA,0.086982,,,,053009.07*45

2021-02-16T05:30:08.843Z,1613453408.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 89.530120 deg, deltaT: 4.388014 s, approachRate: -0.765719 m/s, LOS rate: 0.235725 deg/s, posRepo size: 4
2021-02-16T05:30:08.845Z,1613453408.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.260010 m,
      bearing: 89.530120 deg,
      approachRate: -0.765719 m/s,
      LOS rate: 0.235725 deg/s,
      cmd update: 0.707174 deg/s,
      cmd heading: 79.312654 deg,
      new cmd heading: 79.460169 deg.

2021-02-16T05:30:11.200Z,1613453411.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:11.989Z,1613453411.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:12.408Z,1613453412.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:13.216Z,1613453413.216 [Micromodem](INFO): Nmea in: $SNTTA,0.084787,,,,053013.50*45

2021-02-16T05:30:13.250Z,1613453413.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 89.003819 deg, deltaT: 4.474931 s, approachRate: -0.724036 m/s, LOS rate: -0.117611 deg/s, posRepo size: 4
2021-02-16T05:30:13.252Z,1613453413.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 89.003819 deg,
      approachRate: -0.724036 m/s,
      LOS rate: -0.117611 deg/s,
      cmd update: -0.352832 deg/s,
      cmd heading: 82.477275 deg,
      new cmd heading: 82.761345 deg.

2021-02-16T05:30:15.687Z,1613453415.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:16.500Z,1613453416.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:16.845Z,1613453416.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:17.682Z,1613453417.682 [Micromodem](INFO): Nmea in: $SNTTA,0.082549,,,,053018.01*4C

2021-02-16T05:30:17.727Z,1613453417.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.600006 m, bearing: 89.457440 deg, deltaT: 4.463007 s, approachRate: -0.766297 m/s, LOS rate: 0.101640 deg/s, posRepo size: 4
2021-02-16T05:30:17.729Z,1613453417.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.600006 m,
      bearing: 89.457440 deg,
      approachRate: -0.766297 m/s,
      LOS rate: 0.101640 deg/s,
      cmd update: 0.304920 deg/s,
      cmd heading: 80.905345 deg,
      new cmd heading: 80.756204 deg.

2021-02-16T05:30:20.098Z,1613453420.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:20.881Z,1613453420.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:21.304Z,1613453421.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:22.115Z,1613453422.115 [Micromodem](INFO): Nmea in: $SNTTA,0.080328,,,,053022.39*4D

2021-02-16T05:30:22.143Z,1613453422.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 89.042738 deg, deltaT: 4.421363 s, approachRate: -0.759948 m/s, LOS rate: -0.093795 deg/s, posRepo size: 4
2021-02-16T05:30:22.145Z,1613453422.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.239998 m,
      bearing: 89.042738 deg,
      approachRate: -0.759948 m/s,
      LOS rate: -0.093795 deg/s,
      cmd update: -0.281385 deg/s,
      cmd heading: 82.255897 deg,
      new cmd heading: 82.380588 deg.

2021-02-16T05:30:24.589Z,1613453424.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:25.321Z,1613453425.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:25.749Z,1613453425.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:26.576Z,1613453426.576 [Micromodem](INFO): Nmea in: $SNTTA,0.078118,,,,053026.83*4E

2021-02-16T05:30:26.609Z,1613453426.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 88.296642 deg, deltaT: 4.427826 s, approachRate: -0.745286 m/s, LOS rate: -0.168502 deg/s, posRepo size: 4
2021-02-16T05:30:26.611Z,1613453426.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.940002 m,
      bearing: 88.296642 deg,
      approachRate: -0.745286 m/s,
      LOS rate: -0.168502 deg/s,
      cmd update: -0.505505 deg/s,
      cmd heading: 81.013964 deg,
      new cmd heading: 80.883884 deg.

2021-02-16T05:30:29.012Z,1613453429.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:29.856Z,1613453429.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:30.211Z,1613453430.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:31.030Z,1613453431.030 [Micromodem](INFO): Nmea in: $SNTTA,0.075713,,,,053031.37*47

2021-02-16T05:30:31.090Z,1613453431.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 88.207242 deg, deltaT: 4.502806 s, approachRate: 0.000000 m/s, LOS rate: -0.019854 deg/s, posRepo size: 4
2021-02-16T05:30:31.094Z,1613453431.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.940002 m,
      bearing: 88.207242 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.019854 deg/s,
      cmd update: -0.059563 deg/s,
      cmd heading: 78.730619 deg,
      new cmd heading: 78.516718 deg.

2021-02-16T05:30:33.431Z,1613453433.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:34.225Z,1613453434.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:34.620Z,1613453434.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:35.448Z,1613453435.448 [Micromodem](INFO): Nmea in: $SNTTA,0.073602,,,,053035.74*43

2021-02-16T05:30:35.498Z,1613453435.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 89.162608 deg, deltaT: 4.410557 s, approachRate: -1.550825 m/s, LOS rate: 0.216609 deg/s, posRepo size: 4
2021-02-16T05:30:35.500Z,1613453435.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.099998 m,
      bearing: 89.162608 deg,
      approachRate: -1.550825 m/s,
      LOS rate: 0.216609 deg/s,
      cmd update: 0.649827 deg/s,
      cmd heading: 78.467910 deg,
      new cmd heading: 78.442660 deg.

2021-02-16T05:30:37.900Z,1613453437.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:38.658Z,1613453438.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:39.062Z,1613453439.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:39.904Z,1613453439.904 [Micromodem](INFO): Nmea in: $SNTTA,0.071608,,,,053040.17*4C

2021-02-16T05:30:39.953Z,1613453439.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 89.284820 deg, deltaT: 4.429384 s, approachRate: -0.650203 m/s, LOS rate: 0.027591 deg/s, posRepo size: 4
2021-02-16T05:30:39.955Z,1613453439.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 89.284820 deg,
      approachRate: -0.650203 m/s,
      LOS rate: 0.027591 deg/s,
      cmd update: 0.082774 deg/s,
      cmd heading: 81.344614 deg,
      new cmd heading: 81.638345 deg.

2021-02-16T05:30:42.317Z,1613453442.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:43.100Z,1613453443.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:43.612Z,1613453443.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:44.352Z,1613453444.352 [Micromodem](INFO): Nmea in: $SNTTA,0.069648,,,,053044.61*44

2021-02-16T05:30:44.462Z,1613453444.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.280006 m, bearing: 90.437326 deg, deltaT: 4.476079 s, approachRate: -0.656824 m/s, LOS rate: 0.257481 deg/s, posRepo size: 4
2021-02-16T05:30:44.465Z,1613453444.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 90.437326 deg,
      approachRate: -0.656824 m/s,
      LOS rate: 0.257481 deg/s,
      cmd update: 0.772443 deg/s,
      cmd heading: 81.714982 deg,
      new cmd heading: 81.755224 deg.

2021-02-16T05:30:46.821Z,1613453446.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:47.567Z,1613453447.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:47.951Z,1613453447.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:48.803Z,1613453448.803 [Micromodem](INFO): Nmea in: $SNTTA,0.067406,,,,053049.08*40

2021-02-16T05:30:48.837Z,1613453448.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 90.128260 deg, deltaT: 4.415903 s, approachRate: -0.760886 m/s, LOS rate: -0.069989 deg/s, posRepo size: 4
2021-02-16T05:30:48.839Z,1613453448.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.920006 m,
      bearing: 90.128260 deg,
      approachRate: -0.760886 m/s,
      LOS rate: -0.069989 deg/s,
      cmd update: -0.209968 deg/s,
      cmd heading: 85.129192 deg,
      new cmd heading: 85.470127 deg.

2021-02-16T05:30:51.207Z,1613453451.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:51.994Z,1613453451.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:52.401Z,1613453452.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:53.232Z,1613453453.232 [Micromodem](INFO): Nmea in: $SNTTA,0.065467,,,0.068017,053053.50*55

2021-02-16T05:30:53.251Z,1613453453.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 90.589837 deg, deltaT: 4.456472 s, approachRate: -0.646252 m/s, LOS rate: 0.103575 deg/s, posRepo size: 4
2021-02-16T05:30:53.255Z,1613453453.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.040001 m,
      bearing: 90.589837 deg,
      approachRate: -0.646252 m/s,
      LOS rate: 0.103575 deg/s,
      cmd update: 0.310724 deg/s,
      cmd heading: 84.193497 deg,
      new cmd heading: 84.109824 deg.

2021-02-16T05:30:55.673Z,1613453455.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:30:56.443Z,1613453456.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:30:56.902Z,1613453456.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:30:57.694Z,1613453457.694 [Micromodem](INFO): Nmea in: $SNTTA,0.063288,,,,053057.95*4F

2021-02-16T05:30:57.719Z,1613453457.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.740005 m, bearing: 90.425038 deg, deltaT: 4.409567 s, approachRate: -0.748372 m/s, LOS rate: -0.037373 deg/s, posRepo size: 4
2021-02-16T05:30:57.721Z,1613453457.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.740005 m,
      bearing: 90.425038 deg,
      approachRate: -0.748372 m/s,
      LOS rate: -0.037373 deg/s,
      cmd update: -0.112119 deg/s,
      cmd heading: 85.563760 deg,
      new cmd heading: 85.705774 deg.

2021-02-16T05:31:00.094Z,1613453460.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:00.878Z,1613453460.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:01.288Z,1613453461.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:02.108Z,1613453462.108 [Micromodem](INFO): Nmea in: $SNTTA,0.061110,,,,053102.39*48

2021-02-16T05:31:02.177Z,1613453462.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 89.996792 deg, deltaT: 4.464146 s, approachRate: -0.739224 m/s, LOS rate: -0.095930 deg/s, posRepo size: 4
2021-02-16T05:31:02.183Z,1613453462.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.440002 m,
      bearing: 89.996792 deg,
      approachRate: -0.739224 m/s,
      LOS rate: -0.095930 deg/s,
      cmd update: -0.287790 deg/s,
      cmd heading: 85.063245 deg,
      new cmd heading: 85.012645 deg.

2021-02-16T05:31:04.576Z,1613453464.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:05.321Z,1613453465.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:05.726Z,1613453465.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:05.785Z,1613453465.785 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:31:06.572Z,1613453466.572 [Micromodem](INFO): Nmea in: $SNTTA,0.058868,,,,053106.84*46

2021-02-16T05:31:06.620Z,1613453466.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 89.967785 deg, deltaT: 4.429770 s, approachRate: -0.744959 m/s, LOS rate: -0.006548 deg/s, posRepo size: 4
2021-02-16T05:31:06.626Z,1613453466.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 89.967785 deg,
      approachRate: -0.744959 m/s,
      LOS rate: -0.006548 deg/s,
      cmd update: -0.019645 deg/s,
      cmd heading: 83.788972 deg,
      new cmd heading: 83.654844 deg.

2021-02-16T05:31:09.025Z,1613453469.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:09.795Z,1613453469.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:10.258Z,1613453470.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:11.026Z,1613453471.026 [Micromodem](INFO): Nmea in: $SNTTA,0.056517,,,,053111.31*45

2021-02-16T05:31:11.050Z,1613453471.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 91.316897 deg, deltaT: 4.472429 s, approachRate: -0.791518 m/s, LOS rate: 0.301651 deg/s, posRepo size: 4
2021-02-16T05:31:11.052Z,1613453471.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 91.316897 deg,
      approachRate: -0.791518 m/s,
      LOS rate: 0.301651 deg/s,
      cmd update: 0.904953 deg/s,
      cmd heading: 83.701469 deg,
      new cmd heading: 83.692785 deg.

2021-02-16T05:31:13.445Z,1613453473.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:14.232Z,1613453474.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:14.632Z,1613453474.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:15.452Z,1613453475.452 [Micromodem](INFO): Nmea in: $SNTTA,0.054471,,,,053115.74*43

2021-02-16T05:31:15.474Z,1613453475.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 92.100620 deg, deltaT: 4.420372 s, approachRate: -0.678674 m/s, LOS rate: 0.177298 deg/s, posRepo size: 4
2021-02-16T05:31:15.500Z,1613453475.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.600006 m,
      bearing: 92.100620 deg,
      approachRate: -0.678674 m/s,
      LOS rate: 0.177298 deg/s,
      cmd update: 0.531894 deg/s,
      cmd heading: 87.720035 deg,
      new cmd heading: 88.105129 deg.

2021-02-16T05:31:17.888Z,1613453477.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:18.656Z,1613453478.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:19.066Z,1613453479.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:19.884Z,1613453479.884 [Micromodem](INFO): Nmea in: $SNTTA,0.052441,,,,053120.17*45

2021-02-16T05:31:19.934Z,1613453479.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.420006 m, bearing: 91.288306 deg, deltaT: 4.451648 s, approachRate: -0.714342 m/s, LOS rate: -0.182475 deg/s, posRepo size: 4
2021-02-16T05:31:19.936Z,1613453479.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.420006 m,
      bearing: 91.288306 deg,
      approachRate: -0.714342 m/s,
      LOS rate: -0.182475 deg/s,
      cmd update: -0.547425 deg/s,
      cmd heading: 90.082737 deg,
      new cmd heading: 90.318649 deg.

2021-02-16T05:31:22.337Z,1613453482.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:23.103Z,1613453483.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:23.506Z,1613453483.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:24.336Z,1613453484.336 [Micromodem](INFO): Nmea in: $SNTTA,0.050219,,,,053124.61*49

2021-02-16T05:31:24.390Z,1613453484.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 91.341609 deg, deltaT: 4.528983 s, approachRate: -0.715392 m/s, LOS rate: 0.011769 deg/s, posRepo size: 4
2021-02-16T05:31:24.396Z,1613453484.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.180008 m,
      bearing: 91.341609 deg,
      approachRate: -0.715392 m/s,
      LOS rate: 0.011769 deg/s,
      cmd update: 0.035308 deg/s,
      cmd heading: 87.599415 deg,
      new cmd heading: 87.400481 deg.

2021-02-16T05:31:26.806Z,1613453486.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:27.563Z,1613453487.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:27.963Z,1613453487.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:28.798Z,1613453488.798 [Micromodem](INFO): Nmea in: $SNTTA,0.047978,,0.080320,,053129.07*59

2021-02-16T05:31:28.844Z,1613453488.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 90.627198 deg, deltaT: 4.335023 s, approachRate: -0.788925 m/s, LOS rate: -0.164800 deg/s, posRepo size: 4
2021-02-16T05:31:28.846Z,1613453488.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 90.627198 deg,
      approachRate: -0.788925 m/s,
      LOS rate: -0.164800 deg/s,
      cmd update: -0.494399 deg/s,
      cmd heading: 87.752544 deg,
      new cmd heading: 87.769493 deg.

2021-02-16T05:31:31.196Z,1613453491.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:31.984Z,1613453491.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:32.390Z,1613453492.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:33.216Z,1613453493.216 [Micromodem](INFO): Nmea in: $SNTTA,0.045722,,0.066490,,053133.49*5F

2021-02-16T05:31:33.238Z,1613453493.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 90.658201 deg, deltaT: 4.504384 s, approachRate: -0.759260 m/s, LOS rate: 0.006883 deg/s, posRepo size: 4
2021-02-16T05:31:33.240Z,1613453493.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.340004 m,
      bearing: 90.658201 deg,
      approachRate: -0.759260 m/s,
      LOS rate: 0.006883 deg/s,
      cmd update: 0.020648 deg/s,
      cmd heading: 85.527500 deg,
      new cmd heading: 85.342686 deg.

2021-02-16T05:31:35.702Z,1613453495.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:36.428Z,1613453496.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:36.834Z,1613453496.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:37.727Z,1613453497.727 [Micromodem](INFO): Nmea in: $SNTTA,0.043449,,,,053137.94*40

2021-02-16T05:31:37.768Z,1613453497.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.980003 m, bearing: 90.719023 deg, deltaT: 4.549924 s, approachRate: -0.738474 m/s, LOS rate: 0.013368 deg/s, posRepo size: 4
2021-02-16T05:31:37.805Z,1613453497.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.980003 m,
      bearing: 90.719023 deg,
      approachRate: -0.738474 m/s,
      LOS rate: 0.013368 deg/s,
      cmd update: 0.040104 deg/s,
      cmd heading: 85.621200 deg,
      new cmd heading: 85.628642 deg.

2021-02-16T05:31:40.096Z,1613453500.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:40.877Z,1613453500.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:41.295Z,1613453501.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:42.104Z,1613453502.104 [Micromodem](INFO): Nmea in: $SNTTA,0.041298,,,,053142.39*4D

2021-02-16T05:31:42.152Z,1613453502.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 90.584735 deg, deltaT: 4.318455 s, approachRate: -0.750269 m/s, LOS rate: -0.031096 deg/s, posRepo size: 4
2021-02-16T05:31:42.155Z,1613453502.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 90.584735 deg,
      approachRate: -0.750269 m/s,
      LOS rate: -0.031096 deg/s,
      cmd update: -0.093289 deg/s,
      cmd heading: 85.794535 deg,
      new cmd heading: 85.811650 deg.

2021-02-16T05:31:44.574Z,1613453504.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:45.323Z,1613453505.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:45.722Z,1613453505.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:46.576Z,1613453506.576 [Micromodem](INFO): Nmea in: $SNTTA,0.038967,,,,053146.84*4A

2021-02-16T05:31:46.601Z,1613453506.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.200001 m, bearing: 90.749124 deg, deltaT: 4.434271 s, approachRate: -0.798328 m/s, LOS rate: 0.037072 deg/s, posRepo size: 4
2021-02-16T05:31:46.603Z,1613453506.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.200001 m,
      bearing: 90.749124 deg,
      approachRate: -0.798328 m/s,
      LOS rate: 0.037072 deg/s,
      cmd update: 0.111217 deg/s,
      cmd heading: 85.379868 deg,
      new cmd heading: 85.339608 deg.

2021-02-16T05:31:49.004Z,1613453509.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:49.798Z,1613453509.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:50.188Z,1613453510.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:51.074Z,1613453511.074 [Micromodem](INFO): Nmea in: $SNTTA,0.036607,,,,053151.31*45

2021-02-16T05:31:51.098Z,1613453511.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.660000 m, bearing: 91.174522 deg, deltaT: 4.450648 s, approachRate: -0.795390 m/s, LOS rate: 0.095581 deg/s, posRepo size: 4
2021-02-16T05:31:51.100Z,1613453511.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.660000 m,
      bearing: 91.174522 deg,
      approachRate: -0.795390 m/s,
      LOS rate: 0.095581 deg/s,
      cmd update: 0.286743 deg/s,
      cmd heading: 85.874592 deg,
      new cmd heading: 85.927961 deg.

2021-02-16T05:31:53.427Z,1613453513.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:54.205Z,1613453514.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:54.610Z,1613453514.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:55.436Z,1613453515.436 [Micromodem](INFO): Nmea in: $SNTTA,0.034181,,,,053155.72*4D

2021-02-16T05:31:55.458Z,1613453515.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 91.795584 deg, deltaT: 4.419418 s, approachRate: -0.814588 m/s, LOS rate: 0.140530 deg/s, posRepo size: 4
2021-02-16T05:31:55.460Z,1613453515.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 91.795584 deg,
      approachRate: -0.814588 m/s,
      LOS rate: 0.140530 deg/s,
      cmd update: 0.421591 deg/s,
      cmd heading: 87.142985 deg,
      new cmd heading: 87.262462 deg.

2021-02-16T05:31:57.894Z,1613453517.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:31:58.649Z,1613453518.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:31:59.057Z,1613453519.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:31:59.888Z,1613453519.888 [Micromodem](INFO): Nmea in: $SNTTA,0.032093,,,,053200.16*48

2021-02-16T05:31:59.949Z,1613453519.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 91.372864 deg, deltaT: 4.434182 s, approachRate: -0.703622 m/s, LOS rate: -0.095332 deg/s, posRepo size: 4
2021-02-16T05:31:59.951Z,1613453519.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.940006 m,
      bearing: 91.372864 deg,
      approachRate: -0.703622 m/s,
      LOS rate: -0.095332 deg/s,
      cmd update: -0.285997 deg/s,
      cmd heading: 89.012399 deg,
      new cmd heading: 89.212157 deg.

2021-02-16T05:32:02.322Z,1613453522.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:03.094Z,1613453523.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:03.508Z,1613453523.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:04.333Z,1613453524.333 [Micromodem](INFO): Nmea in: $SNTTA,0.030030,,,,053204.60*46

2021-02-16T05:32:04.370Z,1613453524.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.879997 m, bearing: 91.947050 deg, deltaT: 4.475966 s, approachRate: -0.683653 m/s, LOS rate: 0.128282 deg/s, posRepo size: 4
2021-02-16T05:32:04.372Z,1613453524.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.879997 m,
      bearing: 91.947050 deg,
      approachRate: -0.683653 m/s,
      LOS rate: 0.128282 deg/s,
      cmd update: 0.384847 deg/s,
      cmd heading: 87.732351 deg,
      new cmd heading: 87.612606 deg.

2021-02-16T05:32:06.808Z,1613453526.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:07.558Z,1613453527.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:07.951Z,1613453527.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:08.792Z,1613453528.792 [Micromodem](INFO): Nmea in: $SNTTA,0.027908,,,,053209.10*48

2021-02-16T05:32:08.850Z,1613453528.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.700001 m, bearing: 91.846285 deg, deltaT: 4.422818 s, approachRate: -0.718998 m/s, LOS rate: -0.022783 deg/s, posRepo size: 4
2021-02-16T05:32:08.856Z,1613453528.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.700001 m,
      bearing: 91.846285 deg,
      approachRate: -0.718998 m/s,
      LOS rate: -0.022783 deg/s,
      cmd update: -0.068349 deg/s,
      cmd heading: 89.428385 deg,
      new cmd heading: 89.617735 deg.

2021-02-16T05:32:11.194Z,1613453531.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:11.982Z,1613453531.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:12.386Z,1613453532.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:13.216Z,1613453533.216 [Micromodem](INFO): Nmea in: $SNTTA,0.025608,,,,053213.49*42

2021-02-16T05:32:13.253Z,1613453533.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.220001 m, bearing: 91.669451 deg, deltaT: 4.495489 s, approachRate: -0.774109 m/s, LOS rate: -0.039336 deg/s, posRepo size: 4
2021-02-16T05:32:13.254Z,1613453533.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m.
2021-02-16T05:32:13.256Z,1613453533.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.220001 m,
      bearing: 91.669451 deg,
      approachRate: -0.774109 m/s,
      LOS rate: -0.039336 deg/s,
      cmd update: -0.118007 deg/s,
      cmd heading: 89.120845 deg,
      new cmd heading: 89.093806 deg.

2021-02-16T05:32:13.613Z,1613453533.613 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:32:15.665Z,1613453535.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:16.441Z,1613453536.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:16.835Z,1613453536.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:17.664Z,1613453537.664 [Micromodem](INFO): Nmea in: $SNTTA,0.023407,,,,053217.95*4C

2021-02-16T05:32:17.713Z,1613453537.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 90.631010 deg, deltaT: 4.377782 s, approachRate: -0.753806 m/s, LOS rate: -0.237207 deg/s, posRepo size: 4
2021-02-16T05:32:17.713Z,1613453537.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.92 m.
2021-02-16T05:32:17.714Z,1613453537.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.92 m.
2021-02-16T05:32:17.714Z,1613453537.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:32:17.716Z,1613453537.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.920002 m,
      bearing: 90.631010 deg,
      approachRate: -0.753806 m/s,
      LOS rate: -0.237207 deg/s,
      cmd update: -0.711622 deg/s,
      cmd heading: 88.602828 deg,
      new cmd heading: 88.547898 deg.

2021-02-16T05:32:20.100Z,1613453540.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:20.868Z,1613453540.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:21.298Z,1613453541.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:22.108Z,1613453542.108 [Micromodem](INFO): Nmea in: $SNTTA,0.021327,,,0.065915,053222.38*5A

2021-02-16T05:32:22.156Z,1613453542.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 90.247009 deg, deltaT: 4.479607 s, approachRate: -0.696490 m/s, LOS rate: -0.085722 deg/s, posRepo size: 4
2021-02-16T05:32:22.158Z,1613453542.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.799999 m,
      bearing: 90.247009 deg,
      approachRate: -0.696490 m/s,
      LOS rate: -0.085722 deg/s,
      cmd update: -0.257165 deg/s,
      cmd heading: 85.415116 deg,
      new cmd heading: 85.111049 deg.

2021-02-16T05:32:24.570Z,1613453544.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:25.314Z,1613453545.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:25.718Z,1613453545.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:26.577Z,1613453546.577 [Micromodem](INFO): Nmea in: $SNTTA,0.019054,,,,053226.83*42

2021-02-16T05:32:26.631Z,1613453546.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 89.677631 deg, deltaT: 4.454684 s, approachRate: -0.767732 m/s, LOS rate: -0.127816 deg/s, posRepo size: 4
2021-02-16T05:32:26.633Z,1613453546.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 89.677631 deg,
      approachRate: -0.767732 m/s,
      LOS rate: -0.127816 deg/s,
      cmd update: -0.383447 deg/s,
      cmd heading: 84.269485 deg,
      new cmd heading: 84.154996 deg.

2021-02-16T05:32:29.005Z,1613453549.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:29.792Z,1613453549.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:30.170Z,1613453550.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:31.029Z,1613453551.029 [Micromodem](INFO): Nmea in: $SNTTA,0.016800,,,0.019293,053231.30*54

2021-02-16T05:32:31.053Z,1613453551.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 90.610191 deg, deltaT: 4.409866 s, approachRate: -0.761927 m/s, LOS rate: 0.211471 deg/s, posRepo size: 4
2021-02-16T05:32:31.054Z,1613453551.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.020000 m,
      bearing: 90.610191 deg,
      approachRate: -0.761927 m/s,
      LOS rate: 0.211471 deg/s,
      cmd update: 0.634414 deg/s,
      cmd heading: 82.578545 deg,
      new cmd heading: 82.401852 deg.

2021-02-16T05:32:33.434Z,1613453553.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:34.206Z,1613453554.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:34.612Z,1613453554.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:35.435Z,1613453555.435 [Micromodem](INFO): Nmea in: $SNTTA,0.014664,,,,053235.72*46

2021-02-16T05:32:35.454Z,1613453555.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 91.601976 deg, deltaT: 4.498926 s, approachRate: -0.706835 m/s, LOS rate: 0.220449 deg/s, posRepo size: 4
2021-02-16T05:32:35.456Z,1613453555.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 91.601976 deg,
      approachRate: -0.706835 m/s,
      LOS rate: 0.220449 deg/s,
      cmd update: 0.661347 deg/s,
      cmd heading: 85.430128 deg,
      new cmd heading: 85.663396 deg.

2021-02-16T05:32:37.885Z,1613453557.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:38.654Z,1613453558.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:39.050Z,1613453559.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:39.880Z,1613453559.880 [Micromodem](INFO): Nmea in: $SNTTA,0.012425,,,,053240.17*46

2021-02-16T05:32:39.947Z,1613453559.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 90.963530 deg, deltaT: 4.409035 s, approachRate: -0.775680 m/s, LOS rate: -0.144804 deg/s, posRepo size: 4
2021-02-16T05:32:39.949Z,1613453559.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 90.963530 deg,
      approachRate: -0.775680 m/s,
      LOS rate: -0.144804 deg/s,
      cmd update: -0.434411 deg/s,
      cmd heading: 88.338125 deg,
      new cmd heading: 88.642035 deg.

2021-02-16T05:32:42.296Z,1613453562.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:43.097Z,1613453563.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:43.121Z,1613453563.121 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T05:32:43.498Z,1613453563.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:44.332Z,1613453564.332 [Micromodem](INFO): Nmea in: $SNTTA,0.010162,,,,053244.61*47

2021-02-16T05:32:44.409Z,1613453564.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 91.342756 deg, deltaT: 4.459507 s, approachRate: -0.766901 m/s, LOS rate: 0.085038 deg/s, posRepo size: 4
2021-02-16T05:32:44.411Z,1613453564.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 91.342756 deg,
      approachRate: -0.766901 m/s,
      LOS rate: 0.085038 deg/s,
      cmd update: 0.255113 deg/s,
      cmd heading: 86.395671 deg,
      new cmd heading: 86.215641 deg.

2021-02-16T05:32:46.842Z,1613453566.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:47.573Z,1613453567.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:47.975Z,1613453567.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:48.821Z,1613453568.821 [Micromodem](INFO): Nmea in: $SNTTA,0.008026,,,,053249.08*4D

2021-02-16T05:32:48.893Z,1613453568.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.820001 m, bearing: 91.627637 deg, deltaT: 4.447339 s, approachRate: -0.715034 m/s, LOS rate: 0.064056 deg/s, posRepo size: 4
2021-02-16T05:32:48.894Z,1613453568.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 91.627637 deg,
      approachRate: -0.715034 m/s,
      LOS rate: 0.064056 deg/s,
      cmd update: 0.192169 deg/s,
      cmd heading: 87.531288 deg,
      new cmd heading: 87.655278 deg.

2021-02-16T05:32:51.234Z,1613453571.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:52.017Z,1613453572.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:52.414Z,1613453572.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:53.252Z,1613453573.252 [Micromodem](INFO): Nmea in: $SNTTA,0.005990,,,0.031826,053253.53*51

2021-02-16T05:32:53.290Z,1613453573.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 89.261529 deg, deltaT: 4.471871 s, approachRate: -0.697695 m/s, LOS rate: -0.529109 deg/s, posRepo size: 4
2021-02-16T05:32:53.292Z,1613453573.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 89.261529 deg,
      approachRate: -0.697695 m/s,
      LOS rate: -0.529109 deg/s,
      cmd update: -1.587327 deg/s,
      cmd heading: 88.390645 deg,
      new cmd heading: 88.469678 deg.

2021-02-16T05:32:55.695Z,1613453575.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:32:56.457Z,1613453576.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:32:56.858Z,1613453576.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:32:57.704Z,1613453577.704 [Micromodem](INFO): Nmea in: $SNTTA,0.004149,,0.006938,,053257.97*5A

2021-02-16T05:32:57.741Z,1613453577.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 86.874426 deg, deltaT: 4.404574 s, approachRate: -0.626621 m/s, LOS rate: -0.541960 deg/s, posRepo size: 4
2021-02-16T05:32:57.745Z,1613453577.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 86.874426 deg,
      approachRate: -0.626621 m/s,
      LOS rate: -0.541960 deg/s,
      cmd update: -1.625880 deg/s,
      cmd heading: 81.403066 deg,
      new cmd heading: 80.674993 deg.

2021-02-16T05:33:00.166Z,1613453580.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:00.907Z,1613453580.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:01.302Z,1613453581.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:02.145Z,1613453582.145 [Micromodem](INFO): Nmea in: $SNTTA,0.002745,,,,053302.42*45

2021-02-16T05:33:02.191Z,1613453582.191 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T05:33:02.191Z,1613453582.191 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T05:33:02.192Z,1613453582.192 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T05:33:02.195Z,1613453582.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 100.035470 deg, deltaT: 4.462190 s, approachRate: -0.430282 m/s, LOS rate: 2.949458 deg/s, posRepo size: 4
2021-02-16T05:33:02.197Z,1613453582.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 100.035470 deg,
      approachRate: -0.430282 m/s,
      LOS rate: 2.949458 deg/s,
      cmd update: 8.848375 deg/s,
      cmd heading: 74.170353 deg,
      new cmd heading: 73.413224 deg.

2021-02-16T05:33:02.607Z,1613453582.607 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T053302: (41.552319, -70.708603)
2021-02-16T05:33:02.607Z,1613453582.607 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T05:33:02.607Z,1613453582.607 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T05:33:02.607Z,1613453582.607 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:33:02.607Z,1613453582.607 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T05:33:02.608Z,1613453582.608 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:33:02.608Z,1613453582.608 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T05:33:02.608Z,1613453582.608 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T05:33:02.608Z,1613453582.608 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:33:04.588Z,1613453584.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:05.352Z,1613453585.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:05.798Z,1613453585.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:06.588Z,1613453586.588 [Micromodem](INFO): Nmea in: $SNTTA,0.002802,,,0.007319,053306.86*57

2021-02-16T05:33:06.642Z,1613453586.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 79.822385 deg, deltaT: 4.467380 s, approachRate: 0.013431 m/s, LOS rate: -4.524595 deg/s, posRepo size: 4
2021-02-16T05:33:06.648Z,1613453586.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 79.822385 deg,
      approachRate: 0.013431 m/s,
      LOS rate: -4.524595 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 113.807180 deg,
      new cmd heading: 117.645003 deg.

2021-02-16T05:33:09.036Z,1613453589.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:09.813Z,1613453589.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:10.203Z,1613453590.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:11.036Z,1613453591.036 [Micromodem](INFO): Nmea in: $SNTTA,0.003212,,,,053311.32*46

2021-02-16T05:33:11.085Z,1613453591.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.800000 m, bearing: 86.997287 deg, deltaT: 4.445801 s, approachRate: 0.161951 m/s, LOS rate: 1.613860 deg/s, posRepo size: 4
2021-02-16T05:33:11.088Z,1613453591.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 86.997287 deg,
      approachRate: 0.161951 m/s,
      LOS rate: 1.613860 deg/s,
      cmd update: 4.841581 deg/s,
      cmd heading: 60.457999 deg,
      new cmd heading: 55.305619 deg.

2021-02-16T05:33:13.481Z,1613453593.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:14.249Z,1613453594.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:14.647Z,1613453594.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:15.476Z,1613453595.476 [Micromodem](INFO): Nmea in: $SNTTA,0.003045,,,,053315.76*42

2021-02-16T05:33:15.502Z,1613453595.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 95.297832 deg, deltaT: 4.414045 s, approachRate: -0.067965 m/s, LOS rate: 1.880485 deg/s, posRepo size: 4
2021-02-16T05:33:15.528Z,1613453595.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 95.297832 deg,
      approachRate: -0.067965 m/s,
      LOS rate: 1.880485 deg/s,
      cmd update: 5.641454 deg/s,
      cmd heading: 81.846871 deg,
      new cmd heading: 83.928228 deg.

2021-02-16T05:33:17.945Z,1613453597.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:18.684Z,1613453598.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:19.091Z,1613453599.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:19.920Z,1613453599.920 [Micromodem](INFO): Nmea in: $SNTTA,0.003080,,,,053320.19*44

2021-02-16T05:33:19.985Z,1613453599.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 102.398777 deg, deltaT: 4.473703 s, approachRate: 0.013411 m/s, LOS rate: 1.587263 deg/s, posRepo size: 4
2021-02-16T05:33:19.985Z,1613453599.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.56 m.
2021-02-16T05:33:19.991Z,1613453599.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 102.398777 deg,
      approachRate: 0.013411 m/s,
      LOS rate: 1.587263 deg/s,
      cmd update: 4.761790 deg/s,
      cmd heading: 106.930536 deg,
      new cmd heading: 109.561202 deg.

2021-02-16T05:33:22.350Z,1613453602.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:23.147Z,1613453603.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:23.560Z,1613453603.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:24.388Z,1613453604.388 [Micromodem](INFO): Nmea in: $SNTTA,0.003085,,0.014110,,053324.66*56

2021-02-16T05:33:24.430Z,1613453604.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 114.401851 deg, deltaT: 4.435456 s, approachRate: 0.013527 m/s, LOS rate: 2.706164 deg/s, posRepo size: 4
2021-02-16T05:33:24.436Z,1613453604.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 114.401851 deg,
      approachRate: 0.013527 m/s,
      LOS rate: 2.706164 deg/s,
      cmd update: 8.118493 deg/s,
      cmd heading: 128.183446 deg,
      new cmd heading: 130.319433 deg.

2021-02-16T05:33:26.850Z,1613453606.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:27.577Z,1613453607.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:27.982Z,1613453607.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:28.836Z,1613453608.836 [Micromodem](INFO): Nmea in: $SNTTA,0.003072,,0.038735,,053329.09*55

2021-02-16T05:33:28.870Z,1613453608.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 125.356552 deg, deltaT: 4.442282 s, approachRate: 0.000000 m/s, LOS rate: 2.466008 deg/s, posRepo size: 4
2021-02-16T05:33:28.888Z,1613453608.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 125.356552 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.466008 deg/s,
      cmd update: 7.398023 deg/s,
      cmd heading: 164.085535 deg,
      new cmd heading: 167.873292 deg.

2021-02-16T05:33:31.273Z,1613453611.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:32.018Z,1613453612.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:32.430Z,1613453612.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:33.260Z,1613453613.260 [Micromodem](INFO): Nmea in: $SNTTA,0.003086,,,,053333.53*4E

2021-02-16T05:33:33.288Z,1613453613.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 136.612130 deg, deltaT: 4.455377 s, approachRate: 0.000000 m/s, LOS rate: 2.526291 deg/s, posRepo size: 4
2021-02-16T05:33:33.290Z,1613453613.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 136.612130 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.526291 deg/s,
      cmd update: 7.578873 deg/s,
      cmd heading: 197.193138 deg,
      new cmd heading: 200.215985 deg.

2021-02-16T05:33:35.698Z,1613453615.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:36.462Z,1613453616.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:36.866Z,1613453616.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:37.696Z,1613453617.696 [Micromodem](INFO): Nmea in: $SNTTA,0.003031,,,,053337.97*4E

2021-02-16T05:33:37.721Z,1613453617.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 146.194899 deg, deltaT: 4.409799 s, approachRate: -0.027212 m/s, LOS rate: 2.173062 deg/s, posRepo size: 4
2021-02-16T05:33:37.723Z,1613453617.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 146.194899 deg,
      approachRate: -0.027212 m/s,
      LOS rate: 2.173062 deg/s,
      cmd update: 6.519188 deg/s,
      cmd heading: 230.615875 deg,
      new cmd heading: 233.892593 deg.

2021-02-16T05:33:39.853Z,1613453619.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:40.532Z,1613453620.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:40.911Z,1613453620.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:41.747Z,1613453621.747 [Micromodem](INFO): Nmea in: $SNTTA,0.002974,,,,053342.04*4F

2021-02-16T05:33:41.841Z,1613453621.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 154.564230 deg, deltaT: 4.075121 s, approachRate: -0.014724 m/s, LOS rate: 2.053763 deg/s, posRepo size: 4
2021-02-16T05:33:41.848Z,1613453621.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 154.564230 deg,
      approachRate: -0.014724 m/s,
      LOS rate: 2.053763 deg/s,
      cmd update: 6.161288 deg/s,
      cmd heading: 257.075987 deg,
      new cmd heading: 260.258941 deg.

2021-02-16T05:33:44.189Z,1613453624.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:44.944Z,1613453624.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:45.352Z,1613453625.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:46.184Z,1613453626.184 [Micromodem](INFO): Nmea in: $SNTTA,0.002972,,,,053346.45*48

2021-02-16T05:33:46.206Z,1613453626.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 166.039290 deg, deltaT: 4.477694 s, approachRate: -0.013400 m/s, LOS rate: 2.562716 deg/s, posRepo size: 4
2021-02-16T05:33:46.208Z,1613453626.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 166.039290 deg,
      approachRate: -0.013400 m/s,
      LOS rate: 2.562716 deg/s,
      cmd update: 7.688149 deg/s,
      cmd heading: 284.764785 deg,
      new cmd heading: 287.009016 deg.

2021-02-16T05:33:48.218Z,1613453628.218 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:33:48.634Z,1613453628.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:49.397Z,1613453629.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:49.827Z,1613453629.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:50.624Z,1613453630.624 [Micromodem](INFO): Nmea in: $SNTTA,0.002967,,,,053350.91*42

2021-02-16T05:33:50.669Z,1613453630.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 170.086518 deg, deltaT: 4.368995 s, approachRate: 0.000000 m/s, LOS rate: 0.926352 deg/s, posRepo size: 4
2021-02-16T05:33:50.675Z,1613453630.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 170.086518 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.926352 deg/s,
      cmd update: 2.779057 deg/s,
      cmd heading: 318.352301 deg,
      new cmd heading: 321.877179 deg.

2021-02-16T05:33:53.124Z,1613453633.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:53.861Z,1613453633.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:54.259Z,1613453634.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:55.080Z,1613453635.080 [Micromodem](INFO): Nmea in: $SNTTA,0.002994,,,,053355.37*47

2021-02-16T05:33:55.121Z,1613453635.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 175.942845 deg, deltaT: 4.495199 s, approachRate: 0.013348 m/s, LOS rate: 1.302796 deg/s, posRepo size: 4
2021-02-16T05:33:55.123Z,1613453635.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 175.942845 deg,
      approachRate: 0.013348 m/s,
      LOS rate: 1.302796 deg/s,
      cmd update: 3.908388 deg/s,
      cmd heading: 330.833768 deg,
      new cmd heading: 331.999413 deg.

2021-02-16T05:33:57.483Z,1613453637.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:33:58.276Z,1613453638.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:33:58.687Z,1613453638.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:33:59.521Z,1613453639.521 [Micromodem](INFO): Nmea in: $SNTTA,0.002953,0.011971,,,053359.79*5B

2021-02-16T05:33:59.575Z,1613453639.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 176.552768 deg, deltaT: 4.423733 s, approachRate: -0.027127 m/s, LOS rate: 0.137875 deg/s, posRepo size: 4
2021-02-16T05:33:59.577Z,1613453639.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 176.552768 deg,
      approachRate: -0.027127 m/s,
      LOS rate: 0.137875 deg/s,
      cmd update: 0.413625 deg/s,
      cmd heading: 348.077314 deg,
      new cmd heading: 349.879186 deg.

2021-02-16T05:34:01.984Z,1613453641.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:02.722Z,1613453642.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:03.132Z,1613453643.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:03.952Z,1613453643.952 [Micromodem](INFO): Nmea in: $SNTTA,0.004710,,,,053404.23*45

2021-02-16T05:34:03.996Z,1613453643.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 182.741479 deg, deltaT: 4.461420 s, approachRate: 0.605189 m/s, LOS rate: 1.387162 deg/s, posRepo size: 4
2021-02-16T05:34:03.996Z,1613453643.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 7.02 m.
2021-02-16T05:34:03.998Z,1613453643.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 182.741479 deg,
      approachRate: 0.605189 m/s,
      LOS rate: 1.387162 deg/s,
      cmd update: 4.161485 deg/s,
      cmd heading: 349.929254 deg,
      new cmd heading: 350.088395 deg.

2021-02-16T05:34:06.376Z,1613453646.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:07.197Z,1613453647.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:07.587Z,1613453647.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:08.425Z,1613453648.425 [Micromodem](INFO): Nmea in: $SNTTA,0.002941,,,0.005437,053408.71*59

2021-02-16T05:34:08.461Z,1613453648.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 185.628778 deg, deltaT: 4.445751 s, approachRate: -0.593826 m/s, LOS rate: 0.649451 deg/s, posRepo size: 4
2021-02-16T05:34:08.463Z,1613453648.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 185.628778 deg,
      approachRate: -0.593826 m/s,
      LOS rate: 0.649451 deg/s,
      cmd update: 1.948354 deg/s,
      cmd heading: 8.413951 deg,
      new cmd heading: 10.196407 deg.

2021-02-16T05:34:10.868Z,1613453650.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:11.625Z,1613453651.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:12.019Z,1613453652.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:12.848Z,1613453652.848 [Micromodem](INFO): Nmea in: $SNTTA,0.002961,,,,053413.14*49

2021-02-16T05:34:12.900Z,1613453652.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 188.654893 deg, deltaT: 4.396013 s, approachRate: 0.000000 m/s, LOS rate: 0.688377 deg/s, posRepo size: 4
2021-02-16T05:34:12.902Z,1613453652.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 188.654893 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.688377 deg/s,
      cmd update: 2.065132 deg/s,
      cmd heading: 16.986698 deg,
      new cmd heading: 17.895730 deg.

2021-02-16T05:34:15.280Z,1613453655.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:16.053Z,1613453656.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:16.466Z,1613453656.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:17.280Z,1613453657.280 [Micromodem](INFO): Nmea in: $SNTTA,0.002958,,,,053417.56*41

2021-02-16T05:34:17.321Z,1613453657.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 199.325779 deg, deltaT: 4.477713 s, approachRate: 0.000000 m/s, LOS rate: 2.383111 deg/s, posRepo size: 4
2021-02-16T05:34:17.323Z,1613453657.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 199.325779 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.383111 deg/s,
      cmd update: 7.149332 deg/s,
      cmd heading: 26.233646 deg,
      new cmd heading: 27.081729 deg.

2021-02-16T05:34:19.745Z,1613453659.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:20.544Z,1613453660.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:20.903Z,1613453660.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:21.748Z,1613453661.748 [Micromodem](INFO): Nmea in: $SNTTA,0.003000,,,,053422.05*44

2021-02-16T05:34:21.828Z,1613453661.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 205.545035 deg, deltaT: 4.427448 s, approachRate: 0.013552 m/s, LOS rate: 1.404704 deg/s, posRepo size: 4
2021-02-16T05:34:21.830Z,1613453661.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 205.545035 deg,
      approachRate: 0.013552 m/s,
      LOS rate: 1.404704 deg/s,
      cmd update: 4.214114 deg/s,
      cmd heading: 57.857402 deg,
      new cmd heading: 61.389065 deg.

2021-02-16T05:34:24.184Z,1613453664.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:24.940Z,1613453664.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:25.352Z,1613453665.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:26.204Z,1613453666.204 [Micromodem](INFO): Nmea in: $SNTTA,0.003000,,,0.007424,053426.45*5F

2021-02-16T05:34:26.250Z,1613453666.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 210.592736 deg, deltaT: 4.505414 s, approachRate: 0.000000 m/s, LOS rate: 1.120363 deg/s, posRepo size: 4
2021-02-16T05:34:26.251Z,1613453666.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.44 m.
2021-02-16T05:34:26.264Z,1613453666.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 210.592736 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.120363 deg/s,
      cmd update: 3.361090 deg/s,
      cmd heading: 76.860829 deg,
      new cmd heading: 78.574924 deg.

2021-02-16T05:34:28.606Z,1613453668.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:29.389Z,1613453669.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:29.805Z,1613453669.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:30.629Z,1613453670.629 [Micromodem](INFO): Nmea in: $SNTTA,0.003010,,,0.007428,053430.90*5D

2021-02-16T05:34:30.689Z,1613453670.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 213.799073 deg, deltaT: 4.364795 s, approachRate: 0.013747 m/s, LOS rate: 0.734590 deg/s, posRepo size: 4
2021-02-16T05:34:30.695Z,1613453670.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 213.799073 deg,
      approachRate: 0.013747 m/s,
      LOS rate: 0.734590 deg/s,
      cmd update: 2.203771 deg/s,
      cmd heading: 91.530509 deg,
      new cmd heading: 93.148501 deg.

2021-02-16T05:34:33.068Z,1613453673.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:33.847Z,1613453673.847 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T05:34:33.849Z,1613453673.849 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T05:34:33.853Z,1613453673.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:34.234Z,1613453674.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:35.075Z,1613453675.075 [Micromodem](INFO): Nmea in: $SNTTA,0.002928,,,,053435.36*40

2021-02-16T05:34:35.099Z,1613453675.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 215.297740 deg, deltaT: 4.471138 s, approachRate: -0.026839 m/s, LOS rate: 0.335187 deg/s, posRepo size: 4
2021-02-16T05:34:35.101Z,1613453675.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 215.297740 deg,
      approachRate: -0.026839 m/s,
      LOS rate: 0.335187 deg/s,
      cmd update: 1.005560 deg/s,
      cmd heading: 101.384625 deg,
      new cmd heading: 102.308219 deg.

2021-02-16T05:34:37.482Z,1613453677.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:38.277Z,1613453678.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:38.678Z,1613453678.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:39.523Z,1613453679.523 [Micromodem](INFO): Nmea in: $SNTTA,0.002791,,,,053439.79*4B

2021-02-16T05:34:39.574Z,1613453679.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 219.660318 deg, deltaT: 4.464862 s, approachRate: -0.040315 m/s, LOS rate: 0.977091 deg/s, posRepo size: 4
2021-02-16T05:34:39.580Z,1613453679.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 219.660318 deg,
      approachRate: -0.040315 m/s,
      LOS rate: 0.977091 deg/s,
      cmd update: 2.931274 deg/s,
      cmd heading: 105.852541 deg,
      new cmd heading: 106.306727 deg.

2021-02-16T05:34:41.962Z,1613453681.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:42.716Z,1613453682.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:43.121Z,1613453683.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:43.948Z,1613453683.948 [Micromodem](INFO): Nmea in: $SNTTA,0.002742,,,,053444.23*40

2021-02-16T05:34:43.992Z,1613453683.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 231.284357 deg, deltaT: 4.445325 s, approachRate: -0.053989 m/s, LOS rate: 2.614891 deg/s, posRepo size: 4
2021-02-16T05:34:43.994Z,1613453683.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 231.284357 deg,
      approachRate: -0.053989 m/s,
      LOS rate: 2.614891 deg/s,
      cmd update: 7.844672 deg/s,
      cmd heading: 118.946474 deg,
      new cmd heading: 120.066631 deg.

2021-02-16T05:34:46.366Z,1613453686.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:47.170Z,1613453687.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:47.577Z,1613453687.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:48.396Z,1613453688.396 [Micromodem](INFO): Nmea in: $SNTTA,0.002708,,,,053448.68*4D

2021-02-16T05:34:48.418Z,1613453688.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 231.413557 deg, deltaT: 4.401979 s, approachRate: -0.013630 m/s, LOS rate: 0.029350 deg/s, posRepo size: 4
2021-02-16T05:34:48.440Z,1613453688.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 231.413557 deg,
      approachRate: -0.013630 m/s,
      LOS rate: 0.029350 deg/s,
      cmd update: 0.088051 deg/s,
      cmd heading: 153.477959 deg,
      new cmd heading: 156.824402 deg.

2021-02-16T05:34:50.831Z,1613453690.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:51.604Z,1613453691.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:52.011Z,1613453692.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:52.865Z,1613453692.865 [Micromodem](INFO): Nmea in: $SNTTA,0.002729,,,,053453.11*4A

2021-02-16T05:34:52.928Z,1613453692.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 230.091888 deg, deltaT: 4.441957 s, approachRate: 0.013508 m/s, LOS rate: -0.297542 deg/s, posRepo size: 4
2021-02-16T05:34:52.930Z,1613453692.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 230.091888 deg,
      approachRate: 0.013508 m/s,
      LOS rate: -0.297542 deg/s,
      cmd update: -0.892626 deg/s,
      cmd heading: 153.869087 deg,
      new cmd heading: 153.912619 deg.

2021-02-16T05:34:55.266Z,1613453695.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:34:56.059Z,1613453696.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:34:56.459Z,1613453696.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:34:57.284Z,1613453697.284 [Micromodem](INFO): Nmea in: $SNTTA,0.002797,,,,053457.57*49

2021-02-16T05:34:57.321Z,1613453697.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 222.998846 deg, deltaT: 4.482955 s, approachRate: 0.053536 m/s, LOS rate: -1.582225 deg/s, posRepo size: 4
2021-02-16T05:34:57.322Z,1613453697.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 222.998846 deg,
      approachRate: 0.053536 m/s,
      LOS rate: -1.582225 deg/s,
      cmd update: -4.746674 deg/s,
      cmd heading: 149.867472 deg,
      new cmd heading: 149.506919 deg.

2021-02-16T05:34:59.727Z,1613453699.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:00.496Z,1613453700.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:00.900Z,1613453700.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:01.736Z,1613453701.736 [Micromodem](INFO): Nmea in: $SNTTA,0.002904,,,,053502.01*4F

2021-02-16T05:35:01.820Z,1613453701.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 218.527859 deg, deltaT: 4.438885 s, approachRate: 0.040551 m/s, LOS rate: -1.007232 deg/s, posRepo size: 4
2021-02-16T05:35:01.821Z,1613453701.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 218.527859 deg,
      approachRate: 0.040551 m/s,
      LOS rate: -1.007232 deg/s,
      cmd update: -3.021696 deg/s,
      cmd heading: 128.826638 deg,
      new cmd heading: 126.614261 deg.

2021-02-16T05:35:04.173Z,1613453704.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:04.953Z,1613453704.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:05.351Z,1613453705.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:06.192Z,1613453706.192 [Micromodem](INFO): Nmea in: $SNTTA,0.002958,,,,053506.46*41

2021-02-16T05:35:06.214Z,1613453706.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 221.902724 deg, deltaT: 4.477264 s, approachRate: -0.013401 m/s, LOS rate: 0.753778 deg/s, posRepo size: 4
2021-02-16T05:35:06.216Z,1613453706.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 221.902724 deg,
      approachRate: -0.013401 m/s,
      LOS rate: 0.753778 deg/s,
      cmd update: 2.261335 deg/s,
      cmd heading: 115.279239 deg,
      new cmd heading: 114.126837 deg.

2021-02-16T05:35:08.614Z,1613453708.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:09.511Z,1613453709.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:09.883Z,1613453709.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:10.720Z,1613453710.720 [Micromodem](INFO): Nmea in: $SNTTA,0.002967,,,,053511.02*4B

2021-02-16T05:35:10.808Z,1613453710.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 221.887971 deg, deltaT: 4.470439 s, approachRate: 0.000000 m/s, LOS rate: -0.003300 deg/s, posRepo size: 4
2021-02-16T05:35:10.810Z,1613453710.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 221.887971 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.003300 deg/s,
      cmd update: -0.009901 deg/s,
      cmd heading: 125.388353 deg,
      new cmd heading: 126.521076 deg.

2021-02-16T05:35:13.146Z,1613453713.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:13.920Z,1613453713.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:14.343Z,1613453714.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:15.169Z,1613453715.169 [Micromodem](INFO): Nmea in: $SNTTA,0.002933,,,0.005460,053515.43*52

2021-02-16T05:35:15.259Z,1613453715.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 219.732131 deg, deltaT: 4.527562 s, approachRate: -0.013252 m/s, LOS rate: -0.476159 deg/s, posRepo size: 4
2021-02-16T05:35:15.261Z,1613453715.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 219.732131 deg,
      approachRate: -0.013252 m/s,
      LOS rate: -0.476159 deg/s,
      cmd update: -1.428477 deg/s,
      cmd heading: 125.343569 deg,
      new cmd heading: 125.339290 deg.

2021-02-16T05:35:17.584Z,1613453717.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:18.364Z,1613453718.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:18.800Z,1613453718.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:19.599Z,1613453719.599 [Micromodem](INFO): Nmea in: $SNTTA,0.002827,,,,053519.87*4B

2021-02-16T05:35:19.624Z,1613453719.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 228.340792 deg, deltaT: 4.362599 s, approachRate: 0.000000 m/s, LOS rate: 1.973287 deg/s, posRepo size: 4
2021-02-16T05:35:19.626Z,1613453719.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 228.340792 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.973287 deg/s,
      cmd update: 5.919862 deg/s,
      cmd heading: 119.105853 deg,
      new cmd heading: 118.490575 deg.

2021-02-16T05:35:22.054Z,1613453722.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:22.819Z,1613453722.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:23.213Z,1613453723.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:24.044Z,1613453724.044 [Micromodem](INFO): Nmea in: $SNTTA,0.002840,,,,053524.33*4B

2021-02-16T05:35:24.088Z,1613453724.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 230.133115 deg, deltaT: 4.474488 s, approachRate: -0.013409 m/s, LOS rate: 0.400565 deg/s, posRepo size: 4
2021-02-16T05:35:24.090Z,1613453724.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 230.133115 deg,
      approachRate: -0.013409 m/s,
      LOS rate: 0.400565 deg/s,
      cmd update: 1.201695 deg/s,
      cmd heading: 145.594731 deg,
      new cmd heading: 148.083992 deg.

2021-02-16T05:35:26.459Z,1613453726.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:27.252Z,1613453727.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:27.657Z,1613453727.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:28.480Z,1613453728.480 [Micromodem](INFO): Nmea in: $SNTTA,0.002908,,,,053528.76*4B

2021-02-16T05:35:28.559Z,1613453728.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 234.963070 deg, deltaT: 4.432040 s, approachRate: 0.013538 m/s, LOS rate: 1.089781 deg/s, posRepo size: 4
2021-02-16T05:35:28.560Z,1613453728.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 4.26 m. Reached intercept timeout.
2021-02-16T05:35:28.560Z,1613453728.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-02-16T05:35:28.560Z,1613453728.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T05:35:28.561Z,1613453728.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-02-16T05:35:28.951Z,1613453728.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-02-16T05:35:28.952Z,1613453728.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-02-16T05:35:28.952Z,1613453728.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-02-16T05:35:29.309Z,1613453729.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T05:35:29.310Z,1613453729.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:35:29.732Z,1613453729.732 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-02-16T05:35:29.733Z,1613453729.733 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-02-16T05:35:30.928Z,1613453730.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:31.701Z,1613453731.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:32.110Z,1613453732.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:32.928Z,1613453732.928 [Micromodem](INFO): Nmea in: $SNTTA,0.002945,,,,053533.21*4A

2021-02-16T05:35:33.356Z,1613453733.356 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-02-16T05:35:33.356Z,1613453733.356 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-02-16T05:35:33.357Z,1613453733.357 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T05:35:33.357Z,1613453733.357 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-02-16T05:35:33.814Z,1613453733.814 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-02-16T05:35:33.814Z,1613453733.814 [lineCaptureDepth:LineCapture:L] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-02-16T05:35:33.821Z,1613453733.821 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:G] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:H] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T05:35:33.822Z,1613453733.822 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T05:35:34.186Z,1613453734.186 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-02-16T05:35:34.191Z,1613453734.191 [lineCaptureDepth:Lap:B] Stopped
2021-02-16T05:35:34.191Z,1613453734.191 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-02-16T05:35:34.191Z,1613453734.191 [lineCaptureDepth:Lap:C] Running Loop=1
2021-02-16T05:35:34.591Z,1613453734.591 [lineCaptureDepth:Lap:C] Stopped
2021-02-16T05:35:34.591Z,1613453734.591 [lineCaptureDepth:Lap:D] Running Loop=1
2021-02-16T05:35:34.977Z,1613453734.977 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-02-16T05:35:34.977Z,1613453734.977 [lineCaptureDepth:Lap:D] Stopped
2021-02-16T05:35:34.977Z,1613453734.977 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-02-16T05:35:34.977Z,1613453734.977 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-02-16T05:35:34.977Z,1613453734.977 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-02-16T05:35:35.349Z,1613453735.349 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 0.010000 min 
2021-02-16T05:35:35.349Z,1613453735.349 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-02-16T05:35:35.349Z,1613453735.349 [lineCaptureDepth:Lap:Docked:B.Docked] Running Loop=1
2021-02-16T05:35:35.349Z,1613453735.349 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initialize.
2021-02-16T05:35:35.349Z,1613453735.349 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-02-16T05:35:35.350Z,1613453735.350 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining depth of 6.000000 m.
2021-02-16T05:35:35.350Z,1613453735.350 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-02-16T05:35:35.367Z,1613453735.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:36.156Z,1613453736.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:36.205Z,1613453736.205 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (1 active estimators).
2021-02-16T05:35:36.225Z,1613453736.225 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Timed out from 2021-02-16T05:35:35.3Z
2021-02-16T05:35:36.225Z,1613453736.225 [lineCaptureDepth:Lap:Docked:B.Docked] Stopped
2021-02-16T05:35:36.226Z,1613453736.226 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-02-16T05:35:36.226Z,1613453736.226 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-02-16T05:35:36.226Z,1613453736.226 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-02-16T05:35:36.579Z,1613453736.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:36.648Z,1613453736.648 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.380000 m .
2021-02-16T05:35:36.648Z,1613453736.648 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-02-16T05:35:36.648Z,1613453736.648 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Running Loop=1
2021-02-16T05:35:36.648Z,1613453736.648 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initialize.
2021-02-16T05:35:36.648Z,1613453736.648 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T05:35:36.975Z,1613453736.975 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:35:37.385Z,1613453737.385 [Micromodem](INFO): Nmea in: $SNTTA,0.002930,,,,053537.67*4E

2021-02-16T05:35:37.389Z,1613453737.389 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:35:37.448Z,1613453737.448 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:35:37.845Z,1613453737.845 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:35:38.209Z,1613453738.209 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:35:38.209Z,1613453738.209 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detaching from dock.
2021-02-16T05:35:38.606Z,1613453738.606 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-02-16T05:35:39.857Z,1613453739.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:40.606Z,1613453740.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:40.999Z,1613453740.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:41.836Z,1613453741.836 [Micromodem](INFO): Nmea in: $SNTTA,0.002994,,,0.027383,053542.12*53

2021-02-16T05:35:44.238Z,1613453744.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:45.038Z,1613453745.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:45.438Z,1613453745.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:46.264Z,1613453746.264 [Micromodem](INFO): Nmea in: $SNTTA,0.002918,,,,053546.55*43

2021-02-16T05:35:48.723Z,1613453748.723 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Thruster off.
2021-02-16T05:35:48.724Z,1613453748.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:49.482Z,1613453749.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:49.881Z,1613453749.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:50.708Z,1613453750.708 [Micromodem](INFO): Nmea in: $SNTTA,0.003387,,,,053550.99*49

2021-02-16T05:35:53.133Z,1613453753.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:53.925Z,1613453753.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:54.339Z,1613453754.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:55.153Z,1613453755.153 [Micromodem](INFO): Nmea in: $SNTTA,0.005665,,,,053555.44*43

2021-02-16T05:35:57.590Z,1613453757.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:35:58.364Z,1613453758.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:35:58.795Z,1613453758.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:35:59.603Z,1613453759.603 [Micromodem](INFO): Nmea in: $SNTTA,0.004421,,,0.006915,053559.88*59

2021-02-16T05:36:02.028Z,1613453762.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:02.821Z,1613453762.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:03.231Z,1613453763.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:04.048Z,1613453764.048 [Micromodem](INFO): Nmea in: $SNTTA,0.004810,,,,053604.33*49

2021-02-16T05:36:06.462Z,1613453766.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:07.252Z,1613453767.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:07.663Z,1613453767.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:08.492Z,1613453768.492 [Micromodem](INFO): Nmea in: $SNTTA,0.005130,,0.098663,,053608.76*52

2021-02-16T05:36:10.944Z,1613453770.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:11.696Z,1613453771.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:12.103Z,1613453772.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:12.936Z,1613453772.936 [Micromodem](INFO): Nmea in: $SNTTA,0.005668,,,0.057734,053613.20*51

2021-02-16T05:36:15.349Z,1613453775.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:16.144Z,1613453776.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:16.560Z,1613453776.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:17.372Z,1613453777.372 [Micromodem](INFO): Nmea in: $SNTTA,0.006072,,,,053617.65*46

2021-02-16T05:36:19.845Z,1613453779.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:20.589Z,1613453780.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:21.003Z,1613453781.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:21.828Z,1613453781.828 [Micromodem](INFO): Nmea in: $SNTTA,0.006493,,,,053622.10*49

2021-02-16T05:36:24.237Z,1613453784.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:25.033Z,1613453785.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:25.439Z,1613453785.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:26.260Z,1613453786.260 [Micromodem](INFO): Nmea in: $SNTTA,0.006885,,,,053626.54*46

2021-02-16T05:36:26.280Z,1613453786.280 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T05:36:28.711Z,1613453788.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:29.500Z,1613453789.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:29.877Z,1613453789.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:30.712Z,1613453790.712 [Micromodem](INFO): Nmea in: $SNTTA,0.007160,,,,053631.01*43

2021-02-16T05:36:31.976Z,1613453791.976 [CTD_Seabird](ERROR): Failed to parse device response: 7.14.27
2021-02-16T05:36:33.129Z,1613453793.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:33.925Z,1613453793.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:34.321Z,1613453794.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:35.149Z,1613453795.149 [Micromodem](INFO): Nmea in: $SNTTA,0.007336,,,,053635.43*40

2021-02-16T05:36:37.596Z,1613453797.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:38.365Z,1613453798.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:38.802Z,1613453798.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:39.596Z,1613453799.596 [Micromodem](INFO): Nmea in: $SNTTA,0.007510,,,,053639.88*49

2021-02-16T05:36:42.046Z,1613453802.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:42.822Z,1613453802.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:43.223Z,1613453803.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:44.048Z,1613453804.048 [Micromodem](INFO): Nmea in: $SNTTA,0.007769,,,,053644.33*4F

2021-02-16T05:36:46.452Z,1613453806.452 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detached at range: 11.46 m. Transitioning DDM to standby.
2021-02-16T05:36:46.452Z,1613453806.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:46.904Z,1613453806.904 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:36:46.904Z,1613453806.904 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM at standby.
2021-02-16T05:36:47.255Z,1613453807.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:47.332Z,1613453807.332 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T05:36:47.332Z,1613453807.332 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Stopped
2021-02-16T05:36:47.333Z,1613453807.333 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-02-16T05:36:47.333Z,1613453807.333 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-02-16T05:36:47.333Z,1613453807.333 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-02-16T05:36:47.334Z,1613453807.334 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-02-16T05:36:47.334Z,1613453807.334 [lineCaptureDepth:Lap:Docked] Stopped
2021-02-16T05:36:47.334Z,1613453807.334 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-02-16T05:36:47.335Z,1613453807.335 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-02-16T05:36:47.339Z,1613453807.339 [lineCaptureDepth:Lap] Stopped
2021-02-16T05:36:47.339Z,1613453807.339 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-02-16T05:36:47.340Z,1613453807.340 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-02-16T05:36:47.340Z,1613453807.340 [lineCaptureDepth:Lap] Running Loop=2
2021-02-16T05:36:47.340Z,1613453807.340 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-02-16T05:36:47.340Z,1613453807.340 [lineCaptureDepth:Lap:A] Running Loop=1
2021-02-16T05:36:47.656Z,1613453807.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:47.710Z,1613453807.710 [lineCaptureDepth:Lap:A] Stopped
2021-02-16T05:36:47.710Z,1613453807.710 [lineCaptureDepth:Lap:B] Running Loop=1
2021-02-16T05:36:47.710Z,1613453807.710 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-02-16T05:36:48.081Z,1613453808.081 [lineCaptureDepth:LineCapture] Running Loop=1
2021-02-16T05:36:48.081Z,1613453808.081 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-02-16T05:36:48.082Z,1613453808.082 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T05:36:48.083Z,1613453808.083 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T05:36:48.099Z,1613453808.099 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T05:36:48.100Z,1613453808.100 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T05:36:48.102Z,1613453808.102 [lineCaptureDepth:LineCapture:A] Stopped
2021-02-16T05:36:48.102Z,1613453808.102 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-02-16T05:36:48.480Z,1613453808.480 [Micromodem](INFO): Nmea in: $SNTTA,0.007950,,,,053648.76*46

2021-02-16T05:36:48.504Z,1613453808.504 [lineCaptureDepth:LineCapture:B] Stopped
2021-02-16T05:36:48.504Z,1613453808.504 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-02-16T05:36:48.915Z,1613453808.915 [lineCaptureDepth:LineCapture:D] Stopped
2021-02-16T05:36:48.915Z,1613453808.915 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-02-16T05:36:49.310Z,1613453809.310 [lineCaptureDepth:LineCapture:E] Stopped
2021-02-16T05:36:49.310Z,1613453809.310 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:F] Stopped
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-02-16T05:36:49.726Z,1613453809.726 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:36:49.727Z,1613453809.727 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-02-16T05:36:49.727Z,1613453809.727 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-02-16T05:36:49.731Z,1613453809.731 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T05:36:49.731Z,1613453809.731 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T05:36:49.731Z,1613453809.731 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:36:49.731Z,1613453809.731 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:36:49.732Z,1613453809.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T05:36:49.733Z,1613453809.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T05:36:50.113Z,1613453810.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T05:36:50.113Z,1613453810.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:36:50.113Z,1613453810.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T05:36:50.114Z,1613453810.114 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T05:36:50.115Z,1613453810.115 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:36:50.115Z,1613453810.115 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-02-16T05:36:50.556Z,1613453810.556 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-02-16T05:36:50.935Z,1613453810.935 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-02-16T05:36:50.937Z,1613453810.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:51.315Z,1613453811.315 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T05:36:51.697Z,1613453811.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:52.119Z,1613453812.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:52.924Z,1613453812.924 [Micromodem](INFO): Nmea in: $SNTTA,0.008167,,0.010899,,053653.21*5A

2021-02-16T05:36:55.353Z,1613453815.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:36:56.143Z,1613453816.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:36:56.557Z,1613453816.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:36:57.368Z,1613453817.368 [Micromodem](INFO): Nmea in: $SNTTA,0.008666,,,,053657.65*4F

2021-02-16T05:36:59.547Z,1613453819.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:00.179Z,1613453820.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:00.587Z,1613453820.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:01.415Z,1613453821.415 [Micromodem](INFO): Nmea in: $SNTTA,0.008806,,,,053701.69*49

2021-02-16T05:37:03.860Z,1613453823.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:04.626Z,1613453824.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:05.031Z,1613453825.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:05.857Z,1613453825.857 [Micromodem](INFO): Nmea in: $SNTTA,0.009065,,,,053706.13*4F

2021-02-16T05:37:08.269Z,1613453828.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:08.671Z,1613453828.671 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:37:09.069Z,1613453829.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:09.475Z,1613453829.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:09.889Z,1613453829.889 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:37:10.304Z,1613453830.304 [Micromodem](INFO): Nmea in: $SNTTA,0.009299,,,,053710.58*46

2021-02-16T05:37:11.560Z,1613453831.560 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 13.74 m. Transitioning DDM to standby.
2021-02-16T05:37:11.947Z,1613453831.947 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T05:37:11.947Z,1613453831.947 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-02-16T05:37:12.324Z,1613453832.324 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T05:37:12.325Z,1613453832.325 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-02-16T05:37:12.325Z,1613453832.325 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-02-16T05:37:12.731Z,1613453832.731 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-02-16T05:37:12.731Z,1613453832.731 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-02-16T05:37:12.731Z,1613453832.731 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-02-16T05:37:12.733Z,1613453832.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:13.155Z,1613453833.155 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-02-16T05:37:13.156Z,1613453833.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:37:13.156Z,1613453833.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-02-16T05:37:13.156Z,1613453833.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T05:37:13.156Z,1613453833.156 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T05:37:13.547Z,1613453833.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:13.641Z,1613453833.641 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T05:37:13.641Z,1613453833.641 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:37:13.641Z,1613453833.641 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T05:37:13.641Z,1613453833.641 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:37:13.642Z,1613453833.642 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T05:37:13.642Z,1613453833.642 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T05:37:13.642Z,1613453833.642 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T05:37:13.642Z,1613453833.642 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T05:37:13.646Z,1613453833.646 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T05:37:13.649Z,1613453833.649 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-02-16T05:37:13.649Z,1613453833.649 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:37:13.649Z,1613453833.649 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-02-16T05:37:13.650Z,1613453833.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 13.739999 m 
2021-02-16T05:37:13.650Z,1613453833.650 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-02-16T05:37:13.651Z,1613453833.651 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-02-16T05:37:13.652Z,1613453833.652 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-02-16T05:37:13.653Z,1613453833.653 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T05:37:13.653Z,1613453833.653 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-02-16T05:37:13.653Z,1613453833.653 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-02-16T05:37:13.916Z,1613453833.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:13.962Z,1613453833.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-02-16T05:37:13.962Z,1613453833.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:37:13.962Z,1613453833.962 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T05:37:13.963Z,1613453833.963 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T05:37:14.334Z,1613453834.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T05:37:14.335Z,1613453834.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T05:37:14.355Z,1613453834.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T05:37:14.355Z,1613453834.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T05:37:14.355Z,1613453834.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T05:37:14.355Z,1613453834.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T05:37:14.356Z,1613453834.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T05:37:14.356Z,1613453834.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T05:37:14.356Z,1613453834.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T05:37:14.357Z,1613453834.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T05:37:14.358Z,1613453834.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-02-16T05:37:14.358Z,1613453834.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:37:14.358Z,1613453834.358 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T05:37:14.359Z,1613453834.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T05:37:14.359Z,1613453834.359 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-02-16T05:37:14.363Z,1613453834.363 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-02-16T05:37:14.760Z,1613453834.760 [Micromodem](INFO): Nmea in: $SNTTA,0.009644,,,,053715.06*4C

2021-02-16T05:37:14.834Z,1613453834.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 267.099957 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:37:14.834Z,1613453834.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.22 m.
2021-02-16T05:37:14.835Z,1613453834.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 267.099957deg and heading rate command to 0 deg/s.
2021-02-16T05:37:15.154Z,1613453835.154 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:37:17.188Z,1613453837.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:17.957Z,1613453837.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:18.362Z,1613453838.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:19.215Z,1613453839.215 [Micromodem](INFO): Nmea in: $SNTTA,0.009807,,,,053719.47*4C

2021-02-16T05:37:19.234Z,1613453839.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 276.472343 deg, deltaT: 4.495423 s, approachRate: 0.066734 m/s, LOS rate: 2.084873 deg/s, posRepo size: 2
2021-02-16T05:37:19.235Z,1613453839.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 14.52 m.
2021-02-16T05:37:19.235Z,1613453839.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 14.52 m.
2021-02-16T05:37:19.235Z,1613453839.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:37:19.237Z,1613453839.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 276.472343 deg,
      approachRate: 0.066734 m/s,
      LOS rate: 2.084873 deg/s,
      cmd update: 6.254619 deg/s,
      cmd heading: 267.099957 deg,
      new cmd heading: 267.099957 deg.

2021-02-16T05:37:21.647Z,1613453841.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:22.408Z,1613453842.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:22.813Z,1613453842.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:23.644Z,1613453843.644 [Micromodem](INFO): Nmea in: $SNTTA,0.009637,,,,053723.92*40

2021-02-16T05:37:23.688Z,1613453843.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 273.446733 deg, deltaT: 4.364886 s, approachRate: -0.068730 m/s, LOS rate: -0.693170 deg/s, posRepo size: 3
2021-02-16T05:37:23.690Z,1613453843.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 273.446733 deg,
      approachRate: -0.068730 m/s,
      LOS rate: -0.693170 deg/s,
      cmd update: -2.079511 deg/s,
      cmd heading: 294.425687 deg,
      new cmd heading: 297.333540 deg.

2021-02-16T05:37:24.849Z,1613453844.849 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:37:26.074Z,1613453846.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:26.845Z,1613453846.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:27.252Z,1613453847.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:28.088Z,1613453848.088 [Micromodem](INFO): Nmea in: $SNTTA,0.009213,,,,053728.35*44

2021-02-16T05:37:28.112Z,1613453848.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 279.001480 deg, deltaT: 4.487263 s, approachRate: -0.133713 m/s, LOS rate: 1.237892 deg/s, posRepo size: 4
2021-02-16T05:37:28.114Z,1613453848.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 279.001480 deg,
      approachRate: -0.133713 m/s,
      LOS rate: 1.237892 deg/s,
      cmd update: 3.713676 deg/s,
      cmd heading: 285.102730 deg,
      new cmd heading: 284.259875 deg.

2021-02-16T05:37:29.693Z,1613453849.693 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:37:30.548Z,1613453850.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:31.291Z,1613453851.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:31.689Z,1613453851.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:32.536Z,1613453852.536 [Micromodem](INFO): Nmea in: $SNTTA,0.008737,,,,053732.80*43

2021-02-16T05:37:32.586Z,1613453852.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 290.129306 deg, deltaT: 4.435533 s, approachRate: -0.162326 m/s, LOS rate: 2.508791 deg/s, posRepo size: 4
2021-02-16T05:37:32.588Z,1613453852.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 290.129306 deg,
      approachRate: -0.162326 m/s,
      LOS rate: 2.508791 deg/s,
      cmd update: 7.526373 deg/s,
      cmd heading: 301.579820 deg,
      new cmd heading: 303.224027 deg.

2021-02-16T05:37:34.957Z,1613453854.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:35.728Z,1613453855.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:36.144Z,1613453856.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:36.960Z,1613453856.960 [Micromodem](INFO): Nmea in: $SNTTA,0.008256,,,,053737.24*4A

2021-02-16T05:37:36.985Z,1613453856.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 303.447464 deg, deltaT: 4.445940 s, approachRate: -0.148449 m/s, LOS rate: 2.995578 deg/s, posRepo size: 4
2021-02-16T05:37:36.985Z,1613453856.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 12.24 m.
2021-02-16T05:37:36.987Z,1613453856.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 303.447464 deg,
      approachRate: -0.148449 m/s,
      LOS rate: 2.995578 deg/s,
      cmd update: 8.986733 deg/s,
      cmd heading: 335.059069 deg,
      new cmd heading: 338.016069 deg.

2021-02-16T05:37:39.386Z,1613453859.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:40.187Z,1613453860.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:40.578Z,1613453860.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:41.433Z,1613453861.433 [Micromodem](INFO): Nmea in: $SNTTA,0.007908,0.020219,,,053741.70*53

2021-02-16T05:37:41.473Z,1613453861.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 321.990144 deg, deltaT: 4.413629 s, approachRate: -0.122349 m/s, LOS rate: 4.201232 deg/s, posRepo size: 4
2021-02-16T05:37:41.475Z,1613453861.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 321.990144 deg,
      approachRate: -0.122349 m/s,
      LOS rate: 4.201232 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.726421 deg,
      new cmd heading: 18.926910 deg.

2021-02-16T05:37:43.853Z,1613453863.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:44.625Z,1613453864.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:45.034Z,1613453865.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:45.848Z,1613453865.848 [Micromodem](INFO): Nmea in: $SNTTA,0.007389,,,,053746.14*43

2021-02-16T05:37:45.904Z,1613453865.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 340.629648 deg, deltaT: 4.453709 s, approachRate: -0.188607 m/s, LOS rate: 4.185164 deg/s, posRepo size: 4
2021-02-16T05:37:45.904Z,1613453865.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 10.86 m.
2021-02-16T05:37:45.906Z,1613453865.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 340.629648 deg,
      approachRate: -0.188607 m/s,
      LOS rate: 4.185164 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 67.978642 deg,
      new cmd heading: 73.499086 deg.

2021-02-16T05:37:48.273Z,1613453868.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:49.060Z,1613453869.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:49.473Z,1613453869.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:49.909Z,1613453869.909 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:37:50.288Z,1613453870.288 [Micromodem](INFO): Nmea in: $SNTTA,0.006760,,,,053750.57*41

2021-02-16T05:37:50.322Z,1613453870.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 354.932693 deg, deltaT: 4.498959 s, approachRate: -0.200046 m/s, LOS rate: 3.179190 deg/s, posRepo size: 4
2021-02-16T05:37:50.328Z,1613453870.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 354.932693 deg,
      approachRate: -0.200046 m/s,
      LOS rate: 3.179190 deg/s,
      cmd update: 9.537569 deg/s,
      cmd heading: 122.108891 deg,
      new cmd heading: 126.518364 deg.

2021-02-16T05:37:52.726Z,1613453872.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:53.514Z,1613453873.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:53.910Z,1613453873.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:54.740Z,1613453874.740 [Micromodem](INFO): Nmea in: $SNTTA,0.006222,,0.008972,,053755.02*5D

2021-02-16T05:37:54.830Z,1613453874.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 20.679859 deg, deltaT: 4.384033 s, approachRate: -0.191604 m/s, LOS rate: 5.872938 deg/s, posRepo size: 4
2021-02-16T05:37:54.832Z,1613453874.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 20.679859 deg,
      approachRate: -0.191604 m/s,
      LOS rate: 5.872938 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 163.807831 deg,
      new cmd heading: 168.607966 deg.

2021-02-16T05:37:57.196Z,1613453877.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:37:57.954Z,1613453877.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:37:58.362Z,1613453878.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:37:59.184Z,1613453879.184 [Micromodem](INFO): Nmea in: $SNTTA,0.005715,,,,053759.46*49

2021-02-16T05:37:59.224Z,1613453879.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 285.630397 deg, deltaT: 4.500398 s, approachRate: -0.146654 m/s, LOS rate: -21.120238 deg/s, posRepo size: 4
2021-02-16T05:37:59.224Z,1613453879.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.120238 deg/s. Setting heading cmd to target bearing of 285.630397deg and heading rate command to 0 deg/s.
2021-02-16T05:37:59.602Z,1613453879.602 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:38:01.628Z,1613453881.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:02.402Z,1613453882.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:02.821Z,1613453882.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:03.632Z,1613453883.632 [Micromodem](INFO): Nmea in: $SNTTA,0.006170,,0.036446,,053803.91*58

2021-02-16T05:38:03.699Z,1613453883.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 299.002459 deg, deltaT: 4.373588 s, approachRate: 0.205780 m/s, LOS rate: 3.057458 deg/s, posRepo size: 4
2021-02-16T05:38:03.702Z,1613453883.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 299.002459 deg,
      approachRate: 0.205780 m/s,
      LOS rate: 3.057458 deg/s,
      cmd update: 9.172375 deg/s,
      cmd heading: 285.630397 deg,
      new cmd heading: 285.630397 deg.

2021-02-16T05:38:06.078Z,1613453886.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:06.842Z,1613453886.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:07.243Z,1613453887.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:08.072Z,1613453888.072 [Micromodem](INFO): Nmea in: $SNTTA,0.007721,,0.022252,,053808.35*58

2021-02-16T05:38:08.112Z,1613453888.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.579999 m, bearing: 257.988621 deg, deltaT: 4.486180 s, approachRate: 0.494853 m/s, LOS rate: -9.142263 deg/s, posRepo size: 4
2021-02-16T05:38:08.114Z,1613453888.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 257.988621 deg,
      approachRate: 0.494853 m/s,
      LOS rate: -9.142263 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 326.741970 deg,
      new cmd heading: 330.531087 deg.

2021-02-16T05:38:10.555Z,1613453890.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:11.286Z,1613453891.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:11.703Z,1613453891.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:12.520Z,1613453892.520 [Micromodem](INFO): Nmea in: $SNTTA,0.009728,,0.010858,,053812.79*5D

2021-02-16T05:38:12.586Z,1613453892.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 248.996404 deg, deltaT: 4.452114 s, approachRate: 0.673837 m/s, LOS rate: -2.019764 deg/s, posRepo size: 4
2021-02-16T05:38:12.592Z,1613453892.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.579999 m,
      bearing: 248.996404 deg,
      approachRate: 0.673837 m/s,
      LOS rate: -2.019764 deg/s,
      cmd update: -6.059290 deg/s,
      cmd heading: 273.410321 deg,
      new cmd heading: 268.098437 deg.

2021-02-16T05:38:14.963Z,1613453894.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:15.736Z,1613453895.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:16.129Z,1613453896.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:16.964Z,1613453896.964 [Micromodem](INFO): Nmea in: $SNTTA,0.011168,,,,053817.25*40

2021-02-16T05:38:17.012Z,1613453897.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 320.933322 deg, deltaT: 4.439690 s, approachRate: 0.513550 m/s, LOS rate: 16.203140 deg/s, posRepo size: 4
2021-02-16T05:38:17.012Z,1613453897.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.86 m. Rolling out.
2021-02-16T05:38:17.013Z,1613453897.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T05:38:19.378Z,1613453899.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:20.177Z,1613453900.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:20.574Z,1613453900.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:21.400Z,1613453901.400 [Micromodem](INFO): Nmea in: $SNTTA,0.012814,,,,053821.69*4C

2021-02-16T05:38:21.458Z,1613453901.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 331.702482 deg, deltaT: 4.437098 s, approachRate: 0.540894 m/s, LOS rate: 2.427073 deg/s, posRepo size: 4
2021-02-16T05:38:23.889Z,1613453903.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:24.612Z,1613453904.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:25.029Z,1613453905.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:25.855Z,1613453905.855 [Micromodem](INFO): Nmea in: $SNTTA,0.015506,,,,053826.12*4E

2021-02-16T05:38:25.890Z,1613453905.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 280.036581 deg, deltaT: 4.424088 s, approachRate: 0.650981 m/s, LOS rate: -11.678316 deg/s, posRepo size: 4
2021-02-16T05:38:28.265Z,1613453908.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:29.056Z,1613453909.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:29.461Z,1613453909.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:30.288Z,1613453910.288 [Micromodem](INFO): Nmea in: $SNTTA,0.016783,,,,053830.57*44

2021-02-16T05:38:30.310Z,1613453910.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 236.093002 deg, deltaT: 4.462370 s, approachRate: 0.726071 m/s, LOS rate: -9.847587 deg/s, posRepo size: 4
2021-02-16T05:38:32.739Z,1613453912.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:33.532Z,1613453913.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:33.903Z,1613453913.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:34.748Z,1613453914.748 [Micromodem](INFO): Nmea in: $SNTTA,0.019017,,,0.028010,053835.04*57

2021-02-16T05:38:34.843Z,1613453914.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 209.447969 deg, deltaT: 4.406890 s, approachRate: 0.762443 m/s, LOS rate: -6.046221 deg/s, posRepo size: 4
2021-02-16T05:38:37.185Z,1613453917.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:37.951Z,1613453917.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:38.345Z,1613453918.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:39.180Z,1613453919.180 [Micromodem](INFO): Nmea in: $SNTTA,0.021128,,,,053839.46*4E

2021-02-16T05:38:39.222Z,1613453919.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 212.819624 deg, deltaT: 4.530352 s, approachRate: 0.688687 m/s, LOS rate: 0.744237 deg/s, posRepo size: 4
2021-02-16T05:38:41.613Z,1613453921.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:42.386Z,1613453922.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:42.810Z,1613453922.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:43.624Z,1613453923.624 [Micromodem](INFO): Nmea in: $SNTTA,0.023504,,0.049654,,053843.90*54

2021-02-16T05:38:43.664Z,1613453923.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.399998 m, bearing: 221.314235 deg, deltaT: 4.372998 s, approachRate: 0.809514 m/s, LOS rate: 1.942514 deg/s, posRepo size: 4
2021-02-16T05:38:46.067Z,1613453926.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:46.829Z,1613453926.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:47.242Z,1613453927.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:48.060Z,1613453928.060 [Micromodem](INFO): Nmea in: $SNTTA,0.025723,0.120874,,,053848.34*52

2021-02-16T05:38:48.100Z,1613453928.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.760002 m, bearing: 221.428094 deg, deltaT: 4.453097 s, approachRate: 0.754532 m/s, LOS rate: 0.025569 deg/s, posRepo size: 4
2021-02-16T05:38:49.672Z,1613453929.672 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:38:50.484Z,1613453930.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:51.272Z,1613453931.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:51.678Z,1613453931.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:52.504Z,1613453932.504 [Micromodem](INFO): Nmea in: $SNTTA,0.027945,,,,053852.78*4B

2021-02-16T05:38:52.542Z,1613453932.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 223.732846 deg, deltaT: 4.424433 s, approachRate: 0.840786 m/s, LOS rate: 0.520915 deg/s, posRepo size: 4
2021-02-16T05:38:54.660Z,1613453934.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:55.313Z,1613453935.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:38:55.718Z,1613453935.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:38:56.572Z,1613453936.572 [Micromodem](INFO): Nmea in: $SNTTA,0.030004,,,,053856.82*40

2021-02-16T05:38:56.601Z,1613453936.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.479996 m, bearing: 230.464598 deg, deltaT: 4.123648 s, approachRate: 0.727509 m/s, LOS rate: 1.632475 deg/s, posRepo size: 4
2021-02-16T05:38:58.993Z,1613453938.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:38:59.785Z,1613453939.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:00.174Z,1613453940.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:01.004Z,1613453941.004 [Micromodem](INFO): Nmea in: $SNTTA,0.032134,,,,053901.29*42

2021-02-16T05:39:01.049Z,1613453941.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.720001 m, bearing: 240.671196 deg, deltaT: 4.368095 s, approachRate: 0.741743 m/s, LOS rate: 2.336624 deg/s, posRepo size: 4
2021-02-16T05:39:03.407Z,1613453943.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:04.200Z,1613453944.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:04.641Z,1613453944.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:05.428Z,1613453945.428 [Micromodem](INFO): Nmea in: $SNTTA,0.034436,,,,053905.71*4A

2021-02-16T05:39:05.450Z,1613453945.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 227.038152 deg, deltaT: 4.433466 s, approachRate: 0.690204 m/s, LOS rate: -3.075031 deg/s, posRepo size: 4
2021-02-16T05:39:07.885Z,1613453947.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:08.644Z,1613453948.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:09.052Z,1613453949.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:09.883Z,1613453949.883 [Micromodem](INFO): Nmea in: $SNTTA,0.036823,,,,053910.15*46

2021-02-16T05:39:09.917Z,1613453949.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 231.100707 deg, deltaT: 4.452783 s, approachRate: 0.808482 m/s, LOS rate: 0.912363 deg/s, posRepo size: 4
2021-02-16T05:39:12.301Z,1613453952.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:13.088Z,1613453953.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:13.506Z,1613453953.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:14.320Z,1613453954.320 [Micromodem](INFO): Nmea in: $SNTTA,0.039115,,0.059015,,053914.60*55

2021-02-16T05:39:14.358Z,1613453954.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 231.347960 deg, deltaT: 4.464833 s, approachRate: 0.765987 m/s, LOS rate: 0.055378 deg/s, posRepo size: 4
2021-02-16T05:39:16.806Z,1613453956.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:17.565Z,1613453957.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:17.939Z,1613453957.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:18.800Z,1613453958.800 [Micromodem](INFO): Nmea in: $SNTTA,0.041452,,,,053919.07*46

2021-02-16T05:39:18.840Z,1613453958.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 230.551369 deg, deltaT: 4.406688 s, approachRate: 0.789709 m/s, LOS rate: -0.180769 deg/s, posRepo size: 4
2021-02-16T05:39:21.190Z,1613453961.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:21.978Z,1613453961.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:22.391Z,1613453962.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:23.215Z,1613453963.215 [Micromodem](INFO): Nmea in: $SNTTA,0.043773,,,,053923.49*47

2021-02-16T05:39:23.238Z,1613453963.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.759995 m, bearing: 230.327284 deg, deltaT: 4.500385 s, approachRate: 0.773266 m/s, LOS rate: -0.049792 deg/s, posRepo size: 4
2021-02-16T05:39:25.670Z,1613453965.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:26.421Z,1613453966.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:26.827Z,1613453966.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:27.652Z,1613453967.652 [Micromodem](INFO): Nmea in: $SNTTA,0.046028,,,,053927.93*48

2021-02-16T05:39:27.677Z,1613453967.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 247.025239 deg, deltaT: 4.386953 s, approachRate: 0.820617 m/s, LOS rate: 3.806276 deg/s, posRepo size: 4
2021-02-16T05:39:30.086Z,1613453970.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:30.865Z,1613453970.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:31.274Z,1613453971.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:32.092Z,1613453972.092 [Micromodem](INFO): Nmea in: $SNTTA,0.048448,,,,053932.38*41

2021-02-16T05:39:32.153Z,1613453972.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.779999 m, bearing: 238.272160 deg, deltaT: 4.482027 s, approachRate: 0.763047 m/s, LOS rate: -1.952929 deg/s, posRepo size: 4
2021-02-16T05:39:34.568Z,1613453974.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:35.310Z,1613453975.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:35.723Z,1613453975.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:36.564Z,1613453976.564 [Micromodem](INFO): Nmea in: $SNTTA,0.050828,,,,053936.82*47

2021-02-16T05:39:36.589Z,1613453976.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 240.010634 deg, deltaT: 4.453571 s, approachRate: 0.808341 m/s, LOS rate: 0.390355 deg/s, posRepo size: 4
2021-02-16T05:39:38.974Z,1613453978.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:39.756Z,1613453979.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:40.180Z,1613453980.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:40.984Z,1613453980.984 [Micromodem](INFO): Nmea in: $SNTTA,0.053131,,,,053941.27*4A

2021-02-16T05:39:41.024Z,1613453981.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.920006 m, bearing: 229.914112 deg, deltaT: 4.430863 s, approachRate: 0.798942 m/s, LOS rate: -2.278681 deg/s, posRepo size: 4
2021-02-16T05:39:43.419Z,1613453983.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:44.197Z,1613453984.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:44.601Z,1613453984.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:45.426Z,1613453985.426 [Micromodem](INFO): Nmea in: $SNTTA,0.055462,,,,053945.71*48

2021-02-16T05:39:45.473Z,1613453985.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 246.335717 deg, deltaT: 4.437911 s, approachRate: 0.770632 m/s, LOS rate: 3.700301 deg/s, posRepo size: 4
2021-02-16T05:39:47.898Z,1613453987.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:48.654Z,1613453988.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:49.050Z,1613453989.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:49.892Z,1613453989.892 [Micromodem](INFO): Nmea in: $SNTTA,0.057817,,,0.077274,053950.16*5E

2021-02-16T05:39:49.950Z,1613453989.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 248.413652 deg, deltaT: 4.419365 s, approachRate: 0.801020 m/s, LOS rate: 0.470189 deg/s, posRepo size: 4
2021-02-16T05:39:52.300Z,1613453992.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:53.090Z,1613453993.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:53.499Z,1613453993.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:54.321Z,1613453994.321 [Micromodem](INFO): Nmea in: $SNTTA,0.059989,0.067226,,,053954.60*55

2021-02-16T05:39:54.345Z,1613453994.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 248.359967 deg, deltaT: 4.522029 s, approachRate: 0.716490 m/s, LOS rate: -0.011872 deg/s, posRepo size: 4
2021-02-16T05:39:56.754Z,1613453996.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:39:57.557Z,1613453997.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:39:57.943Z,1613453997.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:39:58.799Z,1613453998.799 [Micromodem](INFO): Nmea in: $SNTTA,0.062357,,0.078438,,053959.07*5F

2021-02-16T05:39:58.834Z,1613453998.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 249.143799 deg, deltaT: 4.365687 s, approachRate: 0.810871 m/s, LOS rate: 0.179544 deg/s, posRepo size: 4
2021-02-16T05:40:01.201Z,1613454001.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:01.976Z,1613454001.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:02.382Z,1613454002.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:03.204Z,1613454003.204 [Micromodem](INFO): Nmea in: $SNTTA,0.064628,,,,054003.48*40

2021-02-16T05:40:03.245Z,1613454003.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 251.996797 deg, deltaT: 4.492911 s, approachRate: 0.774553 m/s, LOS rate: 0.635000 deg/s, posRepo size: 4
2021-02-16T05:40:05.684Z,1613454005.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:06.426Z,1613454006.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:06.836Z,1613454006.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:07.659Z,1613454007.659 [Micromodem](INFO): Nmea in: $SNTTA,0.066875,,,,054007.94*41

2021-02-16T05:40:07.688Z,1613454007.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 244.035556 deg, deltaT: 4.414596 s, approachRate: 0.747521 m/s, LOS rate: -1.803391 deg/s, posRepo size: 4
2021-02-16T05:40:10.106Z,1613454010.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:10.867Z,1613454010.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:11.275Z,1613454011.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:12.100Z,1613454012.100 [Micromodem](INFO): Nmea in: $SNTTA,0.069282,,,,054012.39*4F

2021-02-16T05:40:12.124Z,1613454012.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 249.606422 deg, deltaT: 4.447218 s, approachRate: 0.809494 m/s, LOS rate: 1.252663 deg/s, posRepo size: 4
2021-02-16T05:40:14.559Z,1613454014.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:15.308Z,1613454015.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:15.715Z,1613454015.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:16.564Z,1613454016.564 [Micromodem](INFO): Nmea in: $SNTTA,0.071566,,0.093467,,054016.82*5E

2021-02-16T05:40:16.589Z,1613454016.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.459999 m, bearing: 257.069551 deg, deltaT: 4.479903 s, approachRate: 0.763409 m/s, LOS rate: 1.665913 deg/s, posRepo size: 4
2021-02-16T05:40:18.973Z,1613454018.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:19.756Z,1613454019.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:20.168Z,1613454020.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:20.984Z,1613454020.984 [Micromodem](INFO): Nmea in: $SNTTA,0.073959,,,,054021.27*46

2021-02-16T05:40:21.029Z,1613454021.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 251.550321 deg, deltaT: 4.413946 s, approachRate: 0.815598 m/s, LOS rate: -1.250407 deg/s, posRepo size: 4
2021-02-16T05:40:23.409Z,1613454023.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:24.201Z,1613454024.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:24.619Z,1613454024.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:25.428Z,1613454025.428 [Micromodem](INFO): Nmea in: $SNTTA,0.076284,,,,054025.71*4F

2021-02-16T05:40:25.465Z,1613454025.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 245.631853 deg, deltaT: 4.440923 s, approachRate: 0.797132 m/s, LOS rate: -1.332711 deg/s, posRepo size: 4
2021-02-16T05:40:27.914Z,1613454027.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:28.640Z,1613454028.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:29.063Z,1613454029.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:29.875Z,1613454029.875 [Micromodem](INFO): Nmea in: $SNTTA,0.078584,,,,054030.15*40

2021-02-16T05:40:29.909Z,1613454029.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.020004 m, bearing: 260.090790 deg, deltaT: 4.430787 s, approachRate: 0.771872 m/s, LOS rate: 3.263289 deg/s, posRepo size: 4
2021-02-16T05:40:32.291Z,1613454032.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:33.102Z,1613454033.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:33.489Z,1613454033.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:34.324Z,1613454034.324 [Micromodem](INFO): Nmea in: $SNTTA,0.080970,,,,054034.61*47

2021-02-16T05:40:34.346Z,1613454034.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.620010 m, bearing: 256.235640 deg, deltaT: 4.468519 s, approachRate: 0.805637 m/s, LOS rate: -0.862735 deg/s, posRepo size: 4
2021-02-16T05:40:36.804Z,1613454036.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:37.556Z,1613454037.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:37.933Z,1613454037.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:38.799Z,1613454038.799 [Micromodem](INFO): Nmea in: $SNTTA,0.083345,,,,054039.07*45

2021-02-16T05:40:38.856Z,1613454038.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 241.767059 deg, deltaT: 4.416727 s, approachRate: 0.828667 m/s, LOS rate: -3.275860 deg/s, posRepo size: 4
2021-02-16T05:40:41.198Z,1613454041.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:41.978Z,1613454041.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:42.383Z,1613454042.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:43.290Z,1613454043.290 [Micromodem](INFO): Nmea in: $SNTTA,0.085594,,,,054043.49*4E

2021-02-16T05:40:43.310Z,1613454043.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 255.212177 deg, deltaT: 4.492788 s, approachRate: 0.707798 m/s, LOS rate: 2.992600 deg/s, posRepo size: 4
2021-02-16T05:40:45.646Z,1613454045.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:46.434Z,1613454046.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:46.822Z,1613454046.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:47.672Z,1613454047.672 [Micromodem](INFO): Nmea in: $SNTTA,0.087960,,,,054047.94*4F

2021-02-16T05:40:47.697Z,1613454047.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.059998 m, bearing: 256.687088 deg, deltaT: 4.389069 s, approachRate: 0.820221 m/s, LOS rate: 0.336042 deg/s, posRepo size: 4
2021-02-16T05:40:50.115Z,1613454050.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:50.865Z,1613454050.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:51.266Z,1613454051.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:52.085Z,1613454052.085 [Micromodem](INFO): Nmea in: $SNTTA,0.090447,,,,054052.37*4C

2021-02-16T05:40:52.921Z,1613454052.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:54.499Z,1613454054.499 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:40:55.736Z,1613454055.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:40:56.553Z,1613454056.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:40:56.930Z,1613454056.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:40:57.326Z,1613454057.326 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F62,000,004
A,186,80,80,96,FF
2021-02-16T05:40:57.748Z,1613454057.748 [Micromodem](INFO): Nmea in: $SNTTA,0.093599,,,,054058.07*44

2021-02-16T05:40:58.615Z,1613454058.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:01.380Z,1613454061.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:04.232Z,1613454064.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:05.004Z,1613454065.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:05.405Z,1613454065.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:06.236Z,1613454066.236 [Micromodem](INFO): Nmea in: $SNTTA,0.097866,,,,054106.51*44

2021-02-16T05:41:06.270Z,1613454066.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 252.474418 deg, deltaT: 18.626163 s, approachRate: 0.802098 m/s, LOS rate: -0.226169 deg/s, posRepo size: 4
2021-02-16T05:41:08.679Z,1613454068.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:09.446Z,1613454069.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:09.867Z,1613454069.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:10.665Z,1613454070.665 [Micromodem](INFO): Nmea in: $SNTTA,0.099995,,,,054110.95*48

2021-02-16T05:41:11.553Z,1613454071.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:13.084Z,1613454073.084 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:41:14.306Z,1613454074.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:15.117Z,1613454075.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:15.540Z,1613454075.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:16.344Z,1613454076.344 [Micromodem](INFO): Nmea in: $SNTTA,0.103017,,,,054116.63*46

2021-02-16T05:41:16.380Z,1613454076.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.459991 m, bearing: 254.346327 deg, deltaT: 10.098547 s, approachRate: 0.837743 m/s, LOS rate: 0.185364 deg/s, posRepo size: 4
2021-02-16T05:41:16.380Z,1613454076.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.46 m. Resuming terminal guidance.
2021-02-16T05:41:16.380Z,1613454076.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:41:18.829Z,1613454078.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:19.561Z,1613454079.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:19.953Z,1613454079.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:20.812Z,1613454080.812 [Micromodem](INFO): Nmea in: $SNTTA,0.105373,,,,054121.07*47

2021-02-16T05:41:20.877Z,1613454080.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.459991 m, bearing: 258.110445 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:41:20.878Z,1613454080.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 258.110445deg and heading rate command to 0 deg/s.
2021-02-16T05:41:23.205Z,1613454083.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:23.988Z,1613454083.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:24.393Z,1613454084.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:25.224Z,1613454085.224 [Micromodem](INFO): Nmea in: $SNTTA,0.107440,,0.126151,,054125.50*5A

2021-02-16T05:41:25.274Z,1613454085.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 263.972495 deg, deltaT: 4.467722 s, approachRate: 1.316108 m/s, LOS rate: 1.312089 deg/s, posRepo size: 2
2021-02-16T05:41:25.280Z,1613454085.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 263.972495 deg,
      approachRate: 1.316108 m/s,
      LOS rate: 1.312089 deg/s,
      cmd update: 3.936268 deg/s,
      cmd heading: 258.110445 deg,
      new cmd heading: 258.110445 deg.

2021-02-16T05:41:27.649Z,1613454087.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:28.437Z,1613454088.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:28.845Z,1613454088.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:29.664Z,1613454089.664 [Micromodem](INFO): Nmea in: $SNTTA,0.109694,,,,054129.95*44

2021-02-16T05:41:29.741Z,1613454089.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 298.994673 deg, deltaT: 4.424243 s, approachRate: 0.000000 m/s, LOS rate: 7.915971 deg/s, posRepo size: 3
2021-02-16T05:41:29.747Z,1613454089.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 298.994673 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.915971 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 275.509364 deg,
      new cmd heading: 277.318395 deg.

2021-02-16T05:41:32.102Z,1613454092.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:32.881Z,1613454092.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:33.298Z,1613454093.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:34.108Z,1613454094.108 [Micromodem](INFO): Nmea in: $SNTTA,0.112168,,,,054134.39*40

2021-02-16T05:41:34.169Z,1613454094.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 279.581171 deg, deltaT: 4.492137 s, approachRate: 0.000000 m/s, LOS rate: -4.321663 deg/s, posRepo size: 4
2021-02-16T05:41:34.175Z,1613454094.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 279.581171 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.321663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 329.221066 deg,
      new cmd heading: 334.097578 deg.

2021-02-16T05:41:36.585Z,1613454096.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:37.322Z,1613454097.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:37.738Z,1613454097.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:38.571Z,1613454098.571 [Micromodem](INFO): Nmea in: $SNTTA,0.113845,,,,054138.83*4A

2021-02-16T05:41:38.597Z,1613454098.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 293.402360 deg, deltaT: 4.398843 s, approachRate: 0.000000 m/s, LOS rate: 3.142005 deg/s, posRepo size: 4
2021-02-16T05:41:38.598Z,1613454098.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 293.402360 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.142005 deg/s,
      cmd update: 9.426016 deg/s,
      cmd heading: 276.306693 deg,
      new cmd heading: 271.152860 deg.

2021-02-16T05:41:41.015Z,1613454101.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:41.789Z,1613454101.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:42.177Z,1613454102.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:42.000Z,1613454103.000 [Micromodem](INFO): Nmea in: $SNTTA,0.115425,,,,054143.30*42

2021-02-16T05:41:43.410Z,1613454103.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 320.693391 deg, deltaT: 4.870832 s, approachRate: 2.414374 m/s, LOS rate: 5.602951 deg/s, posRepo size: 4
2021-02-16T05:41:43.412Z,1613454103.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 320.693391 deg,
      approachRate: 2.414374 m/s,
      LOS rate: 5.602951 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 322.082585 deg,
      new cmd heading: 325.726655 deg.

2021-02-16T05:41:45.881Z,1613454105.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:46.617Z,1613454106.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:47.035Z,1613454107.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:47.844Z,1613454107.844 [Micromodem](INFO): Nmea in: $SNTTA,0.117024,,,,054148.13*4F

2021-02-16T05:41:47.897Z,1613454107.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 305.304757 deg, deltaT: 4.423408 s, approachRate: 0.000000 m/s, LOS rate: -3.478909 deg/s, posRepo size: 4
2021-02-16T05:41:47.911Z,1613454107.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 305.304757 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.478909 deg/s,
      cmd update: -10.436728 deg/s,
      cmd heading: 15.398683 deg,
      new cmd heading: 20.567419 deg.

2021-02-16T05:41:50.285Z,1613454110.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:51.061Z,1613454111.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:51.474Z,1613454111.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:52.288Z,1613454112.288 [Micromodem](INFO): Nmea in: $SNTTA,0.118204,,,0.120698,054152.57*51

2021-02-16T05:41:52.331Z,1613454112.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 13.549792 deg, deltaT: 4.453824 s, approachRate: 0.000000 m/s, LOS rate: 15.322793 deg/s, posRepo size: 4
2021-02-16T05:41:52.335Z,1613454112.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.322793 deg/s. Setting heading cmd to target bearing of 13.549792deg and heading rate command to 0 deg/s.
2021-02-16T05:41:54.725Z,1613454114.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:55.504Z,1613454115.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:41:55.905Z,1613454115.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:41:56.732Z,1613454116.732 [Micromodem](INFO): Nmea in: $SNTTA,0.118865,,,,054157.02*43

2021-02-16T05:41:56.805Z,1613454116.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 29.554440 deg, deltaT: 4.413486 s, approachRate: 0.000000 m/s, LOS rate: 3.626306 deg/s, posRepo size: 4
2021-02-16T05:41:56.811Z,1613454116.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 29.554440 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.626306 deg/s,
      cmd update: 10.878917 deg/s,
      cmd heading: 13.549792 deg,
      new cmd heading: 13.549792 deg.

2021-02-16T05:41:59.188Z,1613454119.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:41:59.944Z,1613454119.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:00.359Z,1613454120.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:01.185Z,1613454121.185 [Micromodem](INFO): Nmea in: $SNTTA,0.119259,,,,054201.45*44

2021-02-16T05:42:01.206Z,1613454121.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.800003 m, bearing: 326.977685 deg, deltaT: 4.502183 s, approachRate: 1.266052 m/s, LOS rate: -13.899204 deg/s, posRepo size: 4
2021-02-16T05:42:01.207Z,1613454121.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.899204 deg/s. Setting heading cmd to target bearing of 326.977685deg and heading rate command to 0 deg/s.
2021-02-16T05:42:03.610Z,1613454123.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:04.388Z,1613454124.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:04.817Z,1613454124.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:05.616Z,1613454125.616 [Micromodem](INFO): Nmea in: $SNTTA,0.119058,,,,054205.90*4B

2021-02-16T05:42:05.641Z,1613454125.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.800003 m, bearing: 17.942250 deg, deltaT: 4.385868 s, approachRate: 0.000000 m/s, LOS rate: 11.620178 deg/s, posRepo size: 4
2021-02-16T05:42:05.642Z,1613454125.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.620178 deg/s. Setting heading cmd to target bearing of 17.942250deg and heading rate command to 0 deg/s.
2021-02-16T05:42:08.058Z,1613454128.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:08.842Z,1613454128.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:09.253Z,1613454129.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:10.068Z,1613454130.068 [Micromodem](INFO): Nmea in: $SNTTA,0.118253,,,,054210.35*48

2021-02-16T05:42:10.115Z,1613454130.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.800003 m, bearing: 87.433825 deg, deltaT: 4.473793 s, approachRate: 0.000000 m/s, LOS rate: 15.533034 deg/s, posRepo size: 4
2021-02-16T05:42:10.116Z,1613454130.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.533034 deg/s. Setting heading cmd to target bearing of 87.433825deg and heading rate command to 0 deg/s.
2021-02-16T05:42:12.505Z,1613454132.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:13.281Z,1613454133.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:13.697Z,1613454133.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:14.519Z,1613454134.519 [Micromodem](INFO): Nmea in: $SNTTA,0.117289,,,,054214.79*4C

2021-02-16T05:42:14.571Z,1613454134.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.800003 m, bearing: 24.948075 deg, deltaT: 4.455451 s, approachRate: 0.000000 m/s, LOS rate: -14.024563 deg/s, posRepo size: 4
2021-02-16T05:42:14.572Z,1613454134.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.024563 deg/s. Setting heading cmd to target bearing of 24.948075deg and heading rate command to 0 deg/s.
2021-02-16T05:42:16.952Z,1613454136.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:17.724Z,1613454137.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:18.157Z,1613454138.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:18.952Z,1613454138.952 [Micromodem](INFO): Nmea in: $SNTTA,0.116290,,,,054219.23*47

2021-02-16T05:42:18.996Z,1613454138.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.239990 m, bearing: 82.118907 deg, deltaT: 4.450287 s, approachRate: -1.024656 m/s, LOS rate: 12.846549 deg/s, posRepo size: 4
2021-02-16T05:42:18.996Z,1613454138.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.846549 deg/s. Setting heading cmd to target bearing of 82.118907deg and heading rate command to 0 deg/s.
2021-02-16T05:42:19.833Z,1613454139.833 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T05:42:21.380Z,1613454141.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:22.191Z,1613454142.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:22.579Z,1613454142.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:23.411Z,1613454143.411 [Micromodem](INFO): Nmea in: $SNTTA,0.114892,,,,054223.71*43

2021-02-16T05:42:23.893Z,1613454143.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.139999 m, bearing: 73.705227 deg, deltaT: 4.858820 s, approachRate: -0.432202 m/s, LOS rate: -1.731630 deg/s, posRepo size: 4
2021-02-16T05:42:23.899Z,1613454143.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.139999 m,
      bearing: 73.705227 deg,
      approachRate: -0.432202 m/s,
      LOS rate: -1.731630 deg/s,
      cmd update: -5.194891 deg/s,
      cmd heading: 82.118907 deg,
      new cmd heading: 82.118907 deg.

2021-02-16T05:42:25.025Z,1613454145.025 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:42:26.229Z,1613454146.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:27.016Z,1613454147.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:27.421Z,1613454147.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:28.260Z,1613454148.260 [Micromodem](INFO): Nmea in: $SNTTA,0.113106,,,,054228.52*4A

2021-02-16T05:42:28.290Z,1613454148.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.440002 m, bearing: 78.157349 deg, deltaT: 4.420593 s, approachRate: -0.610777 m/s, LOS rate: 1.007132 deg/s, posRepo size: 4
2021-02-16T05:42:28.292Z,1613454148.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 78.157349 deg,
      approachRate: -0.610777 m/s,
      LOS rate: 1.007132 deg/s,
      cmd update: 3.021397 deg/s,
      cmd heading: 59.027124 deg,
      new cmd heading: 56.922440 deg.

2021-02-16T05:42:29.870Z,1613454149.870 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:42:30.692Z,1613454150.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:31.461Z,1613454151.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:31.873Z,1613454151.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:32.696Z,1613454152.696 [Micromodem](INFO): Nmea in: $SNTTA,0.111376,,,,054232.97*4F

2021-02-16T05:42:32.721Z,1613454152.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 77.207188 deg, deltaT: 4.406040 s, approachRate: -0.653646 m/s, LOS rate: -0.215650 deg/s, posRepo size: 4
2021-02-16T05:42:32.743Z,1613454152.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.560013 m,
      bearing: 77.207188 deg,
      approachRate: -0.653646 m/s,
      LOS rate: -0.215650 deg/s,
      cmd update: -0.646949 deg/s,
      cmd heading: 72.336169 deg,
      new cmd heading: 73.638560 deg.

2021-02-16T05:42:35.107Z,1613454155.107 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:42:35.143Z,1613454155.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:35.905Z,1613454155.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:36.309Z,1613454156.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:37.132Z,1613454157.132 [Micromodem](INFO): Nmea in: $SNTTA,0.109508,,,,054237.41*47

2021-02-16T05:42:37.207Z,1613454157.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.040009 m, bearing: 78.484467 deg, deltaT: 4.512707 s, approachRate: -0.558424 m/s, LOS rate: 0.283041 deg/s, posRepo size: 4
2021-02-16T05:42:37.210Z,1613454157.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 78.484467 deg,
      approachRate: -0.558424 m/s,
      LOS rate: 0.283041 deg/s,
      cmd update: 0.849122 deg/s,
      cmd heading: 69.416017 deg,
      new cmd heading: 69.158290 deg.

2021-02-16T05:42:39.595Z,1613454159.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:40.364Z,1613454160.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:40.792Z,1613454160.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:41.592Z,1613454161.592 [Micromodem](INFO): Nmea in: $SNTTA,0.107654,,,,054241.87*48

2021-02-16T05:42:41.630Z,1613454161.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.040009 m, bearing: 78.387397 deg, deltaT: 4.395493 s, approachRate: 0.000000 m/s, LOS rate: -0.022084 deg/s, posRepo size: 4
2021-02-16T05:42:41.632Z,1613454161.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 78.387397 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.022084 deg/s,
      cmd update: -0.066252 deg/s,
      cmd heading: 73.134422 deg,
      new cmd heading: 73.513843 deg.

2021-02-16T05:42:44.027Z,1613454164.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:44.826Z,1613454164.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:44.901Z,1613454164.901 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:42:45.198Z,1613454165.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:46.036Z,1613454166.036 [Micromodem](INFO): Nmea in: $SNTTA,0.105385,,,,054246.34*4C

2021-02-16T05:42:46.060Z,1613454166.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.040009 m, bearing: 77.947676 deg, deltaT: 4.462820 s, approachRate: 0.000000 m/s, LOS rate: -0.098530 deg/s, posRepo size: 4
2021-02-16T05:42:46.062Z,1613454166.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.040009 m,
      bearing: 77.947676 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.098530 deg/s,
      cmd update: -0.295589 deg/s,
      cmd heading: 72.838875 deg,
      new cmd heading: 72.811313 deg.

2021-02-16T05:42:48.450Z,1613454168.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:49.241Z,1613454169.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:49.647Z,1613454169.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:50.127Z,1613454170.127 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T05:42:50.127Z,1613454170.127 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T05:42:50.127Z,1613454170.127 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T05:42:50.299Z,1613454170.299 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T05:42:50.468Z,1613454170.468 [Micromodem](INFO): Nmea in: $SNTTA,0.103264,,,,054250.75*46

2021-02-16T05:42:50.551Z,1613454170.551 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T05:42:50.570Z,1613454170.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.680008 m, bearing: 78.411487 deg, deltaT: 4.494522 s, approachRate: -2.082535 m/s, LOS rate: 0.103195 deg/s, posRepo size: 4
2021-02-16T05:42:50.572Z,1613454170.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.680008 m,
      bearing: 78.411487 deg,
      approachRate: -2.082535 m/s,
      LOS rate: 0.103195 deg/s,
      cmd update: 0.309584 deg/s,
      cmd heading: 71.505660 deg,
      new cmd heading: 71.382686 deg.

2021-02-16T05:42:51.395Z,1613454171.395 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T05:42:51.395Z,1613454171.395 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T05:42:52.914Z,1613454172.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:53.680Z,1613454173.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:54.085Z,1613454174.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:54.916Z,1613454174.916 [Micromodem](INFO): Nmea in: $SNTTA,0.101315,,,,054255.19*4C

2021-02-16T05:42:54.961Z,1613454174.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.739990 m, bearing: 77.538923 deg, deltaT: 4.393253 s, approachRate: -0.669212 m/s, LOS rate: -0.198614 deg/s, posRepo size: 4
2021-02-16T05:42:54.963Z,1613454174.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.739990 m,
      bearing: 77.538923 deg,
      approachRate: -0.669212 m/s,
      LOS rate: -0.198614 deg/s,
      cmd update: -0.595843 deg/s,
      cmd heading: 72.860592 deg,
      new cmd heading: 72.993781 deg.

2021-02-16T05:42:57.357Z,1613454177.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:42:58.130Z,1613454178.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:42:58.558Z,1613454178.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:42:59.356Z,1613454179.356 [Micromodem](INFO): Nmea in: $SNTTA,0.099322,,,,054259.64*4E

2021-02-16T05:42:59.392Z,1613454179.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.679993 m, bearing: 78.309758 deg, deltaT: 4.421427 s, approachRate: -0.692084 m/s, LOS rate: 0.174341 deg/s, posRepo size: 4
2021-02-16T05:42:59.394Z,1613454179.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.679993 m,
      bearing: 78.309758 deg,
      approachRate: -0.692084 m/s,
      LOS rate: 0.174341 deg/s,
      cmd update: 0.523022 deg/s,
      cmd heading: 70.217111 deg,
      new cmd heading: 69.963764 deg.

2021-02-16T05:43:01.806Z,1613454181.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:02.568Z,1613454182.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:02.975Z,1613454182.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:03.816Z,1613454183.816 [Micromodem](INFO): Nmea in: $SNTTA,0.097334,,,,054304.08*44

2021-02-16T05:43:03.849Z,1613454183.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 77.493585 deg, deltaT: 4.422520 s, approachRate: -0.664776 m/s, LOS rate: -0.184549 deg/s, posRepo size: 4
2021-02-16T05:43:03.851Z,1613454183.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.740005 m,
      bearing: 77.493585 deg,
      approachRate: -0.664776 m/s,
      LOS rate: -0.184549 deg/s,
      cmd update: -0.553648 deg/s,
      cmd heading: 72.532286 deg,
      new cmd heading: 72.770443 deg.

2021-02-16T05:43:06.218Z,1613454186.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:07.013Z,1613454187.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:07.420Z,1613454187.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:08.244Z,1613454188.244 [Micromodem](INFO): Nmea in: $SNTTA,0.095162,,,,054308.52*44

2021-02-16T05:43:08.290Z,1613454188.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 78.798916 deg, deltaT: 4.487384 s, approachRate: -0.722025 m/s, LOS rate: 0.290889 deg/s, posRepo size: 4
2021-02-16T05:43:08.296Z,1613454188.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 78.798916 deg,
      approachRate: -0.722025 m/s,
      LOS rate: 0.290889 deg/s,
      cmd update: 0.872667 deg/s,
      cmd heading: 70.047859 deg,
      new cmd heading: 69.821313 deg.

2021-02-16T05:43:10.705Z,1613454190.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:11.457Z,1613454191.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:11.861Z,1613454191.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:12.692Z,1613454192.692 [Micromodem](INFO): Nmea in: $SNTTA,0.093081,,,,054312.97*4C

2021-02-16T05:43:12.744Z,1613454192.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.320007 m, bearing: 78.741146 deg, deltaT: 4.399224 s, approachRate: -0.722853 m/s, LOS rate: -0.013132 deg/s, posRepo size: 4
2021-02-16T05:43:12.746Z,1613454192.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.320007 m,
      bearing: 78.741146 deg,
      approachRate: -0.722853 m/s,
      LOS rate: -0.013132 deg/s,
      cmd update: -0.039395 deg/s,
      cmd heading: 73.886811 deg,
      new cmd heading: 74.291382 deg.

2021-02-16T05:43:15.106Z,1613454195.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:15.911Z,1613454195.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:16.306Z,1613454196.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:17.136Z,1613454197.136 [Micromodem](INFO): Nmea in: $SNTTA,0.091037,,,,054317.42*4E

2021-02-16T05:43:17.189Z,1613454197.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.319992 m, bearing: 79.722747 deg, deltaT: 4.494549 s, approachRate: -0.667479 m/s, LOS rate: 0.218398 deg/s, posRepo size: 4
2021-02-16T05:43:17.195Z,1613454197.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.319992 m,
      bearing: 79.722747 deg,
      approachRate: -0.667479 m/s,
      LOS rate: 0.218398 deg/s,
      cmd update: 0.655194 deg/s,
      cmd heading: 73.709749 deg,
      new cmd heading: 73.693433 deg.

2021-02-16T05:43:19.648Z,1613454199.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:20.350Z,1613454200.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:20.767Z,1613454200.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:21.592Z,1613454201.592 [Micromodem](INFO): Nmea in: $SNTTA,0.088899,,,,054321.86*47

2021-02-16T05:43:21.655Z,1613454201.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.139999 m, bearing: 80.083244 deg, deltaT: 4.406319 s, approachRate: -0.721689 m/s, LOS rate: 0.081814 deg/s, posRepo size: 4
2021-02-16T05:43:21.661Z,1613454201.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.139999 m,
      bearing: 80.083244 deg,
      approachRate: -0.721689 m/s,
      LOS rate: 0.081814 deg/s,
      cmd update: 0.245441 deg/s,
      cmd heading: 76.596749 deg,
      new cmd heading: 76.904684 deg.

2021-02-16T05:43:24.012Z,1613454204.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:24.810Z,1613454204.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:25.205Z,1613454205.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:26.036Z,1613454206.036 [Micromodem](INFO): Nmea in: $SNTTA,0.087144,,0.108907,,054326.32*50

2021-02-16T05:43:26.058Z,1613454206.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.500000 m, bearing: 80.138200 deg, deltaT: 4.465374 s, approachRate: -0.591216 m/s, LOS rate: 0.012307 deg/s, posRepo size: 4
2021-02-16T05:43:26.060Z,1613454206.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 80.138200 deg,
      approachRate: -0.591216 m/s,
      LOS rate: 0.012307 deg/s,
      cmd update: 0.036921 deg/s,
      cmd heading: 77.692772 deg,
      new cmd heading: 77.793811 deg.

2021-02-16T05:43:28.460Z,1613454208.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:29.240Z,1613454209.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:29.643Z,1613454209.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:30.468Z,1613454210.468 [Micromodem](INFO): Nmea in: $SNTTA,0.085165,,,,054330.75*4C

2021-02-16T05:43:30.544Z,1613454210.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 80.360857 deg, deltaT: 4.434374 s, approachRate: -0.649473 m/s, LOS rate: 0.050212 deg/s, posRepo size: 4
2021-02-16T05:43:30.559Z,1613454210.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.619995 m,
      bearing: 80.360857 deg,
      approachRate: -0.649473 m/s,
      LOS rate: 0.050212 deg/s,
      cmd update: 0.150635 deg/s,
      cmd heading: 77.855837 deg,
      new cmd heading: 77.873040 deg.

2021-02-16T05:43:32.922Z,1613454212.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:33.678Z,1613454213.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:34.087Z,1613454214.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:34.912Z,1613454214.912 [Micromodem](INFO): Nmea in: $SNTTA,0.083010,,,,054335.19*46

2021-02-16T05:43:34.965Z,1613454214.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.320000 m, bearing: 80.286729 deg, deltaT: 4.421360 s, approachRate: -0.746376 m/s, LOS rate: -0.016766 deg/s, posRepo size: 4
2021-02-16T05:43:34.967Z,1613454214.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.320000 m,
      bearing: 80.286729 deg,
      approachRate: -0.746376 m/s,
      LOS rate: -0.016766 deg/s,
      cmd update: -0.050298 deg/s,
      cmd heading: 78.524534 deg,
      new cmd heading: 78.594219 deg.

2021-02-16T05:43:37.327Z,1613454217.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:38.131Z,1613454218.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:38.573Z,1613454218.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:39.408Z,1613454219.408 [Micromodem](INFO): Nmea in: $SNTTA,0.080823,,,,054339.64*4B

2021-02-16T05:43:39.610Z,1613454219.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 79.404460 deg, deltaT: 4.445382 s, approachRate: -0.742344 m/s, LOS rate: -0.198469 deg/s, posRepo size: 4
2021-02-16T05:43:39.628Z,1613454219.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.019997 m,
      bearing: 79.404460 deg,
      approachRate: -0.742344 m/s,
      LOS rate: -0.198469 deg/s,
      cmd update: -0.595406 deg/s,
      cmd heading: 78.300939 deg,
      new cmd heading: 78.267654 deg.

2021-02-16T05:43:41.452Z,1613454221.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:42.220Z,1613454222.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:42.627Z,1613454222.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:43.448Z,1613454223.448 [Micromodem](INFO): Nmea in: $SNTTA,0.078700,,,,054343.73*49

2021-02-16T05:43:43.486Z,1613454223.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.840004 m, bearing: 79.583609 deg, deltaT: 4.114473 s, approachRate: -0.772880 m/s, LOS rate: 0.043541 deg/s, posRepo size: 4
2021-02-16T05:43:43.488Z,1613454223.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 79.583609 deg,
      approachRate: -0.772880 m/s,
      LOS rate: 0.043541 deg/s,
      cmd update: 0.130624 deg/s,
      cmd heading: 75.853567 deg,
      new cmd heading: 75.599149 deg.

2021-02-16T05:43:45.912Z,1613454225.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:46.666Z,1613454226.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:47.075Z,1613454227.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:47.892Z,1613454227.892 [Micromodem](INFO): Nmea in: $SNTTA,0.076551,,,,054348.17*48

2021-02-16T05:43:47.941Z,1613454227.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 79.776254 deg, deltaT: 4.456993 s, approachRate: -0.726947 m/s, LOS rate: 0.043223 deg/s, posRepo size: 4
2021-02-16T05:43:47.943Z,1613454227.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 79.776254 deg,
      approachRate: -0.726947 m/s,
      LOS rate: 0.043223 deg/s,
      cmd update: 0.129670 deg/s,
      cmd heading: 76.434891 deg,
      new cmd heading: 76.491413 deg.

2021-02-16T05:43:50.338Z,1613454230.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:51.108Z,1613454231.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:51.565Z,1613454231.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:52.336Z,1613454232.336 [Micromodem](INFO): Nmea in: $SNTTA,0.074507,,,,054352.62*40

2021-02-16T05:43:52.378Z,1613454232.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.540001 m, bearing: 80.370542 deg, deltaT: 4.410911 s, approachRate: -0.693735 m/s, LOS rate: 0.134731 deg/s, posRepo size: 4
2021-02-16T05:43:52.380Z,1613454232.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.540001 m,
      bearing: 80.370542 deg,
      approachRate: -0.693735 m/s,
      LOS rate: 0.134731 deg/s,
      cmd update: 0.404194 deg/s,
      cmd heading: 77.008233 deg,
      new cmd heading: 77.066307 deg.

2021-02-16T05:43:54.808Z,1613454234.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:43:55.579Z,1613454235.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:43:55.959Z,1613454235.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:43:56.796Z,1613454236.796 [Micromodem](INFO): Nmea in: $SNTTA,0.072540,,,,054357.09*4D

2021-02-16T05:43:56.863Z,1613454236.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.600006 m, bearing: 79.800208 deg, deltaT: 4.468326 s, approachRate: -0.657963 m/s, LOS rate: -0.127639 deg/s, posRepo size: 4
2021-02-16T05:43:56.865Z,1613454236.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.600006 m,
      bearing: 79.800208 deg,
      approachRate: -0.657963 m/s,
      LOS rate: -0.127639 deg/s,
      cmd update: -0.382918 deg/s,
      cmd heading: 78.812564 deg,
      new cmd heading: 79.002023 deg.

2021-02-16T05:43:59.211Z,1613454239.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:00.001Z,1613454240.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:00.411Z,1613454240.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:01.235Z,1613454241.235 [Micromodem](INFO): Nmea in: $SNTTA,0.070438,,,,054401.51*48

2021-02-16T05:44:01.254Z,1613454241.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 79.661391 deg, deltaT: 4.459912 s, approachRate: -0.699566 m/s, LOS rate: -0.031125 deg/s, posRepo size: 4
2021-02-16T05:44:01.256Z,1613454241.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.480003 m,
      bearing: 79.661391 deg,
      approachRate: -0.699566 m/s,
      LOS rate: -0.031125 deg/s,
      cmd update: -0.093376 deg/s,
      cmd heading: 77.103147 deg,
      new cmd heading: 76.951605 deg.

2021-02-16T05:44:03.668Z,1613454243.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:04.440Z,1613454244.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:04.870Z,1613454244.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:05.676Z,1613454245.676 [Micromodem](INFO): Nmea in: $SNTTA,0.068421,,,,054405.95*45

2021-02-16T05:44:05.730Z,1613454245.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 79.887518 deg, deltaT: 4.410127 s, approachRate: -0.707463 m/s, LOS rate: 0.051275 deg/s, posRepo size: 4
2021-02-16T05:44:05.732Z,1613454245.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 79.887518 deg,
      approachRate: -0.707463 m/s,
      LOS rate: 0.051275 deg/s,
      cmd update: 0.153824 deg/s,
      cmd heading: 76.691396 deg,
      new cmd heading: 76.648226 deg.

2021-02-16T05:44:08.091Z,1613454248.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:08.898Z,1613454248.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:09.033Z,1613454249.033 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T05:44:09.033Z,1613454249.033 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T05:44:09.033Z,1613454249.033 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T05:44:09.033Z,1613454249.033 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:44:09.033Z,1613454249.033 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T05:44:09.396Z,1613454249.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:09.479Z,1613454249.479 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60220000005D000004003E0000000000000000151D80030C5669BF92F9E593EAF72C00130A10EA004326A594DC48F803D4DAD5CC526270AF236C1C6FF2
2021-02-16T05:44:09.480Z,1613454249.480 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 5278D9CA59F0FA2DF3A6584AF9F1748F00
2021-02-16T05:44:09.480Z,1613454249.480 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T05:44:09.790Z,1613454249.790 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T05:44:10.208Z,1613454250.208 [Micromodem](INFO): Nmea in: $CADRQ,054410,1,10,0,64,1*72

2021-02-16T05:44:10.209Z,1613454250.209 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60220000005D000004003E0000000000000000151D80030C5669BF92F9E593EAF72C00130A10EA004326A594DC48F803D4DAD5CC526270AF236C1C6FF2*4B

2021-02-16T05:44:10.334Z,1613454250.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 80.545983 deg, deltaT: 4.558951 s, approachRate: -0.644886 m/s, LOS rate: 0.144433 deg/s, posRepo size: 4
2021-02-16T05:44:10.337Z,1613454250.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 80.545983 deg,
      approachRate: -0.644886 m/s,
      LOS rate: 0.144433 deg/s,
      cmd update: 0.433300 deg/s,
      cmd heading: 77.392306 deg,
      new cmd heading: 77.470658 deg.

2021-02-16T05:44:10.608Z,1613454250.608 [Micromodem](INFO): Nmea in: $SNTTA,0.066365,,,,054410.41*41

2021-02-16T05:44:10.609Z,1613454250.609 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.066365,,,,054410.41*41

2021-02-16T05:44:11.823Z,1613454251.823 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T05:44:12.224Z,1613454252.224 [Micromodem](INFO): Nmea in: $CADRQ,054411,1,10,0,64,2*70

2021-02-16T05:44:12.224Z,1613454252.224 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,5278D9CA59F0FA2DF3A6584AF9F1748F00*3A

2021-02-16T05:44:12.626Z,1613454252.626 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T05:44:12.690Z,1613454252.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:13.031Z,1613454253.031 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T05:44:13.429Z,1613454253.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:15.450Z,1613454255.450 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T05:44:15.450Z,1613454255.450 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T05:44:15.587Z,1613454255.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:15.848Z,1613454255.848 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,054413.718824,3,0,200,4000,14500,1,1,10,1,2,2,3,81*49

2021-02-16T05:44:15.849Z,1613454255.849 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,054413.718824,3,0,200,4000,14500,1,1,10,1,2,2,3,81*49

2021-02-16T05:44:18.273Z,1613454258.273 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T05:44:18.290Z,1613454258.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:18.684Z,1613454258.684 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T05:44:18.685Z,1613454258.685 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0034.lzma.parts
2021-02-16T05:44:18.685Z,1613454258.685 [Micromodem](INFO): Packets left to send: 0
2021-02-16T05:44:19.102Z,1613454259.102 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216054418.442108,06,7403,38,0270,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,19.6,5.00,13,-2.00,-01,1.71,28,14500,4000*56

2021-02-16T05:44:19.103Z,1613454259.103 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216054418.442108,06,7403,38,0270,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,19.6,5.00,13,-2.00,-01,1.71,28,14500,4000*56

2021-02-16T05:44:19.319Z,1613454259.319 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T05:44:19.319Z,1613454259.319 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T05:44:19.319Z,1613454259.319 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T05:44:19.319Z,1613454259.319 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T05:44:19.320Z,1613454259.320 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T05:44:21.124Z,1613454261.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:23.974Z,1613454263.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:24.753Z,1613454264.753 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:24.798Z,1613454264.798 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:44:25.167Z,1613454265.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:25.988Z,1613454265.988 [Micromodem](INFO): Nmea in: $SNTTA,0.059008,,0.066814,,054426.26*52

2021-02-16T05:44:26.034Z,1613454266.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 80.315730 deg, deltaT: 15.827540 s, approachRate: -0.701309 m/s, LOS rate: -0.014548 deg/s, posRepo size: 4
2021-02-16T05:44:26.040Z,1613454266.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.320000 m,
      bearing: 80.315730 deg,
      approachRate: -0.701309 m/s,
      LOS rate: -0.014548 deg/s,
      cmd update: -0.043643 deg/s,
      cmd heading: 84.249679 deg,
      new cmd heading: 84.415951 deg.

2021-02-16T05:44:28.395Z,1613454268.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:29.183Z,1613454269.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:29.611Z,1613454269.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:30.416Z,1613454270.416 [Micromodem](INFO): Nmea in: $SNTTA,0.056881,,,,054430.69*4B

2021-02-16T05:44:30.453Z,1613454270.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 79.665578 deg, deltaT: 4.369047 s, approachRate: -0.727848 m/s, LOS rate: -0.148809 deg/s, posRepo size: 4
2021-02-16T05:44:30.455Z,1613454270.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.139999 m,
      bearing: 79.665578 deg,
      approachRate: -0.727848 m/s,
      LOS rate: -0.148809 deg/s,
      cmd update: -0.446426 deg/s,
      cmd heading: 84.059508 deg,
      new cmd heading: 84.040073 deg.

2021-02-16T05:44:32.850Z,1613454272.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:33.641Z,1613454273.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:34.030Z,1613454274.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:34.900Z,1613454274.900 [Micromodem](INFO): Nmea in: $SNTTA,0.054869,,,,054435.15*41

2021-02-16T05:44:34.936Z,1613454274.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 78.010814 deg, deltaT: 4.425249 s, approachRate: -0.691486 m/s, LOS rate: -0.373937 deg/s, posRepo size: 4
2021-02-16T05:44:34.938Z,1613454274.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.080002 m,
      bearing: 78.010814 deg,
      approachRate: -0.691486 m/s,
      LOS rate: -0.373937 deg/s,
      cmd update: -1.121810 deg/s,
      cmd heading: 82.076787 deg,
      new cmd heading: 81.859598 deg.

2021-02-16T05:44:36.904Z,1613454276.904 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:44:37.275Z,1613454277.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:38.094Z,1613454278.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:38.479Z,1613454278.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:39.312Z,1613454279.312 [Micromodem](INFO): Nmea in: $SNTTA,0.052873,,,,054439.60*42

2021-02-16T05:44:39.348Z,1613454279.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.080002 m, bearing: 78.908561 deg, deltaT: 4.493448 s, approachRate: -0.667639 m/s, LOS rate: 0.199790 deg/s, posRepo size: 4
2021-02-16T05:44:39.350Z,1613454279.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.080002 m,
      bearing: 78.908561 deg,
      approachRate: -0.667639 m/s,
      LOS rate: 0.199790 deg/s,
      cmd update: 0.599370 deg/s,
      cmd heading: 77.040373 deg,
      new cmd heading: 76.581757 deg.

2021-02-16T05:44:41.753Z,1613454281.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:42.532Z,1613454282.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:42.918Z,1613454282.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:43.756Z,1613454283.756 [Micromodem](INFO): Nmea in: $SNTTA,0.050748,,,,054444.05*4E

2021-02-16T05:44:43.820Z,1613454283.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 79.487467 deg, deltaT: 4.411244 s, approachRate: -0.720885 m/s, LOS rate: 0.131234 deg/s, posRepo size: 4
2021-02-16T05:44:43.821Z,1613454283.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 79.487467 deg,
      approachRate: -0.720885 m/s,
      LOS rate: 0.131234 deg/s,
      cmd update: 0.393703 deg/s,
      cmd heading: 79.685065 deg,
      new cmd heading: 79.965675 deg.

2021-02-16T05:44:45.773Z,1613454285.773 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:44:46.175Z,1613454286.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:46.956Z,1613454286.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:47.362Z,1613454287.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:48.188Z,1613454288.188 [Micromodem](INFO): Nmea in: $SNTTA,0.048712,,,,054448.47*42

2021-02-16T05:44:48.225Z,1613454288.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 79.617275 deg, deltaT: 4.463371 s, approachRate: -0.685580 m/s, LOS rate: 0.029083 deg/s, posRepo size: 4
2021-02-16T05:44:48.227Z,1613454288.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.840004 m,
      bearing: 79.617275 deg,
      approachRate: -0.685580 m/s,
      LOS rate: 0.029083 deg/s,
      cmd update: 0.087249 deg/s,
      cmd heading: 81.443411 deg,
      new cmd heading: 81.603996 deg.

2021-02-16T05:44:50.634Z,1613454290.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:51.406Z,1613454291.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:51.829Z,1613454291.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:52.632Z,1613454292.632 [Micromodem](INFO): Nmea in: $SNTTA,0.046505,,,,054452.91*48

2021-02-16T05:44:52.634Z,1613454292.634 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T05:44:52.719Z,1613454292.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.600006 m, bearing: 78.936250 deg, deltaT: 4.404720 s, approachRate: -0.735574 m/s, LOS rate: -0.154612 deg/s, posRepo size: 4
2021-02-16T05:44:52.721Z,1613454292.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.600006 m,
      bearing: 78.936250 deg,
      approachRate: -0.735574 m/s,
      LOS rate: -0.154612 deg/s,
      cmd update: -0.463837 deg/s,
      cmd heading: 81.827719 deg,
      new cmd heading: 81.871030 deg.

2021-02-16T05:44:55.055Z,1613454295.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:44:55.852Z,1613454295.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:44:56.250Z,1613454296.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:44:57.076Z,1613454297.076 [Micromodem](INFO): Nmea in: $SNTTA,0.044476,,,,054457.36*47

2021-02-16T05:44:57.130Z,1613454297.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 79.187314 deg, deltaT: 4.491044 s, approachRate: -0.694717 m/s, LOS rate: 0.055903 deg/s, posRepo size: 4
2021-02-16T05:44:57.141Z,1613454297.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.480003 m,
      bearing: 79.187314 deg,
      approachRate: -0.694717 m/s,
      LOS rate: 0.055903 deg/s,
      cmd update: 0.167710 deg/s,
      cmd heading: 79.746485 deg,
      new cmd heading: 79.551310 deg.

2021-02-16T05:44:59.502Z,1613454299.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:00.311Z,1613454300.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:00.698Z,1613454300.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:01.560Z,1613454301.560 [Micromodem](INFO): Nmea in: $SNTTA,0.042470,,0.080315,,054501.82*5B

2021-02-16T05:45:01.632Z,1613454301.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 79.798828 deg, deltaT: 4.407705 s, approachRate: -0.680628 m/s, LOS rate: 0.138737 deg/s, posRepo size: 4
2021-02-16T05:45:01.634Z,1613454301.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.479996 m,
      bearing: 79.798828 deg,
      approachRate: -0.680628 m/s,
      LOS rate: 0.138737 deg/s,
      cmd update: 0.416212 deg/s,
      cmd heading: 80.486351 deg,
      new cmd heading: 80.571329 deg.

2021-02-16T05:45:03.939Z,1613454303.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:04.738Z,1613454304.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:05.138Z,1613454305.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:05.964Z,1613454305.964 [Micromodem](INFO): Nmea in: $SNTTA,0.040330,,,,054506.25*41

2021-02-16T05:45:06.006Z,1613454306.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.300003 m, bearing: 78.593218 deg, deltaT: 4.540149 s, approachRate: -0.700416 m/s, LOS rate: -0.265544 deg/s, posRepo size: 4
2021-02-16T05:45:06.012Z,1613454306.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.300003 m,
      bearing: 78.593218 deg,
      approachRate: -0.700416 m/s,
      LOS rate: -0.265544 deg/s,
      cmd update: -0.796633 deg/s,
      cmd heading: 82.374414 deg,
      new cmd heading: 82.519844 deg.

2021-02-16T05:45:08.389Z,1613454308.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:09.181Z,1613454309.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:09.598Z,1613454309.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:10.424Z,1613454310.424 [Micromodem](INFO): Nmea in: $SNTTA,0.038170,,,,054510.69*47

2021-02-16T05:45:10.446Z,1613454310.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 78.416780 deg, deltaT: 4.337260 s, approachRate: -0.747015 m/s, LOS rate: -0.040679 deg/s, posRepo size: 4
2021-02-16T05:45:10.448Z,1613454310.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.060005 m,
      bearing: 78.416780 deg,
      approachRate: -0.747015 m/s,
      LOS rate: -0.040679 deg/s,
      cmd update: -0.122038 deg/s,
      cmd heading: 78.916051 deg,
      new cmd heading: 78.559131 deg.

2021-02-16T05:45:12.866Z,1613454312.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:13.622Z,1613454313.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:14.025Z,1613454314.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:14.848Z,1613454314.848 [Micromodem](INFO): Nmea in: $SNTTA,0.036226,,,,054515.13*41

2021-02-16T05:45:14.898Z,1613454314.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 78.017166 deg, deltaT: 4.478218 s, approachRate: -0.643115 m/s, LOS rate: -0.089235 deg/s, posRepo size: 4
2021-02-16T05:45:14.929Z,1613454314.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.179996 m,
      bearing: 78.017166 deg,
      approachRate: -0.643115 m/s,
      LOS rate: -0.089235 deg/s,
      cmd update: -0.267705 deg/s,
      cmd heading: 78.370573 deg,
      new cmd heading: 78.318049 deg.

2021-02-16T05:45:17.299Z,1613454317.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:18.064Z,1613454318.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:18.470Z,1613454318.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:19.296Z,1613454319.296 [Micromodem](INFO): Nmea in: $SNTTA,0.034302,,,,054519.57*48

2021-02-16T05:45:19.333Z,1613454319.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 78.818518 deg, deltaT: 4.452452 s, approachRate: -0.646835 m/s, LOS rate: 0.179980 deg/s, posRepo size: 4
2021-02-16T05:45:19.335Z,1613454319.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 78.818518 deg,
      approachRate: -0.646835 m/s,
      LOS rate: 0.179980 deg/s,
      cmd update: 0.539940 deg/s,
      cmd heading: 77.176341 deg,
      new cmd heading: 77.068140 deg.

2021-02-16T05:45:21.751Z,1613454321.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:22.532Z,1613454322.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:22.919Z,1613454322.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:23.752Z,1613454323.752 [Micromodem](INFO): Nmea in: $SNTTA,0.032253,,,,054524.05*42

2021-02-16T05:45:23.804Z,1613454323.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 78.895536 deg, deltaT: 4.406910 s, approachRate: -0.707979 m/s, LOS rate: 0.017476 deg/s, posRepo size: 4
2021-02-16T05:45:23.806Z,1613454323.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 78.895536 deg,
      approachRate: -0.707979 m/s,
      LOS rate: 0.017476 deg/s,
      cmd update: 0.052429 deg/s,
      cmd heading: 79.555805 deg,
      new cmd heading: 79.808536 deg.

2021-02-16T05:45:26.169Z,1613454326.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:26.952Z,1613454326.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:27.363Z,1613454327.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:28.192Z,1613454328.192 [Micromodem](INFO): Nmea in: $SNTTA,0.030198,,,0.036654,054528.46*53

2021-02-16T05:45:28.248Z,1613454328.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 77.919249 deg, deltaT: 4.487883 s, approachRate: -0.681835 m/s, LOS rate: -0.217538 deg/s, posRepo size: 4
2021-02-16T05:45:28.250Z,1613454328.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.119999 m,
      bearing: 77.919249 deg,
      approachRate: -0.681835 m/s,
      LOS rate: -0.217538 deg/s,
      cmd update: -0.652615 deg/s,
      cmd heading: 79.790891 deg,
      new cmd heading: 79.813036 deg.

2021-02-16T05:45:30.628Z,1613454330.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:31.396Z,1613454331.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:31.819Z,1613454331.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:32.632Z,1613454332.632 [Micromodem](INFO): Nmea in: $SNTTA,0.028210,,,,054532.90*45

2021-02-16T05:45:32.700Z,1613454332.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 77.583900 deg, deltaT: 4.403692 s, approachRate: -0.681247 m/s, LOS rate: -0.076152 deg/s, posRepo size: 4
2021-02-16T05:45:32.702Z,1613454332.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 77.583900 deg,
      approachRate: -0.681247 m/s,
      LOS rate: -0.076152 deg/s,
      cmd update: -0.228455 deg/s,
      cmd heading: 76.914340 deg,
      new cmd heading: 76.608895 deg.

2021-02-16T05:45:35.052Z,1613454335.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:35.844Z,1613454335.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:36.258Z,1613454336.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:37.075Z,1613454337.075 [Micromodem](INFO): Nmea in: $SNTTA,0.026238,,,,054537.35*4B

2021-02-16T05:45:37.094Z,1613454337.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 77.798423 deg, deltaT: 4.466190 s, approachRate: -0.671713 m/s, LOS rate: 0.048033 deg/s, posRepo size: 4
2021-02-16T05:45:37.095Z,1613454337.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.12 m.
2021-02-16T05:45:37.097Z,1613454337.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.119999 m,
      bearing: 77.798423 deg,
      approachRate: -0.671713 m/s,
      LOS rate: 0.048033 deg/s,
      cmd update: 0.144098 deg/s,
      cmd heading: 75.894041 deg,
      new cmd heading: 75.802439 deg.

2021-02-16T05:45:37.481Z,1613454337.481 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:45:39.592Z,1613454339.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:40.288Z,1613454340.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:40.696Z,1613454340.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:41.532Z,1613454341.532 [Micromodem](INFO): Nmea in: $SNTTA,0.024163,,,,054541.80*4B

2021-02-16T05:45:41.623Z,1613454341.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.060001 m, bearing: 78.346368 deg, deltaT: 4.437162 s, approachRate: -0.689629 m/s, LOS rate: 0.123490 deg/s, posRepo size: 4
2021-02-16T05:45:41.624Z,1613454341.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.06 m.
2021-02-16T05:45:41.624Z,1613454341.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.06 m.
2021-02-16T05:45:41.624Z,1613454341.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:45:41.630Z,1613454341.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 78.346368 deg,
      approachRate: -0.689629 m/s,
      LOS rate: 0.123490 deg/s,
      cmd update: 0.370470 deg/s,
      cmd heading: 76.533406 deg,
      new cmd heading: 76.604159 deg.

2021-02-16T05:45:43.956Z,1613454343.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:44.732Z,1613454344.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:45.138Z,1613454345.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:45.980Z,1613454345.980 [Micromodem](INFO): Nmea in: $SNTTA,0.022170,,,,054546.24*46

2021-02-16T05:45:46.014Z,1613454346.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.060001 m, bearing: 75.761968 deg, deltaT: 4.484460 s, approachRate: -0.668977 m/s, LOS rate: -0.576301 deg/s, posRepo size: 4
2021-02-16T05:45:46.016Z,1613454346.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.060001 m,
      bearing: 75.761968 deg,
      approachRate: -0.668977 m/s,
      LOS rate: -0.576301 deg/s,
      cmd update: -1.728904 deg/s,
      cmd heading: 78.194839 deg,
      new cmd heading: 78.342471 deg.

2021-02-16T05:45:48.388Z,1613454348.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:49.180Z,1613454349.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:49.595Z,1613454349.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:50.419Z,1613454350.419 [Micromodem](INFO): Nmea in: $SNTTA,0.020107,,,,054550.69*4A

2021-02-16T05:45:50.438Z,1613454350.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 77.477786 deg, deltaT: 4.407705 s, approachRate: -0.694239 m/s, LOS rate: 0.389277 deg/s, posRepo size: 4
2021-02-16T05:45:50.440Z,1613454350.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 77.477786 deg,
      approachRate: -0.694239 m/s,
      LOS rate: 0.389277 deg/s,
      cmd update: 1.167831 deg/s,
      cmd heading: 70.574326 deg,
      new cmd heading: 69.856449 deg.

2021-02-16T05:45:52.852Z,1613454352.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:53.621Z,1613454353.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:54.028Z,1613454354.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:54.856Z,1613454354.856 [Micromodem](INFO): Nmea in: $SNTTA,0.018257,,,,054555.13*4F

2021-02-16T05:45:54.892Z,1613454354.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 77.779606 deg, deltaT: 4.427293 s, approachRate: -0.623407 m/s, LOS rate: 0.068172 deg/s, posRepo size: 4
2021-02-16T05:45:54.893Z,1613454354.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 77.779606 deg,
      approachRate: -0.623407 m/s,
      LOS rate: 0.068172 deg/s,
      cmd update: 0.204517 deg/s,
      cmd heading: 75.744669 deg,
      new cmd heading: 76.259851 deg.

2021-02-16T05:45:57.293Z,1613454357.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:45:58.066Z,1613454358.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:45:58.470Z,1613454358.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:45:59.296Z,1613454359.296 [Micromodem](INFO): Nmea in: $SNTTA,0.016272,,,,054559.57*4A

2021-02-16T05:45:59.318Z,1613454359.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 76.295166 deg, deltaT: 4.472249 s, approachRate: -0.684219 m/s, LOS rate: -0.331922 deg/s, posRepo size: 4
2021-02-16T05:45:59.348Z,1613454359.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 76.295166 deg,
      approachRate: -0.684219 m/s,
      LOS rate: -0.331922 deg/s,
      cmd update: -0.995767 deg/s,
      cmd heading: 76.656054 deg,
      new cmd heading: 76.740240 deg.

2021-02-16T05:46:01.760Z,1613454361.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:02.526Z,1613454362.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:02.919Z,1613454362.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:02.958Z,1613454362.958 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:46:03.752Z,1613454363.752 [Micromodem](INFO): Nmea in: $SNTTA,0.014145,,,,054604.04*42

2021-02-16T05:46:03.819Z,1613454363.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 75.358952 deg, deltaT: 4.409437 s, approachRate: -0.721181 m/s, LOS rate: -0.212321 deg/s, posRepo size: 4
2021-02-16T05:46:03.821Z,1613454363.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.000000 m,
      bearing: 75.358952 deg,
      approachRate: -0.721181 m/s,
      LOS rate: -0.212321 deg/s,
      cmd update: -0.636962 deg/s,
      cmd heading: 72.249336 deg,
      new cmd heading: 71.768299 deg.

2021-02-16T05:46:06.177Z,1613454366.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:06.969Z,1613454366.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:07.379Z,1613454367.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:08.196Z,1613454368.196 [Micromodem](INFO): Nmea in: $SNTTA,0.012172,,,,054608.48*44

2021-02-16T05:46:08.218Z,1613454368.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 76.721336 deg, deltaT: 4.473873 s, approachRate: -0.657149 m/s, LOS rate: 0.304520 deg/s, posRepo size: 4
2021-02-16T05:46:08.220Z,1613454368.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 76.721336 deg,
      approachRate: -0.657149 m/s,
      LOS rate: 0.304520 deg/s,
      cmd update: 0.913560 deg/s,
      cmd heading: 69.399651 deg,
      new cmd heading: 69.136897 deg.

2021-02-16T05:46:10.642Z,1613454370.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:11.409Z,1613454371.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:11.802Z,1613454371.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:12.648Z,1613454372.648 [Micromodem](INFO): Nmea in: $SNTTA,0.010136,,,,054612.92*4A

2021-02-16T05:46:12.683Z,1613454372.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 78.061542 deg, deltaT: 4.428588 s, approachRate: -0.690965 m/s, LOS rate: 0.302626 deg/s, posRepo size: 4
2021-02-16T05:46:12.685Z,1613454372.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 78.061542 deg,
      approachRate: -0.690965 m/s,
      LOS rate: 0.302626 deg/s,
      cmd update: 0.907878 deg/s,
      cmd heading: 73.430797 deg,
      new cmd heading: 73.854854 deg.

2021-02-16T05:46:15.059Z,1613454375.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:15.840Z,1613454375.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:15.895Z,1613454375.895 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:46:16.246Z,1613454376.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:17.073Z,1613454377.073 [Micromodem](INFO): Nmea in: $SNTTA,0.008168,0.017243,,0.068242,054617.35*49

2021-02-16T05:46:17.109Z,1613454377.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 77.991758 deg, deltaT: 4.471005 s, approachRate: -0.670990 m/s, LOS rate: -0.015608 deg/s, posRepo size: 4
2021-02-16T05:46:17.111Z,1613454377.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 77.991758 deg,
      approachRate: -0.670990 m/s,
      LOS rate: -0.015608 deg/s,
      cmd update: -0.046824 deg/s,
      cmd heading: 77.504429 deg,
      new cmd heading: 77.871171 deg.

2021-02-16T05:46:19.503Z,1613454379.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:20.289Z,1613454380.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:20.708Z,1613454380.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:21.540Z,1613454381.540 [Micromodem](INFO): Nmea in: $SNTTA,0.006308,,0.059977,0.031221,054621.80*47

2021-02-16T05:46:21.614Z,1613454381.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 75.007915 deg, deltaT: 4.418517 s, approachRate: -0.651802 m/s, LOS rate: -0.675304 deg/s, posRepo size: 4
2021-02-16T05:46:21.616Z,1613454381.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 75.007915 deg,
      approachRate: -0.651802 m/s,
      LOS rate: -0.675304 deg/s,
      cmd update: -2.025913 deg/s,
      cmd heading: 77.297531 deg,
      new cmd heading: 77.274565 deg.

2021-02-16T05:46:23.958Z,1613454383.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:24.742Z,1613454384.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:25.152Z,1613454385.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:25.964Z,1613454385.964 [Micromodem](INFO): Nmea in: $SNTTA,0.010184,,,,054626.25*48

2021-02-16T05:46:26.001Z,1613454386.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 74.231814 deg, deltaT: 4.505741 s, approachRate: -0.585919 m/s, LOS rate: -0.172247 deg/s, posRepo size: 4
2021-02-16T05:46:26.003Z,1613454386.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 74.231814 deg,
      approachRate: -0.585919 m/s,
      LOS rate: -0.172247 deg/s,
      cmd update: -0.516741 deg/s,
      cmd heading: 68.177431 deg,
      new cmd heading: 67.416164 deg.

2021-02-16T05:46:26.784Z,1613454386.784 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:46:28.385Z,1613454388.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:28.802Z,1613454388.802 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:46:29.185Z,1613454389.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:29.597Z,1613454389.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:30.413Z,1613454390.413 [Micromodem](INFO): Nmea in: $SNTTA,0.002920,,0.005788,,054630.69*5E

2021-02-16T05:46:30.459Z,1613454390.459 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T05:46:30.459Z,1613454390.459 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:46:30.459Z,1613454390.459 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T05:46:30.459Z,1613454390.459 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:46:30.460Z,1613454390.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T05:46:30.460Z,1613454390.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 
2021-02-16T05:46:30.460Z,1613454390.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T05:46:30.460Z,1613454390.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T05:46:30.460Z,1613454390.460 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T05:46:30.462Z,1613454390.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 74.104738 deg, deltaT: 4.405780 s, approachRate: -0.531120 m/s, LOS rate: -0.028843 deg/s, posRepo size: 4
2021-02-16T05:46:30.464Z,1613454390.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 74.104738 deg,
      approachRate: -0.531120 m/s,
      LOS rate: -0.028843 deg/s,
      cmd update: -0.086529 deg/s,
      cmd heading: 65.898726 deg,
      new cmd heading: 65.678030 deg.

2021-02-16T05:46:30.856Z,1613454390.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T054630: (41.552319, -70.708603)
2021-02-16T05:46:30.856Z,1613454390.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T05:46:30.856Z,1613454390.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T05:46:30.856Z,1613454390.856 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:46:30.857Z,1613454390.857 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T05:46:30.857Z,1613454390.857 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:46:30.857Z,1613454390.857 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T05:46:30.857Z,1613454390.857 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T05:46:30.857Z,1613454390.857 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:46:32.865Z,1613454392.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:33.633Z,1613454393.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:34.021Z,1613454394.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:34.874Z,1613454394.874 [Micromodem](INFO): Nmea in: $SNTTA,0.002354,,,,054635.14*44

2021-02-16T05:46:34.912Z,1613454394.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.419998 m, bearing: 71.568614 deg, deltaT: 4.402994 s, approachRate: -0.163526 m/s, LOS rate: -0.576000 deg/s, posRepo size: 4
2021-02-16T05:46:34.914Z,1613454394.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.419998 m,
      bearing: 71.568614 deg,
      approachRate: -0.163526 m/s,
      LOS rate: -0.576000 deg/s,
      cmd update: -1.728000 deg/s,
      cmd heading: 65.517763 deg,
      new cmd heading: 65.476723 deg.

2021-02-16T05:46:37.293Z,1613454397.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:38.060Z,1613454398.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:38.471Z,1613454398.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:39.292Z,1613454399.292 [Micromodem](INFO): Nmea in: $SNTTA,0.002981,,0.004156,,054639.57*55

2021-02-16T05:46:39.319Z,1613454399.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 65.729308 deg, deltaT: 4.509298 s, approachRate: 0.266117 m/s, LOS rate: -1.294948 deg/s, posRepo size: 4
2021-02-16T05:46:39.321Z,1613454399.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 65.729308 deg,
      approachRate: 0.266117 m/s,
      LOS rate: -1.294948 deg/s,
      cmd update: -3.884844 deg/s,
      cmd heading: 57.725274 deg,
      new cmd heading: 57.083914 deg.

2021-02-16T05:46:41.750Z,1613454401.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:42.546Z,1613454402.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:42.927Z,1613454402.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:43.756Z,1613454403.756 [Micromodem](INFO): Nmea in: $SNTTA,0.005253,,,,054644.06*40

2021-02-16T05:46:43.817Z,1613454403.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.859998 m, bearing: 78.867020 deg, deltaT: 4.405543 s, approachRate: 0.735437 m/s, LOS rate: 2.982087 deg/s, posRepo size: 4
2021-02-16T05:46:43.819Z,1613454403.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 78.867020 deg,
      approachRate: 0.735437 m/s,
      LOS rate: 2.982087 deg/s,
      cmd update: 8.946260 deg/s,
      cmd heading: 40.625924 deg,
      new cmd heading: 38.809538 deg.

2021-02-16T05:46:46.181Z,1613454406.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:46.948Z,1613454406.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:47.365Z,1613454407.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:48.184Z,1613454408.184 [Micromodem](INFO): Nmea in: $SNTTA,0.006271,,,,054648.46*4B

2021-02-16T05:46:48.209Z,1613454408.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 65.004386 deg, deltaT: 4.448231 s, approachRate: 0.350701 m/s, LOS rate: -3.116438 deg/s, posRepo size: 4
2021-02-16T05:46:48.211Z,1613454408.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 65.004386 deg,
      approachRate: 0.350701 m/s,
      LOS rate: -3.116438 deg/s,
      cmd update: -9.349312 deg/s,
      cmd heading: 80.456733 deg,
      new cmd heading: 84.104543 deg.

2021-02-16T05:46:50.653Z,1613454410.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:51.392Z,1613454411.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:51.805Z,1613454411.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:52.620Z,1613454412.620 [Micromodem](INFO): Nmea in: $SNTTA,0.007001,,,,054652.90*4F

2021-02-16T05:46:52.711Z,1613454412.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 58.606691 deg, deltaT: 4.429115 s, approachRate: 0.270934 m/s, LOS rate: -1.444463 deg/s, posRepo size: 4
2021-02-16T05:46:52.715Z,1613454412.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.62 m. Rolling out.
2021-02-16T05:46:52.715Z,1613454412.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T05:46:55.064Z,1613454415.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:46:55.844Z,1613454415.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:46:56.248Z,1613454416.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:46:57.068Z,1613454417.068 [Micromodem](INFO): Nmea in: $SNTTA,0.010576,,,,054657.35*46

2021-02-16T05:46:57.102Z,1613454417.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 72.452447 deg, deltaT: 4.467056 s, approachRate: 0.899921 m/s, LOS rate: 3.099526 deg/s, posRepo size: 4
2021-02-16T05:46:59.489Z,1613454419.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:00.280Z,1613454420.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:00.697Z,1613454420.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:01.508Z,1613454421.508 [Micromodem](INFO): Nmea in: $SNTTA,0.010843,,,,054701.79*47

2021-02-16T05:47:01.574Z,1613454421.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 39.617269 deg, deltaT: 4.440998 s, approachRate: 0.391805 m/s, LOS rate: -7.393648 deg/s, posRepo size: 4
2021-02-16T05:47:03.952Z,1613454423.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:04.730Z,1613454424.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:05.130Z,1613454425.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:05.956Z,1613454425.956 [Micromodem](INFO): Nmea in: $SNTTA,0.012653,,,,054706.24*45

2021-02-16T05:47:05.978Z,1613454425.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.079998 m, bearing: 355.499107 deg, deltaT: 4.499765 s, approachRate: 0.600031 m/s, LOS rate: -9.804551 deg/s, posRepo size: 4
2021-02-16T05:47:08.401Z,1613454428.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:09.181Z,1613454429.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:09.591Z,1613454429.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:10.404Z,1613454430.404 [Micromodem](INFO): Nmea in: $SNTTA,0.014364,,,,054710.69*4C

2021-02-16T05:47:10.438Z,1613454430.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 18.662944 deg, deltaT: 4.401669 s, approachRate: 0.776978 m/s, LOS rate: 5.262513 deg/s, posRepo size: 4
2021-02-16T05:47:12.012Z,1613454432.012 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:47:12.885Z,1613454432.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:13.612Z,1613454433.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:14.018Z,1613454434.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:14.865Z,1613454434.865 [Micromodem](INFO): Nmea in: $SNTTA,0.016262,,0.023030,,054715.12*5C

2021-02-16T05:47:14.873Z,1613454434.873 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:47:14.896Z,1613454434.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.199999 m, bearing: 4.695039 deg, deltaT: 4.394476 s, approachRate: 0.614408 m/s, LOS rate: -3.178514 deg/s, posRepo size: 4
2021-02-16T05:47:17.271Z,1613454437.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:18.061Z,1613454438.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:18.464Z,1613454438.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:19.296Z,1613454439.296 [Micromodem](INFO): Nmea in: $SNTTA,0.018030,,0.044024,,054719.57*5E

2021-02-16T05:47:19.318Z,1613454439.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 24.232307 deg, deltaT: 4.468317 s, approachRate: 0.631110 m/s, LOS rate: 4.372400 deg/s, posRepo size: 4
2021-02-16T05:47:21.751Z,1613454441.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:22.512Z,1613454442.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:22.915Z,1613454442.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:22.933Z,1613454442.933 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:47:23.748Z,1613454443.748 [Micromodem](INFO): Nmea in: $SNTTA,0.020005,,,,054724.02*45

2021-02-16T05:47:23.808Z,1613454443.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.180000 m, bearing: 46.436206 deg, deltaT: 4.424499 s, approachRate: 0.488191 m/s, LOS rate: 5.018398 deg/s, posRepo size: 4
2021-02-16T05:47:26.170Z,1613454446.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:26.948Z,1613454446.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:27.354Z,1613454447.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:28.188Z,1613454448.188 [Micromodem](INFO): Nmea in: $SNTTA,0.021759,,,,054728.46*46

2021-02-16T05:47:28.210Z,1613454448.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 12.614824 deg, deltaT: 4.467992 s, approachRate: 0.725157 m/s, LOS rate: -7.569705 deg/s, posRepo size: 4
2021-02-16T05:47:30.642Z,1613454450.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:31.392Z,1613454451.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:31.815Z,1613454451.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:32.624Z,1613454452.624 [Micromodem](INFO): Nmea in: $SNTTA,0.023480,,0.033243,,054732.90*58

2021-02-16T05:47:32.683Z,1613454452.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 47.643783 deg, deltaT: 4.424155 s, approachRate: 0.433982 m/s, LOS rate: 7.917661 deg/s, posRepo size: 4
2021-02-16T05:47:35.093Z,1613454455.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:35.837Z,1613454455.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:36.255Z,1613454456.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:37.064Z,1613454457.064 [Micromodem](INFO): Nmea in: $SNTTA,0.025341,,,,054737.35*45

2021-02-16T05:47:37.106Z,1613454457.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 13.180344 deg, deltaT: 4.490115 s, approachRate: 0.734948 m/s, LOS rate: -7.675403 deg/s, posRepo size: 4
2021-02-16T05:47:39.514Z,1613454459.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:40.285Z,1613454460.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:40.691Z,1613454460.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:41.516Z,1613454461.516 [Micromodem](INFO): Nmea in: $SNTTA,0.027061,,,,054741.79*4F

2021-02-16T05:47:41.591Z,1613454461.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.739998 m, bearing: 52.668320 deg, deltaT: 4.392485 s, approachRate: 0.478089 m/s, LOS rate: 8.989894 deg/s, posRepo size: 4
2021-02-16T05:47:43.620Z,1613454463.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:44.325Z,1613454464.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:44.725Z,1613454464.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:45.596Z,1613454465.596 [Micromodem](INFO): Nmea in: $SNTTA,0.028849,,,,054745.83*43

2021-02-16T05:47:45.629Z,1613454465.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.439999 m, bearing: 11.626479 deg, deltaT: 4.084129 s, approachRate: 0.661096 m/s, LOS rate: -10.049105 deg/s, posRepo size: 4
2021-02-16T05:47:47.992Z,1613454467.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:48.766Z,1613454468.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:49.189Z,1613454469.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:50.000Z,1613454470.000 [Micromodem](INFO): Nmea in: $SNTTA,0.030784,,,,054750.28*41

2021-02-16T05:47:50.056Z,1613454470.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 17.359988 deg, deltaT: 4.448947 s, approachRate: 0.647344 m/s, LOS rate: 1.288734 deg/s, posRepo size: 4
2021-02-16T05:47:52.428Z,1613454472.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:53.210Z,1613454473.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:53.622Z,1613454473.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:54.436Z,1613454474.436 [Micromodem](INFO): Nmea in: $SNTTA,0.033124,,,,054754.72*45

2021-02-16T05:47:54.477Z,1613454474.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.800003 m, bearing: 9.937308 deg, deltaT: 4.415579 s, approachRate: 0.788119 m/s, LOS rate: -1.681021 deg/s, posRepo size: 4
2021-02-16T05:47:56.896Z,1613454476.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:47:57.653Z,1613454477.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:47:58.063Z,1613454478.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:47:58.880Z,1613454478.880 [Micromodem](INFO): Nmea in: $SNTTA,0.034745,,,,054759.16*4C

2021-02-16T05:47:58.929Z,1613454478.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 7.770395 deg, deltaT: 4.456240 s, approachRate: 0.552035 m/s, LOS rate: -0.486265 deg/s, posRepo size: 4
2021-02-16T05:48:00.908Z,1613454480.908 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:48:01.310Z,1613454481.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:02.096Z,1613454482.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:02.528Z,1613454482.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:03.332Z,1613454483.332 [Micromodem](INFO): Nmea in: $SNTTA,0.036490,,,,054803.60*44

2021-02-16T05:48:03.354Z,1613454483.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 17.667220 deg, deltaT: 4.416629 s, approachRate: 0.597741 m/s, LOS rate: 2.240810 deg/s, posRepo size: 4
2021-02-16T05:48:05.793Z,1613454485.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:06.578Z,1613454486.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:06.951Z,1613454486.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:07.801Z,1613454487.801 [Micromodem](INFO): Nmea in: $SNTTA,0.038360,,0.053434,,054808.09*5D

2021-02-16T05:48:07.843Z,1613454487.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.719997 m, bearing: 22.133802 deg, deltaT: 4.444068 s, approachRate: 0.634553 m/s, LOS rate: 1.005066 deg/s, posRepo size: 4
2021-02-16T05:48:10.196Z,1613454490.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:10.984Z,1613454490.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:11.395Z,1613454491.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:12.219Z,1613454492.219 [Micromodem](INFO): Nmea in: $SNTTA,0.040180,,,,054812.49*4A

2021-02-16T05:48:12.238Z,1613454492.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 23.123904 deg, deltaT: 4.474959 s, approachRate: 0.603358 m/s, LOS rate: 0.221254 deg/s, posRepo size: 4
2021-02-16T05:48:14.654Z,1613454494.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:15.428Z,1613454495.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:15.851Z,1613454495.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:16.659Z,1613454496.659 [Micromodem](INFO): Nmea in: $SNTTA,0.042188,,,,054816.94*44

2021-02-16T05:48:16.698Z,1613454496.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 27.715948 deg, deltaT: 4.510914 s, approachRate: 0.665055 m/s, LOS rate: 1.017985 deg/s, posRepo size: 4
2021-02-16T05:48:19.088Z,1613454499.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:19.889Z,1613454499.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:20.277Z,1613454500.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:21.113Z,1613454501.113 [Micromodem](INFO): Nmea in: $SNTTA,0.044082,,0.069607,,054821.40*54

2021-02-16T05:48:21.175Z,1613454501.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 10.147941 deg, deltaT: 4.404166 s, approachRate: 0.653926 m/s, LOS rate: -3.988952 deg/s, posRepo size: 4
2021-02-16T05:48:23.602Z,1613454503.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:24.317Z,1613454504.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:24.734Z,1613454504.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:25.588Z,1613454505.588 [Micromodem](INFO): Nmea in: $SNTTA,0.046137,,,,054825.83*42

2021-02-16T05:48:25.637Z,1613454505.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 33.670182 deg, deltaT: 4.420663 s, approachRate: 0.692203 m/s, LOS rate: 5.320976 deg/s, posRepo size: 4
2021-02-16T05:48:27.987Z,1613454507.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:28.765Z,1613454508.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:29.176Z,1613454509.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:30.000Z,1613454510.000 [Micromodem](INFO): Nmea in: $SNTTA,0.048152,,,,054830.27*45

2021-02-16T05:48:30.041Z,1613454510.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 22.608309 deg, deltaT: 4.454254 s, approachRate: 0.686983 m/s, LOS rate: -2.483440 deg/s, posRepo size: 4
2021-02-16T05:48:32.411Z,1613454512.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:33.210Z,1613454513.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:33.610Z,1613454513.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:34.441Z,1613454514.441 [Micromodem](INFO): Nmea in: $SNTTA,0.050013,,,,054834.72*4C

2021-02-16T05:48:34.485Z,1613454514.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 25.444574 deg, deltaT: 4.393157 s, approachRate: 0.628252 m/s, LOS rate: 0.645610 deg/s, posRepo size: 4
2021-02-16T05:48:36.894Z,1613454516.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:37.656Z,1613454517.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:38.054Z,1613454518.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:38.900Z,1613454518.900 [Micromodem](INFO): Nmea in: $SNTTA,0.051991,,,,054839.16*41

2021-02-16T05:48:38.944Z,1613454518.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 24.775910 deg, deltaT: 4.450017 s, approachRate: 0.674153 m/s, LOS rate: -0.150261 deg/s, posRepo size: 4
2021-02-16T05:48:41.298Z,1613454521.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:42.097Z,1613454522.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:42.502Z,1613454522.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:43.324Z,1613454523.324 [Micromodem](INFO): Nmea in: $SNTTA,0.053968,,,,054843.61*48

2021-02-16T05:48:43.339Z,1613454523.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.300003 m, bearing: 29.007895 deg, deltaT: 4.503676 s, approachRate: 0.692768 m/s, LOS rate: 0.939674 deg/s, posRepo size: 4
2021-02-16T05:48:45.764Z,1613454525.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:46.573Z,1613454526.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:46.942Z,1613454526.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:47.784Z,1613454527.784 [Micromodem](INFO): Nmea in: $SNTTA,0.055933,,,,054848.08*44

2021-02-16T05:48:47.838Z,1613454527.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.060005 m, bearing: 23.143118 deg, deltaT: 4.379817 s, approachRate: 0.630164 m/s, LOS rate: -1.339046 deg/s, posRepo size: 4
2021-02-16T05:48:50.212Z,1613454530.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:50.981Z,1613454530.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:51.414Z,1613454531.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:52.208Z,1613454532.208 [Micromodem](INFO): Nmea in: $SNTTA,0.057977,,,,054852.49*48

2021-02-16T05:48:52.250Z,1613454532.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 9.533139 deg, deltaT: 4.479918 s, approachRate: 0.683048 m/s, LOS rate: -3.037997 deg/s, posRepo size: 4
2021-02-16T05:48:54.695Z,1613454534.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:55.441Z,1613454535.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:48:55.830Z,1613454535.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:48:56.666Z,1613454536.666 [Micromodem](INFO): Nmea in: $SNTTA,0.059931,,,,054856.95*41

2021-02-16T05:48:56.744Z,1613454536.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 20.130552 deg, deltaT: 4.428135 s, approachRate: 0.663937 m/s, LOS rate: 2.393200 deg/s, posRepo size: 4
2021-02-16T05:48:59.109Z,1613454539.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:48:59.881Z,1613454539.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:00.283Z,1613454540.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:01.116Z,1613454541.116 [Micromodem](INFO): Nmea in: $SNTTA,0.061923,,,,054901.39*4C

2021-02-16T05:49:01.161Z,1613454541.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 35.114672 deg, deltaT: 4.467359 s, approachRate: 0.684968 m/s, LOS rate: 3.354134 deg/s, posRepo size: 4
2021-02-16T05:49:03.579Z,1613454543.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:04.313Z,1613454544.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:04.718Z,1613454544.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:05.588Z,1613454545.588 [Micromodem](INFO): Nmea in: $SNTTA,0.063870,,,,054905.82*4D

2021-02-16T05:49:05.637Z,1613454545.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 15.728058 deg, deltaT: 4.440891 s, approachRate: 0.635008 m/s, LOS rate: -4.365479 deg/s, posRepo size: 4
2021-02-16T05:49:07.972Z,1613454547.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:08.758Z,1613454548.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:09.172Z,1613454549.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:09.984Z,1613454549.984 [Micromodem](INFO): Nmea in: $SNTTA,0.065775,,,,054910.27*4A

2021-02-16T05:49:10.018Z,1613454550.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.880005 m, bearing: 17.757522 deg, deltaT: 4.439574 s, approachRate: 0.662226 m/s, LOS rate: 0.457130 deg/s, posRepo size: 4
2021-02-16T05:49:12.413Z,1613454552.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:13.200Z,1613454553.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:13.615Z,1613454553.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:14.428Z,1613454554.428 [Micromodem](INFO): Nmea in: $SNTTA,0.067689,,,,054914.71*4D

2021-02-16T05:49:14.462Z,1613454554.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.699997 m, bearing: 24.525068 deg, deltaT: 4.418219 s, approachRate: 0.638264 m/s, LOS rate: 1.531736 deg/s, posRepo size: 4
2021-02-16T05:49:16.913Z,1613454556.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:17.663Z,1613454557.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:18.055Z,1613454558.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:18.888Z,1613454558.888 [Micromodem](INFO): Nmea in: $SNTTA,0.069565,,,,054919.17*4F

2021-02-16T05:49:18.957Z,1613454558.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.519997 m, bearing: 8.737465 deg, deltaT: 4.438330 s, approachRate: 0.635374 m/s, LOS rate: -3.557104 deg/s, posRepo size: 4
2021-02-16T05:49:21.300Z,1613454561.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:22.088Z,1613454562.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:22.502Z,1613454562.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:23.320Z,1613454563.320 [Micromodem](INFO): Nmea in: $SNTTA,0.071435,,,,054923.60*4B

2021-02-16T05:49:23.342Z,1613454563.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 26.662453 deg, deltaT: 4.487721 s, approachRate: 0.628383 m/s, LOS rate: 3.994230 deg/s, posRepo size: 4
2021-02-16T05:49:25.780Z,1613454565.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:26.583Z,1613454566.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:26.938Z,1613454566.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:27.782Z,1613454567.782 [Micromodem](INFO): Nmea in: $SNTTA,0.073336,,,,054928.09*49

2021-02-16T05:49:27.844Z,1613454567.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 26.201630 deg, deltaT: 4.415130 s, approachRate: 0.638713 m/s, LOS rate: -0.104374 deg/s, posRepo size: 4
2021-02-16T05:49:30.204Z,1613454570.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:30.993Z,1613454570.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:31.382Z,1613454571.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:32.225Z,1613454572.225 [Micromodem](INFO): Nmea in: $SNTTA,0.075326,,0.093026,,054932.50*59

2021-02-16T05:49:32.246Z,1613454572.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.160004 m, bearing: 28.593448 deg, deltaT: 4.449850 s, approachRate: 0.674180 m/s, LOS rate: 0.537505 deg/s, posRepo size: 4
2021-02-16T05:49:33.846Z,1613454573.846 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:49:34.667Z,1613454574.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:35.422Z,1613454575.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:35.826Z,1613454575.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:36.652Z,1613454576.652 [Micromodem](INFO): Nmea in: $SNTTA,0.077223,,,,054936.93*44

2021-02-16T05:49:36.710Z,1613454576.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 24.916955 deg, deltaT: 4.425189 s, approachRate: 0.637261 m/s, LOS rate: -0.830810 deg/s, posRepo size: 4
2021-02-16T05:49:39.072Z,1613454579.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:39.866Z,1613454579.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:40.295Z,1613454580.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:41.103Z,1613454581.103 [Micromodem](INFO): Nmea in: $SNTTA,0.079198,,,,054941.37*47

2021-02-16T05:49:41.122Z,1613454581.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.100006 m, bearing: 17.507187 deg, deltaT: 4.473669 s, approachRate: 0.697415 m/s, LOS rate: -1.656307 deg/s, posRepo size: 4
2021-02-16T05:49:43.577Z,1613454583.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:44.308Z,1613454584.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:44.719Z,1613454584.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:45.576Z,1613454585.576 [Micromodem](INFO): Nmea in: $SNTTA,0.081159,,,,054945.82*47

2021-02-16T05:49:45.628Z,1613454585.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 36.017240 deg, deltaT: 4.473419 s, approachRate: 0.630389 m/s, LOS rate: 4.137787 deg/s, posRepo size: 4
2021-02-16T05:49:47.968Z,1613454587.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:48.754Z,1613454588.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:49.168Z,1613454589.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:49.987Z,1613454589.987 [Micromodem](INFO): Nmea in: $SNTTA,0.083092,,,,054950.26*49

2021-02-16T05:49:50.006Z,1613454590.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 17.550680 deg, deltaT: 4.439657 s, approachRate: 0.635184 m/s, LOS rate: -4.159457 deg/s, posRepo size: 4
2021-02-16T05:49:52.405Z,1613454592.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:53.196Z,1613454593.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:53.602Z,1613454593.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:54.424Z,1613454594.424 [Micromodem](INFO): Nmea in: $SNTTA,0.085035,,,,054954.70*45

2021-02-16T05:49:54.466Z,1613454594.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.740005 m, bearing: 21.623957 deg, deltaT: 4.381220 s, approachRate: 0.684743 m/s, LOS rate: 0.929713 deg/s, posRepo size: 4
2021-02-16T05:49:56.889Z,1613454596.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:49:57.645Z,1613454597.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:49:58.046Z,1613454598.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:49:58.888Z,1613454598.888 [Micromodem](INFO): Nmea in: $SNTTA,0.086972,,,,054959.15*42

2021-02-16T05:49:58.905Z,1613454598.905 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:49:58.927Z,1613454598.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.559998 m, bearing: 10.412356 deg, deltaT: 4.450485 s, approachRate: 0.633637 m/s, LOS rate: -2.519186 deg/s, posRepo size: 4
2021-02-16T05:50:01.296Z,1613454601.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:02.084Z,1613454602.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:02.500Z,1613454602.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:03.316Z,1613454603.316 [Micromodem](INFO): Nmea in: $SNTTA,0.089024,,,,055003.59*48

2021-02-16T05:50:03.370Z,1613454603.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 30.782980 deg, deltaT: 4.489910 s, approachRate: 0.721619 m/s, LOS rate: 4.536978 deg/s, posRepo size: 4
2021-02-16T05:50:05.772Z,1613454605.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:06.582Z,1613454606.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:06.951Z,1613454606.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:07.778Z,1613454607.778 [Micromodem](INFO): Nmea in: $SNTTA,0.090913,,,,055008.09*43

2021-02-16T05:50:07.830Z,1613454607.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 26.842172 deg, deltaT: 4.428258 s, approachRate: 0.000000 m/s, LOS rate: -0.889923 deg/s, posRepo size: 4
2021-02-16T05:50:10.224Z,1613454610.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:10.980Z,1613454610.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:11.381Z,1613454611.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:12.208Z,1613454612.208 [Micromodem](INFO): Nmea in: $SNTTA,0.092761,,,,055012.49*45

2021-02-16T05:50:12.253Z,1613454612.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 24.985023 deg, deltaT: 4.455299 s, approachRate: 1.212039 m/s, LOS rate: -0.416840 deg/s, posRepo size: 4
2021-02-16T05:50:14.632Z,1613454614.632 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T05:50:14.657Z,1613454614.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:15.426Z,1613454615.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:15.822Z,1613454615.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:16.668Z,1613454616.668 [Micromodem](INFO): Nmea in: $SNTTA,0.094771,,,,055016.93*41

2021-02-16T05:50:16.675Z,1613454616.675 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:50:16.721Z,1613454616.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 24.744782 deg, deltaT: 4.432322 s, approachRate: 0.703919 m/s, LOS rate: -0.054202 deg/s, posRepo size: 4
2021-02-16T05:50:19.069Z,1613454619.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:19.860Z,1613454619.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:20.266Z,1613454620.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:21.088Z,1613454621.088 [Micromodem](INFO): Nmea in: $SNTTA,0.096788,,,,055021.37*4F

2021-02-16T05:50:21.110Z,1613454621.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 30.880409 deg, deltaT: 4.432447 s, approachRate: 0.690366 m/s, LOS rate: 1.384253 deg/s, posRepo size: 4
2021-02-16T05:50:23.573Z,1613454623.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:24.304Z,1613454624.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:24.718Z,1613454624.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:25.572Z,1613454625.572 [Micromodem](INFO): Nmea in: $SNTTA,0.098938,,,,055025.81*4D

2021-02-16T05:50:25.620Z,1613454625.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 19.236386 deg, deltaT: 4.427881 s, approachRate: 0.718175 m/s, LOS rate: -2.629705 deg/s, posRepo size: 4
2021-02-16T05:50:27.640Z,1613454627.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:28.346Z,1613454628.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:28.763Z,1613454628.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:29.600Z,1613454629.600 [Micromodem](INFO): Nmea in: $SNTTA,0.100603,,,,055029.86*41

2021-02-16T05:50:29.649Z,1613454629.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 30.377369 deg, deltaT: 4.046744 s, approachRate: 0.622720 m/s, LOS rate: 2.753073 deg/s, posRepo size: 4
2021-02-16T05:50:29.649Z,1613454629.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.08 m. Resuming terminal guidance.
2021-02-16T05:50:29.649Z,1613454629.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:50:32.011Z,1613454632.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:32.810Z,1613454632.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:33.204Z,1613454633.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:34.031Z,1613454634.031 [Micromodem](INFO): Nmea in: $SNTTA,0.102480,,,,055034.32*49

2021-02-16T05:50:34.050Z,1613454634.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 20.453801 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:50:34.051Z,1613454634.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 20.453801deg and heading rate command to 0 deg/s.
2021-02-16T05:50:36.444Z,1613454636.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:37.232Z,1613454637.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:37.643Z,1613454637.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:38.469Z,1613454638.469 [Micromodem](INFO): Nmea in: $SNTTA,0.104250,,,,055038.74*4A

2021-02-16T05:50:38.589Z,1613454638.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 19.196339 deg, deltaT: 4.407114 s, approachRate: 0.599035 m/s, LOS rate: -0.285325 deg/s, posRepo size: 2
2021-02-16T05:50:38.590Z,1613454638.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.540009 m,
      bearing: 19.196339 deg,
      approachRate: 0.599035 m/s,
      LOS rate: -0.285325 deg/s,
      cmd update: -0.855976 deg/s,
      cmd heading: 20.453801 deg,
      new cmd heading: 20.453801 deg.

2021-02-16T05:50:40.923Z,1613454640.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:41.687Z,1613454641.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:42.087Z,1613454642.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:42.912Z,1613454642.912 [Micromodem](INFO): Nmea in: $SNTTA,0.106019,,,,055043.19*40

2021-02-16T05:50:42.975Z,1613454642.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 12.905107 deg, deltaT: 4.485168 s, approachRate: 0.601983 m/s, LOS rate: -1.402675 deg/s, posRepo size: 3
2021-02-16T05:50:42.977Z,1613454642.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.240005 m,
      bearing: 12.905107 deg,
      approachRate: 0.601983 m/s,
      LOS rate: -1.402675 deg/s,
      cmd update: -4.208024 deg/s,
      cmd heading: 16.629200 deg,
      new cmd heading: 16.270343 deg.

2021-02-16T05:50:45.357Z,1613454645.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:46.125Z,1613454646.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:46.593Z,1613454646.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:47.341Z,1613454647.341 [Micromodem](INFO): Nmea in: $SNTTA,0.107628,,,,055047.63*4C

2021-02-16T05:50:48.177Z,1613454648.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:49.754Z,1613454649.754 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:50:50.991Z,1613454650.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:51.781Z,1613454651.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:52.185Z,1613454652.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:53.012Z,1613454653.012 [Micromodem](INFO): Nmea in: $SNTTA,0.109481,0.130537,,,055053.29*55

2021-02-16T05:50:53.049Z,1613454653.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.000015 m, bearing: 343.761481 deg, deltaT: 10.080515 s, approachRate: 0.571400 m/s, LOS rate: -2.891084 deg/s, posRepo size: 4
2021-02-16T05:50:53.051Z,1613454653.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.000015 m,
      bearing: 343.761481 deg,
      approachRate: 0.571400 m/s,
      LOS rate: -2.891084 deg/s,
      cmd update: -8.673252 deg/s,
      cmd heading: 334.119506 deg,
      new cmd heading: 332.472085 deg.

2021-02-16T05:50:55.455Z,1613454655.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:50:56.222Z,1613454656.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:50:56.626Z,1613454656.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:50:57.452Z,1613454657.452 [Micromodem](INFO): Nmea in: $SNTTA,0.110441,,,,055057.73*47

2021-02-16T05:50:57.490Z,1613454657.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 314.080293 deg, deltaT: 4.400091 s, approachRate: 0.163630 m/s, LOS rate: -6.745585 deg/s, posRepo size: 4
2021-02-16T05:50:57.494Z,1613454657.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 314.080293 deg,
      approachRate: 0.163630 m/s,
      LOS rate: -6.745585 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.961327 deg,
      new cmd heading: 292.209183 deg.

2021-02-16T05:50:59.906Z,1613454659.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:00.669Z,1613454660.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:01.069Z,1613454661.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:01.896Z,1613454661.896 [Micromodem](INFO): Nmea in: $SNTTA,0.110993,,,,055102.18*49

2021-02-16T05:51:01.958Z,1613454661.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 342.812249 deg, deltaT: 4.469301 s, approachRate: 0.000000 m/s, LOS rate: 6.428736 deg/s, posRepo size: 4
2021-02-16T05:51:01.960Z,1613454661.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 342.812249 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.428736 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.684901 deg,
      new cmd heading: 237.155937 deg.

2021-02-16T05:51:04.324Z,1613454664.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:05.125Z,1613454665.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:05.532Z,1613454665.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:06.348Z,1613454666.348 [Micromodem](INFO): Nmea in: $SNTTA,0.111020,,,,055106.63*41

2021-02-16T05:51:06.370Z,1613454666.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 273.231281 deg, deltaT: 4.442340 s, approachRate: 0.189092 m/s, LOS rate: -15.663135 deg/s, posRepo size: 4
2021-02-16T05:51:06.371Z,1613454666.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.663135 deg/s. Setting heading cmd to target bearing of 273.231281deg and heading rate command to 0 deg/s.
2021-02-16T05:51:08.806Z,1613454668.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:09.594Z,1613454669.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:09.958Z,1613454669.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:10.786Z,1613454670.786 [Micromodem](INFO): Nmea in: $SNTTA,0.110551,,,,055111.11*40

2021-02-16T05:51:11.210Z,1613454671.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.779999 m, bearing: 281.701590 deg, deltaT: 4.895293 s, approachRate: -0.159340 m/s, LOS rate: 1.730297 deg/s, posRepo size: 4
2021-02-16T05:51:11.213Z,1613454671.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.779999 m,
      bearing: 281.701590 deg,
      approachRate: -0.159340 m/s,
      LOS rate: 1.730297 deg/s,
      cmd update: 5.190890 deg/s,
      cmd heading: 273.231281 deg,
      new cmd heading: 273.231281 deg.

2021-02-16T05:51:13.656Z,1613454673.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:14.413Z,1613454674.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:14.815Z,1613454674.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:15.640Z,1613454675.640 [Micromodem](INFO): Nmea in: $SNTTA,0.109257,,,,055115.92*46

2021-02-16T05:51:15.711Z,1613454675.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.740005 m, bearing: 206.780180 deg, deltaT: 4.410715 s, approachRate: -0.462509 m/s, LOS rate: -16.986228 deg/s, posRepo size: 4
2021-02-16T05:51:15.712Z,1613454675.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.986228 deg/s. Setting heading cmd to target bearing of 206.780180deg and heading rate command to 0 deg/s.
2021-02-16T05:51:18.052Z,1613454678.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:18.845Z,1613454678.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:19.255Z,1613454679.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:20.076Z,1613454680.076 [Micromodem](INFO): Nmea in: $SNTTA,0.108289,,,,055120.35*4F

2021-02-16T05:51:20.098Z,1613454680.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.360001 m, bearing: 244.230844 deg, deltaT: 4.448589 s, approachRate: -0.310212 m/s, LOS rate: 8.418549 deg/s, posRepo size: 4
2021-02-16T05:51:20.100Z,1613454680.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.360001 m,
      bearing: 244.230844 deg,
      approachRate: -0.310212 m/s,
      LOS rate: 8.418549 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.780180 deg,
      new cmd heading: 206.780180 deg.

2021-02-16T05:51:22.501Z,1613454682.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:23.288Z,1613454683.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:23.710Z,1613454683.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:24.525Z,1613454684.525 [Micromodem](INFO): Nmea in: $SNTTA,0.107277,,,,055124.80*4B

2021-02-16T05:51:24.610Z,1613454684.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 285.523245 deg, deltaT: 4.410398 s, approachRate: -0.326498 m/s, LOS rate: 9.362511 deg/s, posRepo size: 4
2021-02-16T05:51:24.612Z,1613454684.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 285.523245 deg,
      approachRate: -0.326498 m/s,
      LOS rate: 9.362511 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.744497 deg,
      new cmd heading: 265.459497 deg.

2021-02-16T05:51:26.940Z,1613454686.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:27.738Z,1613454687.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:28.145Z,1613454688.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:28.968Z,1613454688.968 [Micromodem](INFO): Nmea in: $SNTTA,0.106257,,,,055129.24*4B

2021-02-16T05:51:28.990Z,1613454688.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 204.417904 deg, deltaT: 4.478216 s, approachRate: -0.375151 m/s, LOS rate: -18.111083 deg/s, posRepo size: 4
2021-02-16T05:51:29.007Z,1613454689.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.111083 deg/s. Setting heading cmd to target bearing of 204.417904deg and heading rate command to 0 deg/s.
2021-02-16T05:51:31.403Z,1613454691.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:32.189Z,1613454692.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:32.586Z,1613454692.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:33.412Z,1613454693.412 [Micromodem](INFO): Nmea in: $SNTTA,0.104874,,,,055133.70*48

2021-02-16T05:51:33.449Z,1613454693.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 200.641151 deg, deltaT: 4.409031 s, approachRate: -0.462685 m/s, LOS rate: -0.856595 deg/s, posRepo size: 4
2021-02-16T05:51:33.451Z,1613454693.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 200.641151 deg,
      approachRate: -0.462685 m/s,
      LOS rate: -0.856595 deg/s,
      cmd update: -2.569784 deg/s,
      cmd heading: 204.417904 deg,
      new cmd heading: 204.417904 deg.

2021-02-16T05:51:35.879Z,1613454695.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:36.624Z,1613454696.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:37.030Z,1613454697.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:37.876Z,1613454697.876 [Micromodem](INFO): Nmea in: $SNTTA,0.103897,,,,055138.13*4C

2021-02-16T05:51:37.910Z,1613454697.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 220.213263 deg, deltaT: 4.454085 s, approachRate: -0.336769 m/s, LOS rate: 4.394194 deg/s, posRepo size: 4
2021-02-16T05:51:37.912Z,1613454697.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.700012 m,
      bearing: 220.213263 deg,
      approachRate: -0.336769 m/s,
      LOS rate: 4.394194 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 192.983289 deg,
      new cmd heading: 191.865484 deg.

2021-02-16T05:51:40.295Z,1613454700.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:41.068Z,1613454701.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:41.476Z,1613454701.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:42.296Z,1613454702.296 [Micromodem](INFO): Nmea in: $SNTTA,0.102623,,,,055142.58*4E

2021-02-16T05:51:42.342Z,1613454702.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.779999 m, bearing: 203.626654 deg, deltaT: 4.459235 s, approachRate: -0.430570 m/s, LOS rate: -3.719609 deg/s, posRepo size: 4
2021-02-16T05:51:42.348Z,1613454702.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.779999 m,
      bearing: 203.626654 deg,
      approachRate: -0.430570 m/s,
      LOS rate: -3.719609 deg/s,
      cmd update: -11.158827 deg/s,
      cmd heading: 246.546682 deg,
      new cmd heading: 251.382934 deg.

2021-02-16T05:51:44.747Z,1613454704.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:45.524Z,1613454705.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:45.931Z,1613454705.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:45.968Z,1613454705.968 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T05:51:46.043Z,1613454706.043 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T05:51:46.043Z,1613454706.043 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T05:51:46.043Z,1613454706.043 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T05:51:46.183Z,1613454706.183 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T05:51:46.403Z,1613454706.403 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T05:51:46.754Z,1613454706.754 [Micromodem](INFO): Nmea in: $SNTTA,0.101221,,,,055147.04*47

2021-02-16T05:51:46.799Z,1613454706.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.680008 m, bearing: 203.631298 deg, deltaT: 4.503758 s, approachRate: -0.466275 m/s, LOS rate: 0.001031 deg/s, posRepo size: 4
2021-02-16T05:51:46.801Z,1613454706.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.680008 m,
      bearing: 203.631298 deg,
      approachRate: -0.466275 m/s,
      LOS rate: 0.001031 deg/s,
      cmd update: 0.003094 deg/s,
      cmd heading: 196.337318 deg,
      new cmd heading: 192.491194 deg.

2021-02-16T05:51:47.287Z,1613454707.287 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T05:51:47.287Z,1613454707.287 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T05:51:49.199Z,1613454709.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:49.991Z,1613454709.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:50.364Z,1613454710.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:51.586Z,1613454711.586 [Micromodem](INFO): Nmea in: $SNTTA,0.099489,,,,055151.53*46

2021-02-16T05:51:51.622Z,1613454711.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 195.664552 deg, deltaT: 4.786964 s, approachRate: -0.551498 m/s, LOS rate: -1.664259 deg/s, posRepo size: 4
2021-02-16T05:51:51.625Z,1613454711.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 195.664552 deg,
      approachRate: -0.551498 m/s,
      LOS rate: -1.664259 deg/s,
      cmd update: -4.992776 deg/s,
      cmd heading: 196.352141 deg,
      new cmd heading: 196.353353 deg.

2021-02-16T05:51:54.016Z,1613454714.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:54.828Z,1613454714.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:55.210Z,1613454715.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:51:56.048Z,1613454716.048 [Micromodem](INFO): Nmea in: $SNTTA,0.097322,,,,055156.33*4F

2021-02-16T05:51:56.070Z,1613454716.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.560013 m, bearing: 196.391216 deg, deltaT: 4.416644 s, approachRate: -0.787928 m/s, LOS rate: 0.164529 deg/s, posRepo size: 4
2021-02-16T05:51:56.092Z,1613454716.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.560013 m,
      bearing: 196.391216 deg,
      approachRate: -0.787928 m/s,
      LOS rate: 0.164529 deg/s,
      cmd update: 0.493586 deg/s,
      cmd heading: 174.300786 deg,
      new cmd heading: 172.185007 deg.

2021-02-16T05:51:58.461Z,1613454718.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:51:59.266Z,1613454719.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:51:59.655Z,1613454719.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:00.493Z,1613454720.493 [Micromodem](INFO): Nmea in: $SNTTA,0.095003,,,,055200.77*4D

2021-02-16T05:52:00.560Z,1613454720.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 198.801344 deg, deltaT: 4.474335 s, approachRate: -0.724135 m/s, LOS rate: 0.538656 deg/s, posRepo size: 4
2021-02-16T05:52:00.562Z,1613454720.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.319992 m,
      bearing: 198.801344 deg,
      approachRate: -0.724135 m/s,
      LOS rate: 0.538656 deg/s,
      cmd update: 1.615968 deg/s,
      cmd heading: 176.505184 deg,
      new cmd heading: 176.713440 deg.

2021-02-16T05:52:02.921Z,1613454722.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:03.709Z,1613454723.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:04.115Z,1613454724.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:04.944Z,1613454724.944 [Micromodem](INFO): Nmea in: $SNTTA,0.092619,,0.102445,,055205.22*5A

2021-02-16T05:52:04.966Z,1613454724.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.720001 m, bearing: 199.039157 deg, deltaT: 4.559940 s, approachRate: -0.789482 m/s, LOS rate: 0.052153 deg/s, posRepo size: 4
2021-02-16T05:52:04.968Z,1613454724.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.720001 m,
      bearing: 199.039157 deg,
      approachRate: -0.789482 m/s,
      LOS rate: 0.052153 deg/s,
      cmd update: 0.156458 deg/s,
      cmd heading: 183.887276 deg,
      new cmd heading: 184.348894 deg.

2021-02-16T05:52:07.344Z,1613454727.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:08.136Z,1613454728.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:08.568Z,1613454728.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:09.369Z,1613454729.369 [Micromodem](INFO): Nmea in: $SNTTA,0.090497,,,,055209.64*4A

2021-02-16T05:52:09.407Z,1613454729.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.479996 m, bearing: 200.879415 deg, deltaT: 4.298660 s, approachRate: -0.753725 m/s, LOS rate: 0.428100 deg/s, posRepo size: 4
2021-02-16T05:52:09.409Z,1613454729.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.479996 m,
      bearing: 200.879415 deg,
      approachRate: -0.753725 m/s,
      LOS rate: 0.428100 deg/s,
      cmd update: 1.284301 deg/s,
      cmd heading: 184.559833 deg,
      new cmd heading: 184.626677 deg.

2021-02-16T05:52:11.840Z,1613454731.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:12.580Z,1613454732.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:12.991Z,1613454732.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:13.808Z,1613454733.808 [Micromodem](INFO): Nmea in: $SNTTA,0.088128,,,,055214.09*45

2021-02-16T05:52:13.892Z,1613454733.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 202.287295 deg, deltaT: 4.482613 s, approachRate: -0.776332 m/s, LOS rate: 0.314076 deg/s, posRepo size: 4
2021-02-16T05:52:13.900Z,1613454733.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 202.287295 deg,
      approachRate: -0.776332 m/s,
      LOS rate: 0.314076 deg/s,
      cmd update: 0.942227 deg/s,
      cmd heading: 190.311469 deg,
      new cmd heading: 190.863820 deg.

2021-02-16T05:52:16.246Z,1613454736.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:17.025Z,1613454737.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:17.475Z,1613454737.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:18.272Z,1613454738.272 [Micromodem](INFO): Nmea in: $SNTTA,0.085758,,,,055218.53*4A

2021-02-16T05:52:18.306Z,1613454738.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 202.302977 deg, deltaT: 4.414725 s, approachRate: -0.815451 m/s, LOS rate: 0.003552 deg/s, posRepo size: 4
2021-02-16T05:52:18.308Z,1613454738.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.400009 m,
      bearing: 202.302977 deg,
      approachRate: -0.815451 m/s,
      LOS rate: 0.003552 deg/s,
      cmd update: 0.010657 deg/s,
      cmd heading: 194.471357 deg,
      new cmd heading: 194.879346 deg.

2021-02-16T05:52:20.713Z,1613454740.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:21.493Z,1613454741.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:21.874Z,1613454741.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:22.719Z,1613454742.719 [Micromodem](INFO): Nmea in: $SNTTA,0.083312,,,,055223.00*48

2021-02-16T05:52:22.753Z,1613454742.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 202.838464 deg, deltaT: 4.441019 s, approachRate: -0.824138 m/s, LOS rate: 0.120577 deg/s, posRepo size: 4
2021-02-16T05:52:22.755Z,1613454742.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.739998 m,
      bearing: 202.838464 deg,
      approachRate: -0.824138 m/s,
      LOS rate: 0.120577 deg/s,
      cmd update: 0.361732 deg/s,
      cmd heading: 194.518683 deg,
      new cmd heading: 194.523364 deg.

2021-02-16T05:52:25.119Z,1613454745.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:25.912Z,1613454745.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:26.323Z,1613454746.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:27.145Z,1613454747.145 [Micromodem](INFO): Nmea in: $SNTTA,0.080933,,,,055227.42*40

2021-02-16T05:52:27.173Z,1613454747.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 202.979084 deg, deltaT: 4.465498 s, approachRate: -0.792743 m/s, LOS rate: 0.031490 deg/s, posRepo size: 4
2021-02-16T05:52:27.196Z,1613454747.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.200005 m,
      bearing: 202.979084 deg,
      approachRate: -0.792743 m/s,
      LOS rate: 0.031490 deg/s,
      cmd update: 0.094471 deg/s,
      cmd heading: 196.133978 deg,
      new cmd heading: 196.275889 deg.

2021-02-16T05:52:29.610Z,1613454749.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:30.373Z,1613454750.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:30.762Z,1613454750.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:31.596Z,1613454751.596 [Micromodem](INFO): Nmea in: $SNTTA,0.078535,,,,055231.88*4C

2021-02-16T05:52:31.649Z,1613454751.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.540001 m, bearing: 203.248862 deg, deltaT: 4.404252 s, approachRate: -0.831016 m/s, LOS rate: 0.061254 deg/s, posRepo size: 4
2021-02-16T05:52:31.651Z,1613454751.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.540001 m,
      bearing: 203.248862 deg,
      approachRate: -0.831016 m/s,
      LOS rate: 0.061254 deg/s,
      cmd update: 0.183763 deg/s,
      cmd heading: 196.550434 deg,
      new cmd heading: 196.594054 deg.

2021-02-16T05:52:34.039Z,1613454754.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:34.805Z,1613454754.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:35.217Z,1613454755.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:36.036Z,1613454756.036 [Micromodem](INFO): Nmea in: $SNTTA,0.075938,,,,055236.31*45

2021-02-16T05:52:36.077Z,1613454756.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.700005 m, bearing: 203.497126 deg, deltaT: 4.486312 s, approachRate: -0.855936 m/s, LOS rate: 0.055338 deg/s, posRepo size: 4
2021-02-16T05:52:36.078Z,1613454756.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.700005 m,
      bearing: 203.497126 deg,
      approachRate: -0.855936 m/s,
      LOS rate: 0.055338 deg/s,
      cmd update: 0.166014 deg/s,
      cmd heading: 197.374053 deg,
      new cmd heading: 197.448886 deg.

2021-02-16T05:52:38.481Z,1613454758.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:39.257Z,1613454759.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:39.664Z,1613454759.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:40.480Z,1613454760.480 [Micromodem](INFO): Nmea in: $SNTTA,0.073465,,,,055240.76*44

2021-02-16T05:52:40.565Z,1613454760.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.980003 m, bearing: 202.019196 deg, deltaT: 4.404715 s, approachRate: -0.844550 m/s, LOS rate: -0.335534 deg/s, posRepo size: 4
2021-02-16T05:52:40.566Z,1613454760.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 202.019196 deg,
      approachRate: -0.844550 m/s,
      LOS rate: -0.335534 deg/s,
      cmd update: -1.006601 deg/s,
      cmd heading: 198.103981 deg,
      new cmd heading: 198.186710 deg.

2021-02-16T05:52:42.925Z,1613454762.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:43.705Z,1613454763.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:44.105Z,1613454764.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:44.924Z,1613454764.924 [Micromodem](INFO): Nmea in: $SNTTA,0.071091,,,,055245.21*4E

2021-02-16T05:52:44.963Z,1613454764.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.379997 m, bearing: 203.656188 deg, deltaT: 4.487667 s, approachRate: -0.802200 m/s, LOS rate: 0.364776 deg/s, posRepo size: 4
2021-02-16T05:52:44.965Z,1613454764.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 203.656188 deg,
      approachRate: -0.802200 m/s,
      LOS rate: 0.364776 deg/s,
      cmd update: 1.094327 deg/s,
      cmd heading: 193.578501 deg,
      new cmd heading: 193.175053 deg.

2021-02-16T05:52:47.344Z,1613454767.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:48.150Z,1613454768.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:48.561Z,1613454768.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:49.374Z,1613454769.374 [Micromodem](INFO): Nmea in: $SNTTA,0.068629,,,,055249.66*4C

2021-02-16T05:52:49.414Z,1613454769.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 204.780560 deg, deltaT: 4.388531 s, approachRate: -0.833991 m/s, LOS rate: 0.256207 deg/s, posRepo size: 4
2021-02-16T05:52:49.416Z,1613454769.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 204.780560 deg,
      approachRate: -0.833991 m/s,
      LOS rate: 0.256207 deg/s,
      cmd update: 0.768621 deg/s,
      cmd heading: 198.385260 deg,
      new cmd heading: 198.888349 deg.

2021-02-16T05:52:51.816Z,1613454771.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:52.576Z,1613454772.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:52.987Z,1613454772.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:53.826Z,1613454773.826 [Micromodem](INFO): Nmea in: $SNTTA,0.066256,,,,055254.08*4A

2021-02-16T05:52:53.871Z,1613454773.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 205.294463 deg, deltaT: 4.443915 s, approachRate: -0.783094 m/s, LOS rate: 0.115642 deg/s, posRepo size: 4
2021-02-16T05:52:53.873Z,1613454773.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.239998 m,
      bearing: 205.294463 deg,
      approachRate: -0.783094 m/s,
      LOS rate: 0.115642 deg/s,
      cmd update: 0.346926 deg/s,
      cmd heading: 201.801081 deg,
      new cmd heading: 202.163939 deg.

2021-02-16T05:52:56.244Z,1613454776.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:52:57.026Z,1613454777.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:52:57.457Z,1613454777.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:52:58.256Z,1613454778.256 [Micromodem](INFO): Nmea in: $SNTTA,0.063804,,,,055258.53*40

2021-02-16T05:52:58.302Z,1613454778.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 204.568878 deg, deltaT: 4.478902 s, approachRate: -0.843957 m/s, LOS rate: -0.162001 deg/s, posRepo size: 4
2021-02-16T05:52:58.309Z,1613454778.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.459999 m,
      bearing: 204.568878 deg,
      approachRate: -0.843957 m/s,
      LOS rate: -0.162001 deg/s,
      cmd update: -0.486002 deg/s,
      cmd heading: 203.353551 deg,
      new cmd heading: 203.502366 deg.

2021-02-16T05:53:00.707Z,1613454780.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:01.476Z,1613454781.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:01.887Z,1613454781.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:02.700Z,1613454782.700 [Micromodem](INFO): Nmea in: $SNTTA,0.061320,,,,055302.98*46

2021-02-16T05:53:02.764Z,1613454782.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.800003 m, bearing: 205.726992 deg, deltaT: 4.414769 s, approachRate: -0.829035 m/s, LOS rate: 0.262327 deg/s, posRepo size: 4
2021-02-16T05:53:02.765Z,1613454782.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.800003 m,
      bearing: 205.726992 deg,
      approachRate: -0.829035 m/s,
      LOS rate: 0.262327 deg/s,
      cmd update: 0.786981 deg/s,
      cmd heading: 201.206123 deg,
      new cmd heading: 200.977113 deg.

2021-02-16T05:53:05.135Z,1613454785.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:05.918Z,1613454785.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:06.319Z,1613454786.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:07.149Z,1613454787.149 [Micromodem](INFO): Nmea in: $SNTTA,0.058619,,,,055307.42*41

2021-02-16T05:53:07.196Z,1613454787.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.720001 m, bearing: 205.358312 deg, deltaT: 4.462559 s, approachRate: -0.914274 m/s, LOS rate: -0.082616 deg/s, posRepo size: 4
2021-02-16T05:53:07.198Z,1613454787.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.720001 m,
      bearing: 205.358312 deg,
      approachRate: -0.914274 m/s,
      LOS rate: -0.082616 deg/s,
      cmd update: -0.247849 deg/s,
      cmd heading: 204.718220 deg,
      new cmd heading: 205.049313 deg.

2021-02-16T05:53:09.610Z,1613454789.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:10.357Z,1613454790.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:10.758Z,1613454790.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:11.584Z,1613454791.584 [Micromodem](INFO): Nmea in: $SNTTA,0.056123,,,,055311.86*4E

2021-02-16T05:53:11.645Z,1613454791.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 205.621397 deg, deltaT: 4.456945 s, approachRate: -0.834653 m/s, LOS rate: 0.059028 deg/s, posRepo size: 4
2021-02-16T05:53:11.647Z,1613454791.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.000000 m,
      bearing: 205.621397 deg,
      approachRate: -0.834653 m/s,
      LOS rate: 0.059028 deg/s,
      cmd update: 0.177084 deg/s,
      cmd heading: 203.614557 deg,
      new cmd heading: 203.506194 deg.

2021-02-16T05:53:14.003Z,1613454794.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:14.805Z,1613454794.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:15.202Z,1613454795.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:16.032Z,1613454796.032 [Micromodem](INFO): Nmea in: $SNTTA,0.053624,,,,055316.31*40

2021-02-16T05:53:16.065Z,1613454796.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 204.748362 deg, deltaT: 4.451152 s, approachRate: -0.849218 m/s, LOS rate: -0.196137 deg/s, posRepo size: 4
2021-02-16T05:53:16.066Z,1613454796.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.220001 m,
      bearing: 204.748362 deg,
      approachRate: -0.849218 m/s,
      LOS rate: -0.196137 deg/s,
      cmd update: -0.588410 deg/s,
      cmd heading: 204.403494 deg,
      new cmd heading: 204.474633 deg.

2021-02-16T05:53:18.487Z,1613454798.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:19.243Z,1613454799.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:19.649Z,1613454799.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:20.484Z,1613454800.484 [Micromodem](INFO): Nmea in: $SNTTA,0.051153,,,,055320.75*40

2021-02-16T05:53:20.569Z,1613454800.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 205.980692 deg, deltaT: 4.440312 s, approachRate: -0.824265 m/s, LOS rate: 0.277532 deg/s, posRepo size: 4
2021-02-16T05:53:20.571Z,1613454800.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.560005 m,
      bearing: 205.980692 deg,
      approachRate: -0.824265 m/s,
      LOS rate: 0.277532 deg/s,
      cmd update: 0.832597 deg/s,
      cmd heading: 201.793195 deg,
      new cmd heading: 201.516612 deg.

2021-02-16T05:53:22.918Z,1613454802.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:23.701Z,1613454803.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:24.099Z,1613454804.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:24.931Z,1613454804.931 [Micromodem](INFO): Nmea in: $SNTTA,0.048658,,,,055325.21*40

2021-02-16T05:53:24.962Z,1613454804.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 206.723803 deg, deltaT: 4.477016 s, approachRate: -0.830911 m/s, LOS rate: 0.165984 deg/s, posRepo size: 4
2021-02-16T05:53:24.964Z,1613454804.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.840004 m,
      bearing: 206.723803 deg,
      approachRate: -0.830911 m/s,
      LOS rate: 0.165984 deg/s,
      cmd update: 0.497951 deg/s,
      cmd heading: 205.521104 deg,
      new cmd heading: 205.842253 deg.

2021-02-16T05:53:27.354Z,1613454807.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:28.150Z,1613454808.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:28.560Z,1613454808.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:29.380Z,1613454809.380 [Micromodem](INFO): Nmea in: $SNTTA,0.046067,,,,055329.66*4B

2021-02-16T05:53:29.395Z,1613454809.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 205.319789 deg, deltaT: 4.370143 s, approachRate: -0.906150 m/s, LOS rate: -0.321274 deg/s, posRepo size: 4
2021-02-16T05:53:29.397Z,1613454809.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.879997 m,
      bearing: 205.319789 deg,
      approachRate: -0.906150 m/s,
      LOS rate: -0.321274 deg/s,
      cmd update: -0.963822 deg/s,
      cmd heading: 207.699053 deg,
      new cmd heading: 207.920327 deg.

2021-02-16T05:53:31.812Z,1613454811.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:32.575Z,1613454812.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:32.978Z,1613454812.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:33.804Z,1613454813.804 [Micromodem](INFO): Nmea in: $SNTTA,0.043577,,,,055334.08*4E

2021-02-16T05:53:33.867Z,1613454813.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 206.055852 deg, deltaT: 4.505140 s, approachRate: -0.825724 m/s, LOS rate: 0.163383 deg/s, posRepo size: 4
2021-02-16T05:53:33.869Z,1613454813.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 206.055852 deg,
      approachRate: -0.825724 m/s,
      LOS rate: 0.163383 deg/s,
      cmd update: 0.490148 deg/s,
      cmd heading: 203.362703 deg,
      new cmd heading: 202.964204 deg.

2021-02-16T05:53:36.247Z,1613454816.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:37.025Z,1613454817.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:37.458Z,1613454817.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:38.252Z,1613454818.252 [Micromodem](INFO): Nmea in: $SNTTA,0.041291,,,,055338.53*41

2021-02-16T05:53:38.294Z,1613454818.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 205.765514 deg, deltaT: 4.412970 s, approachRate: -0.842969 m/s, LOS rate: -0.065792 deg/s, posRepo size: 4
2021-02-16T05:53:38.296Z,1613454818.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.439999 m,
      bearing: 205.765514 deg,
      approachRate: -0.842969 m/s,
      LOS rate: -0.065792 deg/s,
      cmd update: -0.197376 deg/s,
      cmd heading: 205.526725 deg,
      new cmd heading: 205.737046 deg.

2021-02-16T05:53:40.693Z,1613454820.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:41.473Z,1613454821.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:41.878Z,1613454821.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:42.696Z,1613454822.696 [Micromodem](INFO): Nmea in: $SNTTA,0.038664,,,,055342.98*4B

2021-02-16T05:53:42.730Z,1613454822.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.840004 m, bearing: 206.360505 deg, deltaT: 4.429606 s, approachRate: -0.812712 m/s, LOS rate: 0.134322 deg/s, posRepo size: 4
2021-02-16T05:53:42.732Z,1613454822.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.840004 m,
      bearing: 206.360505 deg,
      approachRate: -0.812712 m/s,
      LOS rate: 0.134322 deg/s,
      cmd update: 0.402965 deg/s,
      cmd heading: 204.651640 deg,
      new cmd heading: 204.566327 deg.

2021-02-16T05:53:45.112Z,1613454825.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:45.910Z,1613454825.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:46.321Z,1613454826.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:47.138Z,1613454827.138 [Micromodem](INFO): Nmea in: $SNTTA,0.036213,,,,055347.42*43

2021-02-16T05:53:47.193Z,1613454827.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 207.456382 deg, deltaT: 4.479570 s, approachRate: -0.830437 m/s, LOS rate: 0.244639 deg/s, posRepo size: 4
2021-02-16T05:53:47.196Z,1613454827.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 207.456382 deg,
      approachRate: -0.830437 m/s,
      LOS rate: 0.244639 deg/s,
      cmd update: 0.733916 deg/s,
      cmd heading: 206.455115 deg,
      new cmd heading: 206.623501 deg.

2021-02-16T05:53:49.602Z,1613454829.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:50.386Z,1613454830.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:50.760Z,1613454830.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:51.601Z,1613454831.601 [Micromodem](INFO): Nmea in: $SNTTA,0.033732,,0.050900,,055351.89*52

2021-02-16T05:53:51.646Z,1613454831.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 207.077293 deg, deltaT: 4.429846 s, approachRate: -0.853303 m/s, LOS rate: -0.085576 deg/s, posRepo size: 4
2021-02-16T05:53:51.649Z,1613454831.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 207.077293 deg,
      approachRate: -0.853303 m/s,
      LOS rate: -0.085576 deg/s,
      cmd update: -0.256728 deg/s,
      cmd heading: 209.706278 deg,
      new cmd heading: 210.031398 deg.

2021-02-16T05:53:53.999Z,1613454833.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:54.797Z,1613454834.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:55.205Z,1613454835.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:53:56.024Z,1613454836.024 [Micromodem](INFO): Nmea in: $SNTTA,0.031311,,,,055356.30*42

2021-02-16T05:53:56.061Z,1613454836.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 207.855702 deg, deltaT: 4.481902 s, approachRate: -0.803231 m/s, LOS rate: 0.173678 deg/s, posRepo size: 4
2021-02-16T05:53:56.063Z,1613454836.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.739998 m,
      bearing: 207.855702 deg,
      approachRate: -0.803231 m/s,
      LOS rate: 0.173678 deg/s,
      cmd update: 0.521035 deg/s,
      cmd heading: 208.555647 deg,
      new cmd heading: 208.459123 deg.

2021-02-16T05:53:58.484Z,1613454838.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:53:59.236Z,1613454839.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:53:59.644Z,1613454839.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:00.480Z,1613454840.480 [Micromodem](INFO): Nmea in: $SNTTA,0.028735,,0.038049,,055400.74*54

2021-02-16T05:54:00.572Z,1613454840.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.899998 m, bearing: 208.345700 deg, deltaT: 4.373830 s, approachRate: -0.877949 m/s, LOS rate: 0.112029 deg/s, posRepo size: 4
2021-02-16T05:54:00.574Z,1613454840.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.899998 m,
      bearing: 208.345700 deg,
      approachRate: -0.877949 m/s,
      LOS rate: 0.112029 deg/s,
      cmd update: 0.336088 deg/s,
      cmd heading: 210.836661 deg,
      new cmd heading: 211.101655 deg.

2021-02-16T05:54:02.566Z,1613454842.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:03.284Z,1613454843.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:03.682Z,1613454843.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:04.544Z,1613454844.544 [Micromodem](INFO): Nmea in: $SNTTA,0.026441,,0.082680,,055404.79*51

2021-02-16T05:54:04.599Z,1613454844.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 207.240247 deg, deltaT: 4.044181 s, approachRate: -0.845658 m/s, LOS rate: -0.273344 deg/s, posRepo size: 4
2021-02-16T05:54:04.600Z,1613454844.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m.
2021-02-16T05:54:04.601Z,1613454844.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.480003 m,
      bearing: 207.240247 deg,
      approachRate: -0.845658 m/s,
      LOS rate: -0.273344 deg/s,
      cmd update: -0.820032 deg/s,
      cmd heading: 212.195142 deg,
      new cmd heading: 212.355676 deg.

2021-02-16T05:54:04.917Z,1613454844.917 [PowerOnly](INFO): Powering up loadControl
2021-02-16T05:54:06.949Z,1613454846.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:07.730Z,1613454847.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:08.126Z,1613454848.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:08.956Z,1613454848.956 [Micromodem](INFO): Nmea in: $SNTTA,0.023902,,,,055409.24*41

2021-02-16T05:54:08.978Z,1613454848.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 209.219527 deg, deltaT: 4.490399 s, approachRate: -0.855159 m/s, LOS rate: 0.440780 deg/s, posRepo size: 4
2021-02-16T05:54:08.979Z,1613454848.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-02-16T05:54:08.979Z,1613454848.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.64 m.
2021-02-16T05:54:08.979Z,1613454848.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T05:54:08.981Z,1613454848.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 209.219527 deg,
      approachRate: -0.855159 m/s,
      LOS rate: 0.440780 deg/s,
      cmd update: 1.322341 deg/s,
      cmd heading: 208.511130 deg,
      new cmd heading: 208.199234 deg.

2021-02-16T05:54:11.381Z,1613454851.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:12.171Z,1613454852.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:12.577Z,1613454852.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:13.408Z,1613454853.408 [Micromodem](INFO): Nmea in: $SNTTA,0.021501,,0.066375,,055413.68*50

2021-02-16T05:54:13.468Z,1613454853.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 209.381744 deg, deltaT: 4.390724 s, approachRate: -0.819910 m/s, LOS rate: 0.036945 deg/s, posRepo size: 4
2021-02-16T05:54:13.469Z,1613454853.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 209.381744 deg,
      approachRate: -0.819910 m/s,
      LOS rate: 0.036945 deg/s,
      cmd update: 0.110836 deg/s,
      cmd heading: 214.317193 deg,
      new cmd heading: 214.945075 deg.

2021-02-16T05:54:15.838Z,1613454855.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:16.613Z,1613454856.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:17.019Z,1613454857.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:17.847Z,1613454857.847 [Micromodem](INFO): Nmea in: $SNTTA,0.019068,,,,055418.12*48

2021-02-16T05:54:17.872Z,1613454857.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 207.715082 deg, deltaT: 4.540464 s, approachRate: -0.792871 m/s, LOS rate: -0.367069 deg/s, posRepo size: 4
2021-02-16T05:54:17.875Z,1613454857.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 207.715082 deg,
      approachRate: -0.792871 m/s,
      LOS rate: -0.367069 deg/s,
      cmd update: -1.101206 deg/s,
      cmd heading: 214.818214 deg,
      new cmd heading: 214.858500 deg.

2021-02-16T05:54:20.265Z,1613454860.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:21.061Z,1613454861.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:21.479Z,1613454861.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:22.289Z,1613454862.289 [Micromodem](INFO): Nmea in: $SNTTA,0.016655,,,0.025966,055422.57*57

2021-02-16T05:54:22.310Z,1613454862.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 207.140103 deg, deltaT: 4.368706 s, approachRate: -0.837777 m/s, LOS rate: -0.131613 deg/s, posRepo size: 4
2021-02-16T05:54:22.312Z,1613454862.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 207.140103 deg,
      approachRate: -0.837777 m/s,
      LOS rate: -0.131613 deg/s,
      cmd update: -0.394839 deg/s,
      cmd heading: 209.985259 deg,
      new cmd heading: 209.530904 deg.

2021-02-16T05:54:24.740Z,1613454864.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:25.505Z,1613454865.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:25.901Z,1613454865.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:26.728Z,1613454866.728 [Micromodem](INFO): Nmea in: $SNTTA,0.014179,,,,055427.01*4A

2021-02-16T05:54:26.778Z,1613454866.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 210.098873 deg, deltaT: 4.446702 s, approachRate: -0.836575 m/s, LOS rate: 0.665385 deg/s, posRepo size: 4
2021-02-16T05:54:26.780Z,1613454866.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 210.098873 deg,
      approachRate: -0.836575 m/s,
      LOS rate: 0.665385 deg/s,
      cmd update: 1.996156 deg/s,
      cmd heading: 208.229525 deg,
      new cmd heading: 208.058437 deg.

2021-02-16T05:54:29.156Z,1613454869.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:29.945Z,1613454869.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:30.346Z,1613454870.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:31.177Z,1613454871.177 [Micromodem](INFO): Nmea in: $SNTTA,0.011706,,,,055431.45*46

2021-02-16T05:54:31.218Z,1613454871.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 207.328985 deg, deltaT: 4.464865 s, approachRate: -0.833172 m/s, LOS rate: -0.620374 deg/s, posRepo size: 4
2021-02-16T05:54:31.220Z,1613454871.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.339998 m,
      bearing: 207.328985 deg,
      approachRate: -0.833172 m/s,
      LOS rate: -0.620374 deg/s,
      cmd update: -1.861123 deg/s,
      cmd heading: 217.142027 deg,
      new cmd heading: 217.956574 deg.

2021-02-16T05:54:33.625Z,1613454873.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:34.394Z,1613454874.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:34.808Z,1613454874.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:35.620Z,1613454875.620 [Micromodem](INFO): Nmea in: $SNTTA,0.010123,,,,055435.90*4A

2021-02-16T05:54:35.692Z,1613454875.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 206.303692 deg, deltaT: 4.400233 s, approachRate: -0.818138 m/s, LOS rate: -0.233009 deg/s, posRepo size: 4
2021-02-16T05:54:35.694Z,1613454875.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 206.303692 deg,
      approachRate: -0.818138 m/s,
      LOS rate: -0.233009 deg/s,
      cmd update: -0.699027 deg/s,
      cmd heading: 208.952593 deg,
      new cmd heading: 208.062715 deg.

2021-02-16T05:54:38.076Z,1613454878.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:38.828Z,1613454878.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:39.240Z,1613454879.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:40.067Z,1613454880.067 [Micromodem](INFO): Nmea in: $SNTTA,0.006910,,0.046042,,055440.34*53

2021-02-16T05:54:40.086Z,1613454880.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 210.256691 deg, deltaT: 4.478995 s, approachRate: -0.803752 m/s, LOS rate: 0.882564 deg/s, posRepo size: 4
2021-02-16T05:54:40.088Z,1613454880.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 210.256691 deg,
      approachRate: -0.803752 m/s,
      LOS rate: 0.882564 deg/s,
      cmd update: 2.647692 deg/s,
      cmd heading: 205.821649 deg,
      new cmd heading: 205.543916 deg.

2021-02-16T05:54:42.559Z,1613454882.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:43.272Z,1613454883.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:43.683Z,1613454883.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:44.528Z,1613454884.528 [Micromodem](INFO): Nmea in: $SNTTA,0.006154,,,0.027143,055444.78*50

2021-02-16T05:54:44.582Z,1613454884.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 209.215361 deg, deltaT: 4.422374 s, approachRate: -0.691936 m/s, LOS rate: -0.235469 deg/s, posRepo size: 4
2021-02-16T05:54:44.588Z,1613454884.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 209.215361 deg,
      approachRate: -0.691936 m/s,
      LOS rate: -0.235469 deg/s,
      cmd update: -0.706406 deg/s,
      cmd heading: 217.530637 deg,
      new cmd heading: 218.777205 deg.

2021-02-16T05:54:46.928Z,1613454886.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:47.722Z,1613454887.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:48.128Z,1613454888.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:48.952Z,1613454888.952 [Micromodem](INFO): Nmea in: $SNTTA,0.003179,,,,055449.23*44

2021-02-16T05:54:48.972Z,1613454888.972 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T05:54:48.972Z,1613454888.972 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T05:54:48.973Z,1613454888.973 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T05:54:48.974Z,1613454888.974 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T05:54:48.976Z,1613454888.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 202.958484 deg, deltaT: 4.516588 s, approachRate: -0.584512 m/s, LOS rate: -1.385310 deg/s, posRepo size: 4
2021-02-16T05:54:48.978Z,1613454888.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 202.958484 deg,
      approachRate: -0.584512 m/s,
      LOS rate: -1.385310 deg/s,
      cmd update: -4.155931 deg/s,
      cmd heading: 214.348371 deg,
      new cmd heading: 214.094072 deg.

2021-02-16T05:54:49.375Z,1613454889.375 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T055449: (41.552319, -70.708603)
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T05:54:49.395Z,1613454889.395 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T05:54:49.396Z,1613454889.396 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T05:54:49.396Z,1613454889.396 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T05:54:51.388Z,1613454891.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:52.185Z,1613454892.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:52.587Z,1613454892.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:53.405Z,1613454893.405 [Micromodem](INFO): Nmea in: $SNTTA,0.002864,,,,055453.69*45

2021-02-16T05:54:53.473Z,1613454893.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 213.437592 deg, deltaT: 4.359129 s, approachRate: -0.055057 m/s, LOS rate: 2.403945 deg/s, posRepo size: 4
2021-02-16T05:54:53.474Z,1613454893.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 213.437592 deg,
      approachRate: -0.055057 m/s,
      LOS rate: 2.403945 deg/s,
      cmd update: 7.211836 deg/s,
      cmd heading: 196.183854 deg,
      new cmd heading: 194.163112 deg.

2021-02-16T05:54:55.490Z,1613454895.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:54:56.206Z,1613454896.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:54:56.609Z,1613454896.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:54:57.457Z,1613454897.457 [Micromodem](INFO): Nmea in: $SNTTA,0.004321,,,,055457.71*44

2021-02-16T05:54:57.481Z,1613454897.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 201.750333 deg, deltaT: 4.039498 s, approachRate: 0.594134 m/s, LOS rate: -2.893246 deg/s, posRepo size: 4
2021-02-16T05:54:57.483Z,1613454897.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 201.750333 deg,
      approachRate: 0.594134 m/s,
      LOS rate: -2.893246 deg/s,
      cmd update: -8.679736 deg/s,
      cmd heading: 225.315634 deg,
      new cmd heading: 228.599414 deg.

2021-02-16T05:54:59.881Z,1613454899.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:00.665Z,1613454900.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:01.059Z,1613454901.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:01.888Z,1613454901.888 [Micromodem](INFO): Nmea in: $SNTTA,0.006354,,,,055502.17*45

2021-02-16T05:55:01.913Z,1613454901.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 216.251043 deg, deltaT: 4.471156 s, approachRate: 0.670967 m/s, LOS rate: 3.243168 deg/s, posRepo size: 4
2021-02-16T05:55:01.915Z,1613454901.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 216.251043 deg,
      approachRate: 0.670967 m/s,
      LOS rate: 3.243168 deg/s,
      cmd update: 9.729504 deg/s,
      cmd heading: 186.507119 deg,
      new cmd heading: 182.893867 deg.

2021-02-16T05:55:04.300Z,1613454904.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:05.101Z,1613454905.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:05.502Z,1613454905.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:06.324Z,1613454906.324 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055506.61*5A

2021-02-16T05:55:06.366Z,1613454906.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.339997 m, bearing: 203.578884 deg, deltaT: 4.447484 s, approachRate: 1.065771 m/s, LOS rate: -2.849287 deg/s, posRepo size: 4
2021-02-16T05:55:06.372Z,1613454906.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 203.578884 deg,
      approachRate: 1.065771 m/s,
      LOS rate: -2.849287 deg/s,
      cmd update: -8.547862 deg/s,
      cmd heading: 229.741910 deg,
      new cmd heading: 233.882009 deg.

2021-02-16T05:55:08.803Z,1613454908.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:09.617Z,1613454909.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:09.947Z,1613454909.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:10.826Z,1613454910.826 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:55:10.838Z,1613454910.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 204.810121 deg, deltaT: 4.413799 s, approachRate: 0.543750 m/s, LOS rate: 0.278952 deg/s, posRepo size: 4
2021-02-16T05:55:10.839Z,1613454910.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.74 m. Rolling out.
2021-02-16T05:55:10.839Z,1613454910.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T05:55:11.185Z,1613454911.185 [Micromodem](INFO): Nmea in: $SNTTA,0.011063,,,,055511.12*43

2021-02-16T05:55:13.199Z,1613454913.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:13.985Z,1613454913.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:14.392Z,1613454914.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:15.219Z,1613454915.219 [Micromodem](INFO): Nmea in: $SNTTA,0.014027,,,,055515.49*4C

2021-02-16T05:55:15.238Z,1613454915.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 208.036142 deg, deltaT: 4.474992 s, approachRate: 0.978773 m/s, LOS rate: 0.720900 deg/s, posRepo size: 4
2021-02-16T05:55:17.688Z,1613454917.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:18.448Z,1613454918.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:18.831Z,1613454918.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:19.680Z,1613454919.680 [Micromodem](INFO): Nmea in: $SNTTA,0.015902,,0.036968,,055519.96*51

2021-02-16T05:55:19.743Z,1613454919.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 184.643933 deg, deltaT: 4.420724 s, approachRate: 0.637904 m/s, LOS rate: -5.291488 deg/s, posRepo size: 4
2021-02-16T05:55:22.076Z,1613454922.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:22.874Z,1613454922.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:23.274Z,1613454923.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:24.104Z,1613454924.104 [Micromodem](INFO): Nmea in: $SNTTA,0.018270,,,0.052451,055524.38*5D

2021-02-16T05:55:24.130Z,1613454924.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 175.256712 deg, deltaT: 4.484629 s, approachRate: 0.802742 m/s, LOS rate: -2.093199 deg/s, posRepo size: 4
2021-02-16T05:55:25.746Z,1613454925.746 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:55:26.584Z,1613454926.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:27.323Z,1613454927.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:27.718Z,1613454927.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:28.574Z,1613454928.574 [Micromodem](INFO): Nmea in: $SNTTA,0.020719,,0.052427,,055528.83*51

2021-02-16T05:55:28.608Z,1613454928.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.740002 m, bearing: 201.403263 deg, deltaT: 4.403565 s, approachRate: 0.953774 m/s, LOS rate: 5.937587 deg/s, posRepo size: 4
2021-02-16T05:55:30.588Z,1613454930.588 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T05:55:30.971Z,1613454930.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:31.761Z,1613454931.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:32.187Z,1613454932.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:32.992Z,1613454932.992 [Micromodem](INFO): Nmea in: $SNTTA,0.023191,0.025241,,,055533.27*56

2021-02-16T05:55:33.030Z,1613454933.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 176.876573 deg, deltaT: 4.482959 s, approachRate: 0.709353 m/s, LOS rate: -5.471094 deg/s, posRepo size: 4
2021-02-16T05:55:35.476Z,1613454935.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:35.827Z,1613454935.827 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:55:36.202Z,1613454936.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:36.606Z,1613454936.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:37.460Z,1613454937.460 [Micromodem](INFO): Nmea in: $SNTTA,0.025541,,,,055537.71*40

2021-02-16T05:55:37.484Z,1613454937.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 174.365522 deg, deltaT: 4.396981 s, approachRate: 0.805096 m/s, LOS rate: -0.571085 deg/s, posRepo size: 4
2021-02-16T05:55:39.468Z,1613454939.468 [PowerOnly](INFO): Powering down loadControl
2021-02-16T05:55:39.546Z,1613454939.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:40.240Z,1613454940.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:40.646Z,1613454940.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:41.476Z,1613454941.476 [Micromodem](INFO): Nmea in: $SNTTA,0.027839,,,,055541.75*45

2021-02-16T05:55:41.505Z,1613454941.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 176.929589 deg, deltaT: 4.041190 s, approachRate: 0.846286 m/s, LOS rate: 0.634483 deg/s, posRepo size: 4
2021-02-16T05:55:43.570Z,1613454943.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:44.285Z,1613454944.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:44.687Z,1613454944.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:45.551Z,1613454945.551 [Micromodem](INFO): Nmea in: $SNTTA,0.030008,,,,055545.79*41

2021-02-16T05:55:45.592Z,1613454945.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 181.256254 deg, deltaT: 4.059402 s, approachRate: 0.812927 m/s, LOS rate: 1.065838 deg/s, posRepo size: 4
2021-02-16T05:55:46.741Z,1613454946.741 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T05:55:47.949Z,1613454947.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:48.725Z,1613454948.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:49.136Z,1613454949.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:49.959Z,1613454949.959 [Micromodem](INFO): Nmea in: $SNTTA,0.032404,,,0.052036,055550.23*5C

2021-02-16T05:55:49.978Z,1613454949.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.779995 m, bearing: 181.948603 deg, deltaT: 4.564079 s, approachRate: 0.788768 m/s, LOS rate: 0.151695 deg/s, posRepo size: 4
2021-02-16T05:55:50.847Z,1613454950.847 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T05:55:50.847Z,1613454950.847 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T05:55:50.847Z,1613454950.847 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T05:55:50.967Z,1613454950.967 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T05:55:51.239Z,1613454951.239 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T05:55:52.119Z,1613454952.119 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T05:55:52.119Z,1613454952.119 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T05:55:52.382Z,1613454952.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:53.176Z,1613454953.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:53.580Z,1613454953.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:54.505Z,1613454954.505 [Micromodem](INFO): Nmea in: $SNTTA,0.035154,,,,055554.68*4C

2021-02-16T05:55:54.548Z,1613454954.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 200.639744 deg, deltaT: 4.313907 s, approachRate: 1.043140 m/s, LOS rate: 4.332764 deg/s, posRepo size: 4
2021-02-16T05:55:56.856Z,1613454956.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:55:57.612Z,1613454957.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:55:58.019Z,1613454958.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:55:58.852Z,1613454958.852 [Micromodem](INFO): Nmea in: $SNTTA,0.037453,,,,055559.12*4C

2021-02-16T05:55:58.887Z,1613454958.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 191.111138 deg, deltaT: 4.450789 s, approachRate: 0.754923 m/s, LOS rate: -2.140880 deg/s, posRepo size: 4
2021-02-16T05:56:01.272Z,1613454961.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:02.061Z,1613454962.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:02.467Z,1613454962.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:03.292Z,1613454963.292 [Micromodem](INFO): Nmea in: $SNTTA,0.040001,,,,055603.57*42

2021-02-16T05:56:03.314Z,1613454963.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 189.959254 deg, deltaT: 4.475528 s, approachRate: 0.857998 m/s, LOS rate: -0.257374 deg/s, posRepo size: 4
2021-02-16T05:56:05.747Z,1613454965.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:06.506Z,1613454966.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:06.906Z,1613454966.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:07.732Z,1613454967.732 [Micromodem](INFO): Nmea in: $SNTTA,0.042454,,,,055608.01*4C

2021-02-16T05:56:07.777Z,1613454967.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.899998 m, bearing: 185.056312 deg, deltaT: 4.433889 s, approachRate: 0.771331 m/s, LOS rate: -1.105788 deg/s, posRepo size: 4
2021-02-16T05:56:10.182Z,1613454970.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:10.961Z,1613454970.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:11.367Z,1613454971.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:12.184Z,1613454972.184 [Micromodem](INFO): Nmea in: $SNTTA,0.045007,,,,055612.47*40

2021-02-16T05:56:12.252Z,1613454972.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 170.238408 deg, deltaT: 4.437611 s, approachRate: 0.838288 m/s, LOS rate: -3.339163 deg/s, posRepo size: 4
2021-02-16T05:56:14.626Z,1613454974.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:15.388Z,1613454975.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:15.811Z,1613454975.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:16.637Z,1613454976.637 [Micromodem](INFO): Nmea in: $SNTTA,0.047574,,,,055616.90*4D

2021-02-16T05:56:16.689Z,1613454976.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 175.760698 deg, deltaT: 4.475638 s, approachRate: 0.871385 m/s, LOS rate: 1.233855 deg/s, posRepo size: 4
2021-02-16T05:56:19.045Z,1613454979.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:19.840Z,1613454979.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:20.251Z,1613454980.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:21.072Z,1613454981.072 [Micromodem](INFO): Nmea in: $SNTTA,0.050001,,,,055621.35*47

2021-02-16T05:56:21.094Z,1613454981.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 177.686661 deg, deltaT: 4.443008 s, approachRate: 0.823769 m/s, LOS rate: 0.433482 deg/s, posRepo size: 4
2021-02-16T05:56:23.498Z,1613454983.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:24.277Z,1613454984.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:24.693Z,1613454984.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:25.568Z,1613454985.568 [Micromodem](INFO): Nmea in: $SNTTA,0.052428,,,,055625.78*47

2021-02-16T05:56:25.586Z,1613454985.586 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:56:25.609Z,1613454985.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.779999 m, bearing: 180.765929 deg, deltaT: 4.426188 s, approachRate: 0.813339 m/s, LOS rate: 0.695693 deg/s, posRepo size: 4
2021-02-16T05:56:27.942Z,1613454987.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:28.720Z,1613454988.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:29.132Z,1613454989.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:29.952Z,1613454989.952 [Micromodem](INFO): Nmea in: $SNTTA,0.054948,,,,055630.23*40

2021-02-16T05:56:29.992Z,1613454989.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 187.423929 deg, deltaT: 4.446836 s, approachRate: 0.890521 m/s, LOS rate: 1.497244 deg/s, posRepo size: 4
2021-02-16T05:56:32.382Z,1613454992.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:33.174Z,1613454993.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:33.576Z,1613454993.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:34.416Z,1613454994.416 [Micromodem](INFO): Nmea in: $SNTTA,0.057426,,,,055634.68*4D

2021-02-16T05:56:34.464Z,1613454994.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 175.437343 deg, deltaT: 4.403360 s, approachRate: 0.803934 m/s, LOS rate: -2.722145 deg/s, posRepo size: 4
2021-02-16T05:56:36.857Z,1613454996.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:37.608Z,1613454997.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:38.020Z,1613454998.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:38.836Z,1613454998.836 [Micromodem](INFO): Nmea in: $SNTTA,0.059863,,,,055639.12*4E

2021-02-16T05:56:38.861Z,1613454998.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 186.577832 deg, deltaT: 4.463551 s, approachRate: 0.819974 m/s, LOS rate: 2.495880 deg/s, posRepo size: 4
2021-02-16T05:56:41.367Z,1613455001.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:42.074Z,1613455002.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:42.458Z,1613455002.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:43.308Z,1613455003.308 [Micromodem](INFO): Nmea in: $SNTTA,0.062415,,,,055643.58*48

2021-02-16T05:56:43.343Z,1613455003.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 185.215865 deg, deltaT: 4.432193 s, approachRate: 0.866389 m/s, LOS rate: -0.307290 deg/s, posRepo size: 4
2021-02-16T05:56:45.744Z,1613455005.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:46.510Z,1613455006.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:46.902Z,1613455006.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:47.754Z,1613455007.754 [Micromodem](INFO): Nmea in: $SNTTA,0.064951,,,,055648.02*47

2021-02-16T05:56:47.780Z,1613455007.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.559998 m, bearing: 186.011432 deg, deltaT: 4.437924 s, approachRate: 0.851748 m/s, LOS rate: 0.179266 deg/s, posRepo size: 4
2021-02-16T05:56:48.574Z,1613455008.574 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:56:50.166Z,1613455010.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:50.941Z,1613455010.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:51.346Z,1613455011.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:52.174Z,1613455012.174 [Micromodem](INFO): Nmea in: $SNTTA,0.067435,,,,055652.45*43

2021-02-16T05:56:52.242Z,1613455012.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.340004 m, bearing: 182.697971 deg, deltaT: 4.485136 s, approachRate: 0.842785 m/s, LOS rate: -0.738765 deg/s, posRepo size: 4
2021-02-16T05:56:54.623Z,1613455014.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:55.389Z,1613455015.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:56:55.815Z,1613455015.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:56:56.616Z,1613455016.616 [Micromodem](INFO): Nmea in: $SNTTA,0.069749,,,,055656.89*41

2021-02-16T05:56:56.656Z,1613455016.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.760002 m, bearing: 194.101532 deg, deltaT: 4.458463 s, approachRate: 0.767080 m/s, LOS rate: 2.557734 deg/s, posRepo size: 4
2021-02-16T05:56:59.082Z,1613455019.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:56:59.828Z,1613455019.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:00.255Z,1613455020.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:01.056Z,1613455021.056 [Micromodem](INFO): Nmea in: $SNTTA,0.072273,,,,055701.33*45

2021-02-16T05:57:01.097Z,1613455021.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.600006 m, bearing: 186.724996 deg, deltaT: 4.407136 s, approachRate: 0.871315 m/s, LOS rate: -1.673771 deg/s, posRepo size: 4
2021-02-16T05:57:03.552Z,1613455023.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:04.273Z,1613455024.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:04.854Z,1613455024.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:05.688Z,1613455025.688 [Micromodem](INFO): Nmea in: $SNTTA,0.074759,,,,055705.78*45

2021-02-16T05:57:05.735Z,1613455025.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.320007 m, bearing: 185.313127 deg, deltaT: 4.607163 s, approachRate: 0.807439 m/s, LOS rate: -0.306451 deg/s, posRepo size: 4
2021-02-16T05:57:08.103Z,1613455028.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:08.910Z,1613455028.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:09.298Z,1613455029.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:10.145Z,1613455030.145 [Micromodem](INFO): Nmea in: $SNTTA,0.077403,,,,055710.42*47

2021-02-16T05:57:10.204Z,1613455030.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 191.545265 deg, deltaT: 4.439633 s, approachRate: 0.891964 m/s, LOS rate: 1.403751 deg/s, posRepo size: 4
2021-02-16T05:57:12.598Z,1613455032.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:13.338Z,1613455033.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:13.742Z,1613455033.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:14.576Z,1613455034.576 [Micromodem](INFO): Nmea in: $SNTTA,0.079828,,,,055714.85*43

2021-02-16T05:57:14.628Z,1613455034.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 192.735644 deg, deltaT: 4.495740 s, approachRate: 0.800759 m/s, LOS rate: 0.264779 deg/s, posRepo size: 4
2021-02-16T05:57:17.001Z,1613455037.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:17.780Z,1613455037.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:18.205Z,1613455038.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:19.008Z,1613455039.008 [Micromodem](INFO): Nmea in: $SNTTA,0.082349,,,,055719.29*40

2021-02-16T05:57:19.042Z,1613455039.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.660004 m, bearing: 188.838898 deg, deltaT: 4.409134 s, approachRate: 0.857311 m/s, LOS rate: -0.883789 deg/s, posRepo size: 4
2021-02-16T05:57:21.446Z,1613455041.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:22.243Z,1613455042.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:22.630Z,1613455042.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:23.464Z,1613455043.464 [Micromodem](INFO): Nmea in: $SNTTA,0.084796,,,,055723.75*40

2021-02-16T05:57:23.509Z,1613455043.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.320000 m, bearing: 178.357672 deg, deltaT: 4.435467 s, approachRate: 0.825166 m/s, LOS rate: -2.363049 deg/s, posRepo size: 4
2021-02-16T05:57:25.572Z,1613455045.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:25.874Z,1613455045.874 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T05:57:26.269Z,1613455046.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:26.669Z,1613455046.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:27.497Z,1613455047.497 [Micromodem](INFO): Nmea in: $SNTTA,0.087019,,,,055727.78*4A

2021-02-16T05:57:27.568Z,1613455047.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.740005 m, bearing: 187.759264 deg, deltaT: 4.021535 s, approachRate: 0.850423 m/s, LOS rate: 2.337812 deg/s, posRepo size: 4
2021-02-16T05:57:29.940Z,1613455049.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:30.726Z,1613455050.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:30.749Z,1613455050.749 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:57:31.114Z,1613455051.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:31.950Z,1613455051.950 [Micromodem](INFO): Nmea in: $SNTTA,0.089462,,,,055732.23*46

2021-02-16T05:57:32.766Z,1613455052.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:34.344Z,1613455054.344 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:57:35.584Z,1613455055.584 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:57:35.633Z,1613455055.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:36.366Z,1613455056.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:36.772Z,1613455056.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:37.596Z,1613455057.596 [Micromodem](INFO): Nmea in: $SNTTA,0.092667,,,,055737.87*40

2021-02-16T05:57:37.630Z,1613455057.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 198.013017 deg, deltaT: 10.168437 s, approachRate: 0.831985 m/s, LOS rate: 1.008390 deg/s, posRepo size: 4
2021-02-16T05:57:40.017Z,1613455060.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:40.808Z,1613455060.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:40.836Z,1613455060.836 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T05:57:41.248Z,1613455061.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:42.040Z,1613455062.040 [Micromodem](INFO): Nmea in: $SNTTA,0.095027,,,,055742.31*4A

2021-02-16T05:57:42.074Z,1613455062.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.679993 m, bearing: 191.093011 deg, deltaT: 4.399748 s, approachRate: 0.790953 m/s, LOS rate: -1.572819 deg/s, posRepo size: 4
2021-02-16T05:57:44.476Z,1613455064.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:45.264Z,1613455065.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:45.677Z,1613455065.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:45.704Z,1613455065.704 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:57:46.493Z,1613455066.493 [Micromodem](INFO): Nmea in: $SNTTA,0.097448,,,,055746.77*43

2021-02-16T05:57:46.574Z,1613455066.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 196.308858 deg, deltaT: 4.442135 s, approachRate: 0.823932 m/s, LOS rate: 1.174176 deg/s, posRepo size: 4
2021-02-16T05:57:48.934Z,1613455068.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:49.702Z,1613455069.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:50.112Z,1613455070.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:50.580Z,1613455070.580 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T05:57:50.928Z,1613455070.928 [Micromodem](INFO): Nmea in: $SNTTA,0.100007,,,,055751.21*46

2021-02-16T05:57:50.973Z,1613455070.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 185.079726 deg, deltaT: 4.520837 s, approachRate: 0.849399 m/s, LOS rate: -2.483861 deg/s, posRepo size: 4
2021-02-16T05:57:50.974Z,1613455070.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.18 m. Resuming terminal guidance.
2021-02-16T05:57:50.974Z,1613455070.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T05:57:53.365Z,1613455073.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:54.151Z,1613455074.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:54.570Z,1613455074.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:55.376Z,1613455075.376 [Micromodem](INFO): Nmea in: $SNTTA,0.102522,,,,055755.66*41

2021-02-16T05:57:55.420Z,1613455075.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 186.614579 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T05:57:55.421Z,1613455075.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 186.614579deg and heading rate command to 0 deg/s.
2021-02-16T05:57:57.814Z,1613455077.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:57:58.585Z,1613455078.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:57:58.998Z,1613455078.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:57:59.836Z,1613455079.836 [Micromodem](INFO): Nmea in: $SNTTA,0.104988,,,,055800.09*4D

2021-02-16T05:57:59.861Z,1613455079.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 183.305502 deg, deltaT: 4.495194 s, approachRate: 0.827551 m/s, LOS rate: -0.736136 deg/s, posRepo size: 2
2021-02-16T05:57:59.863Z,1613455079.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 183.305502 deg,
      approachRate: 0.827551 m/s,
      LOS rate: -0.736136 deg/s,
      cmd update: -2.208410 deg/s,
      cmd heading: 186.614579 deg,
      new cmd heading: 186.614579 deg.

2021-02-16T05:58:00.643Z,1613455080.643 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T05:58:00.643Z,1613455080.643 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T05:58:00.643Z,1613455080.643 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T05:58:00.767Z,1613455080.767 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T05:58:01.095Z,1613455081.095 [RDI_Pathfinder](INFO): Powering down
2021-02-16T05:58:01.954Z,1613455081.954 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T05:58:01.954Z,1613455081.954 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T05:58:02.273Z,1613455082.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:03.034Z,1613455083.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:03.439Z,1613455083.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:04.264Z,1613455084.264 [Micromodem](INFO): Nmea in: $SNTTA,0.107428,,,,055804.54*45

2021-02-16T05:58:04.308Z,1613455084.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 161.334450 deg, deltaT: 4.414342 s, approachRate: 0.829116 m/s, LOS rate: -4.977198 deg/s, posRepo size: 3
2021-02-16T05:58:04.309Z,1613455084.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 161.334450 deg,
      approachRate: 0.829116 m/s,
      LOS rate: -4.977198 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 176.869448 deg,
      new cmd heading: 175.888276 deg.

2021-02-16T05:58:06.703Z,1613455086.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:07.477Z,1613455087.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:07.878Z,1613455087.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:08.723Z,1613455088.723 [Micromodem](INFO): Nmea in: $SNTTA,0.109781,,,,055808.98*47

2021-02-16T05:58:08.742Z,1613455088.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 132.150937 deg, deltaT: 4.460314 s, approachRate: 0.000000 m/s, LOS rate: -6.542928 deg/s, posRepo size: 4
2021-02-16T05:58:08.744Z,1613455088.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 132.150937 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.542928 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 123.248587 deg,
      new cmd heading: 118.323847 deg.

2021-02-16T05:58:11.188Z,1613455091.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:11.916Z,1613455091.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:12.323Z,1613455092.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:13.149Z,1613455093.149 [Micromodem](INFO): Nmea in: $SNTTA,0.111954,,,,055813.42*45

2021-02-16T05:58:13.187Z,1613455093.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.060013 m, bearing: 165.976807 deg, deltaT: 4.412275 s, approachRate: 1.523028 m/s, LOS rate: 7.666310 deg/s, posRepo size: 4
2021-02-16T05:58:13.189Z,1613455093.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.060013 m,
      bearing: 165.976807 deg,
      approachRate: 1.523028 m/s,
      LOS rate: 7.666310 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 70.219325 deg,
      new cmd heading: 64.981745 deg.

2021-02-16T05:58:15.270Z,1613455095.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:16.017Z,1613455096.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:16.430Z,1613455096.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:17.260Z,1613455097.260 [Micromodem](INFO): Nmea in: $SNTTA,0.113730,,,,055817.52*4E

2021-02-16T05:58:17.311Z,1613455097.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.060013 m, bearing: 139.945672 deg, deltaT: 4.119254 s, approachRate: 0.000000 m/s, LOS rate: -6.319381 deg/s, posRepo size: 4
2021-02-16T05:58:17.313Z,1613455097.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.060013 m,
      bearing: 139.945672 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.319381 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 119.613799 deg,
      new cmd heading: 124.941271 deg.

2021-02-16T05:58:19.670Z,1613455099.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:20.465Z,1613455100.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:20.867Z,1613455100.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:21.703Z,1613455101.703 [Micromodem](INFO): Nmea in: $SNTTA,0.115254,,,,055821.97*43

2021-02-16T05:58:21.732Z,1613455101.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.060013 m, bearing: 106.954226 deg, deltaT: 4.474859 s, approachRate: 0.000000 m/s, LOS rate: -7.372622 deg/s, posRepo size: 4
2021-02-16T05:58:21.734Z,1613455101.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.060013 m,
      bearing: 106.954226 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.372622 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 66.080717 deg,
      new cmd heading: 61.244681 deg.

2021-02-16T05:58:24.150Z,1613455104.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:24.915Z,1613455104.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:25.310Z,1613455105.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:26.165Z,1613455106.165 [Micromodem](INFO): Nmea in: $SNTTA,0.116075,,,,055826.42*4E

2021-02-16T05:58:26.261Z,1613455106.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.060013 m, bearing: 84.924421 deg, deltaT: 4.395585 s, approachRate: 0.000000 m/s, LOS rate: -5.011803 deg/s, posRepo size: 4
2021-02-16T05:58:26.262Z,1613455106.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.060013 m,
      bearing: 84.924421 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.011803 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 13.135779 deg,
      new cmd heading: 6.886899 deg.

2021-02-16T05:58:28.564Z,1613455108.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:29.348Z,1613455109.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:29.753Z,1613455109.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:30.589Z,1613455110.589 [Micromodem](INFO): Nmea in: $SNTTA,0.116493,,,,055830.85*4E

2021-02-16T05:58:31.457Z,1613455111.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:32.982Z,1613455112.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T05:58:34.284Z,1613455114.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:35.004Z,1613455115.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:35.410Z,1613455115.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:35.817Z,1613455115.817 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,502,0063,E4
2,186,80,80,9C,FF
2021-02-16T05:58:36.261Z,1613455116.261 [Micromodem](INFO): Nmea in: $SNTTA,0.116039,,,,055836.51*45

2021-02-16T05:58:37.044Z,1613455117.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:39.881Z,1613455119.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:42.700Z,1613455122.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:43.505Z,1613455123.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:43.899Z,1613455123.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:44.717Z,1613455124.717 [Micromodem](INFO): Nmea in: $SNTTA,0.113850,,,,055845.01*46

2021-02-16T05:58:45.189Z,1613455125.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 11.460996 deg, deltaT: 19.017615 s, approachRate: 0.135663 m/s, LOS rate: -3.862915 deg/s, posRepo size: 4
2021-02-16T05:58:45.216Z,1613455125.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.639999 m,
      bearing: 11.460996 deg,
      approachRate: 0.135663 m/s,
      LOS rate: -3.862915 deg/s,
      cmd update: -11.588744 deg/s,
      cmd heading: 144.955834 deg,
      new cmd heading: 139.744761 deg.

2021-02-16T05:58:47.568Z,1613455127.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:48.353Z,1613455128.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:48.750Z,1613455128.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:49.647Z,1613455129.647 [Micromodem](INFO): Nmea in: $SNTTA,0.112792,,,,055849.86*45

2021-02-16T05:58:50.001Z,1613455130.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 13.249220 deg, deltaT: 4.997359 s, approachRate: -0.312164 m/s, LOS rate: 0.357834 deg/s, posRepo size: 4
2021-02-16T05:58:50.003Z,1613455130.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 13.249220 deg,
      approachRate: -0.312164 m/s,
      LOS rate: 0.357834 deg/s,
      cmd update: 1.073501 deg/s,
      cmd heading: 87.001624 deg,
      new cmd heading: 84.161513 deg.

2021-02-16T05:58:52.416Z,1613455132.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:53.197Z,1613455133.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:53.595Z,1613455133.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:54.420Z,1613455134.420 [Micromodem](INFO): Nmea in: $SNTTA,0.112282,,,,055854.70*44

2021-02-16T05:58:54.454Z,1613455134.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 49.831619 deg, deltaT: 4.276867 s, approachRate: -0.154319 m/s, LOS rate: 8.553550 deg/s, posRepo size: 4
2021-02-16T05:58:54.476Z,1613455134.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 49.831619 deg,
      approachRate: -0.154319 m/s,
      LOS rate: 8.553550 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 91.591765 deg,
      new cmd heading: 92.045317 deg.

2021-02-16T05:58:56.836Z,1613455136.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:58:57.633Z,1613455137.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:58:58.035Z,1613455138.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:58:58.868Z,1613455138.868 [Micromodem](INFO): Nmea in: $SNTTA,0.112255,,,,055859.14*41

2021-02-16T05:58:58.890Z,1613455138.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 65.365689 deg, deltaT: 4.469968 s, approachRate: 0.000000 m/s, LOS rate: 3.475208 deg/s, posRepo size: 4
2021-02-16T05:58:58.893Z,1613455138.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 65.365689 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.475208 deg/s,
      cmd update: 10.425625 deg/s,
      cmd heading: 145.200963 deg,
      new cmd heading: 149.896299 deg.

2021-02-16T05:59:01.306Z,1613455141.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:02.084Z,1613455142.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:02.478Z,1613455142.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:03.308Z,1613455143.308 [Micromodem](INFO): Nmea in: $SNTTA,0.112609,,,,055903.59*4B

2021-02-16T05:59:03.360Z,1613455143.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 46.928208 deg, deltaT: 4.399501 s, approachRate: 0.000000 m/s, LOS rate: -4.190812 deg/s, posRepo size: 4
2021-02-16T05:59:03.362Z,1613455143.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 46.928208 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.190812 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 191.092092 deg,
      new cmd heading: 195.873575 deg.

2021-02-16T05:59:05.756Z,1613455145.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:06.516Z,1613455146.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:06.927Z,1613455146.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:07.751Z,1613455147.751 [Micromodem](INFO): Nmea in: $SNTTA,0.113514,,,,055908.02*40

2021-02-16T05:59:07.770Z,1613455147.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 81.856293 deg, deltaT: 4.492192 s, approachRate: 0.414052 m/s, LOS rate: 7.775288 deg/s, posRepo size: 4
2021-02-16T05:59:07.772Z,1613455147.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 81.856293 deg,
      approachRate: 0.414052 m/s,
      LOS rate: 7.775288 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 137.358178 deg,
      new cmd heading: 132.661342 deg.

2021-02-16T05:59:10.247Z,1613455150.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:10.962Z,1613455150.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:11.366Z,1613455151.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:12.196Z,1613455152.196 [Micromodem](INFO): Nmea in: $SNTTA,0.114906,,,,055912.47*42

2021-02-16T05:59:12.294Z,1613455152.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 114.206022 deg, deltaT: 4.396376 s, approachRate: 0.000000 m/s, LOS rate: 7.358272 deg/s, posRepo size: 4
2021-02-16T05:59:12.300Z,1613455152.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 114.206022 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.358272 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 190.293240 deg,
      new cmd heading: 196.335360 deg.

2021-02-16T05:59:14.294Z,1613455154.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:15.004Z,1613455155.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:15.405Z,1613455155.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:16.256Z,1613455156.256 [Micromodem](INFO): Nmea in: $SNTTA,0.116594,,,,055916.51*44

2021-02-16T05:59:16.306Z,1613455156.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 154.483579 deg, deltaT: 4.046767 s, approachRate: 0.000000 m/s, LOS rate: 9.953021 deg/s, posRepo size: 4
2021-02-16T05:59:16.308Z,1613455156.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 154.483579 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.953021 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 238.853041 deg,
      new cmd heading: 244.488038 deg.

2021-02-16T05:59:18.661Z,1613455158.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:19.444Z,1613455159.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:19.850Z,1613455159.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:20.704Z,1613455160.704 [Micromodem](INFO): Nmea in: $SNTTA,0.118670,,,,055920.95*4E

2021-02-16T05:59:20.741Z,1613455160.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 193.585074 deg, deltaT: 4.495497 s, approachRate: 0.000000 m/s, LOS rate: 8.697925 deg/s, posRepo size: 4
2021-02-16T05:59:20.743Z,1613455160.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 193.585074 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.697925 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.760199 deg,
      new cmd heading: 297.709983 deg.

2021-02-16T05:59:23.153Z,1613455163.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:23.888Z,1613455163.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:24.302Z,1613455164.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:25.156Z,1613455165.156 [Micromodem](INFO): Nmea in: $SNTTA,0.121039,,,,055925.40*42

2021-02-16T05:59:25.193Z,1613455165.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 188.831672 deg, deltaT: 4.395977 s, approachRate: 0.000000 m/s, LOS rate: -1.081307 deg/s, posRepo size: 4
2021-02-16T05:59:25.195Z,1613455165.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 188.831672 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.081307 deg/s,
      cmd update: -3.243922 deg/s,
      cmd heading: 345.553708 deg,
      new cmd heading: 351.104572 deg.

2021-02-16T05:59:27.565Z,1613455167.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:28.332Z,1613455168.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:28.738Z,1613455168.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:29.577Z,1613455169.577 [Micromodem](INFO): Nmea in: $SNTTA,0.123190,,,,055929.84*46

2021-02-16T05:59:29.630Z,1613455169.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 207.043033 deg, deltaT: 4.495913 s, approachRate: 0.000000 m/s, LOS rate: 4.050648 deg/s, posRepo size: 4
2021-02-16T05:59:29.632Z,1613455169.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 207.043033 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.050648 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.093608 deg,
      new cmd heading: 329.652519 deg.

2021-02-16T05:59:31.983Z,1613455171.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:32.782Z,1613455172.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:33.192Z,1613455173.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:33.996Z,1613455173.996 [Micromodem](INFO): Nmea in: $SNTTA,0.125234,,,,055934.29*46

2021-02-16T05:59:34.457Z,1613455174.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.220001 m, bearing: 217.395072 deg, deltaT: 4.797470 s, approachRate: 3.739471 m/s, LOS rate: 2.157812 deg/s, posRepo size: 4
2021-02-16T05:59:34.463Z,1613455174.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.220001 m,
      bearing: 217.395072 deg,
      approachRate: 3.739471 m/s,
      LOS rate: 2.157812 deg/s,
      cmd update: 6.473437 deg/s,
      cmd heading: 28.988917 deg,
      new cmd heading: 34.351093 deg.

2021-02-16T05:59:36.844Z,1613455176.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:37.624Z,1613455177.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:38.035Z,1613455178.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:38.860Z,1613455178.860 [Micromodem](INFO): Nmea in: $SNTTA,0.127358,,,,055939.13*4B

2021-02-16T05:59:38.882Z,1613455178.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.220001 m, bearing: 235.328567 deg, deltaT: 4.481804 s, approachRate: 0.000000 m/s, LOS rate: 4.001401 deg/s, posRepo size: 4
2021-02-16T05:59:38.884Z,1613455178.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.220001 m,
      bearing: 235.328567 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.001401 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.055499 deg,
      new cmd heading: 60.525050 deg.

2021-02-16T05:59:41.304Z,1613455181.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:42.083Z,1613455182.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:42.474Z,1613455182.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:43.311Z,1613455183.311 [Micromodem](INFO): Nmea in: $SNTTA,0.128477,,,,055943.59*4D

2021-02-16T05:59:43.738Z,1613455183.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.719986 m, bearing: 295.632690 deg, deltaT: 4.886466 s, approachRate: 0.920908 m/s, LOS rate: 12.341050 deg/s, posRepo size: 4
2021-02-16T05:59:43.739Z,1613455183.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.341050 deg/s. Setting heading cmd to target bearing of 295.632690deg and heading rate command to 0 deg/s.
2021-02-16T05:59:44.732Z,1613455184.732 [CTD_Seabird](ERROR): Failed to parse device response: .64
2021-02-16T05:59:46.168Z,1613455186.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:46.921Z,1613455186.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:47.339Z,1613455187.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:48.140Z,1613455188.140 [Micromodem](INFO): Nmea in: $SNTTA,0.130028,,0.131172,,055948.43*53

2021-02-16T05:59:48.572Z,1613455188.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.059982 m, bearing: 253.228662 deg, deltaT: 4.849599 s, approachRate: 0.482513 m/s, LOS rate: -8.743821 deg/s, posRepo size: 4
2021-02-16T05:59:48.573Z,1613455188.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.059982 m,
      bearing: 253.228662 deg,
      approachRate: 0.482513 m/s,
      LOS rate: -8.743821 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.632690 deg,
      new cmd heading: 295.632690 deg.

2021-02-16T05:59:50.977Z,1613455190.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:51.779Z,1613455191.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:52.197Z,1613455192.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:52.991Z,1613455192.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,055953.28*5B

2021-02-16T05:59:53.439Z,1613455193.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.299988 m, bearing: 209.404488 deg, deltaT: 4.765001 s, approachRate: 0.679959 m/s, LOS rate: -9.197096 deg/s, posRepo size: 4
2021-02-16T05:59:53.441Z,1613455193.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.299988 m,
      bearing: 209.404488 deg,
      approachRate: 0.679959 m/s,
      LOS rate: -9.197096 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 238.272988 deg,
      new cmd heading: 233.078212 deg.

2021-02-16T05:59:55.871Z,1613455195.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T05:59:56.637Z,1613455196.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T05:59:57.031Z,1613455197.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T05:59:57.857Z,1613455197.857 [Micromodem](INFO): Nmea in: $SNTTA,0.134677,,,,055958.14*41

2021-02-16T05:59:58.312Z,1613455198.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.080002 m, bearing: 192.738718 deg, deltaT: 4.885512 s, approachRate: 0.773719 m/s, LOS rate: -3.411264 deg/s, posRepo size: 4
2021-02-16T05:59:58.314Z,1613455198.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 192.738718 deg,
      approachRate: 0.773719 m/s,
      LOS rate: -3.411264 deg/s,
      cmd update: -10.233792 deg/s,
      cmd heading: 179.745002 deg,
      new cmd heading: 174.602054 deg.

2021-02-16T06:00:00.708Z,1613455200.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:01.468Z,1613455201.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:01.875Z,1613455201.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:02.686Z,1613455202.686 [Micromodem](INFO): Nmea in: $SNTTA,0.137069,,,,060002.97*40

2021-02-16T06:00:03.152Z,1613455203.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.559982 m, bearing: 197.578153 deg, deltaT: 4.833151 s, approachRate: 0.720023 m/s, LOS rate: 1.001300 deg/s, posRepo size: 4
2021-02-16T06:00:03.155Z,1613455203.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.559982 m,
      bearing: 197.578153 deg,
      approachRate: 0.720023 m/s,
      LOS rate: 1.001300 deg/s,
      cmd update: 3.003901 deg/s,
      cmd heading: 130.241224 deg,
      new cmd heading: 125.833611 deg.

2021-02-16T06:00:05.552Z,1613455205.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:06.317Z,1613455206.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:06.733Z,1613455206.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:07.535Z,1613455207.535 [Micromodem](INFO): Nmea in: $SNTTA,0.139488,,,,060007.82*44

2021-02-16T06:00:08.404Z,1613455208.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:09.950Z,1613455209.950 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:00:11.233Z,1613455211.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:11.980Z,1613455211.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:12.377Z,1613455212.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:13.203Z,1613455213.203 [Micromodem](INFO): Nmea in: $SNTTA,0.142489,,,,060013.49*4B

2021-02-16T06:00:13.618Z,1613455213.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.899994 m, bearing: 128.002991 deg, deltaT: 10.574353 s, approachRate: 0.788702 m/s, LOS rate: -6.579614 deg/s, posRepo size: 4
2021-02-16T06:00:13.620Z,1613455213.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.899994 m,
      bearing: 128.002991 deg,
      approachRate: 0.788702 m/s,
      LOS rate: -6.579614 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 162.004765 deg,
      new cmd heading: 162.976912 deg.

2021-02-16T06:00:16.034Z,1613455216.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:16.820Z,1613455216.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:17.246Z,1613455217.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:18.040Z,1613455218.040 [Micromodem](INFO): Nmea in: $SNTTA,0.144866,,,,060018.33*46

2021-02-16T06:00:18.481Z,1613455218.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.440002 m, bearing: 111.784276 deg, deltaT: 4.759627 s, approachRate: 0.743758 m/s, LOS rate: -3.407560 deg/s, posRepo size: 4
2021-02-16T06:00:18.483Z,1613455218.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.440002 m,
      bearing: 111.784276 deg,
      approachRate: 0.743758 m/s,
      LOS rate: -3.407560 deg/s,
      cmd update: -10.222680 deg/s,
      cmd heading: 104.886239 deg,
      new cmd heading: 99.766907 deg.

2021-02-16T06:00:20.880Z,1613455220.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:21.668Z,1613455221.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:22.093Z,1613455222.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:22.886Z,1613455222.886 [Micromodem](INFO): Nmea in: $SNTTA,0.146961,,,,060023.17*4C

2021-02-16T06:00:23.345Z,1613455223.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.559998 m, bearing: 127.542363 deg, deltaT: 4.866951 s, approachRate: 0.641057 m/s, LOS rate: 3.237774 deg/s, posRepo size: 4
2021-02-16T06:00:23.347Z,1613455223.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.559998 m,
      bearing: 127.542363 deg,
      approachRate: 0.641057 m/s,
      LOS rate: 3.237774 deg/s,
      cmd update: 9.713321 deg/s,
      cmd heading: 55.176577 deg,
      new cmd heading: 50.797824 deg.

2021-02-16T06:00:25.756Z,1613455225.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:26.516Z,1613455226.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:26.934Z,1613455226.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:27.734Z,1613455227.734 [Micromodem](INFO): Nmea in: $SNTTA,0.148443,,,,060028.02*40

2021-02-16T06:00:28.210Z,1613455228.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.720001 m, bearing: 98.751770 deg, deltaT: 4.823778 s, approachRate: 0.447783 m/s, LOS rate: -5.968474 deg/s, posRepo size: 4
2021-02-16T06:00:28.225Z,1613455228.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.720001 m,
      bearing: 98.751770 deg,
      approachRate: 0.447783 m/s,
      LOS rate: -5.968474 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 102.111248 deg,
      new cmd heading: 106.510401 deg.

2021-02-16T06:00:30.257Z,1613455230.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:30.981Z,1613455230.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:31.365Z,1613455231.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:32.231Z,1613455232.231 [Micromodem](INFO): Nmea in: $SNTTA,0.149411,,,,060032.49*42

2021-02-16T06:00:32.622Z,1613455232.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.099991 m, bearing: 40.316220 deg, deltaT: 4.537869 s, approachRate: 0.304105 m/s, LOS rate: -12.877310 deg/s, posRepo size: 4
2021-02-16T06:00:32.623Z,1613455232.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.877310 deg/s. Setting heading cmd to target bearing of 40.316220deg and heading rate command to 0 deg/s.
2021-02-16T06:00:35.022Z,1613455235.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:35.808Z,1613455235.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:36.250Z,1613455236.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:37.033Z,1613455237.033 [Micromodem](INFO): Nmea in: $SNTTA,0.149773,,,,060037.32*4C

2021-02-16T06:00:37.486Z,1613455237.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.119995 m, bearing: 132.892081 deg, deltaT: 4.760177 s, approachRate: 0.214279 m/s, LOS rate: 19.447989 deg/s, posRepo size: 4
2021-02-16T06:00:37.487Z,1613455237.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.447989 deg/s. Setting heading cmd to target bearing of 132.892081deg and heading rate command to 0 deg/s.
2021-02-16T06:00:39.871Z,1613455239.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:40.656Z,1613455240.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:41.068Z,1613455241.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:41.879Z,1613455241.879 [Micromodem](INFO): Nmea in: $SNTTA,0.149397,,,,060042.17*47

2021-02-16T06:00:42.329Z,1613455242.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.979980 m, bearing: 4.608169 deg, deltaT: 4.867598 s, approachRate: -0.234205 m/s, LOS rate: -26.354666 deg/s, posRepo size: 4
2021-02-16T06:00:42.330Z,1613455242.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.354666 deg/s. Setting heading cmd to target bearing of 4.608169deg and heading rate command to 0 deg/s.
2021-02-16T06:00:44.727Z,1613455244.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:45.520Z,1613455245.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:45.919Z,1613455245.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:46.733Z,1613455246.733 [Micromodem](INFO): Nmea in: $SNTTA,0.148735,,,,060047.02*4B

2021-02-16T06:00:47.213Z,1613455247.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.959991 m, bearing: 7.449143 deg, deltaT: 4.832424 s, approachRate: -0.211072 m/s, LOS rate: 0.587898 deg/s, posRepo size: 4
2021-02-16T06:00:47.218Z,1613455247.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.959991 m,
      bearing: 7.449143 deg,
      approachRate: -0.211072 m/s,
      LOS rate: 0.587898 deg/s,
      cmd update: 1.763695 deg/s,
      cmd heading: 4.608169 deg,
      new cmd heading: 4.608169 deg.

2021-02-16T06:00:49.569Z,1613455249.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:50.353Z,1613455250.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:50.761Z,1613455250.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:51.574Z,1613455251.574 [Micromodem](INFO): Nmea in: $SNTTA,0.148416,,,0.150928,060051.86*5B

2021-02-16T06:00:52.009Z,1613455252.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.599991 m, bearing: 65.454939 deg, deltaT: 4.870684 s, approachRate: -0.073912 m/s, LOS rate: 11.909169 deg/s, posRepo size: 4
2021-02-16T06:00:52.010Z,1613455252.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.909169 deg/s. Setting heading cmd to target bearing of 65.454939deg and heading rate command to 0 deg/s.
2021-02-16T06:00:54.449Z,1613455254.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:00:55.222Z,1613455255.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:00:55.621Z,1613455255.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:00:56.431Z,1613455256.431 [Micromodem](INFO): Nmea in: $SNTTA,0.147673,,,,060056.73*41

2021-02-16T06:00:56.846Z,1613455256.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.339996 m, bearing: 359.994163 deg, deltaT: 4.898989 s, approachRate: -0.257195 m/s, LOS rate: -13.362097 deg/s, posRepo size: 4
2021-02-16T06:00:56.847Z,1613455256.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.362097 deg/s. Setting heading cmd to target bearing of 359.994163deg and heading rate command to 0 deg/s.
2021-02-16T06:00:59.048Z,1613455259.048 [CTD_Seabird](ERROR): Failed to parse device response: .27
2021-02-16T06:00:59.297Z,1613455259.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:00.048Z,1613455260.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:00.455Z,1613455260.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:01.275Z,1613455261.275 [Micromodem](INFO): Nmea in: $SNTTA,0.146623,,,,060101.55*42

2021-02-16T06:01:01.705Z,1613455261.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.779984 m, bearing: 3.997133 deg, deltaT: 4.817169 s, approachRate: -0.323844 m/s, LOS rate: 0.830980 deg/s, posRepo size: 4
2021-02-16T06:01:01.707Z,1613455261.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.779984 m,
      bearing: 3.997133 deg,
      approachRate: -0.323844 m/s,
      LOS rate: 0.830980 deg/s,
      cmd update: 2.492941 deg/s,
      cmd heading: 359.994163 deg,
      new cmd heading: 359.994163 deg.

2021-02-16T06:01:04.159Z,1613455264.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:04.907Z,1613455264.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:05.302Z,1613455265.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:06.157Z,1613455266.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060106.42*59

2021-02-16T06:01:06.563Z,1613455266.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.619995 m, bearing: 4.116885 deg, deltaT: 4.923998 s, approachRate: -0.438666 m/s, LOS rate: 0.024320 deg/s, posRepo size: 4
2021-02-16T06:01:06.565Z,1613455266.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.619995 m,
      bearing: 4.116885 deg,
      approachRate: -0.438666 m/s,
      LOS rate: 0.024320 deg/s,
      cmd update: 0.072960 deg/s,
      cmd heading: 12.320435 deg,
      new cmd heading: 13.090350 deg.

2021-02-16T06:01:08.960Z,1613455268.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:09.869Z,1613455269.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:10.285Z,1613455270.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:11.119Z,1613455271.119 [Micromodem](INFO): Nmea in: $SNTTA,0.143543,,,,060111.37*47

2021-02-16T06:01:11.521Z,1613455271.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.919998 m, bearing: 357.828065 deg, deltaT: 4.906405 s, approachRate: -0.550300 m/s, LOS rate: -1.281757 deg/s, posRepo size: 4
2021-02-16T06:01:11.523Z,1613455271.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.919998 m,
      bearing: 357.828065 deg,
      approachRate: -0.550300 m/s,
      LOS rate: -1.281757 deg/s,
      cmd update: -3.845271 deg/s,
      cmd heading: 12.677358 deg,
      new cmd heading: 12.704705 deg.

2021-02-16T06:01:13.927Z,1613455273.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:14.712Z,1613455274.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:15.132Z,1613455275.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:15.944Z,1613455275.944 [Micromodem](INFO): Nmea in: $SNTTA,0.141519,,,,060116.22*49

2021-02-16T06:01:16.385Z,1613455276.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.099991 m, bearing: 358.795219 deg, deltaT: 4.808057 s, approachRate: -0.586517 m/s, LOS rate: 0.201153 deg/s, posRepo size: 4
2021-02-16T06:01:16.386Z,1613455276.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.099991 m,
      bearing: 358.795219 deg,
      approachRate: -0.586517 m/s,
      LOS rate: 0.201153 deg/s,
      cmd update: 0.603459 deg/s,
      cmd heading: 354.117731 deg,
      new cmd heading: 352.533495 deg.

2021-02-16T06:01:18.797Z,1613455278.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:19.560Z,1613455279.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:19.971Z,1613455279.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:20.779Z,1613455280.779 [Micromodem](INFO): Nmea in: $SNTTA,0.139454,,,,060121.07*4D

2021-02-16T06:01:21.303Z,1613455281.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.979996 m, bearing: 358.066329 deg, deltaT: 4.851816 s, approachRate: -0.643057 m/s, LOS rate: -0.150230 deg/s, posRepo size: 4
2021-02-16T06:01:21.305Z,1613455281.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.979996 m,
      bearing: 358.066329 deg,
      approachRate: -0.643057 m/s,
      LOS rate: -0.150230 deg/s,
      cmd update: -0.450691 deg/s,
      cmd heading: 357.040529 deg,
      new cmd heading: 357.327538 deg.

2021-02-16T06:01:23.631Z,1613455283.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:24.431Z,1613455284.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:24.819Z,1613455284.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:25.645Z,1613455285.645 [Micromodem](INFO): Nmea in: $SNTTA,0.137408,,,,060125.94*44

2021-02-16T06:01:26.066Z,1613455286.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.919983 m, bearing: 359.526050 deg, deltaT: 4.835588 s, approachRate: -0.632811 m/s, LOS rate: 0.301870 deg/s, posRepo size: 4
2021-02-16T06:01:26.068Z,1613455286.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.919983 m,
      bearing: 359.526050 deg,
      approachRate: -0.632811 m/s,
      LOS rate: 0.301870 deg/s,
      cmd update: 0.905611 deg/s,
      cmd heading: 354.857394 deg,
      new cmd heading: 354.674507 deg.

2021-02-16T06:01:28.527Z,1613455288.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:29.259Z,1613455289.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:29.662Z,1613455289.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:30.497Z,1613455290.497 [Micromodem](INFO): Nmea in: $SNTTA,0.135375,,,,060130.77*42

2021-02-16T06:01:30.907Z,1613455290.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.799988 m, bearing: 359.904469 deg, deltaT: 4.891607 s, approachRate: -0.637826 m/s, LOS rate: 0.077361 deg/s, posRepo size: 4
2021-02-16T06:01:30.909Z,1613455290.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.799988 m,
      bearing: 359.904469 deg,
      approachRate: -0.637826 m/s,
      LOS rate: 0.077361 deg/s,
      cmd update: 0.232083 deg/s,
      cmd heading: 359.287237 deg,
      new cmd heading: 359.609304 deg.

2021-02-16T06:01:33.354Z,1613455293.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:34.122Z,1613455294.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:34.517Z,1613455294.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:35.335Z,1613455295.335 [Micromodem](INFO): Nmea in: $SNTTA,0.133381,,,0.135901,060135.63*5E

2021-02-16T06:01:35.798Z,1613455295.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.860001 m, bearing: 0.553775 deg, deltaT: 4.857391 s, approachRate: -0.605261 m/s, LOS rate: 0.133672 deg/s, posRepo size: 4
2021-02-16T06:01:35.800Z,1613455295.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.860001 m,
      bearing: 0.553775 deg,
      approachRate: -0.605261 m/s,
      LOS rate: 0.133672 deg/s,
      cmd update: 0.401015 deg/s,
      cmd heading: 0.410646 deg,
      new cmd heading: 0.504879 deg.

2021-02-16T06:01:38.252Z,1613455298.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:38.955Z,1613455298.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:39.369Z,1613455299.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:40.178Z,1613455300.178 [Micromodem](INFO): Nmea in: $SNTTA,0.131351,,,,060140.46*45

2021-02-16T06:01:40.598Z,1613455300.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.800003 m, bearing: 1.723581 deg, deltaT: 4.882190 s, approachRate: -0.626767 m/s, LOS rate: 0.239607 deg/s, posRepo size: 4
2021-02-16T06:01:40.600Z,1613455300.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.800003 m,
      bearing: 1.723581 deg,
      approachRate: -0.626767 m/s,
      LOS rate: 0.239607 deg/s,
      cmd update: 0.718821 deg/s,
      cmd heading: 2.373609 deg,
      new cmd heading: 2.498337 deg.

2021-02-16T06:01:43.007Z,1613455303.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:43.809Z,1613455303.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:44.247Z,1613455304.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:45.024Z,1613455305.024 [Micromodem](INFO): Nmea in: $SNTTA,0.129182,,,,060145.31*45

2021-02-16T06:01:45.499Z,1613455305.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.559982 m, bearing: 1.499857 deg, deltaT: 4.747937 s, approachRate: -0.682406 m/s, LOS rate: -0.047120 deg/s, posRepo size: 4
2021-02-16T06:01:45.501Z,1613455305.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 1.499857 deg,
      approachRate: -0.682406 m/s,
      LOS rate: -0.047120 deg/s,
      cmd update: -0.141361 deg/s,
      cmd heading: 5.789420 deg,
      new cmd heading: 6.108622 deg.

2021-02-16T06:01:47.856Z,1613455307.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:48.648Z,1613455308.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:49.057Z,1613455309.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:49.876Z,1613455309.876 [Micromodem](INFO): Nmea in: $SNTTA,0.126993,,,,060150.15*40

2021-02-16T06:01:49.913Z,1613455309.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.559982 m, bearing: 1.964400 deg, deltaT: 4.506964 s, approachRate: 0.000000 m/s, LOS rate: 0.103072 deg/s, posRepo size: 4
2021-02-16T06:01:49.915Z,1613455309.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 1.964400 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.103072 deg/s,
      cmd update: 0.309217 deg/s,
      cmd heading: 5.152876 deg,
      new cmd heading: 5.100391 deg.

2021-02-16T06:01:52.359Z,1613455312.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:53.118Z,1613455313.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:53.499Z,1613455313.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:54.336Z,1613455314.336 [Micromodem](INFO): Nmea in: $SNTTA,0.125104,,,,060154.62*41

2021-02-16T06:01:54.763Z,1613455314.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.380005 m, bearing: 1.432269 deg, deltaT: 4.863233 s, approachRate: -1.270755 m/s, LOS rate: -0.109419 deg/s, posRepo size: 4
2021-02-16T06:01:54.765Z,1613455314.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.380005 m,
      bearing: 1.432269 deg,
      approachRate: -1.270755 m/s,
      LOS rate: -0.109419 deg/s,
      cmd update: -0.328258 deg/s,
      cmd heading: 6.656656 deg,
      new cmd heading: 6.767334 deg.

2021-02-16T06:01:57.216Z,1613455317.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:01:57.941Z,1613455317.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:01:58.345Z,1613455318.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:01:59.166Z,1613455319.166 [Micromodem](INFO): Nmea in: $SNTTA,0.122989,,,,060159.45*43

2021-02-16T06:01:59.599Z,1613455319.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.320007 m, bearing: 2.025645 deg, deltaT: 4.853557 s, approachRate: -0.630465 m/s, LOS rate: 0.122256 deg/s, posRepo size: 4
2021-02-16T06:01:59.600Z,1613455319.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.320007 m,
      bearing: 2.025645 deg,
      approachRate: -0.630465 m/s,
      LOS rate: 0.122256 deg/s,
      cmd update: 0.366768 deg/s,
      cmd heading: 5.066001 deg,
      new cmd heading: 4.951845 deg.

2021-02-16T06:02:01.996Z,1613455321.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:02.798Z,1613455322.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:03.199Z,1613455323.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:04.024Z,1613455324.024 [Micromodem](INFO): Nmea in: $SNTTA,0.120894,,,,060204.31*44

2021-02-16T06:02:04.046Z,1613455324.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.320007 m, bearing: 2.235198 deg, deltaT: 4.394350 s, approachRate: 0.000000 m/s, LOS rate: 0.047687 deg/s, posRepo size: 4
2021-02-16T06:02:04.048Z,1613455324.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.320007 m,
      bearing: 2.235198 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.047687 deg/s,
      cmd update: 0.143061 deg/s,
      cmd heading: 6.680308 deg,
      new cmd heading: 6.824770 deg.

2021-02-16T06:02:06.489Z,1613455326.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:07.248Z,1613455327.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:07.638Z,1613455327.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:08.461Z,1613455328.461 [Micromodem](INFO): Nmea in: $SNTTA,0.118964,,,,060208.75*4D

2021-02-16T06:02:08.882Z,1613455328.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.260010 m, bearing: 2.749691 deg, deltaT: 4.866508 s, approachRate: -1.245246 m/s, LOS rate: 0.105721 deg/s, posRepo size: 4
2021-02-16T06:02:08.884Z,1613455328.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.260010 m,
      bearing: 2.749691 deg,
      approachRate: -1.245246 m/s,
      LOS rate: 0.105721 deg/s,
      cmd update: 0.317164 deg/s,
      cmd heading: 7.376622 deg,
      new cmd heading: 7.428470 deg.

2021-02-16T06:02:11.323Z,1613455331.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:12.108Z,1613455332.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:12.487Z,1613455332.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:13.321Z,1613455333.321 [Micromodem](INFO): Nmea in: $SNTTA,0.116793,,,,060213.61*4A

2021-02-16T06:02:13.742Z,1613455333.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 2.025901 deg, deltaT: 4.855806 s, approachRate: -0.679603 m/s, LOS rate: -0.149057 deg/s, posRepo size: 4
2021-02-16T06:02:13.748Z,1613455333.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.959991 m,
      bearing: 2.025901 deg,
      approachRate: -0.679603 m/s,
      LOS rate: -0.149057 deg/s,
      cmd update: -0.447170 deg/s,
      cmd heading: 8.910373 deg,
      new cmd heading: 9.032985 deg.

2021-02-16T06:02:16.168Z,1613455336.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:16.945Z,1613455336.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:17.334Z,1613455337.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:18.162Z,1613455338.162 [Micromodem](INFO): Nmea in: $SNTTA,0.114606,,,,060218.45*48

2021-02-16T06:02:18.586Z,1613455338.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.660004 m, bearing: 2.341089 deg, deltaT: 4.882377 s, approachRate: -0.675898 m/s, LOS rate: 0.064556 deg/s, posRepo size: 4
2021-02-16T06:02:18.588Z,1613455338.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.660004 m,
      bearing: 2.341089 deg,
      approachRate: -0.675898 m/s,
      LOS rate: 0.064556 deg/s,
      cmd update: 0.193669 deg/s,
      cmd heading: 6.720897 deg,
      new cmd heading: 6.571560 deg.

2021-02-16T06:02:20.984Z,1613455340.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:21.781Z,1613455341.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:22.191Z,1613455342.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:23.011Z,1613455343.011 [Micromodem](INFO): Nmea in: $SNTTA,0.112697,,,,060223.29*44

2021-02-16T06:02:23.030Z,1613455343.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.660004 m, bearing: 2.414502 deg, deltaT: 4.371681 s, approachRate: 0.000000 m/s, LOS rate: 0.016793 deg/s, posRepo size: 4
2021-02-16T06:02:23.032Z,1613455343.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.660004 m,
      bearing: 2.414502 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.016793 deg/s,
      cmd update: 0.050379 deg/s,
      cmd heading: 7.568730 deg,
      new cmd heading: 7.646372 deg.

2021-02-16T06:02:25.477Z,1613455345.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:26.251Z,1613455346.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:26.634Z,1613455346.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:27.465Z,1613455347.465 [Micromodem](INFO): Nmea in: $SNTTA,0.110643,,,,060227.76*41

2021-02-16T06:02:27.879Z,1613455347.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 4.086464 deg, deltaT: 4.893437 s, approachRate: -1.213871 m/s, LOS rate: 0.341674 deg/s, posRepo size: 4
2021-02-16T06:02:27.880Z,1613455347.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 4.086464 deg,
      approachRate: -1.213871 m/s,
      LOS rate: 0.341674 deg/s,
      cmd update: 1.025023 deg/s,
      cmd heading: 7.815062 deg,
      new cmd heading: 7.833170 deg.

2021-02-16T06:02:30.309Z,1613455350.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:31.097Z,1613455351.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:31.492Z,1613455351.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:32.312Z,1613455352.312 [Micromodem](INFO): Nmea in: $SNTTA,0.108385,,0.119023,,060232.60*52

2021-02-16T06:02:32.360Z,1613455352.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 8.349931 deg, deltaT: 4.399756 s, approachRate: 0.000000 m/s, LOS rate: 0.969024 deg/s, posRepo size: 4
2021-02-16T06:02:32.362Z,1613455352.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 8.349931 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.969024 deg/s,
      cmd update: 2.907071 deg/s,
      cmd heading: 12.328965 deg,
      new cmd heading: 12.777127 deg.

2021-02-16T06:02:34.720Z,1613455354.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:35.517Z,1613455355.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:35.919Z,1613455355.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:36.744Z,1613455356.744 [Micromodem](INFO): Nmea in: $SNTTA,0.106485,,,,060237.02*4C

2021-02-16T06:02:36.771Z,1613455356.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.600006 m, bearing: 1.731963 deg, deltaT: 4.465736 s, approachRate: -1.370434 m/s, LOS rate: -1.481943 deg/s, posRepo size: 4
2021-02-16T06:02:36.773Z,1613455356.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 1.731963 deg,
      approachRate: -1.370434 m/s,
      LOS rate: -1.481943 deg/s,
      cmd update: -4.445830 deg/s,
      cmd heading: 25.310582 deg,
      new cmd heading: 26.422487 deg.

2021-02-16T06:02:39.242Z,1613455359.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:39.962Z,1613455359.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:40.374Z,1613455360.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:41.216Z,1613455361.216 [Micromodem](INFO): Nmea in: $SNTTA,0.104708,,,,060241.47*48

2021-02-16T06:02:41.273Z,1613455361.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 0.526091 deg, deltaT: 4.437927 s, approachRate: -0.662475 m/s, LOS rate: -0.271720 deg/s, posRepo size: 4
2021-02-16T06:02:41.274Z,1613455361.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.659988 m,
      bearing: 0.526091 deg,
      approachRate: -0.662475 m/s,
      LOS rate: -0.271720 deg/s,
      cmd update: -0.815159 deg/s,
      cmd heading: 5.633372 deg,
      new cmd heading: 3.595066 deg.

2021-02-16T06:02:43.628Z,1613455363.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:44.402Z,1613455364.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:44.806Z,1613455364.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:45.632Z,1613455365.632 [Micromodem](INFO): Nmea in: $SNTTA,0.102787,,,,060245.91*46

2021-02-16T06:02:45.676Z,1613455365.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 4.400242 deg, deltaT: 4.463065 s, approachRate: -0.591518 m/s, LOS rate: 0.868047 deg/s, posRepo size: 4
2021-02-16T06:02:45.678Z,1613455365.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.020004 m,
      bearing: 4.400242 deg,
      approachRate: -0.591518 m/s,
      LOS rate: 0.868047 deg/s,
      cmd update: 2.604142 deg/s,
      cmd heading: 1.995258 deg,
      new cmd heading: 1.671808 deg.

2021-02-16T06:02:48.069Z,1613455368.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:48.849Z,1613455368.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:49.266Z,1613455369.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:50.084Z,1613455370.084 [Micromodem](INFO): Nmea in: $SNTTA,0.100937,,,,060250.35*4B

2021-02-16T06:02:50.158Z,1613455370.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.259995 m, bearing: 3.682454 deg, deltaT: 4.399183 s, approachRate: -0.627391 m/s, LOS rate: -0.163164 deg/s, posRepo size: 4
2021-02-16T06:02:50.165Z,1613455370.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.259995 m,
      bearing: 3.682454 deg,
      approachRate: -0.627391 m/s,
      LOS rate: -0.163164 deg/s,
      cmd update: -0.489492 deg/s,
      cmd heading: 13.482382 deg,
      new cmd heading: 14.703462 deg.

2021-02-16T06:02:52.506Z,1613455372.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:53.288Z,1613455373.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:53.702Z,1613455373.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:54.604Z,1613455374.604 [Micromodem](INFO): Nmea in: $SNTTA,0.099037,,,,060254.79*4F

2021-02-16T06:02:54.697Z,1613455374.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 2.150888 deg, deltaT: 4.460659 s, approachRate: -0.645642 m/s, LOS rate: -0.343350 deg/s, posRepo size: 4
2021-02-16T06:02:54.699Z,1613455374.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.380005 m,
      bearing: 2.150888 deg,
      approachRate: -0.645642 m/s,
      LOS rate: -0.343350 deg/s,
      cmd update: -1.030049 deg/s,
      cmd heading: 11.298722 deg,
      new cmd heading: 11.030623 deg.

2021-02-16T06:02:56.945Z,1613455376.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:02:57.732Z,1613455377.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:02:58.145Z,1613455378.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:02:58.960Z,1613455378.960 [Micromodem](INFO): Nmea in: $SNTTA,0.097149,,,,060259.24*4C

2021-02-16T06:02:59.001Z,1613455379.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.500000 m, bearing: 2.010469 deg, deltaT: 4.435016 s, approachRate: -0.649379 m/s, LOS rate: -0.031662 deg/s, posRepo size: 4
2021-02-16T06:02:59.003Z,1613455379.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.500000 m,
      bearing: 2.010469 deg,
      approachRate: -0.649379 m/s,
      LOS rate: -0.031662 deg/s,
      cmd update: -0.094985 deg/s,
      cmd heading: 6.727011 deg,
      new cmd heading: 6.301042 deg.

2021-02-16T06:03:01.428Z,1613455381.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:02.206Z,1613455382.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:02.586Z,1613455382.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:03.424Z,1613455383.424 [Micromodem](INFO): Nmea in: $SNTTA,0.095187,,,,060303.71*42

2021-02-16T06:03:03.477Z,1613455383.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.559998 m, bearing: 2.543876 deg, deltaT: 4.421948 s, approachRate: -0.664866 m/s, LOS rate: 0.120627 deg/s, posRepo size: 4
2021-02-16T06:03:03.478Z,1613455383.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.559998 m,
      bearing: 2.543876 deg,
      approachRate: -0.664866 m/s,
      LOS rate: 0.120627 deg/s,
      cmd update: 0.361881 deg/s,
      cmd heading: 6.306968 deg,
      new cmd heading: 6.262646 deg.

2021-02-16T06:03:05.887Z,1613455385.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:06.624Z,1613455386.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:07.030Z,1613455387.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:07.852Z,1613455387.852 [Micromodem](INFO): Nmea in: $SNTTA,0.093198,,,,060308.13*45

2021-02-16T06:03:07.894Z,1613455387.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.560013 m, bearing: 2.816425 deg, deltaT: 4.490012 s, approachRate: -0.668146 m/s, LOS rate: 0.060701 deg/s, posRepo size: 4
2021-02-16T06:03:07.908Z,1613455387.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.560013 m,
      bearing: 2.816425 deg,
      approachRate: -0.668146 m/s,
      LOS rate: 0.060701 deg/s,
      cmd update: 0.182104 deg/s,
      cmd heading: 7.928676 deg,
      new cmd heading: 8.074524 deg.

2021-02-16T06:03:10.309Z,1613455390.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:11.081Z,1613455391.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:11.487Z,1613455391.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:12.316Z,1613455392.316 [Micromodem](INFO): Nmea in: $SNTTA,0.091468,,,,060312.59*48

2021-02-16T06:03:12.374Z,1613455392.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.100006 m, bearing: 1.979218 deg, deltaT: 4.418949 s, approachRate: -0.556695 m/s, LOS rate: -0.189458 deg/s, posRepo size: 4
2021-02-16T06:03:12.380Z,1613455392.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.100006 m,
      bearing: 1.979218 deg,
      approachRate: -0.556695 m/s,
      LOS rate: -0.189458 deg/s,
      cmd update: -0.568375 deg/s,
      cmd heading: 8.734978 deg,
      new cmd heading: 8.817828 deg.

2021-02-16T06:03:14.731Z,1613455394.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:15.517Z,1613455395.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:15.918Z,1613455395.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:16.744Z,1613455396.744 [Micromodem](INFO): Nmea in: $SNTTA,0.089367,,,,060317.02*42

2021-02-16T06:03:16.780Z,1613455396.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 3.682867 deg, deltaT: 4.454790 s, approachRate: -0.727308 m/s, LOS rate: 0.382431 deg/s, posRepo size: 4
2021-02-16T06:03:16.782Z,1613455396.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.860001 m,
      bearing: 3.682867 deg,
      approachRate: -0.727308 m/s,
      LOS rate: 0.382431 deg/s,
      cmd update: 1.147292 deg/s,
      cmd heading: 6.203089 deg,
      new cmd heading: 5.971979 deg.

2021-02-16T06:03:19.234Z,1613455399.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:19.956Z,1613455399.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:20.375Z,1613455400.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:21.193Z,1613455401.193 [Micromodem](INFO): Nmea in: $SNTTA,0.087547,,,,060321.46*4D

2021-02-16T06:03:21.272Z,1613455401.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 3.970917 deg, deltaT: 4.431063 s, approachRate: -0.622874 m/s, LOS rate: 0.065007 deg/s, posRepo size: 4
2021-02-16T06:03:21.274Z,1613455401.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.100006 m,
      bearing: 3.970917 deg,
      approachRate: -0.622874 m/s,
      LOS rate: 0.065007 deg/s,
      cmd update: 0.195021 deg/s,
      cmd heading: 11.262945 deg,
      new cmd heading: 11.822228 deg.

2021-02-16T06:03:23.607Z,1613455403.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:24.412Z,1613455404.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:24.811Z,1613455404.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:25.636Z,1613455405.636 [Micromodem](INFO): Nmea in: $SNTTA,0.085628,,,,060325.92*48

2021-02-16T06:03:25.690Z,1613455405.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 4.535645 deg, deltaT: 4.487226 s, approachRate: -0.641823 m/s, LOS rate: 0.125852 deg/s, posRepo size: 4
2021-02-16T06:03:25.696Z,1613455405.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.220001 m,
      bearing: 4.535645 deg,
      approachRate: -0.641823 m/s,
      LOS rate: 0.125852 deg/s,
      cmd update: 0.377557 deg/s,
      cmd heading: 12.140533 deg,
      new cmd heading: 12.219702 deg.

2021-02-16T06:03:28.080Z,1613455408.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:28.845Z,1613455408.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:29.259Z,1613455409.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:30.103Z,1613455410.103 [Micromodem](INFO): Nmea in: $SNTTA,0.083651,,,,060330.35*49

2021-02-16T06:03:30.157Z,1613455410.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 3.203480 deg, deltaT: 4.394107 s, approachRate: -0.655423 m/s, LOS rate: -0.303171 deg/s, posRepo size: 4
2021-02-16T06:03:30.164Z,1613455410.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 3.203480 deg,
      approachRate: -0.655423 m/s,
      LOS rate: -0.303171 deg/s,
      cmd update: -0.909512 deg/s,
      cmd heading: 13.802586 deg,
      new cmd heading: 13.970955 deg.

2021-02-16T06:03:32.504Z,1613455412.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:33.288Z,1613455413.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:33.703Z,1613455413.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:34.524Z,1613455414.524 [Micromodem](INFO): Nmea in: $SNTTA,0.081792,,,,060334.79*49

2021-02-16T06:03:34.572Z,1613455414.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.519997 m, bearing: 3.425711 deg, deltaT: 4.460663 s, approachRate: -0.632195 m/s, LOS rate: 0.049820 deg/s, posRepo size: 4
2021-02-16T06:03:34.574Z,1613455414.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.519997 m,
      bearing: 3.425711 deg,
      approachRate: -0.632195 m/s,
      LOS rate: 0.049820 deg/s,
      cmd update: 0.149461 deg/s,
      cmd heading: 9.747307 deg,
      new cmd heading: 9.380733 deg.

2021-02-16T06:03:36.939Z,1613455416.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:37.738Z,1613455417.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:38.138Z,1613455418.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:38.964Z,1613455418.964 [Micromodem](INFO): Nmea in: $SNTTA,0.079955,,,,060339.24*4E

2021-02-16T06:03:39.011Z,1613455419.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 2.368244 deg, deltaT: 4.437269 s, approachRate: -0.689613 m/s, LOS rate: -0.238315 deg/s, posRepo size: 4
2021-02-16T06:03:39.013Z,1613455419.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.459999 m,
      bearing: 2.368244 deg,
      approachRate: -0.689613 m/s,
      LOS rate: -0.238315 deg/s,
      cmd update: -0.714945 deg/s,
      cmd heading: 10.410493 deg,
      new cmd heading: 10.473965 deg.

2021-02-16T06:03:41.424Z,1613455421.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:42.187Z,1613455422.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:42.587Z,1613455422.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:43.412Z,1613455423.412 [Micromodem](INFO): Nmea in: $SNTTA,0.077947,,,,060343.69*47

2021-02-16T06:03:43.479Z,1613455423.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 3.794366 deg, deltaT: 4.417342 s, approachRate: -0.611227 m/s, LOS rate: 0.322846 deg/s, posRepo size: 4
2021-02-16T06:03:43.481Z,1613455423.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.760002 m,
      bearing: 3.794366 deg,
      approachRate: -0.611227 m/s,
      LOS rate: 0.322846 deg/s,
      cmd update: 0.968538 deg/s,
      cmd heading: 7.250940 deg,
      new cmd heading: 6.912485 deg.

2021-02-16T06:03:45.883Z,1613455425.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:46.639Z,1613455426.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:47.026Z,1613455427.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:47.864Z,1613455427.864 [Micromodem](INFO): Nmea in: $SNTTA,0.075862,,,,060348.14*42

2021-02-16T06:03:47.886Z,1613455427.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 2.666240 deg, deltaT: 4.488655 s, approachRate: -0.708451 m/s, LOS rate: -0.251328 deg/s, posRepo size: 4
2021-02-16T06:03:47.908Z,1613455427.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 2.666240 deg,
      approachRate: -0.708451 m/s,
      LOS rate: -0.251328 deg/s,
      cmd update: -0.753985 deg/s,
      cmd heading: 11.579089 deg,
      new cmd heading: 11.982273 deg.

2021-02-16T06:03:50.300Z,1613455430.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:51.081Z,1613455431.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:51.470Z,1613455431.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:52.304Z,1613455432.304 [Micromodem](INFO): Nmea in: $SNTTA,0.073917,,,,060352.59*45

2021-02-16T06:03:52.366Z,1613455432.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 4.130609 deg, deltaT: 4.400174 s, approachRate: -0.613613 m/s, LOS rate: 0.332798 deg/s, posRepo size: 4
2021-02-16T06:03:52.372Z,1613455432.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.880005 m,
      bearing: 4.130609 deg,
      approachRate: -0.613613 m/s,
      LOS rate: 0.332798 deg/s,
      cmd update: 0.998394 deg/s,
      cmd heading: 8.246219 deg,
      new cmd heading: 7.887696 deg.

2021-02-16T06:03:54.720Z,1613455434.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:55.513Z,1613455435.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:03:55.919Z,1613455435.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:03:56.749Z,1613455436.749 [Micromodem](INFO): Nmea in: $SNTTA,0.071979,,,,060357.02*44

2021-02-16T06:03:56.783Z,1613455436.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.820000 m, bearing: 3.711185 deg, deltaT: 4.483010 s, approachRate: -0.682578 m/s, LOS rate: -0.093559 deg/s, posRepo size: 4
2021-02-16T06:03:56.785Z,1613455436.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.820000 m,
      bearing: 3.711185 deg,
      approachRate: -0.682578 m/s,
      LOS rate: -0.093559 deg/s,
      cmd update: -0.280676 deg/s,
      cmd heading: 12.717834 deg,
      new cmd heading: 13.130616 deg.

2021-02-16T06:03:59.194Z,1613455439.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:03:59.957Z,1613455439.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:00.358Z,1613455440.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:01.192Z,1613455441.192 [Micromodem](INFO): Nmea in: $SNTTA,0.070220,,,,060401.46*46

2021-02-16T06:04:01.286Z,1613455441.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 3.797708 deg, deltaT: 4.400695 s, approachRate: -0.586270 m/s, LOS rate: 0.019661 deg/s, posRepo size: 4
2021-02-16T06:04:01.292Z,1613455441.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.240005 m,
      bearing: 3.797708 deg,
      approachRate: -0.586270 m/s,
      LOS rate: 0.019661 deg/s,
      cmd update: 0.058984 deg/s,
      cmd heading: 11.481545 deg,
      new cmd heading: 11.337888 deg.

2021-02-16T06:04:03.284Z,1613455443.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:03.992Z,1613455443.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:04.547Z,1613455444.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:05.308Z,1613455445.308 [Micromodem](INFO): Nmea in: $SNTTA,0.068438,,,,060405.50*43

2021-02-16T06:04:05.374Z,1613455445.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.479996 m, bearing: 3.391676 deg, deltaT: 4.145267 s, approachRate: -0.665822 m/s, LOS rate: -0.097951 deg/s, posRepo size: 4
2021-02-16T06:04:05.380Z,1613455445.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.479996 m,
      bearing: 3.391676 deg,
      approachRate: -0.665822 m/s,
      LOS rate: -0.097951 deg/s,
      cmd update: -0.293853 deg/s,
      cmd heading: 11.726063 deg,
      new cmd heading: 11.752872 deg.

2021-02-16T06:04:07.736Z,1613455447.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:08.524Z,1613455448.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:08.930Z,1613455448.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:09.752Z,1613455449.752 [Micromodem](INFO): Nmea in: $SNTTA,0.066412,,,,060410.03*47

2021-02-16T06:04:09.791Z,1613455449.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 3.327896 deg, deltaT: 4.526634 s, approachRate: -0.675998 m/s, LOS rate: -0.014090 deg/s, posRepo size: 4
2021-02-16T06:04:09.793Z,1613455449.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 3.327896 deg,
      approachRate: -0.675998 m/s,
      LOS rate: -0.014090 deg/s,
      cmd update: -0.042269 deg/s,
      cmd heading: 10.400492 deg,
      new cmd heading: 10.294896 deg.

2021-02-16T06:04:12.250Z,1613455452.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:12.968Z,1613455452.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:13.375Z,1613455453.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:14.216Z,1613455454.216 [Micromodem](INFO): Nmea in: $SNTTA,0.064432,,,,060414.48*4C

2021-02-16T06:04:14.280Z,1613455454.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.479996 m, bearing: 2.846790 deg, deltaT: 4.360762 s, approachRate: -0.674195 m/s, LOS rate: -0.110326 deg/s, posRepo size: 4
2021-02-16T06:04:14.282Z,1613455454.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 2.846790 deg,
      approachRate: -0.674195 m/s,
      LOS rate: -0.110326 deg/s,
      cmd update: -0.330978 deg/s,
      cmd heading: 10.215509 deg,
      new cmd heading: 10.195489 deg.

2021-02-16T06:04:16.639Z,1613455456.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:17.417Z,1613455457.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:17.818Z,1613455457.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:18.644Z,1613455458.644 [Micromodem](INFO): Nmea in: $SNTTA,0.062441,,,,060418.92*45

2021-02-16T06:04:18.678Z,1613455458.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 1.736943 deg, deltaT: 4.469683 s, approachRate: -0.671187 m/s, LOS rate: -0.248306 deg/s, posRepo size: 4
2021-02-16T06:04:18.680Z,1613455458.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 1.736943 deg,
      approachRate: -0.671187 m/s,
      LOS rate: -0.248306 deg/s,
      cmd update: -0.744917 deg/s,
      cmd heading: 8.736094 deg,
      new cmd heading: 8.603329 deg.

2021-02-16T06:04:21.125Z,1613455461.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:21.856Z,1613455461.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:22.262Z,1613455462.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:23.112Z,1613455463.112 [Micromodem](INFO): Nmea in: $SNTTA,0.060503,,,,060423.36*46

2021-02-16T06:04:23.137Z,1613455463.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 4.992899 deg, deltaT: 4.401792 s, approachRate: -0.640648 m/s, LOS rate: 0.739689 deg/s, posRepo size: 4
2021-02-16T06:04:23.139Z,1613455463.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.660004 m,
      bearing: 4.992899 deg,
      approachRate: -0.640648 m/s,
      LOS rate: 0.739689 deg/s,
      cmd update: 2.219066 deg/s,
      cmd heading: 5.457141 deg,
      new cmd heading: 5.115436 deg.

2021-02-16T06:04:25.532Z,1613455465.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:26.308Z,1613455466.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:26.706Z,1613455466.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:27.532Z,1613455467.532 [Micromodem](INFO): Nmea in: $SNTTA,0.058498,,,,060427.81*46

2021-02-16T06:04:27.581Z,1613455467.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 4.754762 deg, deltaT: 4.487919 s, approachRate: -0.668463 m/s, LOS rate: -0.053062 deg/s, posRepo size: 4
2021-02-16T06:04:27.583Z,1613455467.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 4.754762 deg,
      approachRate: -0.668463 m/s,
      LOS rate: -0.053062 deg/s,
      cmd update: -0.159185 deg/s,
      cmd heading: 15.411189 deg,
      new cmd heading: 16.336100 deg.

2021-02-16T06:04:29.975Z,1613455469.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:30.749Z,1613455470.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:31.158Z,1613455471.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:31.984Z,1613455471.984 [Micromodem](INFO): Nmea in: $SNTTA,0.056599,,,,060432.25*42

2021-02-16T06:04:32.028Z,1613455472.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 3.673440 deg, deltaT: 4.425227 s, approachRate: -0.650813 m/s, LOS rate: -0.244354 deg/s, posRepo size: 4
2021-02-16T06:04:32.030Z,1613455472.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 3.673440 deg,
      approachRate: -0.650813 m/s,
      LOS rate: -0.244354 deg/s,
      cmd update: -0.733062 deg/s,
      cmd heading: 14.708984 deg,
      new cmd heading: 14.636931 deg.

2021-02-16T06:04:34.421Z,1613455474.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:35.199Z,1613455475.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:35.605Z,1613455475.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:36.424Z,1613455476.424 [Micromodem](INFO): Nmea in: $SNTTA,0.054711,,,,060436.71*47

2021-02-16T06:04:36.472Z,1613455476.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.839996 m, bearing: 2.834717 deg, deltaT: 4.437317 s, approachRate: -0.662563 m/s, LOS rate: -0.189016 deg/s, posRepo size: 4
2021-02-16T06:04:36.474Z,1613455476.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.839996 m,
      bearing: 2.834717 deg,
      approachRate: -0.662563 m/s,
      LOS rate: -0.189016 deg/s,
      cmd update: -0.567047 deg/s,
      cmd heading: 11.447252 deg,
      new cmd heading: 11.119434 deg.

2021-02-16T06:04:38.842Z,1613455478.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:39.644Z,1613455479.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:40.037Z,1613455480.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:40.879Z,1613455480.879 [Micromodem](INFO): Nmea in: $SNTTA,0.052717,,0.069210,,060441.15*57

2021-02-16T06:04:40.946Z,1613455480.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 3.085252 deg, deltaT: 4.452148 s, approachRate: -0.646878 m/s, LOS rate: 0.056273 deg/s, posRepo size: 4
2021-02-16T06:04:40.949Z,1613455480.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 3.085252 deg,
      approachRate: -0.646878 m/s,
      LOS rate: 0.056273 deg/s,
      cmd update: 0.168818 deg/s,
      cmd heading: 8.920361 deg,
      new cmd heading: 8.658322 deg.

2021-02-16T06:04:43.327Z,1613455483.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:44.112Z,1613455484.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:44.561Z,1613455484.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:45.318Z,1613455485.318 [Micromodem](INFO): Nmea in: $SNTTA,0.050945,,,,060445.62*4A

2021-02-16T06:04:45.387Z,1613455485.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 2.926229 deg, deltaT: 4.416997 s, approachRate: -0.665609 m/s, LOS rate: -0.036002 deg/s, posRepo size: 4
2021-02-16T06:04:45.389Z,1613455485.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 2.926229 deg,
      approachRate: -0.665609 m/s,
      LOS rate: -0.036002 deg/s,
      cmd update: -0.108007 deg/s,
      cmd heading: 9.666013 deg,
      new cmd heading: 9.745867 deg.

2021-02-16T06:04:47.742Z,1613455487.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:48.525Z,1613455488.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:48.938Z,1613455488.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:49.756Z,1613455489.756 [Micromodem](INFO): Nmea in: $SNTTA,0.048869,,,,060450.03*4F

2021-02-16T06:04:49.790Z,1613455489.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 6.756403 deg, deltaT: 4.488233 s, approachRate: -0.614942 m/s, LOS rate: 0.853381 deg/s, posRepo size: 4
2021-02-16T06:04:49.792Z,1613455489.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 6.756403 deg,
      approachRate: -0.614942 m/s,
      LOS rate: 0.853381 deg/s,
      cmd update: 2.560144 deg/s,
      cmd heading: 9.181245 deg,
      new cmd heading: 9.137601 deg.

2021-02-16T06:04:52.242Z,1613455492.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:52.964Z,1613455492.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:53.381Z,1613455493.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:54.203Z,1613455494.203 [Micromodem](INFO): Nmea in: $SNTTA,0.046993,,,,060454.47*41

2021-02-16T06:04:54.284Z,1613455494.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.559998 m, bearing: 4.119685 deg, deltaT: 4.399497 s, approachRate: -0.613708 m/s, LOS rate: -0.599323 deg/s, posRepo size: 4
2021-02-16T06:04:54.286Z,1613455494.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.559998 m,
      bearing: 4.119685 deg,
      approachRate: -0.613708 m/s,
      LOS rate: -0.599323 deg/s,
      cmd update: -1.797968 deg/s,
      cmd heading: 20.444664 deg,
      new cmd heading: 21.720069 deg.

2021-02-16T06:04:56.615Z,1613455496.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:04:57.415Z,1613455497.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:04:57.813Z,1613455497.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:04:58.640Z,1613455498.640 [Micromodem](INFO): Nmea in: $SNTTA,0.045083,,,,060458.92*4E

2021-02-16T06:04:58.662Z,1613455498.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.380005 m, bearing: 2.588290 deg, deltaT: 4.525225 s, approachRate: -0.702726 m/s, LOS rate: -0.338413 deg/s, posRepo size: 4
2021-02-16T06:04:58.664Z,1613455498.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 2.588290 deg,
      approachRate: -0.702726 m/s,
      LOS rate: -0.338413 deg/s,
      cmd update: -1.015239 deg/s,
      cmd heading: 12.337256 deg,
      new cmd heading: 11.676584 deg.

2021-02-16T06:05:01.119Z,1613455501.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:01.852Z,1613455501.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:02.263Z,1613455502.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:03.116Z,1613455503.116 [Micromodem](INFO): Nmea in: $SNTTA,0.043102,,,,060503.36*41

2021-02-16T06:05:03.162Z,1613455503.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 3.760756 deg, deltaT: 4.379574 s, approachRate: -0.671299 m/s, LOS rate: 0.267712 deg/s, posRepo size: 4
2021-02-16T06:05:03.169Z,1613455503.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 3.760756 deg,
      approachRate: -0.671299 m/s,
      LOS rate: 0.267712 deg/s,
      cmd update: 0.803137 deg/s,
      cmd heading: 7.874731 deg,
      new cmd heading: 7.396862 deg.

2021-02-16T06:05:05.528Z,1613455505.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:06.299Z,1613455506.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:06.721Z,1613455506.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:07.528Z,1613455507.528 [Micromodem](INFO): Nmea in: $SNTTA,0.041249,,0.046196,,060507.80*54

2021-02-16T06:05:07.577Z,1613455507.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.680000 m, bearing: 2.662987 deg, deltaT: 4.496534 s, approachRate: -0.613807 m/s, LOS rate: -0.244137 deg/s, posRepo size: 4
2021-02-16T06:05:07.579Z,1613455507.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.680000 m,
      bearing: 2.662987 deg,
      approachRate: -0.613807 m/s,
      LOS rate: -0.244137 deg/s,
      cmd update: -0.732410 deg/s,
      cmd heading: 11.476110 deg,
      new cmd heading: 11.799235 deg.

2021-02-16T06:05:09.948Z,1613455509.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:10.748Z,1613455510.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:11.150Z,1613455511.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:11.981Z,1613455511.981 [Micromodem](INFO): Nmea in: $SNTTA,0.039407,,,,060512.25*4E

2021-02-16T06:05:12.032Z,1613455512.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 3.582241 deg, deltaT: 4.384436 s, approachRate: -0.629498 m/s, LOS rate: 0.209663 deg/s, posRepo size: 4
2021-02-16T06:05:12.034Z,1613455512.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 3.582241 deg,
      approachRate: -0.629498 m/s,
      LOS rate: 0.209663 deg/s,
      cmd update: 0.628989 deg/s,
      cmd heading: 8.255797 deg,
      new cmd heading: 7.918663 deg.

2021-02-16T06:05:14.479Z,1613455514.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:15.210Z,1613455515.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:15.590Z,1613455515.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:16.428Z,1613455516.428 [Micromodem](INFO): Nmea in: $SNTTA,0.037449,,,,060516.72*4C

2021-02-16T06:05:16.499Z,1613455516.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.980003 m, bearing: 3.331889 deg, deltaT: 4.444365 s, approachRate: -0.661512 m/s, LOS rate: -0.056330 deg/s, posRepo size: 4
2021-02-16T06:05:16.501Z,1613455516.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 3.331889 deg,
      approachRate: -0.661512 m/s,
      LOS rate: -0.056330 deg/s,
      cmd update: -0.168991 deg/s,
      cmd heading: 11.051249 deg,
      new cmd heading: 11.352657 deg.

2021-02-16T06:05:18.843Z,1613455518.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:19.645Z,1613455519.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:20.035Z,1613455520.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:20.872Z,1613455520.872 [Micromodem](INFO): Nmea in: $SNTTA,0.035530,,,,060521.15*44

2021-02-16T06:05:20.894Z,1613455520.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.100006 m, bearing: 3.095490 deg, deltaT: 4.497384 s, approachRate: -0.640372 m/s, LOS rate: -0.052564 deg/s, posRepo size: 4
2021-02-16T06:05:20.896Z,1613455520.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.100006 m,
      bearing: 3.095490 deg,
      approachRate: -0.640372 m/s,
      LOS rate: -0.052564 deg/s,
      cmd update: -0.157691 deg/s,
      cmd heading: 10.291228 deg,
      new cmd heading: 10.226839 deg.

2021-02-16T06:05:23.316Z,1613455523.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:24.090Z,1613455524.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:24.478Z,1613455524.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:25.312Z,1613455525.312 [Micromodem](INFO): Nmea in: $SNTTA,0.033622,,,,060525.59*4E

2021-02-16T06:05:25.370Z,1613455525.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 4.556677 deg, deltaT: 4.382559 s, approachRate: -0.561318 m/s, LOS rate: 0.333409 deg/s, posRepo size: 4
2021-02-16T06:05:25.376Z,1613455525.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 4.556677 deg,
      approachRate: -0.561318 m/s,
      LOS rate: 0.333409 deg/s,
      cmd update: 1.000228 deg/s,
      cmd heading: 9.600143 deg,
      new cmd heading: 9.525362 deg.

2021-02-16T06:05:27.729Z,1613455527.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:28.516Z,1613455528.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:28.930Z,1613455528.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:29.751Z,1613455529.751 [Micromodem](INFO): Nmea in: $SNTTA,0.313641,,,0.356636,060530.02*5D

2021-02-16T06:05:29.770Z,1613455529.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.339996 m, bearing: 3.570104 deg, deltaT: 4.479740 s, approachRate: -0.736650 m/s, LOS rate: -0.220230 deg/s, posRepo size: 4
2021-02-16T06:05:29.772Z,1613455529.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.339996 m,
      bearing: 3.570104 deg,
      approachRate: -0.736650 m/s,
      LOS rate: -0.220230 deg/s,
      cmd update: -0.660690 deg/s,
      cmd heading: 14.080923 deg,
      new cmd heading: 14.475767 deg.

2021-02-16T06:05:32.241Z,1613455532.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:32.960Z,1613455532.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:33.373Z,1613455533.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:34.216Z,1613455534.216 [Micromodem](INFO): Nmea in: $SNTTA,0.029772,,,,060534.47*4E

2021-02-16T06:05:34.327Z,1613455534.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 4.307671 deg, deltaT: 4.422882 s, approachRate: -0.569763 m/s, LOS rate: 0.166762 deg/s, posRepo size: 4
2021-02-16T06:05:34.329Z,1613455534.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.820000 m,
      bearing: 4.307671 deg,
      approachRate: -0.569763 m/s,
      LOS rate: 0.166762 deg/s,
      cmd update: 0.500285 deg/s,
      cmd heading: 11.158884 deg,
      new cmd heading: 10.812156 deg.

2021-02-16T06:05:36.620Z,1613455536.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:37.418Z,1613455537.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:37.827Z,1613455537.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:38.643Z,1613455538.643 [Micromodem](INFO): Nmea in: $SNTTA,0.027902,,,,060538.93*4C

2021-02-16T06:05:38.662Z,1613455538.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 3.795470 deg, deltaT: 4.512531 s, approachRate: -0.704704 m/s, LOS rate: -0.113506 deg/s, posRepo size: 4
2021-02-16T06:05:38.664Z,1613455538.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.640003 m,
      bearing: 3.795470 deg,
      approachRate: -0.704704 m/s,
      LOS rate: -0.113506 deg/s,
      cmd update: -0.340519 deg/s,
      cmd heading: 13.416299 deg,
      new cmd heading: 13.592273 deg.

2021-02-16T06:05:41.115Z,1613455541.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:41.856Z,1613455541.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:42.270Z,1613455542.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:43.103Z,1613455543.103 [Micromodem](INFO): Nmea in: $SNTTA,0.026003,,,,060543.36*46

2021-02-16T06:05:43.161Z,1613455543.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.820000 m, bearing: 4.060821 deg, deltaT: 4.394468 s, approachRate: -0.641717 m/s, LOS rate: 0.060383 deg/s, posRepo size: 4
2021-02-16T06:05:43.161Z,1613455543.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.82 m.
2021-02-16T06:05:43.168Z,1613455543.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.820000 m,
      bearing: 4.060821 deg,
      approachRate: -0.641717 m/s,
      LOS rate: 0.060383 deg/s,
      cmd update: 0.181149 deg/s,
      cmd heading: 11.923542 deg,
      new cmd heading: 11.766450 deg.

2021-02-16T06:05:43.485Z,1613455543.485 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:05:45.518Z,1613455545.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:46.300Z,1613455546.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:46.706Z,1613455546.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:47.548Z,1613455547.548 [Micromodem](INFO): Nmea in: $SNTTA,0.024097,,,,060547.80*40

2021-02-16T06:05:47.583Z,1613455547.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 2.602317 deg, deltaT: 4.469769 s, approachRate: -0.657752 m/s, LOS rate: -0.326304 deg/s, posRepo size: 4
2021-02-16T06:05:47.584Z,1613455547.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m.
2021-02-16T06:05:47.584Z,1613455547.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.88 m.
2021-02-16T06:05:47.584Z,1613455547.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:05:47.586Z,1613455547.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.880001 m,
      bearing: 2.602317 deg,
      approachRate: -0.657752 m/s,
      LOS rate: -0.326304 deg/s,
      cmd update: -0.978913 deg/s,
      cmd heading: 12.733851 deg,
      new cmd heading: 12.809153 deg.

2021-02-16T06:05:49.978Z,1613455549.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:50.744Z,1613455550.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:51.172Z,1613455551.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:51.976Z,1613455551.976 [Micromodem](INFO): Nmea in: $SNTTA,0.022224,,,,060552.25*47

2021-02-16T06:05:52.023Z,1613455552.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.119999 m, bearing: 2.755469 deg, deltaT: 4.429390 s, approachRate: -0.623111 m/s, LOS rate: 0.034576 deg/s, posRepo size: 4
2021-02-16T06:05:52.025Z,1613455552.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.119999 m,
      bearing: 2.755469 deg,
      approachRate: -0.623111 m/s,
      LOS rate: 0.034576 deg/s,
      cmd update: 0.103729 deg/s,
      cmd heading: 8.413125 deg,
      new cmd heading: 8.003229 deg.

2021-02-16T06:05:54.488Z,1613455554.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:55.216Z,1613455555.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:05:55.599Z,1613455555.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:05:56.440Z,1613455556.440 [Micromodem](INFO): Nmea in: $SNTTA,0.020303,,0.051496,,060556.72*56

2021-02-16T06:05:56.519Z,1613455556.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.300001 m, bearing: 4.445648 deg, deltaT: 4.435994 s, approachRate: -0.635708 m/s, LOS rate: 0.381015 deg/s, posRepo size: 4
2021-02-16T06:05:56.533Z,1613455556.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.300001 m,
      bearing: 4.445648 deg,
      approachRate: -0.635708 m/s,
      LOS rate: 0.381015 deg/s,
      cmd update: 1.143044 deg/s,
      cmd heading: 8.875256 deg,
      new cmd heading: 8.925208 deg.

2021-02-16T06:05:58.864Z,1613455558.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:05:59.634Z,1613455559.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:00.038Z,1613455560.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:00.860Z,1613455560.860 [Micromodem](INFO): Nmea in: $SNTTA,0.018409,,,,060601.14*40

2021-02-16T06:06:00.902Z,1613455560.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 4.164869 deg, deltaT: 4.459856 s, approachRate: -0.659215 m/s, LOS rate: -0.062957 deg/s, posRepo size: 4
2021-02-16T06:06:00.908Z,1613455560.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.359999 m,
      bearing: 4.164869 deg,
      approachRate: -0.659215 m/s,
      LOS rate: -0.062957 deg/s,
      cmd update: -0.188871 deg/s,
      cmd heading: 13.967710 deg,
      new cmd heading: 14.437092 deg.

2021-02-16T06:06:03.326Z,1613455563.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:04.106Z,1613455564.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:04.482Z,1613455564.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:05.320Z,1613455565.320 [Micromodem](INFO): Nmea in: $SNTTA,0.016530,,,,060605.61*43

2021-02-16T06:06:05.386Z,1613455565.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.539997 m, bearing: 2.103019 deg, deltaT: 4.404054 s, approachRate: -0.640319 m/s, LOS rate: -0.468171 deg/s, posRepo size: 4
2021-02-16T06:06:05.392Z,1613455565.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.539997 m,
      bearing: 2.103019 deg,
      approachRate: -0.640319 m/s,
      LOS rate: -0.468171 deg/s,
      cmd update: -1.404513 deg/s,
      cmd heading: 13.134247 deg,
      new cmd heading: 13.043204 deg.

2021-02-16T06:06:07.732Z,1613455567.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:08.520Z,1613455568.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:08.926Z,1613455568.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:09.748Z,1613455569.748 [Micromodem](INFO): Nmea in: $SNTTA,0.014598,,,,060610.02*42

2021-02-16T06:06:09.786Z,1613455569.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 1.929988 deg, deltaT: 4.485002 s, approachRate: -0.642140 m/s, LOS rate: -0.038580 deg/s, posRepo size: 4
2021-02-16T06:06:09.788Z,1613455569.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.659998 m,
      bearing: 1.929988 deg,
      approachRate: -0.642140 m/s,
      LOS rate: -0.038580 deg/s,
      cmd update: -0.115740 deg/s,
      cmd heading: 6.834982 deg,
      new cmd heading: 6.277609 deg.

2021-02-16T06:06:12.199Z,1613455572.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:12.964Z,1613455572.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:13.390Z,1613455573.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:14.196Z,1613455574.196 [Micromodem](INFO): Nmea in: $SNTTA,0.012666,,,,060614.47*43

2021-02-16T06:06:14.286Z,1613455574.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.779997 m, bearing: 3.784559 deg, deltaT: 4.422400 s, approachRate: -0.651230 m/s, LOS rate: 0.419358 deg/s, posRepo size: 4
2021-02-16T06:06:14.292Z,1613455574.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.779997 m,
      bearing: 3.784559 deg,
      approachRate: -0.651230 m/s,
      LOS rate: 0.419358 deg/s,
      cmd update: 1.258075 deg/s,
      cmd heading: 6.323146 deg,
      new cmd heading: 6.268253 deg.

2021-02-16T06:06:16.650Z,1613455576.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:17.421Z,1613455577.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:17.814Z,1613455577.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:18.644Z,1613455578.644 [Micromodem](INFO): Nmea in: $SNTTA,0.010777,,,,060618.93*45

2021-02-16T06:06:18.678Z,1613455578.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 4.040654 deg, deltaT: 4.485467 s, approachRate: -0.628696 m/s, LOS rate: 0.057094 deg/s, posRepo size: 4
2021-02-16T06:06:18.680Z,1613455578.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 4.040654 deg,
      approachRate: -0.628696 m/s,
      LOS rate: 0.057094 deg/s,
      cmd update: 0.171283 deg/s,
      cmd heading: 11.946236 deg,
      new cmd heading: 12.445678 deg.

2021-02-16T06:06:21.106Z,1613455581.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:21.857Z,1613455581.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:22.258Z,1613455582.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:23.111Z,1613455583.111 [Micromodem](INFO): Nmea in: $SNTTA,0.009017,,,,060623.36*4B

2021-02-16T06:06:23.180Z,1613455583.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 4.513067 deg, deltaT: 4.377040 s, approachRate: -0.644271 m/s, LOS rate: 0.107930 deg/s, posRepo size: 4
2021-02-16T06:06:23.181Z,1613455583.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 4.513067 deg,
      approachRate: -0.644271 m/s,
      LOS rate: 0.107930 deg/s,
      cmd update: 0.323789 deg/s,
      cmd heading: 12.698683 deg,
      new cmd heading: 12.784416 deg.

2021-02-16T06:06:25.240Z,1613455585.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:25.897Z,1613455585.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:26.297Z,1613455586.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:27.133Z,1613455587.133 [Micromodem](INFO): Nmea in: $SNTTA,0.007388,,,,060627.41*44

2021-02-16T06:06:27.243Z,1613455587.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 6.002753 deg, deltaT: 4.042174 s, approachRate: -0.593740 m/s, LOS rate: 0.368536 deg/s, posRepo size: 4
2021-02-16T06:06:27.250Z,1613455587.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 6.002753 deg,
      approachRate: -0.593740 m/s,
      LOS rate: 0.368536 deg/s,
      cmd update: 1.105608 deg/s,
      cmd heading: 14.007502 deg,
      new cmd heading: 14.173876 deg.

2021-02-16T06:06:29.574Z,1613455589.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:30.342Z,1613455590.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:30.746Z,1613455590.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:31.568Z,1613455591.568 [Micromodem](INFO): Nmea in: $SNTTA,0.005594,,,,060631.85*42

2021-02-16T06:06:31.608Z,1613455591.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 6.286001 deg, deltaT: 4.522838 s, approachRate: -0.596970 m/s, LOS rate: 0.062626 deg/s, posRepo size: 4
2021-02-16T06:06:31.610Z,1613455591.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 6.286001 deg,
      approachRate: -0.596970 m/s,
      LOS rate: 0.062626 deg/s,
      cmd update: 0.187878 deg/s,
      cmd heading: 19.002989 deg,
      new cmd heading: 19.415588 deg.

2021-02-16T06:06:33.988Z,1613455593.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:34.786Z,1613455594.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:35.206Z,1613455595.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:36.032Z,1613455596.032 [Micromodem](INFO): Nmea in: $SNTTA,0.003982,,,,060636.29*4E

2021-02-16T06:06:36.065Z,1613455596.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 6.365953 deg, deltaT: 4.386786 s, approachRate: -0.506065 m/s, LOS rate: 0.018226 deg/s, posRepo size: 4
2021-02-16T06:06:36.067Z,1613455596.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 6.365953 deg,
      approachRate: -0.506065 m/s,
      LOS rate: 0.018226 deg/s,
      cmd update: 0.054677 deg/s,
      cmd heading: 19.827261 deg,
      new cmd heading: 19.910535 deg.

2021-02-16T06:06:38.481Z,1613455598.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:39.250Z,1613455599.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:39.630Z,1613455599.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:40.469Z,1613455600.469 [Micromodem](INFO): Nmea in: $SNTTA,0.002966,,0.021716,,060640.76*53

2021-02-16T06:06:40.534Z,1613455600.534 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T06:06:40.534Z,1613455600.534 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:06:40.534Z,1613455600.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T06:06:40.534Z,1613455600.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:06:40.534Z,1613455600.534 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T06:06:40.535Z,1613455600.535 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-02-16T06:06:40.539Z,1613455600.539 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T06:06:40.539Z,1613455600.539 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T06:06:40.539Z,1613455600.539 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T06:06:40.541Z,1613455600.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 1.645347 deg, deltaT: 4.424483 s, approachRate: -0.298340 m/s, LOS rate: -1.066928 deg/s, posRepo size: 4
2021-02-16T06:06:40.547Z,1613455600.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 1.645347 deg,
      approachRate: -0.298340 m/s,
      LOS rate: -1.066928 deg/s,
      cmd update: -3.200785 deg/s,
      cmd heading: 20.069255 deg,
      new cmd heading: 20.096231 deg.

2021-02-16T06:06:40.885Z,1613455600.885 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T060640: (41.552319, -70.708603)
2021-02-16T06:06:40.885Z,1613455600.885 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T06:06:40.885Z,1613455600.885 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T06:06:40.885Z,1613455600.885 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:06:40.886Z,1613455600.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T06:06:40.886Z,1613455600.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:06:40.886Z,1613455600.886 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T06:06:40.886Z,1613455600.886 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T06:06:40.886Z,1613455600.886 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:06:42.891Z,1613455602.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:43.674Z,1613455603.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:44.101Z,1613455604.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:44.900Z,1613455604.900 [Micromodem](INFO): Nmea in: $SNTTA,0.002992,,,,060645.18*48

2021-02-16T06:06:44.922Z,1613455604.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 13.576461 deg, deltaT: 4.454568 s, approachRate: -0.026939 m/s, LOS rate: 2.678400 deg/s, posRepo size: 4
2021-02-16T06:06:44.924Z,1613455604.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 13.576461 deg,
      approachRate: -0.026939 m/s,
      LOS rate: 2.678400 deg/s,
      cmd update: 8.035199 deg/s,
      cmd heading: 5.802618 deg,
      new cmd heading: 4.468038 deg.

2021-02-16T06:06:47.346Z,1613455607.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:48.123Z,1613455608.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:48.539Z,1613455608.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:49.348Z,1613455609.348 [Micromodem](INFO): Nmea in: $SNTTA,0.004002,,,,060649.63*4E

2021-02-16T06:06:49.382Z,1613455609.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 5.225858 deg, deltaT: 4.439181 s, approachRate: 0.391964 m/s, LOS rate: -1.881113 deg/s, posRepo size: 4
2021-02-16T06:06:49.405Z,1613455609.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 5.225858 deg,
      approachRate: 0.391964 m/s,
      LOS rate: -1.881113 deg/s,
      cmd update: -5.643340 deg/s,
      cmd heading: 41.468907 deg,
      new cmd heading: 44.992221 deg.

2021-02-16T06:06:51.769Z,1613455611.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:52.556Z,1613455612.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:52.963Z,1613455612.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:53.788Z,1613455613.788 [Micromodem](INFO): Nmea in: $SNTTA,0.005553,,,,060654.06*41

2021-02-16T06:06:53.826Z,1613455613.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.400000 m, bearing: 16.123835 deg, deltaT: 4.474928 s, approachRate: 0.509506 m/s, LOS rate: 2.435341 deg/s, posRepo size: 4
2021-02-16T06:06:53.828Z,1613455613.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 16.123835 deg,
      approachRate: 0.509506 m/s,
      LOS rate: 2.435341 deg/s,
      cmd update: 7.306024 deg/s,
      cmd heading: 16.213226 deg,
      new cmd heading: 13.919456 deg.

2021-02-16T06:06:56.284Z,1613455616.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:06:57.001Z,1613455617.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:06:57.426Z,1613455617.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:06:58.256Z,1613455618.256 [Micromodem](INFO): Nmea in: $SNTTA,0.008356,,,,060658.51*41

2021-02-16T06:06:58.309Z,1613455618.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 18.257237 deg, deltaT: 4.408981 s, approachRate: 0.884558 m/s, LOS rate: 0.483877 deg/s, posRepo size: 4
2021-02-16T06:06:58.310Z,1613455618.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 18.257237 deg,
      approachRate: 0.884558 m/s,
      LOS rate: 0.483877 deg/s,
      cmd update: 1.451630 deg/s,
      cmd heading: 48.422408 deg,
      new cmd heading: 51.935780 deg.

2021-02-16T06:07:00.662Z,1613455620.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:01.462Z,1613455621.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:01.852Z,1613455621.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:02.692Z,1613455622.692 [Micromodem](INFO): Nmea in: $SNTTA,0.010015,,,,060702.97*48

2021-02-16T06:07:02.714Z,1613455622.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 39.649982 deg, deltaT: 4.491338 s, approachRate: 0.854979 m/s, LOS rate: 4.763112 deg/s, posRepo size: 4
2021-02-16T06:07:02.714Z,1613455622.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.14 m. Rolling out.
2021-02-16T06:07:02.714Z,1613455622.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:07:05.147Z,1613455625.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:05.893Z,1613455625.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:06.309Z,1613455626.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:07.132Z,1613455627.132 [Micromodem](INFO): Nmea in: $SNTTA,0.010154,,,,060707.40*43

2021-02-16T06:07:07.229Z,1613455627.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.299999 m, bearing: 27.625752 deg, deltaT: 4.414433 s, approachRate: -0.190285 m/s, LOS rate: -2.723845 deg/s, posRepo size: 4
2021-02-16T06:07:09.721Z,1613455629.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:10.333Z,1613455630.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:10.755Z,1613455630.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:11.560Z,1613455631.560 [Micromodem](INFO): Nmea in: $SNTTA,0.015981,,,,060711.84*49

2021-02-16T06:07:11.629Z,1613455631.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 27.806434 deg, deltaT: 4.511979 s, approachRate: 0.984047 m/s, LOS rate: 0.040045 deg/s, posRepo size: 4
2021-02-16T06:07:13.994Z,1613455633.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:14.776Z,1613455634.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:15.192Z,1613455635.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:16.025Z,1613455636.025 [Micromodem](INFO): Nmea in: $SNTTA,0.014389,,,,060716.28*4B

2021-02-16T06:07:16.095Z,1613455636.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.879999 m, bearing: 106.663656 deg, deltaT: 4.376402 s, approachRate: 0.260488 m/s, LOS rate: 18.018734 deg/s, posRepo size: 4
2021-02-16T06:07:18.036Z,1613455638.036 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:07:18.480Z,1613455638.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:19.246Z,1613455639.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:19.642Z,1613455639.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:20.463Z,1613455640.463 [Micromodem](INFO): Nmea in: $SNTTA,0.015961,,,,060720.75*4B

2021-02-16T06:07:20.497Z,1613455640.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.120003 m, bearing: 26.712211 deg, deltaT: 4.470983 s, approachRate: 0.724674 m/s, LOS rate: -17.882298 deg/s, posRepo size: 4
2021-02-16T06:07:22.880Z,1613455642.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:23.664Z,1613455643.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:24.091Z,1613455644.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:24.899Z,1613455644.899 [Micromodem](INFO): Nmea in: $SNTTA,0.017213,,,,060725.17*46

2021-02-16T06:07:24.918Z,1613455644.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 100.632981 deg, deltaT: 4.455522 s, approachRate: 0.336660 m/s, LOS rate: 16.590823 deg/s, posRepo size: 4
2021-02-16T06:07:27.341Z,1613455647.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:28.120Z,1613455648.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:28.531Z,1613455648.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:29.344Z,1613455649.344 [Micromodem](INFO): Nmea in: $SNTTA,0.018366,,,,060729.63*45

2021-02-16T06:07:29.378Z,1613455649.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 103.623348 deg, deltaT: 4.386736 s, approachRate: 0.382973 m/s, LOS rate: 0.681684 deg/s, posRepo size: 4
2021-02-16T06:07:31.459Z,1613455651.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:32.155Z,1613455652.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:32.567Z,1613455652.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:33.387Z,1613455653.387 [Micromodem](INFO): Nmea in: $SNTTA,0.019830,,,,060733.66*42

2021-02-16T06:07:33.470Z,1613455653.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 99.721240 deg, deltaT: 4.096165 s, approachRate: 0.644505 m/s, LOS rate: -0.952625 deg/s, posRepo size: 4
2021-02-16T06:07:35.838Z,1613455655.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:36.610Z,1613455656.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:36.999Z,1613455656.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:37.840Z,1613455657.840 [Micromodem](INFO): Nmea in: $SNTTA,0.021930,,,,060738.12*40

2021-02-16T06:07:37.894Z,1613455657.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 99.093443 deg, deltaT: 4.450343 s, approachRate: 0.606695 m/s, LOS rate: -0.141067 deg/s, posRepo size: 4
2021-02-16T06:07:40.283Z,1613455660.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:41.062Z,1613455661.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:41.453Z,1613455661.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:42.281Z,1613455662.281 [Micromodem](INFO): Nmea in: $SNTTA,0.026606,,,0.039642,060742.57*55

2021-02-16T06:07:42.314Z,1613455662.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.220001 m, bearing: 95.578799 deg, deltaT: 4.397487 s, approachRate: 0.586699 m/s, LOS rate: -0.799239 deg/s, posRepo size: 4
2021-02-16T06:07:44.694Z,1613455664.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:45.480Z,1613455665.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:45.888Z,1613455665.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:46.694Z,1613455666.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,060746.98*5C

2021-02-16T06:07:47.526Z,1613455667.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:49.140Z,1613455669.140 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:07:50.396Z,1613455670.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:51.142Z,1613455671.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:51.543Z,1613455671.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:52.368Z,1613455672.368 [Micromodem](INFO): Nmea in: $SNTTA,0.027376,,,,060752.65*42

2021-02-16T06:07:52.432Z,1613455672.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 84.726372 deg, deltaT: 10.084054 s, approachRate: 0.636649 m/s, LOS rate: -1.076197 deg/s, posRepo size: 4
2021-02-16T06:07:54.807Z,1613455674.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:07:55.581Z,1613455675.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:07:55.997Z,1613455675.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:07:56.816Z,1613455676.816 [Micromodem](INFO): Nmea in: $SNTTA,0.029387,,0.058650,,060757.09*5D

2021-02-16T06:07:56.861Z,1613455676.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.520000 m, bearing: 78.757730 deg, deltaT: 4.477599 s, approachRate: 0.643201 m/s, LOS rate: -1.333001 deg/s, posRepo size: 4
2021-02-16T06:07:59.302Z,1613455679.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:00.029Z,1613455680.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:00.430Z,1613455680.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:01.260Z,1613455681.260 [Micromodem](INFO): Nmea in: $SNTTA,0.031182,,,,060801.53*40

2021-02-16T06:08:01.318Z,1613455681.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.280003 m, bearing: 79.539445 deg, deltaT: 4.438188 s, approachRate: 0.621876 m/s, LOS rate: 0.176134 deg/s, posRepo size: 4
2021-02-16T06:08:03.675Z,1613455683.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:04.486Z,1613455684.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:04.874Z,1613455684.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:05.715Z,1613455685.715 [Micromodem](INFO): Nmea in: $SNTTA,0.032980,,,,060805.99*4B

2021-02-16T06:08:05.734Z,1613455685.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 77.374439 deg, deltaT: 4.449019 s, approachRate: 0.606876 m/s, LOS rate: -0.486625 deg/s, posRepo size: 4
2021-02-16T06:08:08.172Z,1613455688.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:08.912Z,1613455688.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:09.318Z,1613455689.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:10.149Z,1613455690.149 [Micromodem](INFO): Nmea in: $SNTTA,0.034797,,,,060810.42*47

2021-02-16T06:08:10.240Z,1613455690.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 88.480497 deg, deltaT: 4.431090 s, approachRate: 0.622870 m/s, LOS rate: 2.506394 deg/s, posRepo size: 4
2021-02-16T06:08:11.372Z,1613455691.372 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T06:08:12.588Z,1613455692.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:13.360Z,1613455693.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:13.767Z,1613455693.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:14.588Z,1613455694.588 [Micromodem](INFO): Nmea in: $SNTTA,0.036604,,,,060814.87*43

2021-02-16T06:08:14.626Z,1613455694.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 69.217137 deg, deltaT: 4.495320 s, approachRate: 0.573931 m/s, LOS rate: -4.285203 deg/s, posRepo size: 4
2021-02-16T06:08:17.014Z,1613455697.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:17.802Z,1613455697.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:18.240Z,1613455698.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:19.019Z,1613455699.019 [Micromodem](INFO): Nmea in: $SNTTA,0.038438,,,,060819.31*40

2021-02-16T06:08:19.626Z,1613455699.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:21.452Z,1613455701.452 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:08:22.289Z,1613455702.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:23.057Z,1613455703.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:23.458Z,1613455703.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:24.288Z,1613455704.288 [Micromodem](INFO): Nmea in: $SNTTA,0.040565,,,,060824.56*49

2021-02-16T06:08:24.336Z,1613455704.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 77.755912 deg, deltaT: 9.658203 s, approachRate: 0.615021 m/s, LOS rate: 0.884096 deg/s, posRepo size: 4
2021-02-16T06:08:26.304Z,1613455706.304 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:08:26.717Z,1613455706.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:27.496Z,1613455707.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:27.902Z,1613455707.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:28.729Z,1613455708.729 [Micromodem](INFO): Nmea in: $SNTTA,0.042483,,,,060829.00*4C

2021-02-16T06:08:28.750Z,1613455708.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 68.082253 deg, deltaT: 4.458340 s, approachRate: 0.645981 m/s, LOS rate: -2.169789 deg/s, posRepo size: 4
2021-02-16T06:08:31.191Z,1613455711.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:31.949Z,1613455711.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:32.369Z,1613455712.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:33.180Z,1613455713.180 [Micromodem](INFO): Nmea in: $SNTTA,0.044334,,,,060833.45*4B

2021-02-16T06:08:33.270Z,1613455713.270 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:08:33.290Z,1613455713.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 67.545742 deg, deltaT: 4.396231 s, approachRate: 0.627811 m/s, LOS rate: -0.122039 deg/s, posRepo size: 4
2021-02-16T06:08:35.591Z,1613455715.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:36.389Z,1613455716.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:36.412Z,1613455716.412 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:08:36.789Z,1613455716.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:37.617Z,1613455717.617 [Micromodem](INFO): Nmea in: $SNTTA,0.034171,,,,060837.89*4B

2021-02-16T06:08:37.669Z,1613455717.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.420002 m, bearing: 73.549874 deg, deltaT: 4.522671 s, approachRate: -3.422756 m/s, LOS rate: 1.327563 deg/s, posRepo size: 4
2021-02-16T06:08:40.037Z,1613455720.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:40.843Z,1613455720.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:41.247Z,1613455721.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:42.076Z,1613455722.076 [Micromodem](INFO): Nmea in: $SNTTA,0.048240,,0.077696,,060842.35*53

2021-02-16T06:08:42.135Z,1613455722.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.720009 m, bearing: 93.049238 deg, deltaT: 4.361958 s, approachRate: 4.883130 m/s, LOS rate: 4.470323 deg/s, posRepo size: 4
2021-02-16T06:08:44.532Z,1613455724.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:45.277Z,1613455725.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:45.688Z,1613455725.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:46.508Z,1613455726.508 [Micromodem](INFO): Nmea in: $SNTTA,0.049996,,,,060846.78*48

2021-02-16T06:08:46.547Z,1613455726.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.360001 m, bearing: 63.953745 deg, deltaT: 4.567094 s, approachRate: 0.578046 m/s, LOS rate: -6.370680 deg/s, posRepo size: 4
2021-02-16T06:08:48.941Z,1613455728.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:49.721Z,1613455729.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:50.134Z,1613455730.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:50.948Z,1613455730.948 [Micromodem](INFO): Nmea in: $SNTTA,0.051884,,,,060851.23*4B

2021-02-16T06:08:50.988Z,1613455730.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 73.390068 deg, deltaT: 4.340258 s, approachRate: 0.635906 m/s, LOS rate: 2.174139 deg/s, posRepo size: 4
2021-02-16T06:08:53.394Z,1613455733.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:54.168Z,1613455734.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:54.573Z,1613455734.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:55.399Z,1613455735.399 [Micromodem](INFO): Nmea in: $SNTTA,0.053788,0.068431,,,060855.67*58

2021-02-16T06:08:55.433Z,1613455735.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 74.261143 deg, deltaT: 4.433751 s, approachRate: 0.676630 m/s, LOS rate: 0.196464 deg/s, posRepo size: 4
2021-02-16T06:08:56.242Z,1613455736.242 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T06:08:57.826Z,1613455737.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:08:58.604Z,1613455738.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:08:59.015Z,1613455739.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:08:59.839Z,1613455739.839 [Micromodem](INFO): Nmea in: $SNTTA,0.055586,,,,060900.11*44

2021-02-16T06:08:59.858Z,1613455739.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 74.093885 deg, deltaT: 4.463515 s, approachRate: 0.604905 m/s, LOS rate: -0.037472 deg/s, posRepo size: 4
2021-02-16T06:09:02.319Z,1613455742.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:03.065Z,1613455743.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:03.454Z,1613455743.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:04.288Z,1613455744.288 [Micromodem](INFO): Nmea in: $SNTTA,0.057485,,,,060904.57*42

2021-02-16T06:09:04.346Z,1613455744.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 72.014557 deg, deltaT: 4.422487 s, approachRate: 0.583381 m/s, LOS rate: -0.470172 deg/s, posRepo size: 4
2021-02-16T06:09:06.704Z,1613455746.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:07.498Z,1613455747.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:07.904Z,1613455747.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:08.731Z,1613455748.731 [Micromodem](INFO): Nmea in: $SNTTA,0.059530,,,,060909.00*4C

2021-02-16T06:09:08.750Z,1613455748.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 71.894530 deg, deltaT: 4.473835 s, approachRate: 0.697387 m/s, LOS rate: -0.026829 deg/s, posRepo size: 4
2021-02-16T06:09:11.161Z,1613455751.161 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T06:09:11.228Z,1613455751.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:11.945Z,1613455751.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:12.348Z,1613455752.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:13.192Z,1613455753.192 [Micromodem](INFO): Nmea in: $SNTTA,0.061462,,,,060913.45*4B

2021-02-16T06:09:13.269Z,1613455753.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.459999 m, bearing: 73.140705 deg, deltaT: 4.409020 s, approachRate: 0.666815 m/s, LOS rate: 0.282642 deg/s, posRepo size: 4
2021-02-16T06:09:15.281Z,1613455755.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:15.980Z,1613455755.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:16.385Z,1613455756.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:17.220Z,1613455757.220 [Micromodem](INFO): Nmea in: $SNTTA,0.063284,,,,060917.49*4F

2021-02-16T06:09:17.286Z,1613455757.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 78.091643 deg, deltaT: 4.040545 s, approachRate: 0.653377 m/s, LOS rate: 1.225314 deg/s, posRepo size: 4
2021-02-16T06:09:19.308Z,1613455759.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:20.030Z,1613455760.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:20.447Z,1613455760.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:21.280Z,1613455761.280 [Micromodem](INFO): Nmea in: $SNTTA,0.065224,,,,060921.53*4D

2021-02-16T06:09:21.290Z,1613455761.290 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:09:21.332Z,1613455761.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 83.555746 deg, deltaT: 4.045956 s, approachRate: 0.726652 m/s, LOS rate: 1.350510 deg/s, posRepo size: 4
2021-02-16T06:09:23.676Z,1613455763.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:24.464Z,1613455764.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:24.879Z,1613455764.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:25.696Z,1613455765.696 [Micromodem](INFO): Nmea in: $SNTTA,0.066947,,,,060925.97*4C

2021-02-16T06:09:25.730Z,1613455765.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.560005 m, bearing: 69.120988 deg, deltaT: 4.504488 s, approachRate: 0.559443 m/s, LOS rate: -3.204528 deg/s, posRepo size: 4
2021-02-16T06:09:28.176Z,1613455768.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:28.908Z,1613455768.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:29.326Z,1613455769.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:30.136Z,1613455770.136 [Micromodem](INFO): Nmea in: $SNTTA,0.069028,,,,060930.41*4C

2021-02-16T06:09:30.234Z,1613455770.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 65.417052 deg, deltaT: 4.376681 s, approachRate: 0.712870 m/s, LOS rate: -0.846289 deg/s, posRepo size: 4
2021-02-16T06:09:32.243Z,1613455772.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:32.950Z,1613455772.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:33.361Z,1613455773.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:34.199Z,1613455774.199 [Micromodem](INFO): Nmea in: $SNTTA,0.070638,,,,060934.46*40

2021-02-16T06:09:34.274Z,1613455774.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.140007 m, bearing: 67.995455 deg, deltaT: 4.060286 s, approachRate: 0.605868 m/s, LOS rate: 0.635030 deg/s, posRepo size: 4
2021-02-16T06:09:36.598Z,1613455776.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:37.399Z,1613455777.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:37.798Z,1613455777.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:38.624Z,1613455778.624 [Micromodem](INFO): Nmea in: $SNTTA,0.072673,,,,060938.90*4A

2021-02-16T06:09:38.666Z,1613455778.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 65.829404 deg, deltaT: 4.516765 s, approachRate: 0.743894 m/s, LOS rate: -0.479558 deg/s, posRepo size: 4
2021-02-16T06:09:41.042Z,1613455781.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:41.836Z,1613455781.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:42.283Z,1613455782.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:43.084Z,1613455783.084 [Micromodem](INFO): Nmea in: $SNTTA,0.074526,,0.308642,,060943.34*58

2021-02-16T06:09:43.136Z,1613455783.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 63.545929 deg, deltaT: 4.368768 s, approachRate: 0.563088 m/s, LOS rate: -0.522682 deg/s, posRepo size: 4
2021-02-16T06:09:45.527Z,1613455785.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:46.292Z,1613455786.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:46.686Z,1613455786.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:47.516Z,1613455787.516 [Micromodem](INFO): Nmea in: $SNTTA,0.076565,,,,060947.80*43

2021-02-16T06:09:47.556Z,1613455787.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.020004 m, bearing: 66.058714 deg, deltaT: 4.464519 s, approachRate: 0.685405 m/s, LOS rate: 0.562835 deg/s, posRepo size: 4
2021-02-16T06:09:49.946Z,1613455789.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:50.724Z,1613455790.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:51.172Z,1613455791.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:51.956Z,1613455791.956 [Micromodem](INFO): Nmea in: $SNTTA,0.078488,,,,060952.23*42

2021-02-16T06:09:52.002Z,1613455792.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.900009 m, bearing: 68.262700 deg, deltaT: 4.432726 s, approachRate: 0.649714 m/s, LOS rate: 0.497208 deg/s, posRepo size: 4
2021-02-16T06:09:54.417Z,1613455794.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:55.181Z,1613455795.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:09:55.574Z,1613455795.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:09:56.404Z,1613455796.404 [Micromodem](INFO): Nmea in: $SNTTA,0.080263,,,,060956.69*4C

2021-02-16T06:09:56.458Z,1613455796.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 64.351925 deg, deltaT: 4.418746 s, approachRate: 0.611032 m/s, LOS rate: -0.885042 deg/s, posRepo size: 4
2021-02-16T06:09:58.819Z,1613455798.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:09:59.615Z,1613455799.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:00.018Z,1613455800.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:00.831Z,1613455800.831 [Micromodem](INFO): Nmea in: $SNTTA,0.082136,,,,061001.12*4B

2021-02-16T06:10:01.654Z,1613455801.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:03.255Z,1613455803.255 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:10:04.527Z,1613455804.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:05.268Z,1613455805.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:05.678Z,1613455805.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:06.496Z,1613455806.496 [Micromodem](INFO): Nmea in: $SNTTA,0.084426,,,,061006.77*4D

2021-02-16T06:10:06.535Z,1613455806.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 73.080811 deg, deltaT: 10.201579 s, approachRate: 0.635195 m/s, LOS rate: 0.855641 deg/s, posRepo size: 4
2021-02-16T06:10:08.924Z,1613455808.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:09.712Z,1613455809.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:10.128Z,1613455810.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:10.970Z,1613455810.970 [Micromodem](INFO): Nmea in: $SNTTA,0.086232,,0.094476,,061011.22*5C

2021-02-16T06:10:10.990Z,1613455810.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 57.261379 deg, deltaT: 4.350433 s, approachRate: 0.551668 m/s, LOS rate: -3.636289 deg/s, posRepo size: 4
2021-02-16T06:10:13.405Z,1613455813.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:14.182Z,1613455814.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:14.563Z,1613455814.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:15.412Z,1613455815.412 [Micromodem](INFO): Nmea in: $SNTTA,0.088078,,,,061015.69*43

2021-02-16T06:10:15.475Z,1613455815.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 71.606624 deg, deltaT: 4.441951 s, approachRate: 0.715903 m/s, LOS rate: 3.229492 deg/s, posRepo size: 4
2021-02-16T06:10:17.808Z,1613455817.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:18.600Z,1613455818.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:19.011Z,1613455819.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:19.828Z,1613455819.828 [Micromodem](INFO): Nmea in: $SNTTA,0.090042,,,,061020.10*4B

2021-02-16T06:10:19.865Z,1613455819.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.240005 m, bearing: 64.389737 deg, deltaT: 4.510639 s, approachRate: 0.571981 m/s, LOS rate: -1.599970 deg/s, posRepo size: 4
2021-02-16T06:10:22.314Z,1613455822.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:23.053Z,1613455823.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:23.471Z,1613455823.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:24.276Z,1613455824.276 [Micromodem](INFO): Nmea in: $SNTTA,0.091839,,,,061024.56*48

2021-02-16T06:10:24.316Z,1613455824.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 68.395206 deg, deltaT: 4.378474 s, approachRate: 0.616652 m/s, LOS rate: 0.914809 deg/s, posRepo size: 4
2021-02-16T06:10:26.700Z,1613455826.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:27.505Z,1613455827.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:27.907Z,1613455827.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:28.728Z,1613455828.728 [Micromodem](INFO): Nmea in: $SNTTA,0.093888,,,,061029.01*4F

2021-02-16T06:10:28.768Z,1613455828.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.000000 m, bearing: 67.474517 deg, deltaT: 4.492368 s, approachRate: 0.681155 m/s, LOS rate: -0.204945 deg/s, posRepo size: 4
2021-02-16T06:10:31.233Z,1613455831.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:31.949Z,1613455831.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:32.338Z,1613455832.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:33.173Z,1613455833.173 [Micromodem](INFO): Nmea in: $SNTTA,0.095806,,,,061033.45*44

2021-02-16T06:10:33.265Z,1613455833.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 67.933342 deg, deltaT: 4.414126 s, approachRate: 0.652452 m/s, LOS rate: 0.103945 deg/s, posRepo size: 4
2021-02-16T06:10:35.600Z,1613455835.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:36.387Z,1613455836.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:36.789Z,1613455836.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:37.616Z,1613455837.616 [Micromodem](INFO): Nmea in: $SNTTA,0.097579,,,,061037.89*47

2021-02-16T06:10:37.643Z,1613455837.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 65.019077 deg, deltaT: 4.490130 s, approachRate: 0.574594 m/s, LOS rate: -0.649038 deg/s, posRepo size: 4
2021-02-16T06:10:40.031Z,1613455840.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:40.820Z,1613455840.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:41.255Z,1613455841.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:42.048Z,1613455842.048 [Micromodem](INFO): Nmea in: $SNTTA,0.099476,,,,061042.32*45

2021-02-16T06:10:42.120Z,1613455842.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.400009 m, bearing: 60.950211 deg, deltaT: 4.404101 s, approachRate: 0.667560 m/s, LOS rate: -0.923881 deg/s, posRepo size: 4
2021-02-16T06:10:44.504Z,1613455844.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:45.264Z,1613455845.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:45.678Z,1613455845.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:46.478Z,1613455846.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,061046.77*5B

2021-02-16T06:10:46.521Z,1613455846.521 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:10:47.319Z,1613455847.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:48.904Z,1613455848.904 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:10:50.195Z,1613455850.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:50.920Z,1613455850.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:51.331Z,1613455851.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:51.359Z,1613455851.359 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:10:52.149Z,1613455852.149 [Micromodem](INFO): Nmea in: $SNTTA,0.103672,,,,061052.42*47

2021-02-16T06:10:52.229Z,1613455852.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 71.506651 deg, deltaT: 10.090666 s, approachRate: 0.630284 m/s, LOS rate: 1.046159 deg/s, posRepo size: 4
2021-02-16T06:10:52.230Z,1613455852.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.76 m. Resuming terminal guidance.
2021-02-16T06:10:52.230Z,1613455852.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T06:10:54.586Z,1613455854.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:55.370Z,1613455855.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:10:55.770Z,1613455855.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:10:56.268Z,1613455856.268 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:10:56.599Z,1613455856.599 [Micromodem](INFO): Nmea in: $SNTTA,0.105693,,,,061056.87*43

2021-02-16T06:10:56.618Z,1613455856.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.699997 m, bearing: 58.668040 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T06:10:56.619Z,1613455856.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 58.668040deg and heading rate command to 0 deg/s.
2021-02-16T06:10:59.016Z,1613455859.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:10:59.808Z,1613455859.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:00.248Z,1613455860.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:01.040Z,1613455861.040 [Micromodem](INFO): Nmea in: $SNTTA,0.107480,,,,061101.31*4F

2021-02-16T06:11:01.112Z,1613455861.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 62.274584 deg, deltaT: 4.253343 s, approachRate: 0.620688 m/s, LOS rate: 0.847932 deg/s, posRepo size: 2
2021-02-16T06:11:01.114Z,1613455861.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 62.274584 deg,
      approachRate: 0.620688 m/s,
      LOS rate: 0.847932 deg/s,
      cmd update: 2.543796 deg/s,
      cmd heading: 58.668040 deg,
      new cmd heading: 58.668040 deg.

2021-02-16T06:11:01.465Z,1613455861.465 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:11:03.490Z,1613455863.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:04.262Z,1613455864.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:04.658Z,1613455864.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:05.475Z,1613455865.475 [Micromodem](INFO): Nmea in: $SNTTA,0.109265,,,,061105.76*4B

2021-02-16T06:11:06.307Z,1613455866.307 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:11:06.321Z,1613455866.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:07.886Z,1613455867.886 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:11:09.146Z,1613455869.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:09.908Z,1613455869.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:10.322Z,1613455870.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:10.718Z,1613455870.718 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,BA7,000,004
2,184,80,80,8A,FF
2021-02-16T06:11:11.131Z,1613455871.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,061111.41*5D

2021-02-16T06:11:11.944Z,1613455871.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:14.777Z,1613455874.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:16.392Z,1613455876.392 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:11:17.627Z,1613455877.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:18.398Z,1613455878.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:18.805Z,1613455878.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:19.624Z,1613455879.624 [Micromodem](INFO): Nmea in: $SNTTA,0.114591,,,,061119.90*4E

2021-02-16T06:11:19.646Z,1613455879.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.199997 m, bearing: 107.630299 deg, deltaT: 18.639814 s, approachRate: 0.582624 m/s, LOS rate: 2.433271 deg/s, posRepo size: 3
2021-02-16T06:11:19.668Z,1613455879.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.199997 m,
      bearing: 107.630299 deg,
      approachRate: 0.582624 m/s,
      LOS rate: 2.433271 deg/s,
      cmd update: 7.299812 deg/s,
      cmd heading: 106.053547 deg,
      new cmd heading: 106.986133 deg.

2021-02-16T06:11:21.298Z,1613455881.298 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T06:11:22.043Z,1613455882.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:22.841Z,1613455882.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:23.254Z,1613455883.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:24.088Z,1613455884.088 [Micromodem](INFO): Nmea in: $SNTTA,0.116022,,,,061124.35*40

2021-02-16T06:11:24.139Z,1613455884.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.199997 m, bearing: 126.597679 deg, deltaT: 4.402749 s, approachRate: 0.000000 m/s, LOS rate: 4.308077 deg/s, posRepo size: 4
2021-02-16T06:11:24.141Z,1613455884.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.199997 m,
      bearing: 126.597679 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.308077 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.246035 deg,
      new cmd heading: 141.524366 deg.

2021-02-16T06:11:26.512Z,1613455886.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:27.288Z,1613455887.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:27.703Z,1613455887.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:28.519Z,1613455888.519 [Micromodem](INFO): Nmea in: $SNTTA,0.116745,,,,061128.79*42

2021-02-16T06:11:28.543Z,1613455888.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.140015 m, bearing: 165.281617 deg, deltaT: 4.485315 s, approachRate: 0.655476 m/s, LOS rate: 8.624575 deg/s, posRepo size: 4
2021-02-16T06:11:28.545Z,1613455888.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 165.281617 deg,
      approachRate: 0.655476 m/s,
      LOS rate: 8.624575 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.747677 deg,
      new cmd heading: 196.484485 deg.

2021-02-16T06:11:30.937Z,1613455890.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:31.730Z,1613455891.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:32.149Z,1613455892.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:32.976Z,1613455892.976 [Micromodem](INFO): Nmea in: $SNTTA,0.117183,,,,061133.23*4A

2021-02-16T06:11:33.009Z,1613455893.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.140015 m, bearing: 187.145121 deg, deltaT: 4.423199 s, approachRate: 0.000000 m/s, LOS rate: 4.942917 deg/s, posRepo size: 4
2021-02-16T06:11:33.011Z,1613455893.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 187.145121 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.942917 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 245.204750 deg,
      new cmd heading: 250.084574 deg.

2021-02-16T06:11:35.420Z,1613455895.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:36.181Z,1613455896.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:36.578Z,1613455896.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:37.408Z,1613455897.408 [Micromodem](INFO): Nmea in: $SNTTA,0.116985,,,,061137.68*4E

2021-02-16T06:11:37.462Z,1613455897.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.140015 m, bearing: 204.311353 deg, deltaT: 4.426959 s, approachRate: 0.000000 m/s, LOS rate: 3.877658 deg/s, posRepo size: 4
2021-02-16T06:11:37.468Z,1613455897.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 204.311353 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.877658 deg/s,
      cmd update: 11.632974 deg/s,
      cmd heading: 298.270996 deg,
      new cmd heading: 303.517384 deg.

2021-02-16T06:11:39.820Z,1613455899.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:40.617Z,1613455900.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:41.026Z,1613455901.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:41.848Z,1613455901.848 [Micromodem](INFO): Nmea in: $SNTTA,0.116215,,,,061142.12*43

2021-02-16T06:11:41.877Z,1613455901.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.140015 m, bearing: 236.954617 deg, deltaT: 4.438724 s, approachRate: 0.000000 m/s, LOS rate: 7.354200 deg/s, posRepo size: 4
2021-02-16T06:11:41.879Z,1613455901.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 236.954617 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.354200 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 349.954823 deg,
      new cmd heading: 354.719503 deg.

2021-02-16T06:11:42.289Z,1613455902.289 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:11:44.316Z,1613455904.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:45.092Z,1613455905.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:45.467Z,1613455905.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:46.313Z,1613455906.313 [Micromodem](INFO): Nmea in: $SNTTA,0.115159,,,,061146.60*4A

2021-02-16T06:11:46.718Z,1613455906.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.620010 m, bearing: 252.888382 deg, deltaT: 4.911138 s, approachRate: -0.513120 m/s, LOS rate: 3.244414 deg/s, posRepo size: 4
2021-02-16T06:11:46.720Z,1613455906.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.620010 m,
      bearing: 252.888382 deg,
      approachRate: -0.513120 m/s,
      LOS rate: 3.244414 deg/s,
      cmd update: 9.733242 deg/s,
      cmd heading: 48.847249 deg,
      new cmd heading: 52.952473 deg.

2021-02-16T06:11:49.162Z,1613455909.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:49.910Z,1613455909.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:50.310Z,1613455910.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:51.140Z,1613455911.140 [Micromodem](INFO): Nmea in: $SNTTA,0.113558,,,,061151.41*4C

2021-02-16T06:11:51.226Z,1613455911.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.620010 m, bearing: 244.481758 deg, deltaT: 4.389733 s, approachRate: 0.000000 m/s, LOS rate: -1.915065 deg/s, posRepo size: 4
2021-02-16T06:11:51.261Z,1613455911.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.620010 m,
      bearing: 244.481758 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.915065 deg/s,
      cmd update: -5.745195 deg/s,
      cmd heading: 91.574791 deg,
      new cmd heading: 95.982247 deg.

2021-02-16T06:11:53.566Z,1613455913.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:54.348Z,1613455914.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:54.756Z,1613455914.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:11:55.576Z,1613455915.576 [Micromodem](INFO): Nmea in: $SNTTA,0.112524,,,,061155.85*4A

2021-02-16T06:11:55.610Z,1613455915.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.779999 m, bearing: 145.883360 deg, deltaT: 4.489117 s, approachRate: -0.855405 m/s, LOS rate: -21.963873 deg/s, posRepo size: 4
2021-02-16T06:11:55.611Z,1613455915.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.963873 deg/s. Setting heading cmd to target bearing of 145.883360deg and heading rate command to 0 deg/s.
2021-02-16T06:11:58.018Z,1613455918.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:11:58.813Z,1613455918.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:11:59.214Z,1613455919.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:00.036Z,1613455920.036 [Micromodem](INFO): Nmea in: $SNTTA,0.112007,,,,061200.32*41

2021-02-16T06:12:00.117Z,1613455920.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.779999 m, bearing: 155.686335 deg, deltaT: 4.367052 s, approachRate: 0.000000 m/s, LOS rate: 2.244758 deg/s, posRepo size: 4
2021-02-16T06:12:00.132Z,1613455920.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.779999 m,
      bearing: 155.686335 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.244758 deg/s,
      cmd update: 6.734274 deg/s,
      cmd heading: 145.883360 deg,
      new cmd heading: 145.883360 deg.

2021-02-16T06:12:02.500Z,1613455922.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:03.260Z,1613455923.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:03.644Z,1613455923.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:04.616Z,1613455924.616 [Micromodem](INFO): Nmea in: $SNTTA,0.112172,,,,061204.76*46

2021-02-16T06:12:04.954Z,1613455924.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.300003 m, bearing: 189.665023 deg, deltaT: 5.158969 s, approachRate: -0.093041 m/s, LOS rate: 6.586333 deg/s, posRepo size: 4
2021-02-16T06:12:04.956Z,1613455924.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.300003 m,
      bearing: 189.665023 deg,
      approachRate: -0.093041 m/s,
      LOS rate: 6.586333 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 180.634024 deg,
      new cmd heading: 181.776972 deg.

2021-02-16T06:12:07.384Z,1613455927.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:08.142Z,1613455928.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:08.544Z,1613455928.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:09.376Z,1613455929.376 [Micromodem](INFO): Nmea in: $SNTTA,0.112682,,,,061209.65*41

2021-02-16T06:12:09.411Z,1613455929.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 199.081382 deg, deltaT: 4.196227 s, approachRate: 0.185881 m/s, LOS rate: 2.244006 deg/s, posRepo size: 4
2021-02-16T06:12:09.413Z,1613455929.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 199.081382 deg,
      approachRate: 0.185881 m/s,
      LOS rate: 2.244006 deg/s,
      cmd update: 6.732018 deg/s,
      cmd heading: 230.967714 deg,
      new cmd heading: 236.148186 deg.

2021-02-16T06:12:11.808Z,1613455931.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:12.580Z,1613455932.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:13.007Z,1613455933.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:13.815Z,1613455933.815 [Micromodem](INFO): Nmea in: $SNTTA,0.112838,,,,061214.08*49

2021-02-16T06:12:13.834Z,1613455933.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 217.147150 deg, deltaT: 4.476577 s, approachRate: 0.000000 m/s, LOS rate: 4.035621 deg/s, posRepo size: 4
2021-02-16T06:12:13.840Z,1613455933.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 217.147150 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.035621 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.087880 deg,
      new cmd heading: 263.654691 deg.

2021-02-16T06:12:16.321Z,1613455936.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:17.029Z,1613455937.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:17.437Z,1613455937.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:18.284Z,1613455938.284 [Micromodem](INFO): Nmea in: $SNTTA,0.112628,,,,061218.53*44

2021-02-16T06:12:18.342Z,1613455938.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 198.012908 deg, deltaT: 4.425605 s, approachRate: 0.000000 m/s, LOS rate: -4.323532 deg/s, posRepo size: 4
2021-02-16T06:12:18.344Z,1613455938.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 198.012908 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.323532 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.197506 deg,
      new cmd heading: 319.757862 deg.

2021-02-16T06:12:20.686Z,1613455940.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:21.486Z,1613455941.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:21.883Z,1613455941.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:22.709Z,1613455942.709 [Micromodem](INFO): Nmea in: $SNTTA,0.112022,,,,061222.99*47

2021-02-16T06:12:23.180Z,1613455943.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.880005 m, bearing: 251.281840 deg, deltaT: 4.841590 s, approachRate: -0.247852 m/s, LOS rate: 11.002363 deg/s, posRepo size: 4
2021-02-16T06:12:23.188Z,1613455943.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 251.281840 deg,
      approachRate: -0.247852 m/s,
      LOS rate: 11.002363 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.050413 deg,
      new cmd heading: 250.796777 deg.

2021-02-16T06:12:25.552Z,1613455945.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:26.324Z,1613455946.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:26.722Z,1613455946.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:27.548Z,1613455947.548 [Micromodem](INFO): Nmea in: $SNTTA,0.110686,,,,061227.83*43

2021-02-16T06:12:27.591Z,1613455947.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.880005 m, bearing: 252.720387 deg, deltaT: 4.498477 s, approachRate: 0.000000 m/s, LOS rate: 0.319785 deg/s, posRepo size: 4
2021-02-16T06:12:27.593Z,1613455947.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.880005 m,
      bearing: 252.720387 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.319785 deg/s,
      cmd update: 0.959356 deg/s,
      cmd heading: 309.708738 deg,
      new cmd heading: 314.447106 deg.

2021-02-16T06:12:28.367Z,1613455948.367 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:12:29.984Z,1613455949.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:30.760Z,1613455950.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:31.176Z,1613455951.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:31.996Z,1613455951.996 [Micromodem](INFO): Nmea in: $SNTTA,0.108840,,,,061232.26*45

2021-02-16T06:12:32.038Z,1613455952.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.020004 m, bearing: 250.146717 deg, deltaT: 4.397842 s, approachRate: -1.105088 m/s, LOS rate: -0.585212 deg/s, posRepo size: 4
2021-02-16T06:12:32.040Z,1613455952.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.020004 m,
      bearing: 250.146717 deg,
      approachRate: -1.105088 m/s,
      LOS rate: -0.585212 deg/s,
      cmd update: -1.755636 deg/s,
      cmd heading: 313.953698 deg,
      new cmd heading: 314.354425 deg.

2021-02-16T06:12:34.468Z,1613455954.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:35.238Z,1613455955.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:35.611Z,1613455955.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:36.438Z,1613455956.438 [Micromodem](INFO): Nmea in: $SNTTA,0.106804,,,,061236.75*49

2021-02-16T06:12:36.873Z,1613455956.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 252.298391 deg, deltaT: 4.902031 s, approachRate: -0.611991 m/s, LOS rate: 0.438935 deg/s, posRepo size: 4
2021-02-16T06:12:36.875Z,1613455956.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.020004 m,
      bearing: 252.298391 deg,
      approachRate: -0.611991 m/s,
      LOS rate: 0.438935 deg/s,
      cmd update: 1.316805 deg/s,
      cmd heading: 305.354625 deg,
      new cmd heading: 304.732933 deg.

2021-02-16T06:12:39.317Z,1613455959.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:40.059Z,1613455960.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:40.465Z,1613455960.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:41.312Z,1613455961.312 [Micromodem](INFO): Nmea in: $SNTTA,0.104353,,,,061241.56*43

2021-02-16T06:12:41.362Z,1613455961.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.360016 m, bearing: 251.462512 deg, deltaT: 4.370647 s, approachRate: -0.837402 m/s, LOS rate: -0.191248 deg/s, posRepo size: 4
2021-02-16T06:12:41.364Z,1613455961.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 251.462512 deg,
      approachRate: -0.837402 m/s,
      LOS rate: -0.191248 deg/s,
      cmd update: -0.573745 deg/s,
      cmd heading: 311.115188 deg,
      new cmd heading: 311.732864 deg.

2021-02-16T06:12:43.717Z,1613455963.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:44.537Z,1613455964.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:44.908Z,1613455964.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:45.743Z,1613455965.743 [Micromodem](INFO): Nmea in: $SNTTA,0.102026,,,,061246.04*44

2021-02-16T06:12:46.176Z,1613455966.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 250.823398 deg, deltaT: 4.864895 s, approachRate: -0.715331 m/s, LOS rate: -0.131373 deg/s, posRepo size: 4
2021-02-16T06:12:46.179Z,1613455966.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.880005 m,
      bearing: 250.823398 deg,
      approachRate: -0.715331 m/s,
      LOS rate: -0.131373 deg/s,
      cmd update: -0.394118 deg/s,
      cmd heading: 308.323961 deg,
      new cmd heading: 308.084711 deg.

2021-02-16T06:12:48.569Z,1613455968.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:49.350Z,1613455969.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:49.749Z,1613455969.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:50.576Z,1613455970.576 [Micromodem](INFO): Nmea in: $SNTTA,0.099961,,,,061250.85*43

2021-02-16T06:12:50.625Z,1613455970.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 249.879957 deg, deltaT: 4.493916 s, approachRate: -0.654218 m/s, LOS rate: -0.209937 deg/s, posRepo size: 4
2021-02-16T06:12:50.626Z,1613455970.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 249.879957 deg,
      approachRate: -0.654218 m/s,
      LOS rate: -0.209937 deg/s,
      cmd update: -0.629812 deg/s,
      cmd heading: 306.556046 deg,
      new cmd heading: 306.406024 deg.

2021-02-16T06:12:53.027Z,1613455973.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:53.793Z,1613455973.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:54.229Z,1613455974.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:55.044Z,1613455975.044 [Micromodem](INFO): Nmea in: $SNTTA,0.098519,,,,061255.30*4A

2021-02-16T06:12:55.069Z,1613455975.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.660004 m, bearing: 251.367190 deg, deltaT: 4.376915 s, approachRate: -0.520915 m/s, LOS rate: 0.339790 deg/s, posRepo size: 4
2021-02-16T06:12:55.104Z,1613455975.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.660004 m,
      bearing: 251.367190 deg,
      approachRate: -0.520915 m/s,
      LOS rate: 0.339790 deg/s,
      cmd update: 1.019371 deg/s,
      cmd heading: 303.794272 deg,
      new cmd heading: 303.516943 deg.

2021-02-16T06:12:57.464Z,1613455977.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:12:58.249Z,1613455978.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:12:58.657Z,1613455978.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:12:59.481Z,1613455979.481 [Micromodem](INFO): Nmea in: $SNTTA,0.097273,,,,061259.75*43

2021-02-16T06:12:59.541Z,1613455979.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 247.248340 deg, deltaT: 4.464336 s, approachRate: -0.430075 m/s, LOS rate: -0.922612 deg/s, posRepo size: 4
2021-02-16T06:12:59.559Z,1613455979.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.740005 m,
      bearing: 247.248340 deg,
      approachRate: -0.430075 m/s,
      LOS rate: -0.922612 deg/s,
      cmd update: -2.767836 deg/s,
      cmd heading: 308.320286 deg,
      new cmd heading: 308.801423 deg.

2021-02-16T06:13:01.888Z,1613455981.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:02.688Z,1613455982.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:03.124Z,1613455983.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:03.916Z,1613455983.916 [Micromodem](INFO): Nmea in: $SNTTA,0.096036,,,,061304.19*42

2021-02-16T06:13:03.954Z,1613455983.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 250.251465 deg, deltaT: 4.437019 s, approachRate: -0.405678 m/s, LOS rate: 0.676834 deg/s, posRepo size: 4
2021-02-16T06:13:03.956Z,1613455983.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.940002 m,
      bearing: 250.251465 deg,
      approachRate: -0.405678 m/s,
      LOS rate: 0.676834 deg/s,
      cmd update: 2.030502 deg/s,
      cmd heading: 295.972461 deg,
      new cmd heading: 294.798394 deg.

2021-02-16T06:13:06.371Z,1613455986.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:07.133Z,1613455987.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:07.547Z,1613455987.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:08.360Z,1613455988.360 [Micromodem](INFO): Nmea in: $SNTTA,0.094628,,,,061308.64*4F

2021-02-16T06:13:08.394Z,1613455988.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 241.803204 deg, deltaT: 4.463333 s, approachRate: -0.470498 m/s, LOS rate: -1.892814 deg/s, posRepo size: 4
2021-02-16T06:13:08.396Z,1613455988.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 241.803204 deg,
      approachRate: -0.470498 m/s,
      LOS rate: -1.892814 deg/s,
      cmd update: -5.678443 deg/s,
      cmd heading: 304.998473 deg,
      new cmd heading: 305.848177 deg.

2021-02-16T06:13:10.781Z,1613455990.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:11.573Z,1613455991.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:11.979Z,1613455991.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:12.816Z,1613455992.816 [Micromodem](INFO): Nmea in: $SNTTA,0.092863,,,,061313.08*48

2021-02-16T06:13:12.838Z,1613455992.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 242.380136 deg, deltaT: 4.447612 s, approachRate: -0.593580 m/s, LOS rate: 0.129717 deg/s, posRepo size: 4
2021-02-16T06:13:12.840Z,1613455992.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 242.380136 deg,
      approachRate: -0.593580 m/s,
      LOS rate: 0.129717 deg/s,
      cmd update: 0.389152 deg/s,
      cmd heading: 279.684291 deg,
      new cmd heading: 277.386838 deg.

2021-02-16T06:13:15.297Z,1613455995.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:16.013Z,1613455996.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:16.425Z,1613455996.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:17.256Z,1613455997.256 [Micromodem](INFO): Nmea in: $SNTTA,0.091214,,,,061317.52*4A

2021-02-16T06:13:17.323Z,1613455997.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.559998 m, bearing: 247.045893 deg, deltaT: 4.396050 s, approachRate: -0.600539 m/s, LOS rate: 1.061352 deg/s, posRepo size: 4
2021-02-16T06:13:17.325Z,1613455997.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 247.045893 deg,
      approachRate: -0.600539 m/s,
      LOS rate: 1.061352 deg/s,
      cmd update: 3.184056 deg/s,
      cmd heading: 281.398121 deg,
      new cmd heading: 281.585470 deg.

2021-02-16T06:13:19.677Z,1613455999.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:20.456Z,1613456000.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:20.862Z,1613456000.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:21.684Z,1613456001.684 [Micromodem](INFO): Nmea in: $SNTTA,0.089334,,,,061321.96*4D

2021-02-16T06:13:21.725Z,1613456001.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 244.291606 deg, deltaT: 4.513483 s, approachRate: -0.598207 m/s, LOS rate: -0.610235 deg/s, posRepo size: 4
2021-02-16T06:13:21.728Z,1613456001.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.860001 m,
      bearing: 244.291606 deg,
      approachRate: -0.598207 m/s,
      LOS rate: -0.610235 deg/s,
      cmd update: -1.830706 deg/s,
      cmd heading: 295.756409 deg,
      new cmd heading: 296.956499 deg.

2021-02-16T06:13:24.154Z,1613456004.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:24.905Z,1613456004.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:25.323Z,1613456005.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:25.363Z,1613456005.363 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T06:13:25.363Z,1613456005.363 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T06:13:25.363Z,1613456005.363 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T06:13:25.483Z,1613456005.483 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T06:13:25.783Z,1613456005.783 [RDI_Pathfinder](INFO): Powering down
2021-02-16T06:13:26.132Z,1613456006.132 [Micromodem](INFO): Nmea in: $SNTTA,0.087774,,,,061326.41*4E

2021-02-16T06:13:26.161Z,1613456006.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 236.062020 deg, deltaT: 4.471392 s, approachRate: -0.523326 m/s, LOS rate: -1.840498 deg/s, posRepo size: 4
2021-02-16T06:13:26.164Z,1613456006.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 236.062020 deg,
      approachRate: -0.523326 m/s,
      LOS rate: -1.840498 deg/s,
      cmd update: -5.521492 deg/s,
      cmd heading: 287.570921 deg,
      new cmd heading: 286.944027 deg.

2021-02-16T06:13:26.681Z,1613456006.681 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T06:13:26.681Z,1613456006.681 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T06:13:28.566Z,1613456008.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:29.364Z,1613456009.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:29.749Z,1613456009.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:30.588Z,1613456010.588 [Micromodem](INFO): Nmea in: $SNTTA,0.085956,,,,061330.87*4F

2021-02-16T06:13:30.632Z,1613456010.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.940002 m, bearing: 243.007585 deg, deltaT: 4.367094 s, approachRate: -0.590782 m/s, LOS rate: 1.590432 deg/s, posRepo size: 4
2021-02-16T06:13:30.634Z,1613456010.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.940002 m,
      bearing: 243.007585 deg,
      approachRate: -0.590782 m/s,
      LOS rate: 1.590432 deg/s,
      cmd update: 4.771295 deg/s,
      cmd heading: 263.472367 deg,
      new cmd heading: 261.103393 deg.

2021-02-16T06:13:32.000Z,1613456013.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:33.788Z,1613456013.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:34.209Z,1613456014.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:35.029Z,1613456015.029 [Micromodem](INFO): Nmea in: $SNTTA,0.084571,,,,061335.29*46

2021-02-16T06:13:35.050Z,1613456015.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 242.059172 deg, deltaT: 4.425924 s, approachRate: -0.515146 m/s, LOS rate: -0.214286 deg/s, posRepo size: 4
2021-02-16T06:13:35.052Z,1613456015.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 242.059172 deg,
      approachRate: -0.515146 m/s,
      LOS rate: -0.214286 deg/s,
      cmd update: -0.642857 deg/s,
      cmd heading: 284.622030 deg,
      new cmd heading: 286.697119 deg.

2021-02-16T06:13:37.472Z,1613456017.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:38.265Z,1613456018.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:38.638Z,1613456018.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:39.476Z,1613456019.476 [Micromodem](INFO): Nmea in: $SNTTA,0.082265,,,,061339.77*45

2021-02-16T06:13:39.524Z,1613456019.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.240005 m, bearing: 238.938677 deg, deltaT: 4.445519 s, approachRate: -0.769314 m/s, LOS rate: -0.701942 deg/s, posRepo size: 4
2021-02-16T06:13:39.526Z,1613456019.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.240005 m,
      bearing: 238.938677 deg,
      approachRate: -0.769314 m/s,
      LOS rate: -0.701942 deg/s,
      cmd update: -2.105825 deg/s,
      cmd heading: 281.764161 deg,
      new cmd heading: 281.481960 deg.

2021-02-16T06:13:41.942Z,1613456021.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:42.694Z,1613456022.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:43.082Z,1613456023.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:43.917Z,1613456023.917 [Micromodem](INFO): Nmea in: $SNTTA,0.080611,,,,061344.20*48

2021-02-16T06:13:43.966Z,1613456023.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.720001 m, bearing: 236.384979 deg, deltaT: 4.474516 s, approachRate: -0.563190 m/s, LOS rate: -0.570721 deg/s, posRepo size: 4
2021-02-16T06:13:43.972Z,1613456023.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.720001 m,
      bearing: 236.384979 deg,
      approachRate: -0.563190 m/s,
      LOS rate: -0.570721 deg/s,
      cmd update: -1.712162 deg/s,
      cmd heading: 272.355249 deg,
      new cmd heading: 271.434814 deg.

2021-02-16T06:13:46.392Z,1613456026.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:47.120Z,1613456027.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:47.532Z,1613456027.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:48.352Z,1613456028.352 [Micromodem](INFO): Nmea in: $SNTTA,0.078801,,,,061348.62*4A

2021-02-16T06:13:48.376Z,1613456028.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 242.929010 deg, deltaT: 4.435047 s, approachRate: -0.662902 m/s, LOS rate: 1.475527 deg/s, posRepo size: 4
2021-02-16T06:13:48.378Z,1613456028.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.779999 m,
      bearing: 242.929010 deg,
      approachRate: -0.662902 m/s,
      LOS rate: 1.475527 deg/s,
      cmd update: 4.426581 deg/s,
      cmd heading: 264.751059 deg,
      new cmd heading: 264.056293 deg.

2021-02-16T06:13:50.832Z,1613456030.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:51.564Z,1613456031.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:51.972Z,1613456031.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:52.816Z,1613456032.816 [Micromodem](INFO): Nmea in: $SNTTA,0.076393,,,,061353.07*4D

2021-02-16T06:13:52.841Z,1613456032.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.180008 m, bearing: 235.844738 deg, deltaT: 4.444087 s, approachRate: -0.810063 m/s, LOS rate: -1.594089 deg/s, posRepo size: 4
2021-02-16T06:13:52.843Z,1613456032.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.180008 m,
      bearing: 235.844738 deg,
      approachRate: -0.810063 m/s,
      LOS rate: -1.594089 deg/s,
      cmd update: -4.782268 deg/s,
      cmd heading: 284.424169 deg,
      new cmd heading: 286.312389 deg.

2021-02-16T06:13:55.264Z,1613456035.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:13:56.014Z,1613456036.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:13:56.434Z,1613456036.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:13:57.271Z,1613456037.271 [Micromodem](INFO): Nmea in: $SNTTA,0.074292,,,,061357.52*4B

2021-02-16T06:13:57.299Z,1613456037.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.300003 m, bearing: 233.143863 deg, deltaT: 4.447000 s, approachRate: -0.647629 m/s, LOS rate: -0.607348 deg/s, posRepo size: 4
2021-02-16T06:13:57.301Z,1613456037.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 233.143863 deg,
      approachRate: -0.647629 m/s,
      LOS rate: -0.607348 deg/s,
      cmd update: -1.822043 deg/s,
      cmd heading: 263.233771 deg,
      new cmd heading: 261.065854 deg.

2021-02-16T06:13:59.665Z,1613456039.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:00.457Z,1613456040.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:00.866Z,1613456040.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:01.695Z,1613456041.695 [Micromodem](INFO): Nmea in: $SNTTA,0.072423,,,,061401.96*4D

2021-02-16T06:14:01.714Z,1613456041.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 237.845109 deg, deltaT: 4.439058 s, approachRate: -0.635272 m/s, LOS rate: 1.059064 deg/s, posRepo size: 4
2021-02-16T06:14:01.716Z,1613456041.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.479996 m,
      bearing: 237.845109 deg,
      approachRate: -0.635272 m/s,
      LOS rate: 1.059064 deg/s,
      cmd update: 3.177192 deg/s,
      cmd heading: 255.116479 deg,
      new cmd heading: 254.362785 deg.

2021-02-16T06:14:04.133Z,1613456044.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:04.901Z,1613456044.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:05.309Z,1613456045.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:06.128Z,1613456046.128 [Micromodem](INFO): Nmea in: $SNTTA,0.070545,,,,061406.41*43

2021-02-16T06:14:06.181Z,1613456046.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 233.816090 deg, deltaT: 4.429433 s, approachRate: -0.663739 m/s, LOS rate: -0.909602 deg/s, posRepo size: 4
2021-02-16T06:14:06.183Z,1613456046.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 233.816090 deg,
      approachRate: -0.663739 m/s,
      LOS rate: -0.909602 deg/s,
      cmd update: -2.728805 deg/s,
      cmd heading: 269.176727 deg,
      new cmd heading: 270.618626 deg.

2021-02-16T06:14:08.578Z,1613456048.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:09.350Z,1613456049.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:09.750Z,1613456049.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:10.576Z,1613456050.576 [Micromodem](INFO): Nmea in: $SNTTA,0.068396,,,,061410.85*4D

2021-02-16T06:14:10.620Z,1613456050.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 229.899660 deg, deltaT: 4.511334 s, approachRate: -0.704893 m/s, LOS rate: -0.868131 deg/s, posRepo size: 4
2021-02-16T06:14:10.622Z,1613456050.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 229.899660 deg,
      approachRate: -0.704893 m/s,
      LOS rate: -0.868131 deg/s,
      cmd update: -2.604394 deg/s,
      cmd heading: 256.908814 deg,
      new cmd heading: 255.822439 deg.

2021-02-16T06:14:13.027Z,1613456053.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:13.804Z,1613456053.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:14.197Z,1613456054.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:15.024Z,1613456055.024 [Micromodem](INFO): Nmea in: $SNTTA,0.066314,,,,061415.31*43

2021-02-16T06:14:15.068Z,1613456055.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 229.975966 deg, deltaT: 4.374247 s, approachRate: -0.713266 m/s, LOS rate: 0.017445 deg/s, posRepo size: 4
2021-02-16T06:14:15.070Z,1613456055.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.239998 m,
      bearing: 229.975966 deg,
      approachRate: -0.713266 m/s,
      LOS rate: 0.017445 deg/s,
      cmd update: 0.052334 deg/s,
      cmd heading: 245.465328 deg,
      new cmd heading: 244.286965 deg.

2021-02-16T06:14:17.458Z,1613456057.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:18.252Z,1613456058.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:18.639Z,1613456058.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:19.477Z,1613456059.477 [Micromodem](INFO): Nmea in: $SNTTA,0.064182,,,0.150627,061419.76*5A

2021-02-16T06:14:19.501Z,1613456059.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 230.006894 deg, deltaT: 4.458533 s, approachRate: -0.753611 m/s, LOS rate: 0.006937 deg/s, posRepo size: 4
2021-02-16T06:14:19.502Z,1613456059.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.879997 m,
      bearing: 230.006894 deg,
      approachRate: -0.753611 m/s,
      LOS rate: 0.006937 deg/s,
      cmd update: 0.020810 deg/s,
      cmd heading: 245.698656 deg,
      new cmd heading: 245.720988 deg.

2021-02-16T06:14:19.522Z,1613456059.522 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T06:14:19.522Z,1613456059.522 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T06:14:19.522Z,1613456059.522 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T06:14:19.523Z,1613456059.523 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:14:19.523Z,1613456059.523 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T06:14:19.913Z,1613456059.913 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60250000005D00000400320000000000000000151D80030C5669BF92F9E55BF04DEBB1E4F12AA040B3680174143B9C7E273C46DA870A6FDE85C7A24B43
2021-02-16T06:14:19.913Z,1613456059.913 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 2620B617E200
2021-02-16T06:14:19.914Z,1613456059.914 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T06:14:20.288Z,1613456060.288 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T06:14:20.680Z,1613456060.680 [Micromodem](INFO): Nmea in: $CADRQ,061421,1,10,0,64,1*76

2021-02-16T06:14:20.681Z,1613456060.681 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60250000005D00000400320000000000000000151D80030C5669BF92F9E55BF04DEBB1E4F12AA040B3680174143B9C7E273C46DA870A6FDE85C7A24B43*48

2021-02-16T06:14:21.092Z,1613456061.092 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T06:14:21.492Z,1613456061.492 [Micromodem](INFO): Nmea in: $CADRQ,061422,1,10,0,64,2*76

2021-02-16T06:14:21.492Z,1613456061.492 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,2620B617E200*4A

2021-02-16T06:14:21.620Z,1613456061.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:21.887Z,1613456061.887 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-02-16T06:14:22.284Z,1613456062.284 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-02-16T06:14:22.285Z,1613456062.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:24.333Z,1613456064.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:24.715Z,1613456064.715 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-02-16T06:14:24.715Z,1613456064.715 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-02-16T06:14:25.110Z,1613456065.110 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,061422.971843,3,0,200,4000,14500,1,1,10,1,2,2,3,70*43

2021-02-16T06:14:25.110Z,1613456065.110 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,061422.971843,3,0,200,4000,14500,1,1,10,1,2,2,3,70*43

2021-02-16T06:14:27.259Z,1613456067.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:27.532Z,1613456067.532 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T06:14:27.964Z,1613456067.964 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T06:14:27.965Z,1613456067.965 [Micromodem](INFO): Sent 62 bytes from file Logs/20210216T042015/Courier0037.lzma.parts
2021-02-16T06:14:27.965Z,1613456067.965 [Micromodem](INFO): Packets left to send: 0
2021-02-16T06:14:28.343Z,1613456068.343 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216061427.675343,06,8739,39,0313,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.9,5.00,14,-2.00,-01,1.87,34,14500,4000*50

2021-02-16T06:14:28.343Z,1613456068.343 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216061427.675343,06,8739,39,0313,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.9,5.00,14,-2.00,-01,1.87,34,14500,4000*50

2021-02-16T06:14:28.442Z,1613456068.442 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T06:14:28.442Z,1613456068.442 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T06:14:28.442Z,1613456068.442 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T06:14:28.442Z,1613456068.442 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:14:28.442Z,1613456068.442 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T06:14:29.982Z,1613456069.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:32.837Z,1613456072.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:33.593Z,1613456073.593 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:33.998Z,1613456073.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:34.824Z,1613456074.824 [Micromodem](INFO): Nmea in: $SNTTA,0.055800,,,,061435.10*4C

2021-02-16T06:14:34.869Z,1613456074.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 229.179293 deg, deltaT: 15.392008 s, approachRate: -0.810810 m/s, LOS rate: -0.053768 deg/s, posRepo size: 4
2021-02-16T06:14:34.872Z,1613456074.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.400002 m,
      bearing: 229.179293 deg,
      approachRate: -0.810810 m/s,
      LOS rate: -0.053768 deg/s,
      cmd update: -0.161305 deg/s,
      cmd heading: 246.018956 deg,
      new cmd heading: 246.027335 deg.

2021-02-16T06:14:37.280Z,1613456077.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:38.047Z,1613456078.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:38.462Z,1613456078.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:39.272Z,1613456079.272 [Micromodem](INFO): Nmea in: $SNTTA,0.053426,,,,061439.55*4F

2021-02-16T06:14:39.310Z,1613456079.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 226.820842 deg, deltaT: 4.422139 s, approachRate: -0.814087 m/s, LOS rate: -0.533328 deg/s, posRepo size: 4
2021-02-16T06:14:39.312Z,1613456079.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.799995 m,
      bearing: 226.820842 deg,
      approachRate: -0.814087 m/s,
      LOS rate: -0.533328 deg/s,
      cmd update: -1.599984 deg/s,
      cmd heading: 245.306251 deg,
      new cmd heading: 245.237574 deg.

2021-02-16T06:14:41.694Z,1613456081.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:42.502Z,1613456082.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:42.885Z,1613456082.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:43.720Z,1613456083.720 [Micromodem](INFO): Nmea in: $SNTTA,0.050941,,,,061444.00*4A

2021-02-16T06:14:43.782Z,1613456083.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 225.381913 deg, deltaT: 4.439186 s, approachRate: -0.851505 m/s, LOS rate: -0.324143 deg/s, posRepo size: 4
2021-02-16T06:14:43.804Z,1613456083.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 225.381913 deg,
      approachRate: -0.851505 m/s,
      LOS rate: -0.324143 deg/s,
      cmd update: -0.972428 deg/s,
      cmd heading: 238.222715 deg,
      new cmd heading: 237.474382 deg.

2021-02-16T06:14:46.143Z,1613456086.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:46.930Z,1613456086.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:47.330Z,1613456087.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:48.157Z,1613456088.157 [Micromodem](INFO): Nmea in: $SNTTA,0.048648,,,,061448.43*4E

2021-02-16T06:14:48.193Z,1613456088.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.540009 m, bearing: 227.626067 deg, deltaT: 4.424341 s, approachRate: -0.786557 m/s, LOS rate: 0.507229 deg/s, posRepo size: 4
2021-02-16T06:14:48.230Z,1613456088.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 227.626067 deg,
      approachRate: -0.786557 m/s,
      LOS rate: 0.507229 deg/s,
      cmd update: 1.521687 deg/s,
      cmd heading: 233.904880 deg,
      new cmd heading: 233.475590 deg.

2021-02-16T06:14:50.593Z,1613456090.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:51.368Z,1613456091.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:51.803Z,1613456091.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:52.616Z,1613456092.616 [Micromodem](INFO): Nmea in: $SNTTA,0.046198,,,,061452.88*46

2021-02-16T06:14:52.660Z,1613456092.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 225.936388 deg, deltaT: 4.495038 s, approachRate: -0.774189 m/s, LOS rate: -0.375899 deg/s, posRepo size: 4
2021-02-16T06:14:52.662Z,1613456092.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 225.936388 deg,
      approachRate: -0.774189 m/s,
      LOS rate: -0.375899 deg/s,
      cmd update: -1.127696 deg/s,
      cmd heading: 240.708592 deg,
      new cmd heading: 241.343198 deg.

2021-02-16T06:14:55.071Z,1613456095.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:14:55.847Z,1613456095.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:14:56.255Z,1613456096.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:14:57.090Z,1613456097.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 224.752975 deg, deltaT: 4.393378 s, approachRate: -0.887700 m/s, LOS rate: -0.269363 deg/s, posRepo size: 4
2021-02-16T06:14:57.098Z,1613456097.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 224.752975 deg,
      approachRate: -0.887700 m/s,
      LOS rate: -0.269363 deg/s,
      cmd update: -0.808088 deg/s,
      cmd heading: 235.727400 deg,
      new cmd heading: 235.240844 deg.

2021-02-16T06:14:57.448Z,1613456097.448 [Micromodem](INFO): Nmea in: $SNTTA,0.043740,,,,061457.41*40

2021-02-16T06:14:59.449Z,1613456099.449 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T06:14:59.500Z,1613456099.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:00.261Z,1613456100.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:00.662Z,1613456100.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:01.509Z,1613456101.509 [Micromodem](INFO): Nmea in: $SNTTA,0.041306,,,0.077355,061501.76*5F

2021-02-16T06:15:01.533Z,1613456101.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.500000 m, bearing: 224.868870 deg, deltaT: 4.471926 s, approachRate: -0.818438 m/s, LOS rate: 0.025916 deg/s, posRepo size: 4
2021-02-16T06:15:01.535Z,1613456101.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.500000 m,
      bearing: 224.868870 deg,
      approachRate: -0.818438 m/s,
      LOS rate: 0.025916 deg/s,
      cmd update: 0.077748 deg/s,
      cmd heading: 232.120235 deg,
      new cmd heading: 231.773488 deg.

2021-02-16T06:15:03.933Z,1613456103.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:04.709Z,1613456104.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:05.119Z,1613456105.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:05.936Z,1613456105.936 [Micromodem](INFO): Nmea in: $SNTTA,0.038530,,,,061506.21*4A

2021-02-16T06:15:05.975Z,1613456105.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 223.030579 deg, deltaT: 4.441477 s, approachRate: -0.945632 m/s, LOS rate: -0.413892 deg/s, posRepo size: 4
2021-02-16T06:15:05.977Z,1613456105.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 223.030579 deg,
      approachRate: -0.945632 m/s,
      LOS rate: -0.413892 deg/s,
      cmd update: -1.241675 deg/s,
      cmd heading: 232.466199 deg,
      new cmd heading: 232.498949 deg.

2021-02-16T06:15:08.372Z,1613456108.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:09.151Z,1613456109.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:09.571Z,1613456109.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:10.380Z,1613456110.380 [Micromodem](INFO): Nmea in: $SNTTA,0.036060,,,,061510.66*40

2021-02-16T06:15:10.420Z,1613456110.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.700005 m, bearing: 221.912928 deg, deltaT: 4.460498 s, approachRate: -0.807084 m/s, LOS rate: -0.250566 deg/s, posRepo size: 4
2021-02-16T06:15:10.421Z,1613456110.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 221.912928 deg,
      approachRate: -0.807084 m/s,
      LOS rate: -0.250566 deg/s,
      cmd update: -0.751699 deg/s,
      cmd heading: 226.932749 deg,
      new cmd heading: 226.424476 deg.

2021-02-16T06:15:12.834Z,1613456112.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:13.593Z,1613456113.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:14.017Z,1613456114.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:14.037Z,1613456114.037 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T06:15:14.828Z,1613456114.828 [Micromodem](INFO): Nmea in: $SNTTA,0.033745,,,,061515.10*41

2021-02-16T06:15:14.877Z,1613456114.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.099998 m, bearing: 221.480072 deg, deltaT: 4.427498 s, approachRate: -0.813102 m/s, LOS rate: -0.097765 deg/s, posRepo size: 4
2021-02-16T06:15:14.883Z,1613456114.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.099998 m,
      bearing: 221.480072 deg,
      approachRate: -0.813102 m/s,
      LOS rate: -0.097765 deg/s,
      cmd update: -0.293296 deg/s,
      cmd heading: 223.613679 deg,
      new cmd heading: 223.274212 deg.

2021-02-16T06:15:17.284Z,1613456117.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:18.041Z,1613456118.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:18.442Z,1613456118.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:19.268Z,1613456119.268 [Micromodem](INFO): Nmea in: $SNTTA,0.031103,,,,061519.54*4B

2021-02-16T06:15:19.312Z,1613456119.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 223.701440 deg, deltaT: 4.428587 s, approachRate: -0.812899 m/s, LOS rate: 0.501598 deg/s, posRepo size: 4
2021-02-16T06:15:19.314Z,1613456119.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.500004 m,
      bearing: 223.701440 deg,
      approachRate: -0.812899 m/s,
      LOS rate: 0.501598 deg/s,
      cmd update: 1.504793 deg/s,
      cmd heading: 222.310120 deg,
      new cmd heading: 222.186429 deg.

2021-02-16T06:15:21.720Z,1613456121.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:22.480Z,1613456122.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:22.886Z,1613456122.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:23.732Z,1613456123.732 [Micromodem](INFO): Nmea in: $SNTTA,0.028357,,,0.046500,061523.98*50

2021-02-16T06:15:23.814Z,1613456123.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 223.428697 deg, deltaT: 4.441279 s, approachRate: -0.932165 m/s, LOS rate: -0.061411 deg/s, posRepo size: 4
2021-02-16T06:15:23.820Z,1613456123.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 223.428697 deg,
      approachRate: -0.932165 m/s,
      LOS rate: -0.061411 deg/s,
      cmd update: -0.184233 deg/s,
      cmd heading: 228.993459 deg,
      new cmd heading: 229.750068 deg.

2021-02-16T06:15:26.143Z,1613456126.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:26.930Z,1613456126.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:27.337Z,1613456127.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:28.165Z,1613456128.165 [Micromodem](INFO): Nmea in: $SNTTA,0.025950,,,,061528.44*43

2021-02-16T06:15:28.254Z,1613456128.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 221.439459 deg, deltaT: 4.489316 s, approachRate: -0.868730 m/s, LOS rate: -0.443105 deg/s, posRepo size: 4
2021-02-16T06:15:28.254Z,1613456128.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-02-16T06:15:28.260Z,1613456128.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 221.439459 deg,
      approachRate: -0.868730 m/s,
      LOS rate: -0.443105 deg/s,
      cmd update: -1.329315 deg/s,
      cmd heading: 228.171036 deg,
      new cmd heading: 228.082943 deg.

2021-02-16T06:15:28.569Z,1613456128.569 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:15:30.601Z,1613456130.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:31.370Z,1613456131.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:31.805Z,1613456131.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:32.596Z,1613456132.596 [Micromodem](INFO): Nmea in: $SNTTA,0.024152,,,,061532.87*4C

2021-02-16T06:15:32.642Z,1613456132.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 222.171751 deg, deltaT: 4.451248 s, approachRate: -0.795281 m/s, LOS rate: 0.164514 deg/s, posRepo size: 4
2021-02-16T06:15:32.643Z,1613456132.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.92 m.
2021-02-16T06:15:32.643Z,1613456132.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.92 m.
2021-02-16T06:15:32.643Z,1613456132.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:15:32.645Z,1613456132.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.920002 m,
      bearing: 222.171751 deg,
      approachRate: -0.795281 m/s,
      LOS rate: 0.164514 deg/s,
      cmd update: 0.493542 deg/s,
      cmd heading: 222.231010 deg,
      new cmd heading: 221.701400 deg.

2021-02-16T06:15:35.048Z,1613456135.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:35.818Z,1613456135.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:36.248Z,1613456136.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:37.044Z,1613456137.044 [Micromodem](INFO): Nmea in: $SNTTA,0.020865,,,,061537.32*4E

2021-02-16T06:15:37.086Z,1613456137.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 225.714939 deg, deltaT: 4.412032 s, approachRate: -0.883946 m/s, LOS rate: 0.803074 deg/s, posRepo size: 4
2021-02-16T06:15:37.088Z,1613456137.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 225.714939 deg,
      approachRate: -0.883946 m/s,
      LOS rate: 0.803074 deg/s,
      cmd update: 2.409222 deg/s,
      cmd heading: 224.400615 deg,
      new cmd heading: 224.620716 deg.

2021-02-16T06:15:39.474Z,1613456139.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:40.264Z,1613456140.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:40.666Z,1613456140.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:41.498Z,1613456141.498 [Micromodem](INFO): Nmea in: $SNTTA,0.018350,,,,061541.77*48

2021-02-16T06:15:41.522Z,1613456141.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 223.650255 deg, deltaT: 4.445153 s, approachRate: -0.836867 m/s, LOS rate: -0.464480 deg/s, posRepo size: 4
2021-02-16T06:15:41.524Z,1613456141.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 223.650255 deg,
      approachRate: -0.836867 m/s,
      LOS rate: -0.464480 deg/s,
      cmd update: -1.393440 deg/s,
      cmd heading: 235.168174 deg,
      new cmd heading: 236.162535 deg.

2021-02-16T06:15:43.923Z,1613456143.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:44.701Z,1613456144.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:45.111Z,1613456145.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:45.937Z,1613456145.937 [Micromodem](INFO): Nmea in: $SNTTA,0.015900,,,,061546.21*4E

2021-02-16T06:15:45.981Z,1613456145.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 217.992085 deg, deltaT: 4.442835 s, approachRate: -0.850809 m/s, LOS rate: -1.273549 deg/s, posRepo size: 4
2021-02-16T06:15:45.983Z,1613456145.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.519997 m,
      bearing: 217.992085 deg,
      approachRate: -0.850809 m/s,
      LOS rate: -1.273549 deg/s,
      cmd update: -3.820648 deg/s,
      cmd heading: 229.005407 deg,
      new cmd heading: 228.379719 deg.

2021-02-16T06:15:48.362Z,1613456148.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:49.167Z,1613456149.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:49.555Z,1613456149.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:50.388Z,1613456150.388 [Micromodem](INFO): Nmea in: $SNTTA,0.013930,,,,061550.67*4E

2021-02-16T06:15:50.437Z,1613456150.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 221.426127 deg, deltaT: 4.424947 s, approachRate: -0.854247 m/s, LOS rate: 0.776064 deg/s, posRepo size: 4
2021-02-16T06:15:50.443Z,1613456150.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 221.426127 deg,
      approachRate: -0.854247 m/s,
      LOS rate: 0.776064 deg/s,
      cmd update: 2.328192 deg/s,
      cmd heading: 212.022259 deg,
      new cmd heading: 210.264910 deg.

2021-02-16T06:15:52.838Z,1613456152.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:53.591Z,1613456153.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:54.013Z,1613456154.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:54.832Z,1613456154.832 [Micromodem](INFO): Nmea in: $SNTTA,0.010847,,,,061555.09*41

2021-02-16T06:15:54.890Z,1613456154.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 222.415644 deg, deltaT: 4.678731 s, approachRate: -0.795088 m/s, LOS rate: 0.211493 deg/s, posRepo size: 4
2021-02-16T06:15:54.898Z,1613456154.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 222.415644 deg,
      approachRate: -0.795088 m/s,
      LOS rate: 0.211493 deg/s,
      cmd update: 0.634478 deg/s,
      cmd heading: 222.915146 deg,
      new cmd heading: 223.460970 deg.

2021-02-16T06:15:57.283Z,1613456157.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:15:58.059Z,1613456158.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:15:58.458Z,1613456158.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:15:59.289Z,1613456159.289 [Micromodem](INFO): Nmea in: $SNTTA,0.008323,,,,061559.56*47

2021-02-16T06:15:59.313Z,1613456159.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 219.825964 deg, deltaT: 4.245089 s, approachRate: -0.876307 m/s, LOS rate: -0.610041 deg/s, posRepo size: 4
2021-02-16T06:15:59.315Z,1613456159.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 219.825964 deg,
      approachRate: -0.876307 m/s,
      LOS rate: -0.610041 deg/s,
      cmd update: -1.830124 deg/s,
      cmd heading: 225.608605 deg,
      new cmd heading: 225.870236 deg.

2021-02-16T06:16:01.710Z,1613456161.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:02.519Z,1613456162.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:02.918Z,1613456162.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:03.760Z,1613456163.760 [Micromodem](INFO): Nmea in: $SNTTA,0.006072,,,,061604.02*44

2021-02-16T06:16:03.836Z,1613456163.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 214.643913 deg, deltaT: 4.432482 s, approachRate: -0.785113 m/s, LOS rate: -1.169108 deg/s, posRepo size: 4
2021-02-16T06:16:03.838Z,1613456163.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 214.643913 deg,
      approachRate: -0.785113 m/s,
      LOS rate: -1.169108 deg/s,
      cmd update: -3.507324 deg/s,
      cmd heading: 217.496735 deg,
      new cmd heading: 216.606462 deg.

2021-02-16T06:16:06.168Z,1613456166.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:06.957Z,1613456166.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:07.351Z,1613456167.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:08.193Z,1613456168.193 [Micromodem](INFO): Nmea in: $SNTTA,0.003948,,0.006694,,061608.46*5E

2021-02-16T06:16:08.270Z,1613456168.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 218.478832 deg, deltaT: 4.485523 s, approachRate: -0.708948 m/s, LOS rate: 0.854955 deg/s, posRepo size: 4
2021-02-16T06:16:08.288Z,1613456168.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 218.478832 deg,
      approachRate: -0.708948 m/s,
      LOS rate: 0.854955 deg/s,
      cmd update: 2.564864 deg/s,
      cmd heading: 201.820794 deg,
      new cmd heading: 200.182404 deg.

2021-02-16T06:16:10.611Z,1613456170.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:11.395Z,1613456171.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:11.812Z,1613456171.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:12.620Z,1613456172.620 [Micromodem](INFO): Nmea in: $SNTTA,0.002695,,0.033972,,061612.90*51

2021-02-16T06:16:12.652Z,1613456172.652 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T06:16:12.652Z,1613456172.652 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:16:12.652Z,1613456172.652 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T06:16:12.653Z,1613456172.653 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T06:16:12.656Z,1613456172.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 219.512513 deg, deltaT: 4.456510 s, approachRate: -0.350049 m/s, LOS rate: 0.231949 deg/s, posRepo size: 4
2021-02-16T06:16:12.657Z,1613456172.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 219.512513 deg,
      approachRate: -0.350049 m/s,
      LOS rate: 0.231949 deg/s,
      cmd update: 0.695845 deg/s,
      cmd heading: 213.289541 deg,
      new cmd heading: 214.267533 deg.

2021-02-16T06:16:13.043Z,1613456173.043 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T061613: (41.552319, -70.708603)
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T06:16:13.044Z,1613456173.044 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:16:15.066Z,1613456175.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:15.830Z,1613456175.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:16.258Z,1613456176.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:17.056Z,1613456177.056 [Micromodem](INFO): Nmea in: $SNTTA,0.003612,,,,061617.33*41

2021-02-16T06:16:17.106Z,1613456177.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 203.296510 deg, deltaT: 4.409277 s, approachRate: 0.312976 m/s, LOS rate: -3.677701 deg/s, posRepo size: 4
2021-02-16T06:16:17.112Z,1613456177.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 203.296510 deg,
      approachRate: 0.312976 m/s,
      LOS rate: -3.677701 deg/s,
      cmd update: -11.033103 deg/s,
      cmd heading: 216.356952 deg,
      new cmd heading: 216.651416 deg.

2021-02-16T06:16:19.506Z,1613456179.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:20.290Z,1613456180.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:20.695Z,1613456180.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:21.520Z,1613456181.520 [Micromodem](INFO): Nmea in: $SNTTA,0.005781,,0.042088,,061621.79*5F

2021-02-16T06:16:21.569Z,1613456181.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 226.173163 deg, deltaT: 4.453319 s, approachRate: 0.673655 m/s, LOS rate: 5.136990 deg/s, posRepo size: 4
2021-02-16T06:16:21.571Z,1613456181.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 226.173163 deg,
      approachRate: 0.673655 m/s,
      LOS rate: 5.136990 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.244207 deg,
      new cmd heading: 162.442390 deg.

2021-02-16T06:16:23.957Z,1613456183.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:24.717Z,1613456184.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:25.129Z,1613456185.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:25.948Z,1613456185.948 [Micromodem](INFO): Nmea in: $SNTTA,0.008779,,,,061626.22*44

2021-02-16T06:16:25.997Z,1613456185.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 218.421486 deg, deltaT: 4.410515 s, approachRate: 0.802627 m/s, LOS rate: -1.757545 deg/s, posRepo size: 4
2021-02-16T06:16:25.999Z,1613456185.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 218.421486 deg,
      approachRate: 0.802627 m/s,
      LOS rate: -1.757545 deg/s,
      cmd update: -5.272634 deg/s,
      cmd heading: 220.214812 deg,
      new cmd heading: 225.599537 deg.

2021-02-16T06:16:28.399Z,1613456188.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:29.170Z,1613456189.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:29.584Z,1613456189.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:30.392Z,1613456190.392 [Micromodem](INFO): Nmea in: $SNTTA,0.010429,,,,061630.67*4D

2021-02-16T06:16:30.465Z,1613456190.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 181.851533 deg, deltaT: 4.492960 s, approachRate: 0.841316 m/s, LOS rate: -8.139390 deg/s, posRepo size: 4
2021-02-16T06:16:30.466Z,1613456190.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.78 m. Rolling out.
2021-02-16T06:16:30.466Z,1613456190.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:16:32.839Z,1613456192.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:33.634Z,1613456193.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:34.017Z,1613456194.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:34.856Z,1613456194.856 [Micromodem](INFO): Nmea in: $SNTTA,0.012798,,,0.041974,061635.14*56

2021-02-16T06:16:34.906Z,1613456194.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 211.930893 deg, deltaT: 4.401238 s, approachRate: 0.804320 m/s, LOS rate: 6.834295 deg/s, posRepo size: 4
2021-02-16T06:16:37.292Z,1613456197.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:38.048Z,1613456198.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:38.454Z,1613456198.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:39.280Z,1613456199.280 [Micromodem](INFO): Nmea in: $SNTTA,0.015316,,,,061639.55*4B

2021-02-16T06:16:39.330Z,1613456199.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.160000 m, bearing: 210.133598 deg, deltaT: 4.458653 s, approachRate: 0.861247 m/s, LOS rate: -0.403103 deg/s, posRepo size: 4
2021-02-16T06:16:41.699Z,1613456201.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:42.494Z,1613456202.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:42.903Z,1613456202.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:43.724Z,1613456203.724 [Micromodem](INFO): Nmea in: $SNTTA,0.017857,,,,061644.00*4D

2021-02-16T06:16:43.807Z,1613456203.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 203.630848 deg, deltaT: 4.438573 s, approachRate: 0.851625 m/s, LOS rate: -1.465054 deg/s, posRepo size: 4
2021-02-16T06:16:46.182Z,1613456206.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:46.936Z,1613456206.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:47.349Z,1613456207.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:48.169Z,1613456208.169 [Micromodem](INFO): Nmea in: $SNTTA,0.020389,,,,061648.44*4D

2021-02-16T06:16:48.262Z,1613456208.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 197.651577 deg, deltaT: 4.466970 s, approachRate: 0.846212 m/s, LOS rate: -1.338552 deg/s, posRepo size: 4
2021-02-16T06:16:50.619Z,1613456210.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:51.380Z,1613456211.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:51.808Z,1613456211.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:52.608Z,1613456212.608 [Micromodem](INFO): Nmea in: $SNTTA,0.023283,,,,061652.88*4E

2021-02-16T06:16:52.632Z,1613456212.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 219.035602 deg, deltaT: 4.422709 s, approachRate: 1.085307 m/s, LOS rate: 4.835051 deg/s, posRepo size: 4
2021-02-16T06:16:55.041Z,1613456215.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:16:55.824Z,1613456215.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:16:56.253Z,1613456216.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:16:57.072Z,1613456217.072 [Micromodem](INFO): Nmea in: $SNTTA,0.025479,,,,061657.33*4E

2021-02-16T06:16:57.101Z,1613456217.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.820000 m, bearing: 213.414916 deg, deltaT: 4.438752 s, approachRate: 0.743452 m/s, LOS rate: -1.266276 deg/s, posRepo size: 4
2021-02-16T06:16:59.508Z,1613456219.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:00.274Z,1613456220.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:00.674Z,1613456220.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:01.524Z,1613456221.524 [Micromodem](INFO): Nmea in: $SNTTA,0.027954,,,,061701.78*43

2021-02-16T06:17:01.549Z,1613456221.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 209.606047 deg, deltaT: 4.461775 s, approachRate: 0.806853 m/s, LOS rate: -0.853667 deg/s, posRepo size: 4
2021-02-16T06:17:03.108Z,1613456223.108 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:17:03.937Z,1613456223.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:04.713Z,1613456224.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:05.135Z,1613456225.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:05.945Z,1613456225.945 [Micromodem](INFO): Nmea in: $SNTTA,0.030478,,,0.064596,061706.22*58

2021-02-16T06:17:05.974Z,1613456225.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 194.955278 deg, deltaT: 4.420696 s, approachRate: 0.787206 m/s, LOS rate: -3.314132 deg/s, posRepo size: 4
2021-02-16T06:17:07.173Z,1613456227.173 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:17:08.378Z,1613456228.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:09.179Z,1613456229.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:09.569Z,1613456229.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:10.408Z,1613456230.408 [Micromodem](INFO): Nmea in: $SNTTA,0.032975,,0.053969,,061710.68*5B

2021-02-16T06:17:10.433Z,1613456230.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 206.943107 deg, deltaT: 4.448635 s, approachRate: 0.917137 m/s, LOS rate: 2.694721 deg/s, posRepo size: 4
2021-02-16T06:17:12.883Z,1613456232.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:13.614Z,1613456233.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:14.011Z,1613456234.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:14.836Z,1613456234.836 [Micromodem](INFO): Nmea in: $SNTTA,0.035372,,,,061715.12*47

2021-02-16T06:17:14.861Z,1613456234.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.519993 m, bearing: 204.924267 deg, deltaT: 4.446544 s, approachRate: 0.796122 m/s, LOS rate: -0.454024 deg/s, posRepo size: 4
2021-02-16T06:17:17.303Z,1613456237.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:18.048Z,1613456238.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:18.454Z,1613456238.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:19.284Z,1613456239.284 [Micromodem](INFO): Nmea in: $SNTTA,0.037934,,,,061719.55*42

2021-02-16T06:17:19.321Z,1613456239.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 211.821406 deg, deltaT: 4.458846 s, approachRate: 0.861211 m/s, LOS rate: 1.546844 deg/s, posRepo size: 4
2021-02-16T06:17:21.724Z,1613456241.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:22.509Z,1613456242.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:22.915Z,1613456242.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:23.728Z,1613456243.728 [Micromodem](INFO): Nmea in: $SNTTA,0.040668,,,,061724.01*4B

2021-02-16T06:17:23.808Z,1613456243.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 200.953823 deg, deltaT: 4.450401 s, approachRate: 0.903290 m/s, LOS rate: -2.441933 deg/s, posRepo size: 4
2021-02-16T06:17:26.182Z,1613456246.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:26.936Z,1613456246.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:27.352Z,1613456247.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:28.169Z,1613456248.169 [Micromodem](INFO): Nmea in: $SNTTA,0.043278,,,,061728.44*40

2021-02-16T06:17:28.262Z,1613456248.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 198.160918 deg, deltaT: 4.446383 s, approachRate: 0.836635 m/s, LOS rate: -0.628130 deg/s, posRepo size: 4
2021-02-16T06:17:30.598Z,1613456250.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:31.385Z,1613456251.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:31.827Z,1613456251.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:32.616Z,1613456252.616 [Micromodem](INFO): Nmea in: $SNTTA,0.045837,,0.048600,,061732.89*59

2021-02-16T06:17:32.655Z,1613456252.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 198.489231 deg, deltaT: 4.457249 s, approachRate: 0.861517 m/s, LOS rate: 0.073658 deg/s, posRepo size: 4
2021-02-16T06:17:35.058Z,1613456255.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:35.824Z,1613456255.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:36.242Z,1613456256.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:37.056Z,1613456257.056 [Micromodem](INFO): Nmea in: $SNTTA,0.048354,,0.054105,,061737.33*51

2021-02-16T06:17:37.096Z,1613456257.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.660004 m, bearing: 190.167507 deg, deltaT: 4.407935 s, approachRate: 0.843933 m/s, LOS rate: -1.887897 deg/s, posRepo size: 4
2021-02-16T06:17:39.490Z,1613456259.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:40.309Z,1613456260.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:40.691Z,1613456260.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:41.526Z,1613456261.526 [Micromodem](INFO): Nmea in: $SNTTA,0.050949,,,,061741.81*4D

2021-02-16T06:17:41.605Z,1613456261.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 198.456938 deg, deltaT: 4.467606 s, approachRate: 0.872951 m/s, LOS rate: 1.855453 deg/s, posRepo size: 4
2021-02-16T06:17:43.942Z,1613456263.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:44.713Z,1613456264.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:45.118Z,1613456265.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:45.944Z,1613456265.944 [Micromodem](INFO): Nmea in: $SNTTA,0.053451,,,,061746.22*44

2021-02-16T06:17:45.989Z,1613456265.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 192.477012 deg, deltaT: 4.409054 s, approachRate: 0.857327 m/s, LOS rate: -1.356283 deg/s, posRepo size: 4
2021-02-16T06:17:46.921Z,1613456266.921 [RudderServo](ERROR): getPosition uart error serial timeout
2021-02-16T06:17:46.921Z,1613456266.921 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2021-02-16T06:17:46.921Z,1613456266.921 [RudderServo] Communications Fault, FailCount= 1
2021-02-16T06:17:46.921Z,1613456266.921 [RudderServo](ERROR): Communications Fault
2021-02-16T06:17:46.971Z,1613456266.971 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-02-16T06:17:47.241Z,1613456267.241 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-02-16T06:17:47.241Z,1613456267.241 [RudderServo](INFO): Powering down
2021-02-16T06:17:47.998Z,1613456267.998 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:17:48.112Z,1613456268.112 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-16T06:17:48.148Z,1613456268.148 [CBIT](INFO): Clearing failed state for component RudderServo
2021-02-16T06:17:48.148Z,1613456268.148 [RudderServo] No Fault, FailCount= 1
2021-02-16T06:17:48.394Z,1613456268.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:49.162Z,1613456269.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:49.567Z,1613456269.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:50.392Z,1613456270.392 [Micromodem](INFO): Nmea in: $SNTTA,0.056091,,,,061750.66*4E

2021-02-16T06:17:50.416Z,1613456270.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.360001 m, bearing: 203.278615 deg, deltaT: 4.478714 s, approachRate: 0.897578 m/s, LOS rate: 2.411764 deg/s, posRepo size: 4
2021-02-16T06:17:52.844Z,1613456272.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:53.612Z,1613456273.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:54.006Z,1613456274.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:54.836Z,1613456274.836 [Micromodem](INFO): Nmea in: $SNTTA,0.058712,,,,061755.12*4A

2021-02-16T06:17:54.881Z,1613456274.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.380005 m, bearing: 203.310758 deg, deltaT: 4.435077 s, approachRate: 0.906411 m/s, LOS rate: 0.007247 deg/s, posRepo size: 4
2021-02-16T06:17:57.286Z,1613456277.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:17:58.044Z,1613456278.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:17:58.462Z,1613456278.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:17:59.272Z,1613456279.272 [Micromodem](INFO): Nmea in: $SNTTA,0.061341,,,,061759.55*4D

2021-02-16T06:17:59.310Z,1613456279.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 201.946919 deg, deltaT: 4.447455 s, approachRate: 0.863414 m/s, LOS rate: -0.306656 deg/s, posRepo size: 4
2021-02-16T06:18:01.701Z,1613456281.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:02.488Z,1613456282.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:02.905Z,1613456282.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:03.721Z,1613456283.721 [Micromodem](INFO): Nmea in: $SNTTA,0.063903,,,,061803.99*43

2021-02-16T06:18:03.801Z,1613456283.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 196.575262 deg, deltaT: 4.434884 s, approachRate: 0.865863 m/s, LOS rate: -1.211228 deg/s, posRepo size: 4
2021-02-16T06:18:06.165Z,1613456286.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:06.940Z,1613456286.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:07.341Z,1613456287.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:08.169Z,1613456288.169 [Micromodem](INFO): Nmea in: $SNTTA,0.066546,,,,061808.44*40

2021-02-16T06:18:08.244Z,1613456288.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 203.011527 deg, deltaT: 4.465091 s, approachRate: 0.927191 m/s, LOS rate: 1.441463 deg/s, posRepo size: 4
2021-02-16T06:18:10.598Z,1613456290.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:11.377Z,1613456291.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:11.814Z,1613456291.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:12.628Z,1613456292.628 [Micromodem](INFO): Nmea in: $SNTTA,0.069247,,0.078109,,061812.88*5B

2021-02-16T06:18:12.665Z,1613456292.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 196.397664 deg, deltaT: 4.450570 s, approachRate: 0.849331 m/s, LOS rate: -1.486071 deg/s, posRepo size: 4
2021-02-16T06:18:15.042Z,1613456295.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:15.840Z,1613456295.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:16.257Z,1613456296.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:17.064Z,1613456297.064 [Micromodem](INFO): Nmea in: $SNTTA,0.071763,,,,061817.34*4A

2021-02-16T06:18:17.109Z,1613456297.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.820000 m, bearing: 200.828885 deg, deltaT: 4.424326 s, approachRate: 0.867928 m/s, LOS rate: 1.001559 deg/s, posRepo size: 4
2021-02-16T06:18:19.500Z,1613456299.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:20.270Z,1613456300.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:20.690Z,1613456300.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:21.500Z,1613456301.500 [Micromodem](INFO): Nmea in: $SNTTA,0.074349,,,,061821.77*41

2021-02-16T06:18:21.546Z,1613456301.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 201.688000 deg, deltaT: 4.444564 s, approachRate: 0.890976 m/s, LOS rate: 0.193296 deg/s, posRepo size: 4
2021-02-16T06:18:23.955Z,1613456303.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:24.713Z,1613456304.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:25.117Z,1613456305.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:25.944Z,1613456305.944 [Micromodem](INFO): Nmea in: $SNTTA,0.076806,,,,061826.22*44

2021-02-16T06:18:26.003Z,1613456306.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 197.700604 deg, deltaT: 4.442076 s, approachRate: 0.796925 m/s, LOS rate: -0.897642 deg/s, posRepo size: 4
2021-02-16T06:18:28.386Z,1613456308.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:29.168Z,1613456309.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:29.573Z,1613456309.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:30.392Z,1613456310.392 [Micromodem](INFO): Nmea in: $SNTTA,0.079442,,,,061830.67*41

2021-02-16T06:18:30.432Z,1613456310.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.280006 m, bearing: 190.282554 deg, deltaT: 4.441079 s, approachRate: 0.891677 m/s, LOS rate: -1.670326 deg/s, posRepo size: 4
2021-02-16T06:18:32.833Z,1613456312.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:33.606Z,1613456313.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:34.006Z,1613456314.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:34.832Z,1613456314.832 [Micromodem](INFO): Nmea in: $SNTTA,0.082036,,,,061835.11*46

2021-02-16T06:18:34.877Z,1613456314.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 183.700451 deg, deltaT: 4.458331 s, approachRate: 0.874765 m/s, LOS rate: -1.476360 deg/s, posRepo size: 4
2021-02-16T06:18:37.297Z,1613456317.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:38.045Z,1613456318.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:38.450Z,1613456318.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:39.288Z,1613456319.288 [Micromodem](INFO): Nmea in: $SNTTA,0.084536,,,,061839.55*49

2021-02-16T06:18:39.312Z,1613456319.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 191.244368 deg, deltaT: 4.439052 s, approachRate: 0.851535 m/s, LOS rate: 1.699443 deg/s, posRepo size: 4
2021-02-16T06:18:41.711Z,1613456321.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:42.489Z,1613456322.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:42.902Z,1613456322.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:43.716Z,1613456323.716 [Micromodem](INFO): Nmea in: $SNTTA,0.087133,,,,061843.99*46

2021-02-16T06:18:43.754Z,1613456323.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 200.549326 deg, deltaT: 4.443537 s, approachRate: 0.864176 m/s, LOS rate: 2.094043 deg/s, posRepo size: 4
2021-02-16T06:18:46.197Z,1613456326.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:46.932Z,1613456326.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:47.338Z,1613456327.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:48.189Z,1613456328.189 [Micromodem](INFO): Nmea in: $SNTTA,0.089665,,,,061848.43*40

2021-02-16T06:18:48.274Z,1613456328.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 199.696467 deg, deltaT: 4.451323 s, approachRate: 0.889625 m/s, LOS rate: -0.191597 deg/s, posRepo size: 4
2021-02-16T06:18:50.633Z,1613456330.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:51.401Z,1613456331.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:51.809Z,1613456331.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:52.632Z,1613456332.632 [Micromodem](INFO): Nmea in: $SNTTA,0.092167,,,,061852.90*4A

2021-02-16T06:18:52.654Z,1613456332.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 190.474578 deg, deltaT: 4.466604 s, approachRate: 0.819412 m/s, LOS rate: -2.064631 deg/s, posRepo size: 4
2021-02-16T06:18:55.038Z,1613456335.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:18:55.825Z,1613456335.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:18:56.255Z,1613456336.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:18:57.055Z,1613456337.055 [Micromodem](INFO): Nmea in: $SNTTA,0.094848,,,,061857.33*44

2021-02-16T06:18:57.080Z,1613456337.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 192.102199 deg, deltaT: 4.392461 s, approachRate: 0.915205 m/s, LOS rate: 0.370549 deg/s, posRepo size: 4
2021-02-16T06:18:59.490Z,1613456339.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:00.270Z,1613456340.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:00.670Z,1613456340.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:01.496Z,1613456341.496 [Micromodem](INFO): Nmea in: $SNTTA,0.097494,,,,061901.77*48

2021-02-16T06:19:01.535Z,1613456341.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 193.645630 deg, deltaT: 4.466597 s, approachRate: 0.886579 m/s, LOS rate: 0.345550 deg/s, posRepo size: 4
2021-02-16T06:19:03.945Z,1613456343.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:04.709Z,1613456344.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:05.114Z,1613456345.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:05.944Z,1613456345.944 [Micromodem](INFO): Nmea in: $SNTTA,0.100041,,,,061906.21*4F

2021-02-16T06:19:05.969Z,1613456345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 193.039314 deg, deltaT: 4.421409 s, approachRate: 0.854934 m/s, LOS rate: -0.137132 deg/s, posRepo size: 4
2021-02-16T06:19:05.969Z,1613456345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.18 m. Resuming terminal guidance.
2021-02-16T06:19:05.969Z,1613456345.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T06:19:08.393Z,1613456348.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:09.168Z,1613456349.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:09.563Z,1613456349.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:10.392Z,1613456350.392 [Micromodem](INFO): Nmea in: $SNTTA,0.102570,,,,061910.67*4F

2021-02-16T06:19:10.438Z,1613456350.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 194.191253 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T06:19:10.439Z,1613456350.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 194.191253deg and heading rate command to 0 deg/s.
2021-02-16T06:19:12.834Z,1613456352.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:13.602Z,1613456353.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:14.002Z,1613456354.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:14.836Z,1613456354.836 [Micromodem](INFO): Nmea in: $SNTTA,0.105128,,,,061915.10*44

2021-02-16T06:19:14.862Z,1613456354.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.920013 m, bearing: 191.552778 deg, deltaT: 4.522607 s, approachRate: 0.862337 m/s, LOS rate: -0.583397 deg/s, posRepo size: 2
2021-02-16T06:19:14.864Z,1613456354.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.920013 m,
      bearing: 191.552778 deg,
      approachRate: 0.862337 m/s,
      LOS rate: -0.583397 deg/s,
      cmd update: -1.750191 deg/s,
      cmd heading: 194.191253 deg,
      new cmd heading: 194.191253 deg.

2021-02-16T06:19:17.278Z,1613456357.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:18.045Z,1613456358.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:18.452Z,1613456358.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:19.280Z,1613456359.280 [Micromodem](INFO): Nmea in: $SNTTA,0.107632,,,,061919.55*47

2021-02-16T06:19:19.305Z,1613456359.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 172.779307 deg, deltaT: 4.345470 s, approachRate: 0.842250 m/s, LOS rate: -4.320240 deg/s, posRepo size: 3
2021-02-16T06:19:19.306Z,1613456359.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.579987 m,
      bearing: 172.779307 deg,
      approachRate: 0.842250 m/s,
      LOS rate: -4.320240 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 186.585441 deg,
      new cmd heading: 185.853985 deg.

2021-02-16T06:19:21.698Z,1613456361.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:22.484Z,1613456362.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:22.892Z,1613456362.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:23.729Z,1613456363.729 [Micromodem](INFO): Nmea in: $SNTTA,0.110116,,,,061923.99*49

2021-02-16T06:19:23.755Z,1613456363.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.360001 m, bearing: 197.578385 deg, deltaT: 4.457557 s, approachRate: 0.848001 m/s, LOS rate: 5.563379 deg/s, posRepo size: 4
2021-02-16T06:19:23.757Z,1613456363.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.360001 m,
      bearing: 197.578385 deg,
      approachRate: 0.848001 m/s,
      LOS rate: 5.563379 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 133.097264 deg,
      new cmd heading: 128.171456 deg.

2021-02-16T06:19:26.156Z,1613456366.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:26.934Z,1613456366.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:27.335Z,1613456367.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:28.173Z,1613456368.173 [Micromodem](INFO): Nmea in: $SNTTA,0.112402,,,,061928.44*40

2021-02-16T06:19:28.248Z,1613456368.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.720016 m, bearing: 178.555953 deg, deltaT: 4.466638 s, approachRate: 0.752247 m/s, LOS rate: -4.258781 deg/s, posRepo size: 4
2021-02-16T06:19:28.249Z,1613456368.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.720016 m,
      bearing: 178.555953 deg,
      approachRate: 0.752247 m/s,
      LOS rate: -4.258781 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 186.649041 deg,
      new cmd heading: 191.873145 deg.

2021-02-16T06:19:30.590Z,1613456370.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:31.389Z,1613456371.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:31.815Z,1613456371.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:32.598Z,1613456372.598 [Micromodem](INFO): Nmea in: $SNTTA,0.114467,,,,061932.89*4F

2021-02-16T06:19:33.434Z,1613456373.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:35.012Z,1613456375.012 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:19:36.279Z,1613456376.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:37.043Z,1613456377.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:37.439Z,1613456377.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:38.272Z,1613456378.272 [Micromodem](INFO): Nmea in: $SNTTA,0.117089,,,0.119589,061938.55*50

2021-02-16T06:19:38.694Z,1613456378.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.799988 m, bearing: 109.802606 deg, deltaT: 10.485767 s, approachRate: 0.675198 m/s, LOS rate: -6.556826 deg/s, posRepo size: 4
2021-02-16T06:19:38.700Z,1613456378.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.799988 m,
      bearing: 109.802606 deg,
      approachRate: 0.675198 m/s,
      LOS rate: -6.556826 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.769361 deg,
      new cmd heading: 55.999373 deg.

2021-02-16T06:19:41.101Z,1613456381.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:41.881Z,1613456381.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:42.282Z,1613456382.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:43.098Z,1613456383.098 [Micromodem](INFO): Nmea in: $SNTTA,0.119294,,,,061943.38*44

2021-02-16T06:19:43.527Z,1613456383.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.040009 m, bearing: 142.911818 deg, deltaT: 4.894115 s, approachRate: 0.662024 m/s, LOS rate: 6.765107 deg/s, posRepo size: 4
2021-02-16T06:19:43.529Z,1613456383.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.040009 m,
      bearing: 142.911818 deg,
      approachRate: 0.662024 m/s,
      LOS rate: 6.765107 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.103304 deg,
      new cmd heading: 358.009720 deg.

2021-02-16T06:19:43.769Z,1613456383.769 [CTD_Seabird](ERROR): Failed to parse device response: ,5.72,1.3260,2.74680,2825.18
2021-02-16T06:19:45.946Z,1613456385.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:46.735Z,1613456386.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:47.156Z,1613456387.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:47.952Z,1613456387.952 [Micromodem](INFO): Nmea in: $SNTTA,0.121066,,,,061948.24*46

2021-02-16T06:19:48.391Z,1613456388.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 120.371088 deg, deltaT: 4.785977 s, approachRate: 0.539075 m/s, LOS rate: -4.709745 deg/s, posRepo size: 4
2021-02-16T06:19:48.393Z,1613456388.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 120.371088 deg,
      approachRate: 0.539075 m/s,
      LOS rate: -4.709745 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.596901 deg,
      new cmd heading: 64.566773 deg.

2021-02-16T06:19:50.834Z,1613456390.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:51.572Z,1613456391.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:51.978Z,1613456391.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:52.824Z,1613456392.824 [Micromodem](INFO): Nmea in: $SNTTA,0.122262,,,,061953.07*48

2021-02-16T06:19:52.873Z,1613456392.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.620010 m, bearing: 104.304440 deg, deltaT: 4.459513 s, approachRate: 0.000000 m/s, LOS rate: -3.602780 deg/s, posRepo size: 4
2021-02-16T06:19:52.874Z,1613456392.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.620010 m,
      bearing: 104.304440 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.602780 deg/s,
      cmd update: -10.808341 deg/s,
      cmd heading: 6.338380 deg,
      new cmd heading: 0.844852 deg.

2021-02-16T06:19:55.279Z,1613456395.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:56.036Z,1613456396.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:19:56.424Z,1613456396.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:19:57.261Z,1613456397.261 [Micromodem](INFO): Nmea in: $SNTTA,0.122638,,,,061957.54*41

2021-02-16T06:19:58.088Z,1613456398.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:19:59.657Z,1613456399.657 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:20:00.907Z,1613456400.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:01.687Z,1613456401.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:02.086Z,1613456402.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:02.897Z,1613456402.897 [Micromodem](INFO): Nmea in: $SNTTA,0.122442,,,,062003.19*4C

2021-02-16T06:20:03.322Z,1613456403.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 19.157405 deg, deltaT: 10.507955 s, approachRate: 0.182717 m/s, LOS rate: -8.103102 deg/s, posRepo size: 4
2021-02-16T06:20:03.340Z,1613456403.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 19.157405 deg,
      approachRate: 0.182717 m/s,
      LOS rate: -8.103102 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 252.552074 deg,
      new cmd heading: 248.446449 deg.

2021-02-16T06:20:05.727Z,1613456405.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:06.527Z,1613456406.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:06.931Z,1613456406.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:07.753Z,1613456407.753 [Micromodem](INFO): Nmea in: $SNTTA,0.121230,,,,062008.03*4C

2021-02-16T06:20:08.190Z,1613456408.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 23.781295 deg, deltaT: 4.865719 s, approachRate: -0.382266 m/s, LOS rate: 0.950299 deg/s, posRepo size: 4
2021-02-16T06:20:08.192Z,1613456408.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 23.781295 deg,
      approachRate: -0.382266 m/s,
      LOS rate: 0.950299 deg/s,
      cmd update: 2.850898 deg/s,
      cmd heading: 194.143560 deg,
      new cmd heading: 189.586127 deg.

2021-02-16T06:20:10.587Z,1613456410.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:11.373Z,1613456411.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:11.802Z,1613456411.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:12.600Z,1613456412.600 [Micromodem](INFO): Nmea in: $SNTTA,0.120359,,,,062012.88*4B

2021-02-16T06:20:12.624Z,1613456412.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 68.033622 deg, deltaT: 4.413637 s, approachRate: 0.000000 m/s, LOS rate: 10.026273 deg/s, posRepo size: 4
2021-02-16T06:20:12.626Z,1613456412.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 68.033622 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.026273 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.691423 deg,
      new cmd heading: 207.866877 deg.

2021-02-16T06:20:15.036Z,1613456415.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:15.816Z,1613456415.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:16.257Z,1613456416.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:17.040Z,1613456417.040 [Micromodem](INFO): Nmea in: $SNTTA,0.120049,,,,062017.32*4D

2021-02-16T06:20:17.086Z,1613456417.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 57.705003 deg, deltaT: 4.484143 s, approachRate: 0.000000 m/s, LOS rate: -2.303365 deg/s, posRepo size: 4
2021-02-16T06:20:17.088Z,1613456417.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 57.705003 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.303365 deg/s,
      cmd update: -6.910096 deg/s,
      cmd heading: 260.457328 deg,
      new cmd heading: 265.186540 deg.

2021-02-16T06:20:19.498Z,1613456419.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:20.260Z,1613456420.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:20.675Z,1613456420.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:21.478Z,1613456421.478 [Micromodem](INFO): Nmea in: $SNTTA,0.120343,,,,062021.76*41

2021-02-16T06:20:21.908Z,1613456421.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.539993 m, bearing: 55.415534 deg, deltaT: 4.794718 s, approachRate: -0.237762 m/s, LOS rate: -0.477498 deg/s, posRepo size: 4
2021-02-16T06:20:21.910Z,1613456421.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.539993 m,
      bearing: 55.415534 deg,
      approachRate: -0.237762 m/s,
      LOS rate: -0.477498 deg/s,
      cmd update: -1.432495 deg/s,
      cmd heading: 227.216099 deg,
      new cmd heading: 224.413116 deg.

2021-02-16T06:20:24.326Z,1613456424.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:25.106Z,1613456425.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:25.515Z,1613456425.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:26.340Z,1613456426.340 [Micromodem](INFO): Nmea in: $SNTTA,0.121232,,,,062026.61*46

2021-02-16T06:20:26.364Z,1613456426.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.539993 m, bearing: 82.922376 deg, deltaT: 4.458103 s, approachRate: 0.000000 m/s, LOS rate: 6.170078 deg/s, posRepo size: 4
2021-02-16T06:20:26.366Z,1613456426.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.539993 m,
      bearing: 82.922376 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.170078 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 220.831385 deg,
      new cmd heading: 220.252180 deg.

2021-02-16T06:20:28.813Z,1613456428.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:29.553Z,1613456429.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:29.964Z,1613456429.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:30.814Z,1613456430.814 [Micromodem](INFO): Nmea in: $SNTTA,0.122616,,,,062031.06*40

2021-02-16T06:20:31.256Z,1613456431.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.020004 m, bearing: 126.645327 deg, deltaT: 4.877949 s, approachRate: 0.713417 m/s, LOS rate: 8.963388 deg/s, posRepo size: 4
2021-02-16T06:20:31.258Z,1613456431.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.020004 m,
      bearing: 126.645327 deg,
      approachRate: 0.713417 m/s,
      LOS rate: 8.963388 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 279.381042 deg,
      new cmd heading: 284.337114 deg.

2021-02-16T06:20:33.637Z,1613456433.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:34.403Z,1613456434.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:34.823Z,1613456434.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:35.636Z,1613456435.636 [Micromodem](INFO): Nmea in: $SNTTA,0.124530,,,,062035.90*4A

2021-02-16T06:20:35.673Z,1613456435.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.020004 m, bearing: 144.686056 deg, deltaT: 4.453284 s, approachRate: 0.000000 m/s, LOS rate: 4.051107 deg/s, posRepo size: 4
2021-02-16T06:20:35.675Z,1613456435.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.020004 m,
      bearing: 144.686056 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.051107 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.792503 deg,
      new cmd heading: 337.401440 deg.

2021-02-16T06:20:38.074Z,1613456438.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:38.849Z,1613456438.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:39.264Z,1613456439.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:40.079Z,1613456440.079 [Micromodem](INFO): Nmea in: $SNTTA,0.126814,,,,062040.35*4E

2021-02-16T06:20:40.506Z,1613456440.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.380005 m, bearing: 149.236642 deg, deltaT: 4.811999 s, approachRate: 1.321696 m/s, LOS rate: 0.945675 deg/s, posRepo size: 4
2021-02-16T06:20:40.508Z,1613456440.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.380005 m,
      bearing: 149.236642 deg,
      approachRate: 1.321696 m/s,
      LOS rate: 0.945675 deg/s,
      cmd update: 2.837025 deg/s,
      cmd heading: 30.564993 deg,
      new cmd heading: 35.389017 deg.

2021-02-16T06:20:42.922Z,1613456442.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:43.697Z,1613456443.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:44.104Z,1613456444.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:44.915Z,1613456444.915 [Micromodem](INFO): Nmea in: $SNTTA,0.129428,,,,062045.20*43

2021-02-16T06:20:45.353Z,1613456445.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.339996 m, bearing: 192.275918 deg, deltaT: 4.835973 s, approachRate: 0.818861 m/s, LOS rate: 8.899818 deg/s, posRepo size: 4
2021-02-16T06:20:45.355Z,1613456445.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.339996 m,
      bearing: 192.275918 deg,
      approachRate: 0.818861 m/s,
      LOS rate: 8.899818 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 44.284682 deg,
      new cmd heading: 45.458078 deg.

2021-02-16T06:20:47.779Z,1613456447.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:48.540Z,1613456448.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:48.945Z,1613456448.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:49.764Z,1613456449.764 [Micromodem](INFO): Nmea in: $SNTTA,0.132031,,,,062050.04*47

2021-02-16T06:20:50.258Z,1613456450.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.239990 m, bearing: 186.336303 deg, deltaT: 4.878755 s, approachRate: 0.799383 m/s, LOS rate: -1.217445 deg/s, posRepo size: 4
2021-02-16T06:20:50.264Z,1613456450.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 186.336303 deg,
      approachRate: 0.799383 m/s,
      LOS rate: -1.217445 deg/s,
      cmd update: -3.652334 deg/s,
      cmd heading: 102.780759 deg,
      new cmd heading: 108.107955 deg.

2021-02-16T06:20:52.623Z,1613456452.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:53.392Z,1613456453.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:53.814Z,1613456453.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:54.609Z,1613456454.609 [Micromodem](INFO): Nmea in: $SNTTA,0.134286,,,,062054.89*4E

2021-02-16T06:20:55.044Z,1613456455.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.539993 m, bearing: 154.623270 deg, deltaT: 4.846008 s, approachRate: 0.680974 m/s, LOS rate: -6.544156 deg/s, posRepo size: 4
2021-02-16T06:20:55.045Z,1613456455.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.539993 m,
      bearing: 154.623270 deg,
      approachRate: 0.680974 m/s,
      LOS rate: -6.544156 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 85.080974 deg,
      new cmd heading: 83.682666 deg.

2021-02-16T06:20:57.469Z,1613456457.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:20:58.263Z,1613456458.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:20:58.665Z,1613456458.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:20:59.471Z,1613456459.471 [Micromodem](INFO): Nmea in: $SNTTA,0.136293,,,,062059.77*44

2021-02-16T06:20:59.894Z,1613456459.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.479996 m, bearing: 121.127312 deg, deltaT: 4.830938 s, approachRate: 0.608578 m/s, LOS rate: -6.933635 deg/s, posRepo size: 4
2021-02-16T06:20:59.896Z,1613456459.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.479996 m,
      bearing: 121.127312 deg,
      approachRate: 0.608578 m/s,
      LOS rate: -6.933635 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 27.067500 deg,
      new cmd heading: 22.274448 deg.

2021-02-16T06:21:02.314Z,1613456462.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:03.084Z,1613456463.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:03.497Z,1613456463.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:04.304Z,1613456464.304 [Micromodem](INFO): Nmea in: $SNTTA,0.137717,,,,062104.59*49

2021-02-16T06:21:04.754Z,1613456464.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.639999 m, bearing: 68.534815 deg, deltaT: 4.865292 s, approachRate: 0.443962 m/s, LOS rate: -10.809731 deg/s, posRepo size: 4
2021-02-16T06:21:04.767Z,1613456464.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.639999 m,
      bearing: 68.534815 deg,
      approachRate: 0.443962 m/s,
      LOS rate: -10.809731 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 328.726067 deg,
      new cmd heading: 323.957279 deg.

2021-02-16T06:21:07.198Z,1613456467.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:07.938Z,1613456467.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:08.340Z,1613456468.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:09.168Z,1613456469.168 [Micromodem](INFO): Nmea in: $SNTTA,0.138350,,,,062109.44*40

2021-02-16T06:21:09.594Z,1613456469.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.539993 m, bearing: 74.483780 deg, deltaT: 4.912080 s, approachRate: 0.183221 m/s, LOS rate: 1.211089 deg/s, posRepo size: 4
2021-02-16T06:21:09.596Z,1613456469.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.539993 m,
      bearing: 74.483780 deg,
      approachRate: 0.183221 m/s,
      LOS rate: 1.211089 deg/s,
      cmd update: 3.633266 deg/s,
      cmd heading: 269.848929 deg,
      new cmd heading: 265.880421 deg.

2021-02-16T06:21:12.010Z,1613456472.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:12.808Z,1613456472.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:13.222Z,1613456473.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:14.017Z,1613456474.017 [Micromodem](INFO): Nmea in: $SNTTA,0.138414,,,,062114.31*49

2021-02-16T06:21:14.655Z,1613456474.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.599976 m, bearing: 98.769638 deg, deltaT: 4.793008 s, approachRate: 0.012515 m/s, LOS rate: 5.066934 deg/s, posRepo size: 4
2021-02-16T06:21:14.657Z,1613456474.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.599976 m,
      bearing: 98.769638 deg,
      approachRate: 0.012515 m/s,
      LOS rate: 5.066934 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.210575 deg,
      new cmd heading: 289.438719 deg.

2021-02-16T06:21:16.927Z,1613456476.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:17.700Z,1613456477.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:18.103Z,1613456478.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:18.923Z,1613456478.923 [Micromodem](INFO): Nmea in: $SNTTA,0.138572,,,,062119.20*45

2021-02-16T06:21:19.353Z,1613456479.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.960007 m, bearing: 89.228970 deg, deltaT: 4.881818 s, approachRate: 0.073749 m/s, LOS rate: -1.954327 deg/s, posRepo size: 4
2021-02-16T06:21:19.354Z,1613456479.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.960007 m,
      bearing: 89.228970 deg,
      approachRate: 0.073749 m/s,
      LOS rate: -1.954327 deg/s,
      cmd update: -5.862980 deg/s,
      cmd heading: 346.081124 deg,
      new cmd heading: 350.940753 deg.

2021-02-16T06:21:21.821Z,1613456481.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:22.545Z,1613456482.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:22.946Z,1613456482.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:23.768Z,1613456483.768 [Micromodem](INFO): Nmea in: $SNTTA,0.138836,,,,062124.05*41

2021-02-16T06:21:24.256Z,1613456484.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.379990 m, bearing: 102.517007 deg, deltaT: 4.881544 s, approachRate: 0.086035 m/s, LOS rate: 2.722097 deg/s, posRepo size: 4
2021-02-16T06:21:24.258Z,1613456484.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.379990 m,
      bearing: 102.517007 deg,
      approachRate: 0.086035 m/s,
      LOS rate: 2.722097 deg/s,
      cmd update: 8.166292 deg/s,
      cmd heading: 317.507949 deg,
      new cmd heading: 314.984229 deg.

2021-02-16T06:21:26.620Z,1613456486.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:27.393Z,1613456487.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:27.817Z,1613456487.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:28.610Z,1613456488.610 [Micromodem](INFO): Nmea in: $SNTTA,0.138347,,,,062128.90*4C

2021-02-16T06:21:29.056Z,1613456489.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.419983 m, bearing: 5.482674 deg, deltaT: 4.826574 s, approachRate: -0.198900 m/s, LOS rate: -20.104184 deg/s, posRepo size: 4
2021-02-16T06:21:29.057Z,1613456489.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.104184 deg/s. Setting heading cmd to target bearing of 5.482674deg and heading rate command to 0 deg/s.
2021-02-16T06:21:31.464Z,1613456491.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:32.257Z,1613456492.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:32.647Z,1613456492.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:33.483Z,1613456493.483 [Micromodem](INFO): Nmea in: $SNTTA,0.136955,,,,062133.76*49

2021-02-16T06:21:33.901Z,1613456493.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.319992 m, bearing: 16.426144 deg, deltaT: 4.850678 s, approachRate: -0.432927 m/s, LOS rate: 2.256070 deg/s, posRepo size: 4
2021-02-16T06:21:33.902Z,1613456493.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.319992 m,
      bearing: 16.426144 deg,
      approachRate: -0.432927 m/s,
      LOS rate: 2.256070 deg/s,
      cmd update: 6.768210 deg/s,
      cmd heading: 5.482674 deg,
      new cmd heading: 5.482674 deg.

2021-02-16T06:21:36.324Z,1613456496.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:37.088Z,1613456497.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:37.500Z,1613456497.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:38.307Z,1613456498.307 [Micromodem](INFO): Nmea in: $SNTTA,0.135616,,,,062138.59*44

2021-02-16T06:21:38.734Z,1613456498.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.099991 m, bearing: 6.472183 deg, deltaT: 4.844705 s, approachRate: -0.458232 m/s, LOS rate: -2.054606 deg/s, posRepo size: 4
2021-02-16T06:21:38.736Z,1613456498.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.099991 m,
      bearing: 6.472183 deg,
      approachRate: -0.458232 m/s,
      LOS rate: -2.054606 deg/s,
      cmd update: -6.163819 deg/s,
      cmd heading: 38.217800 deg,
      new cmd heading: 40.865138 deg.

2021-02-16T06:21:39.262Z,1613456499.262 [CTD_Seabird](ERROR): Failed to parse device response: 6,2.74761,2856.38
2021-02-16T06:21:41.183Z,1613456501.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:41.941Z,1613456501.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:42.343Z,1613456502.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:43.164Z,1613456503.164 [Micromodem](INFO): Nmea in: $SNTTA,0.133916,,,,062143.44*4D

2021-02-16T06:21:43.597Z,1613456503.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 6.835107 deg, deltaT: 4.912908 s, approachRate: -0.525145 m/s, LOS rate: 0.073872 deg/s, posRepo size: 4
2021-02-16T06:21:43.598Z,1613456503.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 6.835107 deg,
      approachRate: -0.525145 m/s,
      LOS rate: 0.073872 deg/s,
      cmd update: 0.221615 deg/s,
      cmd heading: 7.936031 deg,
      new cmd heading: 5.834711 deg.

2021-02-16T06:21:46.010Z,1613456506.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:46.815Z,1613456506.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:47.198Z,1613456507.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:48.025Z,1613456508.025 [Micromodem](INFO): Nmea in: $SNTTA,0.131806,,,,062148.33*44

2021-02-16T06:21:48.458Z,1613456508.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 7.733895 deg, deltaT: 4.819248 s, approachRate: -0.622507 m/s, LOS rate: 0.186500 deg/s, posRepo size: 4
2021-02-16T06:21:48.466Z,1613456508.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.519989 m,
      bearing: 7.733895 deg,
      approachRate: -0.622507 m/s,
      LOS rate: 0.186500 deg/s,
      cmd update: 0.559499 deg/s,
      cmd heading: 9.004960 deg,
      new cmd heading: 9.088889 deg.

2021-02-16T06:21:50.874Z,1613456510.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:51.640Z,1613456511.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:52.037Z,1613456512.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:52.856Z,1613456512.856 [Micromodem](INFO): Nmea in: $SNTTA,0.129899,,,,062153.14*44

2021-02-16T06:21:53.294Z,1613456513.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.639999 m, bearing: 8.780832 deg, deltaT: 4.797532 s, approachRate: -0.600307 m/s, LOS rate: 0.218224 deg/s, posRepo size: 4
2021-02-16T06:21:53.296Z,1613456513.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.639999 m,
      bearing: 8.780832 deg,
      approachRate: -0.600307 m/s,
      LOS rate: 0.218224 deg/s,
      cmd update: 0.654672 deg/s,
      cmd heading: 11.691452 deg,
      new cmd heading: 11.922564 deg.

2021-02-16T06:21:55.703Z,1613456515.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:21:56.497Z,1613456516.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:21:56.897Z,1613456516.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:21:56.916Z,1613456516.916 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:21:57.707Z,1613456517.707 [Micromodem](INFO): Nmea in: $SNTTA,0.127875,,,,062158.00*46

2021-02-16T06:21:58.133Z,1613456518.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.639984 m, bearing: 9.397744 deg, deltaT: 4.875463 s, approachRate: -0.615329 m/s, LOS rate: 0.126534 deg/s, posRepo size: 4
2021-02-16T06:21:58.134Z,1613456518.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.639984 m,
      bearing: 9.397744 deg,
      approachRate: -0.615329 m/s,
      LOS rate: 0.126534 deg/s,
      cmd update: 0.379602 deg/s,
      cmd heading: 14.877674 deg,
      new cmd heading: 15.129728 deg.

2021-02-16T06:22:00.557Z,1613456520.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:01.329Z,1613456521.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:01.734Z,1613456521.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:02.152Z,1613456522.152 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T06:22:02.567Z,1613456522.567 [Micromodem](INFO): Nmea in: $SNTTA,0.125794,,,,062202.83*43

2021-02-16T06:22:02.989Z,1613456522.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.459991 m, bearing: 8.749650 deg, deltaT: 4.864549 s, approachRate: -0.653708 m/s, LOS rate: -0.133228 deg/s, posRepo size: 4
2021-02-16T06:22:02.991Z,1613456522.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.459991 m,
      bearing: 8.749650 deg,
      approachRate: -0.653708 m/s,
      LOS rate: -0.133228 deg/s,
      cmd update: -0.399684 deg/s,
      cmd heading: 16.723586 deg,
      new cmd heading: 16.867452 deg.

2021-02-16T06:22:05.396Z,1613456525.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:06.192Z,1613456526.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:06.602Z,1613456526.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:06.995Z,1613456526.995 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T06:22:07.421Z,1613456527.421 [Micromodem](INFO): Nmea in: $SNTTA,0.123738,,,,062207.70*4A

2021-02-16T06:22:07.877Z,1613456527.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 8.544663 deg, deltaT: 4.838722 s, approachRate: -0.632398 m/s, LOS rate: -0.042364 deg/s, posRepo size: 4
2021-02-16T06:22:07.878Z,1613456527.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 8.544663 deg,
      approachRate: -0.632398 m/s,
      LOS rate: -0.042364 deg/s,
      cmd update: -0.127091 deg/s,
      cmd heading: 14.787195 deg,
      new cmd heading: 14.618783 deg.

2021-02-16T06:22:10.293Z,1613456530.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:11.029Z,1613456531.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:11.429Z,1613456531.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:12.260Z,1613456532.260 [Micromodem](INFO): Nmea in: $SNTTA,0.121698,,,,062212.53*46

2021-02-16T06:22:12.265Z,1613456532.265 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:22:12.305Z,1613456532.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 9.472485 deg, deltaT: 4.428551 s, approachRate: 0.000000 m/s, LOS rate: 0.209509 deg/s, posRepo size: 4
2021-02-16T06:22:12.307Z,1613456532.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 9.472485 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.209509 deg/s,
      cmd update: 0.628527 deg/s,
      cmd heading: 14.223863 deg,
      new cmd heading: 14.170797 deg.

2021-02-16T06:22:14.691Z,1613456534.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:15.474Z,1613456535.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:15.874Z,1613456535.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:16.700Z,1613456536.700 [Micromodem](INFO): Nmea in: $SNTTA,0.119763,,,,062216.98*4B

2021-02-16T06:22:16.722Z,1613456536.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 9.265578 deg, deltaT: 4.446856 s, approachRate: 0.000000 m/s, LOS rate: -0.046529 deg/s, posRepo size: 4
2021-02-16T06:22:16.748Z,1613456536.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 9.265578 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.046529 deg/s,
      cmd update: -0.139586 deg/s,
      cmd heading: 17.016508 deg,
      new cmd heading: 17.262335 deg.

2021-02-16T06:22:17.109Z,1613456537.109 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:22:19.134Z,1613456539.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:19.912Z,1613456539.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:20.328Z,1613456540.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:21.145Z,1613456541.145 [Micromodem](INFO): Nmea in: $SNTTA,0.117914,,0.136174,,062221.42*50

2021-02-16T06:22:21.204Z,1613456541.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 9.129401 deg, deltaT: 4.444461 s, approachRate: 0.000000 m/s, LOS rate: -0.030640 deg/s, posRepo size: 4
2021-02-16T06:22:21.218Z,1613456541.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 9.129401 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.030640 deg/s,
      cmd update: -0.091920 deg/s,
      cmd heading: 16.398495 deg,
      new cmd heading: 16.336639 deg.

2021-02-16T06:22:23.588Z,1613456543.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:24.356Z,1613456544.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:24.781Z,1613456544.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:25.593Z,1613456545.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,062225.86*51

2021-02-16T06:22:25.641Z,1613456545.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 9.369037 deg, deltaT: 4.471735 s, approachRate: 0.000000 m/s, LOS rate: 0.053589 deg/s, posRepo size: 4
2021-02-16T06:22:25.642Z,1613456545.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 9.369037 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.053589 deg/s,
      cmd update: 0.160767 deg/s,
      cmd heading: 15.986011 deg,
      new cmd heading: 15.949731 deg.

2021-02-16T06:22:26.853Z,1613456546.853 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:22:28.039Z,1613456548.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:28.810Z,1613456548.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:29.209Z,1613456549.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:30.036Z,1613456550.036 [Micromodem](INFO): Nmea in: $SNTTA,0.113916,,,,062230.31*4A

2021-02-16T06:22:30.082Z,1613456550.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 8.784500 deg, deltaT: 4.414148 s, approachRate: 0.000000 m/s, LOS rate: -0.132424 deg/s, posRepo size: 4
2021-02-16T06:22:30.088Z,1613456550.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 8.784500 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.132424 deg/s,
      cmd update: -0.397271 deg/s,
      cmd heading: 16.695862 deg,
      new cmd heading: 16.763445 deg.

2021-02-16T06:22:32.065Z,1613456552.065 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T06:22:32.478Z,1613456552.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:33.260Z,1613456553.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:33.656Z,1613456553.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:34.484Z,1613456554.484 [Micromodem](INFO): Nmea in: $SNTTA,0.111980,,,,062234.76*40

2021-02-16T06:22:34.533Z,1613456554.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 9.704796 deg, deltaT: 4.450920 s, approachRate: 0.000000 m/s, LOS rate: 0.206765 deg/s, posRepo size: 4
2021-02-16T06:22:34.534Z,1613456554.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 9.704796 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.206765 deg/s,
      cmd update: 0.620296 deg/s,
      cmd heading: 14.934069 deg,
      new cmd heading: 14.760635 deg.

2021-02-16T06:22:36.931Z,1613456556.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:37.695Z,1613456557.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:38.093Z,1613456558.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:38.924Z,1613456558.924 [Micromodem](INFO): Nmea in: $SNTTA,0.110083,,,,062239.20*45

2021-02-16T06:22:38.977Z,1613456558.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 9.346584 deg, deltaT: 4.448201 s, approachRate: -4.599610 m/s, LOS rate: -0.080530 deg/s, posRepo size: 4
2021-02-16T06:22:38.978Z,1613456558.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.940002 m,
      bearing: 9.346584 deg,
      approachRate: -4.599610 m/s,
      LOS rate: -0.080530 deg/s,
      cmd update: -0.241589 deg/s,
      cmd heading: 17.700492 deg,
      new cmd heading: 17.961505 deg.

2021-02-16T06:22:41.369Z,1613456561.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:42.132Z,1613456562.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:42.573Z,1613456562.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:43.375Z,1613456563.375 [Micromodem](INFO): Nmea in: $SNTTA,0.108219,,,,062243.64*40

2021-02-16T06:22:43.399Z,1613456563.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.180008 m, bearing: 10.129858 deg, deltaT: 4.423268 s, approachRate: -0.623972 m/s, LOS rate: 0.177080 deg/s, posRepo size: 4
2021-02-16T06:22:43.401Z,1613456563.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.180008 m,
      bearing: 10.129858 deg,
      approachRate: -0.623972 m/s,
      LOS rate: 0.177080 deg/s,
      cmd update: 0.531241 deg/s,
      cmd heading: 16.629838 deg,
      new cmd heading: 16.530486 deg.

2021-02-16T06:22:45.846Z,1613456565.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:46.580Z,1613456566.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:46.991Z,1613456566.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:47.824Z,1613456567.824 [Micromodem](INFO): Nmea in: $SNTTA,0.106228,,,,062248.08*4D

2021-02-16T06:22:47.861Z,1613456567.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.179993 m, bearing: 9.596677 deg, deltaT: 4.442761 s, approachRate: -0.675259 m/s, LOS rate: -0.120011 deg/s, posRepo size: 4
2021-02-16T06:22:47.884Z,1613456567.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.179993 m,
      bearing: 9.596677 deg,
      approachRate: -0.675259 m/s,
      LOS rate: -0.120011 deg/s,
      cmd update: -0.360033 deg/s,
      cmd heading: 18.990024 deg,
      new cmd heading: 19.218043 deg.

2021-02-16T06:22:50.269Z,1613456570.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:51.033Z,1613456571.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:51.435Z,1613456571.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:52.268Z,1613456572.268 [Micromodem](INFO): Nmea in: $SNTTA,0.104380,,,,062252.53*49

2021-02-16T06:22:52.321Z,1613456572.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 9.361317 deg, deltaT: 4.462400 s, approachRate: -0.618500 m/s, LOS rate: -0.052743 deg/s, posRepo size: 4
2021-02-16T06:22:52.323Z,1613456572.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.419998 m,
      bearing: 9.361317 deg,
      approachRate: -0.618500 m/s,
      LOS rate: -0.052743 deg/s,
      cmd update: -0.158229 deg/s,
      cmd heading: 17.384817 deg,
      new cmd heading: 17.229276 deg.

2021-02-16T06:22:54.694Z,1613456574.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:55.469Z,1613456575.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:22:55.881Z,1613456575.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:22:56.700Z,1613456576.700 [Micromodem](INFO): Nmea in: $SNTTA,0.102524,,,,062256.97*4B

2021-02-16T06:22:56.741Z,1613456576.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 9.541406 deg, deltaT: 4.454453 s, approachRate: -0.633076 m/s, LOS rate: 0.040429 deg/s, posRepo size: 4
2021-02-16T06:22:56.743Z,1613456576.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 9.541406 deg,
      approachRate: -0.633076 m/s,
      LOS rate: 0.040429 deg/s,
      cmd update: 0.121287 deg/s,
      cmd heading: 16.680899 deg,
      new cmd heading: 16.617359 deg.

2021-02-16T06:22:57.110Z,1613456577.110 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:22:59.139Z,1613456579.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:22:59.913Z,1613456579.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:00.325Z,1613456580.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:01.140Z,1613456581.140 [Micromodem](INFO): Nmea in: $SNTTA,0.100558,,,,062301.42*49

2021-02-16T06:23:01.196Z,1613456581.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.660004 m, bearing: 9.524123 deg, deltaT: 4.414160 s, approachRate: -0.666035 m/s, LOS rate: -0.003915 deg/s, posRepo size: 4
2021-02-16T06:23:01.198Z,1613456581.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.660004 m,
      bearing: 9.524123 deg,
      approachRate: -0.666035 m/s,
      LOS rate: -0.003915 deg/s,
      cmd update: -0.011746 deg/s,
      cmd heading: 17.216213 deg,
      new cmd heading: 17.270221 deg.

2021-02-16T06:23:03.583Z,1613456583.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:04.356Z,1613456584.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:04.797Z,1613456584.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:05.584Z,1613456585.584 [Micromodem](INFO): Nmea in: $SNTTA,0.098660,,,,062305.86*4D

2021-02-16T06:23:05.632Z,1613456585.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.839996 m, bearing: 10.094152 deg, deltaT: 4.449078 s, approachRate: -0.633841 m/s, LOS rate: 0.128123 deg/s, posRepo size: 4
2021-02-16T06:23:05.634Z,1613456585.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.839996 m,
      bearing: 10.094152 deg,
      approachRate: -0.633841 m/s,
      LOS rate: 0.128123 deg/s,
      cmd update: 0.384369 deg/s,
      cmd heading: 17.163900 deg,
      new cmd heading: 17.158931 deg.

2021-02-16T06:23:08.038Z,1613456588.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:08.813Z,1613456588.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:09.215Z,1613456589.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:10.036Z,1613456590.036 [Micromodem](INFO): Nmea in: $SNTTA,0.096773,,,,062310.32*4B

2021-02-16T06:23:10.098Z,1613456590.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 9.470114 deg, deltaT: 4.418618 s, approachRate: -0.651789 m/s, LOS rate: -0.141229 deg/s, posRepo size: 4
2021-02-16T06:23:10.106Z,1613456590.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 9.470114 deg,
      approachRate: -0.651789 m/s,
      LOS rate: -0.141229 deg/s,
      cmd update: -0.423688 deg/s,
      cmd heading: 18.864474 deg,
      new cmd heading: 19.041895 deg.

2021-02-16T06:23:12.466Z,1613456592.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:13.267Z,1613456593.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:13.667Z,1613456593.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:14.491Z,1613456594.491 [Micromodem](INFO): Nmea in: $SNTTA,0.094920,,,,062314.77*44

2021-02-16T06:23:14.536Z,1613456594.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 9.919675 deg, deltaT: 4.460301 s, approachRate: -0.618791 m/s, LOS rate: 0.100792 deg/s, posRepo size: 4
2021-02-16T06:23:14.537Z,1613456594.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.199997 m,
      bearing: 9.919675 deg,
      approachRate: -0.618791 m/s,
      LOS rate: 0.100792 deg/s,
      cmd update: 0.302375 deg/s,
      cmd heading: 16.976820 deg,
      new cmd heading: 16.794290 deg.

2021-02-16T06:23:16.934Z,1613456596.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:17.704Z,1613456597.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:18.098Z,1613456598.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:18.928Z,1613456598.928 [Micromodem](INFO): Nmea in: $SNTTA,0.092935,,,,062319.21*48

2021-02-16T06:23:18.973Z,1613456598.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 9.660397 deg, deltaT: 4.438307 s, approachRate: -0.675933 m/s, LOS rate: -0.058418 deg/s, posRepo size: 4
2021-02-16T06:23:18.979Z,1613456598.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 9.660397 deg,
      approachRate: -0.675933 m/s,
      LOS rate: -0.058418 deg/s,
      cmd update: -0.175255 deg/s,
      cmd heading: 18.320273 deg,
      new cmd heading: 18.455007 deg.

2021-02-16T06:23:21.354Z,1613456601.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:22.132Z,1613456602.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:22.543Z,1613456602.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:23.360Z,1613456603.360 [Micromodem](INFO): Nmea in: $SNTTA,0.091036,,,,062323.64*49

2021-02-16T06:23:23.408Z,1613456603.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 10.015410 deg, deltaT: 4.454324 s, approachRate: -0.633091 m/s, LOS rate: 0.079701 deg/s, posRepo size: 4
2021-02-16T06:23:23.410Z,1613456603.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 10.015410 deg,
      approachRate: -0.633091 m/s,
      LOS rate: 0.079701 deg/s,
      cmd update: 0.239103 deg/s,
      cmd heading: 17.539635 deg,
      new cmd heading: 17.465628 deg.

2021-02-16T06:23:25.844Z,1613456605.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:26.576Z,1613456606.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:26.987Z,1613456606.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:27.820Z,1613456607.820 [Micromodem](INFO): Nmea in: $SNTTA,0.089150,,,,062328.08*40

2021-02-16T06:23:27.846Z,1613456607.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 9.032983 deg, deltaT: 4.443035 s, approachRate: -0.648207 m/s, LOS rate: -0.221116 deg/s, posRepo size: 4
2021-02-16T06:23:27.848Z,1613456607.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.500000 m,
      bearing: 9.032983 deg,
      approachRate: -0.648207 m/s,
      LOS rate: -0.221116 deg/s,
      cmd update: -0.663349 deg/s,
      cmd heading: 18.601966 deg,
      new cmd heading: 18.702642 deg.

2021-02-16T06:23:30.300Z,1613456610.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:31.025Z,1613456611.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:31.425Z,1613456611.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:32.275Z,1613456612.275 [Micromodem](INFO): Nmea in: $SNTTA,0.087343,,,,062332.53*4B

2021-02-16T06:23:32.298Z,1613456612.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 9.840927 deg, deltaT: 4.469037 s, approachRate: -0.590731 m/s, LOS rate: 0.180787 deg/s, posRepo size: 4
2021-02-16T06:23:32.300Z,1613456612.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.860001 m,
      bearing: 9.840927 deg,
      approachRate: -0.590731 m/s,
      LOS rate: 0.180787 deg/s,
      cmd update: 0.542361 deg/s,
      cmd heading: 15.637319 deg,
      new cmd heading: 15.368993 deg.

2021-02-16T06:23:34.685Z,1613456614.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:35.466Z,1613456615.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:35.877Z,1613456615.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:36.692Z,1613456616.692 [Micromodem](INFO): Nmea in: $SNTTA,0.085308,,,,062336.97*4A

2021-02-16T06:23:36.728Z,1613456616.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 9.751943 deg, deltaT: 4.417129 s, approachRate: -0.692757 m/s, LOS rate: -0.020145 deg/s, posRepo size: 4
2021-02-16T06:23:36.730Z,1613456616.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.800003 m,
      bearing: 9.751943 deg,
      approachRate: -0.692757 m/s,
      LOS rate: -0.020145 deg/s,
      cmd update: -0.060436 deg/s,
      cmd heading: 18.032979 deg,
      new cmd heading: 18.259141 deg.

2021-02-16T06:23:39.140Z,1613456619.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:39.914Z,1613456619.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:40.314Z,1613456620.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:41.145Z,1613456621.145 [Micromodem](INFO): Nmea in: $SNTTA,0.083301,,,,062341.41*4E

2021-02-16T06:23:41.221Z,1613456621.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 10.016697 deg, deltaT: 4.420113 s, approachRate: -0.692291 m/s, LOS rate: 0.059898 deg/s, posRepo size: 4
2021-02-16T06:23:41.236Z,1613456621.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.739998 m,
      bearing: 10.016697 deg,
      approachRate: -0.692291 m/s,
      LOS rate: 0.059898 deg/s,
      cmd update: 0.179693 deg/s,
      cmd heading: 17.765844 deg,
      new cmd heading: 17.736706 deg.

2021-02-16T06:23:43.253Z,1613456623.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:43.960Z,1613456623.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:44.359Z,1613456624.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:45.188Z,1613456625.188 [Micromodem](INFO): Nmea in: $SNTTA,0.081599,,,,062345.46*48

2021-02-16T06:23:45.278Z,1613456625.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.279999 m, bearing: 10.986128 deg, deltaT: 4.116078 s, approachRate: -0.597656 m/s, LOS rate: 0.235523 deg/s, posRepo size: 4
2021-02-16T06:23:45.280Z,1613456625.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.279999 m,
      bearing: 10.986128 deg,
      approachRate: -0.597656 m/s,
      LOS rate: 0.235523 deg/s,
      cmd update: 0.706569 deg/s,
      cmd heading: 18.504002 deg,
      new cmd heading: 18.582926 deg.

2021-02-16T06:23:47.618Z,1613456627.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:48.392Z,1613456628.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:48.817Z,1613456628.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:49.628Z,1613456629.628 [Micromodem](INFO): Nmea in: $SNTTA,0.079806,,,,062349.90*43

2021-02-16T06:23:49.652Z,1613456629.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 10.651205 deg, deltaT: 4.426603 s, approachRate: -0.609950 m/s, LOS rate: -0.075661 deg/s, posRepo size: 4
2021-02-16T06:23:49.654Z,1613456629.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 10.651205 deg,
      approachRate: -0.609950 m/s,
      LOS rate: -0.075661 deg/s,
      cmd update: -0.226984 deg/s,
      cmd heading: 21.634665 deg,
      new cmd heading: 21.904689 deg.

2021-02-16T06:23:52.071Z,1613456632.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:52.841Z,1613456632.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:53.261Z,1613456633.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:54.068Z,1613456634.068 [Micromodem](INFO): Nmea in: $SNTTA,0.078010,,,,062354.34*4F

2021-02-16T06:23:54.114Z,1613456634.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 10.183740 deg, deltaT: 4.413561 s, approachRate: -0.625342 m/s, LOS rate: -0.105916 deg/s, posRepo size: 4
2021-02-16T06:23:54.116Z,1613456634.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 10.183740 deg,
      approachRate: -0.625342 m/s,
      LOS rate: -0.105916 deg/s,
      cmd update: -0.317747 deg/s,
      cmd heading: 20.632813 deg,
      new cmd heading: 20.535131 deg.

2021-02-16T06:23:56.510Z,1613456636.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:23:57.301Z,1613456637.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:23:57.696Z,1613456637.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:23:58.520Z,1613456638.520 [Micromodem](INFO): Nmea in: $SNTTA,0.076125,,,,062358.80*45

2021-02-16T06:23:58.544Z,1613456638.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.059998 m, bearing: 10.170170 deg, deltaT: 4.443188 s, approachRate: -0.621178 m/s, LOS rate: -0.003054 deg/s, posRepo size: 4
2021-02-16T06:23:58.546Z,1613456638.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.059998 m,
      bearing: 10.170170 deg,
      approachRate: -0.621178 m/s,
      LOS rate: -0.003054 deg/s,
      cmd update: -0.009162 deg/s,
      cmd heading: 19.219802 deg,
      new cmd heading: 19.088443 deg.

2021-02-16T06:24:00.966Z,1613456640.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:01.734Z,1613456641.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:02.134Z,1613456642.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:02.960Z,1613456642.960 [Micromodem](INFO): Nmea in: $SNTTA,0.074241,,,,062403.24*41

2021-02-16T06:24:03.001Z,1613456643.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.180000 m, bearing: 10.641664 deg, deltaT: 4.448423 s, approachRate: -0.647420 m/s, LOS rate: 0.105991 deg/s, posRepo size: 4
2021-02-16T06:24:03.003Z,1613456643.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.180000 m,
      bearing: 10.641664 deg,
      approachRate: -0.647420 m/s,
      LOS rate: 0.105991 deg/s,
      cmd update: 0.317974 deg/s,
      cmd heading: 19.179081 deg,
      new cmd heading: 19.175174 deg.

2021-02-16T06:24:05.406Z,1613456645.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:06.181Z,1613456646.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:06.577Z,1613456646.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:07.408Z,1613456647.408 [Micromodem](INFO): Nmea in: $SNTTA,0.072380,,,,062407.68*47

2021-02-16T06:24:07.452Z,1613456647.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 10.729422 deg, deltaT: 4.446494 s, approachRate: -0.607221 m/s, LOS rate: 0.019736 deg/s, posRepo size: 4
2021-02-16T06:24:07.454Z,1613456647.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.479996 m,
      bearing: 10.729422 deg,
      approachRate: -0.607221 m/s,
      LOS rate: 0.019736 deg/s,
      cmd update: 0.059209 deg/s,
      cmd heading: 20.589226 deg,
      new cmd heading: 20.728523 deg.

2021-02-16T06:24:09.602Z,1613456649.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:10.227Z,1613456650.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:10.632Z,1613456650.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:11.464Z,1613456651.464 [Micromodem](INFO): Nmea in: $SNTTA,0.070541,,,,062411.73*43

2021-02-16T06:24:11.494Z,1613456651.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.660004 m, bearing: 9.762767 deg, deltaT: 4.044297 s, approachRate: -0.697276 m/s, LOS rate: -0.239017 deg/s, posRepo size: 4
2021-02-16T06:24:11.496Z,1613456651.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.660004 m,
      bearing: 9.762767 deg,
      approachRate: -0.697276 m/s,
      LOS rate: -0.239017 deg/s,
      cmd update: -0.717051 deg/s,
      cmd heading: 20.829625 deg,
      new cmd heading: 20.854742 deg.

2021-02-16T06:24:13.879Z,1613456653.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:14.661Z,1613456654.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:15.077Z,1613456655.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:15.888Z,1613456655.888 [Micromodem](INFO): Nmea in: $SNTTA,0.068678,,,,062416.16*47

2021-02-16T06:24:15.935Z,1613456655.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.780006 m, bearing: 10.379926 deg, deltaT: 4.433515 s, approachRate: -0.649597 m/s, LOS rate: 0.139203 deg/s, posRepo size: 4
2021-02-16T06:24:15.937Z,1613456655.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.780006 m,
      bearing: 10.379926 deg,
      approachRate: -0.649597 m/s,
      LOS rate: 0.139203 deg/s,
      cmd update: 0.417609 deg/s,
      cmd heading: 17.662155 deg,
      new cmd heading: 17.341193 deg.

2021-02-16T06:24:18.316Z,1613456658.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:19.117Z,1613456659.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:19.506Z,1613456659.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:20.356Z,1613456660.356 [Micromodem](INFO): Nmea in: $SNTTA,0.066848,,,,062420.62*42

2021-02-16T06:24:20.398Z,1613456660.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.960007 m, bearing: 14.305520 deg, deltaT: 4.432580 s, approachRate: -0.636198 m/s, LOS rate: 0.885623 deg/s, posRepo size: 4
2021-02-16T06:24:20.400Z,1613456660.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.960007 m,
      bearing: 14.305520 deg,
      approachRate: -0.636198 m/s,
      LOS rate: 0.885623 deg/s,
      cmd update: 2.656869 deg/s,
      cmd heading: 19.519934 deg,
      new cmd heading: 19.712962 deg.

2021-02-16T06:24:22.794Z,1613456662.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:23.544Z,1613456663.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:23.972Z,1613456663.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:24.816Z,1613456664.816 [Micromodem](INFO): Nmea in: $SNTTA,0.064853,,,,062425.05*4E

2021-02-16T06:24:24.858Z,1613456664.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.200005 m, bearing: 10.421303 deg, deltaT: 4.460879 s, approachRate: -0.618713 m/s, LOS rate: -0.870729 deg/s, posRepo size: 4
2021-02-16T06:24:24.860Z,1613456664.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.200005 m,
      bearing: 10.421303 deg,
      approachRate: -0.618713 m/s,
      LOS rate: -0.870729 deg/s,
      cmd update: -2.612188 deg/s,
      cmd heading: 31.372233 deg,
      new cmd heading: 32.596080 deg.

2021-02-16T06:24:27.228Z,1613456667.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:27.997Z,1613456667.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:28.406Z,1613456668.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:29.256Z,1613456669.256 [Micromodem](INFO): Nmea in: $SNTTA,0.063368,,,,062429.50*46

2021-02-16T06:24:29.300Z,1613456669.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 8.723208 deg, deltaT: 4.448500 s, approachRate: -0.566484 m/s, LOS rate: -0.381723 deg/s, posRepo size: 4
2021-02-16T06:24:29.302Z,1613456669.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.680000 m,
      bearing: 8.723208 deg,
      approachRate: -0.566484 m/s,
      LOS rate: -0.381723 deg/s,
      cmd update: -1.145169 deg/s,
      cmd heading: 19.751989 deg,
      new cmd heading: 18.617819 deg.

2021-02-16T06:24:31.662Z,1613456671.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:32.441Z,1613456672.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:32.842Z,1613456672.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:33.668Z,1613456673.668 [Micromodem](INFO): Nmea in: $SNTTA,0.061210,,,,062433.94*49

2021-02-16T06:24:33.690Z,1613456673.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 9.576556 deg, deltaT: 4.433330 s, approachRate: -0.703761 m/s, LOS rate: 0.192485 deg/s, posRepo size: 4
2021-02-16T06:24:33.692Z,1613456673.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 9.576556 deg,
      approachRate: -0.703761 m/s,
      LOS rate: 0.192485 deg/s,
      cmd update: 0.577454 deg/s,
      cmd heading: 14.674957 deg,
      new cmd heading: 14.204060 deg.

2021-02-16T06:24:36.119Z,1613456676.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:36.905Z,1613456676.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:37.286Z,1613456677.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:38.131Z,1613456678.131 [Micromodem](INFO): Nmea in: $SNTTA,0.059405,,,,062438.41*43

2021-02-16T06:24:38.162Z,1613456678.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 9.007026 deg, deltaT: 4.423211 s, approachRate: -0.596851 m/s, LOS rate: -0.128759 deg/s, posRepo size: 4
2021-02-16T06:24:38.165Z,1613456678.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 9.007026 deg,
      approachRate: -0.596851 m/s,
      LOS rate: -0.128759 deg/s,
      cmd update: -0.386278 deg/s,
      cmd heading: 17.229150 deg,
      new cmd heading: 17.494142 deg.

2021-02-16T06:24:40.561Z,1613456680.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:41.325Z,1613456681.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:41.737Z,1613456681.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:42.556Z,1613456682.556 [Micromodem](INFO): Nmea in: $SNTTA,0.057520,,,,062442.83*48

2021-02-16T06:24:42.594Z,1613456682.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 10.584419 deg, deltaT: 4.481344 s, approachRate: -0.629274 m/s, LOS rate: 0.351991 deg/s, posRepo size: 4
2021-02-16T06:24:42.596Z,1613456682.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.100006 m,
      bearing: 10.584419 deg,
      approachRate: -0.629274 m/s,
      LOS rate: 0.351991 deg/s,
      cmd update: 1.055973 deg/s,
      cmd heading: 15.498289 deg,
      new cmd heading: 15.339507 deg.

2021-02-16T06:24:44.986Z,1613456684.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:45.792Z,1613456685.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:46.251Z,1613456686.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:47.008Z,1613456687.008 [Micromodem](INFO): Nmea in: $SNTTA,0.055551,,,,062447.29*49

2021-02-16T06:24:47.056Z,1613456687.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 9.601877 deg, deltaT: 4.433550 s, approachRate: -0.676660 m/s, LOS rate: -0.221615 deg/s, posRepo size: 4
2021-02-16T06:24:47.058Z,1613456687.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.099998 m,
      bearing: 9.601877 deg,
      approachRate: -0.676660 m/s,
      LOS rate: -0.221615 deg/s,
      cmd update: -0.664845 deg/s,
      cmd heading: 20.180202 deg,
      new cmd heading: 20.644659 deg.

2021-02-16T06:24:49.451Z,1613456689.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:50.226Z,1613456690.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:50.613Z,1613456690.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:51.448Z,1613456691.448 [Micromodem](INFO): Nmea in: $SNTTA,0.053678,,,,062451.73*4F

2021-02-16T06:24:51.497Z,1613456691.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 9.742887 deg, deltaT: 4.456588 s, approachRate: -0.619307 m/s, LOS rate: 0.031641 deg/s, posRepo size: 4
2021-02-16T06:24:51.499Z,1613456691.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 9.742887 deg,
      approachRate: -0.619307 m/s,
      LOS rate: 0.031641 deg/s,
      cmd update: 0.094922 deg/s,
      cmd heading: 17.219772 deg,
      new cmd heading: 16.935638 deg.

2021-02-16T06:24:53.885Z,1613456693.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:54.653Z,1613456694.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:55.080Z,1613456695.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:24:55.884Z,1613456695.884 [Micromodem](INFO): Nmea in: $SNTTA,0.051836,,,,062456.16*4D

2021-02-16T06:24:55.913Z,1613456695.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.700005 m, bearing: 11.372494 deg, deltaT: 4.409951 s, approachRate: -0.598646 m/s, LOS rate: 0.369529 deg/s, posRepo size: 4
2021-02-16T06:24:55.939Z,1613456695.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.700005 m,
      bearing: 11.372494 deg,
      approachRate: -0.598646 m/s,
      LOS rate: 0.369529 deg/s,
      cmd update: 1.108588 deg/s,
      cmd heading: 17.638764 deg,
      new cmd heading: 17.679540 deg.

2021-02-16T06:24:58.333Z,1613456698.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:24:59.109Z,1613456699.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:24:59.531Z,1613456699.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:00.342Z,1613456700.342 [Micromodem](INFO): Nmea in: $SNTTA,0.050056,,0.069688,,062500.61*57

2021-02-16T06:25:00.402Z,1613456700.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 11.362326 deg, deltaT: 4.451731 s, approachRate: -0.619984 m/s, LOS rate: -0.002284 deg/s, posRepo size: 4
2021-02-16T06:25:00.408Z,1613456700.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 11.362326 deg,
      approachRate: -0.619984 m/s,
      LOS rate: -0.002284 deg/s,
      cmd update: -0.006852 deg/s,
      cmd heading: 22.573829 deg,
      new cmd heading: 23.091754 deg.

2021-02-16T06:25:02.757Z,1613456702.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:03.556Z,1613456703.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:03.946Z,1613456703.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:04.805Z,1613456704.805 [Micromodem](INFO): Nmea in: $SNTTA,0.048358,,0.204145,,062505.06*58

2021-02-16T06:25:04.830Z,1613456704.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 11.431344 deg, deltaT: 4.436005 s, approachRate: -0.595130 m/s, LOS rate: 0.015558 deg/s, posRepo size: 4
2021-02-16T06:25:04.832Z,1613456704.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 11.431344 deg,
      approachRate: -0.595130 m/s,
      LOS rate: 0.015558 deg/s,
      cmd update: 0.046675 deg/s,
      cmd heading: 22.543433 deg,
      new cmd heading: 22.540288 deg.

2021-02-16T06:25:07.202Z,1613456707.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:07.989Z,1613456707.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:08.407Z,1613456708.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:09.228Z,1613456709.228 [Micromodem](INFO): Nmea in: $SNTTA,0.046460,,,,062509.49*45

2021-02-16T06:25:09.277Z,1613456709.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 10.060079 deg, deltaT: 4.496341 s, approachRate: -0.680553 m/s, LOS rate: -0.304973 deg/s, posRepo size: 4
2021-02-16T06:25:09.279Z,1613456709.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 10.060079 deg,
      approachRate: -0.680553 m/s,
      LOS rate: -0.304973 deg/s,
      cmd update: -0.914920 deg/s,
      cmd heading: 22.752534 deg,
      new cmd heading: 22.772404 deg.

2021-02-16T06:25:11.646Z,1613456711.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:12.430Z,1613456712.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:12.841Z,1613456712.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:13.660Z,1613456713.660 [Micromodem](INFO): Nmea in: $SNTTA,0.044613,,,,062513.93*4D

2021-02-16T06:25:13.693Z,1613456713.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.360001 m, bearing: 9.911729 deg, deltaT: 4.415382 s, approachRate: -0.652266 m/s, LOS rate: -0.033598 deg/s, posRepo size: 4
2021-02-16T06:25:13.695Z,1613456713.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.360001 m,
      bearing: 9.911729 deg,
      approachRate: -0.652266 m/s,
      LOS rate: -0.033598 deg/s,
      cmd update: -0.100795 deg/s,
      cmd heading: 18.697754 deg,
      new cmd heading: 18.322717 deg.

2021-02-16T06:25:16.099Z,1613456716.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:16.872Z,1613456716.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:17.286Z,1613456717.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:18.100Z,1613456718.100 [Micromodem](INFO): Nmea in: $SNTTA,0.042531,,,,062518.37*4D

2021-02-16T06:25:18.157Z,1613456718.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 10.032446 deg, deltaT: 4.426836 s, approachRate: -0.623470 m/s, LOS rate: 0.027269 deg/s, posRepo size: 4
2021-02-16T06:25:18.164Z,1613456718.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 10.032446 deg,
      approachRate: -0.623470 m/s,
      LOS rate: 0.027269 deg/s,
      cmd update: 0.081808 deg/s,
      cmd heading: 18.253159 deg,
      new cmd heading: 18.207008 deg.

2021-02-16T06:25:20.562Z,1613456720.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:21.333Z,1613456721.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:21.721Z,1613456721.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:22.556Z,1613456722.556 [Micromodem](INFO): Nmea in: $SNTTA,0.040688,,,,062522.83*48

2021-02-16T06:25:22.614Z,1613456722.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.840000 m, bearing: 10.518942 deg, deltaT: 4.469920 s, approachRate: -0.617461 m/s, LOS rate: 0.108838 deg/s, posRepo size: 4
2021-02-16T06:25:22.620Z,1613456722.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 10.518942 deg,
      approachRate: -0.617461 m/s,
      LOS rate: 0.108838 deg/s,
      cmd update: 0.326514 deg/s,
      cmd heading: 18.619637 deg,
      new cmd heading: 18.655620 deg.

2021-02-16T06:25:25.005Z,1613456725.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:25.793Z,1613456725.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:26.177Z,1613456726.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:27.022Z,1613456727.022 [Micromodem](INFO): Nmea in: $SNTTA,0.038850,,0.057987,,062527.30*5B

2021-02-16T06:25:27.052Z,1613456727.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.020004 m, bearing: 9.786175 deg, deltaT: 4.411990 s, approachRate: -0.639166 m/s, LOS rate: -0.166085 deg/s, posRepo size: 4
2021-02-16T06:25:27.054Z,1613456727.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.020004 m,
      bearing: 9.786175 deg,
      approachRate: -0.639166 m/s,
      LOS rate: -0.166085 deg/s,
      cmd update: -0.498256 deg/s,
      cmd heading: 20.062156 deg,
      new cmd heading: 20.212439 deg.

2021-02-16T06:25:29.215Z,1613456729.215 [CTD_Seabird](ERROR): Failed to parse device response: 0,2.74762,2827.66
2021-02-16T06:25:29.426Z,1613456729.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:30.247Z,1613456730.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:30.627Z,1613456730.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:31.456Z,1613456731.456 [Micromodem](INFO): Nmea in: $SNTTA,0.037016,,,,062531.75*42

2021-02-16T06:25:31.480Z,1613456731.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 10.528793 deg, deltaT: 4.480692 s, approachRate: -0.602586 m/s, LOS rate: 0.165737 deg/s, posRepo size: 4
2021-02-16T06:25:31.482Z,1613456731.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 10.528793 deg,
      approachRate: -0.602586 m/s,
      LOS rate: 0.165737 deg/s,
      cmd update: 0.497212 deg/s,
      cmd heading: 17.837661 deg,
      new cmd heading: 17.626300 deg.

2021-02-16T06:25:33.878Z,1613456733.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:34.650Z,1613456734.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:35.061Z,1613456735.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:35.876Z,1613456735.876 [Micromodem](INFO): Nmea in: $SNTTA,0.035120,,,,062536.15*45

2021-02-16T06:25:35.915Z,1613456735.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.499996 m, bearing: 11.889691 deg, deltaT: 4.427963 s, approachRate: -0.636863 m/s, LOS rate: 0.307342 deg/s, posRepo size: 4
2021-02-16T06:25:35.917Z,1613456735.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 11.889691 deg,
      approachRate: -0.636863 m/s,
      LOS rate: 0.307342 deg/s,
      cmd update: 0.922025 deg/s,
      cmd heading: 20.047430 deg,
      new cmd heading: 20.253455 deg.

2021-02-16T06:25:38.321Z,1613456738.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:39.092Z,1613456739.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:39.515Z,1613456739.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:40.324Z,1613456740.324 [Micromodem](INFO): Nmea in: $SNTTA,0.033497,,,,062540.59*43

2021-02-16T06:25:40.362Z,1613456740.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 10.318399 deg, deltaT: 4.453163 s, approachRate: -0.633258 m/s, LOS rate: -0.352848 deg/s, posRepo size: 4
2021-02-16T06:25:40.364Z,1613456740.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.679996 m,
      bearing: 10.318399 deg,
      approachRate: -0.633258 m/s,
      LOS rate: -0.352848 deg/s,
      cmd update: -1.058545 deg/s,
      cmd heading: 24.149638 deg,
      new cmd heading: 24.530251 deg.

2021-02-16T06:25:42.809Z,1613456742.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:43.536Z,1613456743.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:43.942Z,1613456743.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:44.772Z,1613456744.772 [Micromodem](INFO): Nmea in: $SNTTA,0.031606,,,,062545.04*46

2021-02-16T06:25:44.843Z,1613456744.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 10.098527 deg, deltaT: 4.443818 s, approachRate: -0.634589 m/s, LOS rate: -0.049478 deg/s, posRepo size: 4
2021-02-16T06:25:44.850Z,1613456744.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 10.098527 deg,
      approachRate: -0.634589 m/s,
      LOS rate: -0.049478 deg/s,
      cmd update: -0.148435 deg/s,
      cmd heading: 19.445893 deg,
      new cmd heading: 18.971701 deg.

2021-02-16T06:25:47.225Z,1613456747.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:47.980Z,1613456747.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:48.403Z,1613456748.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:49.236Z,1613456749.236 [Micromodem](INFO): Nmea in: $SNTTA,0.029512,,,,062549.48*4D

2021-02-16T06:25:49.290Z,1613456749.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 10.867123 deg, deltaT: 4.442128 s, approachRate: -0.621323 m/s, LOS rate: 0.173024 deg/s, posRepo size: 4
2021-02-16T06:25:49.292Z,1613456749.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 10.867123 deg,
      approachRate: -0.621323 m/s,
      LOS rate: 0.173024 deg/s,
      cmd update: 0.519073 deg/s,
      cmd heading: 18.785898 deg,
      new cmd heading: 18.719010 deg.

2021-02-16T06:25:51.642Z,1613456751.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:52.429Z,1613456752.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:52.838Z,1613456752.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:53.656Z,1613456753.656 [Micromodem](INFO): Nmea in: $SNTTA,0.027578,,,,062553.93*42

2021-02-16T06:25:53.689Z,1613456753.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 10.265900 deg, deltaT: 4.439613 s, approachRate: -0.648705 m/s, LOS rate: -0.135422 deg/s, posRepo size: 4
2021-02-16T06:25:53.691Z,1613456753.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.220001 m,
      bearing: 10.265900 deg,
      approachRate: -0.648705 m/s,
      LOS rate: -0.135422 deg/s,
      cmd update: -0.406267 deg/s,
      cmd heading: 21.090320 deg,
      new cmd heading: 21.303344 deg.

2021-02-16T06:25:56.098Z,1613456756.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:25:56.864Z,1613456756.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:25:57.271Z,1613456757.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:25:58.099Z,1613456758.099 [Micromodem](INFO): Nmea in: $SNTTA,0.025781,,,,062558.36*40

2021-02-16T06:25:58.125Z,1613456758.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 10.081757 deg, deltaT: 4.414384 s, approachRate: -0.625230 m/s, LOS rate: -0.041714 deg/s, posRepo size: 4
2021-02-16T06:25:58.125Z,1613456758.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-02-16T06:25:58.127Z,1613456758.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 10.081757 deg,
      approachRate: -0.625230 m/s,
      LOS rate: -0.041714 deg/s,
      cmd update: -0.125143 deg/s,
      cmd heading: 19.296836 deg,
      new cmd heading: 19.121707 deg.

2021-02-16T06:25:58.497Z,1613456758.497 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:26:00.538Z,1613456760.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:01.308Z,1613456761.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:01.714Z,1613456761.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:02.536Z,1613456762.536 [Micromodem](INFO): Nmea in: $SNTTA,0.023959,,,,062602.81*4D

2021-02-16T06:26:02.575Z,1613456762.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 9.373131 deg, deltaT: 4.480708 s, approachRate: -0.615974 m/s, LOS rate: -0.158150 deg/s, posRepo size: 4
2021-02-16T06:26:02.576Z,1613456762.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-02-16T06:26:02.576Z,1613456762.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.70 m.
2021-02-16T06:26:02.577Z,1613456762.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:26:02.583Z,1613456762.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 9.373131 deg,
      approachRate: -0.615974 m/s,
      LOS rate: -0.158150 deg/s,
      cmd update: -0.474451 deg/s,
      cmd heading: 18.736419 deg,
      new cmd heading: 18.685932 deg.

2021-02-16T06:26:04.998Z,1613456764.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:05.767Z,1613456765.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:06.184Z,1613456766.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:07.032Z,1613456767.032 [Micromodem](INFO): Nmea in: $SNTTA,0.022096,,,,062607.27*4F

2021-02-16T06:26:07.057Z,1613456767.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.880001 m, bearing: 9.450782 deg, deltaT: 4.436589 s, approachRate: -0.635623 m/s, LOS rate: 0.017503 deg/s, posRepo size: 4
2021-02-16T06:26:07.059Z,1613456767.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.880001 m,
      bearing: 9.450782 deg,
      approachRate: -0.635623 m/s,
      LOS rate: 0.017503 deg/s,
      cmd update: 0.052508 deg/s,
      cmd heading: 16.637947 deg,
      new cmd heading: 16.418369 deg.

2021-02-16T06:26:09.423Z,1613456769.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:10.201Z,1613456770.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:10.608Z,1613456770.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:11.440Z,1613456771.440 [Micromodem](INFO): Nmea in: $SNTTA,0.020236,,0.044755,,062611.70*59

2021-02-16T06:26:11.465Z,1613456771.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 10.071321 deg, deltaT: 4.431373 s, approachRate: -0.622833 m/s, LOS rate: 0.140033 deg/s, posRepo size: 4
2021-02-16T06:26:11.466Z,1613456771.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.119997 m,
      bearing: 10.071321 deg,
      approachRate: -0.622833 m/s,
      LOS rate: 0.140033 deg/s,
      cmd update: 0.420099 deg/s,
      cmd heading: 16.871472 deg,
      new cmd heading: 16.893658 deg.

2021-02-16T06:26:13.869Z,1613456773.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:14.645Z,1613456774.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:15.054Z,1613456775.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:15.872Z,1613456775.872 [Micromodem](INFO): Nmea in: $SNTTA,0.018497,,,,062616.15*42

2021-02-16T06:26:15.913Z,1613456775.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 10.775415 deg, deltaT: 4.491996 s, approachRate: -0.574355 m/s, LOS rate: 0.156744 deg/s, posRepo size: 4
2021-02-16T06:26:15.914Z,1613456775.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.539997 m,
      bearing: 10.775415 deg,
      approachRate: -0.574355 m/s,
      LOS rate: 0.156744 deg/s,
      cmd update: 0.470233 deg/s,
      cmd heading: 18.756884 deg,
      new cmd heading: 18.917519 deg.

2021-02-16T06:26:18.308Z,1613456778.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:19.084Z,1613456779.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:19.490Z,1613456779.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:20.316Z,1613456780.316 [Micromodem](INFO): Nmea in: $SNTTA,0.016690,,0.040240,,062620.58*59

2021-02-16T06:26:20.365Z,1613456780.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.840002 m, bearing: 10.183695 deg, deltaT: 4.406523 s, approachRate: -0.612727 m/s, LOS rate: -0.134283 deg/s, posRepo size: 4
2021-02-16T06:26:20.371Z,1613456780.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.840002 m,
      bearing: 10.183695 deg,
      approachRate: -0.612727 m/s,
      LOS rate: -0.134283 deg/s,
      cmd update: -0.402848 deg/s,
      cmd heading: 20.828977 deg,
      new cmd heading: 21.030395 deg.

2021-02-16T06:26:22.743Z,1613456782.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:23.529Z,1613456783.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:23.941Z,1613456783.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:24.764Z,1613456784.764 [Micromodem](INFO): Nmea in: $SNTTA,0.014775,,,,062625.03*46

2021-02-16T06:26:24.845Z,1613456784.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 9.969825 deg, deltaT: 4.441112 s, approachRate: -0.661997 m/s, LOS rate: -0.048157 deg/s, posRepo size: 4
2021-02-16T06:26:24.846Z,1613456784.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 9.969825 deg,
      approachRate: -0.661997 m/s,
      LOS rate: -0.048157 deg/s,
      cmd update: -0.144471 deg/s,
      cmd heading: 19.039414 deg,
      new cmd heading: 18.851860 deg.

2021-02-16T06:26:27.252Z,1613456787.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:27.973Z,1613456787.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:28.399Z,1613456788.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:29.204Z,1613456789.204 [Micromodem](INFO): Nmea in: $SNTTA,0.012786,,,,062629.47*40

2021-02-16T06:26:29.276Z,1613456789.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 9.586464 deg, deltaT: 4.450466 s, approachRate: -0.647123 m/s, LOS rate: -0.086139 deg/s, posRepo size: 4
2021-02-16T06:26:29.278Z,1613456789.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.020000 m,
      bearing: 9.586464 deg,
      approachRate: -0.647123 m/s,
      LOS rate: -0.086139 deg/s,
      cmd update: -0.258418 deg/s,
      cmd heading: 18.396091 deg,
      new cmd heading: 18.332563 deg.

2021-02-16T06:26:31.623Z,1613456791.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:32.417Z,1613456792.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:32.830Z,1613456792.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:33.653Z,1613456793.653 [Micromodem](INFO): Nmea in: $SNTTA,0.011006,,,,062633.92*4F

2021-02-16T06:26:33.692Z,1613456793.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 10.232477 deg, deltaT: 4.446315 s, approachRate: -0.607245 m/s, LOS rate: 0.145292 deg/s, posRepo size: 4
2021-02-16T06:26:33.694Z,1613456793.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 10.232477 deg,
      approachRate: -0.607245 m/s,
      LOS rate: 0.145292 deg/s,
      cmd update: 0.435875 deg/s,
      cmd heading: 17.246999 deg,
      new cmd heading: 17.140158 deg.

2021-02-16T06:26:36.079Z,1613456796.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:36.861Z,1613456796.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:37.266Z,1613456797.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:38.092Z,1613456798.092 [Micromodem](INFO): Nmea in: $SNTTA,0.009198,,,,062638.36*45

2021-02-16T06:26:38.148Z,1613456798.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 10.548717 deg, deltaT: 4.436150 s, approachRate: -0.635685 m/s, LOS rate: 0.071287 deg/s, posRepo size: 4
2021-02-16T06:26:38.155Z,1613456798.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 10.548717 deg,
      approachRate: -0.635685 m/s,
      LOS rate: 0.071287 deg/s,
      cmd update: 0.213861 deg/s,
      cmd heading: 19.175831 deg,
      new cmd heading: 19.367555 deg.

2021-02-16T06:26:40.532Z,1613456800.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:41.313Z,1613456801.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:41.727Z,1613456801.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:42.548Z,1613456802.548 [Micromodem](INFO): Nmea in: $SNTTA,0.007534,,,,062642.81*48

2021-02-16T06:26:42.572Z,1613456802.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 10.908440 deg, deltaT: 4.451830 s, approachRate: -0.579537 m/s, LOS rate: 0.080803 deg/s, posRepo size: 4
2021-02-16T06:26:42.573Z,1613456802.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 10.908440 deg,
      approachRate: -0.579537 m/s,
      LOS rate: 0.080803 deg/s,
      cmd update: 0.242410 deg/s,
      cmd heading: 20.129828 deg,
      new cmd heading: 20.216823 deg.

2021-02-16T06:26:44.974Z,1613456804.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:45.757Z,1613456805.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:46.159Z,1613456806.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:46.992Z,1613456806.992 [Micromodem](INFO): Nmea in: $SNTTA,0.005792,,,,062647.26*4C

2021-02-16T06:26:47.050Z,1613456807.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 9.172154 deg, deltaT: 4.410686 s, approachRate: -0.584944 m/s, LOS rate: -0.393654 deg/s, posRepo size: 4
2021-02-16T06:26:47.052Z,1613456807.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 9.172154 deg,
      approachRate: -0.584944 m/s,
      LOS rate: -0.393654 deg/s,
      cmd update: -1.180963 deg/s,
      cmd heading: 21.199496 deg,
      new cmd heading: 21.314184 deg.

2021-02-16T06:26:49.415Z,1613456809.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:50.204Z,1613456810.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:50.606Z,1613456810.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:51.432Z,1613456811.432 [Micromodem](INFO): Nmea in: $SNTTA,0.004179,,0.034936,,062651.71*5E

2021-02-16T06:26:51.483Z,1613456811.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 7.521452 deg, deltaT: 4.447046 s, approachRate: -0.512700 m/s, LOS rate: -0.371191 deg/s, posRepo size: 4
2021-02-16T06:26:51.485Z,1613456811.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 7.521452 deg,
      approachRate: -0.512700 m/s,
      LOS rate: -0.371191 deg/s,
      cmd update: -1.113572 deg/s,
      cmd heading: 15.947920 deg,
      new cmd heading: 15.406398 deg.

2021-02-16T06:26:53.873Z,1613456813.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:54.653Z,1613456814.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:55.041Z,1613456815.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:26:55.877Z,1613456815.877 [Micromodem](INFO): Nmea in: $SNTTA,0.022074,,,,062656.16*45

2021-02-16T06:26:55.937Z,1613456815.937 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T06:26:55.937Z,1613456815.937 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:26:55.937Z,1613456815.937 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T06:26:55.937Z,1613456815.937 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:26:55.938Z,1613456815.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T06:26:55.938Z,1613456815.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-02-16T06:26:55.938Z,1613456815.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T06:26:55.938Z,1613456815.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T06:26:55.938Z,1613456815.938 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T06:26:55.941Z,1613456815.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 15.316923 deg, deltaT: 4.477017 s, approachRate: -0.388651 m/s, LOS rate: 1.741220 deg/s, posRepo size: 4
2021-02-16T06:26:55.942Z,1613456815.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 15.316923 deg,
      approachRate: -0.388651 m/s,
      LOS rate: 1.741220 deg/s,
      cmd update: 5.223660 deg/s,
      cmd heading: 10.962239 deg,
      new cmd heading: 10.472833 deg.

2021-02-16T06:26:56.291Z,1613456816.291 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T062656: (41.552319, -70.708603)
2021-02-16T06:26:56.291Z,1613456816.291 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T06:26:56.291Z,1613456816.291 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T06:26:56.291Z,1613456816.291 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:26:56.291Z,1613456816.291 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T06:26:56.292Z,1613456816.292 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:26:56.292Z,1613456816.292 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T06:26:56.292Z,1613456816.292 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T06:26:56.292Z,1613456816.292 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:26:58.318Z,1613456818.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:26:59.087Z,1613456819.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:26:59.491Z,1613456819.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:00.317Z,1613456820.317 [Micromodem](INFO): Nmea in: $SNTTA,0.002654,,,0.031297,062700.59*5A

2021-02-16T06:27:00.341Z,1613456820.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 9.516688 deg, deltaT: 4.426607 s, approachRate: -0.094881 m/s, LOS rate: -1.310312 deg/s, posRepo size: 4
2021-02-16T06:27:00.342Z,1613456820.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 9.516688 deg,
      approachRate: -0.094881 m/s,
      LOS rate: -1.310312 deg/s,
      cmd update: -3.930935 deg/s,
      cmd heading: 34.085515 deg,
      new cmd heading: 36.241868 deg.

2021-02-16T06:27:02.753Z,1613456822.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:03.524Z,1613456823.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:03.930Z,1613456823.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:04.780Z,1613456824.780 [Micromodem](INFO): Nmea in: $SNTTA,0.003536,,,,062705.02*47

2021-02-16T06:27:04.832Z,1613456824.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 27.448766 deg, deltaT: 4.479503 s, approachRate: 0.321464 m/s, LOS rate: 4.003140 deg/s, posRepo size: 4
2021-02-16T06:27:04.834Z,1613456824.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 27.448766 deg,
      approachRate: 0.321464 m/s,
      LOS rate: 4.003140 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.499914 deg,
      new cmd heading: 14.807796 deg.

2021-02-16T06:27:07.200Z,1613456827.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:07.975Z,1613456827.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:08.373Z,1613456828.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:09.212Z,1613456829.212 [Micromodem](INFO): Nmea in: $SNTTA,0.006320,,,0.008764,062709.48*52

2021-02-16T06:27:09.283Z,1613456829.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 32.429458 deg, deltaT: 4.425429 s, approachRate: 1.369359 m/s, LOS rate: 1.125471 deg/s, posRepo size: 4
2021-02-16T06:27:09.285Z,1613456829.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 32.429458 deg,
      approachRate: 1.369359 m/s,
      LOS rate: 1.125471 deg/s,
      cmd update: 3.376413 deg/s,
      cmd heading: 69.675240 deg,
      new cmd heading: 75.077544 deg.

2021-02-16T06:27:11.659Z,1613456831.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:12.429Z,1613456832.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:12.818Z,1613456832.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:13.677Z,1613456833.677 [Micromodem](INFO): Nmea in: $SNTTA,0.008858,,0.035851,0.044427,062713.93*4D

2021-02-16T06:27:13.698Z,1613456833.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 35.603481 deg, deltaT: 4.468943 s, approachRate: 0.389354 m/s, LOS rate: 0.710240 deg/s, posRepo size: 4
2021-02-16T06:27:13.700Z,1613456833.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 35.603481 deg,
      approachRate: 0.389354 m/s,
      LOS rate: 0.710240 deg/s,
      cmd update: 2.130721 deg/s,
      cmd heading: 84.750874 deg,
      new cmd heading: 86.101763 deg.

2021-02-16T06:27:16.091Z,1613456836.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:16.860Z,1613456836.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:17.266Z,1613456837.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:18.092Z,1613456838.092 [Micromodem](INFO): Nmea in: $SNTTA,0.009880,,0.011056,,062718.36*5B

2021-02-16T06:27:18.149Z,1613456838.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 11.047770 deg, deltaT: 4.396376 s, approachRate: 0.136476 m/s, LOS rate: -5.585444 deg/s, posRepo size: 4
2021-02-16T06:27:18.168Z,1613456838.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.739999 m,
      bearing: 11.047770 deg,
      approachRate: 0.136476 m/s,
      LOS rate: -5.585444 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 94.092678 deg,
      new cmd heading: 95.082896 deg.

2021-02-16T06:27:20.533Z,1613456840.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:21.302Z,1613456841.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:21.705Z,1613456841.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:22.537Z,1613456842.537 [Micromodem](INFO): Nmea in: $SNTTA,0.009644,,,,062722.80*44

2021-02-16T06:27:23.366Z,1613456843.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:24.936Z,1613456844.936 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:27:26.198Z,1613456846.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:26.962Z,1613456846.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:27.379Z,1613456847.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:28.196Z,1613456848.196 [Micromodem](INFO): Nmea in: $SNTTA,0.011172,,0.075569,,062728.46*59

2021-02-16T06:27:28.258Z,1613456848.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 68.700986 deg, deltaT: 10.136299 s, approachRate: 0.325563 m/s, LOS rate: 5.687798 deg/s, posRepo size: 4
2021-02-16T06:27:28.264Z,1613456848.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 68.700986 deg,
      approachRate: 0.325563 m/s,
      LOS rate: 5.687798 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.265206 deg,
      new cmd heading: 327.188750 deg.

2021-02-16T06:27:30.638Z,1613456850.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:31.400Z,1613456851.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:31.817Z,1613456851.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:32.628Z,1613456852.628 [Micromodem](INFO): Nmea in: $SNTTA,0.013396,,,,062732.90*45

2021-02-16T06:27:32.666Z,1613456852.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 87.164750 deg, deltaT: 4.450681 s, approachRate: 0.498801 m/s, LOS rate: 4.148525 deg/s, posRepo size: 4
2021-02-16T06:27:32.668Z,1613456852.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.260002 m,
      bearing: 87.164750 deg,
      approachRate: 0.498801 m/s,
      LOS rate: 4.148525 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 25.673283 deg,
      new cmd heading: 30.246400 deg.

2021-02-16T06:27:33.037Z,1613456853.037 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:27:35.073Z,1613456855.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:35.845Z,1613456855.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:36.268Z,1613456856.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:37.084Z,1613456857.084 [Micromodem](INFO): Nmea in: $SNTTA,0.014425,,,,062737.35*47

2021-02-16T06:27:37.109Z,1613456857.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 41.517028 deg, deltaT: 4.398619 s, approachRate: 0.572906 m/s, LOS rate: -10.377739 deg/s, posRepo size: 4
2021-02-16T06:27:37.111Z,1613456857.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.779999 m,
      bearing: 41.517028 deg,
      approachRate: 0.572906 m/s,
      LOS rate: -10.377739 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.456557 deg,
      new cmd heading: 83.556569 deg.

2021-02-16T06:27:39.514Z,1613456859.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:40.293Z,1613456860.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:40.699Z,1613456860.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:41.527Z,1613456861.527 [Micromodem](INFO): Nmea in: $SNTTA,0.016060,,,,062741.79*49

2021-02-16T06:27:41.551Z,1613456861.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 29.824117 deg, deltaT: 4.449874 s, approachRate: 0.552824 m/s, LOS rate: -2.627695 deg/s, posRepo size: 4
2021-02-16T06:27:41.552Z,1613456861.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.24 m. Rolling out.
2021-02-16T06:27:41.552Z,1613456861.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:27:43.954Z,1613456863.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:44.732Z,1613456864.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:45.158Z,1613456865.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:45.967Z,1613456865.967 [Micromodem](INFO): Nmea in: $SNTTA,0.018560,,,,062746.23*4A

2021-02-16T06:27:45.997Z,1613456865.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 52.717972 deg, deltaT: 4.441620 s, approachRate: 0.675429 m/s, LOS rate: 5.154393 deg/s, posRepo size: 4
2021-02-16T06:27:48.406Z,1613456868.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:49.204Z,1613456869.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:49.590Z,1613456869.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:50.432Z,1613456870.432 [Micromodem](INFO): Nmea in: $SNTTA,0.019501,,,,062750.70*4D

2021-02-16T06:27:50.480Z,1613456870.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 33.481454 deg, deltaT: 4.447036 s, approachRate: 0.472225 m/s, LOS rate: -4.325694 deg/s, posRepo size: 4
2021-02-16T06:27:52.846Z,1613456872.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:53.626Z,1613456873.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:54.036Z,1613456874.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:54.852Z,1613456874.852 [Micromodem](INFO): Nmea in: $SNTTA,0.021175,,,,062755.13*41

2021-02-16T06:27:54.895Z,1613456874.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.460003 m, bearing: 5.730121 deg, deltaT: 4.466753 s, approachRate: 0.698495 m/s, LOS rate: -6.212865 deg/s, posRepo size: 4
2021-02-16T06:27:57.292Z,1613456877.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:27:58.064Z,1613456878.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:27:58.478Z,1613456878.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:27:59.292Z,1613456879.292 [Micromodem](INFO): Nmea in: $SNTTA,0.023074,,,,062759.56*4E

2021-02-16T06:27:59.334Z,1613456879.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 343.979146 deg, deltaT: 4.424695 s, approachRate: 0.528849 m/s, LOS rate: -4.915813 deg/s, posRepo size: 4
2021-02-16T06:28:01.721Z,1613456881.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:02.508Z,1613456882.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:02.921Z,1613456882.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:03.757Z,1613456883.757 [Micromodem](INFO): Nmea in: $SNTTA,0.024486,,,,062804.01*45

2021-02-16T06:28:03.819Z,1613456883.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 350.294557 deg, deltaT: 4.440785 s, approachRate: 0.472890 m/s, LOS rate: 1.422139 deg/s, posRepo size: 4
2021-02-16T06:28:06.189Z,1613456886.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:06.958Z,1613456886.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:07.364Z,1613456887.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:08.196Z,1613456888.196 [Micromodem](INFO): Nmea in: $SNTTA,0.026240,,,,062808.46*44

2021-02-16T06:28:08.256Z,1613456888.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 3.687513 deg, deltaT: 4.478973 s, approachRate: 0.589421 m/s, LOS rate: 2.990184 deg/s, posRepo size: 4
2021-02-16T06:28:10.613Z,1613456890.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:11.402Z,1613456891.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:11.816Z,1613456891.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:12.628Z,1613456892.628 [Micromodem](INFO): Nmea in: $SNTTA,0.028019,,,,062812.90*44

2021-02-16T06:28:12.668Z,1613456892.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 13.554178 deg, deltaT: 4.460647 s, approachRate: 0.659098 m/s, LOS rate: 2.211936 deg/s, posRepo size: 4
2021-02-16T06:28:15.075Z,1613456895.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:15.840Z,1613456895.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:16.262Z,1613456896.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:17.076Z,1613456897.076 [Micromodem](INFO): Nmea in: $SNTTA,0.029752,,,,062817.34*46

2021-02-16T06:28:17.123Z,1613456897.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 1.965221 deg, deltaT: 4.367699 s, approachRate: 0.522013 m/s, LOS rate: -2.653332 deg/s, posRepo size: 4
2021-02-16T06:28:19.666Z,1613456899.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:20.284Z,1613456900.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:20.701Z,1613456900.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:21.519Z,1613456901.519 [Micromodem](INFO): Nmea in: $SNTTA,0.031528,,,,062821.79*4C

2021-02-16T06:28:21.548Z,1613456901.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 10.039694 deg, deltaT: 4.470928 s, approachRate: 0.603902 m/s, LOS rate: 1.805995 deg/s, posRepo size: 4
2021-02-16T06:28:23.961Z,1613456903.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:24.733Z,1613456904.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:25.139Z,1613456905.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:25.978Z,1613456905.978 [Micromodem](INFO): Nmea in: $SNTTA,0.033247,,0.064021,,062826.23*57

2021-02-16T06:28:26.049Z,1613456906.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 15.079289 deg, deltaT: 4.432952 s, approachRate: 0.649680 m/s, LOS rate: 1.136848 deg/s, posRepo size: 4
2021-02-16T06:28:28.414Z,1613456908.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:29.185Z,1613456909.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:29.578Z,1613456909.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:30.408Z,1613456910.408 [Micromodem](INFO): Nmea in: $SNTTA,0.035113,,,,062830.69*45

2021-02-16T06:28:30.456Z,1613456910.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 17.947987 deg, deltaT: 4.445624 s, approachRate: 0.607339 m/s, LOS rate: 0.645286 deg/s, posRepo size: 4
2021-02-16T06:28:32.848Z,1613456912.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:33.621Z,1613456913.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:34.022Z,1613456914.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:34.848Z,1613456914.848 [Micromodem](INFO): Nmea in: $SNTTA,0.036929,,,,062835.12*4E

2021-02-16T06:28:34.893Z,1613456914.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 0.523651 deg, deltaT: 4.501567 s, approachRate: 0.559806 m/s, LOS rate: -3.870727 deg/s, posRepo size: 4
2021-02-16T06:28:37.292Z,1613456917.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:38.066Z,1613456918.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:38.472Z,1613456918.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:39.292Z,1613456919.292 [Micromodem](INFO): Nmea in: $SNTTA,0.038752,,,,062839.57*4F

2021-02-16T06:28:39.337Z,1613456919.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.319996 m, bearing: 4.931371 deg, deltaT: 4.396674 s, approachRate: 0.627745 m/s, LOS rate: 1.002512 deg/s, posRepo size: 4
2021-02-16T06:28:41.727Z,1613456921.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:42.504Z,1613456922.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:42.915Z,1613456922.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:43.739Z,1613456923.739 [Micromodem](INFO): Nmea in: $SNTTA,0.040811,,,,062844.01*41

2021-02-16T06:28:43.807Z,1613456923.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 18.255793 deg, deltaT: 4.437224 s, approachRate: 0.676100 m/s, LOS rate: 3.002873 deg/s, posRepo size: 4
2021-02-16T06:28:46.236Z,1613456926.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:46.948Z,1613456926.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:47.355Z,1613456927.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:48.181Z,1613456928.181 [Micromodem](INFO): Nmea in: $SNTTA,0.042408,,,,062848.45*4B

2021-02-16T06:28:48.272Z,1613456928.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 25.551422 deg, deltaT: 4.467647 s, approachRate: 0.617776 m/s, LOS rate: 1.632991 deg/s, posRepo size: 4
2021-02-16T06:28:50.610Z,1613456930.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:51.392Z,1613456931.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:51.816Z,1613456931.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:52.624Z,1613456932.624 [Micromodem](INFO): Nmea in: $SNTTA,0.044230,,,,062852.89*4B

2021-02-16T06:28:52.674Z,1613456932.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 7.524074 deg, deltaT: 4.444033 s, approachRate: 0.540049 m/s, LOS rate: -4.056529 deg/s, posRepo size: 4
2021-02-16T06:28:55.076Z,1613456935.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:28:55.853Z,1613456935.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:28:56.283Z,1613456936.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:28:57.115Z,1613456937.115 [Micromodem](INFO): Nmea in: $SNTTA,0.046059,,,,062857.36*45

2021-02-16T06:28:57.173Z,1613456937.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 18.949086 deg, deltaT: 4.423697 s, approachRate: 0.678164 m/s, LOS rate: 2.582684 deg/s, posRepo size: 4
2021-02-16T06:28:59.518Z,1613456939.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:00.285Z,1613456940.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:00.700Z,1613456940.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:01.512Z,1613456941.512 [Micromodem](INFO): Nmea in: $SNTTA,0.047865,,,,062901.79*4A

2021-02-16T06:29:01.564Z,1613456941.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 9.212870 deg, deltaT: 4.483318 s, approachRate: 0.535320 m/s, LOS rate: -2.171654 deg/s, posRepo size: 4
2021-02-16T06:29:03.951Z,1613456943.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:04.728Z,1613456944.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:05.140Z,1613456945.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:05.956Z,1613456945.956 [Micromodem](INFO): Nmea in: $SNTTA,0.049644,,,,062906.23*41

2021-02-16T06:29:05.982Z,1613456945.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 344.854366 deg, deltaT: 4.394914 s, approachRate: 0.696259 m/s, LOS rate: -5.542428 deg/s, posRepo size: 4
2021-02-16T06:29:08.434Z,1613456948.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:09.185Z,1613456949.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:09.583Z,1613456949.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:10.430Z,1613456950.430 [Micromodem](INFO): Nmea in: $SNTTA,0.051555,,,,062910.69*42

2021-02-16T06:29:10.454Z,1613456950.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 27.771635 deg, deltaT: 4.443484 s, approachRate: 0.607632 m/s, LOS rate: 9.658471 deg/s, posRepo size: 4
2021-02-16T06:29:12.836Z,1613456952.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:13.616Z,1613456953.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:14.022Z,1613456954.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:14.848Z,1613456954.848 [Micromodem](INFO): Nmea in: $SNTTA,0.053479,,,,062915.12*46

2021-02-16T06:29:14.873Z,1613456954.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 17.066985 deg, deltaT: 4.445910 s, approachRate: 0.607299 m/s, LOS rate: -2.407752 deg/s, posRepo size: 4
2021-02-16T06:29:17.295Z,1613456957.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:18.066Z,1613456958.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:18.485Z,1613456958.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:19.296Z,1613456959.296 [Micromodem](INFO): Nmea in: $SNTTA,0.055305,,,,062919.57*41

2021-02-16T06:29:19.345Z,1613456959.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 21.637006 deg, deltaT: 4.458565 s, approachRate: 0.672862 m/s, LOS rate: 1.024998 deg/s, posRepo size: 4
2021-02-16T06:29:21.711Z,1613456961.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:22.196Z,1613456962.196 [CTD_Seabird](ERROR): Failed to parse device response: ,1.3060,2.74640,2831.60
2021-02-16T06:29:22.521Z,1613456962.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:22.909Z,1613456962.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:23.746Z,1613456963.746 [Micromodem](INFO): Nmea in: $SNTTA,0.057221,0.065735,,,062924.02*56

2021-02-16T06:29:23.818Z,1613456963.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 22.883149 deg, deltaT: 4.427063 s, approachRate: 0.623439 m/s, LOS rate: 0.281483 deg/s, posRepo size: 4
2021-02-16T06:29:26.201Z,1613456966.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:26.574Z,1613456966.574 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:29:26.957Z,1613456966.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:27.359Z,1613456967.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:28.196Z,1613456968.196 [Micromodem](INFO): Nmea in: $SNTTA,0.059085,,,,062928.46*44

2021-02-16T06:29:28.292Z,1613456968.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 25.701081 deg, deltaT: 4.486109 s, approachRate: 0.615231 m/s, LOS rate: 0.628146 deg/s, posRepo size: 4
2021-02-16T06:29:30.613Z,1613456970.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:31.408Z,1613456971.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:31.814Z,1613456971.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:32.648Z,1613456972.648 [Micromodem](INFO): Nmea in: $SNTTA,0.060849,,,,062932.91*47

2021-02-16T06:29:32.684Z,1613456972.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 13.504309 deg, deltaT: 4.449566 s, approachRate: 0.566347 m/s, LOS rate: -2.741115 deg/s, posRepo size: 4
2021-02-16T06:29:35.077Z,1613456975.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:35.837Z,1613456975.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:36.267Z,1613456976.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:37.072Z,1613456977.072 [Micromodem](INFO): Nmea in: $SNTTA,0.062520,,,,062937.34*4D

2021-02-16T06:29:37.110Z,1613456977.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 24.994290 deg, deltaT: 4.386970 s, approachRate: 0.574429 m/s, LOS rate: 2.619115 deg/s, posRepo size: 4
2021-02-16T06:29:39.509Z,1613456979.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:40.288Z,1613456980.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:40.699Z,1613456980.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:41.520Z,1613456981.520 [Micromodem](INFO): Nmea in: $SNTTA,0.064501,,0.065770,,062941.79*5D

2021-02-16T06:29:41.566Z,1613456981.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 27.107443 deg, deltaT: 4.475174 s, approachRate: 0.670363 m/s, LOS rate: 0.472195 deg/s, posRepo size: 4
2021-02-16T06:29:43.969Z,1613456983.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:44.732Z,1613456984.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:45.138Z,1613456985.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:45.968Z,1613456985.968 [Micromodem](INFO): Nmea in: $SNTTA,0.066230,,,,062946.23*4F

2021-02-16T06:29:45.993Z,1613456985.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 26.444775 deg, deltaT: 4.438372 s, approachRate: 0.608332 m/s, LOS rate: -0.149304 deg/s, posRepo size: 4
2021-02-16T06:29:48.416Z,1613456988.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:49.185Z,1613456989.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:49.587Z,1613456989.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:50.412Z,1613456990.412 [Micromodem](INFO): Nmea in: $SNTTA,0.068076,,,0.075556,062950.69*52

2021-02-16T06:29:50.464Z,1613456990.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.300003 m, bearing: 31.655574 deg, deltaT: 4.452597 s, approachRate: 0.606389 m/s, LOS rate: 1.170283 deg/s, posRepo size: 4
2021-02-16T06:29:52.857Z,1613456992.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:53.621Z,1613456993.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:54.052Z,1613456994.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:54.852Z,1613456994.852 [Micromodem](INFO): Nmea in: $SNTTA,0.069885,,,,062955.12*44

2021-02-16T06:29:54.898Z,1613456994.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 33.867551 deg, deltaT: 4.442663 s, approachRate: 0.607743 m/s, LOS rate: 0.497894 deg/s, posRepo size: 4
2021-02-16T06:29:57.290Z,1613456997.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:29:58.064Z,1613456998.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:29:58.469Z,1613456998.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:29:59.301Z,1613456999.301 [Micromodem](INFO): Nmea in: $SNTTA,0.071739,,,,062959.57*48

2021-02-16T06:29:59.383Z,1613456999.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.760002 m, bearing: 35.239439 deg, deltaT: 4.452884 s, approachRate: 0.619824 m/s, LOS rate: 0.308090 deg/s, posRepo size: 4
2021-02-16T06:30:01.722Z,1613457001.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:02.529Z,1613457002.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:02.919Z,1613457002.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:03.759Z,1613457003.759 [Micromodem](INFO): Nmea in: $SNTTA,0.073816,,,,063004.03*49

2021-02-16T06:30:03.805Z,1613457003.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 34.756159 deg, deltaT: 4.425643 s, approachRate: 0.704983 m/s, LOS rate: -0.109200 deg/s, posRepo size: 4
2021-02-16T06:30:06.209Z,1613457006.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:06.957Z,1613457006.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:07.365Z,1613457007.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:08.199Z,1613457008.199 [Micromodem](INFO): Nmea in: $SNTTA,0.075585,,,,063008.46*45

2021-02-16T06:30:08.263Z,1613457008.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 26.257388 deg, deltaT: 4.501498 s, approachRate: 0.586471 m/s, LOS rate: -1.887987 deg/s, posRepo size: 4
2021-02-16T06:30:10.630Z,1613457010.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:11.410Z,1613457011.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:11.814Z,1613457011.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:12.636Z,1613457012.636 [Micromodem](INFO): Nmea in: $SNTTA,0.077374,,,0.078881,063012.91*5E

2021-02-16T06:30:12.685Z,1613457012.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.160004 m, bearing: 32.954853 deg, deltaT: 4.420028 s, approachRate: 0.597281 m/s, LOS rate: 1.515254 deg/s, posRepo size: 4
2021-02-16T06:30:15.073Z,1613457015.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:15.840Z,1613457015.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:16.267Z,1613457016.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:17.072Z,1613457017.072 [Micromodem](INFO): Nmea in: $SNTTA,0.079212,,0.086606,,063017.34*5B

2021-02-16T06:30:17.097Z,1613457017.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 40.041304 deg, deltaT: 4.412574 s, approachRate: 0.679877 m/s, LOS rate: 1.605968 deg/s, posRepo size: 4
2021-02-16T06:30:19.516Z,1613457019.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:20.289Z,1613457020.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:20.699Z,1613457020.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:21.521Z,1613457021.521 [Micromodem](INFO): Nmea in: $SNTTA,0.081025,,,0.084469,063021.79*5F

2021-02-16T06:30:21.589Z,1613457021.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.680000 m, bearing: 30.775323 deg, deltaT: 4.477218 s, approachRate: 0.562847 m/s, LOS rate: -2.069585 deg/s, posRepo size: 4
2021-02-16T06:30:23.967Z,1613457023.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:24.739Z,1613457024.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:25.134Z,1613457025.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:25.953Z,1613457025.953 [Micromodem](INFO): Nmea in: $SNTTA,0.083010,,,,063026.24*4D

2021-02-16T06:30:26.803Z,1613457026.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:28.363Z,1613457028.363 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:30:29.624Z,1613457029.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:30.386Z,1613457030.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:30.811Z,1613457030.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:31.616Z,1613457031.616 [Micromodem](INFO): Nmea in: $SNTTA,0.085259,,0.088009,,063031.89*52

2021-02-16T06:30:31.655Z,1613457031.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 27.785360 deg, deltaT: 10.099690 s, approachRate: 0.635664 m/s, LOS rate: -0.296045 deg/s, posRepo size: 4
2021-02-16T06:30:34.052Z,1613457034.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:34.842Z,1613457034.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:35.259Z,1613457035.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:36.064Z,1613457036.064 [Micromodem](INFO): Nmea in: $SNTTA,0.087116,,,,063036.35*4F

2021-02-16T06:30:36.094Z,1613457036.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 30.603127 deg, deltaT: 4.413111 s, approachRate: 0.625408 m/s, LOS rate: 0.638499 deg/s, posRepo size: 4
2021-02-16T06:30:38.538Z,1613457038.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:39.278Z,1613457039.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:39.690Z,1613457039.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:40.508Z,1613457040.508 [Micromodem](INFO): Nmea in: $SNTTA,0.088949,,,,063040.78*4A

2021-02-16T06:30:40.573Z,1613457040.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 31.275843 deg, deltaT: 4.452762 s, approachRate: 0.592890 m/s, LOS rate: 0.151078 deg/s, posRepo size: 4
2021-02-16T06:30:42.943Z,1613457042.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:43.716Z,1613457043.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:44.123Z,1613457044.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:44.944Z,1613457044.944 [Micromodem](INFO): Nmea in: $SNTTA,0.090811,,,,063045.22*45

2021-02-16T06:30:44.982Z,1613457044.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 36.174833 deg, deltaT: 4.457182 s, approachRate: 0.646149 m/s, LOS rate: 1.099123 deg/s, posRepo size: 4
2021-02-16T06:30:47.361Z,1613457047.361 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:30:47.376Z,1613457047.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:48.167Z,1613457048.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:48.570Z,1613457048.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:49.400Z,1613457049.400 [Micromodem](INFO): Nmea in: $SNTTA,0.092636,,,,063049.67*41

2021-02-16T06:30:49.633Z,1613457049.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.139999 m, bearing: 35.318710 deg, deltaT: 4.432906 s, approachRate: 0.622615 m/s, LOS rate: -0.193129 deg/s, posRepo size: 4
2021-02-16T06:30:51.518Z,1613457051.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:52.300Z,1613457052.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:52.685Z,1613457052.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:53.536Z,1613457053.536 [Micromodem](INFO): Nmea in: $SNTTA,0.094386,,,,063053.80*4B

2021-02-16T06:30:53.569Z,1613457053.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 37.405012 deg, deltaT: 4.122275 s, approachRate: 0.611314 m/s, LOS rate: 0.506104 deg/s, posRepo size: 4
2021-02-16T06:30:55.942Z,1613457055.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:30:56.724Z,1613457056.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:30:57.130Z,1613457057.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:30:57.952Z,1613457057.952 [Micromodem](INFO): Nmea in: $SNTTA,0.096170,,,,063058.22*41

2021-02-16T06:30:57.991Z,1613457057.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 32.610209 deg, deltaT: 4.448764 s, approachRate: 0.620396 m/s, LOS rate: -1.077783 deg/s, posRepo size: 4
2021-02-16T06:31:00.387Z,1613457060.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:01.176Z,1613457061.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:01.592Z,1613457061.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:02.400Z,1613457062.400 [Micromodem](INFO): Nmea in: $SNTTA,0.097983,,,,063102.68*44

2021-02-16T06:31:02.425Z,1613457062.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 30.166774 deg, deltaT: 4.424439 s, approachRate: 0.623810 m/s, LOS rate: -0.552259 deg/s, posRepo size: 4
2021-02-16T06:31:04.860Z,1613457064.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:05.637Z,1613457065.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:06.019Z,1613457066.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:06.876Z,1613457066.876 [Micromodem](INFO): Nmea in: $SNTTA,0.099869,,,,063107.14*41

2021-02-16T06:31:06.909Z,1613457066.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 36.767711 deg, deltaT: 4.457012 s, approachRate: 0.632709 m/s, LOS rate: 1.481023 deg/s, posRepo size: 4
2021-02-16T06:31:06.909Z,1613457066.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.00 m. Resuming terminal guidance.
2021-02-16T06:31:06.910Z,1613457066.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T06:31:07.299Z,1613457067.299 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:31:09.306Z,1613457069.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:10.056Z,1613457070.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:10.462Z,1613457070.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:11.284Z,1613457071.284 [Micromodem](INFO): Nmea in: $SNTTA,0.101703,,,,063111.56*43

2021-02-16T06:31:11.308Z,1613457071.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.759995 m, bearing: 35.297161 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T06:31:11.309Z,1613457071.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 35.297161deg and heading rate command to 0 deg/s.
2021-02-16T06:31:13.716Z,1613457073.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:14.506Z,1613457074.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:14.906Z,1613457074.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:15.743Z,1613457075.743 [Micromodem](INFO): Nmea in: $SNTTA,0.103532,,,,063116.01*44

2021-02-16T06:31:16.555Z,1613457076.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:17.338Z,1613457077.338 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T06:31:18.134Z,1613457078.134 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:31:19.373Z,1613457079.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:20.160Z,1613457080.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:20.561Z,1613457080.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:21.388Z,1613457081.388 [Micromodem](INFO): Nmea in: $SNTTA,0.105963,,,,063121.66*4F

2021-02-16T06:31:21.412Z,1613457081.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 72.456518 deg, deltaT: 10.086629 s, approachRate: 0.624591 m/s, LOS rate: 3.684021 deg/s, posRepo size: 2
2021-02-16T06:31:21.414Z,1613457081.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 72.456518 deg,
      approachRate: 0.624591 m/s,
      LOS rate: 3.684021 deg/s,
      cmd update: 11.052064 deg/s,
      cmd heading: 35.297161 deg,
      new cmd heading: 35.297161 deg.

2021-02-16T06:31:22.602Z,1613457082.602 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:31:23.832Z,1613457083.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:24.600Z,1613457084.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:25.025Z,1613457085.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:25.832Z,1613457085.832 [Micromodem](INFO): Nmea in: $SNTTA,0.108211,,,,063126.10*4A

2021-02-16T06:31:25.877Z,1613457085.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 89.574325 deg, deltaT: 4.467121 s, approachRate: 0.617846 m/s, LOS rate: 3.831955 deg/s, posRepo size: 3
2021-02-16T06:31:25.883Z,1613457085.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 89.574325 deg,
      approachRate: 0.617846 m/s,
      LOS rate: 3.831955 deg/s,
      cmd update: 11.495866 deg/s,
      cmd heading: 84.503702 deg,
      new cmd heading: 89.055528 deg.

2021-02-16T06:31:28.291Z,1613457088.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:29.044Z,1613457089.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:29.464Z,1613457089.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:30.283Z,1613457090.283 [Micromodem](INFO): Nmea in: $SNTTA,0.109424,,,,063130.54*4C

2021-02-16T06:31:30.308Z,1613457090.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 48.930188 deg, deltaT: 4.414917 s, approachRate: 0.570793 m/s, LOS rate: -9.206093 deg/s, posRepo size: 4
2021-02-16T06:31:30.310Z,1613457090.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 48.930188 deg,
      approachRate: 0.570793 m/s,
      LOS rate: -9.206093 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 135.424386 deg,
      new cmd heading: 140.166799 deg.

2021-02-16T06:31:32.293Z,1613457092.293 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:31:32.695Z,1613457092.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:33.493Z,1613457093.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:33.894Z,1613457093.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:34.725Z,1613457094.725 [Micromodem](INFO): Nmea in: $SNTTA,0.110773,,,,063135.00*41

2021-02-16T06:31:34.803Z,1613457094.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 81.502742 deg, deltaT: 4.457647 s, approachRate: 0.000000 m/s, LOS rate: 7.307118 deg/s, posRepo size: 4
2021-02-16T06:31:34.809Z,1613457094.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 81.502742 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.307118 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 81.976348 deg,
      new cmd heading: 76.533076 deg.

2021-02-16T06:31:37.153Z,1613457097.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:37.937Z,1613457097.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:38.344Z,1613457098.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:39.176Z,1613457099.176 [Micromodem](INFO): Nmea in: $SNTTA,0.111576,,,,063139.44*4B

2021-02-16T06:31:39.207Z,1613457099.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 109.620151 deg, deltaT: 4.467681 s, approachRate: 0.000000 m/s, LOS rate: 6.293513 deg/s, posRepo size: 4
2021-02-16T06:31:39.209Z,1613457099.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 109.620151 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.293513 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 135.587178 deg,
      new cmd heading: 140.269494 deg.

2021-02-16T06:31:41.607Z,1613457101.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:42.378Z,1613457102.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:42.818Z,1613457102.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:43.608Z,1613457103.608 [Micromodem](INFO): Nmea in: $SNTTA,0.112220,,,,063143.88*41

2021-02-16T06:31:43.653Z,1613457103.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 145.827599 deg, deltaT: 4.437199 s, approachRate: 0.905971 m/s, LOS rate: 8.159978 deg/s, posRepo size: 4
2021-02-16T06:31:43.654Z,1613457103.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 145.827599 deg,
      approachRate: 0.905971 m/s,
      LOS rate: 8.159978 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 188.834816 deg,
      new cmd heading: 193.619672 deg.

2021-02-16T06:31:46.057Z,1613457106.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:46.827Z,1613457106.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:47.275Z,1613457107.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:48.052Z,1613457108.052 [Micromodem](INFO): Nmea in: $SNTTA,0.112145,,,,063148.33*4A

2021-02-16T06:31:48.096Z,1613457108.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 139.176593 deg, deltaT: 4.417902 s, approachRate: 0.000000 m/s, LOS rate: -1.505467 deg/s, posRepo size: 4
2021-02-16T06:31:48.098Z,1613457108.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 139.176593 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.505467 deg/s,
      cmd update: -4.516401 deg/s,
      cmd heading: 241.846797 deg,
      new cmd heading: 246.946557 deg.

2021-02-16T06:31:50.486Z,1613457110.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:51.269Z,1613457111.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:51.681Z,1613457111.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:52.496Z,1613457112.496 [Micromodem](INFO): Nmea in: $SNTTA,0.111704,,,,063152.77*41

2021-02-16T06:31:52.534Z,1613457112.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 176.007582 deg, deltaT: 4.458747 s, approachRate: 0.000000 m/s, LOS rate: 8.260390 deg/s, posRepo size: 4
2021-02-16T06:31:52.536Z,1613457112.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 176.007582 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 8.260390 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 221.708435 deg,
      new cmd heading: 219.887065 deg.

2021-02-16T06:31:54.935Z,1613457114.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:31:55.714Z,1613457115.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:31:56.122Z,1613457116.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:31:56.941Z,1613457116.941 [Micromodem](INFO): Nmea in: $SNTTA,0.110775,,,,063157.21*40

2021-02-16T06:31:56.998Z,1613457116.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 107.062573 deg, deltaT: 4.427379 s, approachRate: 0.000000 m/s, LOS rate: -15.572421 deg/s, posRepo size: 4
2021-02-16T06:31:56.998Z,1613457116.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.572421 deg/s. Setting heading cmd to target bearing of 107.062573deg and heading rate command to 0 deg/s.
2021-02-16T06:31:59.377Z,1613457119.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:00.161Z,1613457120.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:00.559Z,1613457120.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:01.384Z,1613457121.384 [Micromodem](INFO): Nmea in: $SNTTA,0.109062,,,,063201.66*4A

2021-02-16T06:32:01.428Z,1613457121.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.559998 m, bearing: 205.216681 deg, deltaT: 4.467239 s, approachRate: -1.074486 m/s, LOS rate: 21.971984 deg/s, posRepo size: 4
2021-02-16T06:32:01.429Z,1613457121.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.971984 deg/s. Setting heading cmd to target bearing of 205.216681deg and heading rate command to 0 deg/s.
2021-02-16T06:32:03.838Z,1613457123.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:04.598Z,1613457124.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:05.014Z,1613457125.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:05.828Z,1613457125.828 [Micromodem](INFO): Nmea in: $SNTTA,0.107199,,,,063206.10*47

2021-02-16T06:32:05.872Z,1613457125.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 205.054846 deg, deltaT: 4.450797 s, approachRate: -0.660553 m/s, LOS rate: -0.036361 deg/s, posRepo size: 4
2021-02-16T06:32:05.873Z,1613457125.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 205.054846 deg,
      approachRate: -0.660553 m/s,
      LOS rate: -0.036361 deg/s,
      cmd update: -0.109082 deg/s,
      cmd heading: 205.216681 deg,
      new cmd heading: 205.216681 deg.

2021-02-16T06:32:08.288Z,1613457128.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:09.046Z,1613457129.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:09.451Z,1613457129.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:10.280Z,1613457130.280 [Micromodem](INFO): Nmea in: $SNTTA,0.104997,,,,063210.55*44

2021-02-16T06:32:10.328Z,1613457130.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 204.376732 deg, deltaT: 4.415948 s, approachRate: -0.760879 m/s, LOS rate: -0.153560 deg/s, posRepo size: 4
2021-02-16T06:32:10.330Z,1613457130.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 204.376732 deg,
      approachRate: -0.760879 m/s,
      LOS rate: -0.153560 deg/s,
      cmd update: -0.460681 deg/s,
      cmd heading: 204.734534 deg,
      new cmd heading: 204.687391 deg.

2021-02-16T06:32:12.692Z,1613457132.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:13.484Z,1613457133.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:13.913Z,1613457133.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:14.720Z,1613457134.720 [Micromodem](INFO): Nmea in: $SNTTA,0.102648,,,,063214.99*4B

2021-02-16T06:32:14.774Z,1613457134.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.840012 m, bearing: 203.187036 deg, deltaT: 4.443314 s, approachRate: -0.769695 m/s, LOS rate: -0.267750 deg/s, posRepo size: 4
2021-02-16T06:32:14.797Z,1613457134.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.840012 m,
      bearing: 203.187036 deg,
      approachRate: -0.769695 m/s,
      LOS rate: -0.267750 deg/s,
      cmd update: -0.803249 deg/s,
      cmd heading: 202.687558 deg,
      new cmd heading: 202.489094 deg.

2021-02-16T06:32:17.209Z,1613457137.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:17.932Z,1613457137.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:18.336Z,1613457138.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:19.169Z,1613457139.169 [Micromodem](INFO): Nmea in: $SNTTA,0.100015,,,,063219.43*4D

2021-02-16T06:32:19.259Z,1613457139.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 202.498252 deg, deltaT: 4.471246 s, approachRate: -0.885661 m/s, LOS rate: -0.154047 deg/s, posRepo size: 4
2021-02-16T06:32:19.266Z,1613457139.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.880005 m,
      bearing: 202.498252 deg,
      approachRate: -0.885661 m/s,
      LOS rate: -0.154047 deg/s,
      cmd update: -0.462142 deg/s,
      cmd heading: 199.099168 deg,
      new cmd heading: 198.735903 deg.

2021-02-16T06:32:21.609Z,1613457141.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:22.377Z,1613457142.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:22.804Z,1613457142.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:23.604Z,1613457143.604 [Micromodem](INFO): Nmea in: $SNTTA,0.097482,,,,063223.88*46

2021-02-16T06:32:23.645Z,1613457143.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.039993 m, bearing: 202.666165 deg, deltaT: 4.445089 s, approachRate: -0.863877 m/s, LOS rate: 0.037775 deg/s, posRepo size: 4
2021-02-16T06:32:23.647Z,1613457143.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.039993 m,
      bearing: 202.666165 deg,
      approachRate: -0.863877 m/s,
      LOS rate: 0.037775 deg/s,
      cmd update: 0.113325 deg/s,
      cmd heading: 197.045954 deg,
      new cmd heading: 196.862997 deg.

2021-02-16T06:32:26.045Z,1613457146.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:26.816Z,1613457146.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:27.270Z,1613457147.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:28.056Z,1613457148.056 [Micromodem](INFO): Nmea in: $SNTTA,0.094919,,,0.097426,063228.32*50

2021-02-16T06:32:28.089Z,1613457148.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 203.015215 deg, deltaT: 4.401820 s, approachRate: -0.872366 m/s, LOS rate: 0.079297 deg/s, posRepo size: 4
2021-02-16T06:32:28.090Z,1613457148.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.199997 m,
      bearing: 203.015215 deg,
      approachRate: -0.872366 m/s,
      LOS rate: 0.079297 deg/s,
      cmd update: 0.237890 deg/s,
      cmd heading: 197.543675 deg,
      new cmd heading: 197.594393 deg.

2021-02-16T06:32:30.484Z,1613457150.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:31.267Z,1613457151.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:31.681Z,1613457151.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:32.492Z,1613457152.492 [Micromodem](INFO): Nmea in: $SNTTA,0.092493,,,,063232.77*43

2021-02-16T06:32:32.544Z,1613457152.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.540009 m, bearing: 202.904115 deg, deltaT: 4.480640 s, approachRate: -0.816845 m/s, LOS rate: -0.024796 deg/s, posRepo size: 4
2021-02-16T06:32:32.546Z,1613457152.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.540009 m,
      bearing: 202.904115 deg,
      approachRate: -0.816845 m/s,
      LOS rate: -0.024796 deg/s,
      cmd update: -0.074387 deg/s,
      cmd heading: 198.612422 deg,
      new cmd heading: 198.709070 deg.

2021-02-16T06:32:34.929Z,1613457154.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:35.704Z,1613457155.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:36.110Z,1613457156.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:36.932Z,1613457156.932 [Micromodem](INFO): Nmea in: $SNTTA,0.090061,,,,063237.20*4F

2021-02-16T06:32:36.957Z,1613457156.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 203.018494 deg, deltaT: 4.423375 s, approachRate: -0.827423 m/s, LOS rate: 0.025858 deg/s, posRepo size: 4
2021-02-16T06:32:36.979Z,1613457156.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.880005 m,
      bearing: 203.018494 deg,
      approachRate: -0.827423 m/s,
      LOS rate: 0.025858 deg/s,
      cmd update: 0.077573 deg/s,
      cmd heading: 198.283381 deg,
      new cmd heading: 198.253606 deg.

2021-02-16T06:32:37.363Z,1613457157.363 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T06:32:37.364Z,1613457157.364 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T06:32:37.364Z,1613457157.364 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T06:32:37.364Z,1613457157.364 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T06:32:37.364Z,1613457157.364 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T06:32:37.364Z,1613457157.364 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T06:32:37.365Z,1613457157.365 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T06:32:37.365Z,1613457157.365 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T06:32:37.365Z,1613457157.365 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T06:32:37.366Z,1613457157.366 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T06:32:37.368Z,1613457157.368 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613451758.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T06:32:37.368Z,1613457157.368 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T06:32:39.401Z,1613457159.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:40.151Z,1613457160.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:40.583Z,1613457160.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:41.396Z,1613457161.396 [Micromodem](INFO): Nmea in: $SNTTA,0.087339,,,,063241.65*47

2021-02-16T06:32:41.434Z,1613457161.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 202.194131 deg, deltaT: 4.460561 s, approachRate: -0.914684 m/s, LOS rate: -0.184811 deg/s, posRepo size: 4
2021-02-16T06:32:41.436Z,1613457161.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.800003 m,
      bearing: 202.194131 deg,
      approachRate: -0.914684 m/s,
      LOS rate: -0.184811 deg/s,
      cmd update: -0.554434 deg/s,
      cmd heading: 198.629729 deg,
      new cmd heading: 198.661664 deg.

2021-02-16T06:32:43.856Z,1613457163.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:44.630Z,1613457164.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:45.022Z,1613457165.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:45.864Z,1613457165.864 [Micromodem](INFO): Nmea in: $SNTTA,0.084851,,,,063246.13*47

2021-02-16T06:32:45.907Z,1613457165.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 200.713756 deg, deltaT: 4.433806 s, approachRate: -0.839009 m/s, LOS rate: -0.333884 deg/s, posRepo size: 4
2021-02-16T06:32:45.909Z,1613457165.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.080002 m,
      bearing: 200.713756 deg,
      approachRate: -0.839009 m/s,
      LOS rate: -0.333884 deg/s,
      cmd update: -1.001651 deg/s,
      cmd heading: 196.171552 deg,
      new cmd heading: 195.921212 deg.

2021-02-16T06:32:48.292Z,1613457168.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:49.072Z,1613457169.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:49.466Z,1613457169.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:50.340Z,1613457170.340 [Micromodem](INFO): Nmea in: $SNTTA,0.082274,,,,063250.57*4B

2021-02-16T06:32:50.404Z,1613457170.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.299995 m, bearing: 200.372615 deg, deltaT: 4.436197 s, approachRate: -0.852083 m/s, LOS rate: -0.076899 deg/s, posRepo size: 4
2021-02-16T06:32:50.406Z,1613457170.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.299995 m,
      bearing: 200.372615 deg,
      approachRate: -0.852083 m/s,
      LOS rate: -0.076899 deg/s,
      cmd update: -0.230698 deg/s,
      cmd heading: 191.728133 deg,
      new cmd heading: 191.223281 deg.

2021-02-16T06:32:52.711Z,1613457172.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:53.504Z,1613457173.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:53.912Z,1613457173.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:54.743Z,1613457174.743 [Micromodem](INFO): Nmea in: $SNTTA,0.079702,,,0.082183,063255.01*53

2021-02-16T06:32:54.765Z,1613457174.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.340004 m, bearing: 201.694530 deg, deltaT: 4.458150 s, approachRate: -0.888259 m/s, LOS rate: 0.296516 deg/s, posRepo size: 4
2021-02-16T06:32:54.771Z,1613457174.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.340004 m,
      bearing: 201.694530 deg,
      approachRate: -0.888259 m/s,
      LOS rate: 0.296516 deg/s,
      cmd update: 0.889549 deg/s,
      cmd heading: 190.699605 deg,
      new cmd heading: 190.603815 deg.

2021-02-16T06:32:57.225Z,1613457177.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:32:57.949Z,1613457177.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:32:58.369Z,1613457178.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:32:59.186Z,1613457179.186 [Micromodem](INFO): Nmea in: $SNTTA,0.077228,,,,063259.45*42

2021-02-16T06:32:59.273Z,1613457179.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 202.141757 deg, deltaT: 4.451453 s, approachRate: -0.835682 m/s, LOS rate: 0.100468 deg/s, posRepo size: 4
2021-02-16T06:32:59.275Z,1613457179.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.620003 m,
      bearing: 202.141757 deg,
      approachRate: -0.835682 m/s,
      LOS rate: 0.100468 deg/s,
      cmd update: 0.301403 deg/s,
      cmd heading: 194.635123 deg,
      new cmd heading: 195.077170 deg.

2021-02-16T06:33:01.646Z,1613457181.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:02.393Z,1613457182.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:02.826Z,1613457182.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:03.624Z,1613457183.624 [Micromodem](INFO): Nmea in: $SNTTA,0.074725,,,,063303.89*47

2021-02-16T06:33:03.666Z,1613457183.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.900009 m, bearing: 202.662723 deg, deltaT: 4.463567 s, approachRate: -0.833413 m/s, LOS rate: 0.116715 deg/s, posRepo size: 4
2021-02-16T06:33:03.672Z,1613457183.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 202.662723 deg,
      approachRate: -0.833413 m/s,
      LOS rate: 0.116715 deg/s,
      cmd update: 0.350145 deg/s,
      cmd heading: 195.988691 deg,
      new cmd heading: 196.109570 deg.

2021-02-16T06:33:06.062Z,1613457186.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:06.841Z,1613457186.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:07.241Z,1613457187.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:08.068Z,1613457188.068 [Micromodem](INFO): Nmea in: $SNTTA,0.072254,,,,063308.34*4F

2021-02-16T06:33:08.092Z,1613457188.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.180008 m, bearing: 203.059980 deg, deltaT: 4.408209 s, approachRate: -0.843880 m/s, LOS rate: 0.090118 deg/s, posRepo size: 4
2021-02-16T06:33:08.094Z,1613457188.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.180008 m,
      bearing: 203.059980 deg,
      approachRate: -0.843880 m/s,
      LOS rate: 0.090118 deg/s,
      cmd update: 0.270353 deg/s,
      cmd heading: 197.532140 deg,
      new cmd heading: 197.678977 deg.

2021-02-16T06:33:09.712Z,1613457189.712 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T06:33:10.133Z,1613457190.133 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T06:33:10.133Z,1613457190.133 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T06:33:10.133Z,1613457190.133 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T06:33:10.133Z,1613457190.133 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T06:33:10.133Z,1613457190.133 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T06:33:10.134Z,1613457190.134 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T06:33:10.134Z,1613457190.134 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T06:33:10.137Z,1613457190.137 [lineCaptureDepth:NeedComms:C](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-16T06:33:10.191Z,1613457190.191 [Radio_Surface](INFO): Powering up
2021-02-16T06:33:10.513Z,1613457190.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:11.282Z,1613457191.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:11.687Z,1613457191.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:12.516Z,1613457192.516 [Micromodem](INFO): Nmea in: $SNTTA,0.069737,,,,063312.78*46

2021-02-16T06:33:12.554Z,1613457192.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 205.272224 deg, deltaT: 4.489261 s, approachRate: -0.842011 m/s, LOS rate: 0.492786 deg/s, posRepo size: 4
2021-02-16T06:33:12.556Z,1613457192.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 205.272224 deg,
      approachRate: -0.842011 m/s,
      LOS rate: 0.492786 deg/s,
      cmd update: 1.478357 deg/s,
      cmd heading: 198.741404 deg,
      new cmd heading: 198.851838 deg.

2021-02-16T06:33:14.961Z,1613457194.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:15.725Z,1613457195.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:15.771Z,1613457195.771 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T06:33:16.153Z,1613457196.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:16.956Z,1613457196.956 [Micromodem](INFO): Nmea in: $SNTTA,0.067745,,,,063317.23*46

2021-02-16T06:33:17.010Z,1613457197.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.459999 m, bearing: 201.922740 deg, deltaT: 4.392269 s, approachRate: -0.669358 m/s, LOS rate: -0.762586 deg/s, posRepo size: 4
2021-02-16T06:33:17.016Z,1613457197.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.459999 m,
      bearing: 201.922740 deg,
      approachRate: -0.669358 m/s,
      LOS rate: -0.762586 deg/s,
      cmd update: -2.287759 deg/s,
      cmd heading: 205.260017 deg,
      new cmd heading: 205.932375 deg.

2021-02-16T06:33:19.375Z,1613457199.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:20.184Z,1613457200.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:20.574Z,1613457200.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:21.412Z,1613457201.412 [Micromodem](INFO): Nmea in: $SNTTA,0.066249,,0.067418,,063321.68*56

2021-02-16T06:33:21.461Z,1613457201.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.180000 m, bearing: 203.728055 deg, deltaT: 4.466546 s, approachRate: -0.510461 m/s, LOS rate: 0.404186 deg/s, posRepo size: 4
2021-02-16T06:33:21.462Z,1613457201.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 203.728055 deg,
      approachRate: -0.510461 m/s,
      LOS rate: 0.404186 deg/s,
      cmd update: 1.212558 deg/s,
      cmd heading: 195.078230 deg,
      new cmd heading: 194.038096 deg.

2021-02-16T06:33:23.867Z,1613457203.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:24.614Z,1613457204.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:25.020Z,1613457205.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:25.852Z,1613457205.852 [Micromodem](INFO): Nmea in: $SNTTA,0.064875,,,,063326.11*4A

2021-02-16T06:33:25.878Z,1613457205.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 203.191106 deg, deltaT: 4.440970 s, approachRate: -0.472868 m/s, LOS rate: -0.120908 deg/s, posRepo size: 4
2021-02-16T06:33:25.880Z,1613457205.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 203.191106 deg,
      approachRate: -0.472868 m/s,
      LOS rate: -0.120908 deg/s,
      cmd update: -0.362724 deg/s,
      cmd heading: 200.482559 deg,
      new cmd heading: 200.985676 deg.

2021-02-16T06:33:27.519Z,1613457207.519 [BuoyancyServo](FAULT): Overload Error
2021-02-16T06:33:27.519Z,1613457207.519 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T06:33:27.519Z,1613457207.519 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T06:33:27.623Z,1613457207.623 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T06:33:28.268Z,1613457208.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:29.062Z,1613457209.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:29.467Z,1613457209.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:29.502Z,1613457209.502 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T06:33:29.502Z,1613457209.502 [BuoyancyServo](INFO): Powering down
2021-02-16T06:33:29.867Z,1613457209.867 [NAL9602](INFO): SBD MO Status=2, MOMSN=13399, MT Status=2, MTMSN=0
2021-02-16T06:33:29.867Z,1613457209.867 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:33:30.296Z,1613457210.296 [Micromodem](INFO): Nmea in: $SNTTA,0.063667,,,,063330.56*44

2021-02-16T06:33:30.333Z,1613457210.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 201.904162 deg, deltaT: 4.471966 s, approachRate: -0.402510 m/s, LOS rate: -0.287780 deg/s, posRepo size: 4
2021-02-16T06:33:30.335Z,1613457210.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 201.904162 deg,
      approachRate: -0.402510 m/s,
      LOS rate: -0.287780 deg/s,
      cmd update: -0.863341 deg/s,
      cmd heading: 198.863364 deg,
      new cmd heading: 198.715860 deg.

2021-02-16T06:33:30.399Z,1613457210.399 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T06:33:30.399Z,1613457210.399 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T06:33:30.724Z,1613457210.724 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:33:30.725Z,1613457210.725 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T06:33:32.706Z,1613457212.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:33.505Z,1613457213.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:33.908Z,1613457213.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:34.732Z,1613457214.732 [Micromodem](INFO): Nmea in: $SNTTA,0.062616,,,,063335.00*45

2021-02-16T06:33:34.778Z,1613457214.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 203.076086 deg, deltaT: 4.423828 s, approachRate: -0.352635 m/s, LOS rate: 0.264912 deg/s, posRepo size: 4
2021-02-16T06:33:34.780Z,1613457214.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.720001 m,
      bearing: 203.076086 deg,
      approachRate: -0.352635 m/s,
      LOS rate: 0.264912 deg/s,
      cmd update: 0.794735 deg/s,
      cmd heading: 195.037216 deg,
      new cmd heading: 194.675026 deg.

2021-02-16T06:33:37.186Z,1613457217.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:37.946Z,1613457217.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:38.361Z,1613457218.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:39.192Z,1613457219.192 [Micromodem](INFO): Nmea in: $SNTTA,0.061602,,0.062745,,063339.44*53

2021-02-16T06:33:39.216Z,1613457219.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 201.638796 deg, deltaT: 4.482524 s, approachRate: -0.334633 m/s, LOS rate: -0.320643 deg/s, posRepo size: 4
2021-02-16T06:33:39.218Z,1613457219.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.220001 m,
      bearing: 201.638796 deg,
      approachRate: -0.334633 m/s,
      LOS rate: -0.320643 deg/s,
      cmd update: -0.961929 deg/s,
      cmd heading: 198.599662 deg,
      new cmd heading: 198.897900 deg.

2021-02-16T06:33:41.197Z,1613457221.197 [NAL9602](INFO): SBD MO Status=1, MOMSN=13399, MT Status=0, MTMSN=0
2021-02-16T06:33:41.198Z,1613457221.198 [NAL9602](INFO): No messages in MT queue
2021-02-16T06:33:41.600Z,1613457221.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:42.394Z,1613457222.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:42.824Z,1613457222.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:43.620Z,1613457223.620 [Micromodem](INFO): Nmea in: $SNTTA,0.060714,,,,063343.89*44

2021-02-16T06:33:43.657Z,1613457223.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 202.636918 deg, deltaT: 4.447808 s, approachRate: -0.310265 m/s, LOS rate: 0.224408 deg/s, posRepo size: 4
2021-02-16T06:33:43.659Z,1613457223.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.840004 m,
      bearing: 202.636918 deg,
      approachRate: -0.310265 m/s,
      LOS rate: 0.224408 deg/s,
      cmd update: 0.673223 deg/s,
      cmd heading: 194.324987 deg,
      new cmd heading: 193.966873 deg.

2021-02-16T06:33:45.899Z,1613457225.899 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T06:33:46.068Z,1613457226.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:46.837Z,1613457226.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:47.256Z,1613457227.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:48.068Z,1613457228.068 [Micromodem](INFO): Nmea in: $SNTTA,0.059936,,,,063348.34*4D

2021-02-16T06:33:48.112Z,1613457228.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.760002 m, bearing: 200.767359 deg, deltaT: 4.400380 s, approachRate: -0.245434 m/s, LOS rate: -0.424863 deg/s, posRepo size: 4
2021-02-16T06:33:48.114Z,1613457228.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.760002 m,
      bearing: 200.767359 deg,
      approachRate: -0.245434 m/s,
      LOS rate: -0.424863 deg/s,
      cmd update: -1.274589 deg/s,
      cmd heading: 197.290011 deg,
      new cmd heading: 197.574404 deg.

2021-02-16T06:33:48.474Z,1613457228.474 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063349.00,A,4133.18238,N,07042.49700,W,0.680,0.00,160221,,,A*71
2021-02-16T06:33:48.476Z,1613457228.476 [NAL9602](INFO): GPS fix at 20210216T063349: (41.553040, -70.708283)
2021-02-16T06:33:48.492Z,1613457228.492 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T06:33:48.492Z,1613457228.492 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T06:33:48.536Z,1613457228.536 [BuoyancyServo](FAULT): Overload Error
2021-02-16T06:33:48.536Z,1613457228.536 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T06:33:48.537Z,1613457228.537 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T06:33:48.615Z,1613457228.615 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T06:33:48.931Z,1613457228.931 [lineCaptureDepth:NeedComms:D](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-02-16T06:33:50.531Z,1613457230.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:50.540Z,1613457230.540 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T06:33:50.540Z,1613457230.540 [BuoyancyServo](INFO): Powering down
2021-02-16T06:33:51.287Z,1613457231.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:51.466Z,1613457231.466 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T06:33:51.466Z,1613457231.466 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T06:33:51.688Z,1613457231.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:51.742Z,1613457231.742 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:33:51.743Z,1613457231.743 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T06:33:52.521Z,1613457232.521 [Micromodem](INFO): Nmea in: $SNTTA,0.059207,,,,063352.79*46

2021-02-16T06:33:52.578Z,1613457232.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.620010 m, bearing: 199.224474 deg, deltaT: 4.450704 s, approachRate: -0.256137 m/s, LOS rate: -0.346661 deg/s, posRepo size: 4
2021-02-16T06:33:52.584Z,1613457232.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.620010 m,
      bearing: 199.224474 deg,
      approachRate: -0.256137 m/s,
      LOS rate: -0.346661 deg/s,
      cmd update: -1.039983 deg/s,
      cmd heading: 191.617025 deg,
      new cmd heading: 191.059313 deg.

2021-02-16T06:33:54.947Z,1613457234.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:33:55.729Z,1613457235.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:33:56.130Z,1613457236.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:33:56.960Z,1613457236.960 [Micromodem](INFO): Nmea in: $SNTTA,0.058533,,,,063357.23*4D

2021-02-16T06:33:56.985Z,1613457236.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.600006 m, bearing: 201.078105 deg, deltaT: 4.415056 s, approachRate: -0.231029 m/s, LOS rate: 0.419843 deg/s, posRepo size: 4
2021-02-16T06:33:56.987Z,1613457236.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.600006 m,
      bearing: 201.078105 deg,
      approachRate: -0.231029 m/s,
      LOS rate: 0.419843 deg/s,
      cmd update: 1.259530 deg/s,
      cmd heading: 187.025490 deg,
      new cmd heading: 186.578655 deg.

2021-02-16T06:33:59.800Z,1613457239.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:02.191Z,1613457242.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:02.579Z,1613457242.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:02.630Z,1613457242.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:03.424Z,1613457243.424 [Micromodem](INFO): Nmea in: $SNTTA,0.057698,,,,063403.69*48

2021-02-16T06:34:03.458Z,1613457243.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 201.460145 deg, deltaT: 6.451011 s, approachRate: -0.195319 m/s, LOS rate: 0.059222 deg/s, posRepo size: 4
2021-02-16T06:34:03.460Z,1613457243.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 201.460145 deg,
      approachRate: -0.195319 m/s,
      LOS rate: 0.059222 deg/s,
      cmd update: 0.177665 deg/s,
      cmd heading: 195.150521 deg,
      new cmd heading: 195.719762 deg.

2021-02-16T06:34:05.832Z,1613457245.832 [NAL9602](INFO): SBD MO Status=1, MOMSN=13400, MT Status=0, MTMSN=0
2021-02-16T06:34:05.875Z,1613457245.875 [NAL9602](INFO): Sent 88 bytes from file Logs/20210216T042015/Courier0040.lzma
2021-02-16T06:34:05.875Z,1613457245.875 [NAL9602](INFO): Packets left to send: 0
2021-02-16T06:34:05.902Z,1613457245.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:06.617Z,1613457246.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:07.023Z,1613457247.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:09.099Z,1613457249.099 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:34:09.112Z,1613457249.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:09.257Z,1613457249.257 [Micromodem](INFO): Nmea in: $SNTTA,0.057198,,,,063408.12*48

2021-02-16T06:34:09.700Z,1613457249.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.559998 m, bearing: 202.244770 deg, deltaT: 6.265389 s, approachRate: -0.124494 m/s, LOS rate: 0.125232 deg/s, posRepo size: 4
2021-02-16T06:34:09.702Z,1613457249.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.559998 m,
      bearing: 202.244770 deg,
      approachRate: -0.124494 m/s,
      LOS rate: 0.125232 deg/s,
      cmd update: 0.375695 deg/s,
      cmd heading: 196.263691 deg,
      new cmd heading: 196.339744 deg.

2021-02-16T06:34:09.759Z,1613457249.759 [BuoyancyServo](FAULT): Overload Error
2021-02-16T06:34:09.759Z,1613457249.759 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T06:34:09.759Z,1613457249.759 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T06:34:09.831Z,1613457249.831 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T06:34:11.707Z,1613457251.707 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T06:34:11.707Z,1613457251.707 [BuoyancyServo](INFO): Powering down
2021-02-16T06:34:12.113Z,1613457252.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:12.575Z,1613457252.575 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T06:34:12.575Z,1613457252.575 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T06:34:12.886Z,1613457252.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:13.014Z,1613457253.014 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:34:13.019Z,1613457253.019 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T06:34:13.287Z,1613457253.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:14.112Z,1613457254.112 [Micromodem](INFO): Nmea in: $SNTTA,0.056535,,,,063414.39*4E

2021-02-16T06:34:14.136Z,1613457254.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 202.575215 deg, deltaT: 4.455371 s, approachRate: -0.215470 m/s, LOS rate: 0.074168 deg/s, posRepo size: 4
2021-02-16T06:34:14.138Z,1613457254.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 202.575215 deg,
      approachRate: -0.215470 m/s,
      LOS rate: 0.074168 deg/s,
      cmd update: 0.222503 deg/s,
      cmd heading: 197.936977 deg,
      new cmd heading: 198.091434 deg.

2021-02-16T06:34:16.514Z,1613457256.514 [NAL9602](INFO): SBD MO Status=1, MOMSN=13401, MT Status=0, MTMSN=0
2021-02-16T06:34:16.563Z,1613457256.563 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0026.lzma
2021-02-16T06:34:16.563Z,1613457256.563 [NAL9602](INFO): Packets left to send: 4
2021-02-16T06:34:16.598Z,1613457256.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:17.321Z,1613457257.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:19.373Z,1613457259.373 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:34:19.387Z,1613457259.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:19.543Z,1613457259.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:20.000Z,1613457260.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.940002 m, bearing: 196.343131 deg, deltaT: 5.894709 s, approachRate: -0.111964 m/s, LOS rate: -1.057233 deg/s, posRepo size: 4
2021-02-16T06:34:20.002Z,1613457260.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 196.343131 deg,
      approachRate: -0.111964 m/s,
      LOS rate: -1.057233 deg/s,
      cmd update: -3.171700 deg/s,
      cmd heading: 199.247093 deg,
      new cmd heading: 199.333213 deg.

2021-02-16T06:34:21.039Z,1613457261.039 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T06:34:22.415Z,1613457262.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:23.186Z,1613457263.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:23.575Z,1613457263.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:24.408Z,1613457264.408 [Micromodem](INFO): Nmea in: $SNTTA,0.055695,,,,063424.69*42

2021-02-16T06:34:24.467Z,1613457264.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 198.176409 deg, deltaT: 4.380421 s, approachRate: -0.136973 m/s, LOS rate: 0.418516 deg/s, posRepo size: 4
2021-02-16T06:34:24.472Z,1613457264.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.340004 m,
      bearing: 198.176409 deg,
      approachRate: -0.136973 m/s,
      LOS rate: 0.418516 deg/s,
      cmd update: 1.255549 deg/s,
      cmd heading: 185.327745 deg,
      new cmd heading: 183.854491 deg.

2021-02-16T06:34:25.213Z,1613457265.213 [NAL9602](INFO): SBD MO Status=1, MOMSN=13402, MT Status=0, MTMSN=0
2021-02-16T06:34:25.266Z,1613457265.266 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0026.lzma
2021-02-16T06:34:25.266Z,1613457265.266 [NAL9602](INFO): Packets left to send: 3
2021-02-16T06:34:28.101Z,1613457268.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:28.625Z,1613457268.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:29.029Z,1613457269.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:29.856Z,1613457269.856 [Micromodem](INFO): Nmea in: $SNTTA,0.055292,,,,063430.12*48

2021-02-16T06:34:29.909Z,1613457269.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 201.595793 deg, deltaT: 5.460940 s, approachRate: -0.109872 m/s, LOS rate: 0.626153 deg/s, posRepo size: 4
2021-02-16T06:34:29.911Z,1613457269.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.739998 m,
      bearing: 201.595793 deg,
      approachRate: -0.109872 m/s,
      LOS rate: 0.626153 deg/s,
      cmd update: 1.878459 deg/s,
      cmd heading: 192.164049 deg,
      new cmd heading: 192.744428 deg.

2021-02-16T06:34:30.739Z,1613457270.739 [BuoyancyServo](FAULT): Overload Error
2021-02-16T06:34:30.739Z,1613457270.739 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T06:34:30.739Z,1613457270.739 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T06:34:30.843Z,1613457270.843 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T06:34:32.285Z,1613457272.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:32.703Z,1613457272.703 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T06:34:32.703Z,1613457272.703 [BuoyancyServo](INFO): Powering down
2021-02-16T06:34:33.070Z,1613457273.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:33.484Z,1613457273.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:33.619Z,1613457273.619 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T06:34:33.619Z,1613457273.619 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T06:34:33.957Z,1613457273.957 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:34:33.963Z,1613457273.963 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T06:34:34.341Z,1613457274.341 [Micromodem](INFO): Nmea in: $SNTTA,0.054950,,0.057714,0.057464,063434.57*4D

2021-02-16T06:34:34.365Z,1613457274.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 206.403508 deg, deltaT: 4.465405 s, approachRate: -0.120928 m/s, LOS rate: 1.076658 deg/s, posRepo size: 4
2021-02-16T06:34:34.366Z,1613457274.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.200005 m,
      bearing: 206.403508 deg,
      approachRate: -0.120928 m/s,
      LOS rate: 1.076658 deg/s,
      cmd update: 3.229975 deg/s,
      cmd heading: 200.581592 deg,
      new cmd heading: 201.401847 deg.

2021-02-16T06:34:36.730Z,1613457276.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:37.524Z,1613457277.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:37.936Z,1613457277.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:38.744Z,1613457278.744 [Micromodem](INFO): Nmea in: $SNTTA,0.054626,,,,063439.02*4A

2021-02-16T06:34:38.806Z,1613457278.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.839996 m, bearing: 186.812490 deg, deltaT: 4.425264 s, approachRate: -0.081353 m/s, LOS rate: -4.427084 deg/s, posRepo size: 4
2021-02-16T06:34:38.828Z,1613457278.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.839996 m,
      bearing: 186.812490 deg,
      approachRate: -0.081353 m/s,
      LOS rate: -4.427084 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.812793 deg,
      new cmd heading: 216.325423 deg.

2021-02-16T06:34:41.542Z,1613457281.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:42.080Z,1613457282.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:42.497Z,1613457282.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:43.313Z,1613457283.313 [Micromodem](INFO): Nmea in: $SNTTA,0.054297,,0.066066,0.074629,063443.58*48

2021-02-16T06:34:43.350Z,1613457283.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 99.355408 deg, deltaT: 4.587609 s, approachRate: -0.091551 m/s, LOS rate: -19.063761 deg/s, posRepo size: 4
2021-02-16T06:34:43.351Z,1613457283.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.063761 deg/s. Setting heading cmd to target bearing of 99.355408deg and heading rate command to 0 deg/s.
2021-02-16T06:34:45.744Z,1613457285.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:46.528Z,1613457286.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:46.935Z,1613457286.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:47.768Z,1613457287.768 [Micromodem](INFO): Nmea in: $SNTTA,0.053932,,,,063448.03*40

2021-02-16T06:34:47.836Z,1613457287.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 89.292484 deg, deltaT: 4.473639 s, approachRate: -0.120706 m/s, LOS rate: -2.249382 deg/s, posRepo size: 4
2021-02-16T06:34:47.837Z,1613457287.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.880005 m,
      bearing: 89.292484 deg,
      approachRate: -0.120706 m/s,
      LOS rate: -2.249382 deg/s,
      cmd update: -6.748147 deg/s,
      cmd heading: 99.355408 deg,
      new cmd heading: 99.355408 deg.

2021-02-16T06:34:48.167Z,1613457288.167 [NAL9602](INFO): SBD MO Status=2, MOMSN=13403, MT Status=2, MTMSN=0
2021-02-16T06:34:48.167Z,1613457288.167 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:34:50.234Z,1613457290.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:50.968Z,1613457290.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:51.132Z,1613457291.132 [BuoyancyServo](FAULT): Overload Error
2021-02-16T06:34:51.132Z,1613457291.132 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T06:34:51.132Z,1613457291.132 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T06:34:51.210Z,1613457291.210 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T06:34:51.379Z,1613457291.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:52.212Z,1613457292.212 [Micromodem](INFO): Nmea in: $SNTTA,0.053505,,0.086973,,063452.47*5E

2021-02-16T06:34:52.259Z,1613457292.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 84.969917 deg, deltaT: 4.442966 s, approachRate: -0.135046 m/s, LOS rate: -0.972901 deg/s, posRepo size: 4
2021-02-16T06:34:52.261Z,1613457292.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.279999 m,
      bearing: 84.969917 deg,
      approachRate: -0.135046 m/s,
      LOS rate: -0.972901 deg/s,
      cmd update: -2.918704 deg/s,
      cmd heading: 69.068968 deg,
      new cmd heading: 66.373057 deg.

2021-02-16T06:34:53.202Z,1613457293.202 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T06:34:53.202Z,1613457293.202 [BuoyancyServo](INFO): Powering down
2021-02-16T06:34:55.529Z,1613457295.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:34:55.538Z,1613457295.538 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent.
2021-02-16T06:34:55.785Z,1613457295.785 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T06:34:55.785Z,1613457295.785 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T06:34:56.031Z,1613457296.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:34:56.188Z,1613457296.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T06:34:56.193Z,1613457296.193 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T06:34:56.200Z,1613457296.200 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T06:34:56.433Z,1613457296.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:34:57.260Z,1613457297.260 [Micromodem](INFO): Nmea in: $SNTTA,0.053183,,,,063457.53*49

2021-02-16T06:34:57.301Z,1613457297.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 121.478152 deg, deltaT: 5.030543 s, approachRate: -0.095418 m/s, LOS rate: 7.257315 deg/s, posRepo size: 4
2021-02-16T06:34:57.303Z,1613457297.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.799995 m,
      bearing: 121.478152 deg,
      approachRate: -0.095418 m/s,
      LOS rate: 7.257315 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 54.379004 deg,
      new cmd heading: 53.174893 deg.

2021-02-16T06:34:57.673Z,1613457297.673 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:34:59.711Z,1613457299.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:00.472Z,1613457300.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:00.883Z,1613457300.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:01.705Z,1613457301.705 [Micromodem](INFO): Nmea in: $SNTTA,0.052824,0.072230,,,063501.97*5C

2021-02-16T06:35:01.747Z,1613457301.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.260002 m, bearing: 168.741162 deg, deltaT: 4.416836 s, approachRate: -0.122258 m/s, LOS rate: 10.700649 deg/s, posRepo size: 4
2021-02-16T06:35:01.749Z,1613457301.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.260002 m,
      bearing: 168.741162 deg,
      approachRate: -0.122258 m/s,
      LOS rate: 10.700649 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 107.376934 deg,
      new cmd heading: 112.436338 deg.

2021-02-16T06:35:04.155Z,1613457304.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:04.931Z,1613457304.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:05.321Z,1613457305.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:06.161Z,1613457306.161 [Micromodem](INFO): Nmea in: $SNTTA,0.052398,,0.062984,,063506.43*5B

2021-02-16T06:35:06.212Z,1613457306.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.660004 m, bearing: 163.984974 deg, deltaT: 4.435156 s, approachRate: -0.135282 m/s, LOS rate: -1.072384 deg/s, posRepo size: 4
2021-02-16T06:35:06.213Z,1613457306.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.660004 m,
      bearing: 163.984974 deg,
      approachRate: -0.135282 m/s,
      LOS rate: -1.072384 deg/s,
      cmd update: -3.217151 deg/s,
      cmd heading: 160.603079 deg,
      new cmd heading: 166.253375 deg.

2021-02-16T06:35:06.955Z,1613457306.955 [NAL9602](INFO): SBD MO Status=2, MOMSN=13403, MT Status=2, MTMSN=0
2021-02-16T06:35:06.955Z,1613457306.955 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:35:08.630Z,1613457308.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:09.360Z,1613457309.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:09.786Z,1613457309.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:10.593Z,1613457310.593 [Micromodem](INFO): Nmea in: $SNTTA,0.051991,,0.056578,,063510.86*5D

2021-02-16T06:35:10.640Z,1613457310.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.060005 m, bearing: 152.304326 deg, deltaT: 4.524451 s, approachRate: -0.132612 m/s, LOS rate: -2.581672 deg/s, posRepo size: 4
2021-02-16T06:35:10.642Z,1613457310.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.060005 m,
      bearing: 152.304326 deg,
      approachRate: -0.132612 m/s,
      LOS rate: -2.581672 deg/s,
      cmd update: -7.745016 deg/s,
      cmd heading: 146.060925 deg,
      new cmd heading: 144.918193 deg.

2021-02-16T06:35:13.049Z,1613457313.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:13.832Z,1613457313.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:14.242Z,1613457314.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:15.052Z,1613457315.052 [Micromodem](INFO): Nmea in: $SNTTA,0.051566,,0.052716,,063515.33*5C

2021-02-16T06:35:15.264Z,1613457315.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.339996 m, bearing: 150.968108 deg, deltaT: 4.401918 s, approachRate: -0.163567 m/s, LOS rate: -0.303553 deg/s, posRepo size: 4
2021-02-16T06:35:15.266Z,1613457315.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.339996 m,
      bearing: 150.968108 deg,
      approachRate: -0.163567 m/s,
      LOS rate: -0.303553 deg/s,
      cmd update: -0.910660 deg/s,
      cmd heading: 111.936995 deg,
      new cmd heading: 107.319192 deg.

2021-02-16T06:35:17.513Z,1613457317.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:18.059Z,1613457318.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:18.477Z,1613457318.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:19.288Z,1613457319.288 [Micromodem](INFO): Nmea in: $SNTTA,0.051081,,,,063519.56*46

2021-02-16T06:35:19.322Z,1613457319.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 162.994555 deg, deltaT: 4.250729 s, approachRate: -0.169381 m/s, LOS rate: 2.829267 deg/s, posRepo size: 4
2021-02-16T06:35:19.324Z,1613457319.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 162.994555 deg,
      approachRate: -0.169381 m/s,
      LOS rate: 2.829267 deg/s,
      cmd update: 8.487801 deg/s,
      cmd heading: 108.066018 deg,
      new cmd heading: 107.697921 deg.

2021-02-16T06:35:21.715Z,1613457321.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:22.506Z,1613457322.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:22.907Z,1613457322.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:23.744Z,1613457323.744 [Micromodem](INFO): Nmea in: $SNTTA,0.050577,,,,063524.00*46

2021-02-16T06:35:23.807Z,1613457323.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 111.379082 deg, deltaT: 4.419687 s, approachRate: -0.162908 m/s, LOS rate: -11.678536 deg/s, posRepo size: 4
2021-02-16T06:35:23.810Z,1613457323.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.678536 deg/s. Setting heading cmd to target bearing of 111.379082deg and heading rate command to 0 deg/s.
2021-02-16T06:35:26.187Z,1613457326.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:26.943Z,1613457326.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:27.350Z,1613457327.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:28.181Z,1613457328.181 [Micromodem](INFO): Nmea in: $SNTTA,0.050268,,,,063528.44*43

2021-02-16T06:35:28.215Z,1613457328.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.360001 m, bearing: 170.007110 deg, deltaT: 4.494671 s, approachRate: -0.120142 m/s, LOS rate: 13.043897 deg/s, posRepo size: 4
2021-02-16T06:35:28.216Z,1613457328.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.043897 deg/s. Setting heading cmd to target bearing of 170.007110deg and heading rate command to 0 deg/s.
2021-02-16T06:35:30.621Z,1613457330.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:31.327Z,1613457331.327 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T06:35:31.390Z,1613457331.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:31.400Z,1613457331.400 [NAL9602](INFO): SBD MO Status=2, MOMSN=13403, MT Status=2, MTMSN=0
2021-02-16T06:35:31.401Z,1613457331.401 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:35:31.823Z,1613457331.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:32.636Z,1613457332.636 [Micromodem](INFO): Nmea in: $SNTTA,0.049779,,,,063532.89*44

2021-02-16T06:35:32.682Z,1613457332.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 120.461109 deg, deltaT: 4.451291 s, approachRate: -0.161751 m/s, LOS rate: -11.130703 deg/s, posRepo size: 4
2021-02-16T06:35:32.704Z,1613457332.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 120.461109 deg,
      approachRate: -0.161751 m/s,
      LOS rate: -11.130703 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.007110 deg,
      new cmd heading: 170.007110 deg.

2021-02-16T06:35:35.089Z,1613457335.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:35.838Z,1613457335.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:36.239Z,1613457336.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:37.064Z,1613457337.064 [Micromodem](INFO): Nmea in: $SNTTA,0.049342,,0.087905,,063537.34*56

2021-02-16T06:35:37.122Z,1613457337.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.040001 m, bearing: 88.533971 deg, deltaT: 4.401130 s, approachRate: -0.136328 m/s, LOS rate: -7.254305 deg/s, posRepo size: 4
2021-02-16T06:35:37.144Z,1613457337.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.040001 m,
      bearing: 88.533971 deg,
      approachRate: -0.136328 m/s,
      LOS rate: -7.254305 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 117.142453 deg,
      new cmd heading: 111.891384 deg.

2021-02-16T06:35:39.488Z,1613457339.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:40.277Z,1613457340.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:40.689Z,1613457340.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:41.564Z,1613457341.564 [Micromodem](INFO): Nmea in: $SNTTA,0.048863,,,,063541.78*4B

2021-02-16T06:35:41.588Z,1613457341.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 162.675148 deg, deltaT: 4.451675 s, approachRate: -0.161735 m/s, LOS rate: 16.654670 deg/s, posRepo size: 4
2021-02-16T06:35:41.588Z,1613457341.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.654670 deg/s. Setting heading cmd to target bearing of 162.675148deg and heading rate command to 0 deg/s.
2021-02-16T06:35:43.715Z,1613457343.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:46.142Z,1613457346.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:46.254Z,1613457346.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:46.549Z,1613457346.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:47.394Z,1613457347.394 [Micromodem](INFO): Nmea in: $SNTTA,0.048491,,,,063547.64*41

2021-02-16T06:35:47.480Z,1613457347.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.540009 m, bearing: 187.950154 deg, deltaT: 5.840504 s, approachRate: -0.133550 m/s, LOS rate: 4.327538 deg/s, posRepo size: 4
2021-02-16T06:35:47.482Z,1613457347.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 187.950154 deg,
      approachRate: -0.133550 m/s,
      LOS rate: 4.327538 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 162.675148 deg,
      new cmd heading: 162.675148 deg.

2021-02-16T06:35:49.535Z,1613457349.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:50.189Z,1613457350.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:50.593Z,1613457350.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:51.419Z,1613457351.419 [Micromodem](INFO): Nmea in: $SNTTA,0.048233,,,,063551.69*45

2021-02-16T06:35:51.442Z,1613457351.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 187.439789 deg, deltaT: 4.053659 s, approachRate: -0.074008 m/s, LOS rate: -0.125902 deg/s, posRepo size: 4
2021-02-16T06:35:51.444Z,1613457351.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 187.439789 deg,
      approachRate: -0.074008 m/s,
      LOS rate: -0.125902 deg/s,
      cmd update: -0.377707 deg/s,
      cmd heading: 211.345733 deg,
      new cmd heading: 216.293309 deg.

2021-02-16T06:35:53.881Z,1613457353.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:54.688Z,1613457354.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:55.046Z,1613457355.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:35:55.902Z,1613457355.902 [Micromodem](INFO): Nmea in: $SNTTA,0.047942,,,0.093061,063556.21*5F

2021-02-16T06:35:55.954Z,1613457355.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 155.682933 deg, deltaT: 4.529323 s, approachRate: -0.079482 m/s, LOS rate: -7.011391 deg/s, posRepo size: 4
2021-02-16T06:35:55.960Z,1613457355.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.880005 m,
      bearing: 155.682933 deg,
      approachRate: -0.079482 m/s,
      LOS rate: -7.011391 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 209.635063 deg,
      new cmd heading: 209.486042 deg.

2021-02-16T06:35:58.294Z,1613457358.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:35:59.070Z,1613457359.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:35:59.471Z,1613457359.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:00.304Z,1613457360.304 [Micromodem](INFO): Nmea in: $SNTTA,0.047760,,,,063600.57*43

2021-02-16T06:36:00.356Z,1613457360.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 181.327603 deg, deltaT: 4.385954 s, approachRate: -0.082082 m/s, LOS rate: 5.846999 deg/s, posRepo size: 4
2021-02-16T06:36:00.358Z,1613457360.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 181.327603 deg,
      approachRate: -0.082082 m/s,
      LOS rate: 5.846999 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.048505 deg,
      new cmd heading: 152.123273 deg.

2021-02-16T06:36:01.918Z,1613457361.918 [NAL9602](INFO): SBD MO Status=2, MOMSN=13403, MT Status=2, MTMSN=0
2021-02-16T06:36:01.918Z,1613457361.918 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:36:02.737Z,1613457362.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:03.513Z,1613457363.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:03.921Z,1613457363.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:04.740Z,1613457364.740 [Micromodem](INFO): Nmea in: $SNTTA,0.047539,,,,063605.01*4B

2021-02-16T06:36:04.818Z,1613457364.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.220001 m, bearing: 162.798447 deg, deltaT: 4.410450 s, approachRate: -0.068019 m/s, LOS rate: -4.201194 deg/s, posRepo size: 4
2021-02-16T06:36:04.825Z,1613457364.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.220001 m,
      bearing: 162.798447 deg,
      approachRate: -0.068019 m/s,
      LOS rate: -4.201194 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.020911 deg,
      new cmd heading: 215.275855 deg.

2021-02-16T06:36:06.472Z,1613457366.472 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T06:36:06.976Z,1613457366.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:09.478Z,1613457369.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:09.572Z,1613457369.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:09.756Z,1613457369.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:10.603Z,1613457370.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 88.778403 deg, deltaT: 5.923724 s, approachRate: -0.091158 m/s, LOS rate: -12.495525 deg/s, posRepo size: 4
2021-02-16T06:36:10.604Z,1613457370.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.495525 deg/s. Setting heading cmd to target bearing of 88.778403deg and heading rate command to 0 deg/s.
2021-02-16T06:36:10.991Z,1613457370.991 [Micromodem](INFO): Nmea in: $SNTTA,0.047126,,,,063610.98*45

2021-02-16T06:36:13.006Z,1613457373.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:13.816Z,1613457373.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:14.203Z,1613457374.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:15.024Z,1613457375.024 [Micromodem](INFO): Nmea in: $SNTTA,0.047037,,,,063615.32*41

2021-02-16T06:36:15.049Z,1613457375.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 73.015023 deg, deltaT: 4.332436 s, approachRate: -0.013850 m/s, LOS rate: -3.638457 deg/s, posRepo size: 4
2021-02-16T06:36:15.075Z,1613457375.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.620003 m,
      bearing: 73.015023 deg,
      approachRate: -0.013850 m/s,
      LOS rate: -3.638457 deg/s,
      cmd update: -10.915370 deg/s,
      cmd heading: 88.778403 deg,
      new cmd heading: 88.778403 deg.

2021-02-16T06:36:17.492Z,1613457377.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:18.239Z,1613457378.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:18.631Z,1613457378.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:19.472Z,1613457379.472 [Micromodem](INFO): Nmea in: $SNTTA,0.046763,,,,063619.74*48

2021-02-16T06:36:19.497Z,1613457379.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 73.526379 deg, deltaT: 4.475731 s, approachRate: -0.093839 m/s, LOS rate: 0.114251 deg/s, posRepo size: 4
2021-02-16T06:36:19.515Z,1613457379.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.200005 m,
      bearing: 73.526379 deg,
      approachRate: -0.093839 m/s,
      LOS rate: 0.114251 deg/s,
      cmd update: 0.342752 deg/s,
      cmd heading: 39.968667 deg,
      new cmd heading: 35.452935 deg.

2021-02-16T06:36:21.894Z,1613457381.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:22.825Z,1613457382.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:22.855Z,1613457382.855 [NAL9602](INFO): SBD MO Status=2, MOMSN=13403, MT Status=2, MTMSN=0
2021-02-16T06:36:22.856Z,1613457382.856 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T06:36:23.118Z,1613457383.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:24.032Z,1613457384.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 167.173552 deg, deltaT: 4.469006 s, approachRate: -0.107407 m/s, LOS rate: 20.954810 deg/s, posRepo size: 4
2021-02-16T06:36:24.033Z,1613457384.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.954810 deg/s. Setting heading cmd to target bearing of 167.173552deg and heading rate command to 0 deg/s.
2021-02-16T06:36:24.311Z,1613457384.311 [Micromodem](INFO): Nmea in: $SNTTA,0.046527,0.063295,,,063624.32*53

2021-02-16T06:36:26.352Z,1613457386.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:27.118Z,1613457387.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:27.534Z,1613457387.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:30.136Z,1613457390.136 [Micromodem](INFO): Nmea in: $SNTTA,0.046445,,,,063628.62*4A

2021-02-16T06:36:30.178Z,1613457390.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 109.606259 deg, deltaT: 6.450278 s, approachRate: -0.009303 m/s, LOS rate: -8.924777 deg/s, posRepo size: 4
2021-02-16T06:36:30.197Z,1613457390.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.659996 m,
      bearing: 109.606259 deg,
      approachRate: -0.009303 m/s,
      LOS rate: -8.924777 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 167.173552 deg,
      new cmd heading: 167.173552 deg.

2021-02-16T06:36:32.595Z,1613457392.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:33.345Z,1613457393.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:33.753Z,1613457393.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:34.584Z,1613457394.584 [Micromodem](INFO): Nmea in: $SNTTA,0.046251,,0.096882,0.070507,063634.85*45

2021-02-16T06:36:34.612Z,1613457394.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.300003 m, bearing: 106.352206 deg, deltaT: 4.240754 s, approachRate: -0.084889 m/s, LOS rate: -0.767329 deg/s, posRepo size: 4
2021-02-16T06:36:34.614Z,1613457394.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.300003 m,
      bearing: 106.352206 deg,
      approachRate: -0.084889 m/s,
      LOS rate: -0.767329 deg/s,
      cmd update: -2.301986 deg/s,
      cmd heading: 116.333690 deg,
      new cmd heading: 111.918638 deg.

2021-02-16T06:36:35.608Z,1613457395.608 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003600
2021-02-16T06:36:35.840Z,1613457395.840 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T06:36:35.840Z,1613457395.840 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T06:36:35.840Z,1613457395.840 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T06:36:35.840Z,1613457395.840 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:36:35.840Z,1613457395.840 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T06:36:37.045Z,1613457397.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:37.801Z,1613457397.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:38.199Z,1613457398.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:39.040Z,1613457399.040 [Micromodem](INFO): Nmea in: $SNTTA,0.046086,0.081549,,,063639.30*59

2021-02-16T06:36:39.072Z,1613457399.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.120003 m, bearing: 105.462526 deg, deltaT: 4.432511 s, approachRate: -0.040609 m/s, LOS rate: -0.200717 deg/s, posRepo size: 4
2021-02-16T06:36:39.074Z,1613457399.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.120003 m,
      bearing: 105.462526 deg,
      approachRate: -0.040609 m/s,
      LOS rate: -0.200717 deg/s,
      cmd update: -0.602151 deg/s,
      cmd heading: 106.133770 deg,
      new cmd heading: 105.218052 deg.

2021-02-16T06:36:39.625Z,1613457399.625 [DataOverHttps](INFO): Sending 826 bytes from file Logs/20210216T042015/Express0026.lzma
2021-02-16T06:36:40.625Z,1613457400.625 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0026.lzma.bak
2021-02-16T06:36:40.625Z,1613457400.625 [DataOverHttps](INFO): SBD MOMSN=81585
2021-02-16T06:36:41.459Z,1613457401.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:42.248Z,1613457402.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:42.258Z,1613457402.258 [NAL9602](INFO): SBD MO Status=1, MOMSN=13403, MT Status=0, MTMSN=0
2021-02-16T06:36:42.312Z,1613457402.312 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0026.lzma
2021-02-16T06:36:42.312Z,1613457402.312 [NAL9602](INFO): Packets left to send: 2
2021-02-16T06:36:42.637Z,1613457402.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:43.468Z,1613457403.468 [Micromodem](INFO): Nmea in: $SNTTA,0.045843,,,,063643.75*48

2021-02-16T06:36:43.506Z,1613457403.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 70.556790 deg, deltaT: 4.391778 s, approachRate: -0.068308 m/s, LOS rate: -7.947974 deg/s, posRepo size: 4
2021-02-16T06:36:43.508Z,1613457403.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.820007 m,
      bearing: 70.556790 deg,
      approachRate: -0.068308 m/s,
      LOS rate: -7.947974 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.486901 deg,
      new cmd heading: 103.224765 deg.

2021-02-16T06:36:45.900Z,1613457405.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:46.674Z,1613457406.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:47.087Z,1613457407.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:47.900Z,1613457407.900 [Micromodem](INFO): Nmea in: $SNTTA,0.045646,,,,063648.17*4C

2021-02-16T06:36:47.938Z,1613457407.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.400009 m, bearing: 75.788196 deg, deltaT: 4.460890 s, approachRate: -0.094151 m/s, LOS rate: 1.172727 deg/s, posRepo size: 4
2021-02-16T06:36:47.940Z,1613457407.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.400009 m,
      bearing: 75.788196 deg,
      approachRate: -0.094151 m/s,
      LOS rate: 1.172727 deg/s,
      cmd update: 3.518181 deg/s,
      cmd heading: 49.936563 deg,
      new cmd heading: 45.072003 deg.

2021-02-16T06:36:49.669Z,1613457409.669 [DataOverHttps](INFO): Sending 846 bytes from file Logs/20210216T042015/Express0032.lzma
2021-02-16T06:36:50.096Z,1613457410.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:50.665Z,1613457410.665 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0032.lzma.bak
2021-02-16T06:36:50.665Z,1613457410.665 [DataOverHttps](INFO): SBD MOMSN=81610
2021-02-16T06:36:50.746Z,1613457410.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:51.162Z,1613457411.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:51.956Z,1613457411.956 [Micromodem](INFO): Nmea in: $SNTTA,0.045553,,,,063652.25*41

2021-02-16T06:36:51.994Z,1613457411.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 70.617913 deg, deltaT: 4.012404 s, approachRate: -0.029910 m/s, LOS rate: -1.288575 deg/s, posRepo size: 4
2021-02-16T06:36:51.996Z,1613457411.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 70.617913 deg,
      approachRate: -0.029910 m/s,
      LOS rate: -1.288575 deg/s,
      cmd update: -3.865724 deg/s,
      cmd heading: 64.053208 deg,
      new cmd heading: 65.632484 deg.

2021-02-16T06:36:54.401Z,1613457414.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:55.162Z,1613457415.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:55.564Z,1613457415.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:36:56.388Z,1613457416.388 [Micromodem](INFO): Nmea in: $SNTTA,0.045529,,,,063656.66*4F

2021-02-16T06:36:56.411Z,1613457416.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 100.663246 deg, deltaT: 4.443102 s, approachRate: 0.000000 m/s, LOS rate: 6.762242 deg/s, posRepo size: 4
2021-02-16T06:36:56.413Z,1613457416.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 100.663246 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.762242 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.876501 deg,
      new cmd heading: 45.243816 deg.

2021-02-16T06:36:58.867Z,1613457418.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:36:59.613Z,1613457419.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:36:59.716Z,1613457419.716 [DataOverHttps](INFO): Sending 723 bytes from file Logs/20210216T042015/Express0035.lzma
2021-02-16T06:37:00.015Z,1613457420.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:00.705Z,1613457420.705 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0035.lzma.bak
2021-02-16T06:37:00.705Z,1613457420.705 [DataOverHttps](INFO): SBD MOMSN=81624
2021-02-16T06:37:00.856Z,1613457420.856 [Micromodem](INFO): Nmea in: $SNTTA,0.045402,,,,063701.11*44

2021-02-16T06:37:00.881Z,1613457420.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 95.636568 deg, deltaT: 4.462965 s, approachRate: -0.040332 m/s, LOS rate: -1.126309 deg/s, posRepo size: 4
2021-02-16T06:37:00.882Z,1613457420.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.099998 m,
      bearing: 95.636568 deg,
      approachRate: -0.040332 m/s,
      LOS rate: -1.126309 deg/s,
      cmd update: -3.378927 deg/s,
      cmd heading: 100.429010 deg,
      new cmd heading: 105.581498 deg.

2021-02-16T06:37:03.426Z,1613457423.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:04.088Z,1613457424.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:04.477Z,1613457424.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:05.296Z,1613457425.296 [Micromodem](INFO): Nmea in: $SNTTA,0.045274,,,,063705.59*4B

2021-02-16T06:37:05.336Z,1613457425.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 63.376970 deg, deltaT: 4.448636 s, approachRate: -0.067434 m/s, LOS rate: -7.251571 deg/s, posRepo size: 4
2021-02-16T06:37:05.338Z,1613457425.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 63.376970 deg,
      approachRate: -0.067434 m/s,
      LOS rate: -7.251571 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 85.405412 deg,
      new cmd heading: 83.924273 deg.

2021-02-16T06:37:07.709Z,1613457427.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:08.488Z,1613457428.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:08.913Z,1613457428.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:09.725Z,1613457429.725 [Micromodem](INFO): Nmea in: $SNTTA,0.045042,,,,063709.99*4C

2021-02-16T06:37:09.743Z,1613457429.743 [DataOverHttps](INFO): Sending 163 bytes from file Logs/20210216T042015/Express0038.lzma
2021-02-16T06:37:09.813Z,1613457429.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 59.930621 deg, deltaT: 4.411772 s, approachRate: -0.081602 m/s, LOS rate: -0.781171 deg/s, posRepo size: 4
2021-02-16T06:37:09.828Z,1613457429.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 59.930621 deg,
      approachRate: -0.081602 m/s,
      LOS rate: -0.781171 deg/s,
      cmd update: -2.343514 deg/s,
      cmd heading: 32.435659 deg,
      new cmd heading: 26.646043 deg.

2021-02-16T06:37:10.745Z,1613457430.745 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0038.lzma.bak
2021-02-16T06:37:10.746Z,1613457430.746 [DataOverHttps](INFO): SBD MOMSN=81631
2021-02-16T06:37:11.844Z,1613457431.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:12.529Z,1613457432.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:12.941Z,1613457432.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:12.956Z,1613457432.956 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T06:37:13.777Z,1613457433.777 [Micromodem](INFO): Nmea in: $SNTTA,0.044998,,,,063714.03*4C

2021-02-16T06:37:13.830Z,1613457433.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 58.743035 deg, deltaT: 4.086128 s, approachRate: 0.000000 m/s, LOS rate: -0.290638 deg/s, posRepo size: 4
2021-02-16T06:37:13.845Z,1613457433.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 58.743035 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.290638 deg/s,
      cmd update: -0.871915 deg/s,
      cmd heading: 22.869111 deg,
      new cmd heading: 21.846418 deg.

2021-02-16T06:37:16.394Z,1613457436.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:17.013Z,1613457437.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:17.427Z,1613457437.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:18.224Z,1613457438.224 [Micromodem](INFO): Nmea in: $SNTTA,0.044933,,,,063718.51*46

2021-02-16T06:37:18.242Z,1613457438.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.320007 m, bearing: 98.590420 deg, deltaT: 4.465791 s, approachRate: -0.026870 m/s, LOS rate: 8.922805 deg/s, posRepo size: 4
2021-02-16T06:37:18.244Z,1613457438.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.320007 m,
      bearing: 98.590420 deg,
      approachRate: -0.026870 m/s,
      LOS rate: 8.922805 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.971849 deg,
      new cmd heading: 18.641883 deg.

2021-02-16T06:37:19.797Z,1613457439.797 [DataOverHttps](INFO): Sending 536 bytes from file Logs/20210216T042015/Express0041.lzma
2021-02-16T06:37:20.661Z,1613457440.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:20.796Z,1613457440.796 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0041.lzma.bak
2021-02-16T06:37:20.797Z,1613457440.797 [DataOverHttps](INFO): SBD MOMSN=81633
2021-02-16T06:37:21.438Z,1613457441.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:21.850Z,1613457441.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T06:37:22.312Z,1613457442.312 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T06:37:22.313Z,1613457442.313 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T06:37:22.668Z,1613457442.668 [Micromodem](INFO): Nmea in: $SNTTA,0.044751,,,,063722.94*4C

2021-02-16T06:37:22.690Z,1613457442.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 59.267375 deg, deltaT: 4.439493 s, approachRate: -0.040545 m/s, LOS rate: -8.857553 deg/s, posRepo size: 4
2021-02-16T06:37:22.692Z,1613457442.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 59.267375 deg,
      approachRate: -0.040545 m/s,
      LOS rate: -8.857553 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 72.197539 deg,
      new cmd heading: 76.886767 deg.

2021-02-16T06:37:22.720Z,1613457442.720 [lineCaptureDepth:NeedComms:E](DEBUG): Initialize ReadDataComponent to sense time_fix
2021-02-16T06:37:24.278Z,1613457444.278 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,063725.00,A,4133.17348,N,07042.52795,W,1.341,191.83,160221,,,A*7B
2021-02-16T06:37:24.280Z,1613457444.280 [NAL9602](INFO): GPS fix at 20210216T063725: (41.552891, -70.708799)
2021-02-16T06:37:24.339Z,1613457444.339 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T06:37:24.340Z,1613457444.340 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T06:37:24.340Z,1613457444.340 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T06:37:24.340Z,1613457444.340 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T06:37:24.340Z,1613457444.340 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T06:37:24.340Z,1613457444.340 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T06:37:25.109Z,1613457445.109 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T06:37:25.110Z,1613457445.110 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T06:37:25.112Z,1613457445.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:25.886Z,1613457445.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:26.315Z,1613457446.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:27.116Z,1613457447.116 [Micromodem](INFO): Nmea in: $SNTTA,0.044774,,,,063727.38*48

2021-02-16T06:37:27.142Z,1613457447.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 101.759205 deg, deltaT: 4.436761 s, approachRate: 0.000000 m/s, LOS rate: 9.577219 deg/s, posRepo size: 4
2021-02-16T06:37:27.144Z,1613457447.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 101.759205 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.577219 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.915221 deg,
      new cmd heading: 14.089253 deg.

2021-02-16T06:37:29.534Z,1613457449.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:30.634Z,1613457450.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:31.099Z,1613457451.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:31.917Z,1613457451.917 [Micromodem](INFO): Nmea in: $SNTTA,0.044706,,,,063732.13*40

2021-02-16T06:37:32.016Z,1613457452.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 143.800221 deg, deltaT: 4.875911 s, approachRate: -0.012306 m/s, LOS rate: 8.622187 deg/s, posRepo size: 4
2021-02-16T06:37:32.018Z,1613457452.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 143.800221 deg,
      approachRate: -0.012306 m/s,
      LOS rate: 8.622187 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 77.280054 deg,
      new cmd heading: 82.133442 deg.

2021-02-16T06:37:34.378Z,1613457454.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:35.141Z,1613457455.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:35.534Z,1613457455.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:36.384Z,1613457456.384 [Micromodem](INFO): Nmea in: $SNTTA,0.044747,,0.067522,0.228644,063736.64*4B

2021-02-16T06:37:36.416Z,1613457456.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.080002 m, bearing: 140.107220 deg, deltaT: 4.405107 s, approachRate: 0.000000 m/s, LOS rate: -0.838345 deg/s, posRepo size: 4
2021-02-16T06:37:36.418Z,1613457456.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 140.107220 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.838345 deg/s,
      cmd update: -2.515036 deg/s,
      cmd heading: 130.090484 deg,
      new cmd heading: 135.040364 deg.

2021-02-16T06:37:38.884Z,1613457458.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:39.611Z,1613457459.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:39.988Z,1613457459.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:40.848Z,1613457460.848 [Micromodem](INFO): Nmea in: $SNTTA,0.044769,,,,063741.11*4F

2021-02-16T06:37:40.927Z,1613457460.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 143.425489 deg, deltaT: 4.458882 s, approachRate: 0.013457 m/s, LOS rate: 0.744193 deg/s, posRepo size: 4
2021-02-16T06:37:40.929Z,1613457460.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.140007 m,
      bearing: 143.425489 deg,
      approachRate: 0.013457 m/s,
      LOS rate: 0.744193 deg/s,
      cmd update: 2.232580 deg/s,
      cmd heading: 118.855322 deg,
      new cmd heading: 117.729524 deg.

2021-02-16T06:37:42.090Z,1613457462.090 [NAL9602](INFO): SBD MO Status=0, MOMSN=13404, MT Status=0, MTMSN=0
2021-02-16T06:37:42.090Z,1613457462.090 [NAL9602](INFO): No messages in MT queue
2021-02-16T06:37:43.359Z,1613457463.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:44.328Z,1613457464.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:44.912Z,1613457464.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:45.671Z,1613457465.671 [Micromodem](INFO): Nmea in: $SNTTA,0.044443,,,,063745.83*4B

2021-02-16T06:37:45.700Z,1613457465.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.540009 m, bearing: 75.547172 deg, deltaT: 4.906597 s, approachRate: -0.122284 m/s, LOS rate: -13.834092 deg/s, posRepo size: 4
2021-02-16T06:37:45.700Z,1613457465.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.834092 deg/s. Setting heading cmd to target bearing of 75.547172deg and heading rate command to 0 deg/s.
2021-02-16T06:37:48.177Z,1613457468.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:48.905Z,1613457468.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:49.308Z,1613457469.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:50.131Z,1613457470.131 [Micromodem](INFO): Nmea in: $SNTTA,0.043675,,,,063750.41*41

2021-02-16T06:37:50.208Z,1613457470.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 158.083294 deg, deltaT: 4.385808 s, approachRate: -0.259931 m/s, LOS rate: 18.818909 deg/s, posRepo size: 4
2021-02-16T06:37:50.209Z,1613457470.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.818909 deg/s. Setting heading cmd to target bearing of 158.083294deg and heading rate command to 0 deg/s.
2021-02-16T06:37:52.309Z,1613457472.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:52.964Z,1613457472.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:53.367Z,1613457473.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:54.247Z,1613457474.247 [Micromodem](INFO): Nmea in: $SNTTA,0.042710,,0.091079,,063754.46*59

2021-02-16T06:37:54.352Z,1613457474.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.899998 m, bearing: 184.766302 deg, deltaT: 4.084136 s, approachRate: -0.367276 m/s, LOS rate: 6.533330 deg/s, posRepo size: 4
2021-02-16T06:37:54.354Z,1613457474.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.899998 m,
      bearing: 184.766302 deg,
      approachRate: -0.367276 m/s,
      LOS rate: 6.533330 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 158.083294 deg,
      new cmd heading: 158.083294 deg.

2021-02-16T06:37:56.372Z,1613457476.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:37:57.196Z,1613457477.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:37:57.866Z,1613457477.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:37:58.564Z,1613457478.564 [Micromodem](INFO): Nmea in: $SNTTA,0.041949,,0.066930,,063758.70*5D

2021-02-16T06:37:58.609Z,1613457478.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 150.853102 deg, deltaT: 4.343922 s, approachRate: -0.248621 m/s, LOS rate: -7.807046 deg/s, posRepo size: 4
2021-02-16T06:37:58.611Z,1613457478.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 150.853102 deg,
      approachRate: -0.248621 m/s,
      LOS rate: -7.807046 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.162755 deg,
      new cmd heading: 215.126267 deg.

2021-02-16T06:38:00.979Z,1613457480.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:01.756Z,1613457481.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:02.170Z,1613457482.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:02.992Z,1613457482.992 [Micromodem](INFO): Nmea in: $SNTTA,0.041235,,,,063803.26*4B

2021-02-16T06:38:03.017Z,1613457483.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 172.869779 deg, deltaT: 4.390738 s, approachRate: -0.232307 m/s, LOS rate: 5.014345 deg/s, posRepo size: 4
2021-02-16T06:38:03.019Z,1613457483.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.800007 m,
      bearing: 172.869779 deg,
      approachRate: -0.232307 m/s,
      LOS rate: 5.014345 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.426198 deg,
      new cmd heading: 152.304106 deg.

2021-02-16T06:38:05.423Z,1613457485.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:06.201Z,1613457486.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:06.606Z,1613457486.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:07.444Z,1613457487.444 [Micromodem](INFO): Nmea in: $SNTTA,0.040531,,,,063807.70*4E

2021-02-16T06:38:07.489Z,1613457487.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 180.919963 deg, deltaT: 4.444690 s, approachRate: -0.256487 m/s, LOS rate: 1.811191 deg/s, posRepo size: 4
2021-02-16T06:38:07.495Z,1613457487.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.660000 m,
      bearing: 180.919963 deg,
      approachRate: -0.256487 m/s,
      LOS rate: 1.811191 deg/s,
      cmd update: 5.433574 deg/s,
      cmd heading: 210.762275 deg,
      new cmd heading: 216.209423 deg.

2021-02-16T06:38:09.877Z,1613457489.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:10.709Z,1613457490.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:11.058Z,1613457491.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:11.911Z,1613457491.911 [Micromodem](INFO): Nmea in: $SNTTA,0.039372,,,,063812.21*41

2021-02-16T06:38:11.955Z,1613457491.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 188.882325 deg, deltaT: 4.542126 s, approachRate: -0.396289 m/s, LOS rate: 1.753003 deg/s, posRepo size: 4
2021-02-16T06:38:11.965Z,1613457491.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.860004 m,
      bearing: 188.882325 deg,
      approachRate: -0.396289 m/s,
      LOS rate: 1.753003 deg/s,
      cmd update: 5.259010 deg/s,
      cmd heading: 235.355540 deg,
      new cmd heading: 237.492548 deg.

2021-02-16T06:38:12.696Z,1613457492.696 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T06:38:14.321Z,1613457494.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:15.090Z,1613457495.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:15.515Z,1613457495.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:16.335Z,1613457496.335 [Micromodem](INFO): Nmea in: $SNTTA,0.037733,,,,063816.59*45

2021-02-16T06:38:16.359Z,1613457496.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 184.937836 deg, deltaT: 4.365085 s, approachRate: -0.549820 m/s, LOS rate: -0.903645 deg/s, posRepo size: 4
2021-02-16T06:38:16.361Z,1613457496.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.459995 m,
      bearing: 184.937836 deg,
      approachRate: -0.549820 m/s,
      LOS rate: -0.903645 deg/s,
      cmd update: -2.710936 deg/s,
      cmd heading: 258.395650 deg,
      new cmd heading: 260.586921 deg.

2021-02-16T06:38:18.764Z,1613457498.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:19.543Z,1613457499.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:19.960Z,1613457499.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:20.784Z,1613457500.784 [Micromodem](INFO): Nmea in: $SNTTA,0.035730,,,,063821.04*48

2021-02-16T06:38:20.837Z,1613457500.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 188.685096 deg, deltaT: 4.427828 s, approachRate: -0.704634 m/s, LOS rate: 0.846298 deg/s, posRepo size: 4
2021-02-16T06:38:20.839Z,1613457500.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 188.685096 deg,
      approachRate: -0.704634 m/s,
      LOS rate: 0.846298 deg/s,
      cmd update: 2.538893 deg/s,
      cmd heading: 246.392094 deg,
      new cmd heading: 245.126258 deg.

2021-02-16T06:38:22.877Z,1613457502.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:23.578Z,1613457503.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:23.982Z,1613457503.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:24.856Z,1613457504.856 [Micromodem](INFO): Nmea in: $SNTTA,0.033752,,,,063825.08*42

2021-02-16T06:38:24.897Z,1613457504.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 187.200418 deg, deltaT: 4.168693 s, approachRate: -0.719649 m/s, LOS rate: -0.356150 deg/s, posRepo size: 4
2021-02-16T06:38:24.903Z,1613457504.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 187.200418 deg,
      approachRate: -0.719649 m/s,
      LOS rate: -0.356150 deg/s,
      cmd update: -1.068449 deg/s,
      cmd heading: 256.975941 deg,
      new cmd heading: 257.885231 deg.

2021-02-16T06:38:27.286Z,1613457507.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:28.026Z,1613457508.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:28.432Z,1613457508.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:29.280Z,1613457509.280 [Micromodem](INFO): Nmea in: $SNTTA,0.031520,,,,063829.53*45

2021-02-16T06:38:29.328Z,1613457509.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 182.383905 deg, deltaT: 4.328676 s, approachRate: -0.803941 m/s, LOS rate: -1.112699 deg/s, posRepo size: 4
2021-02-16T06:38:29.330Z,1613457509.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 182.383905 deg,
      approachRate: -0.803941 m/s,
      LOS rate: -1.112699 deg/s,
      cmd update: -3.338097 deg/s,
      cmd heading: 252.351081 deg,
      new cmd heading: 251.858638 deg.

2021-02-16T06:38:31.690Z,1613457511.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:32.468Z,1613457512.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:32.876Z,1613457512.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:32.903Z,1613457512.903 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:38:33.699Z,1613457513.699 [Micromodem](INFO): Nmea in: $SNTTA,0.029422,,,,063833.97*4C

2021-02-16T06:38:33.724Z,1613457513.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.680000 m, bearing: 181.546414 deg, deltaT: 4.436240 s, approachRate: -0.716823 m/s, LOS rate: -0.188784 deg/s, posRepo size: 4
2021-02-16T06:38:33.725Z,1613457513.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.680000 m,
      bearing: 181.546414 deg,
      approachRate: -0.716823 m/s,
      LOS rate: -0.188784 deg/s,
      cmd update: -0.566352 deg/s,
      cmd heading: 237.542166 deg,
      new cmd heading: 236.141825 deg.

2021-02-16T06:38:36.128Z,1613457516.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:36.910Z,1613457516.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:37.321Z,1613457517.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:38.161Z,1613457518.161 [Micromodem](INFO): Nmea in: $SNTTA,0.027970,,,,063838.41*48

2021-02-16T06:38:38.199Z,1613457518.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 167.408565 deg, deltaT: 4.551040 s, approachRate: -0.408698 m/s, LOS rate: -3.106510 deg/s, posRepo size: 4
2021-02-16T06:38:38.205Z,1613457518.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.820000 m,
      bearing: 167.408565 deg,
      approachRate: -0.408698 m/s,
      LOS rate: -3.106510 deg/s,
      cmd update: -9.319528 deg/s,
      cmd heading: 234.964683 deg,
      new cmd heading: 234.770009 deg.

2021-02-16T06:38:40.585Z,1613457520.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:41.361Z,1613457521.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:41.781Z,1613457521.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:42.620Z,1613457522.620 [Micromodem](INFO): Nmea in: $SNTTA,0.026138,,,,063842.86*4B

2021-02-16T06:38:42.644Z,1613457522.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 179.263110 deg, deltaT: 4.394857 s, approachRate: -0.532440 m/s, LOS rate: 2.697368 deg/s, posRepo size: 4
2021-02-16T06:38:42.645Z,1613457522.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m.
2021-02-16T06:38:42.646Z,1613457522.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.480003 m,
      bearing: 179.263110 deg,
      approachRate: -0.532440 m/s,
      LOS rate: 2.697368 deg/s,
      cmd update: 8.092102 deg/s,
      cmd heading: 194.218587 deg,
      new cmd heading: 190.328205 deg.

2021-02-16T06:38:43.006Z,1613457523.006 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:38:45.024Z,1613457525.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:45.811Z,1613457525.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:46.235Z,1613457526.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:47.035Z,1613457527.035 [Micromodem](INFO): Nmea in: $SNTTA,0.024539,,,,063847.31*45

2021-02-16T06:38:47.061Z,1613457527.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 169.167243 deg, deltaT: 4.389687 s, approachRate: -0.656083 m/s, LOS rate: -2.299906 deg/s, posRepo size: 4
2021-02-16T06:38:47.061Z,1613457527.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.60 m.
2021-02-16T06:38:47.062Z,1613457527.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.60 m.
2021-02-16T06:38:47.062Z,1613457527.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:38:47.064Z,1613457527.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.600002 m,
      bearing: 169.167243 deg,
      approachRate: -0.656083 m/s,
      LOS rate: -2.299906 deg/s,
      cmd update: -6.899717 deg/s,
      cmd heading: 229.924066 deg,
      new cmd heading: 233.334265 deg.

2021-02-16T06:38:49.494Z,1613457529.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:50.265Z,1613457530.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:50.652Z,1613457530.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:51.512Z,1613457531.512 [Micromodem](INFO): Nmea in: $SNTTA,0.022545,,,,063851.76*4C

2021-02-16T06:38:51.551Z,1613457531.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 166.285135 deg, deltaT: 4.506012 s, approachRate: -0.665777 m/s, LOS rate: -0.639614 deg/s, posRepo size: 4
2021-02-16T06:38:51.553Z,1613457531.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 166.285135 deg,
      approachRate: -0.665777 m/s,
      LOS rate: -0.639614 deg/s,
      cmd update: -1.918841 deg/s,
      cmd heading: 198.837826 deg,
      new cmd heading: 196.034768 deg.

2021-02-16T06:38:53.914Z,1613457533.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:54.690Z,1613457534.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:55.107Z,1613457535.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:38:55.928Z,1613457535.928 [Micromodem](INFO): Nmea in: $SNTTA,0.020569,,,,063856.19*4E

2021-02-16T06:38:55.979Z,1613457535.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 163.308129 deg, deltaT: 4.372178 s, approachRate: -0.672435 m/s, LOS rate: -0.680898 deg/s, posRepo size: 4
2021-02-16T06:38:55.981Z,1613457535.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 163.308129 deg,
      approachRate: -0.672435 m/s,
      LOS rate: -0.680898 deg/s,
      cmd update: -2.042693 deg/s,
      cmd heading: 190.447255 deg,
      new cmd heading: 189.601263 deg.

2021-02-16T06:38:58.347Z,1613457538.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:38:59.133Z,1613457539.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:38:59.548Z,1613457539.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:00.360Z,1613457540.360 [Micromodem](INFO): Nmea in: $SNTTA,0.018780,,,,063900.64*48

2021-02-16T06:39:00.400Z,1613457540.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 162.274080 deg, deltaT: 4.477803 s, approachRate: -0.589574 m/s, LOS rate: -0.230928 deg/s, posRepo size: 4
2021-02-16T06:39:00.402Z,1613457540.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.020000 m,
      bearing: 162.274080 deg,
      approachRate: -0.589574 m/s,
      LOS rate: -0.230928 deg/s,
      cmd update: -0.692784 deg/s,
      cmd heading: 181.300289 deg,
      new cmd heading: 180.474601 deg.

2021-02-16T06:39:02.276Z,1613457542.276 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.274712
2021-02-16T06:39:02.855Z,1613457542.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:03.573Z,1613457543.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:03.983Z,1613457543.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:04.824Z,1613457544.824 [Micromodem](INFO): Nmea in: $SNTTA,0.016844,,,,063905.07*41

2021-02-16T06:39:04.886Z,1613457544.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 158.849955 deg, deltaT: 4.489351 s, approachRate: -0.681614 m/s, LOS rate: -0.762721 deg/s, posRepo size: 4
2021-02-16T06:39:04.893Z,1613457544.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.959997 m,
      bearing: 158.849955 deg,
      approachRate: -0.681614 m/s,
      LOS rate: -0.762721 deg/s,
      cmd update: -2.288164 deg/s,
      cmd heading: 178.190142 deg,
      new cmd heading: 177.911798 deg.

2021-02-16T06:39:07.270Z,1613457547.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:08.016Z,1613457548.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:08.271Z,1613457548.271 [Radio_Surface](INFO): Powering down
2021-02-16T06:39:08.299Z,1613457548.299 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T06:39:08.433Z,1613457548.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:09.276Z,1613457549.276 [Micromodem](INFO): Nmea in: $SNTTA,0.014689,,,,063909.52*40

2021-02-16T06:39:09.327Z,1613457549.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 152.551018 deg, deltaT: 4.383753 s, approachRate: -0.752779 m/s, LOS rate: -1.436882 deg/s, posRepo size: 4
2021-02-16T06:39:09.329Z,1613457549.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.659998 m,
      bearing: 152.551018 deg,
      approachRate: -0.752779 m/s,
      LOS rate: -1.436882 deg/s,
      cmd update: -4.310647 deg/s,
      cmd heading: 168.159375 deg,
      new cmd heading: 167.156326 deg.

2021-02-16T06:39:11.668Z,1613457551.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:12.462Z,1613457552.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:12.872Z,1613457552.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:13.697Z,1613457553.697 [Micromodem](INFO): Nmea in: $SNTTA,0.012550,,,,063913.96*42

2021-02-16T06:39:13.764Z,1613457553.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 153.313240 deg, deltaT: 4.448744 s, approachRate: -0.714809 m/s, LOS rate: 0.171334 deg/s, posRepo size: 4
2021-02-16T06:39:13.779Z,1613457553.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 153.313240 deg,
      approachRate: -0.714809 m/s,
      LOS rate: 0.171334 deg/s,
      cmd update: 0.514002 deg/s,
      cmd heading: 149.000206 deg,
      new cmd heading: 147.108314 deg.

2021-02-16T06:39:16.123Z,1613457556.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:16.924Z,1613457556.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:17.312Z,1613457557.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:18.192Z,1613457558.192 [Micromodem](INFO): Nmea in: $SNTTA,0.010331,,,,063918.43*42

2021-02-16T06:39:18.224Z,1613457558.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 152.793586 deg, deltaT: 4.519321 s, approachRate: -0.716921 m/s, LOS rate: -0.114985 deg/s, posRepo size: 4
2021-02-16T06:39:18.239Z,1613457558.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 152.793586 deg,
      approachRate: -0.716921 m/s,
      LOS rate: -0.114985 deg/s,
      cmd update: -0.344955 deg/s,
      cmd heading: 151.325216 deg,
      new cmd heading: 151.518101 deg.

2021-02-16T06:39:20.574Z,1613457560.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:21.365Z,1613457561.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:21.775Z,1613457561.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:22.604Z,1613457562.604 [Micromodem](INFO): Nmea in: $SNTTA,0.008226,,,,063922.87*4D

2021-02-16T06:39:22.659Z,1613457562.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 146.704677 deg, deltaT: 4.361565 s, approachRate: -0.729097 m/s, LOS rate: -1.396038 deg/s, posRepo size: 4
2021-02-16T06:39:22.661Z,1613457562.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 146.704677 deg,
      approachRate: -0.729097 m/s,
      LOS rate: -1.396038 deg/s,
      cmd update: -4.188113 deg/s,
      cmd heading: 149.821498 deg,
      new cmd heading: 149.661629 deg.

2021-02-16T06:39:25.026Z,1613457565.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:25.806Z,1613457565.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:26.200Z,1613457566.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:27.032Z,1613457567.032 [Micromodem](INFO): Nmea in: $SNTTA,0.006431,,,0.045439,063927.31*5A

2021-02-16T06:39:27.080Z,1613457567.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 142.873050 deg, deltaT: 4.447481 s, approachRate: -0.647557 m/s, LOS rate: -0.861527 deg/s, posRepo size: 4
2021-02-16T06:39:27.081Z,1613457567.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 142.873050 deg,
      approachRate: -0.647557 m/s,
      LOS rate: -0.861527 deg/s,
      cmd update: -2.584582 deg/s,
      cmd heading: 131.251281 deg,
      new cmd heading: 129.367476 deg.

2021-02-16T06:39:29.454Z,1613457569.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:30.266Z,1613457570.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:30.642Z,1613457570.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:31.492Z,1613457571.492 [Micromodem](INFO): Nmea in: $SNTTA,0.004731,,,,063931.77*4F

2021-02-16T06:39:31.565Z,1613457571.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 154.687269 deg, deltaT: 4.515857 s, approachRate: -0.518174 m/s, LOS rate: 2.616163 deg/s, posRepo size: 4
2021-02-16T06:39:31.571Z,1613457571.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 154.687269 deg,
      approachRate: -0.518174 m/s,
      LOS rate: 2.616163 deg/s,
      cmd update: 7.848490 deg/s,
      cmd heading: 119.544214 deg,
      new cmd heading: 118.494618 deg.

2021-02-16T06:39:33.919Z,1613457573.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:34.680Z,1613457574.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:35.103Z,1613457575.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:35.917Z,1613457575.917 [Micromodem](INFO): Nmea in: $SNTTA,0.004060,,0.129530,,063936.18*50

2021-02-16T06:39:35.961Z,1613457575.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 128.353612 deg, deltaT: 4.369047 s, approachRate: -0.137329 m/s, LOS rate: -6.027323 deg/s, posRepo size: 4
2021-02-16T06:39:35.965Z,1613457575.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 128.353612 deg,
      approachRate: -0.137329 m/s,
      LOS rate: -6.027323 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.852099 deg,
      new cmd heading: 157.234515 deg.

2021-02-16T06:39:38.347Z,1613457578.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:39.124Z,1613457579.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:39.535Z,1613457579.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:40.356Z,1613457580.356 [Micromodem](INFO): Nmea in: $SNTTA,0.004576,,0.007501,,063940.62*51

2021-02-16T06:39:40.410Z,1613457580.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 131.888808 deg, deltaT: 4.444998 s, approachRate: 0.134983 m/s, LOS rate: 0.795320 deg/s, posRepo size: 4
2021-02-16T06:39:40.412Z,1613457580.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 131.888808 deg,
      approachRate: 0.134983 m/s,
      LOS rate: 0.795320 deg/s,
      cmd update: 2.385961 deg/s,
      cmd heading: 100.524781 deg,
      new cmd heading: 95.292229 deg.

2021-02-16T06:39:42.837Z,1613457582.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:43.568Z,1613457583.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:43.981Z,1613457583.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:44.840Z,1613457584.840 [Micromodem](INFO): Nmea in: $SNTTA,0.006030,,,0.009775,063945.07*5D

2021-02-16T06:39:44.897Z,1613457584.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 135.617490 deg, deltaT: 4.510499 s, approachRate: 0.518790 m/s, LOS rate: 0.826667 deg/s, posRepo size: 4
2021-02-16T06:39:44.903Z,1613457584.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 135.617490 deg,
      approachRate: 0.518790 m/s,
      LOS rate: 0.826667 deg/s,
      cmd update: 2.480002 deg/s,
      cmd heading: 111.282631 deg,
      new cmd heading: 112.270464 deg.

2021-02-16T06:39:47.280Z,1613457587.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:48.014Z,1613457588.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:48.426Z,1613457588.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:49.284Z,1613457589.284 [Micromodem](INFO): Nmea in: $SNTTA,0.007877,,,,063949.51*4A

2021-02-16T06:39:49.338Z,1613457589.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 123.501869 deg, deltaT: 4.375157 s, approachRate: 0.575979 m/s, LOS rate: -2.769186 deg/s, posRepo size: 4
2021-02-16T06:39:49.345Z,1613457589.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 123.501869 deg,
      approachRate: 0.575979 m/s,
      LOS rate: -2.769186 deg/s,
      cmd update: -8.307557 deg/s,
      cmd heading: 122.129983 deg,
      new cmd heading: 123.323249 deg.

2021-02-16T06:39:51.675Z,1613457591.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:52.474Z,1613457592.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:52.867Z,1613457592.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:53.696Z,1613457593.696 [Micromodem](INFO): Nmea in: $SNTTA,0.010448,,,,063953.97*4D

2021-02-16T06:39:53.745Z,1613457593.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 113.895945 deg, deltaT: 4.459242 s, approachRate: 0.914953 m/s, LOS rate: -2.154161 deg/s, posRepo size: 4
2021-02-16T06:39:53.751Z,1613457593.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 113.895945 deg,
      approachRate: 0.914953 m/s,
      LOS rate: -2.154161 deg/s,
      cmd update: -6.462482 deg/s,
      cmd heading: 85.084828 deg,
      new cmd heading: 81.520454 deg.

2021-02-16T06:39:56.163Z,1613457596.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:39:56.900Z,1613457596.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:39:57.312Z,1613457597.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:39:58.207Z,1613457598.207 [Micromodem](INFO): Nmea in: $SNTTA,0.011390,,,0.029178,063958.40*54

2021-02-16T06:39:58.298Z,1613457598.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 123.756566 deg, deltaT: 4.418125 s, approachRate: 0.312350 m/s, LOS rate: 2.231857 deg/s, posRepo size: 4
2021-02-16T06:39:58.298Z,1613457598.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.16 m. Rolling out.
2021-02-16T06:39:58.298Z,1613457598.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:40:00.595Z,1613457600.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:01.344Z,1613457601.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:01.762Z,1613457601.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:02.572Z,1613457602.572 [Micromodem](INFO): Nmea in: $SNTTA,0.012867,,,,064002.84*46

2021-02-16T06:40:02.621Z,1613457602.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 107.471135 deg, deltaT: 4.473211 s, approachRate: 0.710898 m/s, LOS rate: -3.640658 deg/s, posRepo size: 4
2021-02-16T06:40:05.011Z,1613457605.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:05.807Z,1613457605.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:06.198Z,1613457606.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:07.036Z,1613457607.036 [Micromodem](INFO): Nmea in: $SNTTA,0.014098,,,,064007.31*43

2021-02-16T06:40:07.062Z,1613457607.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 32.918308 deg, deltaT: 4.427116 s, approachRate: 0.406586 m/s, LOS rate: -16.840043 deg/s, posRepo size: 4
2021-02-16T06:40:09.641Z,1613457609.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:10.264Z,1613457610.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:10.644Z,1613457610.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:11.477Z,1613457611.477 [Micromodem](INFO): Nmea in: $SNTTA,0.014954,,,,064011.76*4E

2021-02-16T06:40:11.511Z,1613457611.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 22.996887 deg, deltaT: 4.441621 s, approachRate: 0.256663 m/s, LOS rate: -2.233739 deg/s, posRepo size: 4
2021-02-16T06:40:13.939Z,1613457613.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:14.676Z,1613457614.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:15.088Z,1613457615.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:15.920Z,1613457615.920 [Micromodem](INFO): Nmea in: $SNTTA,0.015935,,0.035161,,064016.18*59

2021-02-16T06:40:15.946Z,1613457615.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.939999 m, bearing: 30.043400 deg, deltaT: 4.429232 s, approachRate: 0.149010 m/s, LOS rate: 1.590911 deg/s, posRepo size: 4
2021-02-16T06:40:17.520Z,1613457617.520 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:40:18.337Z,1613457618.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:19.120Z,1613457619.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:19.526Z,1613457619.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:20.352Z,1613457620.352 [Micromodem](INFO): Nmea in: $SNTTA,0.016838,,,,064020.62*40

2021-02-16T06:40:20.397Z,1613457620.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.320000 m, bearing: 42.135106 deg, deltaT: 4.472277 s, approachRate: 0.308568 m/s, LOS rate: 2.703702 deg/s, posRepo size: 4
2021-02-16T06:40:22.828Z,1613457622.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:23.565Z,1613457623.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:23.977Z,1613457623.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:24.820Z,1613457624.820 [Micromodem](INFO): Nmea in: $SNTTA,0.018042,,,,064025.06*4C

2021-02-16T06:40:24.845Z,1613457624.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.779999 m, bearing: 74.371601 deg, deltaT: 4.426675 s, approachRate: 0.555722 m/s, LOS rate: 7.282327 deg/s, posRepo size: 4
2021-02-16T06:40:27.275Z,1613457627.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:28.010Z,1613457628.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:28.431Z,1613457628.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:29.268Z,1613457629.268 [Micromodem](INFO): Nmea in: $SNTTA,0.019509,,,,064029.51*49

2021-02-16T06:40:29.312Z,1613457629.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.180000 m, bearing: 60.939822 deg, deltaT: 4.446813 s, approachRate: 0.539713 m/s, LOS rate: -3.020541 deg/s, posRepo size: 4
2021-02-16T06:40:31.673Z,1613457631.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:32.452Z,1613457632.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:32.865Z,1613457632.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:33.680Z,1613457633.680 [Micromodem](INFO): Nmea in: $SNTTA,0.021232,,,,064033.95*4E

2021-02-16T06:40:33.717Z,1613457633.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.040001 m, bearing: 44.240488 deg, deltaT: 4.447274 s, approachRate: 0.418234 m/s, LOS rate: -3.754960 deg/s, posRepo size: 4
2021-02-16T06:40:36.127Z,1613457636.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:36.896Z,1613457636.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:37.302Z,1613457637.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:38.128Z,1613457638.128 [Micromodem](INFO): Nmea in: $SNTTA,0.022244,,,,064038.39*41

2021-02-16T06:40:38.184Z,1613457638.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 69.176921 deg, deltaT: 4.418509 s, approachRate: 0.420957 m/s, LOS rate: 5.643631 deg/s, posRepo size: 4
2021-02-16T06:40:40.580Z,1613457640.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:41.343Z,1613457641.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:41.758Z,1613457641.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:42.572Z,1613457642.572 [Micromodem](INFO): Nmea in: $SNTTA,0.023657,,,,064042.84*4D

2021-02-16T06:40:42.612Z,1613457642.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 0.656037 deg, deltaT: 4.517052 s, approachRate: 0.531319 m/s, LOS rate: -15.169381 deg/s, posRepo size: 4
2021-02-16T06:40:45.019Z,1613457645.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:45.812Z,1613457645.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:46.198Z,1613457646.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:47.033Z,1613457647.033 [Micromodem](INFO): Nmea in: $SNTTA,0.025210,,,,064047.31*47

2021-02-16T06:40:47.089Z,1613457647.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.340000 m, bearing: 70.503753 deg, deltaT: 4.378023 s, approachRate: 0.465965 m/s, LOS rate: 15.954168 deg/s, posRepo size: 4
2021-02-16T06:40:49.536Z,1613457649.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:50.257Z,1613457650.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:50.634Z,1613457650.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:51.482Z,1613457651.482 [Micromodem](INFO): Nmea in: $SNTTA,0.026904,,,,064051.76*4E

2021-02-16T06:40:51.506Z,1613457651.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.559998 m, bearing: 1.268763 deg, deltaT: 4.493393 s, approachRate: 0.494058 m/s, LOS rate: -15.408176 deg/s, posRepo size: 4
2021-02-16T06:40:53.901Z,1613457653.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:54.673Z,1613457654.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:55.100Z,1613457655.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:40:55.900Z,1613457655.900 [Micromodem](INFO): Nmea in: $SNTTA,0.028291,,,,064056.17*47

2021-02-16T06:40:55.939Z,1613457655.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 16.879281 deg, deltaT: 4.428438 s, approachRate: 0.460659 m/s, LOS rate: 3.525062 deg/s, posRepo size: 4
2021-02-16T06:40:58.341Z,1613457658.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:40:59.118Z,1613457659.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:40:59.522Z,1613457659.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:00.348Z,1613457660.348 [Micromodem](INFO): Nmea in: $SNTTA,0.029947,,,,064100.62*46

2021-02-16T06:41:00.389Z,1613457660.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 23.171079 deg, deltaT: 4.430295 s, approachRate: 0.541725 m/s, LOS rate: 1.420176 deg/s, posRepo size: 4
2021-02-16T06:41:02.815Z,1613457662.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:03.565Z,1613457663.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:03.984Z,1613457663.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:04.816Z,1613457664.816 [Micromodem](INFO): Nmea in: $SNTTA,0.031538,,,,064105.06*4C

2021-02-16T06:41:04.842Z,1613457664.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 23.771003 deg, deltaT: 4.440244 s, approachRate: 0.554023 m/s, LOS rate: 0.135111 deg/s, posRepo size: 4
2021-02-16T06:41:07.270Z,1613457667.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:08.009Z,1613457668.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:08.418Z,1613457668.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:09.273Z,1613457669.273 [Micromodem](INFO): Nmea in: $SNTTA,0.033192,,,,064109.51*44

2021-02-16T06:41:09.332Z,1613457669.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 35.491391 deg, deltaT: 4.448550 s, approachRate: 0.552990 m/s, LOS rate: 2.634653 deg/s, posRepo size: 4
2021-02-16T06:41:11.671Z,1613457671.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:12.456Z,1613457672.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:12.854Z,1613457672.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:13.680Z,1613457673.680 [Micromodem](INFO): Nmea in: $SNTTA,0.034916,,,,064113.96*47

2021-02-16T06:41:13.728Z,1613457673.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 80.999418 deg, deltaT: 4.455638 s, approachRate: 0.592507 m/s, LOS rate: 10.213583 deg/s, posRepo size: 4
2021-02-16T06:41:16.124Z,1613457676.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:16.893Z,1613457676.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:17.298Z,1613457677.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:18.128Z,1613457678.128 [Micromodem](INFO): Nmea in: $SNTTA,0.036807,,,,064118.40*44

2021-02-16T06:41:18.188Z,1613457678.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 53.033455 deg, deltaT: 4.499871 s, approachRate: 0.613352 m/s, LOS rate: -6.214837 deg/s, posRepo size: 4
2021-02-16T06:41:20.568Z,1613457680.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:21.347Z,1613457681.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:21.742Z,1613457681.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:22.572Z,1613457682.572 [Micromodem](INFO): Nmea in: $SNTTA,0.038435,,,,064122.85*47

2021-02-16T06:41:22.624Z,1613457682.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 53.337586 deg, deltaT: 4.412022 s, approachRate: 0.557567 m/s, LOS rate: 0.068932 deg/s, posRepo size: 4
2021-02-16T06:41:25.022Z,1613457685.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:25.809Z,1613457685.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:26.197Z,1613457686.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:27.014Z,1613457687.014 [Micromodem](INFO): Nmea in: $SNTTA,0.040401,,,,064127.31*45

2021-02-16T06:41:27.854Z,1613457687.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:29.429Z,1613457689.429 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:41:30.661Z,1613457690.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:31.441Z,1613457691.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:31.906Z,1613457691.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:32.692Z,1613457692.692 [Micromodem](INFO): Nmea in: $SNTTA,0.042425,,,,064132.94*4A

2021-02-16T06:41:32.794Z,1613457692.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 15.840964 deg, deltaT: 10.189931 s, approachRate: 0.618258 m/s, LOS rate: -3.679772 deg/s, posRepo size: 4
2021-02-16T06:41:35.097Z,1613457695.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:35.886Z,1613457695.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:36.297Z,1613457696.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:37.112Z,1613457697.112 [Micromodem](INFO): Nmea in: $SNTTA,0.044074,,,,064137.39*4E

2021-02-16T06:41:37.153Z,1613457697.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.660004 m, bearing: 32.422758 deg, deltaT: 4.304088 s, approachRate: 0.599429 m/s, LOS rate: 3.852569 deg/s, posRepo size: 4
2021-02-16T06:41:39.555Z,1613457699.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:40.329Z,1613457700.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:40.737Z,1613457700.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:41.572Z,1613457701.572 [Micromodem](INFO): Nmea in: $SNTTA,0.045751,,,,064141.83*4F

2021-02-16T06:41:41.602Z,1613457701.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 64.991777 deg, deltaT: 4.462084 s, approachRate: 0.470632 m/s, LOS rate: 7.299060 deg/s, posRepo size: 4
2021-02-16T06:41:43.994Z,1613457703.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:44.792Z,1613457704.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:45.280Z,1613457705.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:46.068Z,1613457706.068 [Micromodem](INFO): Nmea in: $SNTTA,0.047494,,,,064146.29*40

2021-02-16T06:41:46.100Z,1613457706.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 49.054241 deg, deltaT: 4.514486 s, approachRate: 0.584784 m/s, LOS rate: -3.530310 deg/s, posRepo size: 4
2021-02-16T06:41:48.448Z,1613457708.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:49.226Z,1613457709.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:49.640Z,1613457709.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:50.456Z,1613457710.456 [Micromodem](INFO): Nmea in: $SNTTA,0.049243,,,,064150.73*4A

2021-02-16T06:41:50.634Z,1613457710.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 18.871806 deg, deltaT: 4.375241 s, approachRate: 0.617110 m/s, LOS rate: -6.898462 deg/s, posRepo size: 4
2021-02-16T06:41:52.924Z,1613457712.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:53.656Z,1613457713.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:54.080Z,1613457714.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:54.892Z,1613457714.892 [Micromodem](INFO): Nmea in: $SNTTA,0.051176,,,,064155.15*43

2021-02-16T06:41:54.932Z,1613457714.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.919998 m, bearing: 16.016987 deg, deltaT: 4.436997 s, approachRate: 0.635563 m/s, LOS rate: -0.643412 deg/s, posRepo size: 4
2021-02-16T06:41:57.334Z,1613457717.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:41:58.101Z,1613457718.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:41:58.119Z,1613457718.119 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:41:58.566Z,1613457718.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:41:58.912Z,1613457718.912 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T06:41:58.913Z,1613457718.913 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T06:41:59.352Z,1613457719.352 [Micromodem](INFO): Nmea in: $SNTTA,0.053022,,,,064159.60*4F

2021-02-16T06:41:59.377Z,1613457719.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.920006 m, bearing: 25.651892 deg, deltaT: 4.459064 s, approachRate: 0.672789 m/s, LOS rate: 2.160746 deg/s, posRepo size: 4
2021-02-16T06:42:01.791Z,1613457721.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:02.546Z,1613457722.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:02.955Z,1613457722.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:03.797Z,1613457723.797 [Micromodem](INFO): Nmea in: $SNTTA,0.054755,,,,064204.04*46

2021-02-16T06:42:03.835Z,1613457723.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 26.474954 deg, deltaT: 4.458212 s, approachRate: 0.592166 m/s, LOS rate: 0.184617 deg/s, posRepo size: 4
2021-02-16T06:42:06.233Z,1613457726.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:06.994Z,1613457726.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:07.394Z,1613457727.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:08.244Z,1613457728.244 [Micromodem](INFO): Nmea in: $SNTTA,0.056664,,,,064208.49*42

2021-02-16T06:42:08.304Z,1613457728.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 38.801762 deg, deltaT: 4.418106 s, approachRate: 0.692604 m/s, LOS rate: 2.790066 deg/s, posRepo size: 4
2021-02-16T06:42:10.647Z,1613457730.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:11.449Z,1613457731.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:11.845Z,1613457731.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:12.672Z,1613457732.672 [Micromodem](INFO): Nmea in: $SNTTA,0.058620,,,,064212.95*46

2021-02-16T06:42:12.694Z,1613457732.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 22.197876 deg, deltaT: 4.470065 s, approachRate: 0.590595 m/s, LOS rate: -3.714462 deg/s, posRepo size: 4
2021-02-16T06:42:15.114Z,1613457735.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:15.878Z,1613457735.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:16.294Z,1613457736.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:17.109Z,1613457737.109 [Micromodem](INFO): Nmea in: $SNTTA,0.060505,,,,064217.38*4B

2021-02-16T06:42:17.182Z,1613457737.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 34.278554 deg, deltaT: 4.385016 s, approachRate: 0.643101 m/s, LOS rate: 2.754991 deg/s, posRepo size: 4
2021-02-16T06:42:19.542Z,1613457739.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:20.338Z,1613457740.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:20.726Z,1613457740.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:21.560Z,1613457741.560 [Micromodem](INFO): Nmea in: $SNTTA,0.062291,,,0.092603,064221.84*51

2021-02-16T06:42:21.613Z,1613457741.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 29.801638 deg, deltaT: 4.475219 s, approachRate: 0.563098 m/s, LOS rate: -1.000379 deg/s, posRepo size: 4
2021-02-16T06:42:22.816Z,1613457742.816 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:42:24.013Z,1613457744.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:24.797Z,1613457744.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:25.184Z,1613457745.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:26.020Z,1613457746.020 [Micromodem](INFO): Nmea in: $SNTTA,0.064177,,,,064226.29*4C

2021-02-16T06:42:26.045Z,1613457746.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 33.155319 deg, deltaT: 4.454020 s, approachRate: 0.660078 m/s, LOS rate: 0.752956 deg/s, posRepo size: 4
2021-02-16T06:42:28.016Z,1613457748.016 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:42:28.425Z,1613457748.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:29.212Z,1613457749.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:29.614Z,1613457749.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:30.444Z,1613457750.444 [Micromodem](INFO): Nmea in: $SNTTA,0.065970,,,,064230.71*48

2021-02-16T06:42:30.473Z,1613457750.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.180000 m, bearing: 29.678780 deg, deltaT: 4.418534 s, approachRate: 0.597483 m/s, LOS rate: -0.786808 deg/s, posRepo size: 4
2021-02-16T06:42:32.867Z,1613457752.867 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T06:42:32.887Z,1613457752.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:33.670Z,1613457753.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:34.065Z,1613457754.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:34.892Z,1613457754.892 [Micromodem](INFO): Nmea in: $SNTTA,0.067777,,,,064235.17*46

2021-02-16T06:42:34.943Z,1613457754.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.000008 m, bearing: 36.862504 deg, deltaT: 4.457459 s, approachRate: 0.632649 m/s, LOS rate: 1.611618 deg/s, posRepo size: 4
2021-02-16T06:42:37.343Z,1613457757.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:38.096Z,1613457758.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:38.142Z,1613457758.142 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T06:42:38.511Z,1613457758.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:39.324Z,1613457759.324 [Micromodem](INFO): Nmea in: $SNTTA,0.069516,,,,064239.59*4B

2021-02-16T06:42:39.371Z,1613457759.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 31.631624 deg, deltaT: 4.443828 s, approachRate: 0.553577 m/s, LOS rate: -1.177111 deg/s, posRepo size: 4
2021-02-16T06:42:41.766Z,1613457761.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:42.565Z,1613457762.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:42.946Z,1613457762.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:43.797Z,1613457763.797 [Micromodem](INFO): Nmea in: $SNTTA,0.071370,,,,064244.06*44

2021-02-16T06:42:43.835Z,1613457763.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 36.971657 deg, deltaT: 4.430230 s, approachRate: 0.636534 m/s, LOS rate: 1.205363 deg/s, posRepo size: 4
2021-02-16T06:42:46.216Z,1613457766.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:46.991Z,1613457766.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:47.395Z,1613457767.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:48.224Z,1613457768.224 [Micromodem](INFO): Nmea in: $SNTTA,0.073140,,,,064248.49*40

2021-02-16T06:42:48.277Z,1613457768.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 37.994812 deg, deltaT: 4.487343 s, approachRate: 0.588321 m/s, LOS rate: 0.228009 deg/s, posRepo size: 4
2021-02-16T06:42:50.651Z,1613457770.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:51.428Z,1613457771.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:51.841Z,1613457771.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:52.656Z,1613457772.656 [Micromodem](INFO): Nmea in: $SNTTA,0.075032,,,,064252.93*4E

2021-02-16T06:42:52.694Z,1613457772.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 35.871358 deg, deltaT: 4.422734 s, approachRate: 0.637616 m/s, LOS rate: -0.480123 deg/s, posRepo size: 4
2021-02-16T06:42:53.075Z,1613457773.075 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T06:42:55.106Z,1613457775.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:42:55.872Z,1613457775.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:42:56.278Z,1613457776.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:42:57.100Z,1613457777.100 [Micromodem](INFO): Nmea in: $SNTTA,0.076778,,,,064257.37*4F

2021-02-16T06:42:57.153Z,1613457777.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 39.719995 deg, deltaT: 4.434929 s, approachRate: 0.595274 m/s, LOS rate: 0.867801 deg/s, posRepo size: 4
2021-02-16T06:42:57.929Z,1613457777.929 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:42:59.581Z,1613457779.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:00.322Z,1613457780.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:00.728Z,1613457780.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:01.548Z,1613457781.548 [Micromodem](INFO): Nmea in: $SNTTA,0.078778,,,,064301.82*4D

2021-02-16T06:43:01.591Z,1613457781.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.260002 m, bearing: 33.430077 deg, deltaT: 4.453350 s, approachRate: 0.646704 m/s, LOS rate: -1.412401 deg/s, posRepo size: 4
2021-02-16T06:43:03.983Z,1613457783.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:04.775Z,1613457784.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:05.185Z,1613457785.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:06.004Z,1613457786.004 [Micromodem](INFO): Nmea in: $SNTTA,0.080506,,,,064306.27*49

2021-02-16T06:43:06.042Z,1613457786.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 46.292041 deg, deltaT: 4.432454 s, approachRate: 0.649752 m/s, LOS rate: 2.901770 deg/s, posRepo size: 4
2021-02-16T06:43:08.434Z,1613457788.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:09.204Z,1613457789.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:09.614Z,1613457789.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:10.436Z,1613457790.436 [Micromodem](INFO): Nmea in: $SNTTA,0.082382,,,,064310.70*44

2021-02-16T06:43:10.484Z,1613457790.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 38.701331 deg, deltaT: 4.461774 s, approachRate: 0.578246 m/s, LOS rate: -1.701276 deg/s, posRepo size: 4
2021-02-16T06:43:12.882Z,1613457792.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:13.650Z,1613457793.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:14.053Z,1613457794.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:14.880Z,1613457794.880 [Micromodem](INFO): Nmea in: $SNTTA,0.084159,,,,064315.15*40

2021-02-16T06:43:14.930Z,1613457794.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.419998 m, bearing: 39.947533 deg, deltaT: 4.421236 s, approachRate: 0.610688 m/s, LOS rate: 0.281867 deg/s, posRepo size: 4
2021-02-16T06:43:17.326Z,1613457797.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:18.094Z,1613457798.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:18.141Z,1613457798.141 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:43:18.497Z,1613457798.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:19.320Z,1613457799.320 [Micromodem](INFO): Nmea in: $SNTTA,0.085940,,,,064319.59*45

2021-02-16T06:43:19.358Z,1613457799.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 38.850816 deg, deltaT: 4.453393 s, approachRate: 0.606279 m/s, LOS rate: -0.246265 deg/s, posRepo size: 4
2021-02-16T06:43:21.760Z,1613457801.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:22.536Z,1613457802.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:22.959Z,1613457802.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:23.776Z,1613457803.776 [Micromodem](INFO): Nmea in: $SNTTA,0.087701,,,,064324.03*4D

2021-02-16T06:43:23.839Z,1613457803.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.700012 m, bearing: 29.906919 deg, deltaT: 4.436363 s, approachRate: 0.581561 m/s, LOS rate: -2.016043 deg/s, posRepo size: 4
2021-02-16T06:43:26.230Z,1613457806.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:26.981Z,1613457806.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:27.385Z,1613457807.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:28.212Z,1613457808.212 [Micromodem](INFO): Nmea in: $SNTTA,0.089555,,,,064328.48*43

2021-02-16T06:43:28.277Z,1613457808.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.520004 m, bearing: 33.239553 deg, deltaT: 4.516470 s, approachRate: 0.624380 m/s, LOS rate: 0.737885 deg/s, posRepo size: 4
2021-02-16T06:43:30.665Z,1613457810.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:31.429Z,1613457811.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:31.829Z,1613457811.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:32.672Z,1613457812.672 [Micromodem](INFO): Nmea in: $SNTTA,0.091564,,,,064332.93*45

2021-02-16T06:43:32.694Z,1613457812.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 32.336305 deg, deltaT: 4.438799 s, approachRate: 0.662342 m/s, LOS rate: -0.203489 deg/s, posRepo size: 4
2021-02-16T06:43:35.101Z,1613457815.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:35.870Z,1613457815.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:36.275Z,1613457816.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:37.112Z,1613457817.112 [Micromodem](INFO): Nmea in: $SNTTA,0.093316,,,,064337.37*4F

2021-02-16T06:43:37.137Z,1613457817.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 36.610087 deg, deltaT: 4.371151 s, approachRate: 0.617686 m/s, LOS rate: 0.977725 deg/s, posRepo size: 4
2021-02-16T06:43:39.530Z,1613457819.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:40.312Z,1613457820.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:40.720Z,1613457820.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:41.540Z,1613457821.540 [Micromodem](INFO): Nmea in: $SNTTA,0.095115,,,,064341.81*44

2021-02-16T06:43:41.586Z,1613457821.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.860001 m, bearing: 34.426800 deg, deltaT: 4.463192 s, approachRate: 0.604948 m/s, LOS rate: -0.489176 deg/s, posRepo size: 4
2021-02-16T06:43:43.985Z,1613457823.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:44.777Z,1613457824.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:45.170Z,1613457825.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:45.996Z,1613457825.996 [Micromodem](INFO): Nmea in: $SNTTA,0.096914,,,,064346.27*45

2021-02-16T06:43:46.021Z,1613457826.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.560013 m, bearing: 33.590406 deg, deltaT: 4.449630 s, approachRate: 0.606795 m/s, LOS rate: -0.187969 deg/s, posRepo size: 4
2021-02-16T06:43:48.422Z,1613457828.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:49.205Z,1613457829.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:49.606Z,1613457829.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:50.437Z,1613457830.437 [Micromodem](INFO): Nmea in: $SNTTA,0.098820,,,,064350.70*48

2021-02-16T06:43:50.463Z,1613457830.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.380005 m, bearing: 33.246909 deg, deltaT: 4.425946 s, approachRate: 0.637150 m/s, LOS rate: -0.077610 deg/s, posRepo size: 4
2021-02-16T06:43:52.882Z,1613457832.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:53.644Z,1613457833.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:54.049Z,1613457834.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:54.872Z,1613457834.872 [Micromodem](INFO): Nmea in: $SNTTA,0.100641,,,,064355.14*46

2021-02-16T06:43:54.917Z,1613457834.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.140015 m, bearing: 31.021480 deg, deltaT: 4.458331 s, approachRate: 0.619068 m/s, LOS rate: -0.499162 deg/s, posRepo size: 4
2021-02-16T06:43:54.918Z,1613457834.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.14 m. Resuming terminal guidance.
2021-02-16T06:43:54.918Z,1613457834.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T06:43:57.314Z,1613457837.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:43:58.090Z,1613457838.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:43:58.505Z,1613457838.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:43:59.320Z,1613457839.320 [Micromodem](INFO): Nmea in: $SNTTA,0.102538,,0.106963,,064359.59*59

2021-02-16T06:43:59.358Z,1613457839.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 30.030747 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T06:43:59.359Z,1613457839.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 30.030747deg and heading rate command to 0 deg/s.
2021-02-16T06:44:01.769Z,1613457841.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:02.534Z,1613457842.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:02.943Z,1613457842.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:03.772Z,1613457843.772 [Micromodem](INFO): Nmea in: $SNTTA,0.104228,,0.105410,,064404.03*53

2021-02-16T06:44:03.832Z,1613457843.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 45.898557 deg, deltaT: 4.443720 s, approachRate: 0.607598 m/s, LOS rate: 3.570839 deg/s, posRepo size: 2
2021-02-16T06:44:03.833Z,1613457843.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.659988 m,
      bearing: 45.898557 deg,
      approachRate: 0.607598 m/s,
      LOS rate: 3.570839 deg/s,
      cmd update: 10.712518 deg/s,
      cmd heading: 30.030747 deg,
      new cmd heading: 30.030747 deg.

2021-02-16T06:44:06.216Z,1613457846.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:06.984Z,1613457846.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:07.404Z,1613457847.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:08.212Z,1613457848.212 [Micromodem](INFO): Nmea in: $SNTTA,0.105893,,,,064408.48*44

2021-02-16T06:44:08.275Z,1613457848.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 0.760515 deg, deltaT: 4.509672 s, approachRate: 0.532195 m/s, LOS rate: -10.009163 deg/s, posRepo size: 3
2021-02-16T06:44:08.277Z,1613457848.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 0.760515 deg,
      approachRate: 0.532195 m/s,
      LOS rate: -10.009163 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 78.469937 deg,
      new cmd heading: 82.521615 deg.

2021-02-16T06:44:10.642Z,1613457850.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:11.420Z,1613457851.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:11.831Z,1613457851.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:12.669Z,1613457852.669 [Micromodem](INFO): Nmea in: $SNTTA,0.107558,,,,064412.92*40

2021-02-16T06:44:12.716Z,1613457852.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.520004 m, bearing: 24.803284 deg, deltaT: 4.405408 s, approachRate: 0.558403 m/s, LOS rate: 5.457558 deg/s, posRepo size: 4
2021-02-16T06:44:12.717Z,1613457852.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.520004 m,
      bearing: 24.803284 deg,
      approachRate: 0.558403 m/s,
      LOS rate: 5.457558 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 25.603768 deg,
      new cmd heading: 20.843475 deg.

2021-02-16T06:44:15.083Z,1613457855.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:15.871Z,1613457855.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:16.280Z,1613457856.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:17.116Z,1613457857.116 [Micromodem](INFO): Nmea in: $SNTTA,0.109167,,,,064417.37*4C

2021-02-16T06:44:17.141Z,1613457857.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.439987 m, bearing: 33.472367 deg, deltaT: 4.395276 s, approachRate: 0.436829 m/s, LOS rate: 1.972364 deg/s, posRepo size: 4
2021-02-16T06:44:17.143Z,1613457857.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.439987 m,
      bearing: 33.472367 deg,
      approachRate: 0.436829 m/s,
      LOS rate: 1.972364 deg/s,
      cmd update: 5.917091 deg/s,
      cmd heading: 78.375809 deg,
      new cmd heading: 83.714177 deg.

2021-02-16T06:44:19.532Z,1613457859.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:20.314Z,1613457860.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:20.714Z,1613457860.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:21.528Z,1613457861.528 [Micromodem](INFO): Nmea in: $SNTTA,0.111002,,,,064421.81*4F

2021-02-16T06:44:22.365Z,1613457862.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:23.942Z,1613457863.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:44:25.194Z,1613457865.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:25.969Z,1613457865.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:26.375Z,1613457866.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:27.203Z,1613457867.203 [Micromodem](INFO): Nmea in: $SNTTA,0.113080,,,,064427.47*4B

2021-02-16T06:44:27.273Z,1613457867.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.740005 m, bearing: 72.418781 deg, deltaT: 10.156351 s, approachRate: 0.620303 m/s, LOS rate: 3.834686 deg/s, posRepo size: 4
2021-02-16T06:44:27.274Z,1613457867.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.740005 m,
      bearing: 72.418781 deg,
      approachRate: 0.620303 m/s,
      LOS rate: 3.834686 deg/s,
      cmd update: 11.504058 deg/s,
      cmd heading: 138.457632 deg,
      new cmd heading: 140.776972 deg.

2021-02-16T06:44:28.428Z,1613457868.428 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T06:44:28.429Z,1613457868.429 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T06:44:28.429Z,1613457868.429 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T06:44:28.429Z,1613457868.429 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:44:28.429Z,1613457868.429 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T06:44:28.899Z,1613457868.899 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236
2021-02-16T06:44:28.899Z,1613457868.899 [Micromodem](INFO): Outgoing frame #2, 48 bytes: 881FC5EC5594FD6708EF647FC3D1A81DDEFDD627A6527D642D7CD3A2AC77165708FEC5A10672DBD2ECC0ED89CDF6DA00
2021-02-16T06:44:28.900Z,1613457868.900 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T06:44:29.284Z,1613457869.284 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T06:44:29.661Z,1613457869.661 [Micromodem](INFO): Nmea in: $CADRQ,064430,1,10,0,64,1*73

2021-02-16T06:44:29.661Z,1613457869.661 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236*34

2021-02-16T06:44:29.814Z,1613457869.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:30.066Z,1613457870.066 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T06:44:30.478Z,1613457870.478 [Micromodem](INFO): Nmea in: $CADRQ,064431,1,10,0,64,2*71

2021-02-16T06:44:30.478Z,1613457870.478 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,881FC5EC5594FD6708EF647FC3D1A81DDEFDD627A6527D642D7CD3A2AC77165708FEC5A10672DBD2ECC0ED89CDF6DA00*3C

2021-02-16T06:44:30.869Z,1613457870.869 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,48*47

2021-02-16T06:44:30.869Z,1613457870.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:31.273Z,1613457871.273 [Micromodem](INFO): Nmea in: $CATXP,112*40

2021-02-16T06:44:31.273Z,1613457871.273 [Micromodem](ERROR): Response from modem unexpected: $CATXP,112*40

2021-02-16T06:44:32.521Z,1613457872.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:33.693Z,1613457873.693 [Micromodem](INFO): Nmea in: $CATXF,112*56

2021-02-16T06:44:33.693Z,1613457873.693 [Micromodem](ERROR): Response from modem unexpected: $CATXF,112*56

2021-02-16T06:44:34.098Z,1613457874.098 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,064431.996945,3,0,200,4000,14500,1,1,10,1,2,2,3,112*7F

2021-02-16T06:44:34.099Z,1613457874.099 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,064431.996945,3,0,200,4000,14500,1,1,10,1,2,2,3,112*7F

2021-02-16T06:44:35.036Z,1613457875.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:37.777Z,1613457877.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:40.592Z,1613457880.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:42.189Z,1613457882.189 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:42.582Z,1613457882.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:43.408Z,1613457883.408 [Micromodem](INFO): Nmea in: $SNTTA,0.117975,,,,064443.69*42

2021-02-16T06:44:43.845Z,1613457883.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 112.815915 deg, deltaT: 16.660405 s, approachRate: 0.439365 m/s, LOS rate: 2.424739 deg/s, posRepo size: 4
2021-02-16T06:44:43.846Z,1613457883.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 112.815915 deg,
      approachRate: 0.439365 m/s,
      LOS rate: 2.424739 deg/s,
      cmd update: 7.274216 deg/s,
      cmd heading: 330.166208 deg,
      new cmd heading: 333.964193 deg.

2021-02-16T06:44:46.296Z,1613457886.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:47.024Z,1613457887.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:47.431Z,1613457887.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:48.272Z,1613457888.272 [Micromodem](INFO): Nmea in: $SNTTA,0.119084,,,,064448.52*48

2021-02-16T06:44:48.296Z,1613457888.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 124.746616 deg, deltaT: 4.449029 s, approachRate: 0.000000 m/s, LOS rate: 2.681642 deg/s, posRepo size: 4
2021-02-16T06:44:48.298Z,1613457888.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 124.746616 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.681642 deg/s,
      cmd update: 8.044925 deg/s,
      cmd heading: 2.527553 deg,
      new cmd heading: 4.948907 deg.

2021-02-16T06:44:50.691Z,1613457890.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:51.469Z,1613457891.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:51.884Z,1613457891.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:52.696Z,1613457892.696 [Micromodem](INFO): Nmea in: $SNTTA,0.120358,,,,064452.97*42

2021-02-16T06:44:52.728Z,1613457892.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 87.418116 deg, deltaT: 4.365360 s, approachRate: 0.000000 m/s, LOS rate: -8.551070 deg/s, posRepo size: 4
2021-02-16T06:44:52.730Z,1613457892.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 87.418116 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.551070 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 37.648653 deg,
      new cmd heading: 40.860943 deg.

2021-02-16T06:44:55.137Z,1613457895.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:44:55.912Z,1613457895.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:44:56.319Z,1613457896.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:44:57.135Z,1613457897.135 [Micromodem](INFO): Nmea in: $SNTTA,0.121933,,,,064457.41*4A

2021-02-16T06:44:57.592Z,1613457897.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 86.931383 deg, deltaT: 4.921752 s, approachRate: 1.353177 m/s, LOS rate: -0.098894 deg/s, posRepo size: 4
2021-02-16T06:44:57.594Z,1613457897.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.720001 m,
      bearing: 86.931383 deg,
      approachRate: 1.353177 m/s,
      LOS rate: -0.098894 deg/s,
      cmd update: -0.296683 deg/s,
      cmd heading: 338.851088 deg,
      new cmd heading: 334.491475 deg.

2021-02-16T06:44:59.993Z,1613457899.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:00.804Z,1613457900.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:01.173Z,1613457901.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:02.395Z,1613457902.395 [Micromodem](INFO): Nmea in: $SNTTA,0.124011,,,,064502.33*42

2021-02-16T06:45:02.431Z,1613457902.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.180008 m, bearing: 33.517811 deg, deltaT: 4.800292 s, approachRate: 0.512470 m/s, LOS rate: -11.127151 deg/s, posRepo size: 4
2021-02-16T06:45:02.433Z,1613457902.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.180008 m,
      bearing: 33.517811 deg,
      approachRate: 0.512470 m/s,
      LOS rate: -11.127151 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 337.420414 deg,
      new cmd heading: 337.307762 deg.

2021-02-16T06:45:04.840Z,1613457904.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:05.667Z,1613457905.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:06.028Z,1613457906.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:07.272Z,1613457907.272 [Micromodem](INFO): Nmea in: $SNTTA,0.125641,,,,064507.24*43

2021-02-16T06:45:07.362Z,1613457907.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.579987 m, bearing: 357.153187 deg, deltaT: 4.870102 s, approachRate: 0.492798 m/s, LOS rate: -7.466913 deg/s, posRepo size: 4
2021-02-16T06:45:07.364Z,1613457907.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.579987 m,
      bearing: 357.153187 deg,
      approachRate: 0.492798 m/s,
      LOS rate: -7.466913 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 279.047517 deg,
      new cmd heading: 273.683300 deg.

2021-02-16T06:45:09.668Z,1613457909.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:10.481Z,1613457910.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:10.880Z,1613457910.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:11.692Z,1613457911.692 [Micromodem](INFO): Nmea in: $SNTTA,0.127104,,,,064511.98*47

2021-02-16T06:45:12.126Z,1613457912.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 4.720861 deg, deltaT: 4.785052 s, approachRate: 0.463945 m/s, LOS rate: 1.581524 deg/s, posRepo size: 4
2021-02-16T06:45:12.128Z,1613457912.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 4.720861 deg,
      approachRate: 0.463945 m/s,
      LOS rate: 1.581524 deg/s,
      cmd update: 4.744573 deg/s,
      cmd heading: 221.559200 deg,
      new cmd heading: 216.514147 deg.

2021-02-16T06:45:14.666Z,1613457914.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:15.309Z,1613457915.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:15.709Z,1613457915.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:16.525Z,1613457916.525 [Micromodem](INFO): Nmea in: $SNTTA,0.127883,,,,064516.81*4E

2021-02-16T06:45:16.988Z,1613457916.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.819992 m, bearing: 334.781039 deg, deltaT: 4.870549 s, approachRate: 0.209423 m/s, LOS rate: -6.147115 deg/s, posRepo size: 4
2021-02-16T06:45:16.990Z,1613457916.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.819992 m,
      bearing: 334.781039 deg,
      approachRate: 0.209423 m/s,
      LOS rate: -6.147115 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.648842 deg,
      new cmd heading: 246.619956 deg.

2021-02-16T06:45:19.368Z,1613457919.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:20.176Z,1613457920.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:20.560Z,1613457920.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:21.385Z,1613457921.385 [Micromodem](INFO): Nmea in: $SNTTA,0.128094,,,,064521.67*43

2021-02-16T06:45:21.858Z,1613457921.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.119995 m, bearing: 270.101060 deg, deltaT: 4.874914 s, approachRate: 0.061540 m/s, LOS rate: -13.267922 deg/s, posRepo size: 4
2021-02-16T06:45:21.859Z,1613457921.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.267922 deg/s. Setting heading cmd to target bearing of 270.101060deg and heading rate command to 0 deg/s.
2021-02-16T06:45:24.254Z,1613457924.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:24.000Z,1613457925.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:25.406Z,1613457925.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:26.236Z,1613457926.236 [Micromodem](INFO): Nmea in: $SNTTA,0.127742,,,,064526.50*43

2021-02-16T06:45:27.053Z,1613457927.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:28.636Z,1613457928.636 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:45:29.955Z,1613457929.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:30.656Z,1613457930.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:31.061Z,1613457931.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:31.874Z,1613457931.874 [Micromodem](INFO): Nmea in: $SNTTA,0.126563,,,,064532.15*47

2021-02-16T06:45:32.312Z,1613457932.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.720001 m, bearing: 227.066374 deg, deltaT: 10.472141 s, approachRate: -0.229179 m/s, LOS rate: -4.109445 deg/s, posRepo size: 4
2021-02-16T06:45:32.313Z,1613457932.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.720001 m,
      bearing: 227.066374 deg,
      approachRate: -0.229179 m/s,
      LOS rate: -4.109445 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.101060 deg,
      new cmd heading: 270.101060 deg.

2021-02-16T06:45:33.902Z,1613457933.902 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T06:45:34.358Z,1613457934.358 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236
2021-02-16T06:45:34.359Z,1613457934.359 [Micromodem](INFO): Outgoing frame #2, 48 bytes: 881FC5EC5594FD6708EF647FC3D1A81DDEFDD627A6527D642D7CD3A2AC77165708FEC5A10672DBD2ECC0ED89CDF6DA00
2021-02-16T06:45:34.359Z,1613457934.359 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T06:45:34.445Z,1613457934.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:34.719Z,1613457934.719 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T06:45:35.106Z,1613457935.106 [Micromodem](INFO): Nmea in: $CADRQ,064535,1,10,0,64,1*77

2021-02-16T06:45:35.106Z,1613457935.106 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236*34

2021-02-16T06:45:35.521Z,1613457935.521 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T06:45:35.521Z,1613457935.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:35.914Z,1613457935.914 [Micromodem](INFO): Nmea in: $CADRQ,064536,1,10,0,64,2*77

2021-02-16T06:45:35.914Z,1613457935.914 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,064536,1,10,0,64,2*77

2021-02-16T06:45:36.319Z,1613457936.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:36.736Z,1613457936.736 [Micromodem](INFO): Nmea in: $SNTTA,0.124522,,0.130423,,064537.02*5A

2021-02-16T06:45:37.170Z,1613457937.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 233.943487 deg, deltaT: 4.831057 s, approachRate: -0.645824 m/s, LOS rate: 1.423521 deg/s, posRepo size: 4
2021-02-16T06:45:37.173Z,1613457937.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 233.943487 deg,
      approachRate: -0.645824 m/s,
      LOS rate: 1.423521 deg/s,
      cmd update: 4.270564 deg/s,
      cmd heading: 211.835719 deg,
      new cmd heading: 206.854939 deg.

2021-02-16T06:45:39.660Z,1613457939.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:40.354Z,1613457940.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:40.770Z,1613457940.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:41.600Z,1613457941.600 [Micromodem](INFO): Nmea in: $SNTTA,0.122342,,,,064541.85*4B

2021-02-16T06:45:41.696Z,1613457941.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 217.861533 deg, deltaT: 4.513545 s, approachRate: 0.000000 m/s, LOS rate: -3.563043 deg/s, posRepo size: 4
2021-02-16T06:45:41.699Z,1613457941.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 217.861533 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.563043 deg/s,
      cmd update: -10.689128 deg/s,
      cmd heading: 231.076309 deg,
      new cmd heading: 232.933000 deg.

2021-02-16T06:45:44.048Z,1613457944.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:44.817Z,1613457944.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:45.206Z,1613457945.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:46.029Z,1613457946.029 [Micromodem](INFO): Nmea in: $SNTTA,0.119890,,,,064546.31*4F

2021-02-16T06:45:46.464Z,1613457946.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 225.078939 deg, deltaT: 4.862749 s, approachRate: -1.431287 m/s, LOS rate: 1.484223 deg/s, posRepo size: 4
2021-02-16T06:45:46.466Z,1613457946.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.639999 m,
      bearing: 225.078939 deg,
      approachRate: -1.431287 m/s,
      LOS rate: 1.484223 deg/s,
      cmd update: 4.452670 deg/s,
      cmd heading: 179.010772 deg,
      new cmd heading: 175.451881 deg.

2021-02-16T06:45:48.863Z,1613457948.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:49.644Z,1613457949.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:50.056Z,1613457950.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:50.872Z,1613457950.872 [Micromodem](INFO): Nmea in: $SNTTA,0.117353,,,,064551.14*44

2021-02-16T06:45:50.918Z,1613457950.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 226.908720 deg, deltaT: 4.385377 s, approachRate: 0.000000 m/s, LOS rate: 0.417246 deg/s, posRepo size: 4
2021-02-16T06:45:50.920Z,1613457950.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.639999 m,
      bearing: 226.908720 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.417246 deg/s,
      cmd update: 1.251738 deg/s,
      cmd heading: 198.498458 deg,
      new cmd heading: 200.324868 deg.

2021-02-16T06:45:53.321Z,1613457953.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:54.093Z,1613457954.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:54.494Z,1613457954.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:55.320Z,1613457955.320 [Micromodem](INFO): Nmea in: $SNTTA,0.115066,,,,064555.59*4E

2021-02-16T06:45:55.362Z,1613457955.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 225.957110 deg, deltaT: 4.444910 s, approachRate: 0.000000 m/s, LOS rate: -0.214090 deg/s, posRepo size: 4
2021-02-16T06:45:55.364Z,1613457955.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.639999 m,
      bearing: 225.957110 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.214090 deg/s,
      cmd update: -0.642269 deg/s,
      cmd heading: 204.067995 deg,
      new cmd heading: 204.574882 deg.

2021-02-16T06:45:57.744Z,1613457957.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:45:58.534Z,1613457958.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:45:58.941Z,1613457958.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:45:59.792Z,1613457959.792 [Micromodem](INFO): Nmea in: $SNTTA,0.112916,,,,064600.03*4B

2021-02-16T06:45:59.835Z,1613457959.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 227.646285 deg, deltaT: 4.438311 s, approachRate: 0.000000 m/s, LOS rate: 0.380589 deg/s, posRepo size: 4
2021-02-16T06:45:59.837Z,1613457959.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.639999 m,
      bearing: 227.646285 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.380589 deg/s,
      cmd update: 1.141768 deg/s,
      cmd heading: 201.217508 deg,
      new cmd heading: 200.937537 deg.

2021-02-16T06:46:02.269Z,1613457962.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:02.981Z,1613457962.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:03.388Z,1613457963.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:04.224Z,1613457964.224 [Micromodem](INFO): Nmea in: $SNTTA,0.110675,,,,064604.48*48

2021-02-16T06:46:04.275Z,1613457964.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 228.157975 deg, deltaT: 4.437912 s, approachRate: -3.109568 m/s, LOS rate: 0.115300 deg/s, posRepo size: 4
2021-02-16T06:46:04.277Z,1613457964.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.840012 m,
      bearing: 228.157975 deg,
      approachRate: -3.109568 m/s,
      LOS rate: 0.115300 deg/s,
      cmd update: 0.345899 deg/s,
      cmd heading: 206.289186 deg,
      new cmd heading: 206.784752 deg.

2021-02-16T06:46:05.428Z,1613457965.428 [Micromodem](INFO): Nmea in: $CAERR,064606,DATA_TIMEOUT,2*4F

2021-02-16T06:46:05.818Z,1613457965.818 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-02-16T06:46:06.672Z,1613457966.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:07.421Z,1613457967.421 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-02-16T06:46:07.422Z,1613457967.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:07.825Z,1613457967.825 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,064606.647423,3,0,200,4000,14500,1,1,10,1,2,1,3,64*44

2021-02-16T06:46:07.826Z,1613457967.826 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,064606.647423,3,0,200,4000,14500,1,1,10,1,2,1,3,64*44

2021-02-16T06:46:08.264Z,1613457968.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:08.637Z,1613457968.637 [Micromodem](INFO): Nmea in: $SNTTA,,,,,064608.92*59

2021-02-16T06:46:09.471Z,1613457969.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:11.054Z,1613457971.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:46:12.316Z,1613457972.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:13.078Z,1613457973.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:13.500Z,1613457973.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:14.304Z,1613457974.304 [Micromodem](INFO): Nmea in: $SNTTA,0.105672,,,,064614.58*4B

2021-02-16T06:46:14.369Z,1613457974.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.279999 m, bearing: 230.295865 deg, deltaT: 10.142273 s, approachRate: -0.745396 m/s, LOS rate: 0.210790 deg/s, posRepo size: 4
2021-02-16T06:46:14.370Z,1613457974.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.279999 m,
      bearing: 230.295865 deg,
      approachRate: -0.745396 m/s,
      LOS rate: 0.210790 deg/s,
      cmd update: 0.632370 deg/s,
      cmd heading: 209.797508 deg,
      new cmd heading: 209.932085 deg.

2021-02-16T06:46:16.756Z,1613457976.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:17.520Z,1613457977.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:17.966Z,1613457977.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:18.753Z,1613457978.753 [Micromodem](INFO): Nmea in: $SNTTA,0.103355,,0.116866,,064619.02*5F

2021-02-16T06:46:18.826Z,1613457978.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 232.324431 deg, deltaT: 4.446271 s, approachRate: -0.769180 m/s, LOS rate: 0.456240 deg/s, posRepo size: 4
2021-02-16T06:46:18.830Z,1613457978.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 232.324431 deg,
      approachRate: -0.769180 m/s,
      LOS rate: 0.456240 deg/s,
      cmd update: 1.368720 deg/s,
      cmd heading: 212.609093 deg,
      new cmd heading: 212.862308 deg.

2021-02-16T06:46:21.210Z,1613457981.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:21.973Z,1613457981.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:22.370Z,1613457982.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:23.204Z,1613457983.204 [Micromodem](INFO): Nmea in: $SNTTA,0.100964,,,,064623.47*4C

2021-02-16T06:46:23.268Z,1613457983.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.259995 m, bearing: 233.576241 deg, deltaT: 4.403047 s, approachRate: -0.817620 m/s, LOS rate: 0.284305 deg/s, posRepo size: 4
2021-02-16T06:46:23.270Z,1613457983.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.259995 m,
      bearing: 233.576241 deg,
      approachRate: -0.817620 m/s,
      LOS rate: 0.284305 deg/s,
      cmd update: 0.852916 deg/s,
      cmd heading: 218.635905 deg,
      new cmd heading: 219.236836 deg.

2021-02-16T06:46:25.647Z,1613457985.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:26.454Z,1613457986.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:26.846Z,1613457986.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:27.680Z,1613457987.680 [Micromodem](INFO): Nmea in: $SNTTA,0.098518,,,,064627.95*40

2021-02-16T06:46:27.721Z,1613457987.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 234.116782 deg, deltaT: 4.494093 s, approachRate: -0.827750 m/s, LOS rate: 0.120278 deg/s, posRepo size: 4
2021-02-16T06:46:27.722Z,1613457987.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.540009 m,
      bearing: 234.116782 deg,
      approachRate: -0.827750 m/s,
      LOS rate: 0.120278 deg/s,
      cmd update: 0.360834 deg/s,
      cmd heading: 222.467381 deg,
      new cmd heading: 222.807984 deg.

2021-02-16T06:46:30.117Z,1613457990.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:30.889Z,1613457990.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:31.289Z,1613457991.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:32.116Z,1613457992.116 [Micromodem](INFO): Nmea in: $SNTTA,0.095966,,,,064632.39*4A

2021-02-16T06:46:32.157Z,1613457992.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 234.210028 deg, deltaT: 4.400618 s, approachRate: -0.858973 m/s, LOS rate: 0.021189 deg/s, posRepo size: 4
2021-02-16T06:46:32.160Z,1613457992.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 234.210028 deg,
      approachRate: -0.858973 m/s,
      LOS rate: 0.021189 deg/s,
      cmd update: 0.063568 deg/s,
      cmd heading: 224.051534 deg,
      new cmd heading: 224.212171 deg.

2021-02-16T06:46:34.591Z,1613457994.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:35.333Z,1613457995.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:35.736Z,1613457995.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:36.567Z,1613457996.567 [Micromodem](INFO): Nmea in: $SNTTA,0.093542,,,,064636.83*43

2021-02-16T06:46:36.591Z,1613457996.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.100006 m, bearing: 234.655766 deg, deltaT: 4.497409 s, approachRate: -0.813799 m/s, LOS rate: 0.099110 deg/s, posRepo size: 4
2021-02-16T06:46:36.593Z,1613457996.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.100006 m,
      bearing: 234.655766 deg,
      approachRate: -0.813799 m/s,
      LOS rate: 0.099110 deg/s,
      cmd update: 0.297330 deg/s,
      cmd heading: 224.337446 deg,
      new cmd heading: 224.361701 deg.

2021-02-16T06:46:39.020Z,1613457999.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:39.377Z,1613457999.377 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T06:46:39.801Z,1613457999.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:40.202Z,1613458000.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:40.281Z,1613458000.281 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236
2021-02-16T06:46:40.282Z,1613458000.282 [Micromodem](INFO): Outgoing frame #2, 48 bytes: 881FC5EC5594FD6708EF647FC3D1A81DDEFDD627A6527D642D7CD3A2AC77165708FEC5A10672DBD2ECC0ED89CDF6DA00
2021-02-16T06:46:40.282Z,1613458000.282 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T06:46:40.585Z,1613458000.585 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T06:46:41.016Z,1613458001.016 [Micromodem](INFO): Nmea in: $CADRQ,064641,1,10,0,64,1*77

2021-02-16T06:46:41.017Z,1613458001.017 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B602B0000005D000004006D0000000000000000151D80030C5669BF92F9E554D473B63677219B4F86A6ADF787533B8023CA269D2D176B606F74F4CAE236*34

2021-02-16T06:46:41.153Z,1613458001.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 235.480826 deg, deltaT: 4.381207 s, approachRate: -0.849081 m/s, LOS rate: 0.188318 deg/s, posRepo size: 4
2021-02-16T06:46:41.160Z,1613458001.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 235.480826 deg,
      approachRate: -0.849081 m/s,
      LOS rate: 0.188318 deg/s,
      cmd update: 0.564954 deg/s,
      cmd heading: 225.643618 deg,
      new cmd heading: 225.805845 deg.

2021-02-16T06:46:41.404Z,1613458001.404 [Micromodem](INFO): Nmea in: $SNTTA,0.091050,,,,064641.30*4F

2021-02-16T06:46:41.405Z,1613458001.405 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.091050,,,,064641.30*4F

2021-02-16T06:46:42.616Z,1613458002.616 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T06:46:43.028Z,1613458003.028 [Micromodem](INFO): Nmea in: $CADRQ,064642,1,10,0,64,2*77

2021-02-16T06:46:43.029Z,1613458003.029 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,881FC5EC5594FD6708EF647FC3D1A81DDEFDD627A6527D642D7CD3A2AC77165708FEC5A10672DBD2ECC0ED89CDF6DA00*3C

2021-02-16T06:46:43.132Z,1613458003.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:43.419Z,1613458003.419 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,48*47

2021-02-16T06:46:43.812Z,1613458003.812 [Micromodem](INFO): Nmea in: $CATXP,112*40

2021-02-16T06:46:43.813Z,1613458003.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:45.893Z,1613458005.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:46.268Z,1613458006.268 [Micromodem](INFO): Nmea in: $CATXF,112*56

2021-02-16T06:46:46.268Z,1613458006.268 [Micromodem](ERROR): Response from modem unexpected: $CATXF,112*56

2021-02-16T06:46:46.646Z,1613458006.646 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,064644.543631,3,0,200,4000,14500,1,1,10,1,2,2,3,112*77

2021-02-16T06:46:46.646Z,1613458006.646 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,064644.543631,3,0,200,4000,14500,1,1,10,1,2,2,3,112*77

2021-02-16T06:46:48.709Z,1613458008.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:49.081Z,1613458009.081 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T06:46:49.481Z,1613458009.481 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T06:46:49.481Z,1613458009.481 [Micromodem](INFO): Sent 104 bytes from file Logs/20210216T042015/Courier0043.lzma.parts
2021-02-16T06:46:49.481Z,1613458009.481 [Micromodem](INFO): Packets left to send: 0
2021-02-16T06:46:49.897Z,1613458009.897 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216064649.350093,06,7960,39,0293,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,7.00,16,-4.00,-01,1.84,29,14500,4000*5A

2021-02-16T06:46:49.897Z,1613458009.897 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216064649.350093,06,7960,39,0293,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,17.8,7.00,16,-4.00,-01,1.84,29,14500,4000*5A

2021-02-16T06:46:49.986Z,1613458009.986 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T06:46:49.986Z,1613458009.986 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T06:46:49.986Z,1613458009.986 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T06:46:49.986Z,1613458009.986 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T06:46:49.986Z,1613458009.986 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T06:46:51.522Z,1613458011.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:54.356Z,1613458014.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:55.130Z,1613458015.130 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:55.539Z,1613458015.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:46:56.356Z,1613458016.356 [Micromodem](INFO): Nmea in: $SNTTA,0.082412,,,,064656.63*4F

2021-02-16T06:46:56.380Z,1613458016.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 236.661902 deg, deltaT: 15.387157 s, approachRate: -0.846160 m/s, LOS rate: 0.076757 deg/s, posRepo size: 4
2021-02-16T06:46:56.382Z,1613458016.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.360001 m,
      bearing: 236.661902 deg,
      approachRate: -0.846160 m/s,
      LOS rate: 0.076757 deg/s,
      cmd update: 0.230272 deg/s,
      cmd heading: 234.334317 deg,
      new cmd heading: 234.557265 deg.

2021-02-16T06:46:58.827Z,1613458018.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:46:59.570Z,1613458019.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:46:59.974Z,1613458019.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:00.816Z,1613458020.816 [Micromodem](INFO): Nmea in: $SNTTA,0.080050,,,,064701.07*4E

2021-02-16T06:47:00.841Z,1613458020.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 237.048327 deg, deltaT: 4.433086 s, approachRate: -0.785005 m/s, LOS rate: 0.087168 deg/s, posRepo size: 4
2021-02-16T06:47:00.843Z,1613458020.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.880005 m,
      bearing: 237.048327 deg,
      approachRate: -0.785005 m/s,
      LOS rate: 0.087168 deg/s,
      cmd update: 0.261505 deg/s,
      cmd heading: 235.355951 deg,
      new cmd heading: 235.452483 deg.

2021-02-16T06:47:03.267Z,1613458023.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:04.018Z,1613458024.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:04.458Z,1613458024.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:05.276Z,1613458025.276 [Micromodem](INFO): Nmea in: $SNTTA,0.077341,,,,064705.52*41

2021-02-16T06:47:05.301Z,1613458025.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 237.455078 deg, deltaT: 4.440771 s, approachRate: -0.905247 m/s, LOS rate: 0.091595 deg/s, posRepo size: 4
2021-02-16T06:47:05.302Z,1613458025.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.860008 m,
      bearing: 237.455078 deg,
      approachRate: -0.905247 m/s,
      LOS rate: 0.091595 deg/s,
      cmd update: 0.274784 deg/s,
      cmd heading: 236.516297 deg,
      new cmd heading: 236.631809 deg.

2021-02-16T06:47:07.669Z,1613458027.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:08.461Z,1613458028.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:08.873Z,1613458028.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:09.729Z,1613458029.729 [Micromodem](INFO): Nmea in: $SNTTA,0.074709,,,,064709.96*4E

2021-02-16T06:47:09.811Z,1613458029.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.900009 m, bearing: 237.555619 deg, deltaT: 4.450911 s, approachRate: -0.889705 m/s, LOS rate: 0.022589 deg/s, posRepo size: 4
2021-02-16T06:47:09.813Z,1613458029.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 237.555619 deg,
      approachRate: -0.889705 m/s,
      LOS rate: 0.022589 deg/s,
      cmd update: 0.067766 deg/s,
      cmd heading: 237.740506 deg,
      new cmd heading: 237.876911 deg.

2021-02-16T06:47:12.122Z,1613458032.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:12.908Z,1613458032.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:13.311Z,1613458033.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:14.136Z,1613458034.136 [Micromodem](INFO): Nmea in: $SNTTA,0.072132,,,,064714.41*40

2021-02-16T06:47:14.194Z,1613458034.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 237.648618 deg, deltaT: 4.414091 s, approachRate: -0.869944 m/s, LOS rate: 0.021069 deg/s, posRepo size: 4
2021-02-16T06:47:14.207Z,1613458034.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.059998 m,
      bearing: 237.648618 deg,
      approachRate: -0.869944 m/s,
      LOS rate: 0.021069 deg/s,
      cmd update: 0.063207 deg/s,
      cmd heading: 238.039615 deg,
      new cmd heading: 238.071181 deg.

2021-02-16T06:47:16.571Z,1613458036.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:17.350Z,1613458037.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:17.774Z,1613458037.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:18.576Z,1613458038.576 [Micromodem](INFO): Nmea in: $SNTTA,0.069522,,,,064718.85*4B

2021-02-16T06:47:18.645Z,1613458038.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 236.812385 deg, deltaT: 4.518887 s, approachRate: -0.889599 m/s, LOS rate: -0.185053 deg/s, posRepo size: 4
2021-02-16T06:47:18.646Z,1613458038.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.040001 m,
      bearing: 236.812385 deg,
      approachRate: -0.889599 m/s,
      LOS rate: -0.185053 deg/s,
      cmd update: -0.555159 deg/s,
      cmd heading: 238.323482 deg,
      new cmd heading: 238.350365 deg.

2021-02-16T06:47:20.982Z,1613458040.982 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T06:47:21.061Z,1613458041.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:21.808Z,1613458041.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:22.199Z,1613458042.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:23.061Z,1613458043.061 [Micromodem](INFO): Nmea in: $SNTTA,0.066751,,,,064723.31*45

2021-02-16T06:47:23.086Z,1613458043.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 237.081713 deg, deltaT: 4.372529 s, approachRate: -0.946820 m/s, LOS rate: 0.061595 deg/s, posRepo size: 4
2021-02-16T06:47:23.088Z,1613458043.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.900002 m,
      bearing: 237.081713 deg,
      approachRate: -0.946820 m/s,
      LOS rate: 0.061595 deg/s,
      cmd update: 0.184786 deg/s,
      cmd heading: 235.880458 deg,
      new cmd heading: 235.621677 deg.

2021-02-16T06:47:25.461Z,1613458045.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:26.268Z,1613458046.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:26.657Z,1613458046.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:27.484Z,1613458047.484 [Micromodem](INFO): Nmea in: $SNTTA,0.064523,,,,064727.76*47

2021-02-16T06:47:27.508Z,1613458047.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 238.339560 deg, deltaT: 4.462575 s, approachRate: -0.739482 m/s, LOS rate: 0.281866 deg/s, posRepo size: 4
2021-02-16T06:47:27.510Z,1613458047.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 238.339560 deg,
      approachRate: -0.739482 m/s,
      LOS rate: 0.281866 deg/s,
      cmd update: 0.845598 deg/s,
      cmd heading: 236.705057 deg,
      new cmd heading: 236.783828 deg.

2021-02-16T06:47:29.915Z,1613458049.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:30.679Z,1613458050.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:31.087Z,1613458051.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:31.911Z,1613458051.911 [Micromodem](INFO): Nmea in: $SNTTA,0.062064,,,,064732.18*4B

2021-02-16T06:47:31.941Z,1613458051.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 239.060555 deg, deltaT: 4.436482 s, approachRate: -0.824977 m/s, LOS rate: 0.162515 deg/s, posRepo size: 4
2021-02-16T06:47:31.942Z,1613458051.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.940010 m,
      bearing: 239.060555 deg,
      approachRate: -0.824977 m/s,
      LOS rate: 0.162515 deg/s,
      cmd update: 0.487545 deg/s,
      cmd heading: 240.456621 deg,
      new cmd heading: 240.812163 deg.

2021-02-16T06:47:34.338Z,1613458054.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:35.125Z,1613458055.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:35.537Z,1613458055.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:36.352Z,1613458056.352 [Micromodem](INFO): Nmea in: $SNTTA,0.059421,,,,064736.62*4F

2021-02-16T06:47:36.391Z,1613458056.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 238.634488 deg, deltaT: 4.452239 s, approachRate: -0.889442 m/s, LOS rate: -0.095697 deg/s, posRepo size: 4
2021-02-16T06:47:36.393Z,1613458056.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 238.634488 deg,
      approachRate: -0.889442 m/s,
      LOS rate: -0.095697 deg/s,
      cmd update: -0.287092 deg/s,
      cmd heading: 242.627282 deg,
      new cmd heading: 242.832145 deg.

2021-02-16T06:47:38.822Z,1613458058.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:39.569Z,1613458059.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:39.969Z,1613458059.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:40.826Z,1613458060.826 [Micromodem](INFO): Nmea in: $SNTTA,0.056824,,,,064741.07*4A

2021-02-16T06:47:40.851Z,1613458060.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 238.353439 deg, deltaT: 4.446522 s, approachRate: -0.890584 m/s, LOS rate: -0.063206 deg/s, posRepo size: 4
2021-02-16T06:47:40.853Z,1613458060.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.020004 m,
      bearing: 238.353439 deg,
      approachRate: -0.890584 m/s,
      LOS rate: -0.063206 deg/s,
      cmd update: -0.189619 deg/s,
      cmd heading: 241.357061 deg,
      new cmd heading: 241.226333 deg.

2021-02-16T06:47:43.271Z,1613458063.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:44.008Z,1613458064.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:44.069Z,1613458064.069 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:47:44.414Z,1613458064.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:45.270Z,1613458065.270 [Micromodem](INFO): Nmea in: $SNTTA,0.054309,,,,064745.51*4B

2021-02-16T06:47:45.295Z,1613458065.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 240.868424 deg, deltaT: 4.424816 s, approachRate: -0.786474 m/s, LOS rate: 0.568382 deg/s, posRepo size: 4
2021-02-16T06:47:45.297Z,1613458065.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 240.868424 deg,
      approachRate: -0.786474 m/s,
      LOS rate: 0.568382 deg/s,
      cmd update: 1.705145 deg/s,
      cmd heading: 240.513852 deg,
      new cmd heading: 240.428087 deg.

2021-02-16T06:47:47.665Z,1613458067.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:48.452Z,1613458068.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:48.859Z,1613458068.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:49.684Z,1613458069.684 [Micromodem](INFO): Nmea in: $SNTTA,0.051774,,,,064749.95*44

2021-02-16T06:47:49.699Z,1613458069.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 239.110033 deg, deltaT: 4.501513 s, approachRate: -0.906361 m/s, LOS rate: -0.390622 deg/s, posRepo size: 4
2021-02-16T06:47:49.701Z,1613458069.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.460007 m,
      bearing: 239.110033 deg,
      approachRate: -0.906361 m/s,
      LOS rate: -0.390622 deg/s,
      cmd update: -1.171867 deg/s,
      cmd heading: 248.189717 deg,
      new cmd heading: 248.794681 deg.

2021-02-16T06:47:52.162Z,1613458072.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:52.898Z,1613458072.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:53.302Z,1613458073.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:54.129Z,1613458074.129 [Micromodem](INFO): Nmea in: $SNTTA,0.049241,,,0.051722,064754.39*59

2021-02-16T06:47:54.194Z,1613458074.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 237.876692 deg, deltaT: 4.404515 s, approachRate: -0.858212 m/s, LOS rate: -0.280017 deg/s, posRepo size: 4
2021-02-16T06:47:54.217Z,1613458074.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 237.876692 deg,
      approachRate: -0.858212 m/s,
      LOS rate: -0.280017 deg/s,
      cmd update: -0.840052 deg/s,
      cmd heading: 243.032963 deg,
      new cmd heading: 242.506108 deg.

2021-02-16T06:47:56.556Z,1613458076.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:47:57.340Z,1613458077.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:47:57.750Z,1613458077.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:47:58.572Z,1613458078.572 [Micromodem](INFO): Nmea in: $SNTTA,0.046576,,,,064758.84*42

2021-02-16T06:47:58.617Z,1613458078.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 239.459520 deg, deltaT: 4.470036 s, approachRate: -0.899323 m/s, LOS rate: 0.354097 deg/s, posRepo size: 4
2021-02-16T06:47:58.619Z,1613458078.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.659996 m,
      bearing: 239.459520 deg,
      approachRate: -0.899323 m/s,
      LOS rate: 0.354097 deg/s,
      cmd update: 1.062292 deg/s,
      cmd heading: 239.279956 deg,
      new cmd heading: 238.939825 deg.

2021-02-16T06:48:01.030Z,1613458081.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:01.813Z,1613458081.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:02.194Z,1613458082.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:03.033Z,1613458083.033 [Micromodem](INFO): Nmea in: $SNTTA,0.043919,,,,064803.31*4D

2021-02-16T06:48:03.084Z,1613458083.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 239.034436 deg, deltaT: 4.396812 s, approachRate: -0.900651 m/s, LOS rate: -0.096680 deg/s, posRepo size: 4
2021-02-16T06:48:03.086Z,1613458083.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 239.034436 deg,
      approachRate: -0.900651 m/s,
      LOS rate: -0.096680 deg/s,
      cmd update: -0.290040 deg/s,
      cmd heading: 243.957542 deg,
      new cmd heading: 244.455037 deg.

2021-02-16T06:48:05.444Z,1613458085.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:06.249Z,1613458086.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:06.633Z,1613458086.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:07.468Z,1613458087.468 [Micromodem](INFO): Nmea in: $SNTTA,0.041398,,,,064807.75*48

2021-02-16T06:48:07.520Z,1613458087.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 239.552930 deg, deltaT: 4.466756 s, approachRate: -0.846252 m/s, LOS rate: 0.116078 deg/s, posRepo size: 4
2021-02-16T06:48:07.522Z,1613458087.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.920002 m,
      bearing: 239.552930 deg,
      approachRate: -0.846252 m/s,
      LOS rate: 0.116078 deg/s,
      cmd update: 0.348235 deg/s,
      cmd heading: 242.666635 deg,
      new cmd heading: 242.534839 deg.

2021-02-16T06:48:09.918Z,1613458089.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:10.674Z,1613458090.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:11.091Z,1613458091.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:11.908Z,1613458091.908 [Micromodem](INFO): Nmea in: $SNTTA,0.039337,,,,064812.17*42

2021-02-16T06:48:11.949Z,1613458091.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 238.754426 deg, deltaT: 4.455209 s, approachRate: -0.767639 m/s, LOS rate: -0.179229 deg/s, posRepo size: 4
2021-02-16T06:48:11.950Z,1613458091.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 238.754426 deg,
      approachRate: -0.767639 m/s,
      LOS rate: -0.179229 deg/s,
      cmd update: -0.537688 deg/s,
      cmd heading: 244.222253 deg,
      new cmd heading: 244.366915 deg.

2021-02-16T06:48:14.332Z,1613458094.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:15.116Z,1613458095.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:15.521Z,1613458095.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:16.348Z,1613458096.348 [Micromodem](INFO): Nmea in: $SNTTA,0.036343,,,,064816.61*4B

2021-02-16T06:48:16.372Z,1613458096.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 240.432166 deg, deltaT: 4.412537 s, approachRate: -0.938239 m/s, LOS rate: 0.380221 deg/s, posRepo size: 4
2021-02-16T06:48:16.374Z,1613458096.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 240.432166 deg,
      approachRate: -0.938239 m/s,
      LOS rate: 0.380221 deg/s,
      cmd update: 1.140664 deg/s,
      cmd heading: 241.847515 deg,
      new cmd heading: 241.620560 deg.

2021-02-16T06:48:18.814Z,1613458098.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:19.569Z,1613458099.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:19.965Z,1613458099.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:20.815Z,1613458100.815 [Micromodem](INFO): Nmea in: $SNTTA,0.033718,,,,064821.07*40

2021-02-16T06:48:20.840Z,1613458100.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 240.744033 deg, deltaT: 4.458092 s, approachRate: -0.901729 m/s, LOS rate: 0.069955 deg/s, posRepo size: 4
2021-02-16T06:48:20.842Z,1613458100.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 240.744033 deg,
      approachRate: -0.901729 m/s,
      LOS rate: 0.069955 deg/s,
      cmd update: 0.209865 deg/s,
      cmd heading: 246.914456 deg,
      new cmd heading: 247.425608 deg.

2021-02-16T06:48:23.254Z,1613458103.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:24.004Z,1613458104.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:24.502Z,1613458104.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:25.293Z,1613458105.293 [Micromodem](INFO): Nmea in: $SNTTA,0.038034,0.086290,,,064825.50*5F

2021-02-16T06:48:25.352Z,1613458105.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 239.358570 deg, deltaT: 4.428614 s, approachRate: -0.867088 m/s, LOS rate: -0.312843 deg/s, posRepo size: 4
2021-02-16T06:48:25.354Z,1613458105.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.500004 m,
      bearing: 239.358570 deg,
      approachRate: -0.867088 m/s,
      LOS rate: -0.312843 deg/s,
      cmd update: -0.938530 deg/s,
      cmd heading: 247.847221 deg,
      new cmd heading: 247.955374 deg.

2021-02-16T06:48:27.656Z,1613458107.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:28.448Z,1613458108.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:28.855Z,1613458108.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:29.683Z,1613458109.683 [Micromodem](INFO): Nmea in: $SNTTA,0.028539,,,,064829.95*48

2021-02-16T06:48:29.702Z,1613458109.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 240.413069 deg, deltaT: 4.457867 s, approachRate: -0.874859 m/s, LOS rate: 0.236548 deg/s, posRepo size: 4
2021-02-16T06:48:29.704Z,1613458109.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.599998 m,
      bearing: 240.413069 deg,
      approachRate: -0.874859 m/s,
      LOS rate: 0.236548 deg/s,
      cmd update: 0.709644 deg/s,
      cmd heading: 243.663530 deg,
      new cmd heading: 243.280530 deg.

2021-02-16T06:48:32.133Z,1613458112.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:32.909Z,1613458112.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:33.298Z,1613458113.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:34.132Z,1613458114.132 [Micromodem](INFO): Nmea in: $SNTTA,0.025896,,,,064834.41*48

2021-02-16T06:48:34.193Z,1613458114.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.639999 m, bearing: 241.674387 deg, deltaT: 4.445963 s, approachRate: -0.890695 m/s, LOS rate: 0.283699 deg/s, posRepo size: 4
2021-02-16T06:48:34.194Z,1613458114.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.64 m.
2021-02-16T06:48:34.201Z,1613458114.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.639999 m,
      bearing: 241.674387 deg,
      approachRate: -0.890695 m/s,
      LOS rate: 0.283699 deg/s,
      cmd update: 0.851098 deg/s,
      cmd heading: 246.805307 deg,
      new cmd heading: 247.140122 deg.

2021-02-16T06:48:34.538Z,1613458114.538 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:48:36.553Z,1613458116.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:37.336Z,1613458117.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:37.746Z,1613458117.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:38.568Z,1613458118.568 [Micromodem](INFO): Nmea in: $SNTTA,0.023378,,,,064838.84*40

2021-02-16T06:48:38.617Z,1613458118.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 242.027398 deg, deltaT: 4.469889 s, approachRate: -0.845659 m/s, LOS rate: 0.078975 deg/s, posRepo size: 4
2021-02-16T06:48:38.618Z,1613458118.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.86 m.
2021-02-16T06:48:38.618Z,1613458118.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.86 m.
2021-02-16T06:48:38.618Z,1613458118.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:48:38.624Z,1613458118.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.859997 m,
      bearing: 242.027398 deg,
      approachRate: -0.845659 m/s,
      LOS rate: 0.078975 deg/s,
      cmd update: 0.236926 deg/s,
      cmd heading: 250.622237 deg,
      new cmd heading: 250.972163 deg.

2021-02-16T06:48:41.029Z,1613458121.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:41.804Z,1613458121.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:42.197Z,1613458122.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:43.032Z,1613458123.032 [Micromodem](INFO): Nmea in: $SNTTA,0.021256,,,,064843.30*4C

2021-02-16T06:48:43.098Z,1613458123.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 240.502845 deg, deltaT: 4.417633 s, approachRate: -0.869242 m/s, LOS rate: -0.345106 deg/s, posRepo size: 4
2021-02-16T06:48:43.104Z,1613458123.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 240.502845 deg,
      approachRate: -0.869242 m/s,
      LOS rate: -0.345106 deg/s,
      cmd update: -1.035319 deg/s,
      cmd heading: 251.669822 deg,
      new cmd heading: 251.781273 deg.

2021-02-16T06:48:45.452Z,1613458125.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:46.244Z,1613458126.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:46.630Z,1613458126.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:47.464Z,1613458127.464 [Micromodem](INFO): Nmea in: $SNTTA,0.018313,,,,064847.74*42

2021-02-16T06:48:47.509Z,1613458127.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 240.381814 deg, deltaT: 4.445141 s, approachRate: -0.836869 m/s, LOS rate: -0.027228 deg/s, posRepo size: 4
2021-02-16T06:48:47.511Z,1613458127.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 240.381814 deg,
      approachRate: -0.836869 m/s,
      LOS rate: -0.027228 deg/s,
      cmd update: -0.081683 deg/s,
      cmd heading: 247.084074 deg,
      new cmd heading: 246.615652 deg.

2021-02-16T06:48:49.915Z,1613458129.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:50.669Z,1613458130.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:51.087Z,1613458131.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:51.900Z,1613458131.900 [Micromodem](INFO): Nmea in: $SNTTA,0.015900,,,0.030297,064852.17*57

2021-02-16T06:48:51.926Z,1613458131.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.639997 m, bearing: 242.518980 deg, deltaT: 4.458034 s, approachRate: -0.820991 m/s, LOS rate: 0.479397 deg/s, posRepo size: 4
2021-02-16T06:48:51.928Z,1613458131.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.639997 m,
      bearing: 242.518980 deg,
      approachRate: -0.820991 m/s,
      LOS rate: 0.479397 deg/s,
      cmd update: 1.438190 deg/s,
      cmd heading: 246.718639 deg,
      new cmd heading: 246.686340 deg.

2021-02-16T06:48:54.351Z,1613458134.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:55.123Z,1613458135.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:55.517Z,1613458135.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:48:56.348Z,1613458136.348 [Micromodem](INFO): Nmea in: $SNTTA,0.013255,,,,064856.62*4D

2021-02-16T06:48:56.398Z,1613458136.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 241.360416 deg, deltaT: 4.439866 s, approachRate: -0.905432 m/s, LOS rate: -0.260946 deg/s, posRepo size: 4
2021-02-16T06:48:56.400Z,1613458136.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.619999 m,
      bearing: 241.360416 deg,
      approachRate: -0.905432 m/s,
      LOS rate: -0.260946 deg/s,
      cmd update: -0.782837 deg/s,
      cmd heading: 253.098295 deg,
      new cmd heading: 253.718601 deg.

2021-02-16T06:48:58.812Z,1613458138.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:48:59.558Z,1613458139.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:48:59.981Z,1613458139.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:00.824Z,1613458140.824 [Micromodem](INFO): Nmea in: $SNTTA,0.011153,,,,064901.06*4B

2021-02-16T06:49:00.874Z,1613458140.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 238.249812 deg, deltaT: 4.443494 s, approachRate: -0.783167 m/s, LOS rate: -0.700036 deg/s, posRepo size: 4
2021-02-16T06:49:00.880Z,1613458140.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 238.249812 deg,
      approachRate: -0.783167 m/s,
      LOS rate: -0.700036 deg/s,
      cmd update: -2.100107 deg/s,
      cmd heading: 249.616717 deg,
      new cmd heading: 249.256373 deg.

2021-02-16T06:49:03.292Z,1613458143.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:03.000Z,1613458144.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:04.411Z,1613458144.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:05.245Z,1613458145.245 [Micromodem](INFO): Nmea in: $SNTTA,0.008454,,,,064905.50*46

2021-02-16T06:49:05.304Z,1613458145.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 242.503490 deg, deltaT: 4.456811 s, approachRate: -0.848140 m/s, LOS rate: 0.954422 deg/s, posRepo size: 4
2021-02-16T06:49:05.306Z,1613458145.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 242.503490 deg,
      approachRate: -0.848140 m/s,
      LOS rate: 0.954422 deg/s,
      cmd update: 2.863265 deg/s,
      cmd heading: 240.256654 deg,
      new cmd heading: 239.347591 deg.

2021-02-16T06:49:07.669Z,1613458147.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:08.473Z,1613458148.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:08.854Z,1613458148.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:09.696Z,1613458149.696 [Micromodem](INFO): Nmea in: $SNTTA,0.006117,,,,064909.97*4D

2021-02-16T06:49:09.718Z,1613458149.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 243.659158 deg, deltaT: 4.422265 s, approachRate: -0.773360 m/s, LOS rate: 0.261329 deg/s, posRepo size: 4
2021-02-16T06:49:09.741Z,1613458149.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 243.659158 deg,
      approachRate: -0.773360 m/s,
      LOS rate: 0.261329 deg/s,
      cmd update: 0.783988 deg/s,
      cmd heading: 252.919162 deg,
      new cmd heading: 254.136047 deg.

2021-02-16T06:49:12.111Z,1613458152.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:12.888Z,1613458152.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:13.299Z,1613458153.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:14.120Z,1613458154.120 [Micromodem](INFO): Nmea in: $SNTTA,0.004031,,,,064914.38*43

2021-02-16T06:49:14.175Z,1613458154.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 238.219595 deg, deltaT: 4.494465 s, approachRate: -0.694187 m/s, LOS rate: -1.210280 deg/s, posRepo size: 4
2021-02-16T06:49:14.177Z,1613458154.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 238.219595 deg,
      approachRate: -0.694187 m/s,
      LOS rate: -1.210280 deg/s,
      cmd update: -3.630841 deg/s,
      cmd heading: 256.424573 deg,
      new cmd heading: 256.745410 deg.

2021-02-16T06:49:16.549Z,1613458156.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:17.334Z,1613458157.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:17.750Z,1613458157.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:18.560Z,1613458158.560 [Micromodem](INFO): Nmea in: $SNTTA,0.002650,,,,064918.83*48

2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T06:49:18.605Z,1613458158.605 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.779998 m 
2021-02-16T06:49:18.606Z,1613458158.606 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T06:49:18.606Z,1613458158.606 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T06:49:18.606Z,1613458158.606 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T06:49:18.608Z,1613458158.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 227.769856 deg, deltaT: 4.471818 s, approachRate: -0.456191 m/s, LOS rate: -2.336799 deg/s, posRepo size: 4
2021-02-16T06:49:18.610Z,1613458158.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 227.769856 deg,
      approachRate: -0.456191 m/s,
      LOS rate: -2.336799 deg/s,
      cmd update: -7.010396 deg/s,
      cmd heading: 240.118909 deg,
      new cmd heading: 238.839462 deg.

2021-02-16T06:49:18.999Z,1613458158.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T064918: (41.552319, -70.708603)
2021-02-16T06:49:18.999Z,1613458158.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T06:49:18.999Z,1613458158.999 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T06:49:18.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:49:18.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T06:49:18.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:49:18.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T06:49:19.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T06:49:19.000Z,1613458159.000 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:49:19.108Z,1613458159.108 [CTD_Seabird](ERROR): Failed to parse device response: 83,2943.79
2021-02-16T06:49:21.001Z,1613458161.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:21.812Z,1613458161.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:22.204Z,1613458162.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:23.028Z,1613458163.028 [Micromodem](INFO): Nmea in: $SNTTA,0.003401,,,,064923.31*4E

2021-02-16T06:49:23.053Z,1613458163.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 234.210656 deg, deltaT: 4.362418 s, approachRate: 0.330093 m/s, LOS rate: 1.476429 deg/s, posRepo size: 4
2021-02-16T06:49:23.075Z,1613458163.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 234.210656 deg,
      approachRate: 0.330093 m/s,
      LOS rate: 1.476429 deg/s,
      cmd update: 4.429287 deg/s,
      cmd heading: 209.507748 deg,
      new cmd heading: 206.486148 deg.

2021-02-16T06:49:25.463Z,1613458165.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:26.249Z,1613458166.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:26.626Z,1613458166.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:27.464Z,1613458167.464 [Micromodem](INFO): Nmea in: $SNTTA,0.005270,,,,064927.75*4C

2021-02-16T06:49:27.526Z,1613458167.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 230.070168 deg, deltaT: 4.436488 s, approachRate: 0.622113 m/s, LOS rate: -0.933281 deg/s, posRepo size: 4
2021-02-16T06:49:27.532Z,1613458167.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 230.070168 deg,
      approachRate: 0.622113 m/s,
      LOS rate: -0.933281 deg/s,
      cmd update: -2.799842 deg/s,
      cmd heading: 229.157756 deg,
      new cmd heading: 231.226787 deg.

2021-02-16T06:49:29.887Z,1613458169.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:30.671Z,1613458170.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:31.075Z,1613458171.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:31.904Z,1613458171.904 [Micromodem](INFO): Nmea in: $SNTTA,0.007349,,,,064932.17*45

2021-02-16T06:49:31.934Z,1613458171.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 204.460169 deg, deltaT: 4.442881 s, approachRate: 0.715752 m/s, LOS rate: -5.764278 deg/s, posRepo size: 4
2021-02-16T06:49:31.952Z,1613458171.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 204.460169 deg,
      approachRate: 0.715752 m/s,
      LOS rate: -5.764278 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 216.718269 deg,
      new cmd heading: 215.506920 deg.

2021-02-16T06:49:34.341Z,1613458174.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:35.127Z,1613458175.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:35.513Z,1613458175.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:36.348Z,1613458176.348 [Micromodem](INFO): Nmea in: $SNTTA,0.009708,,,,064936.63*4D

2021-02-16T06:49:36.378Z,1613458176.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 198.754844 deg, deltaT: 4.441253 s, approachRate: 0.797073 m/s, LOS rate: -1.284621 deg/s, posRepo size: 4
2021-02-16T06:49:36.403Z,1613458176.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.70 m. Rolling out.
2021-02-16T06:49:36.403Z,1613458176.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:49:38.775Z,1613458178.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:39.552Z,1613458179.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:39.960Z,1613458179.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:40.816Z,1613458180.816 [Micromodem](INFO): Nmea in: $SNTTA,0.012135,,,0.014636,064941.05*57

2021-02-16T06:49:40.864Z,1613458180.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 158.380831 deg, deltaT: 4.467560 s, approachRate: 0.805809 m/s, LOS rate: -9.037151 deg/s, posRepo size: 4
2021-02-16T06:49:43.260Z,1613458183.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:43.996Z,1613458183.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:44.409Z,1613458184.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:45.259Z,1613458185.259 [Micromodem](INFO): Nmea in: $SNTTA,0.014143,,,,064945.49*44

2021-02-16T06:49:45.308Z,1613458185.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 195.205700 deg, deltaT: 4.452338 s, approachRate: 0.687279 m/s, LOS rate: 8.270906 deg/s, posRepo size: 4
2021-02-16T06:49:47.664Z,1613458187.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:48.441Z,1613458188.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:48.854Z,1613458188.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:49.683Z,1613458189.683 [Micromodem](INFO): Nmea in: $SNTTA,0.015801,,,,064949.94*46

2021-02-16T06:49:49.702Z,1613458189.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 138.555469 deg, deltaT: 4.438637 s, approachRate: 0.567742 m/s, LOS rate: -12.762979 deg/s, posRepo size: 4
2021-02-16T06:49:52.118Z,1613458192.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:52.892Z,1613458192.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:53.308Z,1613458193.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:54.124Z,1613458194.124 [Micromodem](INFO): Nmea in: $SNTTA,0.017594,,0.049793,,064954.39*50

2021-02-16T06:49:54.173Z,1613458194.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 152.571850 deg, deltaT: 4.429255 s, approachRate: 0.582491 m/s, LOS rate: 3.164501 deg/s, posRepo size: 4
2021-02-16T06:49:56.558Z,1613458196.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:49:57.342Z,1613458197.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:49:57.756Z,1613458197.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:49:58.568Z,1613458198.568 [Micromodem](INFO): Nmea in: $SNTTA,0.019359,,,,064958.84*4D

2021-02-16T06:49:58.614Z,1613458198.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.760000 m, bearing: 123.466652 deg, deltaT: 4.508832 s, approachRate: 0.731897 m/s, LOS rate: -6.455152 deg/s, posRepo size: 4
2021-02-16T06:50:01.003Z,1613458201.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:01.807Z,1613458201.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:02.192Z,1613458202.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:03.028Z,1613458203.028 [Micromodem](INFO): Nmea in: $SNTTA,0.021345,,,,065003.30*42

2021-02-16T06:50:03.054Z,1613458203.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 152.617777 deg, deltaT: 4.381185 s, approachRate: 0.561492 m/s, LOS rate: 6.653708 deg/s, posRepo size: 4
2021-02-16T06:50:05.441Z,1613458205.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:06.255Z,1613458206.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:06.630Z,1613458206.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:07.472Z,1613458207.472 [Micromodem](INFO): Nmea in: $SNTTA,0.023380,,,,065007.75*4C

2021-02-16T06:50:07.521Z,1613458207.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 177.514608 deg, deltaT: 4.438433 s, approachRate: 0.784060 m/s, LOS rate: 5.609374 deg/s, posRepo size: 4
2021-02-16T06:50:09.064Z,1613458209.064 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:50:09.588Z,1613458209.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:10.278Z,1613458210.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:10.669Z,1613458210.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:11.500Z,1613458211.500 [Micromodem](INFO): Nmea in: $SNTTA,0.025223,,,,065011.78*48

2021-02-16T06:50:11.553Z,1613458211.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 174.372216 deg, deltaT: 4.039188 s, approachRate: 0.668451 m/s, LOS rate: -0.777976 deg/s, posRepo size: 4
2021-02-16T06:50:13.948Z,1613458213.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:14.709Z,1613458214.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:15.118Z,1613458215.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:15.943Z,1613458215.943 [Micromodem](INFO): Nmea in: $SNTTA,0.027231,,,,065016.21*42

2021-02-16T06:50:15.968Z,1613458215.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.980000 m, bearing: 167.212675 deg, deltaT: 4.467341 s, approachRate: 0.577525 m/s, LOS rate: -1.602640 deg/s, posRepo size: 4
2021-02-16T06:50:18.381Z,1613458218.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:19.154Z,1613458219.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:19.563Z,1613458219.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:20.396Z,1613458220.396 [Micromodem](INFO): Nmea in: $SNTTA,0.029722,,,,065020.65*4E

2021-02-16T06:50:20.420Z,1613458220.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.220001 m, bearing: 176.072004 deg, deltaT: 4.436211 s, approachRate: 0.730353 m/s, LOS rate: 1.997049 deg/s, posRepo size: 4
2021-02-16T06:50:22.848Z,1613458222.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:23.601Z,1613458223.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:24.009Z,1613458224.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:24.839Z,1613458224.839 [Micromodem](INFO): Nmea in: $SNTTA,0.031583,,,,065025.10*49

2021-02-16T06:50:24.865Z,1613458224.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.520004 m, bearing: 114.409371 deg, deltaT: 4.449695 s, approachRate: 0.741625 m/s, LOS rate: -13.857721 deg/s, posRepo size: 4
2021-02-16T06:50:27.300Z,1613458227.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:28.045Z,1613458228.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:28.457Z,1613458228.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:29.287Z,1613458229.287 [Micromodem](INFO): Nmea in: $SNTTA,0.033875,,0.039050,,065029.54*52

2021-02-16T06:50:29.312Z,1613458229.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 120.786541 deg, deltaT: 4.435250 s, approachRate: 0.771094 m/s, LOS rate: 1.437838 deg/s, posRepo size: 4
2021-02-16T06:50:31.707Z,1613458231.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:32.506Z,1613458232.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:32.908Z,1613458232.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:33.724Z,1613458233.724 [Micromodem](INFO): Nmea in: $SNTTA,0.036115,,,,065034.00*44

2021-02-16T06:50:33.741Z,1613458233.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 119.750742 deg, deltaT: 4.446795 s, approachRate: 0.755601 m/s, LOS rate: -0.232931 deg/s, posRepo size: 4
2021-02-16T06:50:36.155Z,1613458236.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:36.933Z,1613458236.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:37.336Z,1613458237.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:38.208Z,1613458238.208 [Micromodem](INFO): Nmea in: $SNTTA,0.038269,,,,065038.43*49

2021-02-16T06:50:38.292Z,1613458238.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.840004 m, bearing: 116.654864 deg, deltaT: 4.483369 s, approachRate: 0.789585 m/s, LOS rate: -0.690525 deg/s, posRepo size: 4
2021-02-16T06:50:40.589Z,1613458240.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:41.372Z,1613458241.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:41.808Z,1613458241.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:42.600Z,1613458242.600 [Micromodem](INFO): Nmea in: $SNTTA,0.040504,,,,065042.87*4F

2021-02-16T06:50:42.638Z,1613458242.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.200008 m, bearing: 118.284956 deg, deltaT: 4.422405 s, approachRate: 0.759769 m/s, LOS rate: 0.368599 deg/s, posRepo size: 4
2021-02-16T06:50:45.035Z,1613458245.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:45.817Z,1613458245.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:46.252Z,1613458246.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:47.061Z,1613458247.061 [Micromodem](INFO): Nmea in: $SNTTA,0.042914,,,,065047.32*4B

2021-02-16T06:50:47.098Z,1613458247.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 126.750430 deg, deltaT: 4.425645 s, approachRate: 0.813440 m/s, LOS rate: 1.912822 deg/s, posRepo size: 4
2021-02-16T06:50:49.482Z,1613458249.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:50.269Z,1613458250.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:50.672Z,1613458250.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:51.492Z,1613458251.492 [Micromodem](INFO): Nmea in: $SNTTA,0.045176,,,,065051.77*46

2021-02-16T06:50:51.550Z,1613458251.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 183.787413 deg, deltaT: 4.445149 s, approachRate: 0.796374 m/s, LOS rate: 12.831287 deg/s, posRepo size: 4
2021-02-16T06:50:53.927Z,1613458253.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:54.709Z,1613458254.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:50:55.109Z,1613458255.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:50:55.929Z,1613458255.929 [Micromodem](INFO): Nmea in: $SNTTA,0.047454,,,,065056.21*45

2021-02-16T06:50:56.760Z,1613458256.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:50:58.344Z,1613458258.344 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:50:59.584Z,1613458259.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:00.360Z,1613458260.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:00.789Z,1613458260.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:01.588Z,1613458261.588 [Micromodem](INFO): Nmea in: $SNTTA,0.050564,,,,065101.86*4F

2021-02-16T06:51:01.632Z,1613458261.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.200005 m, bearing: 122.920100 deg, deltaT: 10.099132 s, approachRate: 0.778285 m/s, LOS rate: -6.026985 deg/s, posRepo size: 4
2021-02-16T06:51:04.033Z,1613458264.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:04.817Z,1613458264.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:05.215Z,1613458265.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:06.040Z,1613458266.040 [Micromodem](INFO): Nmea in: $SNTTA,0.052818,,,,065106.31*40

2021-02-16T06:51:06.065Z,1613458266.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 146.638083 deg, deltaT: 4.437964 s, approachRate: 0.716543 m/s, LOS rate: 5.344339 deg/s, posRepo size: 4
2021-02-16T06:51:08.466Z,1613458268.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:09.277Z,1613458269.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:09.659Z,1613458269.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:10.496Z,1613458270.496 [Micromodem](INFO): Nmea in: $SNTTA,0.055147,,,,065110.77*41

2021-02-16T06:51:10.544Z,1613458270.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 147.792562 deg, deltaT: 4.438518 s, approachRate: 0.784045 m/s, LOS rate: 0.260105 deg/s, posRepo size: 4
2021-02-16T06:51:12.938Z,1613458272.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:13.704Z,1613458273.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:14.098Z,1613458274.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:14.928Z,1613458274.928 [Micromodem](INFO): Nmea in: $SNTTA,0.057560,,,,065115.20*45

2021-02-16T06:51:14.954Z,1613458274.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 175.611745 deg, deltaT: 4.437325 s, approachRate: 0.838343 m/s, LOS rate: 6.269359 deg/s, posRepo size: 4
2021-02-16T06:51:17.353Z,1613458277.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:18.147Z,1613458278.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:18.269Z,1613458278.269 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T06:51:18.559Z,1613458278.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:19.423Z,1613458279.423 [Micromodem](INFO): Nmea in: $SNTTA,0.059652,,,,065119.65*44

2021-02-16T06:51:19.578Z,1613458279.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 169.235668 deg, deltaT: 4.447043 s, approachRate: 0.728577 m/s, LOS rate: -1.433779 deg/s, posRepo size: 4
2021-02-16T06:51:21.833Z,1613458281.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:22.580Z,1613458282.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:22.618Z,1613458282.618 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:51:22.986Z,1613458282.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:23.840Z,1613458283.840 [Micromodem](INFO): Nmea in: $SNTTA,0.061952,,,,065124.08*45

2021-02-16T06:51:23.885Z,1613458283.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 127.450196 deg, deltaT: 4.476553 s, approachRate: 0.804188 m/s, LOS rate: -9.334296 deg/s, posRepo size: 4
2021-02-16T06:51:26.290Z,1613458286.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:27.024Z,1613458287.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:27.435Z,1613458287.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:28.288Z,1613458288.288 [Micromodem](INFO): Nmea in: $SNTTA,0.064393,,,,065128.52*44

2021-02-16T06:51:28.341Z,1613458288.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 165.906962 deg, deltaT: 4.421240 s, approachRate: 0.759968 m/s, LOS rate: 8.698185 deg/s, posRepo size: 4
2021-02-16T06:51:30.681Z,1613458290.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:31.468Z,1613458291.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:31.875Z,1613458291.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:32.726Z,1613458292.726 [Micromodem](INFO): Nmea in: $SNTTA,0.066722,,,,065132.97*4A

2021-02-16T06:51:32.750Z,1613458292.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 158.744975 deg, deltaT: 4.435374 s, approachRate: 0.771073 m/s, LOS rate: -1.614742 deg/s, posRepo size: 4
2021-02-16T06:51:35.149Z,1613458295.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:35.918Z,1613458295.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:36.321Z,1613458296.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:37.148Z,1613458297.148 [Micromodem](INFO): Nmea in: $SNTTA,0.069086,,,,065137.41*42

2021-02-16T06:51:37.197Z,1613458297.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 153.046508 deg, deltaT: 4.466161 s, approachRate: 0.792627 m/s, LOS rate: -1.275921 deg/s, posRepo size: 4
2021-02-16T06:51:39.593Z,1613458299.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:40.366Z,1613458300.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:40.804Z,1613458300.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:41.592Z,1613458301.592 [Micromodem](INFO): Nmea in: $SNTTA,0.071665,,,,065141.86*4A

2021-02-16T06:51:41.637Z,1613458301.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 176.688743 deg, deltaT: 4.444677 s, approachRate: 0.890955 m/s, LOS rate: 5.319225 deg/s, posRepo size: 4
2021-02-16T06:51:44.037Z,1613458304.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:44.811Z,1613458304.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:45.240Z,1613458305.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:46.036Z,1613458306.036 [Micromodem](INFO): Nmea in: $SNTTA,0.073898,,,,065146.31*4F

2021-02-16T06:51:46.081Z,1613458306.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 173.471082 deg, deltaT: 4.437481 s, approachRate: 0.757186 m/s, LOS rate: -0.725110 deg/s, posRepo size: 4
2021-02-16T06:51:48.457Z,1613458308.457 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:51:48.472Z,1613458308.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:49.282Z,1613458309.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:49.654Z,1613458309.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:50.508Z,1613458310.508 [Micromodem](INFO): Nmea in: $SNTTA,0.076274,,,,065150.78*48

2021-02-16T06:51:50.542Z,1613458310.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 172.792926 deg, deltaT: 4.454361 s, approachRate: 0.794727 m/s, LOS rate: -0.152245 deg/s, posRepo size: 4
2021-02-16T06:51:52.931Z,1613458312.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:53.693Z,1613458313.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:54.103Z,1613458314.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:54.924Z,1613458314.924 [Micromodem](INFO): Nmea in: $SNTTA,0.078553,,,,065155.19*46

2021-02-16T06:51:54.954Z,1613458314.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 161.983441 deg, deltaT: 4.418908 s, approachRate: 0.760367 m/s, LOS rate: -2.446189 deg/s, posRepo size: 4
2021-02-16T06:51:57.367Z,1613458317.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:51:58.142Z,1613458318.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:51:58.546Z,1613458318.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:51:59.368Z,1613458319.368 [Micromodem](INFO): Nmea in: $SNTTA,0.080923,,,,065159.64*4C

2021-02-16T06:51:59.377Z,1613458319.377 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:51:59.394Z,1613458319.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 124.870516 deg, deltaT: 4.453184 s, approachRate: 0.848832 m/s, LOS rate: -8.334020 deg/s, posRepo size: 4
2021-02-16T06:52:01.840Z,1613458321.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:02.591Z,1613458322.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:02.985Z,1613458322.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:03.828Z,1613458323.828 [Micromodem](INFO): Nmea in: $SNTTA,0.083257,,,,065204.09*47

2021-02-16T06:52:03.886Z,1613458323.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.040001 m, bearing: 167.106848 deg, deltaT: 4.437622 s, approachRate: 0.743640 m/s, LOS rate: 9.517785 deg/s, posRepo size: 4
2021-02-16T06:52:06.286Z,1613458326.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:07.034Z,1613458327.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:07.430Z,1613458327.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:08.296Z,1613458328.296 [Micromodem](INFO): Nmea in: $SNTTA,0.085613,,,,065208.53*46

2021-02-16T06:52:08.306Z,1613458328.306 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:52:08.350Z,1613458328.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.580002 m, bearing: 173.558740 deg, deltaT: 4.470921 s, approachRate: 0.791783 m/s, LOS rate: 1.443079 deg/s, posRepo size: 4
2021-02-16T06:52:10.686Z,1613458330.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:11.473Z,1613458331.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:11.876Z,1613458331.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:12.700Z,1613458332.700 [Micromodem](INFO): Nmea in: $SNTTA,0.087983,,,,065212.97*41

2021-02-16T06:52:12.749Z,1613458332.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 166.948593 deg, deltaT: 4.434850 s, approachRate: 0.798225 m/s, LOS rate: -1.490501 deg/s, posRepo size: 4
2021-02-16T06:52:13.509Z,1613458333.509 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:52:15.145Z,1613458335.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:15.917Z,1613458335.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:16.318Z,1613458336.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:17.149Z,1613458337.149 [Micromodem](INFO): Nmea in: $SNTTA,0.090264,,,,065217.41*4B

2021-02-16T06:52:17.206Z,1613458337.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 123.388802 deg, deltaT: 4.463906 s, approachRate: 0.766145 m/s, LOS rate: -9.758223 deg/s, posRepo size: 4
2021-02-16T06:52:18.375Z,1613458338.375 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:52:19.584Z,1613458339.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:20.358Z,1613458340.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:20.800Z,1613458340.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:21.584Z,1613458341.584 [Micromodem](INFO): Nmea in: $SNTTA,0.092759,,,,065221.85*4F

2021-02-16T06:52:21.633Z,1613458341.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.259995 m, bearing: 118.074313 deg, deltaT: 4.432257 s, approachRate: 0.839298 m/s, LOS rate: -1.199048 deg/s, posRepo size: 4
2021-02-16T06:52:23.339Z,1613458343.339 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:52:24.029Z,1613458344.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:24.809Z,1613458344.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:25.210Z,1613458345.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:26.036Z,1613458346.036 [Micromodem](INFO): Nmea in: $SNTTA,0.095175,,,,065226.31*48

2021-02-16T06:52:26.084Z,1613458346.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.919998 m, bearing: 122.200759 deg, deltaT: 4.454115 s, approachRate: 0.821713 m/s, LOS rate: 0.926434 deg/s, posRepo size: 4
2021-02-16T06:52:28.461Z,1613458348.461 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:52:28.500Z,1613458348.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:29.270Z,1613458349.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:29.689Z,1613458349.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:30.488Z,1613458350.488 [Micromodem](INFO): Nmea in: $SNTTA,0.097506,,,,065230.77*4F

2021-02-16T06:52:30.513Z,1613458350.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 127.804861 deg, deltaT: 4.450729 s, approachRate: 0.795377 m/s, LOS rate: 1.259142 deg/s, posRepo size: 4
2021-02-16T06:52:32.909Z,1613458352.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:33.688Z,1613458353.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:34.103Z,1613458354.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:34.916Z,1613458354.916 [Micromodem](INFO): Nmea in: $SNTTA,0.099824,,,,065235.19*41

2021-02-16T06:52:34.945Z,1613458354.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 121.791138 deg, deltaT: 4.404840 s, approachRate: 0.776418 m/s, LOS rate: -1.365253 deg/s, posRepo size: 4
2021-02-16T06:52:37.381Z,1613458357.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:38.133Z,1613458358.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:38.543Z,1613458358.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:38.565Z,1613458358.565 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T06:52:39.373Z,1613458359.373 [Micromodem](INFO): Nmea in: $SNTTA,0.102194,,,,065239.63*41

2021-02-16T06:52:39.408Z,1613458359.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 127.180103 deg, deltaT: 4.457561 s, approachRate: 0.807618 m/s, LOS rate: 1.208949 deg/s, posRepo size: 4
2021-02-16T06:52:39.408Z,1613458359.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.48 m. Resuming terminal guidance.
2021-02-16T06:52:39.409Z,1613458359.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T06:52:41.837Z,1613458361.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:42.583Z,1613458362.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:43.004Z,1613458363.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:43.820Z,1613458363.820 [Micromodem](INFO): Nmea in: $SNTTA,0.104549,,,,065244.08*44

2021-02-16T06:52:43.845Z,1613458363.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.019989 m, bearing: 119.234612 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T06:52:43.845Z,1613458363.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 119.234612deg and heading rate command to 0 deg/s.
2021-02-16T06:52:46.288Z,1613458366.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:47.022Z,1613458367.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:47.437Z,1613458367.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:48.304Z,1613458368.304 [Micromodem](INFO): Nmea in: $SNTTA,0.107096,,,,065248.52*43

2021-02-16T06:52:48.347Z,1613458368.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 124.478572 deg, deltaT: 4.460222 s, approachRate: 0.820588 m/s, LOS rate: 1.175717 deg/s, posRepo size: 2
2021-02-16T06:52:48.349Z,1613458368.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 124.478572 deg,
      approachRate: 0.820588 m/s,
      LOS rate: 1.175717 deg/s,
      cmd update: 3.527152 deg/s,
      cmd heading: 119.234612 deg,
      new cmd heading: 119.234612 deg.

2021-02-16T06:52:50.692Z,1613458370.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:51.485Z,1613458371.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:51.877Z,1613458371.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:52.707Z,1613458372.707 [Micromodem](INFO): Nmea in: $SNTTA,0.109044,,,,065252.98*4F

2021-02-16T06:52:52.727Z,1613458372.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 151.997240 deg, deltaT: 4.434515 s, approachRate: 0.000000 m/s, LOS rate: 6.205565 deg/s, posRepo size: 3
2021-02-16T06:52:52.729Z,1613458372.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 151.997240 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.205565 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.885561 deg,
      new cmd heading: 136.310287 deg.

2021-02-16T06:52:55.142Z,1613458375.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:52:55.909Z,1613458375.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:52:56.330Z,1613458376.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:52:57.136Z,1613458377.136 [Micromodem](INFO): Nmea in: $SNTTA,0.111125,,,,065257.41*41

2021-02-16T06:52:57.197Z,1613458377.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.860016 m, bearing: 124.681333 deg, deltaT: 4.431522 s, approachRate: 1.394560 m/s, LOS rate: -6.164001 deg/s, posRepo size: 4
2021-02-16T06:52:57.199Z,1613458377.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.860016 m,
      bearing: 124.681333 deg,
      approachRate: 1.394560 m/s,
      LOS rate: -6.164001 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 188.015202 deg,
      new cmd heading: 193.371930 deg.

2021-02-16T06:52:59.590Z,1613458379.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:00.352Z,1613458380.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:00.780Z,1613458380.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:01.580Z,1613458381.580 [Micromodem](INFO): Nmea in: $SNTTA,0.112890,,,,065301.85*4F

2021-02-16T06:53:01.631Z,1613458381.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.860016 m, bearing: 106.852210 deg, deltaT: 4.499004 s, approachRate: 0.000000 m/s, LOS rate: -3.962904 deg/s, posRepo size: 4
2021-02-16T06:53:01.634Z,1613458381.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.860016 m,
      bearing: 106.852210 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.962904 deg/s,
      cmd update: -11.888713 deg/s,
      cmd heading: 134.206421 deg,
      new cmd heading: 129.451973 deg.

2021-02-16T06:53:04.028Z,1613458384.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:04.821Z,1613458384.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:05.220Z,1613458385.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:06.032Z,1613458386.032 [Micromodem](INFO): Nmea in: $SNTTA,0.114992,,,,065306.32*41

2021-02-16T06:53:06.451Z,1613458386.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 175.134643 deg, deltaT: 4.842588 s, approachRate: 1.201835 m/s, LOS rate: 14.100401 deg/s, posRepo size: 4
2021-02-16T06:53:06.452Z,1613458386.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.100401 deg/s. Setting heading cmd to target bearing of 175.134643deg and heading rate command to 0 deg/s.
2021-02-16T06:53:08.882Z,1613458388.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:09.648Z,1613458389.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:10.050Z,1613458390.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:10.876Z,1613458390.876 [Micromodem](INFO): Nmea in: $SNTTA,0.117363,,,,065311.14*44

2021-02-16T06:53:10.914Z,1613458390.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.680008 m, bearing: 162.154961 deg, deltaT: 4.404332 s, approachRate: 0.000000 m/s, LOS rate: -2.947026 deg/s, posRepo size: 4
2021-02-16T06:53:10.916Z,1613458390.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.680008 m,
      bearing: 162.154961 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.947026 deg/s,
      cmd update: -8.841079 deg/s,
      cmd heading: 175.134643 deg,
      new cmd heading: 175.134643 deg.

2021-02-16T06:53:13.375Z,1613458393.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:14.097Z,1613458394.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:14.501Z,1613458394.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:15.335Z,1613458395.335 [Micromodem](INFO): Nmea in: $SNTTA,0.119344,,,,065315.59*42

2021-02-16T06:53:15.744Z,1613458395.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.220016 m, bearing: 127.822933 deg, deltaT: 4.858513 s, approachRate: 1.346093 m/s, LOS rate: -7.066365 deg/s, posRepo size: 4
2021-02-16T06:53:15.749Z,1613458395.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.220016 m,
      bearing: 127.822933 deg,
      approachRate: 1.346093 m/s,
      LOS rate: -7.066365 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 132.171191 deg,
      new cmd heading: 128.785199 deg.

2021-02-16T06:53:18.171Z,1613458398.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:18.941Z,1613458398.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:19.347Z,1613458399.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:20.161Z,1613458400.161 [Micromodem](INFO): Nmea in: $SNTTA,0.121431,,,,065320.44*46

2021-02-16T06:53:20.603Z,1613458400.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.280014 m, bearing: 152.043385 deg, deltaT: 4.902583 s, approachRate: 0.624160 m/s, LOS rate: 4.940345 deg/s, posRepo size: 4
2021-02-16T06:53:20.605Z,1613458400.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.280014 m,
      bearing: 152.043385 deg,
      approachRate: 0.624160 m/s,
      LOS rate: 4.940345 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 73.400421 deg,
      new cmd heading: 69.440925 deg.

2021-02-16T06:53:23.006Z,1613458403.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:23.809Z,1613458403.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:24.195Z,1613458404.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:25.018Z,1613458405.018 [Micromodem](INFO): Nmea in: $SNTTA,0.123584,,,,065325.30*4D

2021-02-16T06:53:25.438Z,1613458405.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 123.643322 deg, deltaT: 4.800678 s, approachRate: 0.674903 m/s, LOS rate: -5.915844 deg/s, posRepo size: 4
2021-02-16T06:53:25.440Z,1613458405.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.520004 m,
      bearing: 123.643322 deg,
      approachRate: 0.674903 m/s,
      LOS rate: -5.915844 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 130.824827 deg,
      new cmd heading: 135.576875 deg.

2021-02-16T06:53:27.854Z,1613458407.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:28.650Z,1613458408.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:29.043Z,1613458409.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:29.861Z,1613458409.861 [Micromodem](INFO): Nmea in: $SNTTA,0.125305,,,,065330.15*47

2021-02-16T06:53:30.334Z,1613458410.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.979980 m, bearing: 101.718790 deg, deltaT: 4.824258 s, approachRate: 0.509918 m/s, LOS rate: -4.544643 deg/s, posRepo size: 4
2021-02-16T06:53:30.340Z,1613458410.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.979980 m,
      bearing: 101.718790 deg,
      approachRate: 0.509918 m/s,
      LOS rate: -4.544643 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 72.690837 deg,
      new cmd heading: 67.320141 deg.

2021-02-16T06:53:32.686Z,1613458412.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:33.490Z,1613458413.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:33.899Z,1613458413.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:34.704Z,1613458414.704 [Micromodem](INFO): Nmea in: $SNTTA,0.126641,,,,065334.99*41

2021-02-16T06:53:35.132Z,1613458415.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.019974 m, bearing: 76.910560 deg, deltaT: 4.831955 s, approachRate: 0.422188 m/s, LOS rate: -5.134202 deg/s, posRepo size: 4
2021-02-16T06:53:35.133Z,1613458415.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.019974 m,
      bearing: 76.910560 deg,
      approachRate: 0.422188 m/s,
      LOS rate: -5.134202 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 14.706932 deg,
      new cmd heading: 9.754856 deg.

2021-02-16T06:53:37.550Z,1613458417.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:38.352Z,1613458418.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:38.741Z,1613458418.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:39.564Z,1613458419.564 [Micromodem](INFO): Nmea in: $SNTTA,0.127280,,,,065339.85*49

2021-02-16T06:53:39.984Z,1613458419.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 21.552235 deg, deltaT: 4.888946 s, approachRate: 0.184094 m/s, LOS rate: -11.323161 deg/s, posRepo size: 4
2021-02-16T06:53:39.986Z,1613458419.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 21.552235 deg,
      approachRate: 0.184094 m/s,
      LOS rate: -11.323161 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 316.280683 deg,
      new cmd heading: 311.527723 deg.

2021-02-16T06:53:42.393Z,1613458422.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:43.194Z,1613458423.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:43.581Z,1613458423.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:44.408Z,1613458424.408 [Micromodem](INFO): Nmea in: $SNTTA,0.127391,,,,065344.69*40

2021-02-16T06:53:44.848Z,1613458424.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.040009 m, bearing: 70.253461 deg, deltaT: 4.823956 s, approachRate: 0.024878 m/s, LOS rate: 10.095703 deg/s, posRepo size: 4
2021-02-16T06:53:44.850Z,1613458424.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.040009 m,
      bearing: 70.253461 deg,
      approachRate: 0.024878 m/s,
      LOS rate: 10.095703 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.151661 deg,
      new cmd heading: 253.160105 deg.

2021-02-16T06:53:47.300Z,1613458427.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:48.024Z,1613458428.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:48.441Z,1613458428.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:49.281Z,1613458429.281 [Micromodem](INFO): Nmea in: $SNTTA,0.126837,,,,065349.52*43

2021-02-16T06:53:49.704Z,1613458429.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.139984 m, bearing: 344.086161 deg, deltaT: 4.873298 s, approachRate: -0.184685 m/s, LOS rate: -17.681517 deg/s, posRepo size: 4
2021-02-16T06:53:49.705Z,1613458429.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.681517 deg/s. Setting heading cmd to target bearing of 344.086161deg and heading rate command to 0 deg/s.
2021-02-16T06:53:52.109Z,1613458432.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:52.890Z,1613458432.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:53.295Z,1613458433.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:54.106Z,1613458434.106 [Micromodem](INFO): Nmea in: $SNTTA,0.125512,,,,065354.39*4B

2021-02-16T06:53:54.542Z,1613458434.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.919983 m, bearing: 347.653378 deg, deltaT: 4.856051 s, approachRate: -0.457162 m/s, LOS rate: 0.734592 deg/s, posRepo size: 4
2021-02-16T06:53:54.544Z,1613458434.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 347.653378 deg,
      approachRate: -0.457162 m/s,
      LOS rate: 0.734592 deg/s,
      cmd update: 2.203776 deg/s,
      cmd heading: 344.086161 deg,
      new cmd heading: 344.086161 deg.

2021-02-16T06:53:56.949Z,1613458436.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:53:57.732Z,1613458437.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:53:58.138Z,1613458438.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:53:58.953Z,1613458438.953 [Micromodem](INFO): Nmea in: $SNTTA,0.305562,,,,065359.23*4A

2021-02-16T06:53:59.387Z,1613458439.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 346.490169 deg, deltaT: 4.816704 s, approachRate: -0.535630 m/s, LOS rate: -0.241495 deg/s, posRepo size: 4
2021-02-16T06:53:59.389Z,1613458439.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 346.490169 deg,
      approachRate: -0.535630 m/s,
      LOS rate: -0.241495 deg/s,
      cmd update: -0.724484 deg/s,
      cmd heading: 354.766911 deg,
      new cmd heading: 355.669672 deg.

2021-02-16T06:54:01.834Z,1613458441.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:02.580Z,1613458442.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:03.004Z,1613458443.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:03.824Z,1613458443.824 [Micromodem](INFO): Nmea in: $SNTTA,0.121738,,,,065404.08*45

2021-02-16T06:54:03.849Z,1613458443.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 346.864518 deg, deltaT: 4.474274 s, approachRate: 0.000000 m/s, LOS rate: 0.083667 deg/s, posRepo size: 4
2021-02-16T06:54:03.851Z,1613458443.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 346.864518 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.083667 deg/s,
      cmd update: 0.251001 deg/s,
      cmd heading: 351.528243 deg,
      new cmd heading: 351.237572 deg.

2021-02-16T06:54:06.311Z,1613458446.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:07.024Z,1613458447.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:07.437Z,1613458447.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:08.280Z,1613458448.280 [Micromodem](INFO): Nmea in: $SNTTA,0.119729,,,,065408.52*4D

2021-02-16T06:54:08.308Z,1613458448.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 348.594277 deg, deltaT: 4.429132 s, approachRate: 0.000000 m/s, LOS rate: 0.390541 deg/s, posRepo size: 4
2021-02-16T06:54:08.310Z,1613458448.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 348.594277 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.390541 deg/s,
      cmd update: 1.171624 deg/s,
      cmd heading: 352.640937 deg,
      new cmd heading: 352.748269 deg.

2021-02-16T06:54:10.675Z,1613458450.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:11.477Z,1613458451.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:11.892Z,1613458451.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:12.709Z,1613458452.709 [Micromodem](INFO): Nmea in: $SNTTA,0.117743,,,,065412.98*42

2021-02-16T06:54:12.750Z,1613458452.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 348.941715 deg, deltaT: 4.467489 s, approachRate: 0.000000 m/s, LOS rate: 0.077770 deg/s, posRepo size: 4
2021-02-16T06:54:12.752Z,1613458452.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 348.941715 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.077770 deg/s,
      cmd update: 0.233311 deg/s,
      cmd heading: 357.870597 deg,
      new cmd heading: 358.346001 deg.

2021-02-16T06:54:15.138Z,1613458455.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:15.917Z,1613458455.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:16.323Z,1613458456.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:17.148Z,1613458457.148 [Micromodem](INFO): Nmea in: $SNTTA,0.115800,,,,065417.41*49

2021-02-16T06:54:17.213Z,1613458457.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 348.149850 deg, deltaT: 4.397522 s, approachRate: 0.000000 m/s, LOS rate: -0.180071 deg/s, posRepo size: 4
2021-02-16T06:54:17.215Z,1613458457.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 348.149850 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.180071 deg/s,
      cmd update: -0.540212 deg/s,
      cmd heading: 358.896490 deg,
      new cmd heading: 359.006505 deg.

2021-02-16T06:54:19.598Z,1613458459.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:20.373Z,1613458460.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:20.794Z,1613458460.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:21.596Z,1613458461.596 [Micromodem](INFO): Nmea in: $SNTTA,0.113765,,,,065421.87*4C

2021-02-16T06:54:21.645Z,1613458461.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.340012 m, bearing: 348.013984 deg, deltaT: 4.501890 s, approachRate: 0.000000 m/s, LOS rate: -0.030180 deg/s, posRepo size: 4
2021-02-16T06:54:21.651Z,1613458461.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.340012 m,
      bearing: 348.013984 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.030180 deg/s,
      cmd update: -0.090539 deg/s,
      cmd heading: 356.474667 deg,
      new cmd heading: 356.247606 deg.

2021-02-16T06:54:24.039Z,1613458464.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:24.821Z,1613458464.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:25.260Z,1613458465.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:26.052Z,1613458466.052 [Micromodem](INFO): Nmea in: $SNTTA,0.111795,,,,065426.32*48

2021-02-16T06:54:26.097Z,1613458466.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.979996 m, bearing: 349.021902 deg, deltaT: 4.403172 s, approachRate: -3.488398 m/s, LOS rate: 0.228907 deg/s, posRepo size: 4
2021-02-16T06:54:26.099Z,1613458466.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.979996 m,
      bearing: 349.021902 deg,
      approachRate: -3.488398 m/s,
      LOS rate: 0.228907 deg/s,
      cmd update: 0.686721 deg/s,
      cmd heading: 356.074030 deg,
      new cmd heading: 356.033546 deg.

2021-02-16T06:54:28.494Z,1613458468.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:29.274Z,1613458469.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:29.685Z,1613458469.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:30.516Z,1613458470.516 [Micromodem](INFO): Nmea in: $SNTTA,0.109738,,,,065430.77*40

2021-02-16T06:54:30.551Z,1613458470.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.979996 m, bearing: 349.174707 deg, deltaT: 4.480601 s, approachRate: 0.000000 m/s, LOS rate: 0.034104 deg/s, posRepo size: 4
2021-02-16T06:54:30.553Z,1613458470.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.979996 m,
      bearing: 349.174707 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.034104 deg/s,
      cmd update: 0.102311 deg/s,
      cmd heading: 359.149151 deg,
      new cmd heading: 359.439553 deg.

2021-02-16T06:54:32.927Z,1613458472.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:33.708Z,1613458473.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:34.135Z,1613458474.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:34.945Z,1613458474.945 [Micromodem](INFO): Nmea in: $SNTTA,0.107739,,,,065435.20*48

2021-02-16T06:54:35.004Z,1613458475.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 347.487076 deg, deltaT: 4.438212 s, approachRate: -1.933211 m/s, LOS rate: -0.380250 deg/s, posRepo size: 4
2021-02-16T06:54:35.006Z,1613458475.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 347.487076 deg,
      approachRate: -1.933211 m/s,
      LOS rate: -0.380250 deg/s,
      cmd update: -1.140750 deg/s,
      cmd heading: 359.603620 deg,
      new cmd heading: 359.647655 deg.

2021-02-16T06:54:37.370Z,1613458477.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:38.161Z,1613458478.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:38.559Z,1613458478.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:39.388Z,1613458479.388 [Micromodem](INFO): Nmea in: $SNTTA,0.105732,,,,065439.66*4F

2021-02-16T06:54:39.412Z,1613458479.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.460007 m, bearing: 348.463192 deg, deltaT: 4.425480 s, approachRate: -0.664332 m/s, LOS rate: 0.220567 deg/s, posRepo size: 4
2021-02-16T06:54:39.414Z,1613458479.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.460007 m,
      bearing: 348.463192 deg,
      approachRate: -0.664332 m/s,
      LOS rate: 0.220567 deg/s,
      cmd update: 0.661702 deg/s,
      cmd heading: 354.555187 deg,
      new cmd heading: 354.079978 deg.

2021-02-16T06:54:41.846Z,1613458481.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:42.604Z,1613458482.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:43.002Z,1613458483.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:43.832Z,1613458483.832 [Micromodem](INFO): Nmea in: $SNTTA,0.103668,,,,065444.10*4C

2021-02-16T06:54:43.871Z,1613458483.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.340012 m, bearing: 349.454143 deg, deltaT: 4.488434 s, approachRate: -0.695119 m/s, LOS rate: 0.220779 deg/s, posRepo size: 4
2021-02-16T06:54:43.873Z,1613458483.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 349.454143 deg,
      approachRate: -0.695119 m/s,
      LOS rate: 0.220779 deg/s,
      cmd update: 0.662336 deg/s,
      cmd heading: 357.525011 deg,
      new cmd heading: 357.781453 deg.

2021-02-16T06:54:46.326Z,1613458486.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:47.042Z,1613458487.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:47.465Z,1613458487.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:48.288Z,1613458488.288 [Micromodem](INFO): Nmea in: $SNTTA,0.101646,,,,065448.54*4E

2021-02-16T06:54:48.327Z,1613458488.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.220001 m, bearing: 348.717849 deg, deltaT: 4.417953 s, approachRate: -0.706212 m/s, LOS rate: -0.166660 deg/s, posRepo size: 4
2021-02-16T06:54:48.329Z,1613458488.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.220001 m,
      bearing: 348.717849 deg,
      approachRate: -0.706212 m/s,
      LOS rate: -0.166660 deg/s,
      cmd update: -0.499979 deg/s,
      cmd heading: 0.448795 deg,
      new cmd heading: 0.733063 deg.

2021-02-16T06:54:50.716Z,1613458490.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:51.489Z,1613458491.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:51.911Z,1613458491.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:52.716Z,1613458492.716 [Micromodem](INFO): Nmea in: $SNTTA,0.099643,,,,065452.99*41

2021-02-16T06:54:52.763Z,1613458492.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.279999 m, bearing: 348.780523 deg, deltaT: 4.443868 s, approachRate: -0.661586 m/s, LOS rate: 0.014103 deg/s, posRepo size: 4
2021-02-16T06:54:52.769Z,1613458492.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.279999 m,
      bearing: 348.780523 deg,
      approachRate: -0.661586 m/s,
      LOS rate: 0.014103 deg/s,
      cmd update: 0.042310 deg/s,
      cmd heading: 358.224986 deg,
      new cmd heading: 358.017760 deg.

2021-02-16T06:54:55.189Z,1613458495.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:54:55.937Z,1613458495.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:54:56.347Z,1613458496.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:54:57.165Z,1613458497.165 [Micromodem](INFO): Nmea in: $SNTTA,0.097587,,,,065457.43*46

2021-02-16T06:54:57.254Z,1613458497.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.160004 m, bearing: 348.738640 deg, deltaT: 4.463661 s, approachRate: -0.698977 m/s, LOS rate: -0.009383 deg/s, posRepo size: 4
2021-02-16T06:54:57.267Z,1613458497.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.160004 m,
      bearing: 348.738640 deg,
      approachRate: -0.698977 m/s,
      LOS rate: -0.009383 deg/s,
      cmd update: -0.028149 deg/s,
      cmd heading: 358.413679 deg,
      new cmd heading: 358.432322 deg.

2021-02-16T06:54:59.609Z,1613458499.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:00.380Z,1613458500.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:00.808Z,1613458500.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:01.608Z,1613458501.608 [Micromodem](INFO): Nmea in: $SNTTA,0.095592,,,,065501.88*45

2021-02-16T06:55:01.647Z,1613458501.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 349.321392 deg, deltaT: 4.450643 s, approachRate: -0.674060 m/s, LOS rate: 0.130937 deg/s, posRepo size: 4
2021-02-16T06:55:01.649Z,1613458501.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.160004 m,
      bearing: 349.321392 deg,
      approachRate: -0.674060 m/s,
      LOS rate: 0.130937 deg/s,
      cmd update: 0.392810 deg/s,
      cmd heading: 358.289229 deg,
      new cmd heading: 358.277397 deg.

2021-02-16T06:55:04.041Z,1613458504.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:04.821Z,1613458504.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:05.253Z,1613458505.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:06.048Z,1613458506.048 [Micromodem](INFO): Nmea in: $SNTTA,0.093582,,,,065506.32*44

2021-02-16T06:55:06.086Z,1613458506.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 349.790872 deg, deltaT: 4.398136 s, approachRate: -0.668466 m/s, LOS rate: 0.106745 deg/s, posRepo size: 4
2021-02-16T06:55:06.088Z,1613458506.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.220001 m,
      bearing: 349.790872 deg,
      approachRate: -0.668466 m/s,
      LOS rate: 0.106745 deg/s,
      cmd update: 0.320236 deg/s,
      cmd heading: 0.023597 deg,
      new cmd heading: 0.198184 deg.

2021-02-16T06:55:08.480Z,1613458508.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:09.275Z,1613458509.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:09.676Z,1613458509.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:10.516Z,1613458510.516 [Micromodem](INFO): Nmea in: $SNTTA,0.091534,,,,065510.77*4D

2021-02-16T06:55:10.549Z,1613458510.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.100006 m, bearing: 349.036873 deg, deltaT: 4.470280 s, approachRate: -0.697942 m/s, LOS rate: -0.168669 deg/s, posRepo size: 4
2021-02-16T06:55:10.550Z,1613458510.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.100006 m,
      bearing: 349.036873 deg,
      approachRate: -0.697942 m/s,
      LOS rate: -0.168669 deg/s,
      cmd update: -0.506007 deg/s,
      cmd heading: 1.460384 deg,
      new cmd heading: 1.594963 deg.

2021-02-16T06:55:12.926Z,1613458512.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:13.708Z,1613458513.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:14.131Z,1613458514.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:14.940Z,1613458514.940 [Micromodem](INFO): Nmea in: $SNTTA,0.089540,,,,065515.20*40

2021-02-16T06:55:14.989Z,1613458514.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 349.259783 deg, deltaT: 4.412576 s, approachRate: -0.666278 m/s, LOS rate: 0.050517 deg/s, posRepo size: 4
2021-02-16T06:55:14.995Z,1613458514.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.160004 m,
      bearing: 349.259783 deg,
      approachRate: -0.666278 m/s,
      LOS rate: 0.050517 deg/s,
      cmd update: 0.151551 deg/s,
      cmd heading: 359.227660 deg,
      new cmd heading: 359.000810 deg.

2021-02-16T06:55:17.399Z,1613458517.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:18.156Z,1613458518.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:18.564Z,1613458518.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:19.388Z,1613458519.388 [Micromodem](INFO): Nmea in: $SNTTA,0.087605,,,,065519.65*41

2021-02-16T06:55:19.432Z,1613458519.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 349.630608 deg, deltaT: 4.466984 s, approachRate: -0.644731 m/s, LOS rate: 0.083015 deg/s, posRepo size: 4
2021-02-16T06:55:19.439Z,1613458519.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.279999 m,
      bearing: 349.630608 deg,
      approachRate: -0.644731 m/s,
      LOS rate: 0.083015 deg/s,
      cmd update: 0.249044 deg/s,
      cmd heading: 359.902238 deg,
      new cmd heading: 359.968914 deg.

2021-02-16T06:55:21.841Z,1613458521.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:22.601Z,1613458522.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:23.002Z,1613458523.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:23.836Z,1613458523.836 [Micromodem](INFO): Nmea in: $SNTTA,0.085566,,,,065524.10*49

2021-02-16T06:55:23.875Z,1613458523.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 349.135747 deg, deltaT: 4.443627 s, approachRate: -0.702128 m/s, LOS rate: -0.111364 deg/s, posRepo size: 4
2021-02-16T06:55:23.877Z,1613458523.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 349.135747 deg,
      approachRate: -0.702128 m/s,
      LOS rate: -0.111364 deg/s,
      cmd update: -0.334093 deg/s,
      cmd heading: 1.012825 deg,
      new cmd heading: 1.118381 deg.

2021-02-16T06:55:26.285Z,1613458526.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:27.046Z,1613458527.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:27.446Z,1613458527.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:28.287Z,1613458528.287 [Micromodem](INFO): Nmea in: $SNTTA,0.083557,,,,065528.54*41

2021-02-16T06:55:28.312Z,1613458528.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 349.036573 deg, deltaT: 4.445276 s, approachRate: -0.674875 m/s, LOS rate: -0.022310 deg/s, posRepo size: 4
2021-02-16T06:55:28.314Z,1613458528.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.159996 m,
      bearing: 349.036573 deg,
      approachRate: -0.674875 m/s,
      LOS rate: -0.022310 deg/s,
      cmd update: -0.066930 deg/s,
      cmd heading: 359.529058 deg,
      new cmd heading: 359.389014 deg.

2021-02-16T06:55:30.714Z,1613458530.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:31.485Z,1613458531.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:31.898Z,1613458531.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:32.712Z,1613458532.712 [Micromodem](INFO): Nmea in: $SNTTA,0.081469,,,,065532.98*44

2021-02-16T06:55:32.759Z,1613458532.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 348.712275 deg, deltaT: 4.432224 s, approachRate: -0.703933 m/s, LOS rate: -0.073168 deg/s, posRepo size: 4
2021-02-16T06:55:32.766Z,1613458532.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 348.712275 deg,
      approachRate: -0.703933 m/s,
      LOS rate: -0.073168 deg/s,
      cmd update: -0.219504 deg/s,
      cmd heading: 359.232131 deg,
      new cmd heading: 359.203433 deg.

2021-02-16T06:55:35.173Z,1613458535.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:35.929Z,1613458535.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:36.334Z,1613458536.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:37.157Z,1613458537.157 [Micromodem](INFO): Nmea in: $SNTTA,0.079500,,,,065537.43*4E

2021-02-16T06:55:37.263Z,1613458537.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 349.449471 deg, deltaT: 4.469252 s, approachRate: -0.671255 m/s, LOS rate: 0.164948 deg/s, posRepo size: 4
2021-02-16T06:55:37.265Z,1613458537.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 349.449471 deg,
      approachRate: -0.671255 m/s,
      LOS rate: 0.164948 deg/s,
      cmd update: 0.494845 deg/s,
      cmd heading: 358.255240 deg,
      new cmd heading: 358.151584 deg.

2021-02-16T06:55:39.625Z,1613458539.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:40.378Z,1613458540.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:40.804Z,1613458540.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:41.604Z,1613458541.604 [Micromodem](INFO): Nmea in: $SNTTA,0.077451,,,,065541.87*4C

2021-02-16T06:55:41.653Z,1613458541.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 349.425457 deg, deltaT: 4.458368 s, approachRate: -0.686349 m/s, LOS rate: -0.005386 deg/s, posRepo size: 4
2021-02-16T06:55:41.654Z,1613458541.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 349.425457 deg,
      approachRate: -0.686349 m/s,
      LOS rate: -0.005386 deg/s,
      cmd update: -0.016159 deg/s,
      cmd heading: 0.457962 deg,
      new cmd heading: 0.666777 deg.

2021-02-16T06:55:44.058Z,1613458544.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:44.818Z,1613458544.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:45.261Z,1613458545.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:46.044Z,1613458546.044 [Micromodem](INFO): Nmea in: $SNTTA,0.075429,,,,065546.31*4B

2021-02-16T06:55:46.089Z,1613458546.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.040001 m, bearing: 349.869883 deg, deltaT: 4.381771 s, approachRate: -0.670962 m/s, LOS rate: 0.101426 deg/s, posRepo size: 4
2021-02-16T06:55:46.090Z,1613458546.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.040001 m,
      bearing: 349.869883 deg,
      approachRate: -0.670962 m/s,
      LOS rate: 0.101426 deg/s,
      cmd update: 0.304279 deg/s,
      cmd heading: 0.386737 deg,
      new cmd heading: 0.379458 deg.

2021-02-16T06:55:48.493Z,1613458548.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:49.278Z,1613458549.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:49.666Z,1613458549.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:50.503Z,1613458550.503 [Micromodem](INFO): Nmea in: $SNTTA,0.073437,,,,065550.77*47

2021-02-16T06:55:50.541Z,1613458550.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.040009 m, bearing: 349.590009 deg, deltaT: 4.477200 s, approachRate: -0.670060 m/s, LOS rate: -0.062511 deg/s, posRepo size: 4
2021-02-16T06:55:50.543Z,1613458550.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.040009 m,
      bearing: 349.590009 deg,
      approachRate: -0.670060 m/s,
      LOS rate: -0.062511 deg/s,
      cmd update: -0.187533 deg/s,
      cmd heading: 1.747805 deg,
      new cmd heading: 1.878552 deg.

2021-02-16T06:55:52.939Z,1613458552.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:53.714Z,1613458553.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:54.114Z,1613458554.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:54.936Z,1613458554.936 [Micromodem](INFO): Nmea in: $SNTTA,0.071398,,,,065555.21*41

2021-02-16T06:55:54.961Z,1613458554.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.860001 m, bearing: 349.653940 deg, deltaT: 4.416242 s, approachRate: -0.720071 m/s, LOS rate: 0.014476 deg/s, posRepo size: 4
2021-02-16T06:55:54.963Z,1613458554.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 349.653940 deg,
      approachRate: -0.720071 m/s,
      LOS rate: 0.014476 deg/s,
      cmd update: 0.043429 deg/s,
      cmd heading: 0.918861 deg,
      new cmd heading: 0.838264 deg.

2021-02-16T06:55:55.336Z,1613458555.336 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:55:57.377Z,1613458557.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:55:58.158Z,1613458558.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:55:58.560Z,1613458558.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:55:59.384Z,1613458559.384 [Micromodem](INFO): Nmea in: $SNTTA,0.069387,,,,065559.66*49

2021-02-16T06:55:59.422Z,1613458559.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.919998 m, bearing: 349.351936 deg, deltaT: 4.474397 s, approachRate: -0.657072 m/s, LOS rate: -0.067496 deg/s, posRepo size: 4
2021-02-16T06:55:59.424Z,1613458559.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 349.351936 deg,
      approachRate: -0.657072 m/s,
      LOS rate: -0.067496 deg/s,
      cmd update: -0.202488 deg/s,
      cmd heading: 1.113005 deg,
      new cmd heading: 1.131246 deg.

2021-02-16T06:56:01.840Z,1613458561.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:02.592Z,1613458562.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:02.999Z,1613458562.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:03.836Z,1613458563.836 [Micromodem](INFO): Nmea in: $SNTTA,0.067386,,,,065604.09*44

2021-02-16T06:56:03.872Z,1613458563.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 349.543673 deg, deltaT: 4.477397 s, approachRate: -0.683432 m/s, LOS rate: 0.042823 deg/s, posRepo size: 4
2021-02-16T06:56:03.874Z,1613458563.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.860001 m,
      bearing: 349.543673 deg,
      approachRate: -0.683432 m/s,
      LOS rate: 0.042823 deg/s,
      cmd update: 0.128470 deg/s,
      cmd heading: 0.206354 deg,
      new cmd heading: 0.126977 deg.

2021-02-16T06:56:06.299Z,1613458566.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:07.042Z,1613458567.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:07.457Z,1613458567.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:08.280Z,1613458568.280 [Micromodem](INFO): Nmea in: $SNTTA,0.065378,,,,065608.54*43

2021-02-16T06:56:08.319Z,1613458568.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.860008 m, bearing: 350.040037 deg, deltaT: 4.401000 s, approachRate: -0.681662 m/s, LOS rate: 0.112784 deg/s, posRepo size: 4
2021-02-16T06:56:08.321Z,1613458568.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.860008 m,
      bearing: 350.040037 deg,
      approachRate: -0.681662 m/s,
      LOS rate: 0.112784 deg/s,
      cmd update: 0.338353 deg/s,
      cmd heading: 0.770130 deg,
      new cmd heading: 0.828055 deg.

2021-02-16T06:56:10.699Z,1613458570.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:11.481Z,1613458571.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:11.896Z,1613458571.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:12.708Z,1613458572.708 [Micromodem](INFO): Nmea in: $SNTTA,0.063388,,,,065612.98*41

2021-02-16T06:56:12.749Z,1613458572.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 350.145304 deg, deltaT: 4.441994 s, approachRate: -0.648359 m/s, LOS rate: 0.023698 deg/s, posRepo size: 4
2021-02-16T06:56:12.751Z,1613458572.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 350.145304 deg,
      approachRate: -0.648359 m/s,
      LOS rate: 0.023698 deg/s,
      cmd update: 0.071094 deg/s,
      cmd heading: 2.278716 deg,
      new cmd heading: 2.421785 deg.

2021-02-16T06:56:15.169Z,1613458575.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:15.935Z,1613458575.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:16.330Z,1613458576.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:17.161Z,1613458577.161 [Micromodem](INFO): Nmea in: $SNTTA,0.061447,,,,065617.43*44

2021-02-16T06:56:17.215Z,1613458577.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 348.804920 deg, deltaT: 4.468935 s, approachRate: -0.671303 m/s, LOS rate: -0.299934 deg/s, posRepo size: 4
2021-02-16T06:56:17.218Z,1613458577.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.979996 m,
      bearing: 348.804920 deg,
      approachRate: -0.671303 m/s,
      LOS rate: -0.299934 deg/s,
      cmd update: -0.899801 deg/s,
      cmd heading: 2.596016 deg,
      new cmd heading: 2.626238 deg.

2021-02-16T06:56:19.763Z,1613458579.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:20.370Z,1613458580.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:20.803Z,1613458580.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:21.616Z,1613458581.616 [Micromodem](INFO): Nmea in: $SNTTA,0.059416,,,,065621.87*46

2021-02-16T06:56:21.657Z,1613458581.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.980003 m, bearing: 349.024415 deg, deltaT: 4.407757 s, approachRate: -0.680617 m/s, LOS rate: 0.049797 deg/s, posRepo size: 4
2021-02-16T06:56:21.659Z,1613458581.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 349.024415 deg,
      approachRate: -0.680617 m/s,
      LOS rate: 0.049797 deg/s,
      cmd update: 0.149392 deg/s,
      cmd heading: 358.626727 deg,
      new cmd heading: 358.216565 deg.

2021-02-16T06:56:24.030Z,1613458584.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:24.812Z,1613458584.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:25.262Z,1613458585.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:26.044Z,1613458586.044 [Micromodem](INFO): Nmea in: $SNTTA,0.057344,,,,065626.31*42

2021-02-16T06:56:26.089Z,1613458586.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 350.298382 deg, deltaT: 4.436254 s, approachRate: -0.716821 m/s, LOS rate: 0.287172 deg/s, posRepo size: 4
2021-02-16T06:56:26.091Z,1613458586.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.800003 m,
      bearing: 350.298382 deg,
      approachRate: -0.716821 m/s,
      LOS rate: 0.287172 deg/s,
      cmd update: 0.861515 deg/s,
      cmd heading: 359.289229 deg,
      new cmd heading: 359.356950 deg.

2021-02-16T06:56:28.512Z,1613458588.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:29.269Z,1613458589.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:29.664Z,1613458589.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:30.505Z,1613458590.505 [Micromodem](INFO): Nmea in: $SNTTA,0.055347,,,,065630.76*47

2021-02-16T06:56:30.560Z,1613458590.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 351.387060 deg, deltaT: 4.462637 s, approachRate: -0.618467 m/s, LOS rate: 0.243954 deg/s, posRepo size: 4
2021-02-16T06:56:30.561Z,1613458590.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.040009 m,
      bearing: 351.387060 deg,
      approachRate: -0.618467 m/s,
      LOS rate: 0.243954 deg/s,
      cmd update: 0.731862 deg/s,
      cmd heading: 3.137126 deg,
      new cmd heading: 3.527596 deg.

2021-02-16T06:56:32.935Z,1613458592.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:33.708Z,1613458593.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:34.123Z,1613458594.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:34.952Z,1613458594.952 [Micromodem](INFO): Nmea in: $SNTTA,0.053265,,,,065635.21*47

2021-02-16T06:56:34.989Z,1613458594.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 350.086045 deg, deltaT: 4.430540 s, approachRate: -0.771916 m/s, LOS rate: -0.293647 deg/s, posRepo size: 4
2021-02-16T06:56:34.995Z,1613458594.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.620003 m,
      bearing: 350.086045 deg,
      approachRate: -0.771916 m/s,
      LOS rate: -0.293647 deg/s,
      cmd update: -0.880941 deg/s,
      cmd heading: 6.379782 deg,
      new cmd heading: 6.713654 deg.

2021-02-16T06:56:37.372Z,1613458597.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:38.144Z,1613458598.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:38.555Z,1613458598.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:39.380Z,1613458599.380 [Micromodem](INFO): Nmea in: $SNTTA,0.051647,0.066672,,,065639.64*51

2021-02-16T06:56:39.404Z,1613458599.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 348.642635 deg, deltaT: 4.496000 s, approachRate: -0.587188 m/s, LOS rate: -0.321043 deg/s, posRepo size: 4
2021-02-16T06:56:39.406Z,1613458599.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.980003 m,
      bearing: 348.642635 deg,
      approachRate: -0.587188 m/s,
      LOS rate: -0.321043 deg/s,
      cmd update: -0.963130 deg/s,
      cmd heading: 2.422576 deg,
      new cmd heading: 2.088572 deg.

2021-02-16T06:56:41.850Z,1613458601.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:42.601Z,1613458602.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:43.003Z,1613458603.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:43.828Z,1613458603.828 [Micromodem](INFO): Nmea in: $SNTTA,0.049259,,0.074354,,065644.10*58

2021-02-16T06:56:43.868Z,1613458603.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 349.348685 deg, deltaT: 4.446984 s, approachRate: -0.728583 m/s, LOS rate: 0.158771 deg/s, posRepo size: 4
2021-02-16T06:56:43.870Z,1613458603.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 349.348685 deg,
      approachRate: -0.728583 m/s,
      LOS rate: 0.158771 deg/s,
      cmd update: 0.476312 deg/s,
      cmd heading: 358.149593 deg,
      new cmd heading: 357.758393 deg.

2021-02-16T06:56:46.284Z,1613458606.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:47.058Z,1613458607.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:47.454Z,1613458607.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:48.285Z,1613458608.285 [Micromodem](INFO): Nmea in: $SNTTA,0.047286,,,0.072524,065648.56*5D

2021-02-16T06:56:48.309Z,1613458608.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 350.807040 deg, deltaT: 4.420883 s, approachRate: -0.637883 m/s, LOS rate: 0.329879 deg/s, posRepo size: 4
2021-02-16T06:56:48.310Z,1613458608.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.919998 m,
      bearing: 350.807040 deg,
      approachRate: -0.637883 m/s,
      LOS rate: 0.329879 deg/s,
      cmd update: 0.989636 deg/s,
      cmd heading: 0.260206 deg,
      new cmd heading: 0.458361 deg.

2021-02-16T06:56:50.708Z,1613458610.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:51.481Z,1613458611.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:51.897Z,1613458611.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:52.708Z,1613458612.708 [Micromodem](INFO): Nmea in: $SNTTA,0.045438,,,,065652.98*4D

2021-02-16T06:56:52.793Z,1613458612.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 349.666180 deg, deltaT: 4.439470 s, approachRate: -0.743333 m/s, LOS rate: -0.256981 deg/s, posRepo size: 4
2021-02-16T06:56:52.803Z,1613458612.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 349.666180 deg,
      approachRate: -0.743333 m/s,
      LOS rate: -0.256981 deg/s,
      cmd update: -0.770944 deg/s,
      cmd heading: 4.649653 deg,
      new cmd heading: 5.085651 deg.

2021-02-16T06:56:55.162Z,1613458615.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:55.931Z,1613458615.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:56:56.330Z,1613458616.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:56:57.181Z,1613458617.181 [Micromodem](INFO): Nmea in: $SNTTA,0.043365,,,,065657.43*47

2021-02-16T06:56:57.213Z,1613458617.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 349.143943 deg, deltaT: 4.414243 s, approachRate: -0.638839 m/s, LOS rate: -0.118307 deg/s, posRepo size: 4
2021-02-16T06:56:57.214Z,1613458617.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.800003 m,
      bearing: 349.143943 deg,
      approachRate: -0.638839 m/s,
      LOS rate: -0.118307 deg/s,
      cmd update: -0.354921 deg/s,
      cmd heading: 1.240243 deg,
      new cmd heading: 0.883908 deg.

2021-02-16T06:56:59.264Z,1613458619.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:56:59.964Z,1613458619.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:00.376Z,1613458620.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:01.207Z,1613458621.207 [Micromodem](INFO): Nmea in: $SNTTA,0.041664,,,,065701.46*46

2021-02-16T06:57:01.281Z,1613458621.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.980007 m, bearing: 350.108749 deg, deltaT: 4.079894 s, approachRate: -0.691193 m/s, LOS rate: 0.236478 deg/s, posRepo size: 4
2021-02-16T06:57:01.287Z,1613458621.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 350.108749 deg,
      approachRate: -0.691193 m/s,
      LOS rate: 0.236478 deg/s,
      cmd update: 0.709434 deg/s,
      cmd heading: 359.792224 deg,
      new cmd heading: 359.632160 deg.

2021-02-16T06:57:03.624Z,1613458623.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:04.425Z,1613458624.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:04.818Z,1613458624.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:05.648Z,1613458625.648 [Micromodem](INFO): Nmea in: $SNTTA,0.039458,,,,065705.92*49

2021-02-16T06:57:05.700Z,1613458625.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 350.983505 deg, deltaT: 4.444476 s, approachRate: -0.634498 m/s, LOS rate: 0.196819 deg/s, posRepo size: 4
2021-02-16T06:57:05.701Z,1613458625.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 350.983505 deg,
      approachRate: -0.634498 m/s,
      LOS rate: 0.196819 deg/s,
      cmd update: 0.590456 deg/s,
      cmd heading: 2.942505 deg,
      new cmd heading: 3.246638 deg.

2021-02-16T06:57:08.103Z,1613458628.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:08.853Z,1613458628.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:09.272Z,1613458629.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:10.110Z,1613458630.110 [Micromodem](INFO): Nmea in: $SNTTA,0.037640,,,,065710.35*45

2021-02-16T06:57:10.136Z,1613458630.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.980003 m, bearing: 350.326960 deg, deltaT: 4.399161 s, approachRate: -0.722863 m/s, LOS rate: -0.149243 deg/s, posRepo size: 4
2021-02-16T06:57:10.138Z,1613458630.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.980003 m,
      bearing: 350.326960 deg,
      approachRate: -0.722863 m/s,
      LOS rate: -0.149243 deg/s,
      cmd update: -0.447730 deg/s,
      cmd heading: 5.542323 deg,
      new cmd heading: 5.815158 deg.

2021-02-16T06:57:12.541Z,1613458632.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:13.297Z,1613458633.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:13.719Z,1613458633.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:14.536Z,1613458634.536 [Micromodem](INFO): Nmea in: $SNTTA,0.035573,0.041056,0.040187,,065714.79*44

2021-02-16T06:57:14.560Z,1613458634.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 350.732919 deg, deltaT: 4.475114 s, approachRate: -0.683783 m/s, LOS rate: 0.090715 deg/s, posRepo size: 4
2021-02-16T06:57:14.561Z,1613458634.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 350.732919 deg,
      approachRate: -0.683783 m/s,
      LOS rate: 0.090715 deg/s,
      cmd update: 0.272144 deg/s,
      cmd heading: 3.539088 deg,
      new cmd heading: 3.354897 deg.

2021-02-16T06:57:16.967Z,1613458636.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:17.745Z,1613458637.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:18.146Z,1613458638.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:18.972Z,1613458638.972 [Micromodem](INFO): Nmea in: $SNTTA,0.033579,,,,065719.24*41

2021-02-16T06:57:19.011Z,1613458639.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 349.300519 deg, deltaT: 4.453151 s, approachRate: -0.673679 m/s, LOS rate: -0.321660 deg/s, posRepo size: 4
2021-02-16T06:57:19.013Z,1613458639.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 349.300519 deg,
      approachRate: -0.673679 m/s,
      LOS rate: -0.321660 deg/s,
      cmd update: -0.964980 deg/s,
      cmd heading: 4.751257 deg,
      new cmd heading: 4.862537 deg.

2021-02-16T06:57:21.424Z,1613458641.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:22.194Z,1613458642.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:22.595Z,1613458642.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:23.419Z,1613458643.419 [Micromodem](INFO): Nmea in: $SNTTA,0.031617,,,,065723.69*48

2021-02-16T06:57:23.444Z,1613458643.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 349.889035 deg, deltaT: 4.426465 s, approachRate: -0.677743 m/s, LOS rate: 0.132954 deg/s, posRepo size: 4
2021-02-16T06:57:23.446Z,1613458643.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 349.889035 deg,
      approachRate: -0.677743 m/s,
      LOS rate: 0.132954 deg/s,
      cmd update: 0.398862 deg/s,
      cmd heading: 0.479954 deg,
      new cmd heading: 0.078987 deg.

2021-02-16T06:57:25.853Z,1613458645.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:26.628Z,1613458646.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:27.040Z,1613458647.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:27.860Z,1613458647.860 [Micromodem](INFO): Nmea in: $SNTTA,0.029598,0.065561,,,065728.13*5C

2021-02-16T06:57:27.900Z,1613458647.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 351.237342 deg, deltaT: 4.449228 s, approachRate: -0.579875 m/s, LOS rate: 0.303043 deg/s, posRepo size: 4
2021-02-16T06:57:27.901Z,1613458647.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.339996 m,
      bearing: 351.237342 deg,
      approachRate: -0.579875 m/s,
      LOS rate: 0.303043 deg/s,
      cmd update: 0.909128 deg/s,
      cmd heading: 2.254615 deg,
      new cmd heading: 2.422764 deg.

2021-02-16T06:57:30.306Z,1613458650.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:31.077Z,1613458651.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:31.478Z,1613458651.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:32.316Z,1613458652.316 [Micromodem](INFO): Nmea in: $SNTTA,0.027594,,,,065732.57*4A

2021-02-16T06:57:32.370Z,1613458652.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.859997 m, bearing: 349.827399 deg, deltaT: 4.428555 s, approachRate: -0.785809 m/s, LOS rate: -0.318375 deg/s, posRepo size: 4
2021-02-16T06:57:32.376Z,1613458652.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 349.827399 deg,
      approachRate: -0.785809 m/s,
      LOS rate: -0.318375 deg/s,
      cmd update: -0.955126 deg/s,
      cmd heading: 6.280792 deg,
      new cmd heading: 6.702472 deg.

2021-02-16T06:57:34.741Z,1613458654.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:35.522Z,1613458655.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:35.936Z,1613458655.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:36.781Z,1613458656.781 [Micromodem](INFO): Nmea in: $SNTTA,0.025486,0.030099,0.034493,,065737.02*45

2021-02-16T06:57:36.833Z,1613458656.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 349.559028 deg, deltaT: 4.460068 s, approachRate: -0.672635 m/s, LOS rate: -0.060172 deg/s, posRepo size: 4
2021-02-16T06:57:36.834Z,1613458656.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m.
2021-02-16T06:57:36.836Z,1613458656.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.859997 m,
      bearing: 349.559028 deg,
      approachRate: -0.672635 m/s,
      LOS rate: -0.060172 deg/s,
      cmd update: -0.180516 deg/s,
      cmd heading: 2.020868 deg,
      new cmd heading: 1.574963 deg.

2021-02-16T06:57:37.145Z,1613458657.145 [PowerOnly](INFO): Powering up loadControl
2021-02-16T06:57:39.207Z,1613458659.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:39.960Z,1613458659.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:40.373Z,1613458660.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:41.288Z,1613458661.288 [Micromodem](INFO): Nmea in: $SNTTA,0.023746,,,,065741.46*47

2021-02-16T06:57:41.322Z,1613458661.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 348.904231 deg, deltaT: 4.457063 s, approachRate: -0.673089 m/s, LOS rate: -0.146912 deg/s, posRepo size: 4
2021-02-16T06:57:41.322Z,1613458661.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.86 m.
2021-02-16T06:57:41.323Z,1613458661.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.86 m.
2021-02-16T06:57:41.323Z,1613458661.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T06:57:41.325Z,1613458661.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.859997 m,
      bearing: 348.904231 deg,
      approachRate: -0.673089 m/s,
      LOS rate: -0.146912 deg/s,
      cmd update: -0.440736 deg/s,
      cmd heading: 1.216290 deg,
      new cmd heading: 1.126322 deg.

2021-02-16T06:57:43.650Z,1613458663.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:44.409Z,1613458664.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:44.819Z,1613458664.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:45.636Z,1613458665.636 [Micromodem](INFO): Nmea in: $SNTTA,0.026774,,,,065745.90*4C

2021-02-16T06:57:45.670Z,1613458665.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 349.315600 deg, deltaT: 4.486077 s, approachRate: -0.668736 m/s, LOS rate: 0.091699 deg/s, posRepo size: 4
2021-02-16T06:57:45.672Z,1613458665.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.859997 m,
      bearing: 349.315600 deg,
      approachRate: -0.668736 m/s,
      LOS rate: 0.091699 deg/s,
      cmd update: 0.275097 deg/s,
      cmd heading: 359.240904 deg,
      new cmd heading: 359.080147 deg.

2021-02-16T06:57:48.086Z,1613458668.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:48.866Z,1613458668.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:49.279Z,1613458669.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:50.084Z,1613458670.084 [Micromodem](INFO): Nmea in: $SNTTA,0.019798,,,,065750.36*4A

2021-02-16T06:57:50.126Z,1613458670.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 349.419200 deg, deltaT: 4.386280 s, approachRate: -0.697629 m/s, LOS rate: 0.023619 deg/s, posRepo size: 4
2021-02-16T06:57:50.128Z,1613458670.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.799999 m,
      bearing: 349.419200 deg,
      approachRate: -0.697629 m/s,
      LOS rate: 0.023619 deg/s,
      cmd update: 0.070858 deg/s,
      cmd heading: 0.448671 deg,
      new cmd heading: 0.566942 deg.

2021-02-16T06:57:52.526Z,1613458672.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:53.300Z,1613458673.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:53.700Z,1613458673.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:54.540Z,1613458674.540 [Micromodem](INFO): Nmea in: $SNTTA,0.017829,,,,065754.80*48

2021-02-16T06:57:54.570Z,1613458674.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 349.535505 deg, deltaT: 4.449204 s, approachRate: -0.660792 m/s, LOS rate: 0.026141 deg/s, posRepo size: 4
2021-02-16T06:57:54.572Z,1613458674.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 349.535505 deg,
      approachRate: -0.660792 m/s,
      LOS rate: 0.026141 deg/s,
      cmd update: 0.078422 deg/s,
      cmd heading: 0.763651 deg,
      new cmd heading: 0.794041 deg.

2021-02-16T06:57:56.967Z,1613458676.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:57:57.754Z,1613458677.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:57:58.144Z,1613458678.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:57:58.979Z,1613458678.979 [Micromodem](INFO): Nmea in: $SNTTA,0.015863,,,,065759.25*46

2021-02-16T06:57:59.004Z,1613458679.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 349.215606 deg, deltaT: 4.448356 s, approachRate: -0.714872 m/s, LOS rate: -0.071914 deg/s, posRepo size: 4
2021-02-16T06:57:59.006Z,1613458679.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.679996 m,
      bearing: 349.215606 deg,
      approachRate: -0.714872 m/s,
      LOS rate: -0.071914 deg/s,
      cmd update: -0.215742 deg/s,
      cmd heading: 1.112809 deg,
      new cmd heading: 1.145007 deg.

2021-02-16T06:58:01.406Z,1613458681.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:02.187Z,1613458682.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:02.603Z,1613458682.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:03.412Z,1613458683.412 [Micromodem](INFO): Nmea in: $SNTTA,0.018660,,,,065803.68*4F

2021-02-16T06:58:03.437Z,1613458683.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 349.477585 deg, deltaT: 4.427618 s, approachRate: -0.664013 m/s, LOS rate: 0.059169 deg/s, posRepo size: 4
2021-02-16T06:58:03.439Z,1613458683.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 349.477585 deg,
      approachRate: -0.664013 m/s,
      LOS rate: 0.059169 deg/s,
      cmd update: 0.177508 deg/s,
      cmd heading: 0.157740 deg,
      new cmd heading: 0.067885 deg.

2021-02-16T06:58:05.842Z,1613458685.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:06.624Z,1613458686.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:07.036Z,1613458687.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:07.856Z,1613458687.856 [Micromodem](INFO): Nmea in: $SNTTA,0.011403,,,,065808.12*47

2021-02-16T06:58:07.881Z,1613458687.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 350.880915 deg, deltaT: 4.441866 s, approachRate: -0.648376 m/s, LOS rate: 0.315933 deg/s, posRepo size: 4
2021-02-16T06:58:07.883Z,1613458687.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 350.880915 deg,
      approachRate: -0.648376 m/s,
      LOS rate: 0.315933 deg/s,
      cmd update: 0.947798 deg/s,
      cmd heading: 0.946318 deg,
      new cmd heading: 1.020607 deg.

2021-02-16T06:58:10.298Z,1613458690.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:11.069Z,1613458691.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:11.481Z,1613458691.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:12.316Z,1613458692.316 [Micromodem](INFO): Nmea in: $SNTTA,0.009481,,,,065812.56*4F

2021-02-16T06:58:12.325Z,1613458692.325 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T06:58:12.338Z,1613458692.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 348.942016 deg, deltaT: 4.456154 s, approachRate: -0.659763 m/s, LOS rate: -0.435106 deg/s, posRepo size: 4
2021-02-16T06:58:12.340Z,1613458692.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 348.942016 deg,
      approachRate: -0.659763 m/s,
      LOS rate: -0.435106 deg/s,
      cmd update: -1.305318 deg/s,
      cmd heading: 5.169809 deg,
      new cmd heading: 5.566517 deg.

2021-02-16T06:58:14.725Z,1613458694.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:15.514Z,1613458695.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:15.923Z,1613458695.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:16.742Z,1613458696.742 [Micromodem](INFO): Nmea in: $SNTTA,0.007558,,,,065817.01*43

2021-02-16T06:58:16.813Z,1613458696.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 349.036081 deg, deltaT: 4.456259 s, approachRate: -0.646282 m/s, LOS rate: 0.021109 deg/s, posRepo size: 4
2021-02-16T06:58:16.819Z,1613458696.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 349.036081 deg,
      approachRate: -0.646282 m/s,
      LOS rate: 0.021109 deg/s,
      cmd update: 0.063326 deg/s,
      cmd heading: 359.358108 deg,
      new cmd heading: 358.781643 deg.

2021-02-16T06:58:19.222Z,1613458699.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:19.956Z,1613458699.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:20.387Z,1613458700.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:20.413Z,1613458700.413 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T06:58:21.199Z,1613458701.199 [Micromodem](INFO): Nmea in: $SNTTA,0.027414,,,,065821.45*4D

2021-02-16T06:58:21.236Z,1613458701.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 352.236325 deg, deltaT: 4.479424 s, approachRate: -0.616150 m/s, LOS rate: 0.714432 deg/s, posRepo size: 4
2021-02-16T06:58:21.242Z,1613458701.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 352.236325 deg,
      approachRate: -0.616150 m/s,
      LOS rate: 0.714432 deg/s,
      cmd update: 2.143296 deg/s,
      cmd heading: 359.641525 deg,
      new cmd heading: 359.665904 deg.

2021-02-16T06:58:23.634Z,1613458703.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:24.413Z,1613458704.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:24.815Z,1613458704.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:25.641Z,1613458705.641 [Micromodem](INFO): Nmea in: $SNTTA,0.003961,,,0.033039,065825.91*5D

2021-02-16T06:58:25.656Z,1613458705.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 351.678162 deg, deltaT: 4.439663 s, approachRate: -0.567611 m/s, LOS rate: -0.125722 deg/s, posRepo size: 4
2021-02-16T06:58:25.658Z,1613458705.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 351.678162 deg,
      approachRate: -0.567611 m/s,
      LOS rate: -0.125722 deg/s,
      cmd update: -0.377166 deg/s,
      cmd heading: 9.173792 deg,
      new cmd heading: 9.947970 deg.

2021-02-16T06:58:28.089Z,1613458708.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:28.858Z,1613458708.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:29.276Z,1613458709.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:30.084Z,1613458710.084 [Micromodem](INFO): Nmea in: $SNTTA,0.004630,,,,065830.35*4F

2021-02-16T06:58:30.124Z,1613458710.124 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T06:58:30.124Z,1613458710.124 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:58:30.124Z,1613458710.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T06:58:30.124Z,1613458710.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:58:30.124Z,1613458710.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T06:58:30.125Z,1613458710.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T06:58:30.125Z,1613458710.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T06:58:30.125Z,1613458710.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T06:58:30.125Z,1613458710.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T06:58:30.127Z,1613458710.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 351.808591 deg, deltaT: 4.380078 s, approachRate: -0.356158 m/s, LOS rate: 0.029778 deg/s, posRepo size: 4
2021-02-16T06:58:30.129Z,1613458710.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 351.808591 deg,
      approachRate: -0.356158 m/s,
      LOS rate: 0.029778 deg/s,
      cmd update: 0.089334 deg/s,
      cmd heading: 7.521737 deg,
      new cmd heading: 7.351071 deg.

2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T065830: (41.552319, -70.708603)
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T06:58:30.521Z,1613458710.521 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T06:58:30.522Z,1613458710.522 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T06:58:30.522Z,1613458710.522 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T06:58:32.518Z,1613458712.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:33.301Z,1613458713.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:33.711Z,1613458713.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:34.533Z,1613458714.533 [Micromodem](INFO): Nmea in: $SNTTA,0.002849,,,0.049580,065834.80*5D

2021-02-16T06:58:34.580Z,1613458714.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 0.425249 deg, deltaT: 4.474786 s, approachRate: 0.000000 m/s, LOS rate: 1.925602 deg/s, posRepo size: 4
2021-02-16T06:58:34.582Z,1613458714.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 0.425249 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.925602 deg/s,
      cmd update: 5.776806 deg/s,
      cmd heading: 7.921346 deg,
      new cmd heading: 7.959994 deg.

2021-02-16T06:58:36.974Z,1613458716.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:37.750Z,1613458717.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:38.169Z,1613458718.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:38.980Z,1613458718.980 [Micromodem](INFO): Nmea in: $SNTTA,0.003540,0.105191,,,065839.25*57

2021-02-16T06:58:39.024Z,1613458719.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 4.891682 deg, deltaT: 4.479951 s, approachRate: 0.281253 m/s, LOS rate: 0.996982 deg/s, posRepo size: 4
2021-02-16T06:58:39.026Z,1613458719.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 4.891682 deg,
      approachRate: 0.281253 m/s,
      LOS rate: 0.996982 deg/s,
      cmd update: 2.990947 deg/s,
      cmd heading: 33.787150 deg,
      new cmd heading: 36.093823 deg.

2021-02-16T06:58:41.421Z,1613458721.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:42.201Z,1613458722.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:42.595Z,1613458722.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:43.424Z,1613458723.424 [Micromodem](INFO): Nmea in: $SNTTA,0.006261,,,,065843.70*48

2021-02-16T06:58:43.472Z,1613458723.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 17.340375 deg, deltaT: 4.429592 s, approachRate: 0.826261 m/s, LOS rate: 2.810348 deg/s, posRepo size: 4
2021-02-16T06:58:43.474Z,1613458723.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 17.340375 deg,
      approachRate: 0.826261 m/s,
      LOS rate: 2.810348 deg/s,
      cmd update: 8.431043 deg/s,
      cmd heading: 47.046064 deg,
      new cmd heading: 48.212055 deg.

2021-02-16T06:58:45.871Z,1613458725.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:46.639Z,1613458726.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:47.034Z,1613458727.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:47.868Z,1613458727.868 [Micromodem](INFO): Nmea in: $SNTTA,0.006975,,,0.151737,065848.14*57

2021-02-16T06:58:47.913Z,1613458727.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 55.952920 deg, deltaT: 4.401525 s, approachRate: 0.231738 m/s, LOS rate: 8.772538 deg/s, posRepo size: 4
2021-02-16T06:58:47.915Z,1613458727.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 55.952920 deg,
      approachRate: 0.231738 m/s,
      LOS rate: 8.772538 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 84.160258 deg,
      new cmd heading: 87.979419 deg.

2021-02-16T06:58:50.309Z,1613458730.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:51.077Z,1613458731.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:51.486Z,1613458731.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:52.308Z,1613458732.308 [Micromodem](INFO): Nmea in: $SNTTA,0.008746,,,,065852.57*43

2021-02-16T06:58:52.352Z,1613458732.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 52.561553 deg, deltaT: 4.486284 s, approachRate: 0.668705 m/s, LOS rate: -0.755941 deg/s, posRepo size: 4
2021-02-16T06:58:52.353Z,1613458732.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.14 m. Rolling out.
2021-02-16T06:58:52.353Z,1613458732.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T06:58:54.733Z,1613458734.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:55.532Z,1613458735.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:58:55.927Z,1613458735.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:58:56.765Z,1613458736.765 [Micromodem](INFO): Nmea in: $SNTTA,0.009158,0.044720,,,065857.03*54

2021-02-16T06:58:56.841Z,1613458736.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 83.109141 deg, deltaT: 4.401058 s, approachRate: 0.163597 m/s, LOS rate: 6.940965 deg/s, posRepo size: 4
2021-02-16T06:58:59.205Z,1613458739.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:58:59.970Z,1613458739.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:00.377Z,1613458740.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:01.189Z,1613458741.189 [Micromodem](INFO): Nmea in: $SNTTA,0.010831,,,,065901.47*43

2021-02-16T06:59:02.013Z,1613458742.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:03.604Z,1613458743.604 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T06:59:04.840Z,1613458744.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:05.618Z,1613458745.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:06.039Z,1613458746.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:06.844Z,1613458746.844 [Micromodem](INFO): Nmea in: $SNTTA,0.011291,,,,065907.11*47

2021-02-16T06:59:06.885Z,1613458746.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 112.528535 deg, deltaT: 10.129014 s, approachRate: 0.308026 m/s, LOS rate: 2.904468 deg/s, posRepo size: 4
2021-02-16T06:59:09.322Z,1613458749.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:10.060Z,1613458750.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:10.466Z,1613458750.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:11.297Z,1613458751.297 [Micromodem](INFO): Nmea in: $SNTTA,0.011868,,,,065911.56*4F

2021-02-16T06:59:11.341Z,1613458751.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 130.250738 deg, deltaT: 4.431448 s, approachRate: 0.176014 m/s, LOS rate: 3.999190 deg/s, posRepo size: 4
2021-02-16T06:59:11.701Z,1613458751.701 [PowerOnly](INFO): Powering down loadControl
2021-02-16T06:59:13.739Z,1613458753.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:14.506Z,1613458754.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:14.910Z,1613458754.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:15.742Z,1613458755.742 [Micromodem](INFO): Nmea in: $SNTTA,0.012940,,,,065916.00*43

2021-02-16T06:59:15.814Z,1613458755.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 169.603255 deg, deltaT: 4.458164 s, approachRate: 0.363378 m/s, LOS rate: 8.827068 deg/s, posRepo size: 4
2021-02-16T06:59:18.184Z,1613458758.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:18.953Z,1613458758.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:19.365Z,1613458759.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:20.185Z,1613458760.185 [Micromodem](INFO): Nmea in: $SNTTA,0.013318,,0.045332,,065920.45*5C

2021-02-16T06:59:20.228Z,1613458760.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 164.622271 deg, deltaT: 4.474747 s, approachRate: 0.308398 m/s, LOS rate: -1.113132 deg/s, posRepo size: 4
2021-02-16T06:59:22.372Z,1613458762.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:22.989Z,1613458762.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:23.399Z,1613458763.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:24.236Z,1613458764.236 [Micromodem](INFO): Nmea in: $SNTTA,0.013764,,,,065924.48*47

2021-02-16T06:59:24.283Z,1613458764.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 167.120317 deg, deltaT: 3.990816 s, approachRate: -0.240553 m/s, LOS rate: 0.625949 deg/s, posRepo size: 4
2021-02-16T06:59:26.645Z,1613458766.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:27.428Z,1613458767.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:27.840Z,1613458767.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:28.673Z,1613458768.673 [Micromodem](INFO): Nmea in: $SNTTA,0.013856,,0.201888,,065928.92*57

2021-02-16T06:59:28.697Z,1613458768.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 138.033943 deg, deltaT: 4.459851 s, approachRate: 0.255614 m/s, LOS rate: -6.521827 deg/s, posRepo size: 4
2021-02-16T06:59:31.094Z,1613458771.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:31.878Z,1613458771.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:32.287Z,1613458772.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:33.108Z,1613458773.108 [Micromodem](INFO): Nmea in: $SNTTA,0.014806,,,,065933.37*45

2021-02-16T06:59:33.148Z,1613458773.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.980001 m, bearing: 145.705174 deg, deltaT: 4.423606 s, approachRate: 0.461163 m/s, LOS rate: 1.734158 deg/s, posRepo size: 4
2021-02-16T06:59:35.548Z,1613458775.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:36.317Z,1613458776.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:36.733Z,1613458776.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:37.544Z,1613458777.544 [Micromodem](INFO): Nmea in: $SNTTA,0.015959,,,,065937.81*46

2021-02-16T06:59:37.594Z,1613458777.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 160.397594 deg, deltaT: 4.461642 s, approachRate: 0.376542 m/s, LOS rate: 3.293052 deg/s, posRepo size: 4
2021-02-16T06:59:39.990Z,1613458779.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:40.802Z,1613458780.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:41.175Z,1613458781.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:42.016Z,1613458782.016 [Micromodem](INFO): Nmea in: $SNTTA,0.017422,,,,065942.30*4D

2021-02-16T06:59:42.053Z,1613458782.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 140.786919 deg, deltaT: 4.429510 s, approachRate: 0.392820 m/s, LOS rate: -4.427279 deg/s, posRepo size: 4
2021-02-16T06:59:44.426Z,1613458784.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:45.205Z,1613458785.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:45.612Z,1613458785.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:46.440Z,1613458786.440 [Micromodem](INFO): Nmea in: $SNTTA,0.019311,,,,065946.70*44

2021-02-16T06:59:46.464Z,1613458786.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 176.011393 deg, deltaT: 4.440833 s, approachRate: 0.513417 m/s, LOS rate: 7.931952 deg/s, posRepo size: 4
2021-02-16T06:59:48.876Z,1613458788.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:49.666Z,1613458789.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:50.055Z,1613458790.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:50.892Z,1613458790.892 [Micromodem](INFO): Nmea in: $SNTTA,0.032080,,,,065951.16*40

2021-02-16T06:59:50.920Z,1613458790.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 120.478554 deg, deltaT: 4.449838 s, approachRate: 0.579796 m/s, LOS rate: -12.479744 deg/s, posRepo size: 4
2021-02-16T06:59:53.318Z,1613458793.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:54.092Z,1613458794.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:54.498Z,1613458794.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:55.324Z,1613458795.324 [Micromodem](INFO): Nmea in: $SNTTA,0.097284,,,,065955.59*46

2021-02-16T06:59:55.368Z,1613458795.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 176.796346 deg, deltaT: 4.453256 s, approachRate: 0.741031 m/s, LOS rate: 12.646431 deg/s, posRepo size: 4
2021-02-16T06:59:57.765Z,1613458797.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T06:59:58.544Z,1613458798.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T06:59:58.942Z,1613458798.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T06:59:59.776Z,1613458799.776 [Micromodem](INFO): Nmea in: $SNTTA,0.024893,,,,070000.04*47

2021-02-16T06:59:59.841Z,1613458799.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 177.650434 deg, deltaT: 4.444497 s, approachRate: 0.512995 m/s, LOS rate: 0.192167 deg/s, posRepo size: 4
2021-02-16T07:00:02.232Z,1613458802.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:02.985Z,1613458802.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:03.391Z,1613458803.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:04.216Z,1613458804.216 [Micromodem](INFO): Nmea in: $SNTTA,0.026850,,,,070004.48*46

2021-02-16T07:00:04.281Z,1613458804.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 124.389984 deg, deltaT: 4.443132 s, approachRate: 0.742719 m/s, LOS rate: -11.987141 deg/s, posRepo size: 4
2021-02-16T07:00:06.649Z,1613458806.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:07.429Z,1613458807.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:07.859Z,1613458807.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:08.676Z,1613458808.676 [Micromodem](INFO): Nmea in: $SNTTA,0.028826,,,,070008.93*43

2021-02-16T07:00:08.698Z,1613458808.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 189.969595 deg, deltaT: 4.465011 s, approachRate: 0.658454 m/s, LOS rate: 14.687446 deg/s, posRepo size: 4
2021-02-16T07:00:11.090Z,1613458811.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:11.868Z,1613458811.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:12.284Z,1613458812.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:13.117Z,1613458813.117 [Micromodem](INFO): Nmea in: $SNTTA,0.030822,,,,070013.36*4B

2021-02-16T07:00:13.182Z,1613458813.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.959999 m, bearing: 188.319367 deg, deltaT: 4.388329 s, approachRate: 0.656286 m/s, LOS rate: -0.376049 deg/s, posRepo size: 4
2021-02-16T07:00:15.534Z,1613458815.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:16.330Z,1613458816.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:16.723Z,1613458816.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:17.552Z,1613458817.552 [Micromodem](INFO): Nmea in: $SNTTA,0.032544,,,,070017.82*4F

2021-02-16T07:00:17.597Z,1613458817.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.380005 m, bearing: 165.805697 deg, deltaT: 4.453336 s, approachRate: 0.767965 m/s, LOS rate: -5.055462 deg/s, posRepo size: 4
2021-02-16T07:00:19.986Z,1613458819.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:20.771Z,1613458820.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:21.185Z,1613458821.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:21.996Z,1613458821.996 [Micromodem](INFO): Nmea in: $SNTTA,0.034532,,,0.067520,070022.27*59

2021-02-16T07:00:22.040Z,1613458822.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 157.376656 deg, deltaT: 4.488113 s, approachRate: 0.641694 m/s, LOS rate: -1.878081 deg/s, posRepo size: 4
2021-02-16T07:00:24.528Z,1613458824.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:25.211Z,1613458825.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:25.611Z,1613458825.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:26.436Z,1613458826.436 [Micromodem](INFO): Nmea in: $SNTTA,0.036519,,,,070026.71*4D

2021-02-16T07:00:26.489Z,1613458826.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 174.604183 deg, deltaT: 4.428703 s, approachRate: 0.609660 m/s, LOS rate: 3.889971 deg/s, posRepo size: 4
2021-02-16T07:00:28.877Z,1613458828.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:29.649Z,1613458829.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:30.056Z,1613458830.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:30.876Z,1613458830.876 [Micromodem](INFO): Nmea in: $SNTTA,0.038794,,,,070031.14*41

2021-02-16T07:00:30.925Z,1613458830.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 171.772810 deg, deltaT: 4.434222 s, approachRate: 0.771273 m/s, LOS rate: -0.638528 deg/s, posRepo size: 4
2021-02-16T07:00:33.320Z,1613458833.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:34.093Z,1613458834.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:34.494Z,1613458834.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:35.309Z,1613458835.309 [Micromodem](INFO): Nmea in: $SNTTA,0.040885,,,,070035.59*4C

2021-02-16T07:00:36.144Z,1613458836.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:37.724Z,1613458837.724 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:00:38.961Z,1613458838.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:39.748Z,1613458839.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:40.149Z,1613458840.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:40.977Z,1613458840.977 [Micromodem](INFO): Nmea in: $SNTTA,0.043446,,,,070041.24*45

2021-02-16T07:00:41.002Z,1613458841.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 151.445334 deg, deltaT: 10.081322 s, approachRate: 0.714192 m/s, LOS rate: -2.016350 deg/s, posRepo size: 4
2021-02-16T07:00:43.405Z,1613458843.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:44.199Z,1613458844.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:44.614Z,1613458844.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:45.424Z,1613458845.424 [Micromodem](INFO): Nmea in: $SNTTA,0.045387,,,,070045.69*44

2021-02-16T07:00:45.472Z,1613458845.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 129.808619 deg, deltaT: 4.446776 s, approachRate: 0.647660 m/s, LOS rate: -4.865708 deg/s, posRepo size: 4
2021-02-16T07:00:47.869Z,1613458847.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:48.637Z,1613458848.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:49.038Z,1613458849.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:49.869Z,1613458849.869 [Micromodem](INFO): Nmea in: $SNTTA,0.047442,,,0.066705,070050.14*5A

2021-02-16T07:00:49.907Z,1613458849.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 151.884679 deg, deltaT: 4.459620 s, approachRate: 0.659250 m/s, LOS rate: 4.950211 deg/s, posRepo size: 4
2021-02-16T07:00:52.310Z,1613458852.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:53.082Z,1613458853.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:53.482Z,1613458853.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:54.312Z,1613458854.312 [Micromodem](INFO): Nmea in: $SNTTA,0.049578,,,,070054.58*4C

2021-02-16T07:00:54.364Z,1613458854.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 148.112925 deg, deltaT: 4.440823 s, approachRate: 0.729594 m/s, LOS rate: -0.849337 deg/s, posRepo size: 4
2021-02-16T07:00:56.738Z,1613458856.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:00:57.525Z,1613458857.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:00:57.926Z,1613458857.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:00:58.787Z,1613458858.787 [Micromodem](INFO): Nmea in: $SNTTA,0.051684,,,,070059.02*47

2021-02-16T07:00:58.834Z,1613458858.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 137.088563 deg, deltaT: 4.452401 s, approachRate: 0.727699 m/s, LOS rate: -2.476049 deg/s, posRepo size: 4
2021-02-16T07:01:01.192Z,1613458861.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:01.969Z,1613458861.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:02.371Z,1613458862.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:03.206Z,1613458863.206 [Micromodem](INFO): Nmea in: $SNTTA,0.053846,,,,070103.47*4A

2021-02-16T07:01:03.279Z,1613458863.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.940002 m, bearing: 154.599378 deg, deltaT: 4.455035 s, approachRate: 0.686863 m/s, LOS rate: 3.930567 deg/s, posRepo size: 4
2021-02-16T07:01:05.663Z,1613458865.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:06.458Z,1613458866.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:06.862Z,1613458866.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:07.688Z,1613458867.688 [Micromodem](INFO): Nmea in: $SNTTA,0.055986,,,,070107.95*4A

2021-02-16T07:01:07.725Z,1613458867.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 152.644196 deg, deltaT: 4.481308 s, approachRate: 0.709613 m/s, LOS rate: -0.436297 deg/s, posRepo size: 4
2021-02-16T07:01:10.134Z,1613458870.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:10.905Z,1613458870.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:11.308Z,1613458871.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:12.144Z,1613458872.144 [Micromodem](INFO): Nmea in: $SNTTA,0.058298,,,,070112.40*4F

2021-02-16T07:01:12.194Z,1613458872.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 152.296239 deg, deltaT: 4.409073 s, approachRate: 0.802890 m/s, LOS rate: -0.078918 deg/s, posRepo size: 4
2021-02-16T07:01:14.596Z,1613458874.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:15.353Z,1613458875.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:15.800Z,1613458875.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:16.580Z,1613458876.580 [Micromodem](INFO): Nmea in: $SNTTA,0.060341,,,,070116.85*4C

2021-02-16T07:01:16.632Z,1613458876.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 161.451083 deg, deltaT: 4.481301 s, approachRate: 0.709617 m/s, LOS rate: 2.042899 deg/s, posRepo size: 4
2021-02-16T07:01:19.029Z,1613458879.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:19.813Z,1613458879.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:20.213Z,1613458880.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:21.036Z,1613458881.036 [Micromodem](INFO): Nmea in: $SNTTA,0.062371,,,,070121.31*46

2021-02-16T07:01:21.061Z,1613458881.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 140.809869 deg, deltaT: 4.425715 s, approachRate: 0.718526 m/s, LOS rate: -4.663928 deg/s, posRepo size: 4
2021-02-16T07:01:23.462Z,1613458883.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:24.264Z,1613458884.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:24.645Z,1613458884.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:25.489Z,1613458885.489 [Micromodem](INFO): Nmea in: $SNTTA,0.064503,,,,070125.76*44

2021-02-16T07:01:25.530Z,1613458885.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 146.559331 deg, deltaT: 4.443139 s, approachRate: 0.661695 m/s, LOS rate: 1.294009 deg/s, posRepo size: 4
2021-02-16T07:01:27.920Z,1613458887.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:28.730Z,1613458888.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:29.097Z,1613458889.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:29.936Z,1613458889.936 [Micromodem](INFO): Nmea in: $SNTTA,0.066679,,,,070130.23*4C

2021-02-16T07:01:29.961Z,1613458889.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 148.139358 deg, deltaT: 4.461949 s, approachRate: 0.739588 m/s, LOS rate: 0.354112 deg/s, posRepo size: 4
2021-02-16T07:01:32.347Z,1613458892.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:33.134Z,1613458893.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:33.543Z,1613458893.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:34.367Z,1613458894.367 [Micromodem](INFO): Nmea in: $SNTTA,0.068872,,,,070134.63*47

2021-02-16T07:01:34.452Z,1613458894.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 145.009151 deg, deltaT: 4.437100 s, approachRate: 0.730206 m/s, LOS rate: -0.705462 deg/s, posRepo size: 4
2021-02-16T07:01:36.826Z,1613458896.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:37.572Z,1613458897.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:37.983Z,1613458897.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:38.820Z,1613458898.820 [Micromodem](INFO): Nmea in: $SNTTA,0.071163,,,,070139.07*49

2021-02-16T07:01:38.845Z,1613458898.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.920006 m, bearing: 145.987835 deg, deltaT: 4.443222 s, approachRate: 0.769713 m/s, LOS rate: 0.220265 deg/s, posRepo size: 4
2021-02-16T07:01:41.273Z,1613458901.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:42.016Z,1613458902.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:42.439Z,1613458902.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:43.284Z,1613458903.284 [Micromodem](INFO): Nmea in: $SNTTA,0.073379,,,,070143.51*4C

2021-02-16T07:01:43.321Z,1613458903.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.400002 m, bearing: 111.346140 deg, deltaT: 4.435524 s, approachRate: 0.784574 m/s, LOS rate: -7.810057 deg/s, posRepo size: 4
2021-02-16T07:01:45.702Z,1613458905.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:46.474Z,1613458906.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:46.878Z,1613458906.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:47.700Z,1613458907.700 [Micromodem](INFO): Nmea in: $SNTTA,0.075537,,,,070147.97*48

2021-02-16T07:01:47.737Z,1613458907.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 145.809007 deg, deltaT: 4.475234 s, approachRate: 0.670354 m/s, LOS rate: 7.700797 deg/s, posRepo size: 4
2021-02-16T07:01:50.154Z,1613458910.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:50.912Z,1613458910.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:51.329Z,1613458911.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:52.157Z,1613458912.157 [Micromodem](INFO): Nmea in: $SNTTA,0.077723,,,,070152.41*42

2021-02-16T07:01:52.191Z,1613458912.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.880005 m, bearing: 153.469952 deg, deltaT: 4.468517 s, approachRate: 0.778784 m/s, LOS rate: 1.714427 deg/s, posRepo size: 4
2021-02-16T07:01:54.586Z,1613458914.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:55.356Z,1613458915.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:01:55.798Z,1613458915.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:01:56.588Z,1613458916.588 [Micromodem](INFO): Nmea in: $SNTTA,0.079857,,,,070156.85*4C

2021-02-16T07:01:56.642Z,1613458916.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 138.179822 deg, deltaT: 4.431872 s, approachRate: 0.676915 m/s, LOS rate: -3.450039 deg/s, posRepo size: 4
2021-02-16T07:01:59.048Z,1613458919.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:01:59.813Z,1613458919.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:00.216Z,1613458920.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:01.044Z,1613458921.044 [Micromodem](INFO): Nmea in: $SNTTA,0.082003,,,,070201.31*4F

2021-02-16T07:02:01.091Z,1613458921.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 141.110192 deg, deltaT: 4.411697 s, approachRate: 0.748010 m/s, LOS rate: 0.664227 deg/s, posRepo size: 4
2021-02-16T07:02:03.485Z,1613458923.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:04.265Z,1613458924.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:04.650Z,1613458924.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:05.505Z,1613458925.505 [Micromodem](INFO): Nmea in: $SNTTA,0.084286,,,,070205.76*41

2021-02-16T07:02:05.532Z,1613458925.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 146.836390 deg, deltaT: 4.441688 s, approachRate: 0.769977 m/s, LOS rate: 1.289194 deg/s, posRepo size: 4
2021-02-16T07:02:07.925Z,1613458927.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:08.696Z,1613458928.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:09.094Z,1613458929.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:09.935Z,1613458929.935 [Micromodem](INFO): Nmea in: $SNTTA,0.086390,,,,070210.19*48

2021-02-16T07:02:09.960Z,1613458929.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 141.767803 deg, deltaT: 4.470301 s, approachRate: 0.711362 m/s, LOS rate: -1.133836 deg/s, posRepo size: 4
2021-02-16T07:02:12.355Z,1613458932.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:13.138Z,1613458933.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:13.538Z,1613458933.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:14.368Z,1613458934.368 [Micromodem](INFO): Nmea in: $SNTTA,0.088504,,,,070214.63*44

2021-02-16T07:02:14.561Z,1613458934.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.900009 m, bearing: 139.158752 deg, deltaT: 4.458356 s, approachRate: 0.699812 m/s, LOS rate: -0.585205 deg/s, posRepo size: 4
2021-02-16T07:02:16.836Z,1613458936.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:17.627Z,1613458937.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:18.041Z,1613458938.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:18.868Z,1613458938.868 [Micromodem](INFO): Nmea in: $SNTTA,0.090712,,,,070219.12*43

2021-02-16T07:02:18.902Z,1613458938.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 138.459805 deg, deltaT: 4.465856 s, approachRate: 0.752375 m/s, LOS rate: -0.156509 deg/s, posRepo size: 4
2021-02-16T07:02:21.300Z,1613458941.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:22.061Z,1613458942.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:22.474Z,1613458942.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:23.292Z,1613458943.292 [Micromodem](INFO): Nmea in: $SNTTA,0.092867,,,,070223.56*45

2021-02-16T07:02:23.340Z,1613458943.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 137.930220 deg, deltaT: 4.447945 s, approachRate: 0.714935 m/s, LOS rate: -0.119063 deg/s, posRepo size: 4
2021-02-16T07:02:25.711Z,1613458945.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:26.504Z,1613458946.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:26.922Z,1613458946.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:27.741Z,1613458947.741 [Micromodem](INFO): Nmea in: $SNTTA,0.094987,,,,070228.00*44

2021-02-16T07:02:27.810Z,1613458947.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.679993 m, bearing: 141.614356 deg, deltaT: 4.439855 s, approachRate: 0.729751 m/s, LOS rate: 0.829787 deg/s, posRepo size: 4
2021-02-16T07:02:28.944Z,1613458948.944 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:02:30.188Z,1613458950.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:30.956Z,1613458950.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:31.355Z,1613458951.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:32.193Z,1613458952.193 [Micromodem](INFO): Nmea in: $SNTTA,0.097269,,0.100025,,070232.45*5E

2021-02-16T07:02:32.211Z,1613458952.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.100006 m, bearing: 140.871982 deg, deltaT: 4.474785 s, approachRate: 0.764286 m/s, LOS rate: -0.165901 deg/s, posRepo size: 4
2021-02-16T07:02:34.615Z,1613458954.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:35.397Z,1613458955.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:35.811Z,1613458955.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:36.624Z,1613458956.624 [Micromodem](INFO): Nmea in: $SNTTA,0.099448,,,,070236.89*49

2021-02-16T07:02:36.662Z,1613458956.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 139.368794 deg, deltaT: 4.453705 s, approachRate: 0.727482 m/s, LOS rate: -0.337514 deg/s, posRepo size: 4
2021-02-16T07:02:39.069Z,1613458959.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:39.837Z,1613458959.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:40.272Z,1613458960.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:41.068Z,1613458961.068 [Micromodem](INFO): Nmea in: $SNTTA,0.101632,,,,070241.33*47

2021-02-16T07:02:41.114Z,1613458961.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.580002 m, bearing: 144.660060 deg, deltaT: 4.395245 s, approachRate: 0.737162 m/s, LOS rate: 1.203861 deg/s, posRepo size: 4
2021-02-16T07:02:41.114Z,1613458961.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.58 m. Resuming terminal guidance.
2021-02-16T07:02:41.114Z,1613458961.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:02:43.521Z,1613458963.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:44.283Z,1613458964.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:44.705Z,1613458964.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:45.516Z,1613458965.516 [Micromodem](INFO): Nmea in: $SNTTA,0.103836,,,,070245.78*44

2021-02-16T07:02:45.558Z,1613458965.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 133.786631 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:02:45.558Z,1613458965.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 133.786631deg and heading rate command to 0 deg/s.
2021-02-16T07:02:47.986Z,1613458967.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:48.728Z,1613458968.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:49.135Z,1613458969.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:49.151Z,1613458969.151 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:02:49.960Z,1613458969.960 [Micromodem](INFO): Nmea in: $SNTTA,0.106039,,,,070250.23*4C

2021-02-16T07:02:49.994Z,1613458969.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.179993 m, bearing: 121.743081 deg, deltaT: 4.445578 s, approachRate: 0.728812 m/s, LOS rate: -2.709108 deg/s, posRepo size: 2
2021-02-16T07:02:49.997Z,1613458969.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.179993 m,
      bearing: 121.743081 deg,
      approachRate: 0.728812 m/s,
      LOS rate: -2.709108 deg/s,
      cmd update: -8.127323 deg/s,
      cmd heading: 133.786631 deg,
      new cmd heading: 133.786631 deg.

2021-02-16T07:02:52.394Z,1613458972.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:53.198Z,1613458973.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:53.578Z,1613458973.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:54.405Z,1613458974.405 [Micromodem](INFO): Nmea in: $SNTTA,0.108254,,,,070254.69*41

2021-02-16T07:02:55.244Z,1613458975.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:56.828Z,1613458976.828 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:02:58.062Z,1613458978.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:02:58.833Z,1613458978.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:02:58.868Z,1613458978.868 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T07:02:59.266Z,1613458979.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:02:59.638Z,1613458979.638 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F43,000,004
E,187,80,80,93,FF
2021-02-16T07:03:00.049Z,1613458980.049 [Micromodem](INFO): Nmea in: $SNTTA,0.110566,,,,070300.33*41

2021-02-16T07:03:00.893Z,1613458980.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:03.699Z,1613458983.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:04.090Z,1613458984.090 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T07:03:06.545Z,1613458986.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:07.318Z,1613458987.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:07.719Z,1613458987.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:08.122Z,1613458988.122 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,16E,000,004
E,187,80,80,93,FF
2021-02-16T07:03:08.532Z,1613458988.532 [Micromodem](INFO): Nmea in: $SNTTA,0.113428,,,,070308.81*48

2021-02-16T07:03:09.363Z,1613458989.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:12.219Z,1613458992.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:15.045Z,1613458995.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:15.812Z,1613458995.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:16.214Z,1613458996.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:17.024Z,1613458997.024 [Micromodem](INFO): Nmea in: $SNTTA,0.114366,,,,070317.31*47

2021-02-16T07:03:17.452Z,1613458997.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 69.981107 deg, deltaT: 27.499951 s, approachRate: 0.458183 m/s, LOS rate: -1.882257 deg/s, posRepo size: 3
2021-02-16T07:03:17.453Z,1613458997.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.780014 m,
      bearing: 69.981107 deg,
      approachRate: 0.458183 m/s,
      LOS rate: -1.882257 deg/s,
      cmd update: -5.646771 deg/s,
      cmd heading: 270.318035 deg,
      new cmd heading: 267.269241 deg.

2021-02-16T07:03:19.874Z,1613458999.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:20.650Z,1613459000.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:21.055Z,1613459001.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:21.876Z,1613459001.876 [Micromodem](INFO): Nmea in: $SNTTA,0.113792,,,,070322.14*4E

2021-02-16T07:03:21.914Z,1613459001.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 320.022202 deg, deltaT: 4.422751 s, approachRate: 0.000000 m/s, LOS rate: -24.862105 deg/s, posRepo size: 4
2021-02-16T07:03:21.915Z,1613459001.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.862105 deg/s. Setting heading cmd to target bearing of 320.022202deg and heading rate command to 0 deg/s.
2021-02-16T07:03:24.311Z,1613459004.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:25.092Z,1613459005.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:25.516Z,1613459005.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:26.320Z,1613459006.320 [Micromodem](INFO): Nmea in: $SNTTA,0.112608,,,,070326.59*40

2021-02-16T07:03:26.344Z,1613459006.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 312.963038 deg, deltaT: 4.454090 s, approachRate: -0.862132 m/s, LOS rate: -1.584872 deg/s, posRepo size: 4
2021-02-16T07:03:26.346Z,1613459006.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.940002 m,
      bearing: 312.963038 deg,
      approachRate: -0.862132 m/s,
      LOS rate: -1.584872 deg/s,
      cmd update: -4.754617 deg/s,
      cmd heading: 320.022202 deg,
      new cmd heading: 320.022202 deg.

2021-02-16T07:03:28.756Z,1613459008.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:29.554Z,1613459009.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:29.960Z,1613459009.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:30.791Z,1613459010.791 [Micromodem](INFO): Nmea in: $SNTTA,0.111077,,,,070331.05*42

2021-02-16T07:03:30.843Z,1613459010.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 307.306631 deg, deltaT: 4.427381 s, approachRate: 0.000000 m/s, LOS rate: -1.277597 deg/s, posRepo size: 4
2021-02-16T07:03:30.849Z,1613459010.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.940002 m,
      bearing: 307.306631 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.277597 deg/s,
      cmd update: -3.832790 deg/s,
      cmd heading: 298.959600 deg,
      new cmd heading: 296.774230 deg.

2021-02-16T07:03:33.199Z,1613459013.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:33.981Z,1613459013.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:34.403Z,1613459014.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:35.212Z,1613459015.212 [Micromodem](INFO): Nmea in: $SNTTA,0.109153,,,,070335.48*41

2021-02-16T07:03:35.283Z,1613459015.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.559998 m, bearing: 310.059743 deg, deltaT: 4.469514 s, approachRate: -0.979973 m/s, LOS rate: 0.615976 deg/s, posRepo size: 4
2021-02-16T07:03:35.289Z,1613459015.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 310.059743 deg,
      approachRate: -0.979973 m/s,
      LOS rate: 0.615976 deg/s,
      cmd update: 1.847928 deg/s,
      cmd heading: 281.823594 deg,
      new cmd heading: 280.179979 deg.

2021-02-16T07:03:37.666Z,1613459017.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:38.446Z,1613459018.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:38.857Z,1613459018.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:39.664Z,1613459019.664 [Micromodem](INFO): Nmea in: $SNTTA,0.107135,,,,070339.94*42

2021-02-16T07:03:39.702Z,1613459019.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.559998 m, bearing: 311.375511 deg, deltaT: 4.471568 s, approachRate: -0.670906 m/s, LOS rate: 0.294252 deg/s, posRepo size: 4
2021-02-16T07:03:39.704Z,1613459019.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.559998 m,
      bearing: 311.375511 deg,
      approachRate: -0.670906 m/s,
      LOS rate: 0.294252 deg/s,
      cmd update: 0.882756 deg/s,
      cmd heading: 290.079199 deg,
      new cmd heading: 290.782661 deg.

2021-02-16T07:03:42.088Z,1613459022.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:42.868Z,1613459022.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:43.288Z,1613459023.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:44.104Z,1613459024.104 [Micromodem](INFO): Nmea in: $SNTTA,0.105151,,,,070344.36*40

2021-02-16T07:03:44.149Z,1613459024.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.500000 m, bearing: 309.828418 deg, deltaT: 4.391395 s, approachRate: -0.696817 m/s, LOS rate: -0.352301 deg/s, posRepo size: 4
2021-02-16T07:03:44.150Z,1613459024.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.500000 m,
      bearing: 309.828418 deg,
      approachRate: -0.696817 m/s,
      LOS rate: -0.352301 deg/s,
      cmd update: -1.056903 deg/s,
      cmd heading: 293.959371 deg,
      new cmd heading: 294.340672 deg.

2021-02-16T07:03:46.540Z,1613459026.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:47.317Z,1613459027.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:47.718Z,1613459027.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:48.544Z,1613459028.544 [Micromodem](INFO): Nmea in: $SNTTA,0.103006,,,,070348.81*45

2021-02-16T07:03:48.582Z,1613459028.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 309.483630 deg, deltaT: 4.453746 s, approachRate: -0.740947 m/s, LOS rate: -0.077415 deg/s, posRepo size: 4
2021-02-16T07:03:48.584Z,1613459028.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.200012 m,
      bearing: 309.483630 deg,
      approachRate: -0.740947 m/s,
      LOS rate: -0.077415 deg/s,
      cmd update: -0.232246 deg/s,
      cmd heading: 289.253927 deg,
      new cmd heading: 288.817642 deg.

2021-02-16T07:03:50.983Z,1613459030.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:51.805Z,1613459031.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:52.265Z,1613459032.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:53.016Z,1613459033.016 [Micromodem](INFO): Nmea in: $SNTTA,0.100805,,,,070353.30*4D

2021-02-16T07:03:53.041Z,1613459033.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 310.642522 deg, deltaT: 4.450759 s, approachRate: 0.000000 m/s, LOS rate: 0.260381 deg/s, posRepo size: 4
2021-02-16T07:03:53.043Z,1613459033.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.200012 m,
      bearing: 310.642522 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.260381 deg/s,
      cmd update: 0.781142 deg/s,
      cmd heading: 288.220059 deg,
      new cmd heading: 288.122372 deg.

2021-02-16T07:03:55.430Z,1613459035.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:03:56.217Z,1613459036.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:03:56.623Z,1613459036.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:03:57.444Z,1613459037.444 [Micromodem](INFO): Nmea in: $SNTTA,0.098822,,,,070357.71*49

2021-02-16T07:03:57.469Z,1613459037.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 311.667078 deg, deltaT: 4.429704 s, approachRate: -1.395129 m/s, LOS rate: 0.231292 deg/s, posRepo size: 4
2021-02-16T07:03:57.470Z,1613459037.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.020004 m,
      bearing: 311.667078 deg,
      approachRate: -1.395129 m/s,
      LOS rate: 0.231292 deg/s,
      cmd update: 0.693876 deg/s,
      cmd heading: 291.680890 deg,
      new cmd heading: 292.007212 deg.

2021-02-16T07:03:59.669Z,1613459039.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:00.274Z,1613459040.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:00.658Z,1613459040.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:01.496Z,1613459041.496 [Micromodem](INFO): Nmea in: $SNTTA,0.096967,,,0.099443,070401.77*58

2021-02-16T07:04:01.546Z,1613459041.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 312.539375 deg, deltaT: 4.065405 s, approachRate: -0.693660 m/s, LOS rate: 0.214566 deg/s, posRepo size: 4
2021-02-16T07:04:01.552Z,1613459041.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.199997 m,
      bearing: 312.539375 deg,
      approachRate: -0.693660 m/s,
      LOS rate: 0.214566 deg/s,
      cmd update: 0.643698 deg/s,
      cmd heading: 294.500844 deg,
      new cmd heading: 294.800150 deg.

2021-02-16T07:04:03.925Z,1613459043.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:04.702Z,1613459044.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:05.123Z,1613459045.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:05.931Z,1613459045.931 [Micromodem](INFO): Nmea in: $SNTTA,0.094886,,,,070406.20*4C

2021-02-16T07:04:05.957Z,1613459045.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.080002 m, bearing: 312.904189 deg, deltaT: 4.428382 s, approachRate: -0.704545 m/s, LOS rate: 0.082381 deg/s, posRepo size: 4
2021-02-16T07:04:05.958Z,1613459045.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.080002 m,
      bearing: 312.904189 deg,
      approachRate: -0.704545 m/s,
      LOS rate: 0.082381 deg/s,
      cmd update: 0.247143 deg/s,
      cmd heading: 297.352344 deg,
      new cmd heading: 297.617286 deg.

2021-02-16T07:04:08.362Z,1613459048.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:09.159Z,1613459049.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:09.553Z,1613459049.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:10.388Z,1613459050.388 [Micromodem](INFO): Nmea in: $SNTTA,0.092737,,,,070410.65*49

2021-02-16T07:04:10.412Z,1613459050.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 314.029149 deg, deltaT: 4.468667 s, approachRate: -0.698194 m/s, LOS rate: 0.251744 deg/s, posRepo size: 4
2021-02-16T07:04:10.413Z,1613459050.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.960007 m,
      bearing: 314.029149 deg,
      approachRate: -0.698194 m/s,
      LOS rate: 0.251744 deg/s,
      cmd update: 0.755232 deg/s,
      cmd heading: 298.455768 deg,
      new cmd heading: 298.555036 deg.

2021-02-16T07:04:12.865Z,1613459052.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:13.589Z,1613459053.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:13.999Z,1613459053.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:14.829Z,1613459054.829 [Micromodem](INFO): Nmea in: $SNTTA,0.090529,,,,070415.08*48

2021-02-16T07:04:14.882Z,1613459054.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.600006 m, bearing: 315.476029 deg, deltaT: 4.406883 s, approachRate: -0.762444 m/s, LOS rate: 0.328323 deg/s, posRepo size: 4
2021-02-16T07:04:14.884Z,1613459054.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.600006 m,
      bearing: 315.476029 deg,
      approachRate: -0.762444 m/s,
      LOS rate: 0.328323 deg/s,
      cmd update: 0.984968 deg/s,
      cmd heading: 301.787029 deg,
      new cmd heading: 302.135290 deg.

2021-02-16T07:04:17.284Z,1613459057.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:18.050Z,1613459058.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:18.434Z,1613459058.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:19.284Z,1613459059.284 [Micromodem](INFO): Nmea in: $SNTTA,0.088227,,,,070419.54*4D

2021-02-16T07:04:19.324Z,1613459059.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 315.050153 deg, deltaT: 4.541893 s, approachRate: -0.766199 m/s, LOS rate: -0.093766 deg/s, posRepo size: 4
2021-02-16T07:04:19.325Z,1613459059.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.120010 m,
      bearing: 315.050153 deg,
      approachRate: -0.766199 m/s,
      LOS rate: -0.093766 deg/s,
      cmd update: -0.281299 deg/s,
      cmd heading: 306.260616 deg,
      new cmd heading: 306.616114 deg.

2021-02-16T07:04:21.680Z,1613459061.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:22.480Z,1613459062.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:22.881Z,1613459062.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:23.704Z,1613459063.704 [Micromodem](INFO): Nmea in: $SNTTA,0.086177,,,,070423.98*4C

2021-02-16T07:04:23.749Z,1613459063.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 316.257102 deg, deltaT: 4.386531 s, approachRate: -0.697589 m/s, LOS rate: 0.275149 deg/s, posRepo size: 4
2021-02-16T07:04:23.750Z,1613459063.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 316.257102 deg,
      approachRate: -0.697589 m/s,
      LOS rate: 0.275149 deg/s,
      cmd update: 0.825447 deg/s,
      cmd heading: 305.026725 deg,
      new cmd heading: 304.914287 deg.

2021-02-16T07:04:26.140Z,1613459066.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:26.921Z,1613459066.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:27.323Z,1613459067.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:28.157Z,1613459068.158 [Micromodem](INFO): Nmea in: $SNTTA,0.083962,,,,070428.42*49

2021-02-16T07:04:28.217Z,1613459068.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 316.920395 deg, deltaT: 4.425144 s, approachRate: -0.745739 m/s, LOS rate: 0.149892 deg/s, posRepo size: 4
2021-02-16T07:04:28.218Z,1613459068.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 316.920395 deg,
      approachRate: -0.745739 m/s,
      LOS rate: 0.149892 deg/s,
      cmd update: 0.449676 deg/s,
      cmd heading: 308.670884 deg,
      new cmd heading: 309.044783 deg.

2021-02-16T07:04:30.582Z,1613459070.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:31.360Z,1613459071.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:31.805Z,1613459071.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:32.592Z,1613459072.592 [Micromodem](INFO): Nmea in: $SNTTA,0.081795,,,,070432.86*4E

2021-02-16T07:04:32.637Z,1613459072.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.460007 m, bearing: 318.683868 deg, deltaT: 4.440728 s, approachRate: -0.743122 m/s, LOS rate: 0.397113 deg/s, posRepo size: 4
2021-02-16T07:04:32.638Z,1613459072.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.460007 m,
      bearing: 318.683868 deg,
      approachRate: -0.743122 m/s,
      LOS rate: 0.397113 deg/s,
      cmd update: 1.191340 deg/s,
      cmd heading: 310.670313 deg,
      new cmd heading: 310.862149 deg.

2021-02-16T07:04:35.038Z,1613459075.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:35.815Z,1613459075.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:36.214Z,1613459076.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:37.040Z,1613459077.040 [Micromodem](INFO): Nmea in: $SNTTA,0.079525,,,,070437.31*49

2021-02-16T07:04:37.099Z,1613459077.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 316.890069 deg, deltaT: 4.440543 s, approachRate: -0.770177 m/s, LOS rate: -0.403959 deg/s, posRepo size: 4
2021-02-16T07:04:37.102Z,1613459077.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 316.890069 deg,
      approachRate: -0.770177 m/s,
      LOS rate: -0.403959 deg/s,
      cmd update: -1.211878 deg/s,
      cmd heading: 315.942409 deg,
      new cmd heading: 316.493757 deg.

2021-02-16T07:04:39.470Z,1613459079.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:40.276Z,1613459080.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:40.654Z,1613459080.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:41.496Z,1613459081.496 [Micromodem](INFO): Nmea in: $SNTTA,0.077463,,,,070441.77*47

2021-02-16T07:04:41.548Z,1613459081.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.739998 m, bearing: 318.634007 deg, deltaT: 4.431113 s, approachRate: -0.744735 m/s, LOS rate: 0.393567 deg/s, posRepo size: 4
2021-02-16T07:04:41.550Z,1613459081.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.739998 m,
      bearing: 318.634007 deg,
      approachRate: -0.744735 m/s,
      LOS rate: 0.393567 deg/s,
      cmd update: 1.180700 deg/s,
      cmd heading: 310.548152 deg,
      new cmd heading: 309.993757 deg.

2021-02-16T07:04:43.912Z,1613459083.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:44.698Z,1613459084.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:45.098Z,1613459085.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:45.928Z,1613459085.928 [Micromodem](INFO): Nmea in: $SNTTA,0.075154,,0.093949,,070446.19*5B

2021-02-16T07:04:45.954Z,1613459085.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 320.068429 deg, deltaT: 4.468730 s, approachRate: -0.725036 m/s, LOS rate: 0.320991 deg/s, posRepo size: 4
2021-02-16T07:04:45.980Z,1613459085.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 320.068429 deg,
      approachRate: -0.725036 m/s,
      LOS rate: 0.320991 deg/s,
      cmd update: 0.962973 deg/s,
      cmd heading: 315.798241 deg,
      new cmd heading: 316.294678 deg.

2021-02-16T07:04:48.377Z,1613459088.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:49.147Z,1613459089.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:49.542Z,1613459089.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:50.372Z,1613459090.372 [Micromodem](INFO): Nmea in: $SNTTA,0.073069,,,,070450.64*4F

2021-02-16T07:04:50.420Z,1613459090.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.440010 m, bearing: 321.795620 deg, deltaT: 4.438556 s, approachRate: -0.689413 m/s, LOS rate: 0.389134 deg/s, posRepo size: 4
2021-02-16T07:04:50.422Z,1613459090.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.440010 m,
      bearing: 321.795620 deg,
      approachRate: -0.689413 m/s,
      LOS rate: 0.389134 deg/s,
      cmd update: 1.167401 deg/s,
      cmd heading: 320.074558 deg,
      new cmd heading: 320.500297 deg.

2021-02-16T07:04:52.826Z,1613459092.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:53.585Z,1613459093.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:53.986Z,1613459093.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:54.827Z,1613459094.827 [Micromodem](INFO): Nmea in: $SNTTA,0.070884,,,,070455.08*48

2021-02-16T07:04:54.852Z,1613459094.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.140007 m, bearing: 321.246719 deg, deltaT: 4.436998 s, approachRate: -0.743747 m/s, LOS rate: -0.123710 deg/s, posRepo size: 4
2021-02-16T07:04:54.854Z,1613459094.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.140007 m,
      bearing: 321.246719 deg,
      approachRate: -0.743747 m/s,
      LOS rate: -0.123710 deg/s,
      cmd update: -0.371130 deg/s,
      cmd heading: 325.277612 deg,
      new cmd heading: 325.768971 deg.

2021-02-16T07:04:57.292Z,1613459097.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:04:58.034Z,1613459098.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:04:58.429Z,1613459098.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:04:59.286Z,1613459099.286 [Micromodem](INFO): Nmea in: $SNTTA,0.068732,,0.088913,,070459.53*54

2021-02-16T07:04:59.317Z,1613459099.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 320.881413 deg, deltaT: 4.468823 s, approachRate: -0.778728 m/s, LOS rate: -0.081745 deg/s, posRepo size: 4
2021-02-16T07:04:59.319Z,1613459099.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.660011 m,
      bearing: 320.881413 deg,
      approachRate: -0.778728 m/s,
      LOS rate: -0.081745 deg/s,
      cmd update: -0.245236 deg/s,
      cmd heading: 323.620589 deg,
      new cmd heading: 323.465086 deg.

2021-02-16T07:05:01.675Z,1613459101.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:02.473Z,1613459102.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:02.874Z,1613459102.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:03.700Z,1613459103.700 [Micromodem](INFO): Nmea in: $SNTTA,0.066573,,,,070503.97*4E

2021-02-16T07:05:03.741Z,1613459103.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 321.163582 deg, deltaT: 4.424482 s, approachRate: -0.745851 m/s, LOS rate: 0.063774 deg/s, posRepo size: 4
2021-02-16T07:05:03.743Z,1613459103.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 321.163582 deg,
      approachRate: -0.745851 m/s,
      LOS rate: 0.063774 deg/s,
      cmd update: 0.191323 deg/s,
      cmd heading: 322.534611 deg,
      new cmd heading: 322.432915 deg.

2021-02-16T07:05:06.136Z,1613459106.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:06.912Z,1613459106.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:07.335Z,1613459107.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:08.144Z,1613459108.144 [Micromodem](INFO): Nmea in: $SNTTA,0.064365,,,,070508.41*4D

2021-02-16T07:05:08.197Z,1613459108.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 323.032240 deg, deltaT: 4.442603 s, approachRate: -0.675282 m/s, LOS rate: 0.420622 deg/s, posRepo size: 4
2021-02-16T07:05:08.199Z,1613459108.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.360001 m,
      bearing: 323.032240 deg,
      approachRate: -0.675282 m/s,
      LOS rate: 0.420622 deg/s,
      cmd update: 1.261867 deg/s,
      cmd heading: 323.378961 deg,
      new cmd heading: 323.466993 deg.

2021-02-16T07:05:10.588Z,1613459110.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:11.358Z,1613459111.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:11.791Z,1613459111.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:12.584Z,1613459112.584 [Micromodem](INFO): Nmea in: $SNTTA,0.062072,,,,070512.85*4D

2021-02-16T07:05:12.623Z,1613459112.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 322.847579 deg, deltaT: 4.440304 s, approachRate: -0.756705 m/s, LOS rate: -0.041587 deg/s, posRepo size: 4
2021-02-16T07:05:12.625Z,1613459112.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.000000 m,
      bearing: 322.847579 deg,
      approachRate: -0.756705 m/s,
      LOS rate: -0.041587 deg/s,
      cmd update: -0.124762 deg/s,
      cmd heading: 329.012732 deg,
      new cmd heading: 329.544494 deg.

2021-02-16T07:05:15.038Z,1613459115.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:15.810Z,1613459115.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:16.207Z,1613459116.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:17.036Z,1613459117.036 [Micromodem](INFO): Nmea in: $SNTTA,0.059891,,,,070517.30*4B

2021-02-16T07:05:17.086Z,1613459117.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 321.867665 deg, deltaT: 4.471185 s, approachRate: -0.751477 m/s, LOS rate: -0.219162 deg/s, posRepo size: 4
2021-02-16T07:05:17.092Z,1613459117.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.640007 m,
      bearing: 321.867665 deg,
      approachRate: -0.751477 m/s,
      LOS rate: -0.219162 deg/s,
      cmd update: -0.657486 deg/s,
      cmd heading: 328.454742 deg,
      new cmd heading: 328.403408 deg.

2021-02-16T07:05:19.725Z,1613459119.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:20.280Z,1613459120.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:20.678Z,1613459120.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:21.504Z,1613459121.504 [Micromodem](INFO): Nmea in: $SNTTA,0.057850,,,,070521.77*4E

2021-02-16T07:05:21.552Z,1613459121.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 321.962987 deg, deltaT: 4.451946 s, approachRate: -0.741250 m/s, LOS rate: 0.021411 deg/s, posRepo size: 4
2021-02-16T07:05:21.554Z,1613459121.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 321.962987 deg,
      approachRate: -0.741250 m/s,
      LOS rate: 0.021411 deg/s,
      cmd update: 0.064234 deg/s,
      cmd heading: 325.527617 deg,
      new cmd heading: 325.247463 deg.

2021-02-16T07:05:23.962Z,1613459123.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:24.717Z,1613459124.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:25.121Z,1613459125.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:25.944Z,1613459125.944 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070526.21*5B

2021-02-16T07:05:25.969Z,1613459125.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 323.045627 deg, deltaT: 4.417309 s, approachRate: -0.760644 m/s, LOS rate: 0.245090 deg/s, posRepo size: 4
2021-02-16T07:05:25.971Z,1613459125.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.980003 m,
      bearing: 323.045627 deg,
      approachRate: -0.760644 m/s,
      LOS rate: 0.245090 deg/s,
      cmd update: 0.735271 deg/s,
      cmd heading: 325.811615 deg,
      new cmd heading: 325.838712 deg.

2021-02-16T07:05:28.391Z,1613459128.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:29.175Z,1613459129.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:29.571Z,1613459129.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:30.400Z,1613459130.400 [Micromodem](INFO): Nmea in: $SNTTA,0.053212,0.063330,,,070530.67*5C

2021-02-16T07:05:30.448Z,1613459130.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 324.330440 deg, deltaT: 4.485290 s, approachRate: -0.749116 m/s, LOS rate: 0.286450 deg/s, posRepo size: 4
2021-02-16T07:05:30.450Z,1613459130.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.620003 m,
      bearing: 324.330440 deg,
      approachRate: -0.749116 m/s,
      LOS rate: 0.286450 deg/s,
      cmd update: 0.859351 deg/s,
      cmd heading: 329.106609 deg,
      new cmd heading: 329.396959 deg.

2021-02-16T07:05:32.833Z,1613459132.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:33.604Z,1613459133.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:34.010Z,1613459134.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:34.836Z,1613459134.836 [Micromodem](INFO): Nmea in: $SNTTA,0.051106,,,,070535.10*46

2021-02-16T07:05:34.881Z,1613459134.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 325.027666 deg, deltaT: 4.428753 s, approachRate: -0.677392 m/s, LOS rate: 0.157432 deg/s, posRepo size: 4
2021-02-16T07:05:34.883Z,1613459134.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 325.027666 deg,
      approachRate: -0.677392 m/s,
      LOS rate: 0.157432 deg/s,
      cmd update: 0.472295 deg/s,
      cmd heading: 332.912438 deg,
      new cmd heading: 333.276178 deg.

2021-02-16T07:05:37.310Z,1613459137.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:38.048Z,1613459138.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:38.457Z,1613459138.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:39.312Z,1613459139.312 [Micromodem](INFO): Nmea in: $SNTTA,0.048964,,,,070539.54*4E

2021-02-16T07:05:39.352Z,1613459139.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 324.604276 deg, deltaT: 4.473263 s, approachRate: -0.737715 m/s, LOS rate: -0.094649 deg/s, posRepo size: 4
2021-02-16T07:05:39.354Z,1613459139.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.320007 m,
      bearing: 324.604276 deg,
      approachRate: -0.737715 m/s,
      LOS rate: -0.094649 deg/s,
      cmd update: -0.283947 deg/s,
      cmd heading: 335.025125 deg,
      new cmd heading: 335.224028 deg.

2021-02-16T07:05:41.705Z,1613459141.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:42.499Z,1613459142.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:42.898Z,1613459142.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:43.728Z,1613459143.728 [Micromodem](INFO): Nmea in: $SNTTA,0.046702,,,,070543.99*42

2021-02-16T07:05:43.805Z,1613459143.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.900002 m, bearing: 324.617444 deg, deltaT: 4.414041 s, approachRate: -0.774802 m/s, LOS rate: 0.002983 deg/s, posRepo size: 4
2021-02-16T07:05:43.813Z,1613459143.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 324.617444 deg,
      approachRate: -0.774802 m/s,
      LOS rate: 0.002983 deg/s,
      cmd update: 0.008950 deg/s,
      cmd heading: 333.771755 deg,
      new cmd heading: 333.641037 deg.

2021-02-16T07:05:46.165Z,1613459146.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:46.936Z,1613459146.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:47.355Z,1613459147.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:48.165Z,1613459148.165 [Micromodem](INFO): Nmea in: $SNTTA,0.044650,,,,070548.43*4A

2021-02-16T07:05:48.227Z,1613459148.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.779999 m, bearing: 324.288639 deg, deltaT: 4.458849 s, approachRate: -0.699733 m/s, LOS rate: -0.073742 deg/s, posRepo size: 4
2021-02-16T07:05:48.250Z,1613459148.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.779999 m,
      bearing: 324.288639 deg,
      approachRate: -0.699733 m/s,
      LOS rate: -0.073742 deg/s,
      cmd update: -0.221227 deg/s,
      cmd heading: 333.811646 deg,
      new cmd heading: 333.815432 deg.

2021-02-16T07:05:50.628Z,1613459150.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:51.402Z,1613459151.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:51.812Z,1613459151.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:52.628Z,1613459152.628 [Micromodem](INFO): Nmea in: $SNTTA,0.042449,,0.061723,,070552.90*5C

2021-02-16T07:05:52.677Z,1613459152.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 324.253641 deg, deltaT: 4.485184 s, approachRate: -0.735756 m/s, LOS rate: -0.007803 deg/s, posRepo size: 4
2021-02-16T07:05:52.683Z,1613459152.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.479996 m,
      bearing: 324.253641 deg,
      approachRate: -0.735756 m/s,
      LOS rate: -0.007803 deg/s,
      cmd update: -0.023409 deg/s,
      cmd heading: 332.818151 deg,
      new cmd heading: 332.733156 deg.

2021-02-16T07:05:55.071Z,1613459155.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:05:55.824Z,1613459155.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:05:56.268Z,1613459156.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:05:57.052Z,1613459157.052 [Micromodem](INFO): Nmea in: $SNTTA,0.040258,,,,070557.32*4A

2021-02-16T07:05:57.077Z,1613459157.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 324.939420 deg, deltaT: 4.353362 s, approachRate: -0.758035 m/s, LOS rate: 0.157528 deg/s, posRepo size: 4
2021-02-16T07:05:57.078Z,1613459157.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.179996 m,
      bearing: 324.939420 deg,
      approachRate: -0.758035 m/s,
      LOS rate: 0.157528 deg/s,
      cmd update: 0.472585 deg/s,
      cmd heading: 332.716246 deg,
      new cmd heading: 332.706167 deg.

2021-02-16T07:05:59.704Z,1613459159.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:00.281Z,1613459160.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:00.674Z,1613459160.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:01.504Z,1613459161.504 [Micromodem](INFO): Nmea in: $SNTTA,0.038038,,,,070601.78*4F

2021-02-16T07:06:01.542Z,1613459161.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 325.736612 deg, deltaT: 4.478531 s, approachRate: -0.736849 m/s, LOS rate: 0.178003 deg/s, posRepo size: 4
2021-02-16T07:06:01.544Z,1613459161.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.879997 m,
      bearing: 325.736612 deg,
      approachRate: -0.736849 m/s,
      LOS rate: 0.178003 deg/s,
      cmd update: 0.534009 deg/s,
      cmd heading: 334.830918 deg,
      new cmd heading: 335.030141 deg.

2021-02-16T07:06:03.975Z,1613459163.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:04.718Z,1613459164.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:05.118Z,1613459165.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:05.944Z,1613459165.944 [Micromodem](INFO): Nmea in: $SNTTA,0.035876,,,,070606.21*4B

2021-02-16T07:06:05.994Z,1613459165.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 324.810165 deg, deltaT: 4.444340 s, approachRate: -0.729017 m/s, LOS rate: -0.208455 deg/s, posRepo size: 4
2021-02-16T07:06:05.000Z,1613459166.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.639999 m,
      bearing: 324.810165 deg,
      approachRate: -0.729017 m/s,
      LOS rate: -0.208455 deg/s,
      cmd update: -0.625366 deg/s,
      cmd heading: 337.195601 deg,
      new cmd heading: 337.433031 deg.

2021-02-16T07:06:08.387Z,1613459168.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:09.158Z,1613459169.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:09.561Z,1613459169.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:09.968Z,1613459169.968 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:06:10.400Z,1613459170.400 [Micromodem](INFO): Nmea in: $SNTTA,0.033725,,,,070610.65*43

2021-02-16T07:06:10.437Z,1613459170.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.400005 m, bearing: 324.907208 deg, deltaT: 4.412086 s, approachRate: -0.734345 m/s, LOS rate: 0.021995 deg/s, posRepo size: 4
2021-02-16T07:06:10.438Z,1613459170.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.400005 m,
      bearing: 324.907208 deg,
      approachRate: -0.734345 m/s,
      LOS rate: 0.021995 deg/s,
      cmd update: 0.065985 deg/s,
      cmd heading: 334.423843 deg,
      new cmd heading: 334.139023 deg.

2021-02-16T07:06:12.843Z,1613459172.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:13.605Z,1613459173.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:14.006Z,1613459174.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:14.832Z,1613459174.832 [Micromodem](INFO): Nmea in: $SNTTA,0.031551,,,,070615.10*47

2021-02-16T07:06:14.871Z,1613459174.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 326.036266 deg, deltaT: 4.491256 s, approachRate: -0.721404 m/s, LOS rate: 0.251390 deg/s, posRepo size: 4
2021-02-16T07:06:14.873Z,1613459174.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.159996 m,
      bearing: 326.036266 deg,
      approachRate: -0.721404 m/s,
      LOS rate: 0.251390 deg/s,
      cmd update: 0.754170 deg/s,
      cmd heading: 334.720159 deg,
      new cmd heading: 334.746488 deg.

2021-02-16T07:06:17.298Z,1613459177.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:18.044Z,1613459178.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:18.450Z,1613459178.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:19.300Z,1613459179.300 [Micromodem](INFO): Nmea in: $SNTTA,0.029631,,,,070619.54*47

2021-02-16T07:06:19.324Z,1613459179.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.920002 m, bearing: 325.851113 deg, deltaT: 4.429262 s, approachRate: -0.731497 m/s, LOS rate: -0.041802 deg/s, posRepo size: 4
2021-02-16T07:06:19.326Z,1613459179.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.920002 m,
      bearing: 325.851113 deg,
      approachRate: -0.731497 m/s,
      LOS rate: -0.041802 deg/s,
      cmd update: -0.125407 deg/s,
      cmd heading: 338.060945 deg,
      new cmd heading: 338.379319 deg.

2021-02-16T07:06:21.701Z,1613459181.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:22.494Z,1613459182.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:22.900Z,1613459182.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:23.727Z,1613459183.727 [Micromodem](INFO): Nmea in: $SNTTA,0.027420,,,,070623.99*43

2021-02-16T07:06:23.755Z,1613459183.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.680000 m, bearing: 325.354832 deg, deltaT: 4.440888 s, approachRate: -0.729584 m/s, LOS rate: -0.111753 deg/s, posRepo size: 4
2021-02-16T07:06:23.757Z,1613459183.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.680000 m,
      bearing: 325.354832 deg,
      approachRate: -0.729584 m/s,
      LOS rate: -0.111753 deg/s,
      cmd update: -0.335258 deg/s,
      cmd heading: 337.504674 deg,
      new cmd heading: 337.452318 deg.

2021-02-16T07:06:26.162Z,1613459186.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:26.938Z,1613459186.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:27.356Z,1613459187.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:28.177Z,1613459188.177 [Micromodem](INFO): Nmea in: $SNTTA,0.025324,,,,070628.43*4E

2021-02-16T07:06:28.218Z,1613459188.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.439999 m, bearing: 326.760894 deg, deltaT: 4.483010 s, approachRate: -0.722729 m/s, LOS rate: 0.313643 deg/s, posRepo size: 4
2021-02-16T07:06:28.219Z,1613459188.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.44 m.
2021-02-16T07:06:28.241Z,1613459188.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.439999 m,
      bearing: 326.760894 deg,
      approachRate: -0.722729 m/s,
      LOS rate: 0.313643 deg/s,
      cmd update: 0.940928 deg/s,
      cmd heading: 335.999959 deg,
      new cmd heading: 335.868347 deg.

2021-02-16T07:06:28.565Z,1613459188.565 [PowerOnly](INFO): Powering up loadControl
2021-02-16T07:06:30.609Z,1613459190.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:31.382Z,1613459191.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:31.809Z,1613459191.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:32.613Z,1613459192.613 [Micromodem](INFO): Nmea in: $SNTTA,0.023327,,,,070632.88*47

2021-02-16T07:06:32.680Z,1613459192.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 326.383977 deg, deltaT: 4.384168 s, approachRate: -0.752709 m/s, LOS rate: -0.085972 deg/s, posRepo size: 4
2021-02-16T07:06:32.680Z,1613459192.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.14 m.
2021-02-16T07:06:32.681Z,1613459192.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.14 m.
2021-02-16T07:06:32.681Z,1613459192.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T07:06:32.688Z,1613459192.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.139996 m,
      bearing: 326.383977 deg,
      approachRate: -0.752709 m/s,
      LOS rate: -0.085972 deg/s,
      cmd update: -0.257917 deg/s,
      cmd heading: 340.121415 deg,
      new cmd heading: 340.563619 deg.

2021-02-16T07:06:35.066Z,1613459195.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:35.839Z,1613459195.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:36.261Z,1613459196.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:37.060Z,1613459197.060 [Micromodem](INFO): Nmea in: $SNTTA,0.020824,,,,070637.33*49

2021-02-16T07:06:37.105Z,1613459197.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 325.226615 deg, deltaT: 4.432878 s, approachRate: -0.744437 m/s, LOS rate: -0.261086 deg/s, posRepo size: 4
2021-02-16T07:06:37.107Z,1613459197.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.839998 m,
      bearing: 325.226615 deg,
      approachRate: -0.744437 m/s,
      LOS rate: -0.261086 deg/s,
      cmd update: -0.783258 deg/s,
      cmd heading: 338.977077 deg,
      new cmd heading: 338.857878 deg.

2021-02-16T07:06:39.486Z,1613459199.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:40.273Z,1613459200.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:40.676Z,1613459200.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:41.504Z,1613459201.504 [Micromodem](INFO): Nmea in: $SNTTA,0.019052,,,,070641.77*4B

2021-02-16T07:06:41.529Z,1613459201.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 326.094787 deg, deltaT: 4.491187 s, approachRate: -0.694693 m/s, LOS rate: 0.193306 deg/s, posRepo size: 4
2021-02-16T07:06:41.543Z,1613459201.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.720001 m,
      bearing: 326.094787 deg,
      approachRate: -0.694693 m/s,
      LOS rate: 0.193306 deg/s,
      cmd update: 0.579917 deg/s,
      cmd heading: 335.467484 deg,
      new cmd heading: 335.149527 deg.

2021-02-16T07:06:43.979Z,1613459203.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:44.708Z,1613459204.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:45.114Z,1613459205.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:45.944Z,1613459205.944 [Micromodem](INFO): Nmea in: $SNTTA,0.016568,,,,070646.20*4D

2021-02-16T07:06:45.969Z,1613459205.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 326.469737 deg, deltaT: 4.413080 s, approachRate: -0.693394 m/s, LOS rate: 0.084963 deg/s, posRepo size: 4
2021-02-16T07:06:45.991Z,1613459205.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.659998 m,
      bearing: 326.469737 deg,
      approachRate: -0.693394 m/s,
      LOS rate: 0.084963 deg/s,
      cmd update: 0.254890 deg/s,
      cmd heading: 338.032741 deg,
      new cmd heading: 338.277726 deg.

2021-02-16T07:06:48.390Z,1613459208.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:49.152Z,1613459209.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:49.561Z,1613459209.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:50.380Z,1613459210.380 [Micromodem](INFO): Nmea in: $SNTTA,0.014962,,,,070650.65*4F

2021-02-16T07:06:50.410Z,1613459210.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.420002 m, bearing: 326.653770 deg, deltaT: 4.443600 s, approachRate: -0.729138 m/s, LOS rate: 0.041415 deg/s, posRepo size: 4
2021-02-16T07:06:50.432Z,1613459210.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 326.653770 deg,
      approachRate: -0.729138 m/s,
      LOS rate: 0.041415 deg/s,
      cmd update: 0.124246 deg/s,
      cmd heading: 339.165348 deg,
      new cmd heading: 339.272381 deg.

2021-02-16T07:06:52.841Z,1613459212.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:53.596Z,1613459213.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:54.008Z,1613459214.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:54.835Z,1613459214.835 [Micromodem](INFO): Nmea in: $SNTTA,0.013009,,,,070655.09*43

2021-02-16T07:06:54.867Z,1613459214.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 325.144243 deg, deltaT: 4.456695 s, approachRate: -0.673145 m/s, LOS rate: -0.338710 deg/s, posRepo size: 4
2021-02-16T07:06:54.870Z,1613459214.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 325.144243 deg,
      approachRate: -0.673145 m/s,
      LOS rate: -0.338710 deg/s,
      cmd update: -1.016129 deg/s,
      cmd heading: 339.719074 deg,
      new cmd heading: 339.771098 deg.

2021-02-16T07:06:57.309Z,1613459217.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:06:58.045Z,1613459218.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:06:58.463Z,1613459218.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:06:59.300Z,1613459219.300 [Micromodem](INFO): Nmea in: $SNTTA,0.011205,,,,070659.54*4B

2021-02-16T07:06:59.338Z,1613459219.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 326.081482 deg, deltaT: 4.470850 s, approachRate: -0.711274 m/s, LOS rate: 0.209633 deg/s, posRepo size: 4
2021-02-16T07:06:59.340Z,1613459219.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 326.081482 deg,
      approachRate: -0.711274 m/s,
      LOS rate: 0.209633 deg/s,
      cmd update: 0.628900 deg/s,
      cmd heading: 335.176107 deg,
      new cmd heading: 334.748825 deg.

2021-02-16T07:07:01.713Z,1613459221.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:02.486Z,1613459222.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:02.902Z,1613459222.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:03.716Z,1613459223.716 [Micromodem](INFO): Nmea in: $SNTTA,0.008353,,,,070703.98*4F

2021-02-16T07:07:03.770Z,1613459223.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 329.522395 deg, deltaT: 4.431058 s, approachRate: -0.704121 m/s, LOS rate: 0.776544 deg/s, posRepo size: 4
2021-02-16T07:07:03.777Z,1613459223.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 329.522395 deg,
      approachRate: -0.704121 m/s,
      LOS rate: 0.776544 deg/s,
      cmd update: 2.329633 deg/s,
      cmd heading: 337.961327 deg,
      new cmd heading: 338.225474 deg.

2021-02-16T07:07:06.169Z,1613459226.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:06.933Z,1613459226.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:07.334Z,1613459227.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:08.161Z,1613459228.161 [Micromodem](INFO): Nmea in: $SNTTA,0.007196,,,,070708.43*46

2021-02-16T07:07:08.233Z,1613459228.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 326.965418 deg, deltaT: 4.447779 s, approachRate: -0.687984 m/s, LOS rate: -0.574888 deg/s, posRepo size: 4
2021-02-16T07:07:08.248Z,1613459228.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 326.965418 deg,
      approachRate: -0.687984 m/s,
      LOS rate: -0.574888 deg/s,
      cmd update: -1.724665 deg/s,
      cmd heading: 348.281845 deg,
      new cmd heading: 349.314613 deg.

2021-02-16T07:07:10.606Z,1613459230.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:11.374Z,1613459231.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:11.804Z,1613459231.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:12.604Z,1613459232.604 [Micromodem](INFO): Nmea in: $SNTTA,0.004412,,,,070712.87*4F

2021-02-16T07:07:12.653Z,1613459232.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 331.719120 deg, deltaT: 4.422976 s, approachRate: -0.610449 m/s, LOS rate: 1.074775 deg/s, posRepo size: 4
2021-02-16T07:07:12.654Z,1613459232.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 331.719120 deg,
      approachRate: -0.610449 m/s,
      LOS rate: 1.074775 deg/s,
      cmd update: 3.224324 deg/s,
      cmd heading: 340.619080 deg,
      new cmd heading: 339.872355 deg.

2021-02-16T07:07:15.066Z,1613459235.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:15.821Z,1613459235.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:16.229Z,1613459236.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:17.049Z,1613459237.049 [Micromodem](INFO): Nmea in: $SNTTA,0.002903,,0.022014,,070717.32*54

2021-02-16T07:07:17.146Z,1613459237.146 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T07:07:17.146Z,1613459237.146 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:07:17.147Z,1613459237.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T07:07:17.147Z,1613459237.147 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:07:17.148Z,1613459237.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T07:07:17.148Z,1613459237.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 
2021-02-16T07:07:17.148Z,1613459237.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T07:07:17.148Z,1613459237.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T07:07:17.149Z,1613459237.149 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T07:07:17.152Z,1613459237.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 334.338907 deg, deltaT: 4.464401 s, approachRate: -0.497267 m/s, LOS rate: 0.586817 deg/s, posRepo size: 4
2021-02-16T07:07:17.155Z,1613459237.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 334.338907 deg,
      approachRate: -0.497267 m/s,
      LOS rate: 0.586817 deg/s,
      cmd update: 1.760452 deg/s,
      cmd heading: 354.987100 deg,
      new cmd heading: 356.518567 deg.

2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T070717: (41.552319, -70.708603)
2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T07:07:17.475Z,1613459237.475 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:07:17.476Z,1613459237.476 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T07:07:17.476Z,1613459237.476 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T07:07:17.476Z,1613459237.476 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:07:19.490Z,1613459239.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:20.294Z,1613459240.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:20.684Z,1613459240.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:21.518Z,1613459241.518 [Micromodem](INFO): Nmea in: $SNTTA,0.002813,0.043857,,,070721.79*56

2021-02-16T07:07:21.542Z,1613459241.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 348.654875 deg, deltaT: 4.429953 s, approachRate: 0.000000 m/s, LOS rate: 3.231630 deg/s, posRepo size: 4
2021-02-16T07:07:21.544Z,1613459241.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 348.654875 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.231630 deg/s,
      cmd update: 9.694888 deg/s,
      cmd heading: 2.793377 deg,
      new cmd heading: 3.554355 deg.

2021-02-16T07:07:23.929Z,1613459243.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:24.710Z,1613459244.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:25.109Z,1613459245.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:25.956Z,1613459245.956 [Micromodem](INFO): Nmea in: $SNTTA,0.004127,,,,070726.20*46

2021-02-16T07:07:25.989Z,1613459245.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 326.758873 deg, deltaT: 4.421215 s, approachRate: 0.488553 m/s, LOS rate: -4.952485 deg/s, posRepo size: 4
2021-02-16T07:07:25.991Z,1613459245.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 326.758873 deg,
      approachRate: 0.488553 m/s,
      LOS rate: -4.952485 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 45.693820 deg,
      new cmd heading: 50.096812 deg.

2021-02-16T07:07:28.367Z,1613459248.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:29.154Z,1613459249.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:29.554Z,1613459249.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:30.380Z,1613459250.380 [Micromodem](INFO): Nmea in: $SNTTA,0.005652,,,,070730.65*44

2021-02-16T07:07:30.404Z,1613459250.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.400000 m, bearing: 0.757994 deg, deltaT: 4.446795 s, approachRate: 0.472250 m/s, LOS rate: 7.645757 deg/s, posRepo size: 4
2021-02-16T07:07:30.406Z,1613459250.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 0.757994 deg,
      approachRate: 0.472250 m/s,
      LOS rate: 7.645757 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.330539 deg,
      new cmd heading: 347.270883 deg.

2021-02-16T07:07:32.836Z,1613459252.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:33.614Z,1613459253.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:34.035Z,1613459254.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:34.843Z,1613459254.843 [Micromodem](INFO): Nmea in: $SNTTA,0.006971,,,0.123960,070735.11*5E

2021-02-16T07:07:34.869Z,1613459254.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 6.207654 deg, deltaT: 4.468671 s, approachRate: 0.496791 m/s, LOS rate: 1.219526 deg/s, posRepo size: 4
2021-02-16T07:07:34.870Z,1613459254.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 6.207654 deg,
      approachRate: 0.496791 m/s,
      LOS rate: 1.219526 deg/s,
      cmd update: 3.658578 deg/s,
      cmd heading: 45.954676 deg,
      new cmd heading: 50.965924 deg.

2021-02-16T07:07:37.328Z,1613459257.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:38.048Z,1613459258.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:38.441Z,1613459258.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:39.274Z,1613459259.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070739.54*55

2021-02-16T07:07:40.101Z,1613459260.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:41.670Z,1613459261.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:07:42.927Z,1613459262.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:43.694Z,1613459263.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:44.103Z,1613459264.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:44.920Z,1613459264.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070745.19*57

2021-02-16T07:07:45.727Z,1613459265.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:47.326Z,1613459267.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:07:48.580Z,1613459268.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:49.349Z,1613459269.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:49.800Z,1613459269.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:50.580Z,1613459270.580 [Micromodem](INFO): Nmea in: $SNTTA,0.013060,,,,070750.84*4D

2021-02-16T07:07:50.634Z,1613459270.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 87.557056 deg, deltaT: 15.752423 s, approachRate: 0.575150 m/s, LOS rate: 5.164247 deg/s, posRepo size: 4
2021-02-16T07:07:50.635Z,1613459270.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.68 m. Rolling out.
2021-02-16T07:07:50.639Z,1613459270.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T07:07:53.031Z,1613459273.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:53.812Z,1613459273.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:54.209Z,1613459274.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:55.048Z,1613459275.048 [Micromodem](INFO): Nmea in: $SNTTA,0.013485,,,,070755.31*49

2021-02-16T07:07:55.094Z,1613459275.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 97.691035 deg, deltaT: 4.420886 s, approachRate: 0.135719 m/s, LOS rate: 2.292296 deg/s, posRepo size: 4
2021-02-16T07:07:57.470Z,1613459277.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:07:58.272Z,1613459278.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:07:58.647Z,1613459278.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:07:59.484Z,1613459279.484 [Micromodem](INFO): Nmea in: $SNTTA,0.014191,,,,070759.77*40

2021-02-16T07:07:59.509Z,1613459279.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 125.365609 deg, deltaT: 4.468074 s, approachRate: 0.214857 m/s, LOS rate: 6.193849 deg/s, posRepo size: 4
2021-02-16T07:08:01.914Z,1613459281.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:02.685Z,1613459282.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:03.103Z,1613459283.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:03.116Z,1613459283.116 [PowerOnly](INFO): Powering down loadControl
2021-02-16T07:08:03.916Z,1613459283.916 [Micromodem](INFO): Nmea in: $SNTTA,0.014992,0.032122,,,070804.18*5B

2021-02-16T07:08:03.941Z,1613459283.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 168.938254 deg, deltaT: 4.425876 s, approachRate: 0.284690 m/s, LOS rate: 9.844977 deg/s, posRepo size: 4
2021-02-16T07:08:06.366Z,1613459286.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:07.142Z,1613459287.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:07.530Z,1613459287.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:08.368Z,1613459288.368 [Micromodem](INFO): Nmea in: $SNTTA,0.014854,,0.115065,,070808.64*51

2021-02-16T07:08:08.409Z,1613459288.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 164.450888 deg, deltaT: 4.461005 s, approachRate: -0.053799 m/s, LOS rate: -1.005909 deg/s, posRepo size: 4
2021-02-16T07:08:10.839Z,1613459290.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:11.573Z,1613459291.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:11.973Z,1613459291.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:12.832Z,1613459292.832 [Micromodem](INFO): Nmea in: $SNTTA,0.015362,,,,070813.07*49

2021-02-16T07:08:12.861Z,1613459292.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 145.751989 deg, deltaT: 4.436015 s, approachRate: 0.175833 m/s, LOS rate: -4.215247 deg/s, posRepo size: 4
2021-02-16T07:08:15.258Z,1613459295.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:16.012Z,1613459296.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:16.424Z,1613459296.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:17.264Z,1613459297.264 [Micromodem](INFO): Nmea in: $SNTTA,0.016240,,,,070817.51*4C

2021-02-16T07:08:17.308Z,1613459297.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.420002 m, bearing: 108.883297 deg, deltaT: 4.451975 s, approachRate: 0.309975 m/s, LOS rate: -8.281424 deg/s, posRepo size: 4
2021-02-16T07:08:19.674Z,1613459299.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:20.462Z,1613459300.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:20.871Z,1613459300.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:21.688Z,1613459301.688 [Micromodem](INFO): Nmea in: $SNTTA,0.017588,,0.024863,,070821.95*56

2021-02-16T07:08:21.726Z,1613459301.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 122.160092 deg, deltaT: 4.439859 s, approachRate: 0.459474 m/s, LOS rate: 2.990364 deg/s, posRepo size: 4
2021-02-16T07:08:24.128Z,1613459304.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:24.903Z,1613459304.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:25.306Z,1613459305.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:26.132Z,1613459306.132 [Micromodem](INFO): Nmea in: $SNTTA,0.018322,,,,070826.40*45

2021-02-16T07:08:26.159Z,1613459306.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 137.217927 deg, deltaT: 4.443554 s, approachRate: 0.364572 m/s, LOS rate: 3.388692 deg/s, posRepo size: 4
2021-02-16T07:08:28.562Z,1613459308.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:29.344Z,1613459309.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:29.761Z,1613459309.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:30.572Z,1613459310.572 [Micromodem](INFO): Nmea in: $SNTTA,0.020281,,,,070830.84*49

2021-02-16T07:08:30.610Z,1613459310.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 137.505041 deg, deltaT: 4.451290 s, approachRate: 0.741358 m/s, LOS rate: 0.064501 deg/s, posRepo size: 4
2021-02-16T07:08:33.016Z,1613459313.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:33.806Z,1613459313.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:34.198Z,1613459314.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:35.029Z,1613459315.029 [Micromodem](INFO): Nmea in: $SNTTA,0.022130,0.033506,,,070835.30*55

2021-02-16T07:08:35.074Z,1613459315.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 91.256238 deg, deltaT: 4.423086 s, approachRate: 0.461216 m/s, LOS rate: -10.456230 deg/s, posRepo size: 4
2021-02-16T07:08:37.465Z,1613459317.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:38.277Z,1613459318.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:38.638Z,1613459318.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:39.470Z,1613459319.470 [Micromodem](INFO): Nmea in: $SNTTA,0.023261,,,,070839.77*41

2021-02-16T07:08:39.520Z,1613459319.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 94.064764 deg, deltaT: 4.498039 s, approachRate: 0.373496 m/s, LOS rate: 0.624389 deg/s, posRepo size: 4
2021-02-16T07:08:41.905Z,1613459321.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:42.676Z,1613459322.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:43.089Z,1613459323.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:43.928Z,1613459323.928 [Micromodem](INFO): Nmea in: $SNTTA,0.025256,,,,070844.17*4F

2021-02-16T07:08:43.962Z,1613459323.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.680000 m, bearing: 95.014912 deg, deltaT: 4.422218 s, approachRate: 0.583418 m/s, LOS rate: 0.214858 deg/s, posRepo size: 4
2021-02-16T07:08:46.353Z,1613459326.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:47.128Z,1613459327.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:47.526Z,1613459327.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:48.360Z,1613459328.360 [Micromodem](INFO): Nmea in: $SNTTA,0.026660,,,,070848.62*43

2021-02-16T07:08:48.385Z,1613459328.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 94.761437 deg, deltaT: 4.408789 s, approachRate: 0.394666 m/s, LOS rate: -0.057493 deg/s, posRepo size: 4
2021-02-16T07:08:50.817Z,1613459330.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:51.564Z,1613459331.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:51.975Z,1613459331.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:52.816Z,1613459332.816 [Micromodem](INFO): Nmea in: $SNTTA,0.030283,,,,070853.06*45

2021-02-16T07:08:52.864Z,1613459332.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 92.158445 deg, deltaT: 4.455126 s, approachRate: 0.525238 m/s, LOS rate: -0.584269 deg/s, posRepo size: 4
2021-02-16T07:08:55.242Z,1613459335.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:08:56.013Z,1613459336.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:08:56.413Z,1613459336.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:08:57.263Z,1613459337.263 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070857.51*57

2021-02-16T07:08:57.292Z,1613459337.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 155.083816 deg, deltaT: 4.455792 s, approachRate: 1.413891 m/s, LOS rate: 14.122152 deg/s, posRepo size: 4
2021-02-16T07:08:59.674Z,1613459339.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:00.453Z,1613459340.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:00.866Z,1613459340.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:01.680Z,1613459341.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070901.95*5D

2021-02-16T07:09:01.721Z,1613459341.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 98.675401 deg, deltaT: 4.435755 s, approachRate: -0.284055 m/s, LOS rate: -12.716756 deg/s, posRepo size: 4
2021-02-16T07:09:04.137Z,1613459344.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:04.896Z,1613459344.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:05.312Z,1613459345.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:06.131Z,1613459346.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,070906.39*5C

2021-02-16T07:09:06.158Z,1613459346.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.439995 m, bearing: 154.477924 deg, deltaT: 4.438669 s, approachRate: 0.594771 m/s, LOS rate: 12.571905 deg/s, posRepo size: 4
2021-02-16T07:09:08.557Z,1613459348.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:09.345Z,1613459349.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:09.751Z,1613459349.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:10.589Z,1613459350.589 [Micromodem](INFO): Nmea in: $SNTTA,0.047638,,,,070910.84*4D

2021-02-16T07:09:10.620Z,1613459350.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 155.348391 deg, deltaT: 4.473200 s, approachRate: 0.670663 m/s, LOS rate: 0.194596 deg/s, posRepo size: 4
2021-02-16T07:09:13.004Z,1613459353.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:13.805Z,1613459353.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:14.215Z,1613459354.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:15.040Z,1613459355.040 [Micromodem](INFO): Nmea in: $SNTTA,0.036705,,,,070915.30*4E

2021-02-16T07:09:15.082Z,1613459355.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.500000 m, bearing: 134.650609 deg, deltaT: 4.404184 s, approachRate: 0.694793 m/s, LOS rate: -4.699572 deg/s, posRepo size: 4
2021-02-16T07:09:17.450Z,1613459357.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:18.262Z,1613459358.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:18.638Z,1613459358.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:19.472Z,1613459359.472 [Micromodem](INFO): Nmea in: $SNTTA,0.038873,,,,070919.76*40

2021-02-16T07:09:19.516Z,1613459359.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 144.698391 deg, deltaT: 4.516627 s, approachRate: 0.677496 m/s, LOS rate: 2.224621 deg/s, posRepo size: 4
2021-02-16T07:09:21.902Z,1613459361.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:22.677Z,1613459362.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:23.091Z,1613459363.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:23.904Z,1613459363.904 [Micromodem](INFO): Nmea in: $SNTTA,0.040565,,,,070924.17*4C

2021-02-16T07:09:23.943Z,1613459363.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 149.137126 deg, deltaT: 4.386343 s, approachRate: 0.560831 m/s, LOS rate: 1.011944 deg/s, posRepo size: 4
2021-02-16T07:09:26.347Z,1613459366.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:27.118Z,1613459367.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:27.544Z,1613459367.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:28.348Z,1613459368.348 [Micromodem](INFO): Nmea in: $SNTTA,0.042513,,,,070928.61*42

2021-02-16T07:09:28.388Z,1613459368.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.260010 m, bearing: 142.651807 deg, deltaT: 4.469424 s, approachRate: 0.724929 m/s, LOS rate: -1.451041 deg/s, posRepo size: 4
2021-02-16T07:09:30.805Z,1613459370.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:31.561Z,1613459371.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:31.984Z,1613459371.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:32.829Z,1613459372.829 [Micromodem](INFO): Nmea in: $SNTTA,0.044507,,,,070933.05*49

2021-02-16T07:09:32.878Z,1613459372.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.140007 m, bearing: 132.375555 deg, deltaT: 4.426773 s, approachRate: 0.650586 m/s, LOS rate: -2.321387 deg/s, posRepo size: 4
2021-02-16T07:09:35.279Z,1613459375.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:36.013Z,1613459376.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:36.415Z,1613459376.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:37.280Z,1613459377.280 [Micromodem](INFO): Nmea in: $SNTTA,0.046405,,,,070937.51*4D

2021-02-16T07:09:37.304Z,1613459377.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.020004 m, bearing: 114.667757 deg, deltaT: 4.454269 s, approachRate: 0.646570 m/s, LOS rate: -3.975467 deg/s, posRepo size: 4
2021-02-16T07:09:39.666Z,1613459379.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:40.458Z,1613459380.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:40.858Z,1613459380.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:41.684Z,1613459381.684 [Micromodem](INFO): Nmea in: $SNTTA,0.048248,,,,070941.95*45

2021-02-16T07:09:41.706Z,1613459381.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.660004 m, bearing: 129.837989 deg, deltaT: 4.470100 s, approachRate: 0.590591 m/s, LOS rate: 3.393712 deg/s, posRepo size: 4
2021-02-16T07:09:44.177Z,1613459384.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:44.896Z,1613459384.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:45.303Z,1613459385.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:46.135Z,1613459386.135 [Micromodem](INFO): Nmea in: $SNTTA,0.050161,,,,070946.39*45

2021-02-16T07:09:46.163Z,1613459386.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.600006 m, bearing: 118.477814 deg, deltaT: 4.396741 s, approachRate: 0.668678 m/s, LOS rate: -2.583772 deg/s, posRepo size: 4
2021-02-16T07:09:48.566Z,1613459388.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:49.342Z,1613459389.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:49.751Z,1613459389.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:50.579Z,1613459390.579 [Micromodem](INFO): Nmea in: $SNTTA,0.052097,,,,070950.84*4E

2021-02-16T07:09:50.603Z,1613459390.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.480003 m, bearing: 130.551689 deg, deltaT: 4.489011 s, approachRate: 0.641566 m/s, LOS rate: 2.689652 deg/s, posRepo size: 4
2021-02-16T07:09:53.042Z,1613459393.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:53.812Z,1613459393.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:54.314Z,1613459394.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:55.043Z,1613459395.043 [Micromodem](INFO): Nmea in: $SNTTA,0.054004,,0.068322,,070955.31*5A

2021-02-16T07:09:55.068Z,1613459395.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 121.695557 deg, deltaT: 4.407930 s, approachRate: 0.626143 m/s, LOS rate: -2.009136 deg/s, posRepo size: 4
2021-02-16T07:09:55.435Z,1613459395.435 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T07:09:57.468Z,1613459397.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:09:58.298Z,1613459398.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:09:58.647Z,1613459398.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:09:59.856Z,1613459399.856 [Micromodem](INFO): Nmea in: $SNTTA,0.055817,,,,070959.79*42

2021-02-16T07:10:00.321Z,1613459400.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:01.880Z,1613459401.880 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:10:03.112Z,1613459403.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:03.896Z,1613459403.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:04.327Z,1613459404.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:05.128Z,1613459405.128 [Micromodem](INFO): Nmea in: $SNTTA,0.058209,,0.060972,,071005.39*5B

2021-02-16T07:10:05.174Z,1613459405.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 115.467626 deg, deltaT: 10.111281 s, approachRate: 0.652736 m/s, LOS rate: -0.615939 deg/s, posRepo size: 4
2021-02-16T07:10:07.559Z,1613459407.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:08.340Z,1613459408.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:08.750Z,1613459408.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:09.576Z,1613459409.576 [Micromodem](INFO): Nmea in: $SNTTA,0.060176,,,,071009.83*42

2021-02-16T07:10:09.606Z,1613459409.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 110.209153 deg, deltaT: 4.521864 s, approachRate: 0.597100 m/s, LOS rate: -1.162900 deg/s, posRepo size: 4
2021-02-16T07:10:12.001Z,1613459412.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:12.805Z,1613459412.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:13.196Z,1613459413.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:14.042Z,1613459414.042 [Micromodem](INFO): Nmea in: $SNTTA,0.062268,,,,071014.30*48

2021-02-16T07:10:14.067Z,1613459414.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 119.971002 deg, deltaT: 4.348224 s, approachRate: 0.758929 m/s, LOS rate: 2.245020 deg/s, posRepo size: 4
2021-02-16T07:10:16.452Z,1613459416.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:17.246Z,1613459417.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:17.641Z,1613459417.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:18.471Z,1613459418.471 [Micromodem](INFO): Nmea in: $SNTTA,0.064142,0.083090,,,071018.74*55

2021-02-16T07:10:18.496Z,1613459418.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.420006 m, bearing: 118.487021 deg, deltaT: 4.458725 s, approachRate: 0.578643 m/s, LOS rate: -0.332826 deg/s, posRepo size: 4
2021-02-16T07:10:20.909Z,1613459420.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:21.672Z,1613459421.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:22.083Z,1613459422.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:22.905Z,1613459422.905 [Micromodem](INFO): Nmea in: $SNTTA,0.066118,,0.069243,,071023.17*5D

2021-02-16T07:10:22.930Z,1613459422.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 124.806230 deg, deltaT: 4.435373 s, approachRate: 0.662853 m/s, LOS rate: 1.424730 deg/s, posRepo size: 4
2021-02-16T07:10:25.358Z,1613459425.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:26.117Z,1613459426.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:26.523Z,1613459426.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:27.344Z,1613459427.344 [Micromodem](INFO): Nmea in: $SNTTA,0.067990,,,,071027.61*45

2021-02-16T07:10:27.382Z,1613459427.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 122.689595 deg, deltaT: 4.460093 s, approachRate: 0.632274 m/s, LOS rate: -0.474572 deg/s, posRepo size: 4
2021-02-16T07:10:29.817Z,1613459429.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:30.567Z,1613459430.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:30.966Z,1613459430.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:31.822Z,1613459431.822 [Micromodem](INFO): Nmea in: $SNTTA,0.069939,,,,071032.06*4D

2021-02-16T07:10:31.846Z,1613459431.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 123.853296 deg, deltaT: 4.444203 s, approachRate: 0.634533 m/s, LOS rate: 0.261847 deg/s, posRepo size: 4
2021-02-16T07:10:34.276Z,1613459434.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:35.005Z,1613459435.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:35.421Z,1613459435.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:36.259Z,1613459436.259 [Micromodem](INFO): Nmea in: $SNTTA,0.071858,,,,071036.50*45

2021-02-16T07:10:36.308Z,1613459436.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 123.482853 deg, deltaT: 4.440348 s, approachRate: 0.689135 m/s, LOS rate: -0.083426 deg/s, posRepo size: 4
2021-02-16T07:10:38.671Z,1613459438.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:39.465Z,1613459439.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:39.853Z,1613459439.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:40.689Z,1613459440.689 [Micromodem](INFO): Nmea in: $SNTTA,0.073919,,,,071040.96*48

2021-02-16T07:10:40.734Z,1613459440.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 118.259330 deg, deltaT: 4.471347 s, approachRate: 0.670940 m/s, LOS rate: -1.168221 deg/s, posRepo size: 4
2021-02-16T07:10:43.122Z,1613459443.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:43.901Z,1613459443.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:44.309Z,1613459444.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:45.128Z,1613459445.128 [Micromodem](INFO): Nmea in: $SNTTA,0.075766,,,,071045.40*46

2021-02-16T07:10:45.176Z,1613459445.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.000008 m, bearing: 132.101992 deg, deltaT: 4.404852 s, approachRate: 0.667446 m/s, LOS rate: 3.142594 deg/s, posRepo size: 4
2021-02-16T07:10:47.577Z,1613459447.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:48.336Z,1613459448.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:48.747Z,1613459448.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:49.571Z,1613459449.571 [Micromodem](INFO): Nmea in: $SNTTA,0.077583,,,,071049.83*4E

2021-02-16T07:10:49.595Z,1613459449.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 117.882317 deg, deltaT: 4.547280 s, approachRate: 0.540983 m/s, LOS rate: -3.127073 deg/s, posRepo size: 4
2021-02-16T07:10:51.998Z,1613459451.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:52.821Z,1613459452.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:53.193Z,1613459453.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:54.026Z,1613459454.026 [Micromodem](INFO): Nmea in: $SNTTA,0.079343,,,,071054.32*4C

2021-02-16T07:10:54.079Z,1613459454.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.280006 m, bearing: 113.839692 deg, deltaT: 4.341687 s, approachRate: 0.649517 m/s, LOS rate: -0.931118 deg/s, posRepo size: 4
2021-02-16T07:10:56.460Z,1613459456.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:10:57.264Z,1613459457.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:10:57.655Z,1613459457.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:10:58.475Z,1613459458.475 [Micromodem](INFO): Nmea in: $SNTTA,0.081274,,,,071058.76*42

2021-02-16T07:10:58.499Z,1613459458.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 114.821409 deg, deltaT: 4.461190 s, approachRate: 0.632117 m/s, LOS rate: 0.220057 deg/s, posRepo size: 4
2021-02-16T07:11:00.900Z,1613459460.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:01.669Z,1613459461.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:02.090Z,1613459462.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:02.896Z,1613459462.896 [Micromodem](INFO): Nmea in: $SNTTA,0.083205,,,,071103.16*4F

2021-02-16T07:11:02.958Z,1613459462.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 113.902161 deg, deltaT: 4.448410 s, approachRate: 0.647422 m/s, LOS rate: -0.206646 deg/s, posRepo size: 4
2021-02-16T07:11:05.345Z,1613459465.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:06.124Z,1613459466.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:06.517Z,1613459466.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:07.348Z,1613459467.348 [Micromodem](INFO): Nmea in: $SNTTA,0.085094,,,,071107.62*44

2021-02-16T07:11:07.372Z,1613459467.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 114.034229 deg, deltaT: 4.418576 s, approachRate: 0.638216 m/s, LOS rate: 0.029889 deg/s, posRepo size: 4
2021-02-16T07:11:09.816Z,1613459469.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:10.561Z,1613459470.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:10.962Z,1613459470.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:11.816Z,1613459471.816 [Micromodem](INFO): Nmea in: $SNTTA,0.086926,,,,071112.05*42

2021-02-16T07:11:11.841Z,1613459471.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.559998 m, bearing: 114.707522 deg, deltaT: 4.478122 s, approachRate: 0.616329 m/s, LOS rate: 0.150352 deg/s, posRepo size: 4
2021-02-16T07:11:14.282Z,1613459474.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:15.000Z,1613459475.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:15.415Z,1613459475.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:16.252Z,1613459476.252 [Micromodem](INFO): Nmea in: $SNTTA,0.088968,,,,071116.49*4A

2021-02-16T07:11:16.302Z,1613459476.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.619995 m, bearing: 114.817106 deg, deltaT: 4.422031 s, approachRate: 0.691989 m/s, LOS rate: 0.024781 deg/s, posRepo size: 4
2021-02-16T07:11:18.693Z,1613459478.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:19.461Z,1613459479.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:19.855Z,1613459479.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:20.687Z,1613459480.687 [Micromodem](INFO): Nmea in: $SNTTA,0.090905,,,,071120.95*4C

2021-02-16T07:11:20.706Z,1613459480.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.500000 m, bearing: 116.040092 deg, deltaT: 4.455622 s, approachRate: 0.646375 m/s, LOS rate: 0.274482 deg/s, posRepo size: 4
2021-02-16T07:11:23.131Z,1613459483.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:23.893Z,1613459483.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:24.299Z,1613459484.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:25.136Z,1613459485.136 [Micromodem](INFO): Nmea in: $SNTTA,0.092770,,,,071125.39*41

2021-02-16T07:11:25.165Z,1613459485.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.259995 m, bearing: 114.673330 deg, deltaT: 4.435984 s, approachRate: 0.622183 m/s, LOS rate: -0.308108 deg/s, posRepo size: 4
2021-02-16T07:11:27.562Z,1613459487.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:28.332Z,1613459488.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:28.760Z,1613459488.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:29.564Z,1613459489.564 [Micromodem](INFO): Nmea in: $SNTTA,0.094809,,,,071129.83*4B

2021-02-16T07:11:29.570Z,1613459489.570 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:11:29.621Z,1613459489.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 115.219158 deg, deltaT: 4.431735 s, approachRate: 0.717554 m/s, LOS rate: 0.123163 deg/s, posRepo size: 4
2021-02-16T07:11:32.010Z,1613459492.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:32.802Z,1613459492.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:33.193Z,1613459493.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:34.020Z,1613459494.020 [Micromodem](INFO): Nmea in: $SNTTA,0.096629,,,,071134.30*41

2021-02-16T07:11:34.065Z,1613459494.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 111.657214 deg, deltaT: 4.472384 s, approachRate: 0.590289 m/s, LOS rate: -0.796431 deg/s, posRepo size: 4
2021-02-16T07:11:36.437Z,1613459496.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:37.234Z,1613459497.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:37.625Z,1613459497.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:38.456Z,1613459498.456 [Micromodem](INFO): Nmea in: $SNTTA,0.098579,,,,071138.73*42

2021-02-16T07:11:38.480Z,1613459498.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 110.403403 deg, deltaT: 4.432421 s, approachRate: 0.676831 m/s, LOS rate: -0.282873 deg/s, posRepo size: 4
2021-02-16T07:11:40.901Z,1613459500.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:41.666Z,1613459501.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:42.075Z,1613459502.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:42.896Z,1613459502.896 [Micromodem](INFO): Nmea in: $SNTTA,0.100622,,,,071143.16*40

2021-02-16T07:11:42.957Z,1613459502.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 113.952383 deg, deltaT: 4.441052 s, approachRate: 0.675512 m/s, LOS rate: 0.799130 deg/s, posRepo size: 4
2021-02-16T07:11:42.957Z,1613459502.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.08 m. Resuming terminal guidance.
2021-02-16T07:11:42.958Z,1613459502.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:11:44.511Z,1613459504.511 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:11:45.329Z,1613459505.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:46.108Z,1613459506.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:46.514Z,1613459506.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:47.336Z,1613459507.336 [Micromodem](INFO): Nmea in: $SNTTA,0.102671,,,,071147.60*41

2021-02-16T07:11:47.374Z,1613459507.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.139999 m, bearing: 111.408800 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:11:47.374Z,1613459507.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 111.408800deg and heading rate command to 0 deg/s.
2021-02-16T07:11:49.378Z,1613459509.378 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T07:11:49.810Z,1613459509.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:50.558Z,1613459510.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:50.965Z,1613459510.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:51.806Z,1613459511.806 [Micromodem](INFO): Nmea in: $SNTTA,0.104725,,,,071152.05*40

2021-02-16T07:11:52.602Z,1613459512.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:54.280Z,1613459514.280 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:11:54.287Z,1613459514.287 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T07:11:55.436Z,1613459515.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:11:56.208Z,1613459516.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:11:56.613Z,1613459516.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:11:57.444Z,1613459517.444 [Micromodem](INFO): Nmea in: $SNTTA,0.107269,,,,071157.70*49

2021-02-16T07:11:57.469Z,1613459517.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.239990 m, bearing: 129.569071 deg, deltaT: 10.108961 s, approachRate: 0.801268 m/s, LOS rate: 1.796453 deg/s, posRepo size: 2
2021-02-16T07:11:57.470Z,1613459517.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 129.569071 deg,
      approachRate: 0.801268 m/s,
      LOS rate: 1.796453 deg/s,
      cmd update: 5.389358 deg/s,
      cmd heading: 111.408800 deg,
      new cmd heading: 111.408800 deg.

2021-02-16T07:11:59.467Z,1613459519.467 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T07:11:59.885Z,1613459519.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:00.652Z,1613459520.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:01.057Z,1613459521.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:01.889Z,1613459521.889 [Micromodem](INFO): Nmea in: $SNTTA,0.109326,,,,071202.14*4C

2021-02-16T07:12:02.698Z,1613459522.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:04.292Z,1613459524.292 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:12:04.320Z,1613459524.320 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T07:12:05.550Z,1613459525.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:06.315Z,1613459526.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:06.728Z,1613459526.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:07.123Z,1613459527.123 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,111,000,00D
1,187,80,80,5F,FF
2021-02-16T07:12:07.531Z,1613459527.531 [Micromodem](INFO): Nmea in: $SNTTA,0.111694,,,,071207.81*40

2021-02-16T07:12:08.368Z,1613459528.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:09.568Z,1613459529.568 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T07:12:11.195Z,1613459531.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:14.037Z,1613459534.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:14.806Z,1613459534.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:15.202Z,1613459535.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:16.028Z,1613459536.028 [Micromodem](INFO): Nmea in: $SNTTA,0.114246,,,,071216.30*44

2021-02-16T07:12:16.053Z,1613459536.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.420013 m, bearing: 163.610611 deg, deltaT: 18.598088 s, approachRate: 0.493600 m/s, LOS rate: 1.830378 deg/s, posRepo size: 3
2021-02-16T07:12:16.054Z,1613459536.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.420013 m,
      bearing: 163.610611 deg,
      approachRate: 0.493600 m/s,
      LOS rate: 1.830378 deg/s,
      cmd update: 5.491135 deg/s,
      cmd heading: 211.705840 deg,
      new cmd heading: 213.783427 deg.

2021-02-16T07:12:18.458Z,1613459538.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:19.301Z,1613459539.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:19.334Z,1613459539.334 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T07:12:19.642Z,1613459539.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:20.877Z,1613459540.877 [Micromodem](INFO): Nmea in: $SNTTA,0.114958,,0.121297,,071220.79*58

2021-02-16T07:12:20.901Z,1613459540.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.379990 m, bearing: 247.084361 deg, deltaT: 4.850608 s, approachRate: 0.197908 m/s, LOS rate: 17.208925 deg/s, posRepo size: 4
2021-02-16T07:12:20.902Z,1613459540.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.208925 deg/s. Setting heading cmd to target bearing of 247.084361deg and heading rate command to 0 deg/s.
2021-02-16T07:12:23.327Z,1613459543.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:24.086Z,1613459544.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:24.507Z,1613459544.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:24.528Z,1613459544.528 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:12:25.312Z,1613459545.312 [Micromodem](INFO): Nmea in: $SNTTA,0.115230,,,,071225.58*4A

2021-02-16T07:12:25.358Z,1613459545.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.379990 m, bearing: 221.696903 deg, deltaT: 4.438835 s, approachRate: 0.000000 m/s, LOS rate: -5.719397 deg/s, posRepo size: 4
2021-02-16T07:12:25.364Z,1613459545.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.379990 m,
      bearing: 221.696903 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.719397 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.084361 deg,
      new cmd heading: 247.084361 deg.

2021-02-16T07:12:27.780Z,1613459547.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:28.545Z,1613459548.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:28.964Z,1613459548.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:29.776Z,1613459549.776 [Micromodem](INFO): Nmea in: $SNTTA,0.115444,,,,071230.04*42

2021-02-16T07:12:29.819Z,1613459549.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.379990 m, bearing: 275.166192 deg, deltaT: 4.438592 s, approachRate: 0.000000 m/s, LOS rate: 12.046452 deg/s, posRepo size: 4
2021-02-16T07:12:29.820Z,1613459549.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.046452 deg/s. Setting heading cmd to target bearing of 275.166192deg and heading rate command to 0 deg/s.
2021-02-16T07:12:32.220Z,1613459552.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:32.981Z,1613459552.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:33.383Z,1613459553.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:34.213Z,1613459554.213 [Micromodem](INFO): Nmea in: $SNTTA,0.114064,,,,071234.47*46

2021-02-16T07:12:34.300Z,1613459554.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 258.423868 deg, deltaT: 4.466812 s, approachRate: -0.322375 m/s, LOS rate: -3.748159 deg/s, posRepo size: 4
2021-02-16T07:12:34.301Z,1613459554.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.940002 m,
      bearing: 258.423868 deg,
      approachRate: -0.322375 m/s,
      LOS rate: -3.748159 deg/s,
      cmd update: -11.244478 deg/s,
      cmd heading: 275.166192 deg,
      new cmd heading: 275.166192 deg.

2021-02-16T07:12:36.650Z,1613459556.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:37.416Z,1613459557.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:37.828Z,1613459557.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:38.668Z,1613459558.668 [Micromodem](INFO): Nmea in: $SNTTA,0.113461,,,,071238.91*47

2021-02-16T07:12:38.701Z,1613459558.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 176.562999 deg, deltaT: 4.429380 s, approachRate: -0.176097 m/s, LOS rate: -18.481338 deg/s, posRepo size: 4
2021-02-16T07:12:38.701Z,1613459558.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.481338 deg/s. Setting heading cmd to target bearing of 176.562999deg and heading rate command to 0 deg/s.
2021-02-16T07:12:41.085Z,1613459561.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:41.864Z,1613459561.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:42.283Z,1613459562.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:43.095Z,1613459563.095 [Micromodem](INFO): Nmea in: $SNTTA,0.112921,,,,071243.36*4E

2021-02-16T07:12:43.120Z,1613459563.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.260010 m, bearing: 276.449803 deg, deltaT: 4.406983 s, approachRate: -0.204220 m/s, LOS rate: 22.665575 deg/s, posRepo size: 4
2021-02-16T07:12:43.121Z,1613459563.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.665575 deg/s. Setting heading cmd to target bearing of 276.449803deg and heading rate command to 0 deg/s.
2021-02-16T07:12:45.525Z,1613459565.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:46.304Z,1613459566.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:46.715Z,1613459566.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:47.540Z,1613459567.540 [Micromodem](INFO): Nmea in: $SNTTA,0.112130,,,,071247.80*4F

2021-02-16T07:12:47.564Z,1613459567.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.300003 m, bearing: 193.875835 deg, deltaT: 4.472582 s, approachRate: -0.214643 m/s, LOS rate: -18.462259 deg/s, posRepo size: 4
2021-02-16T07:12:47.565Z,1613459567.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.462259 deg/s. Setting heading cmd to target bearing of 193.875835deg and heading rate command to 0 deg/s.
2021-02-16T07:12:49.974Z,1613459569.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:50.753Z,1613459570.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:51.158Z,1613459571.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:51.983Z,1613459571.983 [Micromodem](INFO): Nmea in: $SNTTA,0.111805,,,,071252.24*49

2021-02-16T07:12:52.012Z,1613459572.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.700012 m, bearing: 164.049792 deg, deltaT: 4.430230 s, approachRate: -0.135431 m/s, LOS rate: -6.732392 deg/s, posRepo size: 4
2021-02-16T07:12:52.014Z,1613459572.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.700012 m,
      bearing: 164.049792 deg,
      approachRate: -0.135431 m/s,
      LOS rate: -6.732392 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 193.875835 deg,
      new cmd heading: 193.875835 deg.

2021-02-16T07:12:54.410Z,1613459574.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:12:55.272Z,1613459575.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:12:55.600Z,1613459575.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:12:56.835Z,1613459576.835 [Micromodem](INFO): Nmea in: $SNTTA,0.111787,,,,071256.76*4F

2021-02-16T07:12:56.861Z,1613459576.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.700012 m, bearing: 259.657236 deg, deltaT: 4.882188 s, approachRate: 0.000000 m/s, LOS rate: 19.582909 deg/s, posRepo size: 4
2021-02-16T07:12:56.861Z,1613459576.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.582909 deg/s. Setting heading cmd to target bearing of 259.657236deg and heading rate command to 0 deg/s.
2021-02-16T07:12:59.329Z,1613459579.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:00.044Z,1613459580.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:00.459Z,1613459580.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:01.288Z,1613459581.288 [Micromodem](INFO): Nmea in: $SNTTA,0.112411,,,,071301.54*43

2021-02-16T07:13:01.332Z,1613459581.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.700012 m, bearing: 226.601744 deg, deltaT: 4.399844 s, approachRate: 0.000000 m/s, LOS rate: -7.512879 deg/s, posRepo size: 4
2021-02-16T07:13:01.334Z,1613459581.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.700012 m,
      bearing: 226.601744 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.512879 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 259.657236 deg,
      new cmd heading: 259.657236 deg.

2021-02-16T07:13:03.708Z,1613459583.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:04.486Z,1613459584.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:04.902Z,1613459584.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:05.716Z,1613459585.716 [Micromodem](INFO): Nmea in: $SNTTA,0.113554,,,,071305.98*46

2021-02-16T07:13:05.756Z,1613459585.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.400009 m, bearing: 188.626001 deg, deltaT: 4.452519 s, approachRate: 0.606398 m/s, LOS rate: -8.529047 deg/s, posRepo size: 4
2021-02-16T07:13:05.758Z,1613459585.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 188.626001 deg,
      approachRate: 0.606398 m/s,
      LOS rate: -8.529047 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 206.214983 deg,
      new cmd heading: 201.214967 deg.

2021-02-16T07:13:08.148Z,1613459588.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:08.928Z,1613459588.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:09.334Z,1613459589.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:10.165Z,1613459590.165 [Micromodem](INFO): Nmea in: $SNTTA,0.114856,,,,071310.42*4D

2021-02-16T07:13:10.244Z,1613459590.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.400009 m, bearing: 179.686417 deg, deltaT: 4.458829 s, approachRate: 0.000000 m/s, LOS rate: -2.004917 deg/s, posRepo size: 4
2021-02-16T07:13:10.260Z,1613459590.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 179.686417 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.004917 deg/s,
      cmd update: -6.014752 deg/s,
      cmd heading: 153.112846 deg,
      new cmd heading: 147.510886 deg.

2021-02-16T07:13:12.620Z,1613459592.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:13.377Z,1613459593.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:13.810Z,1613459593.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:14.612Z,1613459594.612 [Micromodem](INFO): Nmea in: $SNTTA,0.115812,,,,071314.87*41

2021-02-16T07:13:14.656Z,1613459594.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.239990 m, bearing: 220.246266 deg, deltaT: 4.477456 s, approachRate: 0.857626 m/s, LOS rate: 9.058682 deg/s, posRepo size: 4
2021-02-16T07:13:14.658Z,1613459594.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.239990 m,
      bearing: 220.246266 deg,
      approachRate: 0.857626 m/s,
      LOS rate: 9.058682 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.086335 deg,
      new cmd heading: 123.694280 deg.

2021-02-16T07:13:17.046Z,1613459597.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:17.820Z,1613459597.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:18.241Z,1613459598.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:19.048Z,1613459599.048 [Micromodem](INFO): Nmea in: $SNTTA,0.116924,,,,071319.31*46

2021-02-16T07:13:19.087Z,1613459599.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.500015 m, bearing: 181.679344 deg, deltaT: 4.394282 s, approachRate: 0.286742 m/s, LOS rate: -8.776615 deg/s, posRepo size: 4
2021-02-16T07:13:19.089Z,1613459599.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 181.679344 deg,
      approachRate: 0.286742 m/s,
      LOS rate: -8.776615 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 179.013332 deg,
      new cmd heading: 184.029896 deg.

2021-02-16T07:13:21.498Z,1613459601.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:22.277Z,1613459602.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:22.666Z,1613459602.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:23.489Z,1613459603.489 [Micromodem](INFO): Nmea in: $SNTTA,0.118674,,,,071323.77*49

2021-02-16T07:13:23.931Z,1613459603.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.080002 m, bearing: 148.645899 deg, deltaT: 4.842840 s, approachRate: 0.532743 m/s, LOS rate: -6.821090 deg/s, posRepo size: 4
2021-02-16T07:13:23.933Z,1613459603.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.080002 m,
      bearing: 148.645899 deg,
      approachRate: 0.532743 m/s,
      LOS rate: -6.821090 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 120.882079 deg,
      new cmd heading: 115.878318 deg.

2021-02-16T07:13:26.337Z,1613459606.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:27.116Z,1613459607.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:27.514Z,1613459607.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:28.332Z,1613459608.332 [Micromodem](INFO): Nmea in: $SNTTA,0.120550,,,,071328.61*4B

2021-02-16T07:13:28.758Z,1613459608.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.900009 m, bearing: 132.081365 deg, deltaT: 4.843814 s, approachRate: 0.582187 m/s, LOS rate: -3.419730 deg/s, posRepo size: 4
2021-02-16T07:13:28.760Z,1613459608.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.900009 m,
      bearing: 132.081365 deg,
      approachRate: 0.582187 m/s,
      LOS rate: -3.419730 deg/s,
      cmd update: -10.259188 deg/s,
      cmd heading: 62.762309 deg,
      new cmd heading: 57.950297 deg.

2021-02-16T07:13:31.190Z,1613459611.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:31.975Z,1613459611.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:32.368Z,1613459612.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:33.193Z,1613459613.193 [Micromodem](INFO): Nmea in: $SNTTA,0.122591,,,,071333.47*4A

2021-02-16T07:13:33.619Z,1613459613.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.079987 m, bearing: 143.367952 deg, deltaT: 4.910384 s, approachRate: 0.647603 m/s, LOS rate: 2.298514 deg/s, posRepo size: 4
2021-02-16T07:13:33.621Z,1613459613.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.079987 m,
      bearing: 143.367952 deg,
      approachRate: 0.647603 m/s,
      LOS rate: 2.298514 deg/s,
      cmd update: 6.895542 deg/s,
      cmd heading: 12.445474 deg,
      new cmd heading: 8.774982 deg.

2021-02-16T07:13:36.024Z,1613459616.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:36.815Z,1613459616.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:37.216Z,1613459617.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:38.029Z,1613459618.029 [Micromodem](INFO): Nmea in: $SNTTA,0.124677,,,,071338.31*4D

2021-02-16T07:13:38.463Z,1613459618.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.259995 m, bearing: 133.705707 deg, deltaT: 4.786813 s, approachRate: 0.664327 m/s, LOS rate: -2.018513 deg/s, posRepo size: 4
2021-02-16T07:13:38.465Z,1613459618.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.259995 m,
      bearing: 133.705707 deg,
      approachRate: 0.664327 m/s,
      LOS rate: -2.018513 deg/s,
      cmd update: -6.055540 deg/s,
      cmd heading: 45.494001 deg,
      new cmd heading: 48.312691 deg.

2021-02-16T07:13:40.898Z,1613459620.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:41.652Z,1613459621.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:42.058Z,1613459622.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:42.871Z,1613459622.871 [Micromodem](INFO): Nmea in: $SNTTA,0.126554,,,,071343.14*46

2021-02-16T07:13:43.338Z,1613459623.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.959991 m, bearing: 107.258552 deg, deltaT: 4.870903 s, approachRate: 0.554311 m/s, LOS rate: -5.429620 deg/s, posRepo size: 4
2021-02-16T07:13:43.340Z,1613459623.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.959991 m,
      bearing: 107.258552 deg,
      approachRate: 0.554311 m/s,
      LOS rate: -5.429620 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 16.024335 deg,
      new cmd heading: 13.495057 deg.

2021-02-16T07:13:45.713Z,1613459625.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:46.506Z,1613459626.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:46.914Z,1613459626.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:47.727Z,1613459627.727 [Micromodem](INFO): Nmea in: $SNTTA,0.128220,,,,071348.00*42

2021-02-16T07:13:48.152Z,1613459628.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.359985 m, bearing: 71.598845 deg, deltaT: 4.861353 s, approachRate: 0.493688 m/s, LOS rate: -7.335347 deg/s, posRepo size: 4
2021-02-16T07:13:48.154Z,1613459628.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.359985 m,
      bearing: 71.598845 deg,
      approachRate: 0.493688 m/s,
      LOS rate: -7.335347 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 317.967709 deg,
      new cmd heading: 313.248865 deg.

2021-02-16T07:13:50.570Z,1613459630.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:51.354Z,1613459631.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:51.758Z,1613459631.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:52.592Z,1613459632.592 [Micromodem](INFO): Nmea in: $SNTTA,0.129313,,,,071352.85*44

2021-02-16T07:13:53.015Z,1613459633.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.979996 m, bearing: 37.659225 deg, deltaT: 4.854007 s, approachRate: 0.333747 m/s, LOS rate: -6.992083 deg/s, posRepo size: 4
2021-02-16T07:13:53.017Z,1613459633.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.979996 m,
      bearing: 37.659225 deg,
      approachRate: 0.333747 m/s,
      LOS rate: -6.992083 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 259.431156 deg,
      new cmd heading: 254.892372 deg.

2021-02-16T07:13:55.422Z,1613459635.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:13:56.200Z,1613459636.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:13:56.610Z,1613459636.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:13:57.430Z,1613459637.430 [Micromodem](INFO): Nmea in: $SNTTA,0.129825,,,,071357.72*47

2021-02-16T07:13:57.884Z,1613459637.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 14.625086 deg, deltaT: 4.831280 s, approachRate: 0.161451 m/s, LOS rate: -4.767709 deg/s, posRepo size: 4
2021-02-16T07:13:57.891Z,1613459637.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.760010 m,
      bearing: 14.625086 deg,
      approachRate: 0.161451 m/s,
      LOS rate: -4.767709 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 201.408178 deg,
      new cmd heading: 196.516786 deg.

2021-02-16T07:14:00.306Z,1613459640.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:01.064Z,1613459641.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:01.450Z,1613459641.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:02.317Z,1613459642.317 [Micromodem](INFO): Nmea in: $SNTTA,0.129826,,,,071402.56*45

2021-02-16T07:14:02.702Z,1613459642.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 342.484263 deg, deltaT: 4.869830 s, approachRate: 0.000000 m/s, LOS rate: -6.599986 deg/s, posRepo size: 4
2021-02-16T07:14:02.704Z,1613459642.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.760010 m,
      bearing: 342.484263 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.599986 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.970012 deg,
      new cmd heading: 138.643964 deg.

2021-02-16T07:14:05.124Z,1613459645.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:05.898Z,1613459645.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:06.298Z,1613459646.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:07.113Z,1613459647.113 [Micromodem](INFO): Nmea in: $SNTTA,0.130202,,,,071407.39*4D

2021-02-16T07:14:07.543Z,1613459647.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 13.854165 deg, deltaT: 4.833618 s, approachRate: 0.136538 m/s, LOS rate: 6.489942 deg/s, posRepo size: 4
2021-02-16T07:14:07.545Z,1613459647.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.419983 m,
      bearing: 13.854165 deg,
      approachRate: 0.136538 m/s,
      LOS rate: 6.489942 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 85.038786 deg,
      new cmd heading: 80.551806 deg.

2021-02-16T07:14:09.959Z,1613459649.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:10.740Z,1613459650.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:11.146Z,1613459651.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:11.961Z,1613459651.961 [Micromodem](INFO): Nmea in: $SNTTA,0.131157,,,,071412.23*40

2021-02-16T07:14:12.403Z,1613459652.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.860001 m, bearing: 48.315150 deg, deltaT: 4.811183 s, approachRate: 0.299306 m/s, LOS rate: 7.162684 deg/s, posRepo size: 4
2021-02-16T07:14:12.405Z,1613459652.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.860001 m,
      bearing: 48.315150 deg,
      approachRate: 0.299306 m/s,
      LOS rate: 7.162684 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 142.842248 deg,
      new cmd heading: 147.839696 deg.

2021-02-16T07:14:14.868Z,1613459654.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:15.588Z,1613459655.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:15.994Z,1613459655.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:16.814Z,1613459656.814 [Micromodem](INFO): Nmea in: $SNTTA,0.132591,,,,071417.08*41

2021-02-16T07:14:17.283Z,1613459657.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.139984 m, bearing: 94.688094 deg, deltaT: 4.876623 s, approachRate: 0.467533 m/s, LOS rate: 9.509233 deg/s, posRepo size: 4
2021-02-16T07:14:17.285Z,1613459657.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.139984 m,
      bearing: 94.688094 deg,
      approachRate: 0.467533 m/s,
      LOS rate: 9.509233 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 201.364198 deg,
      new cmd heading: 206.352766 deg.

2021-02-16T07:14:19.669Z,1613459659.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:20.454Z,1613459660.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:20.843Z,1613459660.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:21.679Z,1613459661.679 [Micromodem](INFO): Nmea in: $SNTTA,0.134326,,,,071421.95*4C

2021-02-16T07:14:22.097Z,1613459662.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.659988 m, bearing: 140.277455 deg, deltaT: 4.831130 s, approachRate: 0.521618 m/s, LOS rate: 9.436583 deg/s, posRepo size: 4
2021-02-16T07:14:22.098Z,1613459662.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.659988 m,
      bearing: 140.277455 deg,
      approachRate: 0.521618 m/s,
      LOS rate: 9.436583 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.336008 deg,
      new cmd heading: 264.169284 deg.

2021-02-16T07:14:24.506Z,1613459664.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:25.284Z,1613459665.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:25.693Z,1613459665.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:26.526Z,1613459666.526 [Micromodem](INFO): Nmea in: $SNTTA,0.136353,,,,071426.78*48

2021-02-16T07:14:26.949Z,1613459666.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.719986 m, bearing: 146.781216 deg, deltaT: 4.856874 s, approachRate: 0.630034 m/s, LOS rate: 1.339084 deg/s, posRepo size: 4
2021-02-16T07:14:26.950Z,1613459666.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.719986 m,
      bearing: 146.781216 deg,
      approachRate: 0.630034 m/s,
      LOS rate: 1.339084 deg/s,
      cmd update: 4.017251 deg/s,
      cmd heading: 317.620586 deg,
      new cmd heading: 322.393334 deg.

2021-02-16T07:14:29.452Z,1613459669.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:30.133Z,1613459670.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:30.552Z,1613459670.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:31.351Z,1613459671.351 [Micromodem](INFO): Nmea in: $SNTTA,0.138554,,,,071431.63*4B

2021-02-16T07:14:31.822Z,1613459671.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.539993 m, bearing: 190.919346 deg, deltaT: 4.853270 s, approachRate: 0.581053 m/s, LOS rate: 9.094514 deg/s, posRepo size: 4
2021-02-16T07:14:31.824Z,1613459671.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.539993 m,
      bearing: 190.919346 deg,
      approachRate: 0.581053 m/s,
      LOS rate: 9.094514 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 337.003408 deg,
      new cmd heading: 338.796507 deg.

2021-02-16T07:14:34.199Z,1613459674.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:34.987Z,1613459674.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:35.398Z,1613459675.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:36.203Z,1613459676.203 [Micromodem](INFO): Nmea in: $SNTTA,0.140259,,,,071436.48*40

2021-02-16T07:14:36.635Z,1613459676.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.479980 m, bearing: 136.758036 deg, deltaT: 4.865018 s, approachRate: 0.604312 m/s, LOS rate: -11.132808 deg/s, posRepo size: 4
2021-02-16T07:14:36.637Z,1613459676.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.479980 m,
      bearing: 136.758036 deg,
      approachRate: 0.604312 m/s,
      LOS rate: -11.132808 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 35.528393 deg,
      new cmd heading: 40.114097 deg.

2021-02-16T07:14:39.051Z,1613459679.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:39.828Z,1613459679.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:40.268Z,1613459680.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:41.048Z,1613459681.048 [Micromodem](INFO): Nmea in: $SNTTA,0.142351,,,,071441.32*46

2021-02-16T07:14:41.499Z,1613459681.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.440002 m, bearing: 139.540956 deg, deltaT: 4.835699 s, approachRate: 0.818914 m/s, LOS rate: 0.575495 deg/s, posRepo size: 4
2021-02-16T07:14:41.501Z,1613459681.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.440002 m,
      bearing: 139.540956 deg,
      approachRate: 0.818914 m/s,
      LOS rate: 0.575495 deg/s,
      cmd update: 1.726484 deg/s,
      cmd heading: 337.351755 deg,
      new cmd heading: 332.771235 deg.

2021-02-16T07:14:43.913Z,1613459683.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:44.678Z,1613459684.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:45.082Z,1613459685.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:45.897Z,1613459685.897 [Micromodem](INFO): Nmea in: $SNTTA,0.144483,,,,071446.17*48

2021-02-16T07:14:46.330Z,1613459686.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.899979 m, bearing: 84.662346 deg, deltaT: 4.817357 s, approachRate: 0.510648 m/s, LOS rate: -11.391851 deg/s, posRepo size: 4
2021-02-16T07:14:46.332Z,1613459686.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.899979 m,
      bearing: 84.662346 deg,
      approachRate: 0.510648 m/s,
      LOS rate: -11.391851 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 345.675652 deg,
      new cmd heading: 346.378923 deg.

2021-02-16T07:14:48.809Z,1613459688.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:49.548Z,1613459689.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:49.934Z,1613459689.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:50.766Z,1613459690.766 [Micromodem](INFO): Nmea in: $SNTTA,0.146258,,,,071451.04*4E

2021-02-16T07:14:51.200Z,1613459691.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.539993 m, bearing: 104.845125 deg, deltaT: 4.903484 s, approachRate: 0.538396 m/s, LOS rate: 4.116008 deg/s, posRepo size: 4
2021-02-16T07:14:51.201Z,1613459691.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.539993 m,
      bearing: 104.845125 deg,
      approachRate: 0.538396 m/s,
      LOS rate: 4.116008 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 286.833710 deg,
      new cmd heading: 282.351746 deg.

2021-02-16T07:14:53.596Z,1613459693.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:54.410Z,1613459694.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:54.831Z,1613459694.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:14:55.643Z,1613459695.643 [Micromodem](INFO): Nmea in: $SNTTA,0.147905,,,,071455.90*45

2021-02-16T07:14:56.048Z,1613459696.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.939987 m, bearing: 72.243485 deg, deltaT: 4.841385 s, approachRate: 0.495725 m/s, LOS rate: -6.733949 deg/s, posRepo size: 4
2021-02-16T07:14:56.050Z,1613459696.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.939987 m,
      bearing: 72.243485 deg,
      approachRate: 0.495725 m/s,
      LOS rate: -6.733949 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 344.928819 deg,
      new cmd heading: 349.496715 deg.

2021-02-16T07:14:58.460Z,1613459698.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:14:59.251Z,1613459699.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:14:59.642Z,1613459699.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:00.458Z,1613459700.458 [Micromodem](INFO): Nmea in: $SNTTA,0.148953,,,,071500.75*43

2021-02-16T07:15:00.876Z,1613459700.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.499985 m, bearing: 28.225547 deg, deltaT: 4.836973 s, approachRate: 0.322515 m/s, LOS rate: -9.100307 deg/s, posRepo size: 4
2021-02-16T07:15:00.877Z,1613459700.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.499985 m,
      bearing: 28.225547 deg,
      approachRate: 0.322515 m/s,
      LOS rate: -9.100307 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.886138 deg,
      new cmd heading: 282.428486 deg.

2021-02-16T07:15:03.326Z,1613459703.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:04.072Z,1613459704.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:04.591Z,1613459704.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:05.292Z,1613459705.292 [Micromodem](INFO): Nmea in: $SNTTA,0.149231,,,,071505.56*49

2021-02-16T07:15:05.768Z,1613459705.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.859985 m, bearing: 9.805621 deg, deltaT: 4.812286 s, approachRate: 0.074809 m/s, LOS rate: -3.827687 deg/s, posRepo size: 4
2021-02-16T07:15:05.774Z,1613459705.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.859985 m,
      bearing: 9.805621 deg,
      approachRate: 0.074809 m/s,
      LOS rate: -3.827687 deg/s,
      cmd update: -11.483061 deg/s,
      cmd heading: 229.136184 deg,
      new cmd heading: 223.797756 deg.

2021-02-16T07:15:08.153Z,1613459708.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:08.927Z,1613459708.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:09.331Z,1613459709.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:10.142Z,1613459710.142 [Micromodem](INFO): Nmea in: $SNTTA,0.148964,,,,071510.42*42

2021-02-16T07:15:10.571Z,1613459710.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.380005 m, bearing: 15.449668 deg, deltaT: 4.881635 s, approachRate: -0.098324 m/s, LOS rate: 1.156180 deg/s, posRepo size: 4
2021-02-16T07:15:10.573Z,1613459710.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.380005 m,
      bearing: 15.449668 deg,
      approachRate: -0.098324 m/s,
      LOS rate: 1.156180 deg/s,
      cmd update: 3.468539 deg/s,
      cmd heading: 173.126567 deg,
      new cmd heading: 168.797303 deg.

2021-02-16T07:15:12.997Z,1613459712.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:13.798Z,1613459713.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:14.192Z,1613459714.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:15.015Z,1613459715.015 [Micromodem](INFO): Nmea in: $SNTTA,0.147599,,,,071515.29*4B

2021-02-16T07:15:15.435Z,1613459715.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.279984 m, bearing: 302.591013 deg, deltaT: 4.841580 s, approachRate: -0.433747 m/s, LOS rate: -15.048529 deg/s, posRepo size: 4
2021-02-16T07:15:15.436Z,1613459715.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.048529 deg/s. Setting heading cmd to target bearing of 302.591013deg and heading rate command to 0 deg/s.
2021-02-16T07:15:17.854Z,1613459717.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:18.616Z,1613459718.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:19.034Z,1613459719.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:19.851Z,1613459719.851 [Micromodem](INFO): Nmea in: $SNTTA,0.146897,,,,071520.11*44

2021-02-16T07:15:20.303Z,1613459720.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.259979 m, bearing: 317.414901 deg, deltaT: 4.853758 s, approachRate: -0.210147 m/s, LOS rate: 3.054105 deg/s, posRepo size: 4
2021-02-16T07:15:20.305Z,1613459720.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.259979 m,
      bearing: 317.414901 deg,
      approachRate: -0.210147 m/s,
      LOS rate: 3.054105 deg/s,
      cmd update: 9.162315 deg/s,
      cmd heading: 302.591013 deg,
      new cmd heading: 302.591013 deg.

2021-02-16T07:15:22.715Z,1613459722.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:23.472Z,1613459723.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:23.870Z,1613459723.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:24.698Z,1613459724.698 [Micromodem](INFO): Nmea in: $SNTTA,0.145796,,,,071524.96*42

2021-02-16T07:15:25.116Z,1613459725.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.639999 m, bearing: 300.108349 deg, deltaT: 4.844270 s, approachRate: -0.334412 m/s, LOS rate: -3.572582 deg/s, posRepo size: 4
2021-02-16T07:15:25.118Z,1613459725.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.639999 m,
      bearing: 300.108349 deg,
      approachRate: -0.334412 m/s,
      LOS rate: -3.572582 deg/s,
      cmd update: -10.717747 deg/s,
      cmd heading: 346.938168 deg,
      new cmd heading: 350.439190 deg.

2021-02-16T07:15:27.531Z,1613459727.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:28.330Z,1613459728.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:28.724Z,1613459728.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:29.556Z,1613459729.556 [Micromodem](INFO): Nmea in: $SNTTA,0.144224,,,,071529.82*47

2021-02-16T07:15:29.983Z,1613459729.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.359985 m, bearing: 301.937774 deg, deltaT: 4.842614 s, approachRate: -0.470823 m/s, LOS rate: 0.377776 deg/s, posRepo size: 4
2021-02-16T07:15:29.985Z,1613459729.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.359985 m,
      bearing: 301.937774 deg,
      approachRate: -0.470823 m/s,
      LOS rate: 0.377776 deg/s,
      cmd update: 1.133329 deg/s,
      cmd heading: 294.995059 deg,
      new cmd heading: 290.681712 deg.

2021-02-16T07:15:32.398Z,1613459732.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:33.165Z,1613459733.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:33.571Z,1613459733.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:34.385Z,1613459734.385 [Micromodem](INFO): Nmea in: $SNTTA,0.142433,,,,071534.66*47

2021-02-16T07:15:34.864Z,1613459734.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.359985 m, bearing: 292.616369 deg, deltaT: 4.888689 s, approachRate: -0.613661 m/s, LOS rate: -1.906729 deg/s, posRepo size: 4
2021-02-16T07:15:34.869Z,1613459734.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.359985 m,
      bearing: 292.616369 deg,
      approachRate: -0.613661 m/s,
      LOS rate: -1.906729 deg/s,
      cmd update: -5.720187 deg/s,
      cmd heading: 300.531063 deg,
      new cmd heading: 300.978283 deg.

2021-02-16T07:15:37.222Z,1613459737.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:38.008Z,1613459738.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:38.434Z,1613459738.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:39.242Z,1613459739.242 [Micromodem](INFO): Nmea in: $SNTTA,0.140091,,,,071539.50*41

2021-02-16T07:15:39.695Z,1613459739.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.939987 m, bearing: 294.192777 deg, deltaT: 4.830737 s, approachRate: -0.707966 m/s, LOS rate: 0.326329 deg/s, posRepo size: 4
2021-02-16T07:15:39.697Z,1613459739.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.939987 m,
      bearing: 294.192777 deg,
      approachRate: -0.707966 m/s,
      LOS rate: 0.326329 deg/s,
      cmd update: 0.978986 deg/s,
      cmd heading: 272.874400 deg,
      new cmd heading: 270.705059 deg.

2021-02-16T07:15:42.076Z,1613459742.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:42.858Z,1613459742.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:43.282Z,1613459743.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:44.075Z,1613459744.075 [Micromodem](INFO): Nmea in: $SNTTA,0.137722,,,,071544.35*47

2021-02-16T07:15:44.515Z,1613459744.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.399979 m, bearing: 292.710516 deg, deltaT: 4.800079 s, approachRate: -0.737490 m/s, LOS rate: -0.308799 deg/s, posRepo size: 4
2021-02-16T07:15:44.517Z,1613459744.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.399979 m,
      bearing: 292.710516 deg,
      approachRate: -0.737490 m/s,
      LOS rate: -0.308799 deg/s,
      cmd update: -0.926397 deg/s,
      cmd heading: 277.573493 deg,
      new cmd heading: 277.980254 deg.

2021-02-16T07:15:46.951Z,1613459746.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:47.704Z,1613459747.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:48.118Z,1613459748.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:48.924Z,1613459748.924 [Micromodem](INFO): Nmea in: $SNTTA,0.135427,,,,071549.20*4A

2021-02-16T07:15:49.355Z,1613459749.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.979996 m, bearing: 293.291246 deg, deltaT: 4.848925 s, approachRate: -0.705307 m/s, LOS rate: 0.119765 deg/s, posRepo size: 4
2021-02-16T07:15:49.357Z,1613459749.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.979996 m,
      bearing: 293.291246 deg,
      approachRate: -0.705307 m/s,
      LOS rate: 0.119765 deg/s,
      cmd update: 0.359294 deg/s,
      cmd heading: 273.081321 deg,
      new cmd heading: 272.705104 deg.

2021-02-16T07:15:51.838Z,1613459751.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:52.560Z,1613459752.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:52.958Z,1613459752.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:53.815Z,1613459753.815 [Micromodem](INFO): Nmea in: $SNTTA,0.133112,,,,071554.05*44

2021-02-16T07:15:54.248Z,1613459754.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.500000 m, bearing: 294.851180 deg, deltaT: 4.891638 s, approachRate: -0.711417 m/s, LOS rate: 0.318898 deg/s, posRepo size: 4
2021-02-16T07:15:54.258Z,1613459754.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.500000 m,
      bearing: 294.851180 deg,
      approachRate: -0.711417 m/s,
      LOS rate: 0.318898 deg/s,
      cmd update: 0.956694 deg/s,
      cmd heading: 274.838854 deg,
      new cmd heading: 274.981018 deg.

2021-02-16T07:15:56.654Z,1613459756.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:15:57.400Z,1613459757.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:15:57.832Z,1613459757.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:15:58.622Z,1613459758.622 [Micromodem](INFO): Nmea in: $SNTTA,0.130764,,,,071558.89*48

2021-02-16T07:15:59.072Z,1613459759.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.899979 m, bearing: 296.147850 deg, deltaT: 4.828981 s, approachRate: -0.745503 m/s, LOS rate: 0.268518 deg/s, posRepo size: 4
2021-02-16T07:15:59.074Z,1613459759.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.899979 m,
      bearing: 296.147850 deg,
      approachRate: -0.745503 m/s,
      LOS rate: 0.268518 deg/s,
      cmd update: 0.805555 deg/s,
      cmd heading: 279.458654 deg,
      new cmd heading: 279.843541 deg.

2021-02-16T07:16:01.506Z,1613459761.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:02.280Z,1613459762.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:02.662Z,1613459762.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:03.493Z,1613459763.493 [Micromodem](INFO): Nmea in: $SNTTA,0.128428,,,,071603.77*46

2021-02-16T07:16:03.924Z,1613459763.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 298.556912 deg, deltaT: 4.848750 s, approachRate: -0.717707 m/s, LOS rate: 0.496842 deg/s, posRepo size: 4
2021-02-16T07:16:03.926Z,1613459763.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 298.556912 deg,
      approachRate: -0.717707 m/s,
      LOS rate: 0.496842 deg/s,
      cmd update: 1.490526 deg/s,
      cmd heading: 283.364626 deg,
      new cmd heading: 283.691271 deg.

2021-02-16T07:16:06.344Z,1613459766.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:07.110Z,1613459767.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:07.510Z,1613459767.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:08.326Z,1613459768.326 [Micromodem](INFO): Nmea in: $SNTTA,0.126052,,,,071608.60*4C

2021-02-16T07:16:08.754Z,1613459768.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 298.669665 deg, deltaT: 4.832595 s, approachRate: -0.744946 m/s, LOS rate: 0.023332 deg/s, posRepo size: 4
2021-02-16T07:16:08.756Z,1613459768.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.819977 m,
      bearing: 298.669665 deg,
      approachRate: -0.744946 m/s,
      LOS rate: 0.023332 deg/s,
      cmd update: 0.069995 deg/s,
      cmd heading: 290.567698 deg,
      new cmd heading: 291.169555 deg.

2021-02-16T07:16:11.194Z,1613459771.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:11.957Z,1613459771.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:12.359Z,1613459772.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:13.200Z,1613459773.200 [Micromodem](INFO): Nmea in: $SNTTA,0.123588,,,,071613.45*46

2021-02-16T07:16:13.226Z,1613459773.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.819977 m, bearing: 299.219741 deg, deltaT: 4.484615 s, approachRate: 0.000000 m/s, LOS rate: 0.122658 deg/s, posRepo size: 4
2021-02-16T07:16:13.272Z,1613459773.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.819977 m,
      bearing: 299.219741 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.122658 deg/s,
      cmd update: 0.367975 deg/s,
      cmd heading: 290.881602 deg,
      new cmd heading: 290.908853 deg.

2021-02-16T07:16:15.613Z,1613459775.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:16.396Z,1613459776.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:16.810Z,1613459776.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:17.624Z,1613459777.624 [Micromodem](INFO): Nmea in: $SNTTA,0.121329,,,,071617.89*4D

2021-02-16T07:16:17.648Z,1613459777.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.740005 m, bearing: 299.987591 deg, deltaT: 4.454299 s, approachRate: -1.589469 m/s, LOS rate: 0.172384 deg/s, posRepo size: 4
2021-02-16T07:16:17.650Z,1613459777.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.740005 m,
      bearing: 299.987591 deg,
      approachRate: -1.589469 m/s,
      LOS rate: 0.172384 deg/s,
      cmd update: 0.517152 deg/s,
      cmd heading: 292.519201 deg,
      new cmd heading: 292.652574 deg.

2021-02-16T07:16:20.071Z,1613459780.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:20.840Z,1613459780.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:21.279Z,1613459781.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:22.079Z,1613459782.079 [Micromodem](INFO): Nmea in: $SNTTA,0.119065,,,,071622.33*4A

2021-02-16T07:16:22.104Z,1613459782.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.740005 m, bearing: 300.134304 deg, deltaT: 4.396152 s, approachRate: 0.000000 m/s, LOS rate: 0.033373 deg/s, posRepo size: 4
2021-02-16T07:16:22.106Z,1613459782.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.740005 m,
      bearing: 300.134304 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.033373 deg/s,
      cmd update: 0.100119 deg/s,
      cmd heading: 294.794131 deg,
      new cmd heading: 295.010957 deg.

2021-02-16T07:16:24.524Z,1613459784.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:25.305Z,1613459785.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:25.691Z,1613459785.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:26.514Z,1613459786.514 [Micromodem](INFO): Nmea in: $SNTTA,0.116716,,,,071626.80*4A

2021-02-16T07:16:26.952Z,1613459786.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.899994 m, bearing: 300.948735 deg, deltaT: 4.872609 s, approachRate: -1.403768 m/s, LOS rate: 0.167145 deg/s, posRepo size: 4
2021-02-16T07:16:26.953Z,1613459786.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.899994 m,
      bearing: 300.948735 deg,
      approachRate: -1.403768 m/s,
      LOS rate: 0.167145 deg/s,
      cmd update: 0.501435 deg/s,
      cmd heading: 295.282080 deg,
      new cmd heading: 295.321451 deg.

2021-02-16T07:16:29.369Z,1613459789.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:30.143Z,1613459790.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:30.546Z,1613459790.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:31.368Z,1613459791.368 [Micromodem](INFO): Nmea in: $SNTTA,0.114301,,,,071631.63*41

2021-02-16T07:16:31.416Z,1613459791.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 301.139024 deg, deltaT: 4.445901 s, approachRate: -0.836726 m/s, LOS rate: 0.042801 deg/s, posRepo size: 4
2021-02-16T07:16:31.418Z,1613459791.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 301.139024 deg,
      approachRate: -0.836726 m/s,
      LOS rate: 0.042801 deg/s,
      cmd update: 0.128403 deg/s,
      cmd heading: 297.511358 deg,
      new cmd heading: 297.717932 deg.

2021-02-16T07:16:33.832Z,1613459793.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:34.593Z,1613459794.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:34.987Z,1613459794.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:35.829Z,1613459795.829 [Micromodem](INFO): Nmea in: $SNTTA,0.112000,,,,071636.09*4E

2021-02-16T07:16:35.873Z,1613459795.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 302.276032 deg, deltaT: 4.436478 s, approachRate: 0.000000 m/s, LOS rate: 0.256286 deg/s, posRepo size: 4
2021-02-16T07:16:35.874Z,1613459795.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 302.276032 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.256286 deg/s,
      cmd update: 0.768858 deg/s,
      cmd heading: 298.079869 deg,
      new cmd heading: 298.136505 deg.

2021-02-16T07:16:38.266Z,1613459798.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:39.034Z,1613459799.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:39.430Z,1613459799.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:40.288Z,1613459800.288 [Micromodem](INFO): Nmea in: $SNTTA,0.109708,,,,071640.53*45

2021-02-16T07:16:40.313Z,1613459800.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 301.607548 deg, deltaT: 4.438652 s, approachRate: 0.000000 m/s, LOS rate: -0.150605 deg/s, posRepo size: 4
2021-02-16T07:16:40.314Z,1613459800.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 301.607548 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.150605 deg/s,
      cmd update: -0.451816 deg/s,
      cmd heading: 301.487167 deg,
      new cmd heading: 301.832635 deg.

2021-02-16T07:16:42.670Z,1613459802.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:43.471Z,1613459803.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:43.870Z,1613459803.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:44.696Z,1613459804.696 [Micromodem](INFO): Nmea in: $SNTTA,0.107276,,,,071644.96*4A

2021-02-16T07:16:44.738Z,1613459804.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 301.664539 deg, deltaT: 4.459811 s, approachRate: -2.367809 m/s, LOS rate: 0.012779 deg/s, posRepo size: 4
2021-02-16T07:16:44.742Z,1613459804.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 301.664539 deg,
      approachRate: -2.367809 m/s,
      LOS rate: 0.012779 deg/s,
      cmd update: 0.038336 deg/s,
      cmd heading: 299.464949 deg,
      new cmd heading: 299.284499 deg.

2021-02-16T07:16:47.134Z,1613459807.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:47.913Z,1613459807.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:48.313Z,1613459808.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:16:49.140Z,1613459809.140 [Micromodem](INFO): Nmea in: $SNTTA,0.104859,,,,071649.41*49

2021-02-16T07:16:49.194Z,1613459809.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 302.813186 deg, deltaT: 4.404390 s, approachRate: -0.790123 m/s, LOS rate: 0.260796 deg/s, posRepo size: 4
2021-02-16T07:16:49.204Z,1613459809.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 302.813186 deg,
      approachRate: -0.790123 m/s,
      LOS rate: 0.260796 deg/s,
      cmd update: 0.782387 deg/s,
      cmd heading: 299.633625 deg,
      new cmd heading: 299.651053 deg.

2021-02-16T07:16:49.969Z,1613459809.969 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T07:16:49.969Z,1613459809.969 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T07:16:49.969Z,1613459809.969 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T07:16:49.969Z,1613459809.969 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T07:16:49.970Z,1613459809.970 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T07:16:50.404Z,1613459810.404 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B602E0000005D00000400320000000000000000151D80030C5669BF92F9E5843145479217381F518B22005C7B1D67A6E5FB3018630AADB32044783E2F0E
2021-02-16T07:16:50.404Z,1613459810.404 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 86426AD64300
2021-02-16T07:16:50.405Z,1613459810.405 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T07:16:50.783Z,1613459810.783 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T07:16:51.173Z,1613459811.173 [Micromodem](INFO): Nmea in: $CADRQ,071651,1,10,0,64,1*72

2021-02-16T07:16:51.174Z,1613459811.174 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B602E0000005D00000400320000000000000000151D80030C5669BF92F9E5843145479217381F518B22005C7B1D67A6E5FB3018630AADB32044783E2F0E*3D

2021-02-16T07:16:51.298Z,1613459811.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:51.564Z,1613459811.564 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T07:16:51.969Z,1613459811.969 [Micromodem](INFO): Nmea in: $CADRQ,071652,1,10,0,64,2*72

2021-02-16T07:16:51.970Z,1613459811.970 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,86426AD64300*43

2021-02-16T07:16:52.367Z,1613459812.367 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-02-16T07:16:52.368Z,1613459812.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:16:52.799Z,1613459812.799 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-02-16T07:16:52.800Z,1613459812.800 [Micromodem](ERROR): Response from modem unexpected: $CATXP,70*75

2021-02-16T07:16:54.021Z,1613459814.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:55.287Z,1613459815.287 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-02-16T07:16:55.287Z,1613459815.287 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-02-16T07:16:55.601Z,1613459815.601 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,071653.436997,3,0,200,4000,14500,1,1,10,1,2,2,3,70*40

2021-02-16T07:16:55.601Z,1613459815.601 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,071653.436997,3,0,200,4000,14500,1,1,10,1,2,2,3,70*40

2021-02-16T07:16:56.839Z,1613459816.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:16:58.041Z,1613459818.041 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T07:16:58.429Z,1613459818.429 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T07:16:58.430Z,1613459818.430 [Micromodem](INFO): Sent 62 bytes from file Logs/20210216T042015/Courier0046.lzma.parts
2021-02-16T07:16:58.430Z,1613459818.430 [Micromodem](INFO): Packets left to send: 0
2021-02-16T07:16:58.835Z,1613459818.835 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216071658.223749,06,6222,37,0314,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,15.7,5.00,13,-2.00,-01,1.65,31,14500,4000*50

2021-02-16T07:16:58.835Z,1613459818.835 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216071658.223749,06,6222,37,0314,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,15.7,5.00,13,-2.00,-01,1.65,31,14500,4000*50

2021-02-16T07:16:58.918Z,1613459818.918 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T07:16:58.918Z,1613459818.918 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T07:16:58.918Z,1613459818.918 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T07:16:58.918Z,1613459818.918 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T07:16:58.918Z,1613459818.918 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T07:16:59.655Z,1613459819.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:02.508Z,1613459822.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:03.679Z,1613459823.679 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:04.086Z,1613459824.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:04.912Z,1613459824.912 [Micromodem](INFO): Nmea in: $SNTTA,0.096248,,,,071705.17*43

2021-02-16T07:17:04.957Z,1613459824.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.179993 m, bearing: 303.949675 deg, deltaT: 15.808901 s, approachRate: -0.819792 m/s, LOS rate: 0.071889 deg/s, posRepo size: 4
2021-02-16T07:17:04.959Z,1613459824.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.179993 m,
      bearing: 303.949675 deg,
      approachRate: -0.819792 m/s,
      LOS rate: 0.071889 deg/s,
      cmd update: 0.215668 deg/s,
      cmd heading: 312.005881 deg,
      new cmd heading: 312.322234 deg.

2021-02-16T07:17:07.367Z,1613459827.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:08.131Z,1613459828.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:08.149Z,1613459828.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:17:08.530Z,1613459828.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:09.364Z,1613459829.364 [Micromodem](INFO): Nmea in: $SNTTA,0.093775,,,,071709.63*42

2021-02-16T07:17:09.388Z,1613459829.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 304.080104 deg, deltaT: 4.415219 s, approachRate: -0.842537 m/s, LOS rate: 0.029541 deg/s, posRepo size: 4
2021-02-16T07:17:09.390Z,1613459829.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.460007 m,
      bearing: 304.080104 deg,
      approachRate: -0.842537 m/s,
      LOS rate: 0.029541 deg/s,
      cmd update: 0.088623 deg/s,
      cmd heading: 312.958115 deg,
      new cmd heading: 313.048738 deg.

2021-02-16T07:17:11.833Z,1613459831.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:12.569Z,1613459832.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:12.982Z,1613459832.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:13.816Z,1613459833.816 [Micromodem](INFO): Nmea in: $SNTTA,0.091652,,,,071714.06*4B

2021-02-16T07:17:13.842Z,1613459833.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 303.893503 deg, deltaT: 4.457831 s, approachRate: -0.699894 m/s, LOS rate: -0.041859 deg/s, posRepo size: 4
2021-02-16T07:17:13.844Z,1613459833.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 303.893503 deg,
      approachRate: -0.699894 m/s,
      LOS rate: -0.041859 deg/s,
      cmd update: -0.125577 deg/s,
      cmd heading: 313.352814 deg,
      new cmd heading: 313.390095 deg.

2021-02-16T07:17:16.271Z,1613459836.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:17.013Z,1613459837.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:17.430Z,1613459837.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:18.269Z,1613459838.269 [Micromodem](INFO): Nmea in: $SNTTA,0.089339,,,,071718.51*44

2021-02-16T07:17:18.314Z,1613459838.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.740005 m, bearing: 303.501723 deg, deltaT: 4.440570 s, approachRate: -0.810705 m/s, LOS rate: -0.088227 deg/s, posRepo size: 4
2021-02-16T07:17:18.320Z,1613459838.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.740005 m,
      bearing: 303.501723 deg,
      approachRate: -0.810705 m/s,
      LOS rate: -0.088227 deg/s,
      cmd update: -0.264682 deg/s,
      cmd heading: 312.795190 deg,
      new cmd heading: 312.738353 deg.

2021-02-16T07:17:20.662Z,1613459840.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:21.473Z,1613459841.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:21.875Z,1613459841.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:22.692Z,1613459842.692 [Micromodem](INFO): Nmea in: $SNTTA,0.086913,,,,071722.97*4A

2021-02-16T07:17:22.730Z,1613459842.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 304.674303 deg, deltaT: 4.450029 s, approachRate: -0.795502 m/s, LOS rate: 0.263499 deg/s, posRepo size: 4
2021-02-16T07:17:22.732Z,1613459842.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 304.674303 deg,
      approachRate: -0.795502 m/s,
      LOS rate: 0.263499 deg/s,
      cmd update: 0.790498 deg/s,
      cmd heading: 311.616322 deg,
      new cmd heading: 311.506794 deg.

2021-02-16T07:17:25.134Z,1613459845.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:25.902Z,1613459845.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:26.312Z,1613459846.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:27.135Z,1613459847.135 [Micromodem](INFO): Nmea in: $SNTTA,0.084641,,,,071727.39*41

2021-02-16T07:17:27.168Z,1613459847.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 304.281075 deg, deltaT: 4.429094 s, approachRate: -0.785713 m/s, LOS rate: -0.088783 deg/s, posRepo size: 4
2021-02-16T07:17:27.172Z,1613459847.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 304.281075 deg,
      approachRate: -0.785713 m/s,
      LOS rate: -0.088783 deg/s,
      cmd update: -0.266349 deg/s,
      cmd heading: 315.117696 deg,
      new cmd heading: 315.451714 deg.

2021-02-16T07:17:29.585Z,1613459849.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:29.944Z,1613459849.944 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T07:17:30.345Z,1613459850.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:30.778Z,1613459850.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:31.572Z,1613459851.572 [Micromodem](INFO): Nmea in: $SNTTA,0.082235,,,,071731.84*41

2021-02-16T07:17:31.620Z,1613459851.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 304.475162 deg, deltaT: 4.458591 s, approachRate: -0.793973 m/s, LOS rate: 0.043531 deg/s, posRepo size: 4
2021-02-16T07:17:31.622Z,1613459851.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.180000 m,
      bearing: 304.475162 deg,
      approachRate: -0.793973 m/s,
      LOS rate: 0.043531 deg/s,
      cmd update: 0.130593 deg/s,
      cmd heading: 313.931176 deg,
      new cmd heading: 313.820429 deg.

2021-02-16T07:17:34.020Z,1613459854.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:34.433Z,1613459854.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:34.928Z,1613459854.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:35.732Z,1613459855.732 [Micromodem](INFO): Nmea in: $SNTTA,0.080069,,,,071735.92*4B

2021-02-16T07:17:35.816Z,1613459855.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 304.909398 deg, deltaT: 4.149745 s, approachRate: -0.780770 m/s, LOS rate: 0.104642 deg/s, posRepo size: 4
2021-02-16T07:17:35.818Z,1613459855.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 304.909398 deg,
      approachRate: -0.780770 m/s,
      LOS rate: 0.104642 deg/s,
      cmd update: 0.313925 deg/s,
      cmd heading: 314.473619 deg,
      new cmd heading: 314.533909 deg.

2021-02-16T07:17:38.179Z,1613459858.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:38.954Z,1613459858.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:39.361Z,1613459859.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:40.185Z,1613459860.185 [Micromodem](INFO): Nmea in: $SNTTA,0.077609,,0.087503,,071740.45*5C

2021-02-16T07:17:40.274Z,1613459860.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 306.152356 deg, deltaT: 4.484468 s, approachRate: -0.802770 m/s, LOS rate: 0.277170 deg/s, posRepo size: 4
2021-02-16T07:17:40.280Z,1613459860.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.340004 m,
      bearing: 306.152356 deg,
      approachRate: -0.802770 m/s,
      LOS rate: 0.277170 deg/s,
      cmd update: 0.831509 deg/s,
      cmd heading: 315.879473 deg,
      new cmd heading: 316.018194 deg.

2021-02-16T07:17:42.645Z,1613459862.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:43.394Z,1613459863.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:43.811Z,1613459863.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:44.624Z,1613459864.624 [Micromodem](INFO): Nmea in: $SNTTA,0.075292,,,,071744.89*4B

2021-02-16T07:17:44.662Z,1613459864.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 305.257929 deg, deltaT: 4.433483 s, approachRate: -0.812002 m/s, LOS rate: -0.201744 deg/s, posRepo size: 4
2021-02-16T07:17:44.664Z,1613459864.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.740005 m,
      bearing: 305.257929 deg,
      approachRate: -0.812002 m/s,
      LOS rate: -0.201744 deg/s,
      cmd update: -0.605231 deg/s,
      cmd heading: 319.566421 deg,
      new cmd heading: 319.896003 deg.

2021-02-16T07:17:47.054Z,1613459867.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:47.836Z,1613459867.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:48.282Z,1613459868.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:49.064Z,1613459869.064 [Micromodem](INFO): Nmea in: $SNTTA,0.073028,,,,071749.33*42

2021-02-16T07:17:49.089Z,1613459869.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 304.693264 deg, deltaT: 4.386526 s, approachRate: -0.765982 m/s, LOS rate: -0.128727 deg/s, posRepo size: 4
2021-02-16T07:17:49.091Z,1613459869.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.380005 m,
      bearing: 304.693264 deg,
      approachRate: -0.765982 m/s,
      LOS rate: -0.128727 deg/s,
      cmd update: -0.386182 deg/s,
      cmd heading: 316.908129 deg,
      new cmd heading: 316.647216 deg.

2021-02-16T07:17:51.498Z,1613459871.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:52.290Z,1613459872.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:52.686Z,1613459872.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:53.516Z,1613459873.516 [Micromodem](INFO): Nmea in: $SNTTA,0.070715,,,,071753.78*4C

2021-02-16T07:17:53.560Z,1613459873.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 305.295659 deg, deltaT: 4.454013 s, approachRate: -0.767846 m/s, LOS rate: 0.135248 deg/s, posRepo size: 4
2021-02-16T07:17:53.561Z,1613459873.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.960007 m,
      bearing: 305.295659 deg,
      approachRate: -0.767846 m/s,
      LOS rate: 0.135248 deg/s,
      cmd update: 0.405743 deg/s,
      cmd heading: 315.188134 deg,
      new cmd heading: 315.023008 deg.

2021-02-16T07:17:55.949Z,1613459875.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:17:56.724Z,1613459876.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:17:57.131Z,1613459877.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:17:57.960Z,1613459877.960 [Micromodem](INFO): Nmea in: $SNTTA,0.068364,,,,071758.22*43

2021-02-16T07:17:57.984Z,1613459877.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.420006 m, bearing: 304.970159 deg, deltaT: 4.461440 s, approachRate: -0.793466 m/s, LOS rate: -0.072958 deg/s, posRepo size: 4
2021-02-16T07:17:57.986Z,1613459877.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.420006 m,
      bearing: 304.970159 deg,
      approachRate: -0.793466 m/s,
      LOS rate: -0.072958 deg/s,
      cmd update: -0.218875 deg/s,
      cmd heading: 316.998343 deg,
      new cmd heading: 317.165122 deg.

2021-02-16T07:18:00.392Z,1613459880.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:01.174Z,1613459881.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:01.591Z,1613459881.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:02.412Z,1613459882.412 [Micromodem](INFO): Nmea in: $SNTTA,0.065923,,,,071802.67*46

2021-02-16T07:18:02.437Z,1613459882.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 305.164164 deg, deltaT: 4.433987 s, approachRate: -0.838974 m/s, LOS rate: 0.043754 deg/s, posRepo size: 4
2021-02-16T07:18:02.438Z,1613459882.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.700005 m,
      bearing: 305.164164 deg,
      approachRate: -0.838974 m/s,
      LOS rate: 0.043754 deg/s,
      cmd update: 0.131262 deg/s,
      cmd heading: 316.027819 deg,
      new cmd heading: 315.933918 deg.

2021-02-16T07:18:04.896Z,1613459884.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:05.612Z,1613459885.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:06.032Z,1613459886.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:06.860Z,1613459886.860 [Micromodem](INFO): Nmea in: $SNTTA,0.063472,,,,071807.10*4C

2021-02-16T07:18:06.885Z,1613459886.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 304.789542 deg, deltaT: 4.465959 s, approachRate: -0.832968 m/s, LOS rate: -0.083884 deg/s, posRepo size: 4
2021-02-16T07:18:06.887Z,1613459886.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 304.789542 deg,
      approachRate: -0.832968 m/s,
      LOS rate: -0.083884 deg/s,
      cmd update: -0.251652 deg/s,
      cmd heading: 316.613504 deg,
      new cmd heading: 316.668036 deg.

2021-02-16T07:18:09.342Z,1613459889.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:10.077Z,1613459890.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:10.471Z,1613459890.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:11.305Z,1613459891.305 [Micromodem](INFO): Nmea in: $SNTTA,0.061121,,,,071811.61*4C

2021-02-16T07:18:11.352Z,1613459891.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 306.205905 deg, deltaT: 4.430170 s, approachRate: -0.771981 m/s, LOS rate: 0.319708 deg/s, posRepo size: 4
2021-02-16T07:18:11.354Z,1613459891.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 306.205905 deg,
      approachRate: -0.771981 m/s,
      LOS rate: 0.319708 deg/s,
      cmd update: 0.959125 deg/s,
      cmd heading: 315.497638 deg,
      new cmd heading: 315.387858 deg.

2021-02-16T07:18:13.712Z,1613459893.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:14.501Z,1613459894.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:14.906Z,1613459894.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:15.732Z,1613459895.732 [Micromodem](INFO): Nmea in: $SNTTA,0.058754,,,,071815.99*41

2021-02-16T07:18:15.774Z,1613459895.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.960007 m, bearing: 305.826447 deg, deltaT: 4.457569 s, approachRate: -0.807613 m/s, LOS rate: -0.085127 deg/s, posRepo size: 4
2021-02-16T07:18:15.790Z,1613459895.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.960007 m,
      bearing: 305.826447 deg,
      approachRate: -0.807613 m/s,
      LOS rate: -0.085127 deg/s,
      cmd update: -0.255380 deg/s,
      cmd heading: 319.769175 deg,
      new cmd heading: 320.150291 deg.

2021-02-16T07:18:18.174Z,1613459898.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:18.945Z,1613459898.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:19.350Z,1613459899.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:20.189Z,1613459900.189 [Micromodem](INFO): Nmea in: $SNTTA,0.056296,,,,071820.44*42

2021-02-16T07:18:20.280Z,1613459900.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.300011 m, bearing: 305.204052 deg, deltaT: 4.465453 s, approachRate: -0.819625 m/s, LOS rate: -0.139380 deg/s, posRepo size: 4
2021-02-16T07:18:20.282Z,1613459900.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.300011 m,
      bearing: 305.204052 deg,
      approachRate: -0.819625 m/s,
      LOS rate: -0.139380 deg/s,
      cmd update: -0.418140 deg/s,
      cmd heading: 318.628803 deg,
      new cmd heading: 318.513246 deg.

2021-02-16T07:18:22.612Z,1613459902.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:23.392Z,1613459903.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:23.809Z,1613459903.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:24.624Z,1613459904.624 [Micromodem](INFO): Nmea in: $SNTTA,0.053948,,,,071824.88*4B

2021-02-16T07:18:24.665Z,1613459904.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.760002 m, bearing: 305.722874 deg, deltaT: 4.416405 s, approachRate: -0.801559 m/s, LOS rate: 0.117476 deg/s, posRepo size: 4
2021-02-16T07:18:24.666Z,1613459904.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.760002 m,
      bearing: 305.722874 deg,
      approachRate: -0.801559 m/s,
      LOS rate: 0.117476 deg/s,
      cmd update: 0.352428 deg/s,
      cmd heading: 316.785906 deg,
      new cmd heading: 316.604112 deg.

2021-02-16T07:18:27.070Z,1613459907.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:27.837Z,1613459907.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:28.272Z,1613459908.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:29.064Z,1613459909.064 [Micromodem](INFO): Nmea in: $SNTTA,0.051575,,,,071829.33*46

2021-02-16T07:18:29.109Z,1613459909.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.160004 m, bearing: 305.555315 deg, deltaT: 4.435202 s, approachRate: -0.811688 m/s, LOS rate: -0.037779 deg/s, posRepo size: 4
2021-02-16T07:18:29.111Z,1613459909.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 305.555315 deg,
      approachRate: -0.811688 m/s,
      LOS rate: -0.037779 deg/s,
      cmd update: -0.113337 deg/s,
      cmd heading: 318.347962 deg,
      new cmd heading: 318.505419 deg.

2021-02-16T07:18:31.508Z,1613459911.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:32.284Z,1613459912.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:32.681Z,1613459912.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:33.532Z,1613459913.532 [Micromodem](INFO): Nmea in: $SNTTA,0.049206,,,,071833.78*48

2021-02-16T07:18:33.564Z,1613459913.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 306.160935 deg, deltaT: 4.471502 s, approachRate: -0.764843 m/s, LOS rate: 0.135440 deg/s, posRepo size: 4
2021-02-16T07:18:33.565Z,1613459913.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 306.160935 deg,
      approachRate: -0.764843 m/s,
      LOS rate: 0.135440 deg/s,
      cmd update: 0.406319 deg/s,
      cmd heading: 317.839814 deg,
      new cmd heading: 317.792499 deg.

2021-02-16T07:18:35.938Z,1613459915.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:36.720Z,1613459916.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:37.143Z,1613459917.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:37.951Z,1613459917.951 [Micromodem](INFO): Nmea in: $SNTTA,0.046861,,,,071838.21*4B

2021-02-16T07:18:37.982Z,1613459917.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.079994 m, bearing: 306.261338 deg, deltaT: 4.409380 s, approachRate: -0.830051 m/s, LOS rate: 0.022770 deg/s, posRepo size: 4
2021-02-16T07:18:37.984Z,1613459917.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.079994 m,
      bearing: 306.261338 deg,
      approachRate: -0.830051 m/s,
      LOS rate: 0.022770 deg/s,
      cmd update: 0.068311 deg/s,
      cmd heading: 319.633056 deg,
      new cmd heading: 319.804979 deg.

2021-02-16T07:18:40.394Z,1613459920.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:41.194Z,1613459921.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:41.573Z,1613459921.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:42.416Z,1613459922.416 [Micromodem](INFO): Nmea in: $SNTTA,0.044679,,,,071842.69*4F

2021-02-16T07:18:42.441Z,1613459922.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 305.849123 deg, deltaT: 4.466823 s, approachRate: -0.725346 m/s, LOS rate: -0.092284 deg/s, posRepo size: 4
2021-02-16T07:18:42.442Z,1613459922.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.840004 m,
      bearing: 305.849123 deg,
      approachRate: -0.725346 m/s,
      LOS rate: -0.092284 deg/s,
      cmd update: -0.276852 deg/s,
      cmd heading: 319.938187 deg,
      new cmd heading: 319.966526 deg.

2021-02-16T07:18:44.875Z,1613459924.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:45.613Z,1613459925.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:46.013Z,1613459926.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:46.856Z,1613459926.856 [Micromodem](INFO): Nmea in: $SNTTA,0.042576,,,,071847.10*4E

2021-02-16T07:18:46.887Z,1613459926.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 305.611623 deg, deltaT: 4.413107 s, approachRate: -0.774964 m/s, LOS rate: -0.053817 deg/s, posRepo size: 4
2021-02-16T07:18:46.889Z,1613459926.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.420006 m,
      bearing: 305.611623 deg,
      approachRate: -0.774964 m/s,
      LOS rate: -0.053817 deg/s,
      cmd update: -0.161450 deg/s,
      cmd heading: 318.716422 deg,
      new cmd heading: 318.592370 deg.

2021-02-16T07:18:49.304Z,1613459929.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:50.069Z,1613459930.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:50.465Z,1613459930.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:51.296Z,1613459931.296 [Micromodem](INFO): Nmea in: $SNTTA,0.039865,,,,071851.56*48

2021-02-16T07:18:51.340Z,1613459931.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 305.687876 deg, deltaT: 4.451160 s, approachRate: -0.862698 m/s, LOS rate: 0.017131 deg/s, posRepo size: 4
2021-02-16T07:18:51.342Z,1613459931.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.579998 m,
      bearing: 305.687876 deg,
      approachRate: -0.862698 m/s,
      LOS rate: 0.017131 deg/s,
      cmd update: 0.051393 deg/s,
      cmd heading: 317.997763 deg,
      new cmd heading: 317.928414 deg.

2021-02-16T07:18:53.706Z,1613459933.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:54.496Z,1613459934.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:54.905Z,1613459934.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:18:55.733Z,1613459935.733 [Micromodem](INFO): Nmea in: $SNTTA,0.037587,,,,071855.99*40

2021-02-16T07:18:55.802Z,1613459935.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 305.707219 deg, deltaT: 4.450238 s, approachRate: -0.755017 m/s, LOS rate: 0.004347 deg/s, posRepo size: 4
2021-02-16T07:18:55.808Z,1613459935.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.219994 m,
      bearing: 305.707219 deg,
      approachRate: -0.755017 m/s,
      LOS rate: 0.004347 deg/s,
      cmd update: 0.013040 deg/s,
      cmd heading: 318.226475 deg,
      new cmd heading: 318.250213 deg.

2021-02-16T07:18:58.161Z,1613459938.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:18:58.947Z,1613459938.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:18:59.354Z,1613459939.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:00.177Z,1613459940.177 [Micromodem](INFO): Nmea in: $SNTTA,0.035226,,,,071900.44*4F

2021-02-16T07:19:00.222Z,1613459940.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.680004 m, bearing: 306.445098 deg, deltaT: 4.498589 s, approachRate: -0.786911 m/s, LOS rate: 0.164025 deg/s, posRepo size: 4
2021-02-16T07:19:00.224Z,1613459940.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.680004 m,
      bearing: 306.445098 deg,
      approachRate: -0.786911 m/s,
      LOS rate: 0.164025 deg/s,
      cmd update: 0.492074 deg/s,
      cmd heading: 318.285082 deg,
      new cmd heading: 318.290131 deg.

2021-02-16T07:19:02.614Z,1613459942.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:03.390Z,1613459943.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:03.808Z,1613459943.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:04.640Z,1613459944.640 [Micromodem](INFO): Nmea in: $SNTTA,0.033080,,,,071904.88*43

2021-02-16T07:19:04.688Z,1613459944.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 306.917310 deg, deltaT: 4.431138 s, approachRate: -0.812434 m/s, LOS rate: 0.106567 deg/s, posRepo size: 4
2021-02-16T07:19:04.690Z,1613459944.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 306.917310 deg,
      approachRate: -0.812434 m/s,
      LOS rate: 0.106567 deg/s,
      cmd update: 0.319700 deg/s,
      cmd heading: 320.454633 deg,
      new cmd heading: 320.661159 deg.

2021-02-16T07:19:07.067Z,1613459947.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:07.829Z,1613459947.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:08.273Z,1613459948.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:09.056Z,1613459949.056 [Micromodem](INFO): Nmea in: $SNTTA,0.030712,,,,071909.32*40

2021-02-16T07:19:09.101Z,1613459949.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.660000 m, bearing: 306.586346 deg, deltaT: 4.379780 s, approachRate: -0.780861 m/s, LOS rate: -0.075566 deg/s, posRepo size: 4
2021-02-16T07:19:09.103Z,1613459949.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.660000 m,
      bearing: 306.586346 deg,
      approachRate: -0.780861 m/s,
      LOS rate: -0.075566 deg/s,
      cmd update: -0.226699 deg/s,
      cmd heading: 321.863216 deg,
      new cmd heading: 322.007501 deg.

2021-02-16T07:19:11.510Z,1613459951.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:12.285Z,1613459952.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:12.679Z,1613459952.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:13.508Z,1613459953.508 [Micromodem](INFO): Nmea in: $SNTTA,0.028447,,,,071913.78*4F

2021-02-16T07:19:13.559Z,1613459953.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 305.811338 deg, deltaT: 4.475828 s, approachRate: -0.777511 m/s, LOS rate: -0.173154 deg/s, posRepo size: 4
2021-02-16T07:19:13.561Z,1613459953.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.179996 m,
      bearing: 305.811338 deg,
      approachRate: -0.777511 m/s,
      LOS rate: -0.173154 deg/s,
      cmd update: -0.519462 deg/s,
      cmd heading: 320.849762 deg,
      new cmd heading: 320.751253 deg.

2021-02-16T07:19:15.954Z,1613459955.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:16.717Z,1613459956.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:17.134Z,1613459957.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:17.966Z,1613459957.966 [Micromodem](INFO): Nmea in: $SNTTA,0.026181,,,,071918.26*4E

2021-02-16T07:19:18.024Z,1613459958.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 309.670177 deg, deltaT: 4.441236 s, approachRate: -0.675487 m/s, LOS rate: 0.868866 deg/s, posRepo size: 4
2021-02-16T07:19:18.025Z,1613459958.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.18 m.
2021-02-16T07:19:18.031Z,1613459958.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.180000 m,
      bearing: 309.670177 deg,
      approachRate: -0.675487 m/s,
      LOS rate: 0.868866 deg/s,
      cmd update: 2.606598 deg/s,
      cmd heading: 318.539980 deg,
      new cmd heading: 318.305166 deg.

2021-02-16T07:19:18.353Z,1613459958.353 [PowerOnly](INFO): Powering up loadControl
2021-02-16T07:19:20.387Z,1613459960.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:21.165Z,1613459961.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:21.565Z,1613459961.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:22.396Z,1613459962.396 [Micromodem](INFO): Nmea in: $SNTTA,0.023884,,,,071922.66*4A

2021-02-16T07:19:22.421Z,1613459962.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 306.989300 deg, deltaT: 4.479453 s, approachRate: -0.857248 m/s, LOS rate: -0.598483 deg/s, posRepo size: 4
2021-02-16T07:19:22.421Z,1613459962.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m.
2021-02-16T07:19:22.421Z,1613459962.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.34 m.
2021-02-16T07:19:22.422Z,1613459962.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T07:19:22.424Z,1613459962.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 306.989300 deg,
      approachRate: -0.857248 m/s,
      LOS rate: -0.598483 deg/s,
      cmd update: -1.795449 deg/s,
      cmd heading: 330.216121 deg,
      new cmd heading: 331.191860 deg.

2021-02-16T07:19:24.848Z,1613459964.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:25.604Z,1613459965.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:26.009Z,1613459966.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:26.840Z,1613459966.840 [Micromodem](INFO): Nmea in: $SNTTA,0.021526,,,,071927.10*49

2021-02-16T07:19:26.885Z,1613459966.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 304.724846 deg, deltaT: 4.389139 s, approachRate: -0.765527 m/s, LOS rate: -0.515922 deg/s, posRepo size: 4
2021-02-16T07:19:26.891Z,1613459966.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.979998 m,
      bearing: 304.724846 deg,
      approachRate: -0.765527 m/s,
      LOS rate: -0.515922 deg/s,
      cmd update: -1.547766 deg/s,
      cmd heading: 322.335511 deg,
      new cmd heading: 321.528572 deg.

2021-02-16T07:19:29.302Z,1613459969.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:30.048Z,1613459970.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:30.455Z,1613459970.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:31.293Z,1613459971.293 [Micromodem](INFO): Nmea in: $SNTTA,0.019472,,,0.041465,071931.54*59

2021-02-16T07:19:31.317Z,1613459971.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.920000 m, bearing: 304.780034 deg, deltaT: 4.527067 s, approachRate: -0.675934 m/s, LOS rate: 0.012191 deg/s, posRepo size: 4
2021-02-16T07:19:31.318Z,1613459971.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.920000 m,
      bearing: 304.780034 deg,
      approachRate: -0.675934 m/s,
      LOS rate: 0.012191 deg/s,
      cmd update: 0.036572 deg/s,
      cmd heading: 315.328648 deg,
      new cmd heading: 314.780651 deg.

2021-02-16T07:19:33.713Z,1613459973.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:34.494Z,1613459974.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:34.897Z,1613459974.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:35.744Z,1613459975.744 [Micromodem](INFO): Nmea in: $SNTTA,0.017171,,,,071935.99*48

2021-02-16T07:19:35.812Z,1613459975.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.560001 m, bearing: 307.693165 deg, deltaT: 4.380899 s, approachRate: -0.766966 m/s, LOS rate: 0.664962 deg/s, posRepo size: 4
2021-02-16T07:19:35.813Z,1613459975.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.560001 m,
      bearing: 307.693165 deg,
      approachRate: -0.766966 m/s,
      LOS rate: 0.664962 deg/s,
      cmd update: 1.994885 deg/s,
      cmd heading: 315.488720 deg,
      new cmd heading: 315.505174 deg.

2021-02-16T07:19:38.198Z,1613459978.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:38.936Z,1613459978.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:39.347Z,1613459979.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:40.176Z,1613459980.176 [Micromodem](INFO): Nmea in: $SNTTA,0.015082,,,,071940.43*42

2021-02-16T07:19:40.206Z,1613459980.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.199999 m, bearing: 305.403002 deg, deltaT: 4.464142 s, approachRate: -0.752665 m/s, LOS rate: -0.513013 deg/s, posRepo size: 4
2021-02-16T07:19:40.208Z,1613459980.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 305.403002 deg,
      approachRate: -0.752665 m/s,
      LOS rate: -0.513013 deg/s,
      cmd update: -1.539039 deg/s,
      cmd heading: 324.400900 deg,
      new cmd heading: 325.196951 deg.

2021-02-16T07:19:42.611Z,1613459982.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:43.380Z,1613459983.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:43.815Z,1613459983.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:44.632Z,1613459984.632 [Micromodem](INFO): Nmea in: $SNTTA,0.012793,,0.029189,,071944.87*5B

2021-02-16T07:19:44.682Z,1613459984.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 303.953773 deg, deltaT: 4.402640 s, approachRate: -0.735922 m/s, LOS rate: -0.329173 deg/s, posRepo size: 4
2021-02-16T07:19:44.684Z,1613459984.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 303.953773 deg,
      approachRate: -0.735922 m/s,
      LOS rate: -0.329173 deg/s,
      cmd update: -0.987519 deg/s,
      cmd heading: 317.624070 deg,
      new cmd heading: 316.897606 deg.

2021-02-16T07:19:47.070Z,1613459987.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:47.824Z,1613459987.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:48.252Z,1613459988.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:49.069Z,1613459989.069 [Micromodem](INFO): Nmea in: $SNTTA,0.011941,,,,071949.32*4F

2021-02-16T07:19:49.094Z,1613459989.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.619999 m, bearing: 310.553593 deg, deltaT: 4.460560 s, approachRate: -0.524598 m/s, LOS rate: 1.479595 deg/s, posRepo size: 4
2021-02-16T07:19:49.096Z,1613459989.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 310.553593 deg,
      approachRate: -0.524598 m/s,
      LOS rate: 1.479595 deg/s,
      cmd update: 4.438784 deg/s,
      cmd heading: 313.219239 deg,
      new cmd heading: 312.801569 deg.

2021-02-16T07:19:51.494Z,1613459991.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:52.288Z,1613459992.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:52.676Z,1613459992.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:53.512Z,1613459993.512 [Micromodem](INFO): Nmea in: $SNTTA,0.008373,,0.020442,,071953.78*57

2021-02-16T07:19:53.537Z,1613459993.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 309.611464 deg, deltaT: 4.435582 s, approachRate: -1.014523 m/s, LOS rate: -0.212403 deg/s, posRepo size: 4
2021-02-16T07:19:53.538Z,1613459993.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 309.611464 deg,
      approachRate: -1.014523 m/s,
      LOS rate: -0.212403 deg/s,
      cmd update: -0.637208 deg/s,
      cmd heading: 332.907899 deg,
      new cmd heading: 334.816767 deg.

2021-02-16T07:19:55.935Z,1613459995.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:19:56.717Z,1613459996.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:19:57.118Z,1613459997.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:19:57.956Z,1613459997.956 [Micromodem](INFO): Nmea in: $SNTTA,0.006249,,,,071958.21*48

2021-02-16T07:19:57.986Z,1613459997.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 304.058985 deg, deltaT: 4.442927 s, approachRate: -0.688735 m/s, LOS rate: -1.249735 deg/s, posRepo size: 4
2021-02-16T07:19:58.008Z,1613459998.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 304.058985 deg,
      approachRate: -0.688735 m/s,
      LOS rate: -1.249735 deg/s,
      cmd update: -3.749204 deg/s,
      cmd heading: 330.076817 deg,
      new cmd heading: 329.798452 deg.

2021-02-16T07:20:00.373Z,1613460000.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:01.156Z,1613460001.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:01.561Z,1613460001.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:02.388Z,1613460002.388 [Micromodem](INFO): Nmea in: $SNTTA,0.004461,,,,072002.65*43

2021-02-16T07:20:02.433Z,1613460002.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 311.863842 deg, deltaT: 4.440333 s, approachRate: -0.581038 m/s, LOS rate: 1.757719 deg/s, posRepo size: 4
2021-02-16T07:20:02.435Z,1613460002.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 311.863842 deg,
      approachRate: -0.581038 m/s,
      LOS rate: 1.757719 deg/s,
      cmd update: 5.273157 deg/s,
      cmd heading: 313.429056 deg,
      new cmd heading: 311.767686 deg.

2021-02-16T07:20:04.854Z,1613460004.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:05.600Z,1613460005.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:06.020Z,1613460006.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:06.849Z,1613460006.849 [Micromodem](INFO): Nmea in: $SNTTA,0.002923,,,,072007.09*41

2021-02-16T07:20:06.876Z,1613460006.876 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T07:20:06.876Z,1613460006.876 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:20:06.876Z,1613460006.876 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.259999 m 
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T07:20:06.877Z,1613460006.877 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T07:20:06.880Z,1613460006.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 328.579719 deg, deltaT: 4.454974 s, approachRate: -0.498319 m/s, LOS rate: 3.752183 deg/s, posRepo size: 4
2021-02-16T07:20:06.882Z,1613460006.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 328.579719 deg,
      approachRate: -0.498319 m/s,
      LOS rate: 3.752183 deg/s,
      cmd update: 11.256548 deg/s,
      cmd heading: 336.921121 deg,
      new cmd heading: 339.213521 deg.

2021-02-16T07:20:07.289Z,1613460007.289 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T072007: (41.552319, -70.708603)
2021-02-16T07:20:07.289Z,1613460007.289 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T07:20:07.289Z,1613460007.289 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T07:20:07.290Z,1613460007.290 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:20:07.657Z,1613460007.657 [UniversalFixResidualReporter](INFO): Fix residual: 2.6 %DT, over the last 518.7 m. Residual distance 13.6 m at bearing -178.1 degrees. Fix at (41.5529, -70.7088) with 0.0 m made good.
2021-02-16T07:20:09.309Z,1613460009.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:10.049Z,1613460010.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:10.450Z,1613460010.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:11.295Z,1613460011.295 [Micromodem](INFO): Nmea in: $SNTTA,0.002752,,0.042589,,072011.54*5A

2021-02-16T07:20:11.320Z,1613460011.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 316.748684 deg, deltaT: 4.459749 s, approachRate: -0.053814 m/s, LOS rate: -2.652848 deg/s, posRepo size: 4
2021-02-16T07:20:11.321Z,1613460011.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 316.748684 deg,
      approachRate: -0.053814 m/s,
      LOS rate: -2.652848 deg/s,
      cmd update: -7.958543 deg/s,
      cmd heading: 27.077293 deg,
      new cmd heading: 31.792886 deg.

2021-02-16T07:20:13.706Z,1613460013.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:14.506Z,1613460014.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:14.890Z,1613460014.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:15.724Z,1613460015.724 [Micromodem](INFO): Nmea in: $SNTTA,0.002808,,,,072016.00*40

2021-02-16T07:20:15.801Z,1613460015.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 291.216535 deg, deltaT: 4.443875 s, approachRate: 0.013502 m/s, LOS rate: -5.745470 deg/s, posRepo size: 4
2021-02-16T07:20:15.807Z,1613460015.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 291.216535 deg,
      approachRate: 0.013502 m/s,
      LOS rate: -5.745470 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 351.678839 deg,
      new cmd heading: 348.074757 deg.

2021-02-16T07:20:18.145Z,1613460018.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:18.939Z,1613460018.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:19.339Z,1613460019.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:20.277Z,1613460020.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 287.335704 deg, deltaT: 4.457895 s, approachRate: -0.026919 m/s, LOS rate: -0.870552 deg/s, posRepo size: 4
2021-02-16T07:20:20.283Z,1613460020.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 287.335704 deg,
      approachRate: -0.026919 m/s,
      LOS rate: -0.870552 deg/s,
      cmd update: -2.611658 deg/s,
      cmd heading: 298.459330 deg,
      new cmd heading: 292.534329 deg.

2021-02-16T07:20:20.567Z,1613460020.567 [Micromodem](INFO): Nmea in: $SNTTA,0.002715,,,,072020.48*4A

2021-02-16T07:20:22.609Z,1613460022.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:23.377Z,1613460023.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:23.811Z,1613460023.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:24.608Z,1613460024.608 [Micromodem](INFO): Nmea in: $SNTTA,0.002791,,,,072024.87*41

2021-02-16T07:20:24.688Z,1613460024.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 281.413711 deg, deltaT: 4.423615 s, approachRate: 0.027127 m/s, LOS rate: -1.338722 deg/s, posRepo size: 4
2021-02-16T07:20:24.688Z,1613460024.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 4.08 m.
2021-02-16T07:20:24.690Z,1613460024.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 281.413711 deg,
      approachRate: 0.027127 m/s,
      LOS rate: -1.338722 deg/s,
      cmd update: -4.016167 deg/s,
      cmd heading: 286.865500 deg,
      new cmd heading: 285.709891 deg.

2021-02-16T07:20:27.054Z,1613460027.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:27.816Z,1613460027.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:28.225Z,1613460028.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:29.069Z,1613460029.069 [Micromodem](INFO): Nmea in: $SNTTA,0.002761,,,,072029.31*4E

2021-02-16T07:20:29.101Z,1613460029.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 265.329545 deg, deltaT: 4.442598 s, approachRate: 0.013506 m/s, LOS rate: -3.620442 deg/s, posRepo size: 4
2021-02-16T07:20:29.103Z,1613460029.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 265.329545 deg,
      approachRate: 0.013506 m/s,
      LOS rate: -3.620442 deg/s,
      cmd update: -10.861325 deg/s,
      cmd heading: 269.010190 deg,
      new cmd heading: 267.272475 deg.

2021-02-16T07:20:31.478Z,1613460031.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:32.281Z,1613460032.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:32.666Z,1613460032.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:33.500Z,1613460033.500 [Micromodem](INFO): Nmea in: $SNTTA,0.002746,,,,072033.77*42

2021-02-16T07:20:33.544Z,1613460033.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 258.230273 deg, deltaT: 4.441786 s, approachRate: -0.013508 m/s, LOS rate: -1.598292 deg/s, posRepo size: 4
2021-02-16T07:20:33.546Z,1613460033.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 258.230273 deg,
      approachRate: -0.013508 m/s,
      LOS rate: -1.598292 deg/s,
      cmd update: -4.794876 deg/s,
      cmd heading: 220.723183 deg,
      new cmd heading: 216.058331 deg.

2021-02-16T07:20:35.955Z,1613460035.955 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:36.712Z,1613460036.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:37.115Z,1613460037.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:37.944Z,1613460037.944 [Micromodem](INFO): Nmea in: $SNTTA,0.002690,,,,072038.20*41

2021-02-16T07:20:37.996Z,1613460037.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 254.079841 deg, deltaT: 4.462726 s, approachRate: -0.026890 m/s, LOS rate: -0.930022 deg/s, posRepo size: 4
2021-02-16T07:20:37.997Z,1613460037.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 254.079841 deg,
      approachRate: -0.026890 m/s,
      LOS rate: -0.930022 deg/s,
      cmd update: -2.790065 deg/s,
      cmd heading: 199.344730 deg,
      new cmd heading: 197.319091 deg.

2021-02-16T07:20:40.378Z,1613460040.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:41.154Z,1613460041.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:41.554Z,1613460041.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:42.380Z,1613460042.380 [Micromodem](INFO): Nmea in: $SNTTA,0.002749,,,,072042.64*49

2021-02-16T07:20:42.405Z,1613460042.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 244.635274 deg, deltaT: 4.412985 s, approachRate: 0.027193 m/s, LOS rate: -2.140177 deg/s, posRepo size: 4
2021-02-16T07:20:42.406Z,1613460042.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 244.635274 deg,
      approachRate: 0.027193 m/s,
      LOS rate: -2.140177 deg/s,
      cmd update: -6.420530 deg/s,
      cmd heading: 187.020720 deg,
      new cmd heading: 185.863563 deg.

2021-02-16T07:20:44.830Z,1613460044.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:45.592Z,1613460045.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:46.033Z,1613460046.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:46.831Z,1613460046.831 [Micromodem](INFO): Nmea in: $SNTTA,0.002777,,,,072047.08*4B

2021-02-16T07:20:46.856Z,1613460046.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 234.687977 deg, deltaT: 4.451762 s, approachRate: 0.026955 m/s, LOS rate: -2.234463 deg/s, posRepo size: 4
2021-02-16T07:20:46.858Z,1613460046.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 234.687977 deg,
      approachRate: 0.026955 m/s,
      LOS rate: -2.234463 deg/s,
      cmd update: -6.703388 deg/s,
      cmd heading: 158.437966 deg,
      new cmd heading: 155.779617 deg.

2021-02-16T07:20:49.293Z,1613460049.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:50.036Z,1613460050.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:50.459Z,1613460050.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:51.289Z,1613460051.289 [Micromodem](INFO): Nmea in: $SNTTA,0.002808,,,,072051.53*45

2021-02-16T07:20:51.358Z,1613460051.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 224.890426 deg, deltaT: 4.428341 s, approachRate: 0.000000 m/s, LOS rate: -2.212465 deg/s, posRepo size: 4
2021-02-16T07:20:51.364Z,1613460051.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 224.890426 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.212465 deg/s,
      cmd update: -6.637396 deg/s,
      cmd heading: 128.753709 deg,
      new cmd heading: 125.482931 deg.

2021-02-16T07:20:52.876Z,1613460052.876 [PowerOnly](INFO): Powering down loadControl
2021-02-16T07:20:53.689Z,1613460053.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:54.517Z,1613460054.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:54.887Z,1613460054.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:20:55.728Z,1613460055.728 [Micromodem](INFO): Nmea in: $SNTTA,0.002735,,,,072056.01*44

2021-02-16T07:20:55.754Z,1613460055.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 220.746837 deg, deltaT: 4.451734 s, approachRate: -0.013477 m/s, LOS rate: -0.930781 deg/s, posRepo size: 4
2021-02-16T07:20:55.781Z,1613460055.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 220.746837 deg,
      approachRate: -0.013477 m/s,
      LOS rate: -0.930781 deg/s,
      cmd update: -2.792343 deg/s,
      cmd heading: 99.205104 deg,
      new cmd heading: 96.341718 deg.

2021-02-16T07:20:58.154Z,1613460058.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:20:58.929Z,1613460058.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:20:59.340Z,1613460059.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:00.167Z,1613460060.167 [Micromodem](INFO): Nmea in: $SNTTA,0.002712,,,,072100.42*44

2021-02-16T07:21:00.200Z,1613460060.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 224.284438 deg, deltaT: 4.504030 s, approachRate: -0.039965 m/s, LOS rate: 0.785430 deg/s, posRepo size: 4
2021-02-16T07:21:00.202Z,1613460060.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 224.284438 deg,
      approachRate: -0.039965 m/s,
      LOS rate: 0.785430 deg/s,
      cmd update: 2.356290 deg/s,
      cmd heading: 86.639581 deg,
      new cmd heading: 85.583643 deg.

2021-02-16T07:21:02.586Z,1613460062.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:03.373Z,1613460063.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:03.803Z,1613460063.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:04.600Z,1613460064.600 [Micromodem](INFO): Nmea in: $SNTTA,0.002679,,,,072104.86*44

2021-02-16T07:21:04.639Z,1613460064.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 219.376169 deg, deltaT: 4.396249 s, approachRate: 0.000000 m/s, LOS rate: -1.116468 deg/s, posRepo size: 4
2021-02-16T07:21:04.641Z,1613460064.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 219.376169 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.116468 deg/s,
      cmd update: -3.349403 deg/s,
      cmd heading: 97.007530 deg,
      new cmd heading: 97.990466 deg.

2021-02-16T07:21:07.037Z,1613460067.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:07.830Z,1613460067.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:08.223Z,1613460068.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:09.060Z,1613460069.060 [Micromodem](INFO): Nmea in: $SNTTA,0.003212,,,,072109.32*4E

2021-02-16T07:21:09.099Z,1613460069.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 193.826931 deg, deltaT: 4.444036 s, approachRate: 0.202519 m/s, LOS rate: -5.749107 deg/s, posRepo size: 4
2021-02-16T07:21:09.107Z,1613460069.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 4.86 m.
2021-02-16T07:21:09.109Z,1613460069.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 193.826931 deg,
      approachRate: 0.202519 m/s,
      LOS rate: -5.749107 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 82.135508 deg,
      new cmd heading: 80.673775 deg.

2021-02-16T07:21:11.496Z,1613460071.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:12.275Z,1613460072.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:12.662Z,1613460072.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:13.496Z,1613460073.496 [Micromodem](INFO): Nmea in: $SNTTA,0.005701,,,,072113.77*45

2021-02-16T07:21:13.557Z,1613460073.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 182.946644 deg, deltaT: 4.450028 s, approachRate: 0.862916 m/s, LOS rate: -2.444993 deg/s, posRepo size: 4
2021-02-16T07:21:13.565Z,1613460073.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 182.946644 deg,
      approachRate: 0.862916 m/s,
      LOS rate: -2.444993 deg/s,
      cmd update: -7.334979 deg/s,
      cmd heading: 28.784874 deg,
      new cmd heading: 23.396502 deg.

2021-02-16T07:21:15.937Z,1613460075.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:16.700Z,1613460076.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:17.106Z,1613460077.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:17.932Z,1613460077.932 [Micromodem](INFO): Nmea in: $SNTTA,0.007273,,,,072118.19*44

2021-02-16T07:21:17.981Z,1613460077.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 171.185878 deg, deltaT: 4.415149 s, approachRate: 0.529993 m/s, LOS rate: -2.663730 deg/s, posRepo size: 4
2021-02-16T07:21:17.983Z,1613460077.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 171.185878 deg,
      approachRate: 0.529993 m/s,
      LOS rate: -2.663730 deg/s,
      cmd update: -7.991191 deg/s,
      cmd heading: 356.340056 deg,
      new cmd heading: 353.042756 deg.

2021-02-16T07:21:20.371Z,1613460080.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:21.144Z,1613460081.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:21.550Z,1613460081.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:22.376Z,1613460082.376 [Micromodem](INFO): Nmea in: $SNTTA,0.008446,,,,072122.64*48

2021-02-16T07:21:22.420Z,1613460082.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 186.464178 deg, deltaT: 4.444969 s, approachRate: 0.391454 m/s, LOS rate: 3.437212 deg/s, posRepo size: 4
2021-02-16T07:21:22.420Z,1613460082.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.78 m. Rolling out.
2021-02-16T07:21:22.421Z,1613460082.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T07:21:24.838Z,1613460084.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:25.588Z,1613460085.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:26.002Z,1613460086.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:26.831Z,1613460086.831 [Micromodem](INFO): Nmea in: $SNTTA,0.010443,,,,072127.08*4B

2021-02-16T07:21:26.856Z,1613460086.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 134.162114 deg, deltaT: 4.457932 s, approachRate: 0.672958 m/s, LOS rate: -11.732360 deg/s, posRepo size: 4
2021-02-16T07:21:29.303Z,1613460089.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:30.034Z,1613460090.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:30.445Z,1613460090.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:31.292Z,1613460091.292 [Micromodem](INFO): Nmea in: $SNTTA,0.013177,,,,072131.53*43

2021-02-16T07:21:31.316Z,1613460091.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 192.464294 deg, deltaT: 4.450567 s, approachRate: 0.754961 m/s, LOS rate: 13.099944 deg/s, posRepo size: 4
2021-02-16T07:21:33.710Z,1613460093.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:34.481Z,1613460094.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:34.894Z,1613460094.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:35.708Z,1613460095.708 [Micromodem](INFO): Nmea in: $SNTTA,0.015387,,,,072135.97*44

2021-02-16T07:21:35.746Z,1613460095.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 213.512943 deg, deltaT: 4.452523 s, approachRate: 0.727676 m/s, LOS rate: 4.727353 deg/s, posRepo size: 4
2021-02-16T07:21:38.155Z,1613460098.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:38.920Z,1613460098.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:39.348Z,1613460099.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:40.179Z,1613460100.179 [Micromodem](INFO): Nmea in: $SNTTA,0.017658,,,,072140.41*48

2021-02-16T07:21:40.253Z,1613460100.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 184.244326 deg, deltaT: 4.481691 s, approachRate: 0.870208 m/s, LOS rate: -6.530708 deg/s, posRepo size: 4
2021-02-16T07:21:42.600Z,1613460102.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:43.401Z,1613460103.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:43.813Z,1613460103.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:44.624Z,1613460104.624 [Micromodem](INFO): Nmea in: $SNTTA,0.018956,,,,072144.89*46

2021-02-16T07:21:44.669Z,1613460104.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 234.042388 deg, deltaT: 4.441992 s, approachRate: 0.540297 m/s, LOS rate: 11.210750 deg/s, posRepo size: 4
2021-02-16T07:21:47.070Z,1613460107.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:47.834Z,1613460107.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:48.272Z,1613460108.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:49.060Z,1613460109.060 [Micromodem](INFO): Nmea in: $SNTTA,0.020592,,,,072149.32*44

2021-02-16T07:21:49.105Z,1613460109.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 256.264791 deg, deltaT: 4.426217 s, approachRate: 0.515113 m/s, LOS rate: 5.020631 deg/s, posRepo size: 4
2021-02-16T07:21:51.507Z,1613460111.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:52.286Z,1613460112.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:52.677Z,1613460112.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:53.520Z,1613460113.520 [Micromodem](INFO): Nmea in: $SNTTA,0.021814,,,,072153.78*43

2021-02-16T07:21:53.550Z,1613460113.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.119999 m, bearing: 285.178375 deg, deltaT: 4.432982 s, approachRate: 0.487257 m/s, LOS rate: 6.522378 deg/s, posRepo size: 4
2021-02-16T07:21:55.969Z,1613460115.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:21:56.716Z,1613460116.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:21:57.127Z,1613460117.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:21:57.944Z,1613460117.944 [Micromodem](INFO): Nmea in: $SNTTA,0.022912,,,,072158.21*40

2021-02-16T07:21:57.993Z,1613460117.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 327.505030 deg, deltaT: 4.454254 s, approachRate: 0.282875 m/s, LOS rate: 9.502524 deg/s, posRepo size: 4
2021-02-16T07:22:00.398Z,1613460120.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:01.162Z,1613460121.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:01.567Z,1613460121.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:02.392Z,1613460122.392 [Micromodem](INFO): Nmea in: $SNTTA,0.023426,,,,072202.66*44

2021-02-16T07:22:02.421Z,1613460122.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 276.480703 deg, deltaT: 4.424769 s, approachRate: 0.162721 m/s, LOS rate: -11.531524 deg/s, posRepo size: 4
2021-02-16T07:22:04.856Z,1613460124.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:05.604Z,1613460125.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:06.017Z,1613460126.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:06.840Z,1613460126.840 [Micromodem](INFO): Nmea in: $SNTTA,0.023603,,,,072207.10*45

2021-02-16T07:22:06.875Z,1613460126.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.279999 m, bearing: 16.679682 deg, deltaT: 4.453788 s, approachRate: 0.040415 m/s, LOS rate: 22.497473 deg/s, posRepo size: 4
2021-02-16T07:22:09.314Z,1613460129.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:10.050Z,1613460130.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:10.454Z,1613460130.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:11.292Z,1613460131.292 [Micromodem](INFO): Nmea in: $SNTTA,0.023421,,,,072211.54*40

2021-02-16T07:22:11.341Z,1613460131.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 298.612893 deg, deltaT: 4.433676 s, approachRate: -0.040598 m/s, LOS rate: -17.607688 deg/s, posRepo size: 4
2021-02-16T07:22:13.708Z,1613460133.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:14.498Z,1613460134.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:14.905Z,1613460134.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:15.724Z,1613460135.724 [Micromodem](INFO): Nmea in: $SNTTA,0.023527,,,0.037478,072215.99*53

2021-02-16T07:22:15.772Z,1613460135.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.820000 m, bearing: 294.646438 deg, deltaT: 4.464129 s, approachRate: 0.161286 m/s, LOS rate: -0.888517 deg/s, posRepo size: 4
2021-02-16T07:22:18.155Z,1613460138.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:18.936Z,1613460138.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:19.347Z,1613460139.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:20.177Z,1613460140.177 [Micromodem](INFO): Nmea in: $SNTTA,0.023966,,,,072220.43*4A

2021-02-16T07:22:20.208Z,1613460140.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 334.576653 deg, deltaT: 4.480630 s, approachRate: 0.026782 m/s, LOS rate: 8.911741 deg/s, posRepo size: 4
2021-02-16T07:22:22.614Z,1613460142.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:23.385Z,1613460143.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:23.807Z,1613460143.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:24.620Z,1613460144.620 [Micromodem](INFO): Nmea in: $SNTTA,0.024514,,,,072224.88*47

2021-02-16T07:22:24.644Z,1613460144.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 28.463780 deg, deltaT: 4.388394 s, approachRate: 0.177741 m/s, LOS rate: 12.279464 deg/s, posRepo size: 4
2021-02-16T07:22:25.017Z,1613460145.017 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 83
2021-02-16T07:22:27.058Z,1613460147.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:27.824Z,1613460147.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:28.236Z,1613460148.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:29.052Z,1613460149.052 [Micromodem](INFO): Nmea in: $SNTTA,0.025293,,,,072229.31*41

2021-02-16T07:22:29.094Z,1613460149.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 20.092629 deg, deltaT: 4.447522 s, approachRate: 0.269814 m/s, LOS rate: -1.882206 deg/s, posRepo size: 4
2021-02-16T07:22:31.509Z,1613460151.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:32.283Z,1613460152.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:32.673Z,1613460152.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:33.508Z,1613460153.508 [Micromodem](INFO): Nmea in: $SNTTA,0.026046,,,,072233.77*41

2021-02-16T07:22:33.552Z,1613460153.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 19.723285 deg, deltaT: 4.463100 s, approachRate: 0.241983 m/s, LOS rate: -0.082755 deg/s, posRepo size: 4
2021-02-16T07:22:35.934Z,1613460155.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:36.729Z,1613460156.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:37.135Z,1613460157.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:37.955Z,1613460157.955 [Micromodem](INFO): Nmea in: $SNTTA,0.027110,,,,072238.22*49

2021-02-16T07:22:37.995Z,1613460157.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.680000 m, bearing: 17.204710 deg, deltaT: 4.438841 s, approachRate: 0.378478 m/s, LOS rate: -0.567395 deg/s, posRepo size: 4
2021-02-16T07:22:40.392Z,1613460160.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:41.183Z,1613460161.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:41.582Z,1613460161.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:42.407Z,1613460162.407 [Micromodem](INFO): Nmea in: $SNTTA,0.028516,0.050372,,,072242.68*5A

2021-02-16T07:22:42.436Z,1613460162.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 13.774718 deg, deltaT: 4.446269 s, approachRate: 0.485801 m/s, LOS rate: -0.771432 deg/s, posRepo size: 4
2021-02-16T07:22:44.595Z,1613460164.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:45.200Z,1613460165.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:45.603Z,1613460165.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:46.428Z,1613460166.428 [Micromodem](INFO): Nmea in: $SNTTA,0.029680,,,,072246.69*4F

2021-02-16T07:22:46.477Z,1613460166.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 335.250109 deg, deltaT: 4.029152 s, approachRate: 0.521202 m/s, LOS rate: -9.561467 deg/s, posRepo size: 4
2021-02-16T07:22:48.877Z,1613460168.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:49.658Z,1613460169.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:50.054Z,1613460170.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:50.880Z,1613460170.880 [Micromodem](INFO): Nmea in: $SNTTA,0.031196,,,,072251.15*4B

2021-02-16T07:22:50.930Z,1613460170.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 356.996120 deg, deltaT: 4.459487 s, approachRate: 0.430542 m/s, LOS rate: 4.876348 deg/s, posRepo size: 4
2021-02-16T07:22:53.330Z,1613460173.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:54.084Z,1613460174.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:54.511Z,1613460174.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:54.920Z,1613460174.920 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:22:55.317Z,1613460175.317 [Micromodem](INFO): Nmea in: $SNTTA,0.032691,,,,072255.58*45

2021-02-16T07:22:55.369Z,1613460175.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 330.866931 deg, deltaT: 4.428478 s, approachRate: 0.487751 m/s, LOS rate: -5.900264 deg/s, posRepo size: 4
2021-02-16T07:22:57.749Z,1613460177.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:22:58.540Z,1613460178.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:22:58.944Z,1613460178.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:22:59.796Z,1613460179.796 [Micromodem](INFO): Nmea in: $SNTTA,0.034336,,,,072300.03*44

2021-02-16T07:22:59.841Z,1613460179.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 320.077991 deg, deltaT: 4.448759 s, approachRate: 0.566450 m/s, LOS rate: -2.425157 deg/s, posRepo size: 4
2021-02-16T07:23:02.197Z,1613460182.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:02.976Z,1613460182.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:03.391Z,1613460183.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:04.208Z,1613460184.208 [Micromodem](INFO): Nmea in: $SNTTA,0.036045,,,,072304.47*45

2021-02-16T07:23:04.286Z,1613460184.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 348.219491 deg, deltaT: 4.479316 s, approachRate: 0.575982 m/s, LOS rate: 6.282544 deg/s, posRepo size: 4
2021-02-16T07:23:06.642Z,1613460186.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:07.420Z,1613460187.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:07.833Z,1613460187.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:08.648Z,1613460188.648 [Micromodem](INFO): Nmea in: $SNTTA,0.037930,,,,072308.91*48

2021-02-16T07:23:08.687Z,1613460188.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 337.923172 deg, deltaT: 4.439686 s, approachRate: 0.621664 m/s, LOS rate: -2.319155 deg/s, posRepo size: 4
2021-02-16T07:23:11.086Z,1613460191.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:11.864Z,1613460191.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:12.299Z,1613460192.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:13.096Z,1613460193.096 [Micromodem](INFO): Nmea in: $SNTTA,0.039496,,,,072313.36*40

2021-02-16T07:23:13.135Z,1613460193.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 332.000688 deg, deltaT: 4.405629 s, approachRate: 0.544759 m/s, LOS rate: -1.344299 deg/s, posRepo size: 4
2021-02-16T07:23:15.121Z,1613460195.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:23:15.534Z,1613460195.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:16.308Z,1613460196.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:16.714Z,1613460196.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:17.552Z,1613460197.552 [Micromodem](INFO): Nmea in: $SNTTA,0.041456,,,,072317.80*4A

2021-02-16T07:23:17.593Z,1613460197.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 335.667598 deg, deltaT: 4.460207 s, approachRate: 0.659164 m/s, LOS rate: 0.822139 deg/s, posRepo size: 4
2021-02-16T07:23:19.977Z,1613460199.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:20.797Z,1613460200.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:21.166Z,1613460201.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:22.002Z,1613460202.002 [Micromodem](INFO): Nmea in: $SNTTA,0.043721,,,,072322.29*4E

2021-02-16T07:23:22.038Z,1613460202.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.639999 m, bearing: 353.891717 deg, deltaT: 4.436095 s, approachRate: 0.770946 m/s, LOS rate: 4.108144 deg/s, posRepo size: 4
2021-02-16T07:23:24.426Z,1613460204.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:25.202Z,1613460205.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:25.602Z,1613460205.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:26.432Z,1613460206.432 [Micromodem](INFO): Nmea in: $SNTTA,0.045278,,0.049752,,072326.69*52

2021-02-16T07:23:26.480Z,1613460206.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.980003 m, bearing: 334.054389 deg, deltaT: 4.426172 s, approachRate: 0.528674 m/s, LOS rate: -4.481825 deg/s, posRepo size: 4
2021-02-16T07:23:28.877Z,1613460208.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:29.650Z,1613460209.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:30.046Z,1613460210.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:30.876Z,1613460210.876 [Micromodem](INFO): Nmea in: $SNTTA,0.047545,,,,072331.14*46

2021-02-16T07:23:30.901Z,1613460210.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 347.515790 deg, deltaT: 4.443880 s, approachRate: 0.837107 m/s, LOS rate: 3.029200 deg/s, posRepo size: 4
2021-02-16T07:23:33.329Z,1613460213.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:34.085Z,1613460214.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:34.507Z,1613460214.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:35.316Z,1613460215.316 [Micromodem](INFO): Nmea in: $SNTTA,0.049398,,,,072335.58*42

2021-02-16T07:23:35.368Z,1613460215.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.220001 m, bearing: 351.337199 deg, deltaT: 4.473090 s, approachRate: 0.563368 m/s, LOS rate: 0.854311 deg/s, posRepo size: 4
2021-02-16T07:23:37.774Z,1613460217.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:38.545Z,1613460218.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:38.939Z,1613460218.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:39.788Z,1613460219.788 [Micromodem](INFO): Nmea in: $SNTTA,0.051559,,,,072340.04*4B

2021-02-16T07:23:39.883Z,1613460219.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 332.071285 deg, deltaT: 4.428584 s, approachRate: 0.772257 m/s, LOS rate: -4.350355 deg/s, posRepo size: 4
2021-02-16T07:23:42.193Z,1613460222.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:42.991Z,1613460222.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:43.378Z,1613460223.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:44.212Z,1613460224.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072344.48*54

2021-02-16T07:23:44.277Z,1613460224.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 346.137349 deg, deltaT: 4.473588 s, approachRate: 0.670601 m/s, LOS rate: 3.144247 deg/s, posRepo size: 4
2021-02-16T07:23:46.637Z,1613460226.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:47.416Z,1613460227.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:47.826Z,1613460227.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:48.652Z,1613460228.652 [Micromodem](INFO): Nmea in: $SNTTA,0.055855,,,,072348.91*4A

2021-02-16T07:23:48.676Z,1613460228.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 347.847710 deg, deltaT: 4.464750 s, approachRate: 0.698808 m/s, LOS rate: 0.383081 deg/s, posRepo size: 4
2021-02-16T07:23:51.093Z,1613460231.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:51.862Z,1613460231.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:52.293Z,1613460232.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:53.092Z,1613460233.092 [Micromodem](INFO): Nmea in: $SNTTA,0.057776,,,,072353.35*42

2021-02-16T07:23:53.117Z,1613460233.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 317.216060 deg, deltaT: 4.370330 s, approachRate: 0.768821 m/s, LOS rate: -7.009001 deg/s, posRepo size: 4
2021-02-16T07:23:55.542Z,1613460235.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:23:56.310Z,1613460236.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:23:56.725Z,1613460236.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:23:57.540Z,1613460237.540 [Micromodem](INFO): Nmea in: $SNTTA,0.059943,,,,072357.80*4E

2021-02-16T07:23:57.580Z,1613460237.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 322.406321 deg, deltaT: 4.469367 s, approachRate: 0.671234 m/s, LOS rate: 1.161297 deg/s, posRepo size: 4
2021-02-16T07:23:59.992Z,1613460239.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:00.755Z,1613460240.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:01.164Z,1613460241.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:01.984Z,1613460241.984 [Micromodem](INFO): Nmea in: $SNTTA,0.062072,,,,072402.25*45

2021-02-16T07:24:02.023Z,1613460242.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 318.896123 deg, deltaT: 4.437731 s, approachRate: 0.730106 m/s, LOS rate: -0.790989 deg/s, posRepo size: 4
2021-02-16T07:24:04.418Z,1613460244.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:05.198Z,1613460245.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:05.599Z,1613460245.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:06.440Z,1613460246.440 [Micromodem](INFO): Nmea in: $SNTTA,0.064401,,,,072406.69*4F

2021-02-16T07:24:06.464Z,1613460246.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 314.873770 deg, deltaT: 4.451845 s, approachRate: 0.714309 m/s, LOS rate: -0.903525 deg/s, posRepo size: 4
2021-02-16T07:24:08.868Z,1613460248.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:09.644Z,1613460249.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:10.067Z,1613460250.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:10.888Z,1613460250.888 [Micromodem](INFO): Nmea in: $SNTTA,0.066581,0.078331,,,072411.13*5F

2021-02-16T07:24:10.913Z,1613460250.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 310.889884 deg, deltaT: 4.439104 s, approachRate: 0.756910 m/s, LOS rate: -0.897453 deg/s, posRepo size: 4
2021-02-16T07:24:13.306Z,1613460253.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:14.089Z,1613460254.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:14.494Z,1613460254.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:15.307Z,1613460255.307 [Micromodem](INFO): Nmea in: $SNTTA,0.068727,,,,072415.58*44

2021-02-16T07:24:16.146Z,1613460256.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:17.738Z,1613460257.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:24:18.962Z,1613460258.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:19.748Z,1613460259.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:20.177Z,1613460260.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:20.984Z,1613460260.984 [Micromodem](INFO): Nmea in: $SNTTA,0.253435,,,,072421.24*42

2021-02-16T07:24:21.009Z,1613460261.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 308.973907 deg, deltaT: 10.114437 s, approachRate: 0.717786 m/s, LOS rate: -0.189430 deg/s, posRepo size: 4
2021-02-16T07:24:23.409Z,1613460263.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:24.195Z,1613460264.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:24.599Z,1613460264.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:25.428Z,1613460265.428 [Micromodem](INFO): Nmea in: $SNTTA,0.073761,,,,072425.69*4D

2021-02-16T07:24:25.489Z,1613460265.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 310.111243 deg, deltaT: 4.430571 s, approachRate: 0.771909 m/s, LOS rate: 0.256702 deg/s, posRepo size: 4
2021-02-16T07:24:27.850Z,1613460267.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:28.646Z,1613460268.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:29.039Z,1613460269.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:29.916Z,1613460269.916 [Micromodem](INFO): Nmea in: $SNTTA,0.076000,,,,072430.14*46

2021-02-16T07:24:29.961Z,1613460269.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.940002 m, bearing: 314.834264 deg, deltaT: 4.524755 s, approachRate: 0.742582 m/s, LOS rate: 1.043818 deg/s, posRepo size: 4
2021-02-16T07:24:32.321Z,1613460272.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:33.081Z,1613460273.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:33.488Z,1613460273.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:34.315Z,1613460274.315 [Micromodem](INFO): Nmea in: $SNTTA,0.078205,,,,072434.57*4C

2021-02-16T07:24:34.339Z,1613460274.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.240005 m, bearing: 312.663712 deg, deltaT: 4.418710 s, approachRate: 0.746825 m/s, LOS rate: -0.491219 deg/s, posRepo size: 4
2021-02-16T07:24:36.734Z,1613460276.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:37.520Z,1613460277.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:37.926Z,1613460277.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:38.748Z,1613460278.748 [Micromodem](INFO): Nmea in: $SNTTA,0.080428,,,,072439.01*4C

2021-02-16T07:24:38.818Z,1613460278.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 313.868639 deg, deltaT: 4.405987 s, approachRate: 0.762599 m/s, LOS rate: 0.273475 deg/s, posRepo size: 4
2021-02-16T07:24:41.209Z,1613460281.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:41.969Z,1613460281.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:42.382Z,1613460282.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:43.204Z,1613460283.204 [Micromodem](INFO): Nmea in: $SNTTA,0.082704,,,,072443.46*4D

2021-02-16T07:24:43.229Z,1613460283.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.020004 m, bearing: 310.657057 deg, deltaT: 4.474202 s, approachRate: 0.764382 m/s, LOS rate: -0.717800 deg/s, posRepo size: 4
2021-02-16T07:24:45.654Z,1613460285.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:46.412Z,1613460286.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:46.820Z,1613460286.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:47.647Z,1613460287.647 [Micromodem](INFO): Nmea in: $SNTTA,0.085074,,,,072447.90*45

2021-02-16T07:24:47.677Z,1613460287.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.560005 m, bearing: 308.212669 deg, deltaT: 4.441577 s, approachRate: 0.797014 m/s, LOS rate: -0.550342 deg/s, posRepo size: 4
2021-02-16T07:24:50.079Z,1613460290.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:50.864Z,1613460290.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:51.284Z,1613460291.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:52.100Z,1613460292.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072452.36*5D

2021-02-16T07:24:52.129Z,1613460292.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.619995 m, bearing: 309.246896 deg, deltaT: 4.390216 s, approachRate: 0.697002 m/s, LOS rate: 0.235575 deg/s, posRepo size: 4
2021-02-16T07:24:54.527Z,1613460294.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:55.319Z,1613460295.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:24:55.712Z,1613460295.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:24:56.544Z,1613460296.544 [Micromodem](INFO): Nmea in: $SNTTA,0.089196,,,,072456.81*44

2021-02-16T07:24:56.588Z,1613460296.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.919998 m, bearing: 306.548288 deg, deltaT: 4.483741 s, approachRate: 0.735993 m/s, LOS rate: -0.601865 deg/s, posRepo size: 4
2021-02-16T07:24:58.977Z,1613460298.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:24:59.750Z,1613460299.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:00.150Z,1613460300.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:00.976Z,1613460300.976 [Micromodem](INFO): Nmea in: $SNTTA,0.091358,,,,072501.24*41

2021-02-16T07:25:01.033Z,1613460301.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.160004 m, bearing: 307.974404 deg, deltaT: 4.433313 s, approachRate: 0.730832 m/s, LOS rate: 0.321682 deg/s, posRepo size: 4
2021-02-16T07:25:03.419Z,1613460303.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:04.195Z,1613460304.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:04.599Z,1613460304.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:05.424Z,1613460305.424 [Micromodem](INFO): Nmea in: $SNTTA,0.094120,,,,072505.69*44

2021-02-16T07:25:05.474Z,1613460305.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 306.229100 deg, deltaT: 4.455190 s, approachRate: 0.781111 m/s, LOS rate: -0.391746 deg/s, posRepo size: 4
2021-02-16T07:25:07.879Z,1613460307.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:08.632Z,1613460308.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:08.661Z,1613460308.661 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T07:25:09.038Z,1613460309.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:09.864Z,1613460309.864 [Micromodem](INFO): Nmea in: $SNTTA,0.095782,,,,072510.12*43

2021-02-16T07:25:09.947Z,1613460309.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 310.884584 deg, deltaT: 4.553729 s, approachRate: 0.685152 m/s, LOS rate: 1.022345 deg/s, posRepo size: 4
2021-02-16T07:25:12.316Z,1613460312.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:13.090Z,1613460313.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:13.503Z,1613460313.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:14.312Z,1613460314.312 [Micromodem](INFO): Nmea in: $SNTTA,0.112652,,,,072514.58*4B

2021-02-16T07:25:14.356Z,1613460314.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 304.760336 deg, deltaT: 4.323802 s, approachRate: 0.790974 m/s, LOS rate: -1.416403 deg/s, posRepo size: 4
2021-02-16T07:25:16.735Z,1613460316.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:17.522Z,1613460317.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:17.937Z,1613460317.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:18.759Z,1613460318.759 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072519.01*57

2021-02-16T07:25:18.827Z,1613460318.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.300003 m, bearing: 308.507132 deg, deltaT: 4.437793 s, approachRate: 0.703051 m/s, LOS rate: 0.844293 deg/s, posRepo size: 4
2021-02-16T07:25:18.827Z,1613460318.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.30 m. Resuming terminal guidance.
2021-02-16T07:25:18.828Z,1613460318.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:25:21.210Z,1613460321.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:21.969Z,1613460321.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:22.370Z,1613460322.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:23.208Z,1613460323.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072523.46*5D

2021-02-16T07:25:23.282Z,1613460323.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.720001 m, bearing: 308.616415 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:25:23.282Z,1613460323.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 308.616415deg and heading rate command to 0 deg/s.
2021-02-16T07:25:25.646Z,1613460325.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:26.410Z,1613460326.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:26.821Z,1613460326.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:27.660Z,1613460327.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072527.90*52

2021-02-16T07:25:27.684Z,1613460327.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 269.690047 deg, deltaT: 4.459583 s, approachRate: 0.726527 m/s, LOS rate: -8.728702 deg/s, posRepo size: 2
2021-02-16T07:25:27.686Z,1613460327.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.960007 m,
      bearing: 269.690047 deg,
      approachRate: 0.726527 m/s,
      LOS rate: -8.728702 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.616415 deg,
      new cmd heading: 308.616415 deg.

2021-02-16T07:25:30.093Z,1613460330.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:30.856Z,1613460330.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:31.282Z,1613460331.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:32.070Z,1613460332.070 [Micromodem](INFO): Nmea in: $SNTTA,0.107037,,,,072532.35*45

2021-02-16T07:25:32.904Z,1613460332.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:34.498Z,1613460334.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:25:35.717Z,1613460335.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:36.509Z,1613460336.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:36.919Z,1613460336.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:37.744Z,1613460337.744 [Micromodem](INFO): Nmea in: $SNTTA,0.110113,,,,072538.00*48

2021-02-16T07:25:37.806Z,1613460337.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.360001 m, bearing: 282.809775 deg, deltaT: 10.054723 s, approachRate: 0.835428 m/s, LOS rate: 1.304832 deg/s, posRepo size: 3
2021-02-16T07:25:37.812Z,1613460337.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.360001 m,
      bearing: 282.809775 deg,
      approachRate: 0.835428 m/s,
      LOS rate: 1.304832 deg/s,
      cmd update: 3.914497 deg/s,
      cmd heading: 187.911195 deg,
      new cmd heading: 182.512743 deg.

2021-02-16T07:25:40.188Z,1613460340.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:40.962Z,1613460340.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:41.370Z,1613460341.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:42.179Z,1613460342.179 [Micromodem](INFO): Nmea in: $SNTTA,0.112236,,,,072542.45*42

2021-02-16T07:25:43.013Z,1613460343.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:44.587Z,1613460344.587 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:25:45.835Z,1613460345.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:46.608Z,1613460346.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:47.014Z,1613460347.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:47.425Z,1613460347.425 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EDF,000,00D
5,185,80,80,50,FF
2021-02-16T07:25:47.826Z,1613460347.826 [Micromodem](INFO): Nmea in: $SNTTA,0.114254,,,,072548.10*4A

2021-02-16T07:25:48.659Z,1613460348.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:51.498Z,1613460351.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:54.317Z,1613460354.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:55.111Z,1613460355.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:25:55.503Z,1613460355.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:25:56.327Z,1613460356.327 [Micromodem](INFO): Nmea in: $SNTTA,0.116516,,,,072556.60*41

2021-02-16T07:25:56.750Z,1613460356.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 218.247507 deg, deltaT: 18.998610 s, approachRate: 0.498984 m/s, LOS rate: -3.398263 deg/s, posRepo size: 4
2021-02-16T07:25:56.752Z,1613460356.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.840012 m,
      bearing: 218.247507 deg,
      approachRate: 0.498984 m/s,
      LOS rate: -3.398263 deg/s,
      cmd update: -10.194788 deg/s,
      cmd heading: 262.280044 deg,
      new cmd heading: 263.826259 deg.

2021-02-16T07:25:59.194Z,1613460359.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:25:59.964Z,1613460359.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:00.347Z,1613460360.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:01.187Z,1613460361.187 [Micromodem](INFO): Nmea in: $SNTTA,0.118301,,,,072601.46*4A

2021-02-16T07:26:01.607Z,1613460361.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 258.513344 deg, deltaT: 4.910987 s, approachRate: 0.586438 m/s, LOS rate: 8.199133 deg/s, posRepo size: 4
2021-02-16T07:26:01.609Z,1613460361.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 258.513344 deg,
      approachRate: 0.586438 m/s,
      LOS rate: 8.199133 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 212.735708 deg,
      new cmd heading: 208.736435 deg.

2021-02-16T07:26:04.050Z,1613460364.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:04.826Z,1613460364.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:05.199Z,1613460365.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:06.026Z,1613460366.026 [Micromodem](INFO): Nmea in: $SNTTA,0.120301,,,,072606.32*45

2021-02-16T07:26:06.439Z,1613460366.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.539993 m, bearing: 239.018290 deg, deltaT: 4.817343 s, approachRate: 0.585383 m/s, LOS rate: -4.046848 deg/s, posRepo size: 4
2021-02-16T07:26:06.441Z,1613460366.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.539993 m,
      bearing: 239.018290 deg,
      approachRate: 0.585383 m/s,
      LOS rate: -4.046848 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.161237 deg,
      new cmd heading: 275.427753 deg.

2021-02-16T07:26:08.858Z,1613460368.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:09.636Z,1613460369.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:10.053Z,1613460370.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:10.871Z,1613460370.871 [Micromodem](INFO): Nmea in: $SNTTA,0.121857,,,,072611.13*49

2021-02-16T07:26:11.330Z,1613460371.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.480011 m, bearing: 210.838924 deg, deltaT: 4.828452 s, approachRate: 0.608894 m/s, LOS rate: -5.836108 deg/s, posRepo size: 4
2021-02-16T07:26:11.332Z,1613460371.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.480011 m,
      bearing: 210.838924 deg,
      approachRate: 0.608894 m/s,
      LOS rate: -5.836108 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 213.219656 deg,
      new cmd heading: 208.205396 deg.

2021-02-16T07:26:13.696Z,1613460373.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:14.485Z,1613460374.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:14.896Z,1613460374.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:15.709Z,1613460375.709 [Micromodem](INFO): Nmea in: $SNTTA,0.123717,,,,072615.98*47

2021-02-16T07:26:16.156Z,1613460376.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 248.582740 deg, deltaT: 4.861806 s, approachRate: 0.481302 m/s, LOS rate: 7.763332 deg/s, posRepo size: 4
2021-02-16T07:26:16.163Z,1613460376.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.820007 m,
      bearing: 248.582740 deg,
      approachRate: 0.481302 m/s,
      LOS rate: 7.763332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.109739 deg,
      new cmd heading: 150.340495 deg.

2021-02-16T07:26:18.572Z,1613460378.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:19.332Z,1613460379.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:19.738Z,1613460379.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:20.580Z,1613460380.580 [Micromodem](INFO): Nmea in: $SNTTA,0.125342,,,,072620.82*48

2021-02-16T07:26:20.615Z,1613460380.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.820007 m, bearing: 228.235142 deg, deltaT: 4.430298 s, approachRate: 0.000000 m/s, LOS rate: -4.592828 deg/s, posRepo size: 4
2021-02-16T07:26:20.617Z,1613460380.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.820007 m,
      bearing: 228.235142 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.592828 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 208.502228 deg,
      new cmd heading: 213.440193 deg.

2021-02-16T07:26:22.993Z,1613460382.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:23.806Z,1613460383.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:24.193Z,1613460384.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:25.016Z,1613460385.016 [Micromodem](INFO): Nmea in: $SNTTA,0.126927,,,,072625.30*4E

2021-02-16T07:26:25.436Z,1613460385.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 191.179222 deg, deltaT: 4.864383 s, approachRate: 0.949757 m/s, LOS rate: -7.617805 deg/s, posRepo size: 4
2021-02-16T07:26:25.438Z,1613460385.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.439987 m,
      bearing: 191.179222 deg,
      approachRate: 0.949757 m/s,
      LOS rate: -7.617805 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.177511 deg,
      new cmd heading: 145.718958 deg.

2021-02-16T07:26:27.847Z,1613460387.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:28.624Z,1613460388.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:29.036Z,1613460389.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:29.436Z,1613460389.436 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:26:29.842Z,1613460389.842 [Micromodem](INFO): Nmea in: $SNTTA,0.127649,,,,072630.11*4F

2021-02-16T07:26:30.316Z,1613460390.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.459991 m, bearing: 168.602140 deg, deltaT: 4.819994 s, approachRate: 0.211619 m/s, LOS rate: -4.684048 deg/s, posRepo size: 4
2021-02-16T07:26:30.317Z,1613460390.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.459991 m,
      bearing: 168.602140 deg,
      approachRate: 0.211619 m/s,
      LOS rate: -4.684048 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 92.305697 deg,
      new cmd heading: 87.162929 deg.

2021-02-16T07:26:32.705Z,1613460392.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:33.472Z,1613460393.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:33.880Z,1613460393.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:34.690Z,1613460394.690 [Micromodem](INFO): Nmea in: $SNTTA,0.127850,,,,072634.96*42

2021-02-16T07:26:35.129Z,1613460395.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.699982 m, bearing: 182.804453 deg, deltaT: 4.816402 s, approachRate: 0.049828 m/s, LOS rate: 2.948739 deg/s, posRepo size: 4
2021-02-16T07:26:35.131Z,1613460395.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.699982 m,
      bearing: 182.804453 deg,
      approachRate: 0.049828 m/s,
      LOS rate: 2.948739 deg/s,
      cmd update: 8.846217 deg/s,
      cmd heading: 34.489383 deg,
      new cmd heading: 29.397243 deg.

2021-02-16T07:26:37.557Z,1613460397.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:38.326Z,1613460398.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:38.730Z,1613460398.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:39.543Z,1613460399.543 [Micromodem](INFO): Nmea in: $SNTTA,0.127401,,,,072639.82*42

2021-02-16T07:26:40.015Z,1613460400.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.979980 m, bearing: 99.709287 deg, deltaT: 4.862111 s, approachRate: -0.148084 m/s, LOS rate: -17.090347 deg/s, posRepo size: 4
2021-02-16T07:26:40.016Z,1613460400.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.090347 deg/s. Setting heading cmd to target bearing of 99.709287deg and heading rate command to 0 deg/s.
2021-02-16T07:26:42.406Z,1613460402.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:43.179Z,1613460403.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:43.573Z,1613460403.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:44.392Z,1613460404.392 [Micromodem](INFO): Nmea in: $SNTTA,0.125941,,,,072644.67*48

2021-02-16T07:26:45.244Z,1613460405.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:48.052Z,1613460408.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:50.871Z,1613460410.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:51.652Z,1613460411.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:52.057Z,1613460412.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:52.870Z,1613460412.870 [Micromodem](INFO): Nmea in: $SNTTA,0.123282,,,,072653.14*48

2021-02-16T07:26:53.336Z,1613460413.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.800003 m, bearing: 105.301498 deg, deltaT: 13.352073 s, approachRate: -0.462848 m/s, LOS rate: 0.418827 deg/s, posRepo size: 4
2021-02-16T07:26:53.337Z,1613460413.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.800003 m,
      bearing: 105.301498 deg,
      approachRate: -0.462848 m/s,
      LOS rate: 0.418827 deg/s,
      cmd update: 1.256481 deg/s,
      cmd heading: 99.709287 deg,
      new cmd heading: 99.709287 deg.

2021-02-16T07:26:55.709Z,1613460415.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:26:56.509Z,1613460416.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:26:56.923Z,1613460416.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:26:57.735Z,1613460417.735 [Micromodem](INFO): Nmea in: $SNTTA,0.121455,,,,072658.00*48

2021-02-16T07:26:57.757Z,1613460417.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.800003 m, bearing: 107.848687 deg, deltaT: 4.432946 s, approachRate: 0.000000 m/s, LOS rate: 0.574604 deg/s, posRepo size: 4
2021-02-16T07:26:57.760Z,1613460417.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.800003 m,
      bearing: 107.848687 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.574604 deg/s,
      cmd update: 1.723813 deg/s,
      cmd heading: 105.308065 deg,
      new cmd heading: 105.818273 deg.

2021-02-16T07:27:00.206Z,1613460420.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:00.944Z,1613460420.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:01.356Z,1613460421.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:02.185Z,1613460422.185 [Micromodem](INFO): Nmea in: $SNTTA,0.119656,,,,072702.43*4B

2021-02-16T07:27:02.209Z,1613460422.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 108.754951 deg, deltaT: 4.478496 s, approachRate: -1.232558 m/s, LOS rate: 0.202359 deg/s, posRepo size: 4
2021-02-16T07:27:02.211Z,1613460422.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 108.754951 deg,
      approachRate: -1.232558 m/s,
      LOS rate: 0.202359 deg/s,
      cmd update: 0.607077 deg/s,
      cmd heading: 113.029906 deg,
      new cmd heading: 113.683301 deg.

2021-02-16T07:27:04.646Z,1613460424.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:05.394Z,1613460425.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:05.815Z,1613460425.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:06.646Z,1613460426.646 [Micromodem](INFO): Nmea in: $SNTTA,0.117836,,,,072706.88*4E

2021-02-16T07:27:06.675Z,1613460426.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 107.698423 deg, deltaT: 4.432992 s, approachRate: 0.000000 m/s, LOS rate: -0.238333 deg/s, posRepo size: 4
2021-02-16T07:27:06.677Z,1613460426.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 107.698423 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.238333 deg/s,
      cmd update: -0.714999 deg/s,
      cmd heading: 115.697130 deg,
      new cmd heading: 115.971121 deg.

2021-02-16T07:27:09.073Z,1613460429.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:09.833Z,1613460429.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:10.269Z,1613460430.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:11.076Z,1613460431.076 [Micromodem](INFO): Nmea in: $SNTTA,0.115994,,,,072711.33*43

2021-02-16T07:27:11.100Z,1613460431.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 107.272390 deg, deltaT: 4.428943 s, approachRate: 0.000000 m/s, LOS rate: -0.096193 deg/s, posRepo size: 4
2021-02-16T07:27:11.102Z,1613460431.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 107.272390 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.096193 deg/s,
      cmd update: -0.288579 deg/s,
      cmd heading: 112.508304 deg,
      new cmd heading: 112.210800 deg.

2021-02-16T07:27:13.518Z,1613460433.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:14.286Z,1613460434.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:14.687Z,1613460434.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:15.512Z,1613460435.512 [Micromodem](INFO): Nmea in: $SNTTA,0.114067,,,,072715.78*4C

2021-02-16T07:27:15.557Z,1613460435.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 107.341450 deg, deltaT: 4.450724 s, approachRate: 0.000000 m/s, LOS rate: 0.015517 deg/s, posRepo size: 4
2021-02-16T07:27:15.558Z,1613460435.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 107.341450 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.015517 deg/s,
      cmd update: 0.046550 deg/s,
      cmd heading: 111.222616 deg,
      new cmd heading: 111.102123 deg.

2021-02-16T07:27:17.953Z,1613460437.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:18.726Z,1613460438.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:19.139Z,1613460439.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:19.952Z,1613460439.952 [Micromodem](INFO): Nmea in: $SNTTA,0.112181,,,,072720.22*4A

2021-02-16T07:27:20.027Z,1613460440.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 107.805855 deg, deltaT: 4.432375 s, approachRate: 0.000000 m/s, LOS rate: 0.104776 deg/s, posRepo size: 4
2021-02-16T07:27:20.029Z,1613460440.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 107.805855 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.104776 deg/s,
      cmd update: 0.314327 deg/s,
      cmd heading: 111.429122 deg,
      new cmd heading: 111.449965 deg.

2021-02-16T07:27:22.382Z,1613460442.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:23.167Z,1613460443.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:23.573Z,1613460443.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:24.396Z,1613460444.396 [Micromodem](INFO): Nmea in: $SNTTA,0.110241,,,,072724.66*43

2021-02-16T07:27:24.420Z,1613460444.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 106.793983 deg, deltaT: 4.431773 s, approachRate: -3.195110 m/s, LOS rate: -0.228322 deg/s, posRepo size: 4
2021-02-16T07:27:24.422Z,1613460444.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.119995 m,
      bearing: 106.793983 deg,
      approachRate: -3.195110 m/s,
      LOS rate: -0.228322 deg/s,
      cmd update: -0.684967 deg/s,
      cmd heading: 112.822181 deg,
      new cmd heading: 112.951989 deg.

2021-02-16T07:27:26.838Z,1613460446.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:27.608Z,1613460447.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:28.021Z,1613460448.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:28.853Z,1613460448.853 [Micromodem](INFO): Nmea in: $SNTTA,0.108387,,,,072729.10*4D

2021-02-16T07:27:28.890Z,1613460448.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.419998 m, bearing: 106.885159 deg, deltaT: 4.462593 s, approachRate: -0.605029 m/s, LOS rate: 0.020431 deg/s, posRepo size: 4
2021-02-16T07:27:28.892Z,1613460448.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.419998 m,
      bearing: 106.885159 deg,
      approachRate: -0.605029 m/s,
      LOS rate: 0.020431 deg/s,
      cmd update: 0.061294 deg/s,
      cmd heading: 109.768158 deg,
      new cmd heading: 109.477382 deg.

2021-02-16T07:27:31.318Z,1613460451.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:32.054Z,1613460452.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:32.464Z,1613460452.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:33.292Z,1613460453.292 [Micromodem](INFO): Nmea in: $SNTTA,0.106382,,,,072733.54*4D

2021-02-16T07:27:33.317Z,1613460453.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 107.717663 deg, deltaT: 4.423696 s, approachRate: -0.678163 m/s, LOS rate: 0.188192 deg/s, posRepo size: 4
2021-02-16T07:27:33.318Z,1613460453.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.420013 m,
      bearing: 107.717663 deg,
      approachRate: -0.678163 m/s,
      LOS rate: 0.188192 deg/s,
      cmd update: 0.564576 deg/s,
      cmd heading: 110.039546 deg,
      new cmd heading: 110.065486 deg.

2021-02-16T07:27:35.722Z,1613460455.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:36.496Z,1613460456.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:36.902Z,1613460456.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:37.724Z,1613460457.724 [Micromodem](INFO): Nmea in: $SNTTA,0.104416,,,,072737.99*40

2021-02-16T07:27:37.819Z,1613460457.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 107.028333 deg, deltaT: 4.465542 s, approachRate: -0.671814 m/s, LOS rate: -0.154366 deg/s, posRepo size: 4
2021-02-16T07:27:37.821Z,1613460457.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.419998 m,
      bearing: 107.028333 deg,
      approachRate: -0.671814 m/s,
      LOS rate: -0.154366 deg/s,
      cmd update: -0.463099 deg/s,
      cmd heading: 112.560683 deg,
      new cmd heading: 112.818198 deg.

2021-02-16T07:27:40.202Z,1613460460.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:40.942Z,1613460460.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:41.352Z,1613460461.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:42.175Z,1613460462.175 [Micromodem](INFO): Nmea in: $SNTTA,0.102550,,,,072742.43*40

2021-02-16T07:27:42.209Z,1613460462.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 106.059703 deg, deltaT: 4.466763 s, approachRate: -0.631331 m/s, LOS rate: -0.216853 deg/s, posRepo size: 4
2021-02-16T07:27:42.210Z,1613460462.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 106.059703 deg,
      approachRate: -0.631331 m/s,
      LOS rate: -0.216853 deg/s,
      cmd update: -0.650558 deg/s,
      cmd heading: 110.493968 deg,
      new cmd heading: 110.314794 deg.

2021-02-16T07:27:44.610Z,1613460464.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:45.384Z,1613460465.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:45.836Z,1613460465.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:46.619Z,1613460466.619 [Micromodem](INFO): Nmea in: $SNTTA,,,,,072746.88*5E

2021-02-16T07:27:46.643Z,1613460466.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 106.257055 deg, deltaT: 4.400371 s, approachRate: -0.654488 m/s, LOS rate: 0.044849 deg/s, posRepo size: 4
2021-02-16T07:27:46.645Z,1613460466.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.720001 m,
      bearing: 106.257055 deg,
      approachRate: -0.654488 m/s,
      LOS rate: 0.044849 deg/s,
      cmd update: 0.134546 deg/s,
      cmd heading: 107.629522 deg,
      new cmd heading: 107.357565 deg.

2021-02-16T07:27:49.047Z,1613460469.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:49.828Z,1613460469.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:50.259Z,1613460470.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:51.056Z,1613460471.056 [Micromodem](INFO): Nmea in: $SNTTA,0.098880,,,,072751.32*46

2021-02-16T07:27:51.114Z,1613460471.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 106.270674 deg, deltaT: 4.439497 s, approachRate: -0.594662 m/s, LOS rate: 0.003068 deg/s, posRepo size: 4
2021-02-16T07:27:51.128Z,1613460471.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.080002 m,
      bearing: 106.270674 deg,
      approachRate: -0.594662 m/s,
      LOS rate: 0.003068 deg/s,
      cmd update: 0.009203 deg/s,
      cmd heading: 108.227018 deg,
      new cmd heading: 108.287252 deg.

2021-02-16T07:27:53.494Z,1613460473.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:54.292Z,1613460474.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:54.678Z,1613460474.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:55.512Z,1613460475.512 [Micromodem](INFO): Nmea in: $SNTTA,0.096951,,,,072755.78*4F

2021-02-16T07:27:55.537Z,1613460475.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 107.153538 deg, deltaT: 4.450610 s, approachRate: -0.647103 m/s, LOS rate: 0.198369 deg/s, posRepo size: 4
2021-02-16T07:27:55.538Z,1613460475.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.199997 m,
      bearing: 107.153538 deg,
      approachRate: -0.647103 m/s,
      LOS rate: 0.198369 deg/s,
      cmd update: 0.595107 deg/s,
      cmd heading: 108.267976 deg,
      new cmd heading: 108.271848 deg.

2021-02-16T07:27:57.950Z,1613460477.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:27:58.721Z,1613460478.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:27:59.124Z,1613460479.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:27:59.951Z,1613460479.951 [Micromodem](INFO): Nmea in: $SNTTA,0.094944,,,,072800.21*4A

2021-02-16T07:27:59.976Z,1613460479.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.260010 m, bearing: 107.032746 deg, deltaT: 4.477133 s, approachRate: -0.656667 m/s, LOS rate: -0.026980 deg/s, posRepo size: 4
2021-02-16T07:27:59.978Z,1613460479.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.260010 m,
      bearing: 107.032746 deg,
      approachRate: -0.656667 m/s,
      LOS rate: -0.026980 deg/s,
      cmd update: -0.080939 deg/s,
      cmd heading: 110.921593 deg,
      new cmd heading: 111.160134 deg.

2021-02-16T07:28:02.377Z,1613460482.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:03.176Z,1613460483.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:03.566Z,1613460483.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:04.457Z,1613460484.457 [Micromodem](INFO): Nmea in: $SNTTA,0.093096,,0.115803,,072804.67*5D

2021-02-16T07:28:04.495Z,1613460484.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 106.343450 deg, deltaT: 4.422753 s, approachRate: -0.624048 m/s, LOS rate: -0.155852 deg/s, posRepo size: 4
2021-02-16T07:28:04.497Z,1613460484.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.500000 m,
      bearing: 106.343450 deg,
      approachRate: -0.624048 m/s,
      LOS rate: -0.155852 deg/s,
      cmd update: -0.467557 deg/s,
      cmd heading: 110.562216 deg,
      new cmd heading: 110.523371 deg.

2021-02-16T07:28:06.849Z,1613460486.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:07.606Z,1613460487.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:08.015Z,1613460488.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:08.836Z,1613460488.836 [Micromodem](INFO): Nmea in: $SNTTA,0.091125,,,,072809.10*4B

2021-02-16T07:28:08.889Z,1613460488.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.559998 m, bearing: 106.325705 deg, deltaT: 4.440843 s, approachRate: -0.662037 m/s, LOS rate: -0.003996 deg/s, posRepo size: 4
2021-02-16T07:28:08.895Z,1613460488.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.559998 m,
      bearing: 106.325705 deg,
      approachRate: -0.662037 m/s,
      LOS rate: -0.003996 deg/s,
      cmd update: -0.011987 deg/s,
      cmd heading: 108.487277 deg,
      new cmd heading: 108.283395 deg.

2021-02-16T07:28:11.314Z,1613460491.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:12.065Z,1613460492.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:12.455Z,1613460492.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:13.296Z,1613460493.296 [Micromodem](INFO): Nmea in: $SNTTA,0.089184,,,,072813.55*43

2021-02-16T07:28:13.363Z,1613460493.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 105.903777 deg, deltaT: 4.448835 s, approachRate: -0.674330 m/s, LOS rate: -0.094840 deg/s, posRepo size: 4
2021-02-16T07:28:13.365Z,1613460493.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.560013 m,
      bearing: 105.903777 deg,
      approachRate: -0.674330 m/s,
      LOS rate: -0.094840 deg/s,
      cmd update: -0.284520 deg/s,
      cmd heading: 108.433901 deg,
      new cmd heading: 108.428474 deg.

2021-02-16T07:28:15.717Z,1613460495.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:16.497Z,1613460496.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:16.910Z,1613460496.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:17.748Z,1613460497.748 [Micromodem](INFO): Nmea in: $SNTTA,0.087345,,,,072817.99*46

2021-02-16T07:28:17.809Z,1613460497.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 105.887350 deg, deltaT: 4.435932 s, approachRate: -0.608669 m/s, LOS rate: -0.003703 deg/s, posRepo size: 4
2021-02-16T07:28:17.810Z,1613460497.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.860001 m,
      bearing: 105.887350 deg,
      approachRate: -0.608669 m/s,
      LOS rate: -0.003703 deg/s,
      cmd update: -0.011109 deg/s,
      cmd heading: 107.171785 deg,
      new cmd heading: 107.038862 deg.

2021-02-16T07:28:20.174Z,1613460500.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:20.944Z,1613460500.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:21.351Z,1613460501.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:22.169Z,1613460502.169 [Micromodem](INFO): Nmea in: $SNTTA,0.085491,,,,072822.43*4B

2021-02-16T07:28:22.216Z,1613460502.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.039993 m, bearing: 106.047313 deg, deltaT: 4.469917 s, approachRate: -0.630886 m/s, LOS rate: 0.035787 deg/s, posRepo size: 4
2021-02-16T07:28:22.218Z,1613460502.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.039993 m,
      bearing: 106.047313 deg,
      approachRate: -0.630886 m/s,
      LOS rate: 0.035787 deg/s,
      cmd update: 0.107360 deg/s,
      cmd heading: 107.122258 deg,
      new cmd heading: 107.117635 deg.

2021-02-16T07:28:24.610Z,1613460504.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:25.386Z,1613460505.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:25.807Z,1613460505.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:26.612Z,1613460506.612 [Micromodem](INFO): Nmea in: $SNTTA,0.083692,,,,072826.88*4F

2021-02-16T07:28:26.652Z,1613460506.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 104.611799 deg, deltaT: 4.418727 s, approachRate: -0.638191 m/s, LOS rate: -0.324871 deg/s, posRepo size: 4
2021-02-16T07:28:26.654Z,1613460506.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.220001 m,
      bearing: 104.611799 deg,
      approachRate: -0.638191 m/s,
      LOS rate: -0.324871 deg/s,
      cmd update: -0.974612 deg/s,
      cmd heading: 107.597863 deg,
      new cmd heading: 107.643180 deg.

2021-02-16T07:28:29.049Z,1613460509.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:29.824Z,1613460509.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:30.270Z,1613460510.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:31.052Z,1613460511.052 [Micromodem](INFO): Nmea in: $SNTTA,0.081641,,,,072831.31*47

2021-02-16T07:28:31.101Z,1613460511.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 104.348249 deg, deltaT: 4.415964 s, approachRate: -0.692940 m/s, LOS rate: -0.059681 deg/s, posRepo size: 4
2021-02-16T07:28:31.107Z,1613460511.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.160004 m,
      bearing: 104.348249 deg,
      approachRate: -0.692940 m/s,
      LOS rate: -0.059681 deg/s,
      cmd update: -0.179043 deg/s,
      cmd heading: 103.293606 deg,
      new cmd heading: 102.850219 deg.

2021-02-16T07:28:33.525Z,1613460513.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:34.301Z,1613460514.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:34.674Z,1613460514.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:35.515Z,1613460515.515 [Micromodem](INFO): Nmea in: $SNTTA,0.079755,,,,072835.79*4C

2021-02-16T07:28:35.540Z,1613460515.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 105.141890 deg, deltaT: 4.507744 s, approachRate: -0.612280 m/s, LOS rate: 0.176062 deg/s, posRepo size: 4
2021-02-16T07:28:35.541Z,1613460515.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.400002 m,
      bearing: 105.141890 deg,
      approachRate: -0.612280 m/s,
      LOS rate: 0.176062 deg/s,
      cmd update: 0.528185 deg/s,
      cmd heading: 102.487276 deg,
      new cmd heading: 102.417520 deg.

2021-02-16T07:28:37.931Z,1613460517.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:38.713Z,1613460518.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:39.124Z,1613460519.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:39.944Z,1613460519.944 [Micromodem](INFO): Nmea in: $SNTTA,0.077848,,,,072840.20*4F

2021-02-16T07:28:39.990Z,1613460519.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.580002 m, bearing: 105.418232 deg, deltaT: 4.409741 s, approachRate: -0.639493 m/s, LOS rate: 0.062666 deg/s, posRepo size: 4
2021-02-16T07:28:39.992Z,1613460519.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.580002 m,
      bearing: 105.418232 deg,
      approachRate: -0.639493 m/s,
      LOS rate: 0.062666 deg/s,
      cmd update: 0.187999 deg/s,
      cmd heading: 104.816612 deg,
      new cmd heading: 105.043732 deg.

2021-02-16T07:28:42.378Z,1613460522.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:43.162Z,1613460523.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:43.561Z,1613460523.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:44.388Z,1613460524.388 [Micromodem](INFO): Nmea in: $SNTTA,0.075824,,,,072844.65*42

2021-02-16T07:28:44.426Z,1613460524.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 105.454719 deg, deltaT: 4.456012 s, approachRate: -0.686712 m/s, LOS rate: 0.008188 deg/s, posRepo size: 4
2021-02-16T07:28:44.428Z,1613460524.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.520004 m,
      bearing: 105.454719 deg,
      approachRate: -0.686712 m/s,
      LOS rate: 0.008188 deg/s,
      cmd update: 0.024565 deg/s,
      cmd heading: 105.654351 deg,
      new cmd heading: 105.731418 deg.

2021-02-16T07:28:46.846Z,1613460526.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:47.617Z,1613460527.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:48.006Z,1613460528.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:48.840Z,1613460528.840 [Micromodem](INFO): Nmea in: $SNTTA,0.073739,,,,072849.11*49

2021-02-16T07:28:48.883Z,1613460528.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 105.254766 deg, deltaT: 4.431958 s, approachRate: -0.690439 m/s, LOS rate: -0.045116 deg/s, posRepo size: 4
2021-02-16T07:28:48.885Z,1613460528.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.460007 m,
      bearing: 105.254766 deg,
      approachRate: -0.690439 m/s,
      LOS rate: -0.045116 deg/s,
      cmd update: -0.135349 deg/s,
      cmd heading: 105.763319 deg,
      new cmd heading: 105.773916 deg.

2021-02-16T07:28:51.299Z,1613460531.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:52.052Z,1613460532.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:52.457Z,1613460532.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:53.296Z,1613460533.296 [Micromodem](INFO): Nmea in: $SNTTA,0.071866,,,,072853.54*44

2021-02-16T07:28:53.321Z,1613460533.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.639999 m, bearing: 104.292870 deg, deltaT: 4.447029 s, approachRate: -0.634133 m/s, LOS rate: -0.216301 deg/s, posRepo size: 4
2021-02-16T07:28:53.322Z,1613460533.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.639999 m,
      bearing: 104.292870 deg,
      approachRate: -0.634133 m/s,
      LOS rate: -0.216301 deg/s,
      cmd update: -0.648902 deg/s,
      cmd heading: 105.161434 deg,
      new cmd heading: 105.104307 deg.

2021-02-16T07:28:55.695Z,1613460535.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:28:56.493Z,1613460536.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:28:56.895Z,1613460536.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:28:57.727Z,1613460537.727 [Micromodem](INFO): Nmea in: $SNTTA,0.070031,,,,072857.98*4B

2021-02-16T07:28:57.750Z,1613460537.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 104.923570 deg, deltaT: 4.438485 s, approachRate: -0.621833 m/s, LOS rate: 0.142098 deg/s, posRepo size: 4
2021-02-16T07:28:57.752Z,1613460537.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.880005 m,
      bearing: 104.923570 deg,
      approachRate: -0.621833 m/s,
      LOS rate: 0.142098 deg/s,
      cmd update: 0.426294 deg/s,
      cmd heading: 102.281221 deg,
      new cmd heading: 102.013257 deg.

2021-02-16T07:29:00.165Z,1613460540.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:00.933Z,1613460540.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:01.337Z,1613460541.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:02.169Z,1613460542.169 [Micromodem](INFO): Nmea in: $SNTTA,0.068071,,,,072902.42*40

2021-02-16T07:29:02.223Z,1613460542.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 104.978812 deg, deltaT: 4.461760 s, approachRate: -0.658933 m/s, LOS rate: 0.012381 deg/s, posRepo size: 4
2021-02-16T07:29:02.225Z,1613460542.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 104.978812 deg,
      approachRate: -0.658933 m/s,
      LOS rate: 0.012381 deg/s,
      cmd update: 0.037144 deg/s,
      cmd heading: 104.178188 deg,
      new cmd heading: 104.363759 deg.

2021-02-16T07:29:04.610Z,1613460544.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:05.382Z,1613460545.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:05.805Z,1613460545.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:06.608Z,1613460546.608 [Micromodem](INFO): Nmea in: $SNTTA,0.066151,,,,072906.87*40

2021-02-16T07:29:06.649Z,1613460546.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 104.334015 deg, deltaT: 4.435882 s, approachRate: -0.676301 m/s, LOS rate: -0.145359 deg/s, posRepo size: 4
2021-02-16T07:29:06.650Z,1613460546.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.940010 m,
      bearing: 104.334015 deg,
      approachRate: -0.676301 m/s,
      LOS rate: -0.145359 deg/s,
      cmd update: -0.436078 deg/s,
      cmd heading: 104.343168 deg,
      new cmd heading: 104.358760 deg.

2021-02-16T07:29:09.045Z,1613460549.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:09.820Z,1613460549.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:10.246Z,1613460550.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:11.048Z,1613460551.048 [Micromodem](INFO): Nmea in: $SNTTA,0.064185,,,,072911.31*40

2021-02-16T07:29:11.096Z,1613460551.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 104.438558 deg, deltaT: 4.433360 s, approachRate: -0.636088 m/s, LOS rate: 0.023581 deg/s, posRepo size: 4
2021-02-16T07:29:11.097Z,1613460551.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 104.438558 deg,
      approachRate: -0.636088 m/s,
      LOS rate: 0.023581 deg/s,
      cmd update: 0.070743 deg/s,
      cmd heading: 102.407317 deg,
      new cmd heading: 102.220907 deg.

2021-02-16T07:29:13.488Z,1613460553.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:14.281Z,1613460554.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:14.671Z,1613460554.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:15.504Z,1613460555.504 [Micromodem](INFO): Nmea in: $SNTTA,0.062501,,,,072915.77*48

2021-02-16T07:29:15.548Z,1613460555.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.300003 m, bearing: 102.688240 deg, deltaT: 4.499607 s, approachRate: -0.626721 m/s, LOS rate: -0.388994 deg/s, posRepo size: 4
2021-02-16T07:29:15.549Z,1613460555.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.300003 m,
      bearing: 102.688240 deg,
      approachRate: -0.626721 m/s,
      LOS rate: -0.388994 deg/s,
      cmd update: -1.166981 deg/s,
      cmd heading: 102.725220 deg,
      new cmd heading: 102.752505 deg.

2021-02-16T07:29:17.938Z,1613460557.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:18.713Z,1613460558.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:19.123Z,1613460559.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:19.940Z,1613460559.940 [Micromodem](INFO): Nmea in: $SNTTA,0.060348,,,,072920.20*45

2021-02-16T07:29:19.966Z,1613460559.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 104.564022 deg, deltaT: 4.373175 s, approachRate: -0.644839 m/s, LOS rate: 0.428929 deg/s, posRepo size: 4
2021-02-16T07:29:19.968Z,1613460559.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.480011 m,
      bearing: 104.564022 deg,
      approachRate: -0.644839 m/s,
      LOS rate: 0.428929 deg/s,
      cmd update: 1.286787 deg/s,
      cmd heading: 97.614736 deg,
      new cmd heading: 97.119371 deg.

2021-02-16T07:29:22.374Z,1613460562.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:23.152Z,1613460563.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:23.575Z,1613460563.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:24.389Z,1613460564.389 [Micromodem](INFO): Nmea in: $SNTTA,0.058446,,,,072924.64*43

2021-02-16T07:29:24.441Z,1613460564.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 104.513649 deg, deltaT: 4.443579 s, approachRate: -0.675133 m/s, LOS rate: -0.011336 deg/s, posRepo size: 4
2021-02-16T07:29:24.443Z,1613460564.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 104.513649 deg,
      approachRate: -0.675133 m/s,
      LOS rate: -0.011336 deg/s,
      cmd update: -0.034008 deg/s,
      cmd heading: 103.332675 deg,
      new cmd heading: 103.919933 deg.

2021-02-16T07:29:26.842Z,1613460566.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:27.611Z,1613460567.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:28.008Z,1613460568.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:28.836Z,1613460568.836 [Micromodem](INFO): Nmea in: $SNTTA,0.056632,,,,072929.10*42

2021-02-16T07:29:28.884Z,1613460568.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.719994 m, bearing: 103.198585 deg, deltaT: 4.449519 s, approachRate: -0.620294 m/s, LOS rate: -0.295552 deg/s, posRepo size: 4
2021-02-16T07:29:28.886Z,1613460568.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.719994 m,
      bearing: 103.198585 deg,
      approachRate: -0.620294 m/s,
      LOS rate: -0.295552 deg/s,
      cmd update: -0.886656 deg/s,
      cmd heading: 103.181355 deg,
      new cmd heading: 103.166057 deg.

2021-02-16T07:29:31.286Z,1613460571.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:32.042Z,1613460572.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:32.446Z,1613460572.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:33.292Z,1613460573.292 [Micromodem](INFO): Nmea in: $SNTTA,0.054649,,,,072933.53*40

2021-02-16T07:29:33.317Z,1613460573.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.720001 m, bearing: 102.557210 deg, deltaT: 4.470588 s, approachRate: -0.671051 m/s, LOS rate: -0.143466 deg/s, posRepo size: 4
2021-02-16T07:29:33.318Z,1613460573.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.720001 m,
      bearing: 102.557210 deg,
      approachRate: -0.671051 m/s,
      LOS rate: -0.143466 deg/s,
      cmd update: -0.430397 deg/s,
      cmd heading: 99.217601 deg,
      new cmd heading: 98.852124 deg.

2021-02-16T07:29:35.691Z,1613460575.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:36.489Z,1613460576.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:36.889Z,1613460576.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:37.716Z,1613460577.716 [Micromodem](INFO): Nmea in: $SNTTA,0.052638,,,,072937.98*43

2021-02-16T07:29:37.754Z,1613460577.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 103.477024 deg, deltaT: 4.429220 s, approachRate: -0.677318 m/s, LOS rate: 0.207670 deg/s, posRepo size: 4
2021-02-16T07:29:37.761Z,1613460577.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 103.477024 deg,
      approachRate: -0.677318 m/s,
      LOS rate: 0.207670 deg/s,
      cmd update: 0.623009 deg/s,
      cmd heading: 97.311222 deg,
      new cmd heading: 97.130676 deg.

2021-02-16T07:29:40.187Z,1613460580.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:40.933Z,1613460580.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:41.361Z,1613460581.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:42.166Z,1613460582.166 [Micromodem](INFO): Nmea in: $SNTTA,0.050728,,,,072942.43*45

2021-02-16T07:29:42.201Z,1613460582.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 103.754036 deg, deltaT: 4.472360 s, approachRate: -0.630541 m/s, LOS rate: 0.061939 deg/s, posRepo size: 4
2021-02-16T07:29:42.203Z,1613460582.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 103.754036 deg,
      approachRate: -0.630541 m/s,
      LOS rate: 0.061939 deg/s,
      cmd update: 0.185816 deg/s,
      cmd heading: 100.084725 deg,
      new cmd heading: 100.343417 deg.

2021-02-16T07:29:44.598Z,1613460584.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:45.374Z,1613460585.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:45.805Z,1613460585.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:46.604Z,1613460586.604 [Micromodem](INFO): Nmea in: $SNTTA,0.048915,,,,072946.87*40

2021-02-16T07:29:46.663Z,1613460586.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 103.544111 deg, deltaT: 4.435355 s, approachRate: -0.622271 m/s, LOS rate: -0.047330 deg/s, posRepo size: 4
2021-02-16T07:29:46.666Z,1613460586.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 103.544111 deg,
      approachRate: -0.622271 m/s,
      LOS rate: -0.047330 deg/s,
      cmd update: -0.141990 deg/s,
      cmd heading: 100.910491 deg,
      new cmd heading: 100.990790 deg.

2021-02-16T07:29:49.063Z,1613460589.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:49.836Z,1613460589.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:50.229Z,1613460590.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:51.072Z,1613460591.072 [Micromodem](INFO): Nmea in: $SNTTA,0.047081,,,,072951.32*43

2021-02-16T07:29:51.103Z,1613460591.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 103.013466 deg, deltaT: 4.407292 s, approachRate: -0.612622 m/s, LOS rate: -0.120401 deg/s, posRepo size: 4
2021-02-16T07:29:51.105Z,1613460591.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 103.013466 deg,
      approachRate: -0.612622 m/s,
      LOS rate: -0.120401 deg/s,
      cmd update: -0.361204 deg/s,
      cmd heading: 100.283000 deg,
      new cmd heading: 100.218555 deg.

2021-02-16T07:29:53.486Z,1613460593.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:54.288Z,1613460594.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:54.672Z,1613460594.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:55.512Z,1613460595.512 [Micromodem](INFO): Nmea in: $SNTTA,0.045209,,,,072955.78*49

2021-02-16T07:29:55.536Z,1613460595.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 104.334001 deg, deltaT: 4.518236 s, approachRate: -0.584297 m/s, LOS rate: 0.292268 deg/s, posRepo size: 4
2021-02-16T07:29:55.538Z,1613460595.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 104.334001 deg,
      approachRate: -0.584297 m/s,
      LOS rate: 0.292268 deg/s,
      cmd update: 0.876804 deg/s,
      cmd heading: 98.670649 deg,
      new cmd heading: 98.517777 deg.

2021-02-16T07:29:57.922Z,1613460597.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:29:58.705Z,1613460598.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:29:59.125Z,1613460599.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:29:59.936Z,1613460599.936 [Micromodem](INFO): Nmea in: $SNTTA,0.043383,,,,073000.20*49

2021-02-16T07:29:59.986Z,1613460599.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.800003 m, bearing: 103.746503 deg, deltaT: 4.397684 s, approachRate: -0.682179 m/s, LOS rate: -0.133593 deg/s, posRepo size: 4
2021-02-16T07:29:59.992Z,1613460599.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.800003 m,
      bearing: 103.746503 deg,
      approachRate: -0.682179 m/s,
      LOS rate: -0.133593 deg/s,
      cmd update: -0.400778 deg/s,
      cmd heading: 102.570749 deg,
      new cmd heading: 102.943379 deg.

2021-02-16T07:30:02.377Z,1613460602.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:03.153Z,1613460603.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:03.564Z,1613460603.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:04.381Z,1613460604.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,073004.64*5C

2021-02-16T07:30:04.425Z,1613460604.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.980007 m, bearing: 103.127742 deg, deltaT: 4.433493 s, approachRate: -0.636066 m/s, LOS rate: -0.139565 deg/s, posRepo size: 4
2021-02-16T07:30:04.427Z,1613460604.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.980007 m,
      bearing: 103.127742 deg,
      approachRate: -0.636066 m/s,
      LOS rate: -0.139565 deg/s,
      cmd update: -0.418695 deg/s,
      cmd heading: 100.792319 deg,
      new cmd heading: 100.621369 deg.

2021-02-16T07:30:06.858Z,1613460606.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:07.592Z,1613460607.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:08.005Z,1613460608.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:08.824Z,1613460608.824 [Micromodem](INFO): Nmea in: $SNTTA,0.039562,,,,073009.08*4E

2021-02-16T07:30:08.863Z,1613460608.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.100006 m, bearing: 103.215059 deg, deltaT: 4.445318 s, approachRate: -0.647873 m/s, LOS rate: 0.019642 deg/s, posRepo size: 4
2021-02-16T07:30:08.865Z,1613460608.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.100006 m,
      bearing: 103.215059 deg,
      approachRate: -0.647873 m/s,
      LOS rate: 0.019642 deg/s,
      cmd update: 0.058927 deg/s,
      cmd heading: 98.931068 deg,
      new cmd heading: 98.755674 deg.

2021-02-16T07:30:11.271Z,1613460611.271 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:30:11.292Z,1613460611.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:12.044Z,1613460612.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:12.447Z,1613460612.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:13.298Z,1613460613.298 [Micromodem](INFO): Nmea in: $SNTTA,0.037612,,,,073013.53*41

2021-02-16T07:30:13.330Z,1613460613.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.160004 m, bearing: 103.431139 deg, deltaT: 4.456903 s, approachRate: -0.659651 m/s, LOS rate: 0.048482 deg/s, posRepo size: 4
2021-02-16T07:30:13.337Z,1613460613.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.160004 m,
      bearing: 103.431139 deg,
      approachRate: -0.659651 m/s,
      LOS rate: 0.048482 deg/s,
      cmd update: 0.145446 deg/s,
      cmd heading: 99.193692 deg,
      new cmd heading: 99.219011 deg.

2021-02-16T07:30:15.689Z,1613460615.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:16.485Z,1613460616.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:16.887Z,1613460616.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:17.720Z,1613460617.720 [Micromodem](INFO): Nmea in: $SNTTA,0.035682,,,,073017.97*46

2021-02-16T07:30:17.746Z,1613460617.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 103.878872 deg, deltaT: 4.419242 s, approachRate: -0.651696 m/s, LOS rate: 0.101314 deg/s, posRepo size: 4
2021-02-16T07:30:17.748Z,1613460617.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 103.878872 deg,
      approachRate: -0.651696 m/s,
      LOS rate: 0.101314 deg/s,
      cmd update: 0.303943 deg/s,
      cmd heading: 99.836461 deg,
      new cmd heading: 99.898511 deg.

2021-02-16T07:30:20.204Z,1613460620.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:20.935Z,1613460620.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:21.330Z,1613460621.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:22.177Z,1613460622.177 [Micromodem](INFO): Nmea in: $SNTTA,0.033775,,,,073022.43*46

2021-02-16T07:30:22.207Z,1613460622.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.459995 m, bearing: 103.747083 deg, deltaT: 4.478599 s, approachRate: -0.629663 m/s, LOS rate: -0.029426 deg/s, posRepo size: 4
2021-02-16T07:30:22.209Z,1613460622.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.459995 m,
      bearing: 103.747083 deg,
      approachRate: -0.629663 m/s,
      LOS rate: -0.029426 deg/s,
      cmd update: -0.088279 deg/s,
      cmd heading: 101.193786 deg,
      new cmd heading: 101.321901 deg.

2021-02-16T07:30:24.594Z,1613460624.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:25.373Z,1613460625.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:25.802Z,1613460625.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:26.600Z,1613460626.600 [Micromodem](INFO): Nmea in: $SNTTA,0.031953,,,,073026.86*43

2021-02-16T07:30:26.647Z,1613460626.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 103.425204 deg, deltaT: 4.456561 s, approachRate: -0.619310 m/s, LOS rate: -0.072226 deg/s, posRepo size: 4
2021-02-16T07:30:26.649Z,1613460626.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 103.425204 deg,
      approachRate: -0.619310 m/s,
      LOS rate: -0.072226 deg/s,
      cmd update: -0.216678 deg/s,
      cmd heading: 100.801525 deg,
      new cmd heading: 100.764657 deg.

2021-02-16T07:30:29.062Z,1613460629.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:29.814Z,1613460629.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:30.241Z,1613460630.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:31.040Z,1613460631.040 [Micromodem](INFO): Nmea in: $SNTTA,0.030110,,,,073031.30*46

2021-02-16T07:30:31.078Z,1613460631.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 103.535600 deg, deltaT: 4.400614 s, approachRate: -0.627186 m/s, LOS rate: 0.025087 deg/s, posRepo size: 4
2021-02-16T07:30:31.080Z,1613460631.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.940002 m,
      bearing: 103.535600 deg,
      approachRate: -0.627186 m/s,
      LOS rate: 0.025087 deg/s,
      cmd update: 0.075260 deg/s,
      cmd heading: 99.842352 deg,
      new cmd heading: 99.750732 deg.

2021-02-16T07:30:33.506Z,1613460633.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:34.288Z,1613460634.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:34.684Z,1613460634.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:35.508Z,1613460635.508 [Micromodem](INFO): Nmea in: $SNTTA,0.028262,,,,073035.78*41

2021-02-16T07:30:35.552Z,1613460635.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 103.753169 deg, deltaT: 4.439575 s, approachRate: -0.621682 m/s, LOS rate: 0.049007 deg/s, posRepo size: 4
2021-02-16T07:30:35.554Z,1613460635.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.179996 m,
      bearing: 103.753169 deg,
      approachRate: -0.621682 m/s,
      LOS rate: 0.049007 deg/s,
      cmd update: 0.147020 deg/s,
      cmd heading: 100.176473 deg,
      new cmd heading: 100.209344 deg.

2021-02-16T07:30:37.935Z,1613460637.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:38.700Z,1613460638.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:39.106Z,1613460639.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:39.932Z,1613460639.932 [Micromodem](INFO): Nmea in: $SNTTA,0.026421,,,,073040.19*4B

2021-02-16T07:30:39.985Z,1613460639.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 104.545218 deg, deltaT: 4.439614 s, approachRate: -0.594645 m/s, LOS rate: 0.178405 deg/s, posRepo size: 4
2021-02-16T07:30:39.985Z,1613460639.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.54 m.
2021-02-16T07:30:39.995Z,1613460639.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.540001 m,
      bearing: 104.545218 deg,
      approachRate: -0.594645 m/s,
      LOS rate: 0.178405 deg/s,
      cmd update: 0.535215 deg/s,
      cmd heading: 100.829184 deg,
      new cmd heading: 100.895326 deg.

2021-02-16T07:30:40.333Z,1613460640.333 [PowerOnly](INFO): Powering up loadControl
2021-02-16T07:30:42.361Z,1613460642.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:43.149Z,1613460643.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:43.555Z,1613460643.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:44.388Z,1613460644.388 [Micromodem](INFO): Nmea in: $SNTTA,0.024565,,,,073044.64*46

2021-02-16T07:30:44.469Z,1613460644.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.660000 m, bearing: 102.630914 deg, deltaT: 4.456337 s, approachRate: -0.646271 m/s, LOS rate: -0.429569 deg/s, posRepo size: 4
2021-02-16T07:30:44.470Z,1613460644.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.66 m.
2021-02-16T07:30:44.470Z,1613460644.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.66 m.
2021-02-16T07:30:44.470Z,1613460644.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T07:30:44.472Z,1613460644.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.660000 m,
      bearing: 102.630914 deg,
      approachRate: -0.646271 m/s,
      LOS rate: -0.429569 deg/s,
      cmd update: -1.288707 deg/s,
      cmd heading: 103.214278 deg,
      new cmd heading: 103.470314 deg.

2021-02-16T07:30:46.845Z,1613460646.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:47.593Z,1613460647.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:48.003Z,1613460648.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:48.825Z,1613460648.825 [Micromodem](INFO): Nmea in: $SNTTA,0.022634,,0.059665,,073049.08*57

2021-02-16T07:30:48.850Z,1613460648.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 101.255540 deg, deltaT: 4.440237 s, approachRate: -0.662127 m/s, LOS rate: -0.309753 deg/s, posRepo size: 4
2021-02-16T07:30:48.852Z,1613460648.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 101.255540 deg,
      approachRate: -0.662127 m/s,
      LOS rate: -0.309753 deg/s,
      cmd update: -0.929258 deg/s,
      cmd heading: 97.492081 deg,
      new cmd heading: 96.952907 deg.

2021-02-16T07:30:51.309Z,1613460651.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:52.038Z,1613460652.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:52.438Z,1613460652.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:53.292Z,1613460653.292 [Micromodem](INFO): Nmea in: $SNTTA,0.020531,,,,073053.53*41

2021-02-16T07:30:53.322Z,1613460653.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.600000 m, bearing: 101.858010 deg, deltaT: 4.457034 s, approachRate: -0.700016 m/s, LOS rate: 0.135173 deg/s, posRepo size: 4
2021-02-16T07:30:53.340Z,1613460653.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.600000 m,
      bearing: 101.858010 deg,
      approachRate: -0.700016 m/s,
      LOS rate: 0.135173 deg/s,
      cmd update: 0.405519 deg/s,
      cmd heading: 93.354057 deg,
      new cmd heading: 92.947184 deg.

2021-02-16T07:30:55.699Z,1613460655.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:30:56.477Z,1613460656.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:30:56.894Z,1613460656.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:30:57.708Z,1613460657.708 [Micromodem](INFO): Nmea in: $SNTTA,0.018685,,,,073057.97*4A

2021-02-16T07:30:57.750Z,1613460657.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 102.227216 deg, deltaT: 4.445820 s, approachRate: -0.620809 m/s, LOS rate: 0.083046 deg/s, posRepo size: 4
2021-02-16T07:30:57.752Z,1613460657.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 102.227216 deg,
      approachRate: -0.620809 m/s,
      LOS rate: 0.083046 deg/s,
      cmd update: 0.249137 deg/s,
      cmd heading: 95.158515 deg,
      new cmd heading: 95.326955 deg.

2021-02-16T07:31:00.148Z,1613460660.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:00.937Z,1613460660.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:01.332Z,1613460661.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:02.169Z,1613460662.169 [Micromodem](INFO): Nmea in: $SNTTA,0.016947,0.052622,,,073102.43*52

2021-02-16T07:31:02.233Z,1613460662.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 103.294727 deg, deltaT: 4.460975 s, approachRate: -0.578349 m/s, LOS rate: 0.239300 deg/s, posRepo size: 4
2021-02-16T07:31:02.243Z,1613460662.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 103.294727 deg,
      approachRate: -0.578349 m/s,
      LOS rate: 0.239300 deg/s,
      cmd update: 0.717900 deg/s,
      cmd heading: 96.267045 deg,
      new cmd heading: 96.379019 deg.

2021-02-16T07:31:04.587Z,1613460664.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:05.366Z,1613460665.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:05.800Z,1613460665.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:06.604Z,1613460666.604 [Micromodem](INFO): Nmea in: $SNTTA,0.015147,,,,073106.86*4B

2021-02-16T07:31:06.664Z,1613460666.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 103.398211 deg, deltaT: 4.407550 s, approachRate: -0.626198 m/s, LOS rate: 0.023479 deg/s, posRepo size: 4
2021-02-16T07:31:06.666Z,1613460666.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 103.398211 deg,
      approachRate: -0.626198 m/s,
      LOS rate: 0.023479 deg/s,
      cmd update: 0.070437 deg/s,
      cmd heading: 99.439509 deg,
      new cmd heading: 99.770825 deg.

2021-02-16T07:31:09.033Z,1613460669.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:09.815Z,1613460669.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:10.242Z,1613460670.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:11.052Z,1613460671.052 [Micromodem](INFO): Nmea in: $SNTTA,0.013290,,0.141929,,073111.30*57

2021-02-16T07:31:11.077Z,1613460671.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.799997 m, bearing: 103.138718 deg, deltaT: 4.452313 s, approachRate: -0.606427 m/s, LOS rate: -0.058283 deg/s, posRepo size: 4
2021-02-16T07:31:11.078Z,1613460671.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 103.138718 deg,
      approachRate: -0.606427 m/s,
      LOS rate: -0.058283 deg/s,
      cmd update: -0.174848 deg/s,
      cmd heading: 99.752834 deg,
      new cmd heading: 99.782815 deg.

2021-02-16T07:31:13.481Z,1613460673.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:14.279Z,1613460674.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:14.679Z,1613460674.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:15.492Z,1613460675.492 [Micromodem](INFO): Nmea in: $SNTTA,0.011601,,,,073115.77*46

2021-02-16T07:31:15.532Z,1613460675.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 103.561220 deg, deltaT: 4.447165 s, approachRate: -0.593636 m/s, LOS rate: 0.095005 deg/s, posRepo size: 4
2021-02-16T07:31:15.534Z,1613460675.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 103.561220 deg,
      approachRate: -0.593636 m/s,
      LOS rate: 0.095005 deg/s,
      cmd update: 0.285014 deg/s,
      cmd heading: 98.974532 deg,
      new cmd heading: 98.899475 deg.

2021-02-16T07:31:17.923Z,1613460677.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:18.696Z,1613460678.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:19.107Z,1613460679.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:19.941Z,1613460679.941 [Micromodem](INFO): Nmea in: $SNTTA,0.009712,,,,073120.19*42

2021-02-16T07:31:19.974Z,1613460679.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 103.526154 deg, deltaT: 4.438887 s, approachRate: -0.648811 m/s, LOS rate: -0.007900 deg/s, posRepo size: 4
2021-02-16T07:31:19.976Z,1613460679.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 103.526154 deg,
      approachRate: -0.648811 m/s,
      LOS rate: -0.007900 deg/s,
      cmd update: -0.023699 deg/s,
      cmd heading: 100.239541 deg,
      new cmd heading: 100.363012 deg.

2021-02-16T07:31:22.368Z,1613460682.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:23.146Z,1613460683.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:23.546Z,1613460683.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:24.372Z,1613460684.372 [Micromodem](INFO): Nmea in: $SNTTA,0.007933,,,,073124.64*4F

2021-02-16T07:31:24.404Z,1613460684.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 101.855155 deg, deltaT: 4.437073 s, approachRate: -0.567943 m/s, LOS rate: -0.376599 deg/s, posRepo size: 4
2021-02-16T07:31:24.406Z,1613460684.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 101.855155 deg,
      approachRate: -0.567943 m/s,
      LOS rate: -0.376599 deg/s,
      cmd update: -1.129798 deg/s,
      cmd heading: 100.134378 deg,
      new cmd heading: 100.124285 deg.

2021-02-16T07:31:26.835Z,1613460686.835 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:27.584Z,1613460687.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:28.007Z,1613460688.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:28.820Z,1613460688.820 [Micromodem](INFO): Nmea in: $SNTTA,0.006147,,,,073129.08*42

2021-02-16T07:31:28.845Z,1613460688.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 101.133204 deg, deltaT: 4.479473 s, approachRate: -0.629538 m/s, LOS rate: -0.161169 deg/s, posRepo size: 4
2021-02-16T07:31:28.847Z,1613460688.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 101.133204 deg,
      approachRate: -0.629538 m/s,
      LOS rate: -0.161169 deg/s,
      cmd update: -0.483506 deg/s,
      cmd heading: 95.077972 deg,
      new cmd heading: 94.635400 deg.

2021-02-16T07:31:31.279Z,1613460691.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:32.028Z,1613460692.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:32.439Z,1613460692.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:32.592Z,1613460692.592 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-02-16T07:31:32.592Z,1613460692.592 [ThrusterServo] Communications Fault, FailCount= 1
2021-02-16T07:31:32.592Z,1613460692.592 [ThrusterServo](ERROR): Communications Fault
2021-02-16T07:31:32.596Z,1613460692.596 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-02-16T07:31:32.974Z,1613460692.974 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T07:31:32.974Z,1613460692.974 [ThrusterServo](INFO): Powering down
2021-02-16T07:31:33.290Z,1613460693.290 [Micromodem](INFO): Nmea in: $SNTTA,0.004556,,,,073133.52*40

2021-02-16T07:31:33.314Z,1613460693.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 100.051671 deg, deltaT: 4.424587 s, approachRate: -0.528863 m/s, LOS rate: -0.244437 deg/s, posRepo size: 4
2021-02-16T07:31:33.316Z,1613460693.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 100.051671 deg,
      approachRate: -0.528863 m/s,
      LOS rate: -0.244437 deg/s,
      cmd update: -0.733311 deg/s,
      cmd heading: 92.936744 deg,
      new cmd heading: 92.727717 deg.

2021-02-16T07:31:33.778Z,1613460693.778 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T07:31:33.896Z,1613460693.896 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T07:31:33.900Z,1613460693.900 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-02-16T07:31:33.900Z,1613460693.900 [ThrusterServo] No Fault, FailCount= 1
2021-02-16T07:31:35.697Z,1613460695.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:36.477Z,1613460696.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:36.898Z,1613460696.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:37.708Z,1613460697.708 [Micromodem](INFO): Nmea in: $SNTTA,0.003344,,,,073137.97*4F

2021-02-16T07:31:37.756Z,1613460697.756 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T07:31:37.757Z,1613460697.757 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:31:37.757Z,1613460697.757 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T07:31:37.757Z,1613460697.757 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:31:37.758Z,1613460697.758 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T07:31:37.761Z,1613460697.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-02-16T07:31:37.761Z,1613460697.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T07:31:37.762Z,1613460697.762 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T07:31:37.762Z,1613460697.762 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T07:31:37.771Z,1613460697.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 99.816699 deg, deltaT: 4.450616 s, approachRate: -0.390957 m/s, LOS rate: -0.052795 deg/s, posRepo size: 4
2021-02-16T07:31:37.793Z,1613460697.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 99.816699 deg,
      approachRate: -0.390957 m/s,
      LOS rate: -0.052795 deg/s,
      cmd update: -0.158386 deg/s,
      cmd heading: 89.676016 deg,
      new cmd heading: 89.354364 deg.

2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T073138: (41.552319, -70.708603)
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T07:31:38.128Z,1613460698.128 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:31:40.152Z,1613460700.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:40.921Z,1613460700.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:41.322Z,1613460701.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:41.689Z,1613460701.689 [CTD_Seabird](ERROR): Failed to parse device response: 5.69,1.315.75
2021-02-16T07:31:42.182Z,1613460702.182 [Micromodem](INFO): Nmea in: $SNTTA,0.002747,,0.005555,0.008492,073142.41*47

2021-02-16T07:31:42.276Z,1613460702.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 36.278522 deg, deltaT: 4.453863 s, approachRate: -0.188600 m/s, LOS rate: -14.265858 deg/s, posRepo size: 4
2021-02-16T07:31:42.276Z,1613460702.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.265858 deg/s. Setting heading cmd to target bearing of 36.278522deg and heading rate command to 0 deg/s.
2021-02-16T07:31:44.627Z,1613460704.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:45.373Z,1613460705.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:45.804Z,1613460705.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:46.596Z,1613460706.596 [Micromodem](INFO): Nmea in: $SNTTA,0.002703,,,,073146.86*4F

2021-02-16T07:31:46.650Z,1613460706.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 98.273882 deg, deltaT: 4.423897 s, approachRate: -0.013563 m/s, LOS rate: 14.013744 deg/s, posRepo size: 4
2021-02-16T07:31:46.655Z,1613460706.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.013744 deg/s. Setting heading cmd to target bearing of 98.273882deg and heading rate command to 0 deg/s.
2021-02-16T07:31:49.039Z,1613460709.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:49.816Z,1613460709.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:50.258Z,1613460710.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:51.044Z,1613460711.044 [Micromodem](INFO): Nmea in: $SNTTA,0.004840,,,0.051471,073151.31*53

2021-02-16T07:31:51.089Z,1613460711.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 27.307953 deg, deltaT: 4.416067 s, approachRate: 0.774445 m/s, LOS rate: -16.069939 deg/s, posRepo size: 4
2021-02-16T07:31:51.089Z,1613460711.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.069939 deg/s. Setting heading cmd to target bearing of 27.307953deg and heading rate command to 0 deg/s.
2021-02-16T07:31:53.484Z,1613460713.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:54.278Z,1613460714.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:54.665Z,1613460714.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:55.495Z,1613460715.495 [Micromodem](INFO): Nmea in: $SNTTA,0.005084,,,,073155.77*4C

2021-02-16T07:31:55.501Z,1613460715.501 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:31:55.518Z,1613460715.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 106.306396 deg, deltaT: 4.470511 s, approachRate: 0.080528 m/s, LOS rate: 17.671011 deg/s, posRepo size: 4
2021-02-16T07:31:55.520Z,1613460715.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.671011 deg/s. Setting heading cmd to target bearing of 106.306396deg and heading rate command to 0 deg/s.
2021-02-16T07:31:57.921Z,1613460717.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:31:58.692Z,1613460718.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:31:59.099Z,1613460719.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:31:59.923Z,1613460719.923 [Micromodem](INFO): Nmea in: $SNTTA,0.006286,,,,073200.18*45

2021-02-16T07:31:59.949Z,1613460719.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 87.968042 deg, deltaT: 4.433520 s, approachRate: 0.338332 m/s, LOS rate: -4.136297 deg/s, posRepo size: 4
2021-02-16T07:31:59.951Z,1613460719.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 87.968042 deg,
      approachRate: 0.338332 m/s,
      LOS rate: -4.136297 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 106.306396 deg,
      new cmd heading: 106.306396 deg.

2021-02-16T07:32:02.390Z,1613460722.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:03.141Z,1613460723.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:03.542Z,1613460723.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:04.372Z,1613460724.372 [Micromodem](INFO): Nmea in: $SNTTA,0.007316,,0.037085,,073204.63*53

2021-02-16T07:32:04.406Z,1613460724.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 77.358518 deg, deltaT: 4.443210 s, approachRate: 0.405112 m/s, LOS rate: -2.387806 deg/s, posRepo size: 4
2021-02-16T07:32:04.429Z,1613460724.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 77.358518 deg,
      approachRate: 0.405112 m/s,
      LOS rate: -2.387806 deg/s,
      cmd update: -7.163419 deg/s,
      cmd heading: 52.987622 deg,
      new cmd heading: 47.800898 deg.

2021-02-16T07:32:06.830Z,1613460726.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:07.589Z,1613460727.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:07.986Z,1613460727.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:08.824Z,1613460728.824 [Micromodem](INFO): Nmea in: $SNTTA,0.008946,,,,073209.08*44

2021-02-16T07:32:08.878Z,1613460728.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 83.025546 deg, deltaT: 4.443699 s, approachRate: 0.553594 m/s, LOS rate: 1.275295 deg/s, posRepo size: 4
2021-02-16T07:32:08.880Z,1613460728.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 83.025546 deg,
      approachRate: 0.553594 m/s,
      LOS rate: 1.275295 deg/s,
      cmd update: 3.825886 deg/s,
      cmd heading: 21.155582 deg,
      new cmd heading: 17.859621 deg.

2021-02-16T07:32:11.276Z,1613460731.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:12.026Z,1613460732.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:12.430Z,1613460732.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:13.292Z,1613460733.292 [Micromodem](INFO): Nmea in: $SNTTA,0.010677,,,,073213.51*47

2021-02-16T07:32:13.346Z,1613460733.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.100002 m, bearing: 67.287055 deg, deltaT: 4.470447 s, approachRate: 0.805289 m/s, LOS rate: -3.520563 deg/s, posRepo size: 4
2021-02-16T07:32:13.346Z,1613460733.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.10 m. Rolling out.
2021-02-16T07:32:13.346Z,1613460733.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T07:32:14.872Z,1613460734.872 [PowerOnly](INFO): Powering down loadControl
2021-02-16T07:32:15.687Z,1613460735.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:16.470Z,1613460736.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:16.874Z,1613460736.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:17.700Z,1613460737.700 [Micromodem](INFO): Nmea in: $SNTTA,0.011577,,,,073217.96*4A

2021-02-16T07:32:17.736Z,1613460737.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 33.720057 deg, deltaT: 4.441429 s, approachRate: 0.270183 m/s, LOS rate: -7.557703 deg/s, posRepo size: 4
2021-02-16T07:32:20.140Z,1613460740.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:20.532Z,1613460740.532 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T07:32:20.912Z,1613460740.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:21.317Z,1613460741.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:22.140Z,1613460742.140 [Micromodem](INFO): Nmea in: $SNTTA,0.013010,,,,073222.40*41

2021-02-16T07:32:22.201Z,1613460742.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 51.582869 deg, deltaT: 4.440896 s, approachRate: 0.310749 m/s, LOS rate: 4.022345 deg/s, posRepo size: 4
2021-02-16T07:32:24.593Z,1613460744.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:25.373Z,1613460745.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:25.413Z,1613460745.413 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:32:25.786Z,1613460745.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:26.612Z,1613460746.612 [Micromodem](INFO): Nmea in: $SNTTA,0.014995,,,,073226.86*4C

2021-02-16T07:32:26.636Z,1613460746.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 65.765207 deg, deltaT: 4.436052 s, approachRate: 0.811532 m/s, LOS rate: 3.197063 deg/s, posRepo size: 4
2021-02-16T07:32:29.025Z,1613460749.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:29.808Z,1613460749.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:30.215Z,1613460750.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:31.037Z,1613460751.037 [Micromodem](INFO): Nmea in: $SNTTA,0.016403,,0.040547,0.018915,073231.30*41

2021-02-16T07:32:31.076Z,1613460751.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 59.981109 deg, deltaT: 4.445409 s, approachRate: 0.485895 m/s, LOS rate: -1.301140 deg/s, posRepo size: 4
2021-02-16T07:32:33.471Z,1613460753.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:34.274Z,1613460754.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:34.667Z,1613460754.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:35.500Z,1613460755.500 [Micromodem](INFO): Nmea in: $SNTTA,0.017758,,0.044875,,073235.77*58

2021-02-16T07:32:35.526Z,1613460755.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 59.500237 deg, deltaT: 4.445213 s, approachRate: 0.431925 m/s, LOS rate: -0.108178 deg/s, posRepo size: 4
2021-02-16T07:32:37.906Z,1613460757.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:38.688Z,1613460758.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:39.095Z,1613460759.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:39.919Z,1613460759.919 [Micromodem](INFO): Nmea in: $SNTTA,0.019364,,,,073240.18*42

2021-02-16T07:32:39.949Z,1613460759.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 57.178505 deg, deltaT: 4.439415 s, approachRate: 0.418974 m/s, LOS rate: -0.522981 deg/s, posRepo size: 4
2021-02-16T07:32:42.349Z,1613460762.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:43.137Z,1613460763.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:43.586Z,1613460763.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:43.605Z,1613460763.605 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:32:44.418Z,1613460764.418 [Micromodem](INFO): Nmea in: $SNTTA,0.021065,,,,073244.63*43

2021-02-16T07:32:44.488Z,1613460764.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 18.928181 deg, deltaT: 4.481097 s, approachRate: 0.682868 m/s, LOS rate: -8.535928 deg/s, posRepo size: 4
2021-02-16T07:32:46.854Z,1613460766.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:47.609Z,1613460767.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:48.021Z,1613460768.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:48.836Z,1613460768.836 [Micromodem](INFO): Nmea in: $SNTTA,0.022840,,,,073249.10*46

2021-02-16T07:32:48.882Z,1613460768.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 0.793123 deg, deltaT: 4.443660 s, approachRate: 0.486086 m/s, LOS rate: -4.081108 deg/s, posRepo size: 4
2021-02-16T07:32:51.317Z,1613460771.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:52.051Z,1613460772.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:52.454Z,1613460772.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:53.303Z,1613460773.303 [Micromodem](INFO): Nmea in: $SNTTA,0.024598,,,,073253.54*43

2021-02-16T07:32:53.328Z,1613460773.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.019997 m, bearing: 57.453468 deg, deltaT: 4.439142 s, approachRate: 0.581193 m/s, LOS rate: 12.763806 deg/s, posRepo size: 4
2021-02-16T07:32:55.716Z,1613460775.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:32:56.494Z,1613460776.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:32:56.911Z,1613460776.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:32:57.724Z,1613460777.724 [Micromodem](INFO): Nmea in: $SNTTA,0.026259,,0.049872,,073257.98*51

2021-02-16T07:32:57.811Z,1613460777.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 11.103862 deg, deltaT: 4.456809 s, approachRate: 0.565428 m/s, LOS rate: -10.399729 deg/s, posRepo size: 4
2021-02-16T07:33:00.168Z,1613460780.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:00.936Z,1613460780.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:01.344Z,1613460781.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:02.177Z,1613460782.177 [Micromodem](INFO): Nmea in: $SNTTA,0.028106,,0.070080,,073302.42*5F

2021-02-16T07:33:02.216Z,1613460782.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 22.311660 deg, deltaT: 4.454451 s, approachRate: 0.619605 m/s, LOS rate: 2.516090 deg/s, posRepo size: 4
2021-02-16T07:33:04.598Z,1613460784.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:05.386Z,1613460785.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:05.440Z,1613460785.440 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:33:05.808Z,1613460785.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:06.612Z,1613460786.612 [Micromodem](INFO): Nmea in: $SNTTA,0.029763,,,,073306.88*48

2021-02-16T07:33:06.652Z,1613460786.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.820000 m, bearing: 22.686181 deg, deltaT: 4.419400 s, approachRate: 0.570213 m/s, LOS rate: 0.084745 deg/s, posRepo size: 4
2021-02-16T07:33:09.053Z,1613460789.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:09.833Z,1613460789.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:10.298Z,1613460790.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:10.321Z,1613460790.321 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:33:11.083Z,1613460791.083 [Micromodem](INFO): Nmea in: $SNTTA,0.031765,0.060579,,,073311.32*53

2021-02-16T07:33:11.108Z,1613460791.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.120003 m, bearing: 42.746701 deg, deltaT: 4.420317 s, approachRate: 0.746553 m/s, LOS rate: 4.538254 deg/s, posRepo size: 4
2021-02-16T07:33:13.504Z,1613460793.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:14.286Z,1613460794.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:14.674Z,1613460794.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:15.509Z,1613460795.509 [Micromodem](INFO): Nmea in: $SNTTA,0.033792,,,,073315.77*4F

2021-02-16T07:33:15.554Z,1613460795.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.820004 m, bearing: 27.946708 deg, deltaT: 4.479531 s, approachRate: 0.602742 m/s, LOS rate: -3.303916 deg/s, posRepo size: 4
2021-02-16T07:33:17.937Z,1613460797.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:18.712Z,1613460798.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:19.139Z,1613460799.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:19.948Z,1613460799.948 [Micromodem](INFO): Nmea in: $SNTTA,0.035361,,,,073320.20*45

2021-02-16T07:33:19.996Z,1613460799.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.519993 m, bearing: 43.552425 deg, deltaT: 4.475760 s, approachRate: 0.603247 m/s, LOS rate: 3.486719 deg/s, posRepo size: 4
2021-02-16T07:33:22.405Z,1613460802.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:23.183Z,1613460803.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:23.572Z,1613460803.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:24.404Z,1613460804.404 [Micromodem](INFO): Nmea in: $SNTTA,0.037287,,,,073324.67*49

2021-02-16T07:33:24.442Z,1613460804.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 38.807158 deg, deltaT: 4.424571 s, approachRate: 0.637352 m/s, LOS rate: -1.072481 deg/s, posRepo size: 4
2021-02-16T07:33:26.852Z,1613460806.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:27.600Z,1613460807.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:28.011Z,1613460808.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:28.839Z,1613460808.839 [Micromodem](INFO): Nmea in: $SNTTA,0.039223,,,,073329.09*4C

2021-02-16T07:33:28.865Z,1613460808.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 21.980577 deg, deltaT: 4.417731 s, approachRate: 0.597592 m/s, LOS rate: -3.808874 deg/s, posRepo size: 4
2021-02-16T07:33:31.316Z,1613460811.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:32.044Z,1613460812.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:32.460Z,1613460812.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:33.300Z,1613460813.300 [Micromodem](INFO): Nmea in: $SNTTA,0.041065,,,,073333.53*47

2021-02-16T07:33:33.324Z,1613460813.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.039997 m, bearing: 33.361144 deg, deltaT: 4.445320 s, approachRate: 0.688364 m/s, LOS rate: 2.560123 deg/s, posRepo size: 4
2021-02-16T07:33:35.697Z,1613460815.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:36.489Z,1613460816.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:36.901Z,1613460816.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:37.721Z,1613460817.721 [Micromodem](INFO): Nmea in: $SNTTA,0.042932,,,,073337.98*4C

2021-02-16T07:33:37.808Z,1613460817.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 27.982365 deg, deltaT: 4.442515 s, approachRate: 0.567246 m/s, LOS rate: -1.210751 deg/s, posRepo size: 4
2021-02-16T07:33:40.191Z,1613460820.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:40.940Z,1613460820.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:41.349Z,1613460821.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:42.165Z,1613460822.165 [Micromodem](INFO): Nmea in: $SNTTA,0.044946,,,,073342.43*4D

2021-02-16T07:33:42.257Z,1613460822.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 40.827275 deg, deltaT: 4.458819 s, approachRate: 0.726653 m/s, LOS rate: 2.880787 deg/s, posRepo size: 4
2021-02-16T07:33:44.598Z,1613460824.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:45.377Z,1613460825.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:45.806Z,1613460825.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:46.604Z,1613460826.604 [Micromodem](INFO): Nmea in: $SNTTA,0.046641,,,,073346.87*4B

2021-02-16T07:33:46.650Z,1613460826.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 26.952490 deg, deltaT: 4.479829 s, approachRate: 0.522339 m/s, LOS rate: -3.097168 deg/s, posRepo size: 4
2021-02-16T07:33:49.039Z,1613460829.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:49.820Z,1613460829.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:50.240Z,1613460830.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:51.052Z,1613460831.052 [Micromodem](INFO): Nmea in: $SNTTA,0.048584,,,,073351.31*44

2021-02-16T07:33:51.077Z,1613460831.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 25.682532 deg, deltaT: 4.401368 s, approachRate: 0.654341 m/s, LOS rate: -0.288537 deg/s, posRepo size: 4
2021-02-16T07:33:53.496Z,1613460833.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:54.319Z,1613460834.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:54.688Z,1613460834.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:55.507Z,1613460835.507 [Micromodem](INFO): Nmea in: $SNTTA,0.050542,,,,073355.81*48

2021-02-16T07:33:55.552Z,1613460835.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 31.300944 deg, deltaT: 4.418854 s, approachRate: 0.651754 m/s, LOS rate: 1.271463 deg/s, posRepo size: 4
2021-02-16T07:33:57.951Z,1613460837.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:33:58.715Z,1613460838.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:33:59.119Z,1613460839.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:33:59.944Z,1613460839.944 [Micromodem](INFO): Nmea in: $SNTTA,0.052482,,,,073400.20*4B

2021-02-16T07:33:59.969Z,1613460839.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 34.119909 deg, deltaT: 4.449887 s, approachRate: 0.674176 m/s, LOS rate: 0.633492 deg/s, posRepo size: 4
2021-02-16T07:34:02.383Z,1613460842.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:03.156Z,1613460843.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:03.558Z,1613460843.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:04.386Z,1613460844.386 [Micromodem](INFO): Nmea in: $SNTTA,0.054517,,,,073404.65*45

2021-02-16T07:34:04.446Z,1613460844.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 39.204046 deg, deltaT: 4.438719 s, approachRate: 0.716421 m/s, LOS rate: 1.145406 deg/s, posRepo size: 4
2021-02-16T07:34:06.836Z,1613460846.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:07.598Z,1613460847.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:08.002Z,1613460848.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:08.824Z,1613460848.824 [Micromodem](INFO): Nmea in: $SNTTA,0.056375,,,,073409.09*42

2021-02-16T07:34:08.874Z,1613460848.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 37.793370 deg, deltaT: 4.459208 s, approachRate: 0.578578 m/s, LOS rate: -0.316351 deg/s, posRepo size: 4
2021-02-16T07:34:11.280Z,1613460851.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:12.040Z,1613460852.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:12.446Z,1613460852.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:13.288Z,1613460853.288 [Micromodem](INFO): Nmea in: $SNTTA,0.058125,,0.069363,,073413.53*58

2021-02-16T07:34:13.330Z,1613460853.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.360008 m, bearing: 38.408408 deg, deltaT: 4.444796 s, approachRate: 0.607453 m/s, LOS rate: 0.138373 deg/s, posRepo size: 4
2021-02-16T07:34:15.692Z,1613460855.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:16.489Z,1613460856.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:16.890Z,1613460856.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:17.716Z,1613460857.716 [Micromodem](INFO): Nmea in: $SNTTA,0.059976,,,,073417.98*43

2021-02-16T07:34:17.769Z,1613460857.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 43.265003 deg, deltaT: 4.427929 s, approachRate: 0.609765 m/s, LOS rate: 1.096810 deg/s, posRepo size: 4
2021-02-16T07:34:20.177Z,1613460860.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:20.933Z,1613460860.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:21.339Z,1613460861.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:22.161Z,1613460862.161 [Micromodem](INFO): Nmea in: $SNTTA,0.061675,,,,073422.42*45

2021-02-16T07:34:22.210Z,1613460862.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 38.700818 deg, deltaT: 4.481758 s, approachRate: 0.589054 m/s, LOS rate: -1.018392 deg/s, posRepo size: 4
2021-02-16T07:34:24.607Z,1613460864.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:25.397Z,1613460865.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:25.804Z,1613460865.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:26.619Z,1613460866.619 [Micromodem](INFO): Nmea in: $SNTTA,0.063602,,,,073426.89*44

2021-02-16T07:34:26.644Z,1613460866.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.580002 m, bearing: 44.401393 deg, deltaT: 4.436784 s, approachRate: 0.649118 m/s, LOS rate: 1.284844 deg/s, posRepo size: 4
2021-02-16T07:34:29.043Z,1613460869.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:29.816Z,1613460869.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:30.232Z,1613460870.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:31.047Z,1613460871.047 [Micromodem](INFO): Nmea in: $SNTTA,0.065524,,,,073431.31*40

2021-02-16T07:34:31.090Z,1613460871.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.400002 m, bearing: 46.179954 deg, deltaT: 4.433547 s, approachRate: 0.636060 m/s, LOS rate: 0.401160 deg/s, posRepo size: 4
2021-02-16T07:34:33.490Z,1613460873.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:34.286Z,1613460874.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:34.671Z,1613460874.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:35.512Z,1613460875.512 [Micromodem](INFO): Nmea in: $SNTTA,0.067450,,,,073435.77*46

2021-02-16T07:34:35.549Z,1613460875.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 44.223655 deg, deltaT: 4.425306 s, approachRate: 0.650802 m/s, LOS rate: -0.442071 deg/s, posRepo size: 4
2021-02-16T07:34:37.937Z,1613460877.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:38.712Z,1613460878.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:39.110Z,1613460879.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:39.936Z,1613460879.936 [Micromodem](INFO): Nmea in: $SNTTA,0.069343,,,,073440.20*4D

2021-02-16T07:34:39.985Z,1613460879.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 40.213316 deg, deltaT: 4.443893 s, approachRate: 0.648080 m/s, LOS rate: -0.902438 deg/s, posRepo size: 4
2021-02-16T07:34:42.387Z,1613460882.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:43.149Z,1613460883.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:43.553Z,1613460883.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:44.381Z,1613460884.381 [Micromodem](INFO): Nmea in: $SNTTA,0.071240,,0.087434,,073444.64*50

2021-02-16T07:34:44.419Z,1613460884.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 42.780565 deg, deltaT: 4.472400 s, approachRate: 0.643951 m/s, LOS rate: 0.574021 deg/s, posRepo size: 4
2021-02-16T07:34:46.830Z,1613460886.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:47.592Z,1613460887.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:48.003Z,1613460888.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:48.824Z,1613460888.824 [Micromodem](INFO): Nmea in: $SNTTA,0.073091,,,,073449.08*49

2021-02-16T07:34:48.869Z,1613460888.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 41.350218 deg, deltaT: 4.429582 s, approachRate: 0.609538 m/s, LOS rate: -0.322908 deg/s, posRepo size: 4
2021-02-16T07:34:51.293Z,1613460891.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:52.042Z,1613460892.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:52.442Z,1613460892.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:53.298Z,1613460893.298 [Micromodem](INFO): Nmea in: $SNTTA,0.075136,,,,073453.53*46

2021-02-16T07:34:53.329Z,1613460893.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 42.234362 deg, deltaT: 4.450188 s, approachRate: 0.701095 m/s, LOS rate: 0.198676 deg/s, posRepo size: 4
2021-02-16T07:34:55.706Z,1613460895.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:34:56.485Z,1613460896.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:34:56.886Z,1613460896.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:34:57.712Z,1613460897.712 [Micromodem](INFO): Nmea in: $SNTTA,0.077071,,,,073457.97*4A

2021-02-16T07:34:57.756Z,1613460897.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.800003 m, bearing: 42.661484 deg, deltaT: 4.442654 s, approachRate: 0.661767 m/s, LOS rate: 0.096141 deg/s, posRepo size: 4
2021-02-16T07:35:00.157Z,1613460900.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:00.929Z,1613460900.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:01.330Z,1613460901.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:02.177Z,1613460902.177 [Micromodem](INFO): Nmea in: $SNTTA,0.078776,,,,073502.42*4C

2021-02-16T07:35:02.210Z,1613460902.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 45.661748 deg, deltaT: 4.462282 s, approachRate: 0.578178 m/s, LOS rate: 0.672361 deg/s, posRepo size: 4
2021-02-16T07:35:04.617Z,1613460904.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:05.386Z,1613460905.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:05.824Z,1613460905.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:06.628Z,1613460906.628 [Micromodem](INFO): Nmea in: $SNTTA,0.080835,,,,073506.88*41

2021-02-16T07:35:06.673Z,1613460906.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 46.821613 deg, deltaT: 4.419339 s, approachRate: 0.692411 m/s, LOS rate: 0.262452 deg/s, posRepo size: 4
2021-02-16T07:35:09.034Z,1613460909.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:09.817Z,1613460909.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:10.236Z,1613460910.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:11.053Z,1613460911.053 [Micromodem](INFO): Nmea in: $SNTTA,0.082737,,0.088200,,073511.31*56

2021-02-16T07:35:11.092Z,1613460911.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.320000 m, bearing: 46.889498 deg, deltaT: 4.449816 s, approachRate: 0.647219 m/s, LOS rate: 0.015256 deg/s, posRepo size: 4
2021-02-16T07:35:13.493Z,1613460913.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:14.283Z,1613460914.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:14.665Z,1613460914.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:15.504Z,1613460915.504 [Micromodem](INFO): Nmea in: $SNTTA,0.084755,,,,073515.77*4E

2021-02-16T07:35:15.548Z,1613460915.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.320000 m, bearing: 52.451413 deg, deltaT: 4.430166 s, approachRate: 0.677176 m/s, LOS rate: 1.255464 deg/s, posRepo size: 4
2021-02-16T07:35:17.922Z,1613460917.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:18.705Z,1613460918.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:19.106Z,1613460919.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:19.940Z,1613460919.940 [Micromodem](INFO): Nmea in: $SNTTA,0.086670,,,,073520.19*44

2021-02-16T07:35:19.985Z,1613460919.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 46.984748 deg, deltaT: 4.476883 s, approachRate: 0.643304 m/s, LOS rate: -1.221087 deg/s, posRepo size: 4
2021-02-16T07:35:22.361Z,1613460922.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:23.144Z,1613460923.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:23.553Z,1613460923.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:24.372Z,1613460924.372 [Micromodem](INFO): Nmea in: $SNTTA,0.088696,,,,073524.63*4B

2021-02-16T07:35:24.466Z,1613460924.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.139999 m, bearing: 44.263085 deg, deltaT: 4.418610 s, approachRate: 0.665368 m/s, LOS rate: -0.615955 deg/s, posRepo size: 4
2021-02-16T07:35:26.844Z,1613460926.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:27.588Z,1613460927.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:28.017Z,1613460928.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:28.824Z,1613460928.824 [Micromodem](INFO): Nmea in: $SNTTA,0.090532,,,,073529.08*4F

2021-02-16T07:35:28.869Z,1613460928.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 40.702453 deg, deltaT: 4.448156 s, approachRate: 0.620481 m/s, LOS rate: -0.800474 deg/s, posRepo size: 4
2021-02-16T07:35:31.293Z,1613460931.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:32.033Z,1613460932.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:32.452Z,1613460932.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:33.289Z,1613460933.289 [Micromodem](INFO): Nmea in: $SNTTA,0.092606,,,,073533.52*4D

2021-02-16T07:35:33.325Z,1613460933.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.080002 m, bearing: 45.182282 deg, deltaT: 4.454159 s, approachRate: 0.713941 m/s, LOS rate: 1.005763 deg/s, posRepo size: 4
2021-02-16T07:35:35.703Z,1613460935.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:36.483Z,1613460936.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:36.887Z,1613460936.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:37.708Z,1613460937.708 [Micromodem](INFO): Nmea in: $SNTTA,0.094436,,,,073537.97*47

2021-02-16T07:35:37.797Z,1613460937.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 50.209482 deg, deltaT: 4.455495 s, approachRate: 0.632925 m/s, LOS rate: 1.128315 deg/s, posRepo size: 4
2021-02-16T07:35:40.148Z,1613460940.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:40.926Z,1613460940.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:41.332Z,1613460941.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:42.152Z,1613460942.152 [Micromodem](INFO): Nmea in: $SNTTA,0.096289,,,,073542.41*4E

2021-02-16T07:35:42.198Z,1613460942.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 49.650144 deg, deltaT: 4.476684 s, approachRate: 0.616530 m/s, LOS rate: -0.124945 deg/s, posRepo size: 4
2021-02-16T07:35:44.582Z,1613460944.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:45.370Z,1613460945.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:45.806Z,1613460945.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:46.616Z,1613460946.616 [Micromodem](INFO): Nmea in: $SNTTA,0.098161,,,,073546.86*4A

2021-02-16T07:35:46.657Z,1613460946.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 48.055845 deg, deltaT: 4.375904 s, approachRate: 0.630729 m/s, LOS rate: -0.364336 deg/s, posRepo size: 4
2021-02-16T07:35:49.025Z,1613460949.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:49.823Z,1613460949.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:50.214Z,1613460950.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:51.048Z,1613460951.048 [Micromodem](INFO): Nmea in: $SNTTA,0.100219,,,,073551.31*4C

2021-02-16T07:35:51.096Z,1613460951.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.539993 m, bearing: 46.605075 deg, deltaT: 4.464548 s, approachRate: 0.698834 m/s, LOS rate: -0.324953 deg/s, posRepo size: 4
2021-02-16T07:35:51.097Z,1613460951.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.54 m. Resuming terminal guidance.
2021-02-16T07:35:51.097Z,1613460951.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:35:53.488Z,1613460953.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:54.319Z,1613460954.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:54.660Z,1613460954.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:35:55.880Z,1613460955.880 [Micromodem](INFO): Nmea in: $SNTTA,0.102227,,,,073555.85*48

2021-02-16T07:35:55.904Z,1613460955.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.540009 m, bearing: 46.927740 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:35:55.905Z,1613460955.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 46.927740deg and heading rate command to 0 deg/s.
2021-02-16T07:35:58.343Z,1613460958.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:35:59.102Z,1613460959.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:35:59.523Z,1613460959.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:00.323Z,1613460960.323 [Micromodem](INFO): Nmea in: $SNTTA,0.140176,,,,073600.59*4B

2021-02-16T07:36:00.750Z,1613460960.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.720001 m, bearing: 66.335473 deg, deltaT: 4.813726 s, approachRate: 11.878531 m/s, LOS rate: 4.031749 deg/s, posRepo size: 2
2021-02-16T07:36:00.752Z,1613460960.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.720001 m,
      bearing: 66.335473 deg,
      approachRate: 11.878531 m/s,
      LOS rate: 4.031749 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 46.927740 deg,
      new cmd heading: 46.927740 deg.

2021-02-16T07:36:03.193Z,1613460963.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:03.950Z,1613460963.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:04.354Z,1613460964.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:05.177Z,1613460965.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,073605.44*59

2021-02-16T07:36:05.226Z,1613460965.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 86.684601 deg, deltaT: 4.475777 s, approachRate: -11.434888 m/s, LOS rate: 4.546502 deg/s, posRepo size: 3
2021-02-16T07:36:05.232Z,1613460965.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 86.684601 deg,
      approachRate: -11.434888 m/s,
      LOS rate: 4.546502 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.638050 deg,
      new cmd heading: 105.196850 deg.

2021-02-16T07:36:07.609Z,1613460967.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:08.407Z,1613460968.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:08.809Z,1613460968.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:09.628Z,1613460969.628 [Micromodem](INFO): Nmea in: $SNTTA,,,,,073609.90*5C

2021-02-16T07:36:09.684Z,1613460969.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 53.287555 deg, deltaT: 4.395541 s, approachRate: 0.000000 m/s, LOS rate: -7.597937 deg/s, posRepo size: 4
2021-02-16T07:36:09.685Z,1613460969.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 53.287555 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.597937 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.214275 deg,
      new cmd heading: 158.681824 deg.

2021-02-16T07:36:12.076Z,1613460972.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:12.841Z,1613460972.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:13.280Z,1613460973.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:14.063Z,1613460974.063 [Micromodem](INFO): Nmea in: $SNTTA,0.109086,,,,073614.33*41

2021-02-16T07:36:14.907Z,1613460974.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:16.470Z,1613460976.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:36:17.710Z,1613460977.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:18.498Z,1613460978.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:18.906Z,1613460978.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:19.302Z,1613460979.302 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D0D,000,,E4
4,189,80,80,25,FF
2021-02-16T07:36:19.714Z,1613460979.714 [Micromodem](INFO): Nmea in: $SNTTA,0.110424,,,,073619.99*48

2021-02-16T07:36:20.536Z,1613460980.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:23.384Z,1613460983.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:26.211Z,1613460986.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:26.979Z,1613460986.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:27.392Z,1613460987.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:28.216Z,1613460988.216 [Micromodem](INFO): Nmea in: $SNTTA,0.112319,,,0.114827,073628.47*55

2021-02-16T07:36:28.239Z,1613460988.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.479996 m, bearing: 70.601787 deg, deltaT: 18.591260 s, approachRate: 0.480871 m/s, LOS rate: 0.931310 deg/s, posRepo size: 4
2021-02-16T07:36:28.246Z,1613460988.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 70.601787 deg,
      approachRate: 0.480871 m/s,
      LOS rate: 0.931310 deg/s,
      cmd update: 2.793931 deg/s,
      cmd heading: 289.900631 deg,
      new cmd heading: 285.075778 deg.

2021-02-16T07:36:30.645Z,1613460990.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:31.420Z,1613460991.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:31.828Z,1613460991.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:32.665Z,1613460992.665 [Micromodem](INFO): Nmea in: $SNTTA,0.113744,,,,073632.91*4F

2021-02-16T07:36:32.692Z,1613460992.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 55.500973 deg, deltaT: 4.482300 s, approachRate: 0.522056 m/s, LOS rate: -3.368988 deg/s, posRepo size: 4
2021-02-16T07:36:32.693Z,1613460992.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.820007 m,
      bearing: 55.500973 deg,
      approachRate: 0.522056 m/s,
      LOS rate: -3.368988 deg/s,
      cmd update: -10.106964 deg/s,
      cmd heading: 302.412196 deg,
      new cmd heading: 303.463013 deg.

2021-02-16T07:36:35.082Z,1613460995.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:35.871Z,1613460995.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:36.288Z,1613460996.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:37.112Z,1613460997.112 [Micromodem](INFO): Nmea in: $SNTTA,0.115449,,,,073637.36*4F

2021-02-16T07:36:37.137Z,1613460997.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 49.804025 deg, deltaT: 4.391173 s, approachRate: 0.000000 m/s, LOS rate: -1.297364 deg/s, posRepo size: 4
2021-02-16T07:36:37.139Z,1613460997.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.820007 m,
      bearing: 49.804025 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.297364 deg/s,
      cmd update: -3.892091 deg/s,
      cmd heading: 257.998618 deg,
      new cmd heading: 253.679498 deg.

2021-02-16T07:36:39.546Z,1613460999.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:40.313Z,1613461000.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:40.714Z,1613461000.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:41.540Z,1613461001.540 [Micromodem](INFO): Nmea in: $SNTTA,0.117147,,,,073641.80*4A

2021-02-16T07:36:41.578Z,1613461001.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 38.883553 deg, deltaT: 4.491800 s, approachRate: 0.000000 m/s, LOS rate: -2.431202 deg/s, posRepo size: 4
2021-02-16T07:36:41.580Z,1613461001.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.820007 m,
      bearing: 38.883553 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.431202 deg/s,
      cmd update: -7.293606 deg/s,
      cmd heading: 240.588807 deg,
      new cmd heading: 239.050559 deg.

2021-02-16T07:36:43.986Z,1613461003.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:44.769Z,1613461004.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:45.158Z,1613461005.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:45.990Z,1613461005.990 [Micromodem](INFO): Nmea in: $SNTTA,0.118646,,0.136108,,073646.26*5B

2021-02-16T07:36:46.829Z,1613461006.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:48.386Z,1613461008.386 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:36:49.657Z,1613461009.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:50.413Z,1613461010.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:50.814Z,1613461010.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:36:51.218Z,1613461011.218 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
0,185,80,80,35,FF
2021-02-16T07:36:51.635Z,1613461011.635 [Micromodem](INFO): Nmea in: $SNTTA,0.120116,,,,073651.90*4A

2021-02-16T07:36:52.452Z,1613461012.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:55.309Z,1613461015.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:58.142Z,1613461018.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:36:58.897Z,1613461018.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:36:59.302Z,1613461019.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:00.116Z,1613461020.116 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,A,80,80,B5,FF
185,80,80,35,FF
2021-02-16T07:37:00.128Z,1613461020.128 [Micromodem](INFO): Nmea in: $SNTTA,0.120819,,,,073700.39*4A

2021-02-16T07:37:00.933Z,1613461020.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:03.798Z,1613461023.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:06.620Z,1613461026.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:07.376Z,1613461027.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:07.823Z,1613461027.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:08.205Z,1613461028.205 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FF6,000,00E69
185,80,80,35,FF
2021-02-16T07:37:08.592Z,1613461028.592 [Micromodem](INFO): Nmea in: $SNTTA,0.122346,,,,073708.86*45

2021-02-16T07:37:09.479Z,1613461029.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:12.280Z,1613461032.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:15.108Z,1613461035.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:15.860Z,1613461035.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:16.290Z,1613461036.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:17.093Z,1613461037.093 [Micromodem](INFO): Nmea in: $SNTTA,0.125170,,,,073717.35*43

2021-02-16T07:37:17.520Z,1613461037.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.919983 m, bearing: 10.410541 deg, deltaT: 35.918430 s, approachRate: 0.476078 m/s, LOS rate: -0.792713 deg/s, posRepo size: 4
2021-02-16T07:37:17.521Z,1613461037.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 10.410541 deg,
      approachRate: 0.476078 m/s,
      LOS rate: -0.792713 deg/s,
      cmd update: -2.378140 deg/s,
      cmd heading: 338.470181 deg,
      new cmd heading: 335.563191 deg.

2021-02-16T07:37:19.939Z,1613461039.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:20.721Z,1613461040.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:21.115Z,1613461041.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:21.944Z,1613461041.944 [Micromodem](INFO): Nmea in: $SNTTA,0.126994,,,,073722.22*42

2021-02-16T07:37:22.376Z,1613461042.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.619995 m, bearing: 357.689658 deg, deltaT: 4.853702 s, approachRate: 0.556279 m/s, LOS rate: -2.620863 deg/s, posRepo size: 4
2021-02-16T07:37:22.377Z,1613461042.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 357.689658 deg,
      approachRate: 0.556279 m/s,
      LOS rate: -2.620863 deg/s,
      cmd update: -7.862590 deg/s,
      cmd heading: 326.927434 deg,
      new cmd heading: 325.974506 deg.

2021-02-16T07:37:24.806Z,1613461044.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:25.573Z,1613461045.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:25.967Z,1613461045.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:26.804Z,1613461046.804 [Micromodem](INFO): Nmea in: $SNTTA,0.128237,,0.350724,,073727.06*54

2021-02-16T07:37:27.211Z,1613461047.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 316.079271 deg, deltaT: 4.873256 s, approachRate: 0.369364 m/s, LOS rate: -8.538519 deg/s, posRepo size: 4
2021-02-16T07:37:27.213Z,1613461047.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 316.079271 deg,
      approachRate: 0.369364 m/s,
      LOS rate: -8.538519 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.614486 deg,
      new cmd heading: 285.758503 deg.

2021-02-16T07:37:29.622Z,1613461049.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:30.405Z,1613461050.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:30.822Z,1613461050.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:31.639Z,1613461051.639 [Micromodem](INFO): Nmea in: $SNTTA,0.128868,,,,073731.90*45

2021-02-16T07:37:31.667Z,1613461051.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 297.378104 deg, deltaT: 4.489478 s, approachRate: 0.000000 m/s, LOS rate: -4.165555 deg/s, posRepo size: 4
2021-02-16T07:37:31.669Z,1613461051.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.419998 m,
      bearing: 297.378104 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.165555 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 234.832297 deg,
      new cmd heading: 230.830933 deg.

2021-02-16T07:37:34.094Z,1613461054.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:34.862Z,1613461054.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:35.305Z,1613461055.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:36.095Z,1613461056.095 [Micromodem](INFO): Nmea in: $SNTTA,0.128877,,,,073736.35*43

2021-02-16T07:37:36.518Z,1613461056.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.379990 m, bearing: 263.691638 deg, deltaT: 4.782160 s, approachRate: 0.200744 m/s, LOS rate: -7.044195 deg/s, posRepo size: 4
2021-02-16T07:37:36.520Z,1613461056.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.379990 m,
      bearing: 263.691638 deg,
      approachRate: 0.200744 m/s,
      LOS rate: -7.044195 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 177.349943 deg,
      new cmd heading: 172.567259 deg.

2021-02-16T07:37:38.928Z,1613461058.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:39.705Z,1613461059.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:40.105Z,1613461060.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:40.922Z,1613461060.922 [Micromodem](INFO): Nmea in: $SNTTA,0.128231,,,,073741.19*45

2021-02-16T07:37:41.355Z,1613461061.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.240005 m, bearing: 275.397407 deg, deltaT: 4.828906 s, approachRate: -0.236075 m/s, LOS rate: 2.424104 deg/s, posRepo size: 4
2021-02-16T07:37:41.357Z,1613461061.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.240005 m,
      bearing: 275.397407 deg,
      approachRate: -0.236075 m/s,
      LOS rate: 2.424104 deg/s,
      cmd update: 7.272311 deg/s,
      cmd heading: 119.414409 deg,
      new cmd heading: 114.523653 deg.

2021-02-16T07:37:43.759Z,1613461063.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:44.553Z,1613461064.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:44.959Z,1613461064.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:45.806Z,1613461065.806 [Micromodem](INFO): Nmea in: $SNTTA,0.127064,,,,073746.04*43

2021-02-16T07:37:46.215Z,1613461066.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 195.891014 deg, deltaT: 4.924216 s, approachRate: -0.365544 m/s, LOS rate: -16.146000 deg/s, posRepo size: 4
2021-02-16T07:37:46.215Z,1613461066.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.146000 deg/s. Setting heading cmd to target bearing of 195.891014deg and heading rate command to 0 deg/s.
2021-02-16T07:37:48.625Z,1613461068.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:49.401Z,1613461069.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:49.816Z,1613461069.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:50.623Z,1613461070.623 [Micromodem](INFO): Nmea in: $SNTTA,0.125079,,,,073750.89*4F

2021-02-16T07:37:51.056Z,1613461071.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.440002 m, bearing: 201.219968 deg, deltaT: 4.809711 s, approachRate: -0.623735 m/s, LOS rate: 1.107957 deg/s, posRepo size: 4
2021-02-16T07:37:51.058Z,1613461071.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 201.219968 deg,
      approachRate: -0.623735 m/s,
      LOS rate: 1.107957 deg/s,
      cmd update: 3.323872 deg/s,
      cmd heading: 195.891014 deg,
      new cmd heading: 195.891014 deg.

2021-02-16T07:37:53.490Z,1613461073.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:54.311Z,1613461074.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:54.676Z,1613461074.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:37:55.876Z,1613461075.876 [Micromodem](INFO): Nmea in: $SNTTA,0.122990,,,0.125501,073755.80*56

2021-02-16T07:37:55.901Z,1613461075.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.140015 m, bearing: 196.975716 deg, deltaT: 4.854598 s, approachRate: -0.679765 m/s, LOS rate: -0.874275 deg/s, posRepo size: 4
2021-02-16T07:37:55.903Z,1613461075.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.140015 m,
      bearing: 196.975716 deg,
      approachRate: -0.679765 m/s,
      LOS rate: -0.874275 deg/s,
      cmd update: -2.622824 deg/s,
      cmd heading: 212.034518 deg,
      new cmd heading: 213.275050 deg.

2021-02-16T07:37:58.332Z,1613461078.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:37:59.105Z,1613461079.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:37:59.507Z,1613461079.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:00.326Z,1613461080.326 [Micromodem](INFO): Nmea in: $SNTTA,0.120503,,,,073800.59*45

2021-02-16T07:38:00.799Z,1613461080.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.539993 m, bearing: 198.096537 deg, deltaT: 4.837567 s, approachRate: -0.744180 m/s, LOS rate: 0.231691 deg/s, posRepo size: 4
2021-02-16T07:38:00.801Z,1613461080.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.539993 m,
      bearing: 198.096537 deg,
      approachRate: -0.744180 m/s,
      LOS rate: 0.231691 deg/s,
      cmd update: 0.695073 deg/s,
      cmd heading: 199.385631 deg,
      new cmd heading: 198.291205 deg.

2021-02-16T07:38:03.200Z,1613461083.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:03.961Z,1613461083.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:04.363Z,1613461084.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:05.174Z,1613461085.174 [Micromodem](INFO): Nmea in: $SNTTA,0.117924,,,,073805.45*40

2021-02-16T07:38:05.628Z,1613461085.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.639999 m, bearing: 198.122068 deg, deltaT: 4.871526 s, approachRate: -0.800569 m/s, LOS rate: 0.005241 deg/s, posRepo size: 4
2021-02-16T07:38:05.630Z,1613461085.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.639999 m,
      bearing: 198.122068 deg,
      approachRate: -0.800569 m/s,
      LOS rate: 0.005241 deg/s,
      cmd update: 0.015723 deg/s,
      cmd heading: 202.776442 deg,
      new cmd heading: 203.053809 deg.

2021-02-16T07:38:08.022Z,1613461088.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:08.807Z,1613461088.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:09.203Z,1613461089.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:10.032Z,1613461090.032 [Micromodem](INFO): Nmea in: $SNTTA,0.115237,,,,073810.30*4D

2021-02-16T07:38:10.076Z,1613461090.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.639999 m, bearing: 197.901070 deg, deltaT: 4.411572 s, approachRate: 0.000000 m/s, LOS rate: -0.050095 deg/s, posRepo size: 4
2021-02-16T07:38:10.078Z,1613461090.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.639999 m,
      bearing: 197.901070 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.050095 deg/s,
      cmd update: -0.150285 deg/s,
      cmd heading: 202.846006 deg,
      new cmd heading: 202.852654 deg.

2021-02-16T07:38:12.476Z,1613461092.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:13.268Z,1613461093.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:13.642Z,1613461093.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:14.473Z,1613461094.473 [Micromodem](INFO): Nmea in: $SNTTA,0.112788,,,,073814.76*4D

2021-02-16T07:38:14.900Z,1613461094.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.019989 m, bearing: 200.057880 deg, deltaT: 4.871884 s, approachRate: -1.564079 m/s, LOS rate: 0.442705 deg/s, posRepo size: 4
2021-02-16T07:38:14.902Z,1613461094.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.019989 m,
      bearing: 200.057880 deg,
      approachRate: -1.564079 m/s,
      LOS rate: 0.442705 deg/s,
      cmd update: 1.328116 deg/s,
      cmd heading: 202.113777 deg,
      new cmd heading: 202.057532 deg.

2021-02-16T07:38:17.309Z,1613461097.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:18.090Z,1613461098.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:18.498Z,1613461098.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:19.316Z,1613461099.316 [Micromodem](INFO): Nmea in: $SNTTA,0.110187,,,,073819.58*47

2021-02-16T07:38:19.356Z,1613461099.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 199.279184 deg, deltaT: 4.409625 s, approachRate: -0.898034 m/s, LOS rate: -0.176590 deg/s, posRepo size: 4
2021-02-16T07:38:19.357Z,1613461099.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 199.279184 deg,
      approachRate: -0.898034 m/s,
      LOS rate: -0.176590 deg/s,
      cmd update: -0.529770 deg/s,
      cmd heading: 207.975527 deg,
      new cmd heading: 208.528345 deg.

2021-02-16T07:38:21.747Z,1613461101.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:22.545Z,1613461102.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:22.943Z,1613461102.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:23.792Z,1613461103.792 [Micromodem](INFO): Nmea in: $SNTTA,0.107633,,0.116732,,073824.03*57

2021-02-16T07:38:23.842Z,1613461103.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 198.498288 deg, deltaT: 4.449707 s, approachRate: 0.000000 m/s, LOS rate: -0.175494 deg/s, posRepo size: 4
2021-02-16T07:38:23.844Z,1613461103.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 198.498288 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.175494 deg/s,
      cmd update: -0.526481 deg/s,
      cmd heading: 205.618172 deg,
      new cmd heading: 205.377943 deg.

2021-02-16T07:38:26.192Z,1613461106.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:26.972Z,1613461106.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:27.379Z,1613461107.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:28.220Z,1613461108.220 [Micromodem](INFO): Nmea in: $SNTTA,0.105983,,,,073828.46*42

2021-02-16T07:38:28.284Z,1613461108.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 198.261882 deg, deltaT: 4.444438 s, approachRate: -1.674003 m/s, LOS rate: -0.053192 deg/s, posRepo size: 4
2021-02-16T07:38:28.286Z,1613461108.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.619995 m,
      bearing: 198.261882 deg,
      approachRate: -1.674003 m/s,
      LOS rate: -0.053192 deg/s,
      cmd update: -0.159575 deg/s,
      cmd heading: 203.278287 deg,
      new cmd heading: 203.041043 deg.

2021-02-16T07:38:30.667Z,1613461110.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:31.431Z,1613461111.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:31.824Z,1613461111.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:32.660Z,1613461112.660 [Micromodem](INFO): Nmea in: $SNTTA,0.102700,,,,073832.92*42

2021-02-16T07:38:32.690Z,1613461112.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 200.094271 deg, deltaT: 4.457967 s, approachRate: -0.834461 m/s, LOS rate: 0.411037 deg/s, posRepo size: 4
2021-02-16T07:38:32.712Z,1613461112.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.899994 m,
      bearing: 200.094271 deg,
      approachRate: -0.834461 m/s,
      LOS rate: 0.411037 deg/s,
      cmd update: 1.233111 deg/s,
      cmd heading: 202.569840 deg,
      new cmd heading: 202.503222 deg.

2021-02-16T07:38:35.079Z,1613461115.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:35.861Z,1613461115.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:36.293Z,1613461116.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:37.092Z,1613461117.092 [Micromodem](INFO): Nmea in: $SNTTA,0.100197,,,,073837.35*40

2021-02-16T07:38:37.136Z,1613461117.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.059998 m, bearing: 199.832702 deg, deltaT: 4.426073 s, approachRate: -0.867585 m/s, LOS rate: -0.059097 deg/s, posRepo size: 4
2021-02-16T07:38:37.138Z,1613461117.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.059998 m,
      bearing: 199.832702 deg,
      approachRate: -0.867585 m/s,
      LOS rate: -0.059097 deg/s,
      cmd update: -0.177292 deg/s,
      cmd heading: 208.036239 deg,
      new cmd heading: 208.567257 deg.

2021-02-16T07:38:39.540Z,1613461119.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:40.311Z,1613461120.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:40.715Z,1613461120.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:41.548Z,1613461121.548 [Micromodem](INFO): Nmea in: $SNTTA,0.097670,,,,073841.80*4E

2021-02-16T07:38:41.586Z,1613461121.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 198.813583 deg, deltaT: 4.450601 s, approachRate: -0.849323 m/s, LOS rate: -0.228985 deg/s, posRepo size: 4
2021-02-16T07:38:41.588Z,1613461121.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.279999 m,
      bearing: 198.813583 deg,
      approachRate: -0.849323 m/s,
      LOS rate: -0.228985 deg/s,
      cmd update: -0.686954 deg/s,
      cmd heading: 207.246179 deg,
      new cmd heading: 207.170929 deg.

2021-02-16T07:38:43.978Z,1613461123.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:44.777Z,1613461124.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:45.177Z,1613461125.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:45.995Z,1613461125.995 [Micromodem](INFO): Nmea in: $SNTTA,0.095116,,,,073846.27*41

2021-02-16T07:38:46.020Z,1613461126.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 199.141460 deg, deltaT: 4.458988 s, approachRate: -0.847726 m/s, LOS rate: 0.073532 deg/s, posRepo size: 4
2021-02-16T07:38:46.022Z,1613461126.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 199.141460 deg,
      approachRate: -0.847726 m/s,
      LOS rate: 0.073532 deg/s,
      cmd update: 0.220595 deg/s,
      cmd heading: 204.181992 deg,
      new cmd heading: 203.909024 deg.

2021-02-16T07:38:48.430Z,1613461128.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:49.198Z,1613461129.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:49.600Z,1613461129.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:50.429Z,1613461130.429 [Micromodem](INFO): Nmea in: $SNTTA,0.092684,,0.102628,,073850.69*56

2021-02-16T07:38:50.462Z,1613461130.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.839996 m, bearing: 198.625931 deg, deltaT: 4.411414 s, approachRate: -0.829667 m/s, LOS rate: -0.116863 deg/s, posRepo size: 4
2021-02-16T07:38:50.465Z,1613461130.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.839996 m,
      bearing: 198.625931 deg,
      approachRate: -0.829667 m/s,
      LOS rate: -0.116863 deg/s,
      cmd update: -0.350588 deg/s,
      cmd heading: 205.156013 deg,
      new cmd heading: 205.249465 deg.

2021-02-16T07:38:52.854Z,1613461132.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:53.653Z,1613461133.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:54.043Z,1613461134.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:54.880Z,1613461134.880 [Micromodem](INFO): Nmea in: $SNTTA,0.090182,,,,073855.14*4B

2021-02-16T07:38:54.905Z,1613461134.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 198.908045 deg, deltaT: 4.441224 s, approachRate: -0.837607 m/s, LOS rate: 0.063522 deg/s, posRepo size: 4
2021-02-16T07:38:54.907Z,1613461134.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.119995 m,
      bearing: 198.908045 deg,
      approachRate: -0.837607 m/s,
      LOS rate: 0.063522 deg/s,
      cmd update: 0.190565 deg/s,
      cmd heading: 203.598980 deg,
      new cmd heading: 203.449673 deg.

2021-02-16T07:38:57.312Z,1613461137.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:38:58.086Z,1613461138.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:38:58.486Z,1613461138.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:38:59.316Z,1613461139.316 [Micromodem](INFO): Nmea in: $SNTTA,0.087644,,,,073859.58*44

2021-02-16T07:38:59.364Z,1613461139.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.339996 m, bearing: 198.969230 deg, deltaT: 4.458924 s, approachRate: -0.847738 m/s, LOS rate: 0.013722 deg/s, posRepo size: 4
2021-02-16T07:38:59.366Z,1613461139.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.339996 m,
      bearing: 198.969230 deg,
      approachRate: -0.847738 m/s,
      LOS rate: 0.013722 deg/s,
      cmd update: 0.041166 deg/s,
      cmd heading: 204.444438 deg,
      new cmd heading: 204.525268 deg.

2021-02-16T07:39:01.788Z,1613461141.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:02.525Z,1613461142.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:02.929Z,1613461142.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:03.783Z,1613461143.783 [Micromodem](INFO): Nmea in: $SNTTA,0.085227,,,,073904.02*41

2021-02-16T07:39:03.832Z,1613461143.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.680000 m, bearing: 198.276744 deg, deltaT: 4.440657 s, approachRate: -0.824201 m/s, LOS rate: -0.155942 deg/s, posRepo size: 4
2021-02-16T07:39:03.834Z,1613461143.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.680000 m,
      bearing: 198.276744 deg,
      approachRate: -0.824201 m/s,
      LOS rate: -0.155942 deg/s,
      cmd update: -0.467826 deg/s,
      cmd heading: 204.628170 deg,
      new cmd heading: 204.646801 deg.

2021-02-16T07:39:06.198Z,1613461146.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:06.973Z,1613461146.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:07.376Z,1613461147.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:08.204Z,1613461148.204 [Micromodem](INFO): Nmea in: $SNTTA,0.082695,,,,073908.46*47

2021-02-16T07:39:08.284Z,1613461148.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.779999 m, bearing: 198.416913 deg, deltaT: 4.453155 s, approachRate: -0.875784 m/s, LOS rate: 0.031476 deg/s, posRepo size: 4
2021-02-16T07:39:08.286Z,1613461148.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.779999 m,
      bearing: 198.416913 deg,
      approachRate: -0.875784 m/s,
      LOS rate: 0.031476 deg/s,
      cmd update: 0.094429 deg/s,
      cmd heading: 202.544967 deg,
      new cmd heading: 202.335597 deg.

2021-02-16T07:39:10.672Z,1613461150.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:11.417Z,1613461151.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:11.818Z,1613461151.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:12.648Z,1613461152.648 [Micromodem](INFO): Nmea in: $SNTTA,0.080210,,,,073912.91*4D

2021-02-16T07:39:12.688Z,1613461152.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 197.264141 deg, deltaT: 4.444680 s, approachRate: -0.836956 m/s, LOS rate: -0.259360 deg/s, posRepo size: 4
2021-02-16T07:39:12.690Z,1613461152.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.059998 m,
      bearing: 197.264141 deg,
      approachRate: -0.836956 m/s,
      LOS rate: -0.259360 deg/s,
      cmd update: -0.778080 deg/s,
      cmd heading: 202.961033 deg,
      new cmd heading: 203.003472 deg.

2021-02-16T07:39:15.084Z,1613461155.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:15.861Z,1613461155.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:16.291Z,1613461156.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:17.092Z,1613461157.092 [Micromodem](INFO): Nmea in: $SNTTA,0.077813,,0.103669,,073917.35*52

2021-02-16T07:39:17.137Z,1613461157.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 196.891705 deg, deltaT: 4.401683 s, approachRate: -0.858762 m/s, LOS rate: -0.084612 deg/s, posRepo size: 4
2021-02-16T07:39:17.147Z,1613461157.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.279999 m,
      bearing: 196.891705 deg,
      approachRate: -0.858762 m/s,
      LOS rate: -0.084612 deg/s,
      cmd update: -0.253837 deg/s,
      cmd heading: 199.506194 deg,
      new cmd heading: 199.149262 deg.

2021-02-16T07:39:19.522Z,1613461159.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:20.300Z,1613461160.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:20.712Z,1613461160.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:21.539Z,1613461161.539 [Micromodem](INFO): Nmea in: $SNTTA,0.075208,,,,073921.79*48

2021-02-16T07:39:21.564Z,1613461161.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.799995 m, bearing: 198.970787 deg, deltaT: 4.467194 s, approachRate: -0.779013 m/s, LOS rate: 0.465411 deg/s, posRepo size: 4
2021-02-16T07:39:21.565Z,1613461161.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.799995 m,
      bearing: 198.970787 deg,
      approachRate: -0.779013 m/s,
      LOS rate: 0.465411 deg/s,
      cmd update: 1.396234 deg/s,
      cmd heading: 198.372199 deg,
      new cmd heading: 198.266199 deg.

2021-02-16T07:39:23.963Z,1613461163.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:24.762Z,1613461164.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:25.150Z,1613461165.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:25.988Z,1613461165.988 [Micromodem](INFO): Nmea in: $SNTTA,0.072662,,0.089743,,073926.25*56

2021-02-16T07:39:26.041Z,1613461166.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.780006 m, bearing: 198.738766 deg, deltaT: 4.429923 s, approachRate: -0.907462 m/s, LOS rate: -0.052376 deg/s, posRepo size: 4
2021-02-16T07:39:26.043Z,1613461166.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.780006 m,
      bearing: 198.738766 deg,
      approachRate: -0.907462 m/s,
      LOS rate: -0.052376 deg/s,
      cmd update: -0.157128 deg/s,
      cmd heading: 204.557264 deg,
      new cmd heading: 205.207167 deg.

2021-02-16T07:39:28.439Z,1613461168.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:29.197Z,1613461169.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:29.594Z,1613461169.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:30.420Z,1613461170.420 [Micromodem](INFO): Nmea in: $SNTTA,0.070215,,,,073930.69*40

2021-02-16T07:39:30.444Z,1613461170.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 198.781318 deg, deltaT: 4.452538 s, approachRate: -0.795052 m/s, LOS rate: 0.009557 deg/s, posRepo size: 4
2021-02-16T07:39:30.446Z,1613461170.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.240005 m,
      bearing: 198.781318 deg,
      approachRate: -0.795052 m/s,
      LOS rate: 0.009557 deg/s,
      cmd update: 0.028670 deg/s,
      cmd heading: 203.857695 deg,
      new cmd heading: 203.792332 deg.

2021-02-16T07:39:32.868Z,1613461172.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:33.632Z,1613461173.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:34.044Z,1613461174.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:34.860Z,1613461174.860 [Micromodem](INFO): Nmea in: $SNTTA,0.067722,,,,073935.12*4E

2021-02-16T07:39:34.903Z,1613461174.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.459999 m, bearing: 197.502351 deg, deltaT: 4.660975 s, approachRate: -0.810991 m/s, LOS rate: -0.274399 deg/s, posRepo size: 4
2021-02-16T07:39:34.905Z,1613461174.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.459999 m,
      bearing: 197.502351 deg,
      approachRate: -0.810991 m/s,
      LOS rate: -0.274399 deg/s,
      cmd update: -0.823197 deg/s,
      cmd heading: 203.991339 deg,
      new cmd heading: 203.997465 deg.

2021-02-16T07:39:37.339Z,1613461177.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:38.076Z,1613461178.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:38.497Z,1613461178.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:39.308Z,1613461179.308 [Micromodem](INFO): Nmea in: $SNTTA,0.065383,,,,073939.57*4E

2021-02-16T07:39:39.348Z,1613461179.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.860008 m, bearing: 197.021820 deg, deltaT: 4.245377 s, approachRate: -0.847979 m/s, LOS rate: -0.113189 deg/s, posRepo size: 4
2021-02-16T07:39:39.349Z,1613461179.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.860008 m,
      bearing: 197.021820 deg,
      approachRate: -0.847979 m/s,
      LOS rate: -0.113189 deg/s,
      cmd update: -0.339568 deg/s,
      cmd heading: 200.499865 deg,
      new cmd heading: 200.156663 deg.

2021-02-16T07:39:41.746Z,1613461181.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:42.537Z,1613461182.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:42.931Z,1613461182.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:43.764Z,1613461183.764 [Micromodem](INFO): Nmea in: $SNTTA,0.062939,,,,073944.03*49

2021-02-16T07:39:43.817Z,1613461183.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 197.001029 deg, deltaT: 4.430775 s, approachRate: -0.839583 m/s, LOS rate: -0.004692 deg/s, posRepo size: 4
2021-02-16T07:39:43.823Z,1613461183.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 197.001029 deg,
      approachRate: -0.839583 m/s,
      LOS rate: -0.004692 deg/s,
      cmd update: -0.014077 deg/s,
      cmd heading: 198.993950 deg,
      new cmd heading: 198.840526 deg.

2021-02-16T07:39:46.193Z,1613461186.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:46.969Z,1613461186.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:47.370Z,1613461187.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:48.201Z,1613461188.201 [Micromodem](INFO): Nmea in: $SNTTA,0.060650,,0.067231,,073948.46*59

2021-02-16T07:39:48.242Z,1613461188.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.900009 m, bearing: 198.758792 deg, deltaT: 4.460251 s, approachRate: -0.726416 m/s, LOS rate: 0.394095 deg/s, posRepo size: 4
2021-02-16T07:39:48.249Z,1613461188.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.900009 m,
      bearing: 198.758792 deg,
      approachRate: -0.726416 m/s,
      LOS rate: 0.394095 deg/s,
      cmd update: 1.182285 deg/s,
      cmd heading: 198.931162 deg,
      new cmd heading: 198.925359 deg.

2021-02-16T07:39:50.662Z,1613461190.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:51.414Z,1613461191.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:51.822Z,1613461191.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:52.640Z,1613461192.640 [Micromodem](INFO): Nmea in: $SNTTA,0.058302,,,,073952.90*4F

2021-02-16T07:39:52.679Z,1613461192.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.239998 m, bearing: 197.522992 deg, deltaT: 4.455718 s, approachRate: -0.821419 m/s, LOS rate: -0.277351 deg/s, posRepo size: 4
2021-02-16T07:39:52.681Z,1613461192.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.239998 m,
      bearing: 197.522992 deg,
      approachRate: -0.821419 m/s,
      LOS rate: -0.277351 deg/s,
      cmd update: -0.832054 deg/s,
      cmd heading: 204.169263 deg,
      new cmd heading: 204.669424 deg.

2021-02-16T07:39:55.074Z,1613461195.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:39:55.853Z,1613461195.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:39:56.286Z,1613461196.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:39:57.084Z,1613461197.084 [Micromodem](INFO): Nmea in: $SNTTA,0.055770,,,,073957.34*48

2021-02-16T07:39:57.130Z,1613461197.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 197.734851 deg, deltaT: 4.422943 s, approachRate: -0.841069 m/s, LOS rate: 0.047900 deg/s, posRepo size: 4
2021-02-16T07:39:57.132Z,1613461197.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.519997 m,
      bearing: 197.734851 deg,
      approachRate: -0.841069 m/s,
      LOS rate: 0.047900 deg/s,
      cmd update: 0.143700 deg/s,
      cmd heading: 200.475009 deg,
      new cmd heading: 200.113797 deg.

2021-02-16T07:39:59.527Z,1613461199.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:00.299Z,1613461200.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:00.708Z,1613461200.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:01.536Z,1613461201.536 [Micromodem](INFO): Nmea in: $SNTTA,0.053255,,0.054405,,074001.79*56

2021-02-16T07:40:01.580Z,1613461201.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 198.076729 deg, deltaT: 4.440608 s, approachRate: -0.851233 m/s, LOS rate: 0.076989 deg/s, posRepo size: 4
2021-02-16T07:40:01.581Z,1613461201.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.740005 m,
      bearing: 198.076729 deg,
      approachRate: -0.851233 m/s,
      LOS rate: 0.076989 deg/s,
      cmd update: 0.230967 deg/s,
      cmd heading: 201.112019 deg,
      new cmd heading: 201.176742 deg.

2021-02-16T07:40:03.982Z,1613461203.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:04.746Z,1613461204.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:05.146Z,1613461205.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:05.988Z,1613461205.988 [Micromodem](INFO): Nmea in: $SNTTA,0.050776,,,,074006.24*40

2021-02-16T07:40:06.034Z,1613461206.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 197.877547 deg, deltaT: 4.428457 s, approachRate: -0.826474 m/s, LOS rate: -0.044978 deg/s, posRepo size: 4
2021-02-16T07:40:06.036Z,1613461206.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 197.877547 deg,
      approachRate: -0.826474 m/s,
      LOS rate: -0.044978 deg/s,
      cmd update: -0.134933 deg/s,
      cmd heading: 202.138526 deg,
      new cmd heading: 202.244977 deg.

2021-02-16T07:40:08.406Z,1613461208.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:09.192Z,1613461209.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:09.590Z,1613461209.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:10.425Z,1613461210.425 [Micromodem](INFO): Nmea in: $SNTTA,0.048250,,,,074010.68*47

2021-02-16T07:40:10.454Z,1613461210.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 195.797850 deg, deltaT: 4.459871 s, approachRate: -0.874465 m/s, LOS rate: -0.466313 deg/s, posRepo size: 4
2021-02-16T07:40:10.476Z,1613461210.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 195.797850 deg,
      approachRate: -0.874465 m/s,
      LOS rate: -0.466313 deg/s,
      cmd update: -1.398940 deg/s,
      cmd heading: 201.536736 deg,
      new cmd heading: 201.479954 deg.

2021-02-16T07:40:12.865Z,1613461212.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:13.633Z,1613461213.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:14.055Z,1613461214.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:14.872Z,1613461214.872 [Micromodem](INFO): Nmea in: $SNTTA,0.045839,,,,074015.12*47

2021-02-16T07:40:14.908Z,1613461214.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 196.746878 deg, deltaT: 4.553276 s, approachRate: -0.790639 m/s, LOS rate: 0.208427 deg/s, posRepo size: 4
2021-02-16T07:40:14.910Z,1613461214.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 196.746878 deg,
      approachRate: -0.790639 m/s,
      LOS rate: 0.208427 deg/s,
      cmd update: 0.625282 deg/s,
      cmd heading: 195.167063 deg,
      new cmd heading: 194.717457 deg.

2021-02-16T07:40:17.308Z,1613461217.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:18.078Z,1613461218.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:18.492Z,1613461218.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:19.312Z,1613461219.312 [Micromodem](INFO): Nmea in: $SNTTA,0.043465,,,,074019.57*49

2021-02-16T07:40:19.336Z,1613461219.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 197.528169 deg, deltaT: 4.329890 s, approachRate: -0.817573 m/s, LOS rate: 0.180441 deg/s, posRepo size: 4
2021-02-16T07:40:19.338Z,1613461219.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.040001 m,
      bearing: 197.528169 deg,
      approachRate: -0.817573 m/s,
      LOS rate: 0.180441 deg/s,
      cmd update: 0.541324 deg/s,
      cmd heading: 197.874282 deg,
      new cmd heading: 198.136917 deg.

2021-02-16T07:40:21.751Z,1613461221.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:22.517Z,1613461222.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:22.923Z,1613461222.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:23.764Z,1613461223.764 [Micromodem](INFO): Nmea in: $SNTTA,0.040953,,,,074024.01*4F

2021-02-16T07:40:23.817Z,1613461223.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.200008 m, bearing: 195.938347 deg, deltaT: 4.465300 s, approachRate: -0.859963 m/s, LOS rate: -0.356039 deg/s, posRepo size: 4
2021-02-16T07:40:23.819Z,1613461223.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.200008 m,
      bearing: 195.938347 deg,
      approachRate: -0.859963 m/s,
      LOS rate: -0.356039 deg/s,
      cmd update: -1.068118 deg/s,
      cmd heading: 200.289500 deg,
      new cmd heading: 200.527237 deg.

2021-02-16T07:40:26.199Z,1613461226.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:26.985Z,1613461226.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:27.381Z,1613461227.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:28.204Z,1613461228.204 [Micromodem](INFO): Nmea in: $SNTTA,0.038642,,,,074028.47*41

2021-02-16T07:40:28.242Z,1613461228.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 194.933517 deg, deltaT: 4.445203 s, approachRate: -0.769370 m/s, LOS rate: -0.226048 deg/s, posRepo size: 4
2021-02-16T07:40:28.249Z,1613461228.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.780003 m,
      bearing: 194.933517 deg,
      approachRate: -0.769370 m/s,
      LOS rate: -0.226048 deg/s,
      cmd update: -0.678145 deg/s,
      cmd heading: 195.537277 deg,
      new cmd heading: 195.096479 deg.

2021-02-16T07:40:30.621Z,1613461230.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:31.410Z,1613461231.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:31.815Z,1613461231.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:32.644Z,1613461232.644 [Micromodem](INFO): Nmea in: $SNTTA,0.036201,,,,074032.90*4D

2021-02-16T07:40:32.668Z,1613461232.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 196.967397 deg, deltaT: 4.472343 s, approachRate: -0.818363 m/s, LOS rate: 0.454768 deg/s, posRepo size: 4
2021-02-16T07:40:32.670Z,1613461232.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 196.967397 deg,
      approachRate: -0.818363 m/s,
      LOS rate: 0.454768 deg/s,
      cmd update: 1.364305 deg/s,
      cmd heading: 192.507139 deg,
      new cmd heading: 192.254488 deg.

2021-02-16T07:40:35.077Z,1613461235.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:35.849Z,1613461235.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:36.285Z,1613461236.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:37.080Z,1613461237.080 [Micromodem](INFO): Nmea in: $SNTTA,0.033690,,,,074037.34*4F

2021-02-16T07:40:37.121Z,1613461237.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 197.479320 deg, deltaT: 4.373561 s, approachRate: -0.878004 m/s, LOS rate: 0.117049 deg/s, posRepo size: 4
2021-02-16T07:40:37.127Z,1613461237.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.279999 m,
      bearing: 197.479320 deg,
      approachRate: -0.878004 m/s,
      LOS rate: 0.117049 deg/s,
      cmd update: 0.351148 deg/s,
      cmd heading: 198.479583 deg,
      new cmd heading: 199.091419 deg.

2021-02-16T07:40:39.522Z,1613461239.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:40.294Z,1613461240.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:40.734Z,1613461240.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:41.112Z,1613461241.112 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T07:40:41.520Z,1613461241.520 [Micromodem](INFO): Nmea in: $SNTTA,0.031502,,,,074041.78*4C

2021-02-16T07:40:41.571Z,1613461241.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.979996 m, bearing: 196.431815 deg, deltaT: 4.480458 s, approachRate: -0.736533 m/s, LOS rate: -0.233794 deg/s, posRepo size: 4
2021-02-16T07:40:41.577Z,1613461241.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.979996 m,
      bearing: 196.431815 deg,
      approachRate: -0.736533 m/s,
      LOS rate: -0.233794 deg/s,
      cmd update: -0.701383 deg/s,
      cmd heading: 200.051480 deg,
      new cmd heading: 200.199416 deg.

2021-02-16T07:40:43.970Z,1613461243.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:44.740Z,1613461244.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:45.165Z,1613461245.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:45.990Z,1613461245.990 [Micromodem](INFO): Nmea in: $SNTTA,0.029029,,,,074046.23*40

2021-02-16T07:40:46.054Z,1613461246.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 195.428419 deg, deltaT: 4.431317 s, approachRate: -0.907179 m/s, LOS rate: -0.226433 deg/s, posRepo size: 4
2021-02-16T07:40:46.060Z,1613461246.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 195.428419 deg,
      approachRate: -0.907179 m/s,
      LOS rate: -0.226433 deg/s,
      cmd update: -0.679299 deg/s,
      cmd heading: 196.940623 deg,
      new cmd heading: 196.611285 deg.

2021-02-16T07:40:48.404Z,1613461248.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:49.192Z,1613461249.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:49.588Z,1613461249.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:50.416Z,1613461250.416 [Micromodem](INFO): Nmea in: $SNTTA,0.026338,,,,074050.68*44

2021-02-16T07:40:50.440Z,1613461250.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 195.429389 deg, deltaT: 4.439071 s, approachRate: -0.824497 m/s, LOS rate: 0.000218 deg/s, posRepo size: 4
2021-02-16T07:40:50.440Z,1613461250.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.30 m.
2021-02-16T07:40:50.442Z,1613461250.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.299999 m,
      bearing: 195.429389 deg,
      approachRate: -0.824497 m/s,
      LOS rate: 0.000218 deg/s,
      cmd update: 0.000655 deg/s,
      cmd heading: 193.925255 deg,
      new cmd heading: 193.642574 deg.

2021-02-16T07:40:50.821Z,1613461250.821 [PowerOnly](INFO): Powering up loadControl
2021-02-16T07:40:52.843Z,1613461252.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:53.624Z,1613461253.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:54.037Z,1613461254.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:54.863Z,1613461254.863 [Micromodem](INFO): Nmea in: $SNTTA,0.023879,,0.036504,,074055.11*5E

2021-02-16T07:40:54.888Z,1613461254.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.579998 m, bearing: 195.269303 deg, deltaT: 4.450372 s, approachRate: -0.835885 m/s, LOS rate: -0.035971 deg/s, posRepo size: 4
2021-02-16T07:40:54.889Z,1613461254.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.58 m.
2021-02-16T07:40:54.889Z,1613461254.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.58 m.
2021-02-16T07:40:54.889Z,1613461254.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T07:40:54.891Z,1613461254.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.579998 m,
      bearing: 195.269303 deg,
      approachRate: -0.835885 m/s,
      LOS rate: -0.035971 deg/s,
      cmd update: -0.107914 deg/s,
      cmd heading: 193.928170 deg,
      new cmd heading: 193.928444 deg.

2021-02-16T07:40:57.328Z,1613461257.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:40:58.073Z,1613461258.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:40:58.475Z,1613461258.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:40:59.309Z,1613461259.309 [Micromodem](INFO): Nmea in: $SNTTA,0.021490,,,0.054265,074059.56*5C

2021-02-16T07:40:59.336Z,1613461259.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 196.403292 deg, deltaT: 4.450956 s, approachRate: -0.808815 m/s, LOS rate: 0.254774 deg/s, posRepo size: 4
2021-02-16T07:40:59.338Z,1613461259.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.979998 m,
      bearing: 196.403292 deg,
      approachRate: -0.808815 m/s,
      LOS rate: 0.254774 deg/s,
      cmd update: 0.764323 deg/s,
      cmd heading: 193.447996 deg,
      new cmd heading: 193.403230 deg.

2021-02-16T07:41:01.719Z,1613461261.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:02.512Z,1613461262.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:02.919Z,1613461262.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:03.749Z,1613461263.749 [Micromodem](INFO): Nmea in: $SNTTA,0.019058,,,,074104.00*43

2021-02-16T07:41:03.809Z,1613461263.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 196.653058 deg, deltaT: 4.430350 s, approachRate: -0.812577 m/s, LOS rate: 0.056376 deg/s, posRepo size: 4
2021-02-16T07:41:03.815Z,1613461263.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 196.653058 deg,
      approachRate: -0.812577 m/s,
      LOS rate: 0.056376 deg/s,
      cmd update: 0.169129 deg/s,
      cmd heading: 196.837262 deg,
      new cmd heading: 197.184298 deg.

2021-02-16T07:41:06.220Z,1613461266.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:06.956Z,1613461266.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:07.374Z,1613461267.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:08.189Z,1613461268.189 [Micromodem](INFO): Nmea in: $SNTTA,0.016629,,,,074108.44*40

2021-02-16T07:41:08.231Z,1613461268.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 195.569230 deg, deltaT: 4.470220 s, approachRate: -0.805329 m/s, LOS rate: -0.242455 deg/s, posRepo size: 4
2021-02-16T07:41:08.233Z,1613461268.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 195.569230 deg,
      approachRate: -0.805329 m/s,
      LOS rate: -0.242455 deg/s,
      cmd update: -0.727366 deg/s,
      cmd heading: 197.593312 deg,
      new cmd heading: 197.661809 deg.

2021-02-16T07:41:10.641Z,1613461270.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:11.405Z,1613461271.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:11.812Z,1613461271.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:12.636Z,1613461272.636 [Micromodem](INFO): Nmea in: $SNTTA,0.014172,,0.021923,,074112.89*54

2021-02-16T07:41:12.681Z,1613461272.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 194.236414 deg, deltaT: 4.423622 s, approachRate: -0.840940 m/s, LOS rate: -0.301295 deg/s, posRepo size: 4
2021-02-16T07:41:12.682Z,1613461272.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 194.236414 deg,
      approachRate: -0.840940 m/s,
      LOS rate: -0.301295 deg/s,
      cmd update: -0.903885 deg/s,
      cmd heading: 194.387956 deg,
      new cmd heading: 194.061892 deg.

2021-02-16T07:41:15.080Z,1613461275.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:15.853Z,1613461275.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:16.280Z,1613461276.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:17.080Z,1613461277.080 [Micromodem](INFO): Nmea in: $SNTTA,0.011779,,,,074117.34*4A

2021-02-16T07:41:17.152Z,1613461277.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 195.285477 deg, deltaT: 4.417773 s, approachRate: -0.814890 m/s, LOS rate: 0.237464 deg/s, posRepo size: 4
2021-02-16T07:41:17.154Z,1613461277.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 195.285477 deg,
      approachRate: -0.814890 m/s,
      LOS rate: 0.237464 deg/s,
      cmd update: 0.712392 deg/s,
      cmd heading: 190.379627 deg,
      new cmd heading: 189.941306 deg.

2021-02-16T07:41:19.533Z,1613461279.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:20.305Z,1613461280.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:20.735Z,1613461280.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:21.528Z,1613461281.528 [Micromodem](INFO): Nmea in: $SNTTA,0.009383,,,,074121.79*4E

2021-02-16T07:41:21.570Z,1613461281.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 194.164233 deg, deltaT: 4.493905 s, approachRate: -0.801085 m/s, LOS rate: -0.249503 deg/s, posRepo size: 4
2021-02-16T07:41:21.572Z,1613461281.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 194.164233 deg,
      approachRate: -0.801085 m/s,
      LOS rate: -0.249503 deg/s,
      cmd update: -0.748510 deg/s,
      cmd heading: 193.579739 deg,
      new cmd heading: 193.872699 deg.

2021-02-16T07:41:23.959Z,1613461283.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:24.733Z,1613461284.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:25.138Z,1613461285.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:25.964Z,1613461285.964 [Micromodem](INFO): Nmea in: $SNTTA,0.007057,,,,074126.22*43

2021-02-16T07:41:25.989Z,1613461285.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.380001 m, bearing: 192.515234 deg, deltaT: 4.403989 s, approachRate: -0.790192 m/s, LOS rate: -0.374433 deg/s, posRepo size: 4
2021-02-16T07:41:25.991Z,1613461285.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.380001 m,
      bearing: 192.515234 deg,
      approachRate: -0.790192 m/s,
      LOS rate: -0.374433 deg/s,
      cmd update: -1.123299 deg/s,
      cmd heading: 190.281909 deg,
      new cmd heading: 189.964477 deg.

2021-02-16T07:41:28.405Z,1613461288.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:29.183Z,1613461289.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:29.582Z,1613461289.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:30.412Z,1613461290.412 [Micromodem](INFO): Nmea in: $SNTTA,0.004866,,,,074130.67*4C

2021-02-16T07:41:30.457Z,1613461290.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 191.878537 deg, deltaT: 4.466162 s, approachRate: -0.738890 m/s, LOS rate: -0.142560 deg/s, posRepo size: 4
2021-02-16T07:41:30.463Z,1613461290.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 191.878537 deg,
      approachRate: -0.738890 m/s,
      LOS rate: -0.142560 deg/s,
      cmd update: -0.427680 deg/s,
      cmd heading: 185.265850 deg,
      new cmd heading: 184.786522 deg.

2021-02-16T07:41:30.824Z,1613461290.824 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:41:32.854Z,1613461292.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:33.626Z,1613461293.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:34.026Z,1613461294.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:34.852Z,1613461294.852 [Micromodem](INFO): Nmea in: $SNTTA,0.003221,,,,074135.11*46

2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T07:41:34.902Z,1613461294.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-02-16T07:41:34.903Z,1613461294.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T07:41:34.903Z,1613461294.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T07:41:34.903Z,1613461294.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T07:41:34.905Z,1613461294.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.559999 m, bearing: 197.209076 deg, deltaT: 4.447799 s, approachRate: -0.566573 m/s, LOS rate: 1.198467 deg/s, posRepo size: 4
2021-02-16T07:41:34.907Z,1613461294.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 197.209076 deg,
      approachRate: -0.566573 m/s,
      LOS rate: 1.198467 deg/s,
      cmd update: 3.595400 deg/s,
      cmd heading: 183.363331 deg,
      new cmd heading: 183.180943 deg.

2021-02-16T07:41:35.308Z,1613461295.308 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T074135: (41.552319, -70.708603)
2021-02-16T07:41:35.308Z,1613461295.308 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T07:41:35.308Z,1613461295.308 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T07:41:35.308Z,1613461295.308 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:41:35.308Z,1613461295.308 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T07:41:35.309Z,1613461295.309 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:41:35.309Z,1613461295.309 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T07:41:35.309Z,1613461295.309 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T07:41:35.309Z,1613461295.309 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:41:37.327Z,1613461297.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:38.064Z,1613461298.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:38.487Z,1613461298.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:39.304Z,1613461299.304 [Micromodem](INFO): Nmea in: $SNTTA,0.002795,,,,074139.55*41

2021-02-16T07:41:39.328Z,1613461299.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 193.566591 deg, deltaT: 4.429872 s, approachRate: -0.081266 m/s, LOS rate: -0.822255 deg/s, posRepo size: 4
2021-02-16T07:41:39.330Z,1613461299.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 193.566591 deg,
      approachRate: -0.081266 m/s,
      LOS rate: -0.822255 deg/s,
      cmd update: -2.466766 deg/s,
      cmd heading: 199.290594 deg,
      new cmd heading: 200.798685 deg.

2021-02-16T07:41:41.727Z,1613461301.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:42.515Z,1613461302.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:42.920Z,1613461302.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:43.745Z,1613461303.745 [Micromodem](INFO): Nmea in: $SNTTA,0.005494,,,0.065425,074144.00*50

2021-02-16T07:41:43.814Z,1613461303.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 198.646927 deg, deltaT: 4.460853 s, approachRate: 0.914623 m/s, LOS rate: 1.138871 deg/s, posRepo size: 4
2021-02-16T07:41:43.820Z,1613461303.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 198.646927 deg,
      approachRate: 0.914623 m/s,
      LOS rate: 1.138871 deg/s,
      cmd update: 3.416613 deg/s,
      cmd heading: 188.296551 deg,
      new cmd heading: 187.191038 deg.

2021-02-16T07:41:46.160Z,1613461306.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:46.969Z,1613461306.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:47.363Z,1613461307.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:48.197Z,1613461308.197 [Micromodem](INFO): Nmea in: $SNTTA,0.006310,,,,074148.46*48

2021-02-16T07:41:48.291Z,1613461308.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 196.065566 deg, deltaT: 4.442080 s, approachRate: 0.283651 m/s, LOS rate: -0.581115 deg/s, posRepo size: 4
2021-02-16T07:41:48.293Z,1613461308.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 196.065566 deg,
      approachRate: 0.283651 m/s,
      LOS rate: -0.581115 deg/s,
      cmd update: -1.743346 deg/s,
      cmd heading: 203.485061 deg,
      new cmd heading: 205.110296 deg.

2021-02-16T07:41:50.632Z,1613461310.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:51.397Z,1613461311.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:51.831Z,1613461311.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:52.624Z,1613461312.624 [Micromodem](INFO): Nmea in: $SNTTA,0.008656,,,,074152.89*49

2021-02-16T07:41:52.679Z,1613461312.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 206.897153 deg, deltaT: 4.482895 s, approachRate: 0.803052 m/s, LOS rate: 2.416204 deg/s, posRepo size: 4
2021-02-16T07:41:52.681Z,1613461312.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 206.897153 deg,
      approachRate: 0.803052 m/s,
      LOS rate: 2.416204 deg/s,
      cmd update: 7.248611 deg/s,
      cmd heading: 195.675851 deg,
      new cmd heading: 194.998618 deg.

2021-02-16T07:41:55.072Z,1613461315.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:41:55.845Z,1613461315.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:41:55.864Z,1613461315.864 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:41:56.292Z,1613461316.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:41:57.088Z,1613461317.088 [Micromodem](INFO): Nmea in: $SNTTA,0.012292,,,,074157.33*4A

2021-02-16T07:41:57.114Z,1613461317.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.280001 m, bearing: 198.423115 deg, deltaT: 4.393312 s, approachRate: 0.942342 m/s, LOS rate: -1.928850 deg/s, posRepo size: 4
2021-02-16T07:41:57.114Z,1613461317.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.28 m. Rolling out.
2021-02-16T07:41:57.115Z,1613461317.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T07:41:59.629Z,1613461319.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:00.300Z,1613461320.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:00.703Z,1613461320.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:01.521Z,1613461321.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074201.79*50

2021-02-16T07:42:02.370Z,1613461322.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:03.950Z,1613461323.950 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:42:05.285Z,1613461325.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:05.963Z,1613461325.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:06.363Z,1613461326.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:07.249Z,1613461327.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 266.311753 deg, deltaT: 10.142224 s, approachRate: 0.686240 m/s, LOS rate: 6.693664 deg/s, posRepo size: 4
2021-02-16T07:42:07.581Z,1613461327.581 [Micromodem](INFO): Nmea in: $SNTTA,0.016318,,0.054392,,074207.50*59

2021-02-16T07:42:09.622Z,1613461329.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:10.401Z,1613461330.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:10.843Z,1613461330.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:11.628Z,1613461331.628 [Micromodem](INFO): Nmea in: $SNTTA,0.030682,,,,074211.89*4F

2021-02-16T07:42:11.668Z,1613461331.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 255.223214 deg, deltaT: 4.427778 s, approachRate: 0.921456 m/s, LOS rate: -2.504312 deg/s, posRepo size: 4
2021-02-16T07:42:14.067Z,1613461334.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:14.840Z,1613461334.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:15.270Z,1613461335.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:16.068Z,1613461336.068 [Micromodem](INFO): Nmea in: $SNTTA,0.020741,,,,074216.33*46

2021-02-16T07:42:16.093Z,1613461336.093 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:42:16.115Z,1613461336.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.259998 m, bearing: 266.030322 deg, deltaT: 4.420610 s, approachRate: 0.665066 m/s, LOS rate: 2.444710 deg/s, posRepo size: 4
2021-02-16T07:42:18.508Z,1613461338.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:19.313Z,1613461339.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:19.690Z,1613461339.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:20.528Z,1613461340.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074220.80*55

2021-02-16T07:42:20.552Z,1613461340.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 262.945071 deg, deltaT: 4.455721 s, approachRate: 0.821417 m/s, LOS rate: -0.692425 deg/s, posRepo size: 4
2021-02-16T07:42:20.922Z,1613461340.922 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:42:22.946Z,1613461342.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:23.733Z,1613461343.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:24.151Z,1613461344.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:24.950Z,1613461344.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074225.22*58

2021-02-16T07:42:25.347Z,1613461345.347 [PowerOnly](INFO): Powering down loadControl
2021-02-16T07:42:25.831Z,1613461345.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:27.362Z,1613461347.362 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:42:28.628Z,1613461348.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:29.393Z,1613461349.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:29.814Z,1613461349.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:30.620Z,1613461350.620 [Micromodem](INFO): Nmea in: $SNTTA,0.032841,,,,074230.88*4E

2021-02-16T07:42:30.664Z,1613461350.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.019997 m, bearing: 244.409932 deg, deltaT: 10.078606 s, approachRate: 0.803682 m/s, LOS rate: -1.839058 deg/s, posRepo size: 4
2021-02-16T07:42:33.073Z,1613461353.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:33.830Z,1613461353.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:34.241Z,1613461354.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:35.056Z,1613461355.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074235.32*58

2021-02-16T07:42:35.098Z,1613461355.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 258.551866 deg, deltaT: 4.460388 s, approachRate: 8.595668 m/s, LOS rate: 3.170561 deg/s, posRepo size: 4
2021-02-16T07:42:37.504Z,1613461357.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:38.288Z,1613461358.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:38.678Z,1613461358.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:39.516Z,1613461359.516 [Micromodem](INFO): Nmea in: $SNTTA,0.033522,,,,074239.78*41

2021-02-16T07:42:39.553Z,1613461359.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 265.660836 deg, deltaT: 4.451247 s, approachRate: -6.928397 m/s, LOS rate: 1.597074 deg/s, posRepo size: 4
2021-02-16T07:42:41.951Z,1613461361.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:42.722Z,1613461362.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:43.121Z,1613461363.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:43.952Z,1613461363.952 [Micromodem](INFO): Nmea in: $SNTTA,0.035948,,,0.064435,074244.21*5F

2021-02-16T07:42:43.977Z,1613461363.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 239.369170 deg, deltaT: 4.423486 s, approachRate: 0.868092 m/s, LOS rate: -5.943653 deg/s, posRepo size: 4
2021-02-16T07:42:46.378Z,1613461366.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:47.160Z,1613461367.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:47.566Z,1613461367.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:48.392Z,1613461368.392 [Micromodem](INFO): Nmea in: $SNTTA,0.038449,,,,074248.65*4C

2021-02-16T07:42:48.440Z,1613461368.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 244.457771 deg, deltaT: 4.471908 s, approachRate: 0.831863 m/s, LOS rate: 1.137904 deg/s, posRepo size: 4
2021-02-16T07:42:50.874Z,1613461370.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:51.609Z,1613461371.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:52.009Z,1613461372.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:52.841Z,1613461372.841 [Micromodem](INFO): Nmea in: $SNTTA,0.041035,,0.045491,0.058535,074253.10*46

2021-02-16T07:42:52.879Z,1613461372.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 245.094672 deg, deltaT: 4.445507 s, approachRate: 0.863793 m/s, LOS rate: 0.143269 deg/s, posRepo size: 4
2021-02-16T07:42:55.305Z,1613461375.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:42:56.053Z,1613461376.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:42:56.456Z,1613461376.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:42:57.296Z,1613461377.296 [Micromodem](INFO): Nmea in: $SNTTA,0.043590,,,,074257.54*49

2021-02-16T07:42:57.349Z,1613461377.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 225.741386 deg, deltaT: 4.430825 s, approachRate: 0.880197 m/s, LOS rate: -4.367874 deg/s, posRepo size: 4
2021-02-16T07:42:59.719Z,1613461379.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:00.529Z,1613461380.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:00.898Z,1613461380.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:01.748Z,1613461381.748 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074302.02*5E

2021-02-16T07:43:01.812Z,1613461381.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 240.593086 deg, deltaT: 4.459712 s, approachRate: 0.766867 m/s, LOS rate: 3.330193 deg/s, posRepo size: 4
2021-02-16T07:43:04.162Z,1613461384.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:04.938Z,1613461384.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:05.343Z,1613461385.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:06.216Z,1613461386.216 [Micromodem](INFO): Nmea in: $SNTTA,0.048584,,,,074306.43*44

2021-02-16T07:43:06.289Z,1613461386.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 251.960815 deg, deltaT: 4.450010 s, approachRate: 0.876403 m/s, LOS rate: 2.554540 deg/s, posRepo size: 4
2021-02-16T07:43:08.625Z,1613461388.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:09.383Z,1613461389.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:09.823Z,1613461389.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:10.616Z,1613461390.616 [Micromodem](INFO): Nmea in: $SNTTA,0.051188,,,,074310.87*4B

2021-02-16T07:43:10.664Z,1613461390.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.160004 m, bearing: 237.206705 deg, deltaT: 4.432757 s, approachRate: 0.906884 m/s, LOS rate: -3.328427 deg/s, posRepo size: 4
2021-02-16T07:43:13.054Z,1613461393.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:13.830Z,1613461393.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:14.234Z,1613461394.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:15.056Z,1613461395.056 [Micromodem](INFO): Nmea in: $SNTTA,0.053775,,,,074315.32*46

2021-02-16T07:43:15.105Z,1613461395.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.940002 m, bearing: 244.378622 deg, deltaT: 4.446460 s, approachRate: 0.850114 m/s, LOS rate: 1.612950 deg/s, posRepo size: 4
2021-02-16T07:43:17.501Z,1613461397.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:18.290Z,1613461398.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:18.683Z,1613461398.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:19.639Z,1613461399.639 [Micromodem](INFO): Nmea in: $SNTTA,0.056420,,,,074319.78*42

2021-02-16T07:43:19.670Z,1613461399.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 241.415960 deg, deltaT: 4.416922 s, approachRate: 0.937304 m/s, LOS rate: -0.670753 deg/s, posRepo size: 4
2021-02-16T07:43:21.946Z,1613461401.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:22.723Z,1613461402.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:23.137Z,1613461403.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:23.949Z,1613461403.949 [Micromodem](INFO): Nmea in: $SNTTA,0.058900,,,,074324.21*41

2021-02-16T07:43:24.014Z,1613461404.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 231.386892 deg, deltaT: 4.461613 s, approachRate: 0.820332 m/s, LOS rate: -2.247857 deg/s, posRepo size: 4
2021-02-16T07:43:26.389Z,1613461406.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:27.183Z,1613461407.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:27.580Z,1613461407.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:28.388Z,1613461408.388 [Micromodem](INFO): Nmea in: $SNTTA,0.061354,,,,074328.67*4E

2021-02-16T07:43:29.209Z,1613461409.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:30.807Z,1613461410.807 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:43:32.041Z,1613461412.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:32.942Z,1613461412.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:33.249Z,1613461413.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:34.131Z,1613461414.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 239.988778 deg, deltaT: 10.142851 s, approachRate: 0.828169 m/s, LOS rate: 0.848074 deg/s, posRepo size: 4
2021-02-16T07:43:34.467Z,1613461414.467 [Micromodem](INFO): Nmea in: $SNTTA,0.064648,,,,074334.43*48

2021-02-16T07:43:36.481Z,1613461416.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:37.296Z,1613461417.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:37.688Z,1613461417.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:38.512Z,1613461418.512 [Micromodem](INFO): Nmea in: $SNTTA,0.067113,,,,074338.78*46

2021-02-16T07:43:38.556Z,1613461418.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 239.640821 deg, deltaT: 4.394322 s, approachRate: 0.860202 m/s, LOS rate: -0.079183 deg/s, posRepo size: 4
2021-02-16T07:43:40.964Z,1613461420.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:41.704Z,1613461421.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:42.107Z,1613461422.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:42.936Z,1613461422.936 [Micromodem](INFO): Nmea in: $SNTTA,0.069413,,,,074343.19*46

2021-02-16T07:43:42.961Z,1613461422.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 243.844775 deg, deltaT: 4.433874 s, approachRate: 0.771332 m/s, LOS rate: 0.948145 deg/s, posRepo size: 4
2021-02-16T07:43:45.366Z,1613461425.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:46.324Z,1613461426.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:46.715Z,1613461426.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:47.500Z,1613461427.500 [Micromodem](INFO): Nmea in: $SNTTA,0.072076,,,,074347.81*4E

2021-02-16T07:43:47.905Z,1613461427.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:49.888Z,1613461429.888 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:43:50.712Z,1613461430.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:51.528Z,1613461431.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:51.915Z,1613461431.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:52.752Z,1613461432.752 [Micromodem](INFO): Nmea in: $SNTTA,0.075044,,,,074353.02*46

2021-02-16T07:43:52.839Z,1613461432.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 252.613891 deg, deltaT: 9.811384 s, approachRate: 0.874495 m/s, LOS rate: 0.893770 deg/s, posRepo size: 4
2021-02-16T07:43:55.180Z,1613461435.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:55.954Z,1613461435.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:43:56.354Z,1613461436.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:43:57.173Z,1613461437.173 [Micromodem](INFO): Nmea in: $SNTTA,0.077615,,,,074357.44*40

2021-02-16T07:43:58.010Z,1613461438.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:43:59.293Z,1613461439.293 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:44:00.919Z,1613461440.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:01.618Z,1613461441.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:02.031Z,1613461442.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:02.868Z,1613461442.868 [Micromodem](INFO): Nmea in: $SNTTA,0.080829,,,,074403.10*4E

2021-02-16T07:44:02.893Z,1613461442.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 237.140152 deg, deltaT: 10.113031 s, approachRate: 0.848410 m/s, LOS rate: -1.530079 deg/s, posRepo size: 4
2021-02-16T07:44:05.344Z,1613461445.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:06.077Z,1613461446.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:06.473Z,1613461446.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:07.307Z,1613461447.307 [Micromodem](INFO): Nmea in: $SNTTA,0.083229,,,,074407.56*41

2021-02-16T07:44:07.331Z,1613461447.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 236.521965 deg, deltaT: 4.456184 s, approachRate: 0.807867 m/s, LOS rate: -0.138726 deg/s, posRepo size: 4
2021-02-16T07:44:09.718Z,1613461449.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:10.505Z,1613461450.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:10.940Z,1613461450.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:11.738Z,1613461451.738 [Micromodem](INFO): Nmea in: $SNTTA,0.085973,,,,074411.99*47

2021-02-16T07:44:11.807Z,1613461451.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 243.377672 deg, deltaT: 4.445293 s, approachRate: 0.904325 m/s, LOS rate: 1.542240 deg/s, posRepo size: 4
2021-02-16T07:44:13.865Z,1613461453.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:14.545Z,1613461454.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:14.957Z,1613461454.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:15.812Z,1613461455.812 [Micromodem](INFO): Nmea in: $SNTTA,0.088245,,,,074416.03*40

2021-02-16T07:44:15.857Z,1613461455.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 243.539875 deg, deltaT: 4.046138 s, approachRate: 0.830422 m/s, LOS rate: 0.040088 deg/s, posRepo size: 4
2021-02-16T07:44:18.218Z,1613461458.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:18.998Z,1613461458.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:19.399Z,1613461459.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:20.227Z,1613461460.227 [Micromodem](INFO): Nmea in: $SNTTA,0.090715,,,,074420.49*42

2021-02-16T07:44:20.297Z,1613461460.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 240.460935 deg, deltaT: 4.462091 s, approachRate: 0.847140 m/s, LOS rate: -0.690022 deg/s, posRepo size: 4
2021-02-16T07:44:22.674Z,1613461462.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:23.434Z,1613461463.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:23.845Z,1613461463.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:24.664Z,1613461464.664 [Micromodem](INFO): Nmea in: $SNTTA,0.093336,,,,074424.92*46

2021-02-16T07:44:24.701Z,1613461464.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.100006 m, bearing: 240.086313 deg, deltaT: 4.463807 s, approachRate: 0.860251 m/s, LOS rate: -0.083924 deg/s, posRepo size: 4
2021-02-16T07:44:27.126Z,1613461467.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:27.878Z,1613461467.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:28.301Z,1613461468.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:29.108Z,1613461469.108 [Micromodem](INFO): Nmea in: $SNTTA,0.095778,,,,074429.37*4C

2021-02-16T07:44:29.153Z,1613461469.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 238.799615 deg, deltaT: 4.371234 s, approachRate: 0.878470 m/s, LOS rate: -0.294356 deg/s, posRepo size: 4
2021-02-16T07:44:31.556Z,1613461471.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:32.322Z,1613461472.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:32.726Z,1613461472.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:33.556Z,1613461473.556 [Micromodem](INFO): Nmea in: $SNTTA,0.098903,,,,074433.81*45

2021-02-16T07:44:33.597Z,1613461473.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 243.987963 deg, deltaT: 4.486321 s, approachRate: 1.029796 m/s, LOS rate: 1.156482 deg/s, posRepo size: 4
2021-02-16T07:44:35.997Z,1613461475.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:36.793Z,1613461476.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:37.176Z,1613461477.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:38.024Z,1613461478.024 [Micromodem](INFO): Nmea in: $SNTTA,0.100708,,,,074438.28*48

2021-02-16T07:44:38.058Z,1613461478.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 243.723744 deg, deltaT: 4.433042 s, approachRate: 0.000000 m/s, LOS rate: -0.059602 deg/s, posRepo size: 4
2021-02-16T07:44:40.453Z,1613461480.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:41.212Z,1613461481.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:41.614Z,1613461481.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:42.445Z,1613461482.445 [Micromodem](INFO): Nmea in: $SNTTA,0.103388,,,,074442.70*47

2021-02-16T07:44:42.495Z,1613461482.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 234.617271 deg, deltaT: 4.443440 s, approachRate: 1.498840 m/s, LOS rate: -2.049420 deg/s, posRepo size: 4
2021-02-16T07:44:42.496Z,1613461482.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.22 m. Resuming terminal guidance.
2021-02-16T07:44:42.496Z,1613461482.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:44:44.885Z,1613461484.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:45.655Z,1613461485.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:46.076Z,1613461486.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:46.884Z,1613461486.884 [Micromodem](INFO): Nmea in: $SNTTA,0.106380,,,,074447.14*4D

2021-02-16T07:44:46.925Z,1613461486.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 239.704150 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:44:46.926Z,1613461486.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 239.704150deg and heading rate command to 0 deg/s.
2021-02-16T07:44:49.327Z,1613461489.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:50.101Z,1613461490.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:50.502Z,1613461490.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:51.317Z,1613461491.317 [Micromodem](INFO): Nmea in: $SNTTA,0.108620,,,,074451.59*42

2021-02-16T07:44:52.152Z,1613461492.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:53.424Z,1613461493.424 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:44:54.969Z,1613461494.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:44:55.762Z,1613461495.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:44:56.167Z,1613461496.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:44:56.563Z,1613461496.563 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,FF1,000,0E4
C,186,80,80,78,FF
2021-02-16T07:44:56.991Z,1613461496.991 [Micromodem](INFO): Nmea in: $SNTTA,0.111901,,,,074457.25*4B

2021-02-16T07:44:57.846Z,1613461497.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:00.645Z,1613461500.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:03.469Z,1613461503.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:04.242Z,1613461504.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:04.665Z,1613461504.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:05.053Z,1613461505.053 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,001,000,0E4
C,186,80,80,78,FF
2021-02-16T07:45:05.459Z,1613461505.459 [Micromodem](INFO): Nmea in: $SNTTA,0.116176,,,,074505.73*41

2021-02-16T07:45:06.314Z,1613461506.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:09.120Z,1613461509.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:11.946Z,1613461511.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:12.720Z,1613461512.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:13.126Z,1613461513.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:13.532Z,1613461513.532 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,03C,000,0E4
C,186,80,80,78,FF
2021-02-16T07:45:13.937Z,1613461513.937 [Micromodem](INFO): Nmea in: $SNTTA,0.120855,,,,074514.21*4B

2021-02-16T07:45:14.795Z,1613461514.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:17.609Z,1613461517.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:20.151Z,1613461520.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:20.842Z,1613461520.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:21.258Z,1613461521.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:22.040Z,1613461522.040 [Micromodem](INFO): Nmea in: $SNTTA,0.125427,,,,074522.33*41

2021-02-16T07:45:22.471Z,1613461522.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.339996 m, bearing: 234.461980 deg, deltaT: 35.577005 s, approachRate: 0.823003 m/s, LOS rate: -0.147347 deg/s, posRepo size: 2
2021-02-16T07:45:22.473Z,1613461522.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.339996 m,
      bearing: 234.461980 deg,
      approachRate: 0.823003 m/s,
      LOS rate: -0.147347 deg/s,
      cmd update: -0.442041 deg/s,
      cmd heading: 239.704150 deg,
      new cmd heading: 239.704150 deg.

2021-02-16T07:45:24.882Z,1613461524.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:25.649Z,1613461525.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:26.054Z,1613461526.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:26.869Z,1613461526.869 [Micromodem](INFO): Nmea in: $SNTTA,0.128650,,,,074527.13*49

2021-02-16T07:45:27.341Z,1613461527.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 233.310519 deg, deltaT: 4.801360 s, approachRate: 0.862256 m/s, LOS rate: -0.239820 deg/s, posRepo size: 3
2021-02-16T07:45:27.343Z,1613461527.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.479996 m,
      bearing: 233.310519 deg,
      approachRate: 0.862256 m/s,
      LOS rate: -0.239820 deg/s,
      cmd update: -0.719459 deg/s,
      cmd heading: 237.570968 deg,
      new cmd heading: 237.373246 deg.

2021-02-16T07:45:29.704Z,1613461529.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:30.496Z,1613461530.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:30.910Z,1613461530.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:31.715Z,1613461531.715 [Micromodem](INFO): Nmea in: $SNTTA,0.131033,,,,074531.98*46

2021-02-16T07:45:32.163Z,1613461532.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.160004 m, bearing: 260.262938 deg, deltaT: 4.836053 s, approachRate: 0.967733 m/s, LOS rate: 5.573226 deg/s, posRepo size: 4
2021-02-16T07:45:32.166Z,1613461532.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.160004 m,
      bearing: 260.262938 deg,
      approachRate: 0.967733 m/s,
      LOS rate: 5.573226 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.091540 deg,
      new cmd heading: 233.782109 deg.

2021-02-16T07:45:34.277Z,1613461534.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:34.945Z,1613461534.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:35.348Z,1613461535.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:36.164Z,1613461536.164 [Micromodem](INFO): Nmea in: $SNTTA,0.133464,,,,074536.43*43

2021-02-16T07:45:36.607Z,1613461536.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.880005 m, bearing: 261.793829 deg, deltaT: 4.552711 s, approachRate: 0.817096 m/s, LOS rate: 0.336259 deg/s, posRepo size: 4
2021-02-16T07:45:36.609Z,1613461536.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.880005 m,
      bearing: 261.793829 deg,
      approachRate: 0.817096 m/s,
      LOS rate: 0.336259 deg/s,
      cmd update: 1.008778 deg/s,
      cmd heading: 288.345977 deg,
      new cmd heading: 292.425329 deg.

2021-02-16T07:45:39.010Z,1613461539.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:39.807Z,1613461539.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:40.202Z,1613461540.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:41.023Z,1613461541.023 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074541.29*56

2021-02-16T07:45:41.458Z,1613461541.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.479996 m, bearing: 290.909860 deg, deltaT: 4.764444 s, approachRate: 0.755595 m/s, LOS rate: 6.111108 deg/s, posRepo size: 4
2021-02-16T07:45:41.460Z,1613461541.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.479996 m,
      bearing: 290.909860 deg,
      approachRate: 0.755595 m/s,
      LOS rate: 6.111108 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.183993 deg,
      new cmd heading: 293.598126 deg.

2021-02-16T07:45:43.858Z,1613461543.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:44.638Z,1613461544.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:45.047Z,1613461545.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:45.856Z,1613461545.856 [Micromodem](INFO): Nmea in: $SNTTA,0.138487,,,,074546.12*46

2021-02-16T07:45:46.389Z,1613461546.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.079987 m, bearing: 281.308909 deg, deltaT: 4.853843 s, approachRate: 0.741678 m/s, LOS rate: -1.978010 deg/s, posRepo size: 4
2021-02-16T07:45:46.390Z,1613461546.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.079987 m,
      bearing: 281.308909 deg,
      approachRate: 0.741678 m/s,
      LOS rate: -1.978010 deg/s,
      cmd update: -5.934031 deg/s,
      cmd heading: 351.190003 deg,
      new cmd heading: 357.284059 deg.

2021-02-16T07:45:48.697Z,1613461548.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:49.486Z,1613461549.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:49.892Z,1613461549.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:50.704Z,1613461550.704 [Micromodem](INFO): Nmea in: $SNTTA,0.140195,,,,074550.97*45

2021-02-16T07:45:51.136Z,1613461551.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 290.865354 deg, deltaT: 4.841321 s, approachRate: 0.470949 m/s, LOS rate: 1.973933 deg/s, posRepo size: 4
2021-02-16T07:45:51.138Z,1613461551.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.360001 m,
      bearing: 290.865354 deg,
      approachRate: 0.470949 m/s,
      LOS rate: 1.973933 deg/s,
      cmd update: 5.921800 deg/s,
      cmd heading: 322.485778 deg,
      new cmd heading: 320.008237 deg.

2021-02-16T07:45:53.251Z,1613461553.251 [CTD_Seabird](ERROR): Failed to parse device response: 71,3180.20
2021-02-16T07:45:53.565Z,1613461553.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:54.341Z,1613461554.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:54.745Z,1613461554.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:45:55.572Z,1613461555.572 [Micromodem](INFO): Nmea in: $SNTTA,0.141622,,,,074555.83*4F

2021-02-16T07:45:56.012Z,1613461556.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.459991 m, bearing: 6.745710 deg, deltaT: 4.886313 s, approachRate: 0.429770 m/s, LOS rate: 15.529164 deg/s, posRepo size: 4
2021-02-16T07:45:56.013Z,1613461556.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.529164 deg/s. Setting heading cmd to target bearing of 6.745710deg and heading rate command to 0 deg/s.
2021-02-16T07:45:58.416Z,1613461558.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:45:59.190Z,1613461559.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:45:59.708Z,1613461559.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:00.435Z,1613461560.435 [Micromodem](INFO): Nmea in: $SNTTA,0.142244,,,,074600.68*4E

2021-02-16T07:46:00.893Z,1613461560.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.299988 m, bearing: 298.487900 deg, deltaT: 4.858167 s, approachRate: 0.172904 m/s, LOS rate: -14.050117 deg/s, posRepo size: 4
2021-02-16T07:46:00.894Z,1613461560.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.050117 deg/s. Setting heading cmd to target bearing of 298.487900deg and heading rate command to 0 deg/s.
2021-02-16T07:46:03.265Z,1613461563.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:04.042Z,1613461564.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:04.436Z,1613461564.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:05.282Z,1613461565.282 [Micromodem](INFO): Nmea in: $SNTTA,0.142117,,0.144892,0.144642,074605.53*45

2021-02-16T07:46:05.697Z,1613461565.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.059998 m, bearing: 53.362236 deg, deltaT: 4.847765 s, approachRate: -0.049505 m/s, LOS rate: 23.696353 deg/s, posRepo size: 4
2021-02-16T07:46:05.698Z,1613461565.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.696353 deg/s. Setting heading cmd to target bearing of 53.362236deg and heading rate command to 0 deg/s.
2021-02-16T07:46:08.095Z,1613461568.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:08.876Z,1613461568.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:09.295Z,1613461569.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:10.096Z,1613461570.096 [Micromodem](INFO): Nmea in: $SNTTA,0.141617,,,,074610.37*44

2021-02-16T07:46:10.544Z,1613461570.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.339981 m, bearing: 30.091460 deg, deltaT: 4.805345 s, approachRate: -0.149837 m/s, LOS rate: -4.842686 deg/s, posRepo size: 4
2021-02-16T07:46:10.546Z,1613461570.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.339981 m,
      bearing: 30.091460 deg,
      approachRate: -0.149837 m/s,
      LOS rate: -4.842686 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 53.362236 deg,
      new cmd heading: 53.362236 deg.

2021-02-16T07:46:13.074Z,1613461573.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:13.778Z,1613461573.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:14.165Z,1613461574.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:14.954Z,1613461574.954 [Micromodem](INFO): Nmea in: $SNTTA,0.141627,,,,074615.27*43

2021-02-16T07:46:15.406Z,1613461575.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.399994 m, bearing: 303.363781 deg, deltaT: 4.880144 s, approachRate: 0.012297 m/s, LOS rate: -17.771543 deg/s, posRepo size: 4
2021-02-16T07:46:15.407Z,1613461575.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.771543 deg/s. Setting heading cmd to target bearing of 303.363781deg and heading rate command to 0 deg/s.
2021-02-16T07:46:17.869Z,1613461577.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:18.585Z,1613461578.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:18.986Z,1613461578.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:19.808Z,1613461579.808 [Micromodem](INFO): Nmea in: $SNTTA,0.141539,,,,074620.07*4B

2021-02-16T07:46:20.238Z,1613461580.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.159988 m, bearing: 54.915776 deg, deltaT: 4.831717 s, approachRate: -0.049673 m/s, LOS rate: 23.087446 deg/s, posRepo size: 4
2021-02-16T07:46:20.239Z,1613461580.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.087446 deg/s. Setting heading cmd to target bearing of 54.915776deg and heading rate command to 0 deg/s.
2021-02-16T07:46:22.663Z,1613461582.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:23.435Z,1613461583.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:23.834Z,1613461583.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:24.659Z,1613461584.659 [Micromodem](INFO): Nmea in: $SNTTA,0.141035,,,,074624.92*4A

2021-02-16T07:46:25.089Z,1613461585.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.439987 m, bearing: 318.070517 deg, deltaT: 4.831289 s, approachRate: -0.149029 m/s, LOS rate: -20.045430 deg/s, posRepo size: 4
2021-02-16T07:46:25.089Z,1613461585.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.045430 deg/s. Setting heading cmd to target bearing of 318.070517deg and heading rate command to 0 deg/s.
2021-02-16T07:46:27.538Z,1613461587.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:28.295Z,1613461588.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:28.682Z,1613461588.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:29.507Z,1613461589.507 [Micromodem](INFO): Nmea in: $SNTTA,0.141276,,,,074629.78*46

2021-02-16T07:46:29.932Z,1613461589.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.860001 m, bearing: 32.640945 deg, deltaT: 4.872076 s, approachRate: 0.086208 m/s, LOS rate: 15.305680 deg/s, posRepo size: 4
2021-02-16T07:46:29.933Z,1613461589.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.305680 deg/s. Setting heading cmd to target bearing of 32.640945deg and heading rate command to 0 deg/s.
2021-02-16T07:46:32.366Z,1613461592.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:33.133Z,1613461593.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:33.530Z,1613461593.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:34.349Z,1613461594.349 [Micromodem](INFO): Nmea in: $SNTTA,0.141672,,,,074634.62*41

2021-02-16T07:46:34.824Z,1613461594.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.459991 m, bearing: 330.287786 deg, deltaT: 4.817858 s, approachRate: 0.124535 m/s, LOS rate: -12.942093 deg/s, posRepo size: 4
2021-02-16T07:46:34.824Z,1613461594.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.942093 deg/s. Setting heading cmd to target bearing of 330.287786deg and heading rate command to 0 deg/s.
2021-02-16T07:46:37.210Z,1613461597.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:37.984Z,1613461597.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:38.378Z,1613461598.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:39.202Z,1613461599.202 [Micromodem](INFO): Nmea in: $SNTTA,0.142156,,,,074639.47*49

2021-02-16T07:46:39.801Z,1613461599.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.239990 m, bearing: 296.712816 deg, deltaT: 4.843970 s, approachRate: 0.161025 m/s, LOS rate: -6.931292 deg/s, posRepo size: 4
2021-02-16T07:46:39.807Z,1613461599.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.239990 m,
      bearing: 296.712816 deg,
      approachRate: 0.161025 m/s,
      LOS rate: -6.931292 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 330.287786 deg,
      new cmd heading: 330.287786 deg.

2021-02-16T07:46:42.047Z,1613461602.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:42.820Z,1613461602.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:43.230Z,1613461603.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:44.047Z,1613461604.047 [Micromodem](INFO): Nmea in: $SNTTA,0.142246,,,,074644.31*40

2021-02-16T07:46:44.479Z,1613461604.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.299988 m, bearing: 310.126242 deg, deltaT: 4.854719 s, approachRate: 0.012359 m/s, LOS rate: 2.762966 deg/s, posRepo size: 4
2021-02-16T07:46:44.481Z,1613461604.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.299988 m,
      bearing: 310.126242 deg,
      approachRate: 0.012359 m/s,
      LOS rate: 2.762966 deg/s,
      cmd update: 8.288899 deg/s,
      cmd heading: 272.034108 deg,
      new cmd heading: 267.147395 deg.

2021-02-16T07:46:46.905Z,1613461606.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:47.673Z,1613461607.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:48.096Z,1613461608.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:48.895Z,1613461608.895 [Micromodem](INFO): Nmea in: $SNTTA,0.142536,,,,074649.16*48

2021-02-16T07:46:49.350Z,1613461609.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.839981 m, bearing: 24.173931 deg, deltaT: 4.880796 s, approachRate: 0.110636 m/s, LOS rate: 15.171232 deg/s, posRepo size: 4
2021-02-16T07:46:49.350Z,1613461609.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.171232 deg/s. Setting heading cmd to target bearing of 24.173931deg and heading rate command to 0 deg/s.
2021-02-16T07:46:51.781Z,1613461611.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:52.527Z,1613461612.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:52.989Z,1613461612.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:53.801Z,1613461613.801 [Micromodem](INFO): Nmea in: $SNTTA,0.143687,,,,074654.02*49

2021-02-16T07:46:53.868Z,1613461613.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.519989 m, bearing: 349.053157 deg, deltaT: 4.510248 s, approachRate: 0.372487 m/s, LOS rate: -7.786882 deg/s, posRepo size: 4
2021-02-16T07:46:53.875Z,1613461613.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.519989 m,
      bearing: 349.053157 deg,
      approachRate: 0.372487 m/s,
      LOS rate: -7.786882 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 24.173931 deg,
      new cmd heading: 24.173931 deg.

2021-02-16T07:46:56.220Z,1613461616.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:46:56.962Z,1613461616.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:46:57.366Z,1613461617.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:46:58.197Z,1613461618.197 [Micromodem](INFO): Nmea in: $SNTTA,0.144783,,,,074658.45*44

2021-02-16T07:46:58.622Z,1613461618.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.199982 m, bearing: 20.808812 deg, deltaT: 4.750411 s, approachRate: 0.353652 m/s, LOS rate: 6.684820 deg/s, posRepo size: 4
2021-02-16T07:46:58.624Z,1613461618.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.199982 m,
      bearing: 20.808812 deg,
      approachRate: 0.353652 m/s,
      LOS rate: 6.684820 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 327.165134 deg,
      new cmd heading: 322.255922 deg.

2021-02-16T07:46:59.034Z,1613461619.034 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T07:46:59.034Z,1613461619.034 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T07:46:59.034Z,1613461619.034 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T07:46:59.035Z,1613461619.035 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T07:46:59.035Z,1613461619.035 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T07:46:59.484Z,1613461619.484 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60310001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-02-16T07:46:59.484Z,1613461619.484 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E60677799F3FD0AD45612410CB17CBBA7470B5FDD471C55B5
2021-02-16T07:46:59.485Z,1613461619.485 [Micromodem](INFO): Outgoing frame #3, 64 bytes: B05C6D88B70C42B766D4967FBCE8746D88B26C2EC761C0F6A769D4A1C07238A0E929EA21F096D7F774E5DD712A9BA4AA67F1CE90CE8BD6CB3F0E0F7E2EFED952
2021-02-16T07:46:59.485Z,1613461619.485 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-02-16T07:46:59.820Z,1613461619.820 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-02-16T07:47:00.220Z,1613461620.220 [Micromodem](INFO): Nmea in: $CADRQ,074700,1,10,0,64,1*72

2021-02-16T07:47:00.221Z,1613461620.221 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60310001005D00000400E60000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*47

2021-02-16T07:47:00.620Z,1613461620.620 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T07:47:01.005Z,1613461621.005 [Micromodem](INFO): Nmea in: $CADRQ,074701,1,10,0,64,2*70

2021-02-16T07:47:01.006Z,1613461621.006 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC6E60677799F3FD0AD45612410CB17CBBA7470B5FDD471C55B5*43

2021-02-16T07:47:01.205Z,1613461621.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:01.426Z,1613461621.426 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T07:47:01.812Z,1613461621.812 [Micromodem](INFO): Nmea in: $CADRQ,074702,1,10,0,64,3*72

2021-02-16T07:47:01.813Z,1613461621.813 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,B05C6D88B70C42B766D4967FBCE8746D88B26C2EC761C0F6A769D4A1C07238A0E929EA21F096D7F774E5DD712A9BA4AA67F1CE90CE8BD6CB3F0E0F7E2EFED952*41

2021-02-16T07:47:02.213Z,1613461622.213 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T07:47:02.213Z,1613461622.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:02.621Z,1613461622.621 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-02-16T07:47:02.621Z,1613461622.621 [Micromodem](ERROR): Response from modem unexpected: $CATXP,192*48

2021-02-16T07:47:03.877Z,1613461623.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:06.345Z,1613461626.345 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-02-16T07:47:06.346Z,1613461626.346 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-02-16T07:47:06.389Z,1613461626.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:06.728Z,1613461626.728 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,074703.344385,3,0,200,4000,14500,1,1,10,1,3,3,3,192*77

2021-02-16T07:47:06.729Z,1613461626.729 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,074703.344385,3,0,200,4000,14500,1,1,10,1,3,3,3,192*77

2021-02-16T07:47:09.110Z,1613461629.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:09.888Z,1613461629.888 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T07:47:10.300Z,1613461630.300 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T07:47:10.701Z,1613461630.701 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-02-16T07:47:10.702Z,1613461630.702 [Micromodem](INFO): Sent 184 bytes from file Logs/20210216T042015/Courier0049.lzma.parts
2021-02-16T07:47:10.702Z,1613461630.702 [Micromodem](INFO): Packets left to send: 1
2021-02-16T07:47:11.106Z,1613461631.106 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216074710.124110,06,5049,37,0260,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.4,13.00,24,-10.00,-01,0.10,23,14500,4000*53

2021-02-16T07:47:11.106Z,1613461631.106 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216074710.124110,06,5049,37,0260,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,23.4,13.00,24,-10.00,-01,0.10,23,14500,4000*53

2021-02-16T07:47:11.165Z,1613461631.165 [Micromodem](INFO): Using rate 1 for 20 bytes.
2021-02-16T07:47:11.165Z,1613461631.165 [Micromodem](INFO): Outgoing frame #1, 20 bytes: FF472B6031000000612368C19FA46837B9781400
2021-02-16T07:47:11.997Z,1613461631.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:13.529Z,1613461633.529 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:13.939Z,1613461633.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:13.951Z,1613461633.951 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-02-16T07:47:14.332Z,1613461634.332 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-02-16T07:47:14.749Z,1613461634.749 [Micromodem](INFO): Nmea in: $CADRQ,074715,1,10,0,64,1*76

2021-02-16T07:47:14.749Z,1613461634.749 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-02-16T07:47:14.750Z,1613461634.750 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B6031000000612368C19FA46837B9781400*35

2021-02-16T07:47:14.862Z,1613461634.862 [Micromodem](INFO): Using rate 0 for 20 bytes.
2021-02-16T07:47:14.867Z,1613461634.867 [Micromodem](INFO): Outgoing frame #1, 20 bytes: FF472B6031000000612368C19FA46837B9781400
2021-02-16T07:47:15.152Z,1613461635.152 [Micromodem](INFO): Nmea in: $SNTTA,0.144838,,,,074715.02*40

2021-02-16T07:47:15.153Z,1613461635.153 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.144838,,,,074715.02*40

2021-02-16T07:47:15.289Z,1613461635.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.139999 m, bearing: 71.483353 deg, deltaT: 16.686771 s, approachRate: -0.003595 m/s, LOS rate: 3.036809 deg/s, posRepo size: 4
2021-02-16T07:47:15.295Z,1613461635.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.139999 m,
      bearing: 71.483353 deg,
      approachRate: -0.003595 m/s,
      LOS rate: 3.036809 deg/s,
      cmd update: 9.110427 deg/s,
      cmd heading: 167.399193 deg,
      new cmd heading: 172.078917 deg.

2021-02-16T07:47:16.380Z,1613461636.380 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,20*49

2021-02-16T07:47:16.380Z,1613461636.380 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-02-16T07:47:16.774Z,1613461636.774 [Micromodem](INFO): Nmea in: $CATXP,20*70

2021-02-16T07:47:16.775Z,1613461636.775 [Micromodem](ERROR): Response from modem unexpected: $CATXP,20*70

2021-02-16T07:47:17.180Z,1613461637.180 [Micromodem](INFO): Nmea in: $CATXF,20*66

2021-02-16T07:47:17.181Z,1613461637.181 [Micromodem](ERROR): Response from modem unexpected: $CATXF,20*66

2021-02-16T07:47:17.576Z,1613461637.576 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,074716.213971,3,0,200,4000,14500,1,1,10,1,1,1,3,20*49

2021-02-16T07:47:17.576Z,1613461637.576 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,074716.213971,3,0,200,4000,14500,1,1,10,1,1,1,3,20*49

2021-02-16T07:47:17.606Z,1613461637.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:18.816Z,1613461638.816 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T07:47:18.818Z,1613461638.818 [Micromodem](INFO): Sent 12 bytes from file Logs/20210216T042015/Courier0049.lzma.parts
2021-02-16T07:47:18.818Z,1613461638.818 [Micromodem](INFO): Packets left to send: 0
2021-02-16T07:47:19.202Z,1613461639.202 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216074719.242995,06,8367,39,0334,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.9,13.00,24,-10.00,-01,0.86,24,14500,4000*54

2021-02-16T07:47:19.202Z,1613461639.202 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216074719.242995,06,8367,39,0334,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.9,13.00,24,-10.00,-01,0.86,24,14500,4000*54

2021-02-16T07:47:19.338Z,1613461639.338 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T07:47:19.341Z,1613461639.341 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T07:47:19.341Z,1613461639.341 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T07:47:19.341Z,1613461639.341 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T07:47:19.341Z,1613461639.341 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T07:47:20.641Z,1613461640.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:23.309Z,1613461643.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:26.106Z,1613461646.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:27.683Z,1613461647.683 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-02-16T07:47:28.105Z,1613461648.105 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-02-16T07:47:28.105Z,1613461648.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:28.111Z,1613461648.111 [Micromodem](INFO): Nmea in: $CADRQ,074729,1,10,0,64,1*79

2021-02-16T07:47:28.112Z,1613461648.112 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,074729,1,10,0,64,1*79

2021-02-16T07:47:28.494Z,1613461648.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:28.956Z,1613461648.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:29.318Z,1613461649.318 [Micromodem](INFO): Nmea in: $SNTTA,0.140050,,,,074729.59*43

2021-02-16T07:47:29.751Z,1613461649.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.879990 m, bearing: 69.682198 deg, deltaT: 14.471158 s, approachRate: -0.501688 m/s, LOS rate: -0.124465 deg/s, posRepo size: 4
2021-02-16T07:47:29.753Z,1613461649.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.879990 m,
      bearing: 69.682198 deg,
      approachRate: -0.501688 m/s,
      LOS rate: -0.124465 deg/s,
      cmd update: -0.373396 deg/s,
      cmd heading: 298.992619 deg,
      new cmd heading: 302.701665 deg.

2021-02-16T07:47:32.155Z,1613461652.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:32.937Z,1613461652.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:33.408Z,1613461653.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:34.228Z,1613461654.228 [Micromodem](INFO): Nmea in: $SNTTA,0.138395,,0.155776,,074734.43*58

2021-02-16T07:47:34.286Z,1613461654.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.359985 m, bearing: 70.778682 deg, deltaT: 4.536951 s, approachRate: -0.555440 m/s, LOS rate: 0.241679 deg/s, posRepo size: 4
2021-02-16T07:47:34.294Z,1613461654.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.359985 m,
      bearing: 70.778682 deg,
      approachRate: -0.555440 m/s,
      LOS rate: 0.241679 deg/s,
      cmd update: 0.725036 deg/s,
      cmd heading: 297.291277 deg,
      new cmd heading: 297.148010 deg.

2021-02-16T07:47:36.621Z,1613461656.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:37.384Z,1613461657.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:37.827Z,1613461657.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:38.601Z,1613461658.601 [Micromodem](INFO): Nmea in: $SNTTA,0.136913,,,,074738.87*4F

2021-02-16T07:47:39.058Z,1613461659.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.139999 m, bearing: 67.368772 deg, deltaT: 4.745628 s, approachRate: -0.467796 m/s, LOS rate: -0.718537 deg/s, posRepo size: 4
2021-02-16T07:47:39.060Z,1613461659.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.139999 m,
      bearing: 67.368772 deg,
      approachRate: -0.467796 m/s,
      LOS rate: -0.718537 deg/s,
      cmd update: -2.155612 deg/s,
      cmd heading: 300.734967 deg,
      new cmd heading: 301.031331 deg.

2021-02-16T07:47:41.473Z,1613461661.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:42.240Z,1613461662.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:42.644Z,1613461662.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:43.457Z,1613461663.457 [Micromodem](INFO): Nmea in: $SNTTA,0.135505,,0.156724,,074743.73*5D

2021-02-16T07:47:43.892Z,1613461663.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.099991 m, bearing: 72.963844 deg, deltaT: 4.827730 s, approachRate: -0.422561 m/s, LOS rate: 1.158945 deg/s, posRepo size: 4
2021-02-16T07:47:43.893Z,1613461663.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.099991 m,
      bearing: 72.963844 deg,
      approachRate: -0.422561 m/s,
      LOS rate: 1.158945 deg/s,
      cmd update: 3.476834 deg/s,
      cmd heading: 290.319670 deg,
      new cmd heading: 289.435858 deg.

2021-02-16T07:47:46.317Z,1613461666.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:47.084Z,1613461667.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:47.567Z,1613461667.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:48.327Z,1613461668.327 [Micromodem](INFO): Nmea in: $SNTTA,0.134492,,,,074748.57*43

2021-02-16T07:47:48.797Z,1613461668.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.599991 m, bearing: 45.663226 deg, deltaT: 4.869684 s, approachRate: -0.308028 m/s, LOS rate: -5.606240 deg/s, posRepo size: 4
2021-02-16T07:47:48.803Z,1613461668.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.599991 m,
      bearing: 45.663226 deg,
      approachRate: -0.308028 m/s,
      LOS rate: -5.606240 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 307.250657 deg,
      new cmd heading: 308.801888 deg.

2021-02-16T07:47:51.150Z,1613461671.150 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T07:47:51.219Z,1613461671.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:51.940Z,1613461671.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:52.334Z,1613461672.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:53.154Z,1613461673.154 [Micromodem](INFO): Nmea in: $SNTTA,0.134314,,,,074753.43*45

2021-02-16T07:47:53.584Z,1613461673.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.419998 m, bearing: 307.778597 deg, deltaT: 4.881351 s, approachRate: -0.036874 m/s, LOS rate: -20.052775 deg/s, posRepo size: 4
2021-02-16T07:47:53.585Z,1613461673.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.052775 deg/s. Setting heading cmd to target bearing of 307.778597deg and heading rate command to 0 deg/s.
2021-02-16T07:47:56.024Z,1613461676.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:47:56.812Z,1613461676.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:47:57.209Z,1613461677.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:47:58.021Z,1613461678.021 [Micromodem](INFO): Nmea in: $CAERR,074759,DATA_TIMEOUT,1*46

2021-02-16T07:47:58.022Z,1613461678.022 [Micromodem](INFO): Nmea in: $SNTTA,0.135029,,,,074758.30*46

2021-02-16T07:47:58.464Z,1613461678.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.559998 m, bearing: 11.876278 deg, deltaT: 4.841149 s, approachRate: 0.235481 m/s, LOS rate: 13.240179 deg/s, posRepo size: 4
2021-02-16T07:47:58.465Z,1613461678.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.240179 deg/s. Setting heading cmd to target bearing of 11.876278deg and heading rate command to 0 deg/s.
2021-02-16T07:48:00.915Z,1613461680.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:01.657Z,1613461681.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:02.042Z,1613461682.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:02.867Z,1613461682.867 [Micromodem](INFO): Nmea in: $SNTTA,0.136451,,,,074803.14*49

2021-02-16T07:48:03.316Z,1613461683.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.719986 m, bearing: 320.908761 deg, deltaT: 4.819100 s, approachRate: 0.448214 m/s, LOS rate: -10.576148 deg/s, posRepo size: 4
2021-02-16T07:48:03.318Z,1613461683.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.719986 m,
      bearing: 320.908761 deg,
      approachRate: 0.448214 m/s,
      LOS rate: -10.576148 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 11.876278 deg,
      new cmd heading: 11.876278 deg.

2021-02-16T07:48:05.772Z,1613461685.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:06.485Z,1613461686.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:06.903Z,1613461686.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:07.703Z,1613461687.703 [Micromodem](INFO): Nmea in: $SNTTA,0.138238,,,,074807.97*41

2021-02-16T07:48:08.144Z,1613461688.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.419983 m, bearing: 315.383766 deg, deltaT: 4.825285 s, approachRate: 0.559552 m/s, LOS rate: -1.145009 deg/s, posRepo size: 4
2021-02-16T07:48:08.146Z,1613461688.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.419983 m,
      bearing: 315.383766 deg,
      approachRate: 0.559552 m/s,
      LOS rate: -1.145009 deg/s,
      cmd update: -3.435027 deg/s,
      cmd heading: 313.974693 deg,
      new cmd heading: 308.859405 deg.

2021-02-16T07:48:10.554Z,1613461690.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:11.333Z,1613461691.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:11.745Z,1613461691.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:12.575Z,1613461692.575 [Micromodem](INFO): Nmea in: $SNTTA,0.139530,,,,074812.82*4F

2021-02-16T07:48:12.993Z,1613461692.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.219986 m, bearing: 27.567002 deg, deltaT: 4.881038 s, approachRate: 0.368775 m/s, LOS rate: 14.788500 deg/s, posRepo size: 4
2021-02-16T07:48:12.994Z,1613461692.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.788500 deg/s. Setting heading cmd to target bearing of 27.567002deg and heading rate command to 0 deg/s.
2021-02-16T07:48:15.427Z,1613461695.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:16.199Z,1613461696.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:16.593Z,1613461696.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:17.410Z,1613461697.410 [Micromodem](INFO): Nmea in: $SNTTA,0.140770,,,,074817.69*47

2021-02-16T07:48:17.868Z,1613461697.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.199997 m, bearing: 358.487178 deg, deltaT: 4.859482 s, approachRate: 0.407453 m/s, LOS rate: -5.984140 deg/s, posRepo size: 4
2021-02-16T07:48:17.870Z,1613461697.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.199997 m,
      bearing: 358.487178 deg,
      approachRate: 0.407453 m/s,
      LOS rate: -5.984140 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 27.567002 deg,
      new cmd heading: 27.567002 deg.

2021-02-16T07:48:20.281Z,1613461700.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:21.038Z,1613461701.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:21.443Z,1613461701.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:22.287Z,1613461702.287 [Micromodem](INFO): Nmea in: $SNTTA,0.142128,,,,074822.53*41

2021-02-16T07:48:22.682Z,1613461702.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.179977 m, bearing: 349.221917 deg, deltaT: 4.852310 s, approachRate: 0.408049 m/s, LOS rate: -1.909454 deg/s, posRepo size: 4
2021-02-16T07:48:22.700Z,1613461702.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.179977 m,
      bearing: 349.221917 deg,
      approachRate: 0.408049 m/s,
      LOS rate: -1.909454 deg/s,
      cmd update: -5.728361 deg/s,
      cmd heading: 329.051245 deg,
      new cmd heading: 324.590052 deg.

2021-02-16T07:48:25.125Z,1613461705.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:25.905Z,1613461705.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:26.369Z,1613461706.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:27.137Z,1613461707.137 [Micromodem](INFO): Nmea in: $SNTTA,0.143495,,,,074827.39*4A

2021-02-16T07:48:27.625Z,1613461707.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.219986 m, bearing: 29.744094 deg, deltaT: 4.894905 s, approachRate: 0.416762 m/s, LOS rate: 8.278437 deg/s, posRepo size: 4
2021-02-16T07:48:27.627Z,1613461707.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.219986 m,
      bearing: 29.744094 deg,
      approachRate: 0.416762 m/s,
      LOS rate: 8.278437 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.035441 deg,
      new cmd heading: 298.607905 deg.

2021-02-16T07:48:29.956Z,1613461709.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:30.742Z,1613461710.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:31.148Z,1613461711.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:31.968Z,1613461711.968 [Micromodem](INFO): Nmea in: $SNTTA,0.144556,,,,074832.23*4C

2021-02-16T07:48:32.399Z,1613461712.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.899979 m, bearing: 4.376280 deg, deltaT: 4.815462 s, approachRate: 0.348875 m/s, LOS rate: -5.267992 deg/s, posRepo size: 4
2021-02-16T07:48:32.401Z,1613461712.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.899979 m,
      bearing: 4.376280 deg,
      approachRate: 0.348875 m/s,
      LOS rate: -5.267992 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 358.824514 deg,
      new cmd heading: 3.407758 deg.

2021-02-16T07:48:34.828Z,1613461714.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:35.593Z,1613461715.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:36.010Z,1613461716.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:36.813Z,1613461716.813 [Micromodem](INFO): Nmea in: $SNTTA,0.146085,,,,074837.08*49

2021-02-16T07:48:37.286Z,1613461717.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.119980 m, bearing: 15.095285 deg, deltaT: 4.816479 s, approachRate: 0.460918 m/s, LOS rate: 2.225486 deg/s, posRepo size: 4
2021-02-16T07:48:37.292Z,1613461717.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.119980 m,
      bearing: 15.095285 deg,
      approachRate: 0.460918 m/s,
      LOS rate: 2.225486 deg/s,
      cmd update: 6.676457 deg/s,
      cmd heading: 300.978956 deg,
      new cmd heading: 295.597004 deg.

2021-02-16T07:48:39.652Z,1613461719.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:40.439Z,1613461720.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:40.924Z,1613461720.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:41.675Z,1613461721.675 [Micromodem](INFO): Nmea in: $SNTTA,0.147218,,,,074841.93*4D

2021-02-16T07:48:42.105Z,1613461722.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.860001 m, bearing: 25.550660 deg, deltaT: 4.851710 s, approachRate: 0.358641 m/s, LOS rate: 2.154988 deg/s, posRepo size: 4
2021-02-16T07:48:42.106Z,1613461722.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.860001 m,
      bearing: 25.550660 deg,
      approachRate: 0.358641 m/s,
      LOS rate: 2.154988 deg/s,
      cmd update: 6.464963 deg/s,
      cmd heading: 333.371022 deg,
      new cmd heading: 336.145370 deg.

2021-02-16T07:48:44.502Z,1613461724.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:45.298Z,1613461725.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:45.686Z,1613461725.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:46.511Z,1613461726.511 [Micromodem](INFO): Nmea in: $SNTTA,0.148583,,,,074846.79*44

2021-02-16T07:48:46.943Z,1613461726.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.899994 m, bearing: 10.043680 deg, deltaT: 4.846007 s, approachRate: 0.420964 m/s, LOS rate: -3.199950 deg/s, posRepo size: 4
2021-02-16T07:48:46.945Z,1613461726.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.899994 m,
      bearing: 10.043680 deg,
      approachRate: 0.420964 m/s,
      LOS rate: -3.199950 deg/s,
      cmd update: -9.599850 deg/s,
      cmd heading: 4.698977 deg,
      new cmd heading: 7.336256 deg.

2021-02-16T07:48:49.359Z,1613461729.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:50.130Z,1613461730.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:50.549Z,1613461730.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:51.349Z,1613461731.349 [Micromodem](INFO): Nmea in: $SNTTA,0.149663,,,,074851.62*44

2021-02-16T07:48:51.816Z,1613461731.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.519989 m, bearing: 32.484571 deg, deltaT: 4.837937 s, approachRate: 0.334852 m/s, LOS rate: 4.638525 deg/s, posRepo size: 4
2021-02-16T07:48:51.818Z,1613461731.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.519989 m,
      bearing: 32.484571 deg,
      approachRate: 0.334852 m/s,
      LOS rate: 4.638525 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 318.255884 deg,
      new cmd heading: 314.003832 deg.

2021-02-16T07:48:53.879Z,1613461733.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:54.601Z,1613461734.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:54.999Z,1613461734.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:48:55.820Z,1613461735.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,074856.09*5F

2021-02-16T07:48:56.240Z,1613461736.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.719986 m, bearing: 44.104919 deg, deltaT: 4.494017 s, approachRate: 0.267021 m/s, LOS rate: 2.585737 deg/s, posRepo size: 4
2021-02-16T07:48:56.246Z,1613461736.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.719986 m,
      bearing: 44.104919 deg,
      approachRate: 0.267021 m/s,
      LOS rate: 2.585737 deg/s,
      cmd update: 7.757212 deg/s,
      cmd heading: 12.132225 deg,
      new cmd heading: 16.629993 deg.

2021-02-16T07:48:58.657Z,1613461738.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:48:59.498Z,1613461739.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:48:59.845Z,1613461739.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:01.073Z,1613461741.073 [Micromodem](INFO): Nmea in: $SNTTA,0.151577,,,,074900.98*4B

2021-02-16T07:49:01.162Z,1613461741.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.579987 m, bearing: 26.549847 deg, deltaT: 4.843269 s, approachRate: 0.384038 m/s, LOS rate: -3.624633 deg/s, posRepo size: 4
2021-02-16T07:49:01.169Z,1613461741.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.579987 m,
      bearing: 26.549847 deg,
      approachRate: 0.384038 m/s,
      LOS rate: -3.624633 deg/s,
      cmd update: -10.873899 deg/s,
      cmd heading: 49.704864 deg,
      new cmd heading: 53.233868 deg.

2021-02-16T07:49:03.504Z,1613461743.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:04.326Z,1613461744.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:04.695Z,1613461744.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:05.896Z,1613461745.896 [Micromodem](INFO): Nmea in: $SNTTA,0.152509,,,,074905.81*4C

2021-02-16T07:49:05.921Z,1613461745.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.719986 m, bearing: 54.184464 deg, deltaT: 4.850300 s, approachRate: 0.235037 m/s, LOS rate: 5.697507 deg/s, posRepo size: 4
2021-02-16T07:49:05.922Z,1613461745.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.719986 m,
      bearing: 54.184464 deg,
      approachRate: 0.235037 m/s,
      LOS rate: 5.697507 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.960139 deg,
      new cmd heading: 353.002105 deg.

2021-02-16T07:49:08.370Z,1613461748.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:09.116Z,1613461749.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:09.522Z,1613461749.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:10.336Z,1613461750.336 [Micromodem](INFO): Nmea in: $SNTTA,0.152877,,,,074910.60*43

2021-02-16T07:49:10.806Z,1613461750.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.319992 m, bearing: 44.486323 deg, deltaT: 4.798852 s, approachRate: 0.125031 m/s, LOS rate: -2.020929 deg/s, posRepo size: 4
2021-02-16T07:49:10.812Z,1613461750.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.319992 m,
      bearing: 44.486323 deg,
      approachRate: 0.125031 m/s,
      LOS rate: -2.020929 deg/s,
      cmd update: -6.062788 deg/s,
      cmd heading: 54.594520 deg,
      new cmd heading: 59.945608 deg.

2021-02-16T07:49:13.198Z,1613461753.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:13.973Z,1613461753.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:14.383Z,1613461754.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:15.199Z,1613461755.199 [Micromodem](INFO): Nmea in: $SNTTA,0.152743,,,,074915.46*4A

2021-02-16T07:49:15.646Z,1613461755.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.019989 m, bearing: 84.196439 deg, deltaT: 4.876333 s, approachRate: -0.061522 m/s, LOS rate: 8.143438 deg/s, posRepo size: 4
2021-02-16T07:49:15.648Z,1613461755.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.019989 m,
      bearing: 84.196439 deg,
      approachRate: -0.061522 m/s,
      LOS rate: 8.143438 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 25.085323 deg,
      new cmd heading: 22.543959 deg.

2021-02-16T07:49:18.066Z,1613461758.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:18.821Z,1613461758.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:19.233Z,1613461759.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:20.042Z,1613461760.042 [Micromodem](INFO): Nmea in: $SNTTA,0.152227,,,,074920.31*4B

2021-02-16T07:49:20.549Z,1613461760.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.239990 m, bearing: 35.441230 deg, deltaT: 4.874918 s, approachRate: -0.160002 m/s, LOS rate: -10.001237 deg/s, posRepo size: 4
2021-02-16T07:49:20.550Z,1613461760.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.239990 m,
      bearing: 35.441230 deg,
      approachRate: -0.160002 m/s,
      LOS rate: -10.001237 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.641736 deg,
      new cmd heading: 88.947812 deg.

2021-02-16T07:49:20.848Z,1613461760.848 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T07:49:20.850Z,1613461760.850 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T07:49:22.877Z,1613461762.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:23.665Z,1613461763.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:24.073Z,1613461764.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:24.883Z,1613461764.883 [Micromodem](INFO): Nmea in: $SNTTA,0.151305,,,,074925.15*4A

2021-02-16T07:49:25.336Z,1613461765.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.739975 m, bearing: 93.670710 deg, deltaT: 4.829413 s, approachRate: -0.310600 m/s, LOS rate: 12.057259 deg/s, posRepo size: 4
2021-02-16T07:49:25.337Z,1613461765.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.057259 deg/s. Setting heading cmd to target bearing of 93.670710deg and heading rate command to 0 deg/s.
2021-02-16T07:49:27.737Z,1613461767.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:28.515Z,1613461768.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:28.919Z,1613461768.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:29.741Z,1613461769.741 [Micromodem](INFO): Nmea in: $SNTTA,0.149992,,,,074930.00*47

2021-02-16T07:49:30.160Z,1613461770.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.879974 m, bearing: 86.940057 deg, deltaT: 4.859956 s, approachRate: -0.382720 m/s, LOS rate: -1.384921 deg/s, posRepo size: 4
2021-02-16T07:49:30.162Z,1613461770.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.879974 m,
      bearing: 86.940057 deg,
      approachRate: -0.382720 m/s,
      LOS rate: -1.384921 deg/s,
      cmd update: -4.154761 deg/s,
      cmd heading: 93.670710 deg,
      new cmd heading: 93.670710 deg.

2021-02-16T07:49:32.572Z,1613461772.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:33.361Z,1613461773.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:33.778Z,1613461773.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:34.608Z,1613461774.608 [Micromodem](INFO): Nmea in: $SNTTA,0.148436,,,,074934.85*4C

2021-02-16T07:49:35.041Z,1613461775.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.479980 m, bearing: 87.879891 deg, deltaT: 4.872568 s, approachRate: -0.492552 m/s, LOS rate: 0.192883 deg/s, posRepo size: 4
2021-02-16T07:49:35.043Z,1613461775.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.479980 m,
      bearing: 87.879891 deg,
      approachRate: -0.492552 m/s,
      LOS rate: 0.192883 deg/s,
      cmd update: 0.578648 deg/s,
      cmd heading: 73.264916 deg,
      new cmd heading: 71.734775 deg.

2021-02-16T07:49:37.426Z,1613461777.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:38.218Z,1613461778.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:38.615Z,1613461778.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:39.430Z,1613461779.430 [Micromodem](INFO): Nmea in: $SNTTA,0.146836,,,,074939.71*48

2021-02-16T07:49:39.876Z,1613461779.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.019989 m, bearing: 91.493389 deg, deltaT: 4.800505 s, approachRate: -0.512444 m/s, LOS rate: 0.752733 deg/s, posRepo size: 4
2021-02-16T07:49:39.878Z,1613461779.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.019989 m,
      bearing: 91.493389 deg,
      approachRate: -0.512444 m/s,
      LOS rate: 0.752733 deg/s,
      cmd update: 2.258199 deg/s,
      cmd heading: 76.042731 deg,
      new cmd heading: 76.273202 deg.

2021-02-16T07:49:42.315Z,1613461782.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:43.060Z,1613461783.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:43.465Z,1613461783.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:44.298Z,1613461784.298 [Micromodem](INFO): Nmea in: $SNTTA,0.145155,,,,074944.55*4B

2021-02-16T07:49:44.698Z,1613461784.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.500000 m, bearing: 92.310956 deg, deltaT: 4.877168 s, approachRate: -0.516691 m/s, LOS rate: 0.167631 deg/s, posRepo size: 4
2021-02-16T07:49:44.700Z,1613461784.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.500000 m,
      bearing: 92.310956 deg,
      approachRate: -0.516691 m/s,
      LOS rate: 0.167631 deg/s,
      cmd update: 0.502894 deg/s,
      cmd heading: 87.047021 deg,
      new cmd heading: 87.841998 deg.

2021-02-16T07:49:47.130Z,1613461787.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:47.909Z,1613461787.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:48.311Z,1613461788.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:49.125Z,1613461789.125 [Micromodem](INFO): Nmea in: $SNTTA,0.143026,,,,074949.40*41

2021-02-16T07:49:49.558Z,1613461789.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.259995 m, bearing: 92.719613 deg, deltaT: 4.799363 s, approachRate: -0.675091 m/s, LOS rate: 0.085148 deg/s, posRepo size: 4
2021-02-16T07:49:49.560Z,1613461789.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.259995 m,
      bearing: 92.719613 deg,
      approachRate: -0.675091 m/s,
      LOS rate: 0.085148 deg/s,
      cmd update: 0.255445 deg/s,
      cmd heading: 89.462687 deg,
      new cmd heading: 89.667945 deg.

2021-02-16T07:49:51.994Z,1613461791.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:52.754Z,1613461792.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:53.167Z,1613461793.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:53.970Z,1613461793.970 [Micromodem](INFO): Nmea in: $SNTTA,0.141057,,,,074954.24*4B

2021-02-16T07:49:54.399Z,1613461794.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.439987 m, bearing: 91.467592 deg, deltaT: 4.877074 s, approachRate: -0.578217 m/s, LOS rate: -0.256716 deg/s, posRepo size: 4
2021-02-16T07:49:54.401Z,1613461794.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.439987 m,
      bearing: 91.467592 deg,
      approachRate: -0.578217 m/s,
      LOS rate: -0.256716 deg/s,
      cmd update: -0.770147 deg/s,
      cmd heading: 90.705508 deg,
      new cmd heading: 90.803567 deg.

2021-02-16T07:49:56.846Z,1613461796.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:49:57.613Z,1613461797.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:49:58.002Z,1613461798.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:49:58.828Z,1613461798.828 [Micromodem](INFO): Nmea in: $SNTTA,0.138965,,0.141729,,074959.10*51

2021-02-16T07:49:59.286Z,1613461799.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.199997 m, bearing: 91.875566 deg, deltaT: 4.825836 s, approachRate: -0.671384 m/s, LOS rate: 0.084540 deg/s, posRepo size: 4
2021-02-16T07:49:59.292Z,1613461799.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.199997 m,
      bearing: 91.875566 deg,
      approachRate: -0.671384 m/s,
      LOS rate: 0.084540 deg/s,
      cmd update: 0.253619 deg/s,
      cmd heading: 86.979883 deg,
      new cmd heading: 86.646445 deg.

2021-02-16T07:50:01.662Z,1613461801.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:02.444Z,1613461802.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:02.850Z,1613461802.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:03.676Z,1613461803.676 [Micromodem](INFO): Nmea in: $SNTTA,0.137000,,,,075003.93*4E

2021-02-16T07:50:03.714Z,1613461803.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.199997 m, bearing: 92.358310 deg, deltaT: 4.485809 s, approachRate: 0.000000 m/s, LOS rate: 0.107616 deg/s, posRepo size: 4
2021-02-16T07:50:03.716Z,1613461803.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.199997 m,
      bearing: 92.358310 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.107616 deg/s,
      cmd update: 0.322848 deg/s,
      cmd heading: 88.113377 deg,
      new cmd heading: 88.212695 deg.

2021-02-16T07:50:06.113Z,1613461806.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:06.888Z,1613461806.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:07.306Z,1613461807.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:08.107Z,1613461808.107 [Micromodem](INFO): Nmea in: $SNTTA,0.135156,,,,075008.38*44

2021-02-16T07:50:08.564Z,1613461808.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.499985 m, bearing: 92.009471 deg, deltaT: 4.827868 s, approachRate: -1.180648 m/s, LOS rate: -0.072255 deg/s, posRepo size: 4
2021-02-16T07:50:08.566Z,1613461808.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.499985 m,
      bearing: 92.009471 deg,
      approachRate: -1.180648 m/s,
      LOS rate: -0.072255 deg/s,
      cmd update: -0.216765 deg/s,
      cmd heading: 89.675492 deg,
      new cmd heading: 89.800571 deg.

2021-02-16T07:50:10.958Z,1613461810.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:11.742Z,1613461811.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:12.149Z,1613461812.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:12.957Z,1613461812.957 [Micromodem](INFO): Nmea in: $SNTTA,0.133308,,,,075013.23*4B

2021-02-16T07:50:13.416Z,1613461813.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.680008 m, bearing: 91.930658 deg, deltaT: 4.836852 s, approachRate: -0.583019 m/s, LOS rate: -0.016294 deg/s, posRepo size: 4
2021-02-16T07:50:13.418Z,1613461813.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.680008 m,
      bearing: 91.930658 deg,
      approachRate: -0.583019 m/s,
      LOS rate: -0.016294 deg/s,
      cmd update: -0.048883 deg/s,
      cmd heading: 88.625771 deg,
      new cmd heading: 88.537257 deg.

2021-02-16T07:50:15.827Z,1613461815.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:16.358Z,1613461816.358 [CTD_Seabird](ERROR): Failed to parse device response: 5.68,1.3112,2.744484
2021-02-16T07:50:16.585Z,1613461816.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:16.990Z,1613461816.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:17.809Z,1613461817.809 [Micromodem](INFO): Nmea in: $SNTTA,0.131106,,,,075018.07*48

2021-02-16T07:50:18.283Z,1613461818.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.500000 m, bearing: 91.610534 deg, deltaT: 4.859605 s, approachRate: -0.654376 m/s, LOS rate: -0.065875 deg/s, posRepo size: 4
2021-02-16T07:50:18.285Z,1613461818.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.500000 m,
      bearing: 91.610534 deg,
      approachRate: -0.654376 m/s,
      LOS rate: -0.065875 deg/s,
      cmd update: -0.197624 deg/s,
      cmd heading: 88.388261 deg,
      new cmd heading: 88.367892 deg.

2021-02-16T07:50:20.673Z,1613461820.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:21.446Z,1613461821.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:21.838Z,1613461821.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:22.659Z,1613461822.659 [Micromodem](INFO): Nmea in: $SNTTA,0.129154,,,,075022.93*42

2021-02-16T07:50:23.098Z,1613461823.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.499985 m, bearing: 91.862015 deg, deltaT: 4.828447 s, approachRate: -0.621321 m/s, LOS rate: 0.052083 deg/s, posRepo size: 4
2021-02-16T07:50:23.100Z,1613461823.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.499985 m,
      bearing: 91.862015 deg,
      approachRate: -0.621321 m/s,
      LOS rate: 0.052083 deg/s,
      cmd update: 0.156249 deg/s,
      cmd heading: 87.434298 deg,
      new cmd heading: 87.353431 deg.

2021-02-16T07:50:25.502Z,1613461825.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:26.304Z,1613461826.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:26.686Z,1613461826.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:27.512Z,1613461827.512 [Micromodem](INFO): Nmea in: $SNTTA,0.127126,,,,075027.79*48

2021-02-16T07:50:27.940Z,1613461827.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 92.423545 deg, deltaT: 4.845677 s, approachRate: -0.631490 m/s, LOS rate: 0.115883 deg/s, posRepo size: 4
2021-02-16T07:50:27.942Z,1613461827.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.439987 m,
      bearing: 92.423545 deg,
      approachRate: -0.631490 m/s,
      LOS rate: 0.115883 deg/s,
      cmd update: 0.347648 deg/s,
      cmd heading: 88.191762 deg,
      new cmd heading: 88.254695 deg.

2021-02-16T07:50:30.364Z,1613461830.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:31.134Z,1613461831.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:31.535Z,1613461831.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:32.349Z,1613461832.349 [Micromodem](INFO): Nmea in: $SNTTA,0.124958,,,,075032.62*44

2021-02-16T07:50:32.808Z,1613461832.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 92.252319 deg, deltaT: 4.856760 s, approachRate: -0.667106 m/s, LOS rate: -0.035255 deg/s, posRepo size: 4
2021-02-16T07:50:32.809Z,1613461832.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 92.252319 deg,
      approachRate: -0.667106 m/s,
      LOS rate: -0.035255 deg/s,
      cmd update: -0.105766 deg/s,
      cmd heading: 89.880226 deg,
      new cmd heading: 90.024044 deg.

2021-02-16T07:50:35.211Z,1613461835.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:35.982Z,1613461835.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:36.387Z,1613461836.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:37.212Z,1613461837.212 [Micromodem](INFO): Nmea in: $SNTTA,0.122963,,,,075037.47*48

2021-02-16T07:50:37.272Z,1613461837.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 92.040371 deg, deltaT: 4.455753 s, approachRate: 0.000000 m/s, LOS rate: -0.047567 deg/s, posRepo size: 4
2021-02-16T07:50:37.292Z,1613461837.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 92.040371 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.047567 deg/s,
      cmd update: -0.142702 deg/s,
      cmd heading: 89.408975 deg,
      new cmd heading: 89.364836 deg.

2021-02-16T07:50:39.694Z,1613461839.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:40.420Z,1613461840.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:40.843Z,1613461840.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:41.668Z,1613461841.668 [Micromodem](INFO): Nmea in: $SNTTA,0.121166,,,,075041.91*4C

2021-02-16T07:50:41.690Z,1613461841.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 91.955677 deg, deltaT: 4.462774 s, approachRate: 0.000000 m/s, LOS rate: -0.018978 deg/s, posRepo size: 4
2021-02-16T07:50:41.692Z,1613461841.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 91.955677 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.018978 deg/s,
      cmd update: -0.056934 deg/s,
      cmd heading: 88.772156 deg,
      new cmd heading: 88.718197 deg.

2021-02-16T07:50:44.094Z,1613461844.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:44.870Z,1613461844.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:45.304Z,1613461845.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:46.096Z,1613461846.096 [Micromodem](INFO): Nmea in: $SNTTA,0.119198,,,,075046.36*4C

2021-02-16T07:50:46.121Z,1613461846.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 92.842591 deg, deltaT: 4.385745 s, approachRate: 0.000000 m/s, LOS rate: 0.202226 deg/s, posRepo size: 4
2021-02-16T07:50:46.151Z,1613461846.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 92.842591 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.202226 deg/s,
      cmd update: 0.606679 deg/s,
      cmd heading: 88.522511 deg,
      new cmd heading: 88.498334 deg.

2021-02-16T07:50:48.536Z,1613461848.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:49.308Z,1613461849.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:49.714Z,1613461849.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:50.544Z,1613461850.544 [Micromodem](INFO): Nmea in: $SNTTA,0.117456,,,,075050.79*49

2021-02-16T07:50:50.570Z,1613461850.570 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:50:50.582Z,1613461850.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 92.616846 deg, deltaT: 4.486978 s, approachRate: 0.000000 m/s, LOS rate: -0.050311 deg/s, posRepo size: 4
2021-02-16T07:50:50.584Z,1613461850.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 92.616846 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.050311 deg/s,
      cmd update: -0.150933 deg/s,
      cmd heading: 91.239234 deg,
      new cmd heading: 91.486520 deg.

2021-02-16T07:50:52.990Z,1613461852.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:53.762Z,1613461853.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:54.157Z,1613461854.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:54.988Z,1613461854.988 [Micromodem](INFO): Nmea in: $SNTTA,0.115559,,0.118340,,075055.25*58

2021-02-16T07:50:55.013Z,1613461855.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 92.302022 deg, deltaT: 4.484313 s, approachRate: -3.144296 m/s, LOS rate: -0.070206 deg/s, posRepo size: 4
2021-02-16T07:50:55.015Z,1613461855.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 92.302022 deg,
      approachRate: -3.144296 m/s,
      LOS rate: -0.070206 deg/s,
      cmd update: -0.210617 deg/s,
      cmd heading: 90.560877 deg,
      new cmd heading: 90.509001 deg.

2021-02-16T07:50:57.414Z,1613461857.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:50:58.201Z,1613461858.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:50:58.619Z,1613461858.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:50:59.433Z,1613461859.433 [Micromodem](INFO): Nmea in: $SNTTA,0.113726,0.127828,,,075059.69*59

2021-02-16T07:50:59.457Z,1613461859.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 92.290882 deg, deltaT: 4.372403 s, approachRate: 0.000000 m/s, LOS rate: -0.002548 deg/s, posRepo size: 4
2021-02-16T07:50:59.458Z,1613461859.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 92.290882 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.002548 deg/s,
      cmd update: -0.007643 deg/s,
      cmd heading: 89.640172 deg,
      new cmd heading: 89.552551 deg.

2021-02-16T07:51:01.866Z,1613461861.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:02.640Z,1613461862.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:03.057Z,1613461863.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:03.872Z,1613461863.872 [Micromodem](INFO): Nmea in: $SNTTA,0.111810,,0.122542,,075104.13*51

2021-02-16T07:51:03.912Z,1613461863.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.520020 m, bearing: 92.888203 deg, deltaT: 4.456679 s, approachRate: -1.252050 m/s, LOS rate: 0.134028 deg/s, posRepo size: 4
2021-02-16T07:51:03.914Z,1613461863.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 92.888203 deg,
      approachRate: -1.252050 m/s,
      LOS rate: 0.134028 deg/s,
      cmd update: 0.402085 deg/s,
      cmd heading: 89.606100 deg,
      new cmd heading: 89.602935 deg.

2021-02-16T07:51:06.322Z,1613461866.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:07.084Z,1613461867.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:07.507Z,1613461867.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:08.330Z,1613461868.330 [Micromodem](INFO): Nmea in: $SNTTA,0.110054,,,,075108.57*48

2021-02-16T07:51:08.358Z,1613461868.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.940002 m, bearing: 92.906542 deg, deltaT: 4.440443 s, approachRate: -0.581027 m/s, LOS rate: 0.004130 deg/s, posRepo size: 4
2021-02-16T07:51:08.360Z,1613461868.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.940002 m,
      bearing: 92.906542 deg,
      approachRate: -0.581027 m/s,
      LOS rate: 0.004130 deg/s,
      cmd update: 0.012390 deg/s,
      cmd heading: 91.391543 deg,
      new cmd heading: 91.560145 deg.

2021-02-16T07:51:10.780Z,1613461870.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:11.563Z,1613461871.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:11.626Z,1613461871.626 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:51:11.951Z,1613461871.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:13.156Z,1613461873.156 [Micromodem](INFO): Nmea in: $SNTTA,0.108231,,,,075113.11*48

2021-02-16T07:51:13.218Z,1613461873.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.120010 m, bearing: 92.923310 deg, deltaT: 4.867305 s, approachRate: -0.579374 m/s, LOS rate: 0.003445 deg/s, posRepo size: 4
2021-02-16T07:51:13.226Z,1613461873.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.120010 m,
      bearing: 92.923310 deg,
      approachRate: -0.579374 m/s,
      LOS rate: 0.003445 deg/s,
      cmd update: 0.010335 deg/s,
      cmd heading: 91.451375 deg,
      new cmd heading: 91.456950 deg.

2021-02-16T07:51:15.606Z,1613461875.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:16.381Z,1613461876.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:16.815Z,1613461876.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:17.608Z,1613461877.608 [Micromodem](INFO): Nmea in: $SNTTA,0.106187,,,,075117.87*43

2021-02-16T07:51:17.655Z,1613461877.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 92.599648 deg, deltaT: 4.427489 s, approachRate: -0.691136 m/s, LOS rate: -0.073103 deg/s, posRepo size: 4
2021-02-16T07:51:17.657Z,1613461877.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 92.599648 deg,
      approachRate: -0.691136 m/s,
      LOS rate: -0.073103 deg/s,
      cmd update: -0.219309 deg/s,
      cmd heading: 91.497530 deg,
      new cmd heading: 91.501884 deg.

2021-02-16T07:51:20.047Z,1613461880.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:20.820Z,1613461880.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:21.283Z,1613461881.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:21.305Z,1613461881.305 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T07:51:22.049Z,1613461882.049 [Micromodem](INFO): Nmea in: $SNTTA,0.104317,,,,075122.31*41

2021-02-16T07:51:22.109Z,1613461882.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.300003 m, bearing: 92.959988 deg, deltaT: 4.419415 s, approachRate: -0.624519 m/s, LOS rate: 0.081536 deg/s, posRepo size: 4
2021-02-16T07:51:22.111Z,1613461882.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 92.959988 deg,
      approachRate: -0.624519 m/s,
      LOS rate: 0.081536 deg/s,
      cmd update: 0.244607 deg/s,
      cmd heading: 90.528318 deg,
      new cmd heading: 90.428365 deg.

2021-02-16T07:51:24.552Z,1613461884.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:25.294Z,1613461885.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:25.671Z,1613461885.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:26.508Z,1613461886.508 [Micromodem](INFO): Nmea in: $SNTTA,0.102189,,,,075126.78*4B

2021-02-16T07:51:26.544Z,1613461886.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.300003 m, bearing: 92.960787 deg, deltaT: 4.472914 s, approachRate: 0.000000 m/s, LOS rate: 0.000179 deg/s, posRepo size: 4
2021-02-16T07:51:26.546Z,1613461886.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 92.960787 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.000179 deg/s,
      cmd update: 0.000536 deg/s,
      cmd heading: 91.621420 deg,
      new cmd heading: 91.724690 deg.

2021-02-16T07:51:28.946Z,1613461888.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:29.709Z,1613461889.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:30.114Z,1613461890.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:30.940Z,1613461890.940 [Micromodem](INFO): Nmea in: $SNTTA,0.100377,,0.107600,,075131.19*55

2021-02-16T07:51:30.965Z,1613461890.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 92.859823 deg, deltaT: 4.459669 s, approachRate: -1.318485 m/s, LOS rate: -0.022639 deg/s, posRepo size: 4
2021-02-16T07:51:30.987Z,1613461890.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 92.859823 deg,
      approachRate: -1.318485 m/s,
      LOS rate: -0.022639 deg/s,
      cmd update: -0.067918 deg/s,
      cmd heading: 91.623807 deg,
      new cmd heading: 91.624016 deg.

2021-02-16T07:51:31.351Z,1613461891.351 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T07:51:33.369Z,1613461893.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:34.152Z,1613461894.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:34.557Z,1613461894.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:35.380Z,1613461895.380 [Micromodem](INFO): Nmea in: $SNTTA,0.098228,,,,075135.64*4E

2021-02-16T07:51:35.434Z,1613461895.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 92.684670 deg, deltaT: 4.421543 s, approachRate: -0.746346 m/s, LOS rate: -0.039614 deg/s, posRepo size: 4
2021-02-16T07:51:35.436Z,1613461895.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 92.684670 deg,
      approachRate: -0.746346 m/s,
      LOS rate: -0.039614 deg/s,
      cmd update: -0.118841 deg/s,
      cmd heading: 91.322841 deg,
      new cmd heading: 91.293867 deg.

2021-02-16T07:51:37.840Z,1613461897.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:38.604Z,1613461898.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:39.020Z,1613461899.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:39.832Z,1613461899.832 [Micromodem](INFO): Nmea in: $SNTTA,0.096413,,,,075140.09*47

2021-02-16T07:51:39.871Z,1613461899.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 93.182939 deg, deltaT: 4.454628 s, approachRate: -0.606111 m/s, LOS rate: 0.111854 deg/s, posRepo size: 4
2021-02-16T07:51:39.873Z,1613461899.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.419998 m,
      bearing: 93.182939 deg,
      approachRate: -0.606111 m/s,
      LOS rate: 0.111854 deg/s,
      cmd update: 0.335563 deg/s,
      cmd heading: 90.793921 deg,
      new cmd heading: 90.744864 deg.

2021-02-16T07:51:42.299Z,1613461902.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:43.041Z,1613461903.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:43.446Z,1613461903.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:44.296Z,1613461904.296 [Micromodem](INFO): Nmea in: $SNTTA,0.094609,,,,075144.53*47

2021-02-16T07:51:44.332Z,1613461904.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 93.261295 deg, deltaT: 4.439317 s, approachRate: -0.608201 m/s, LOS rate: 0.017650 deg/s, posRepo size: 4
2021-02-16T07:51:44.334Z,1613461904.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.720001 m,
      bearing: 93.261295 deg,
      approachRate: -0.608201 m/s,
      LOS rate: 0.017650 deg/s,
      cmd update: 0.052951 deg/s,
      cmd heading: 92.284929 deg,
      new cmd heading: 92.428970 deg.

2021-02-16T07:51:46.337Z,1613461906.337 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T07:51:46.703Z,1613461906.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:47.489Z,1613461907.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:47.892Z,1613461907.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:48.716Z,1613461908.716 [Micromodem](INFO): Nmea in: $SNTTA,0.092755,,,,075148.98*42

2021-02-16T07:51:48.785Z,1613461908.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 92.873067 deg, deltaT: 4.452813 s, approachRate: -0.633306 m/s, LOS rate: -0.087187 deg/s, posRepo size: 4
2021-02-16T07:51:48.797Z,1613461908.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 92.873067 deg,
      approachRate: -0.633306 m/s,
      LOS rate: -0.087187 deg/s,
      cmd update: -0.261561 deg/s,
      cmd heading: 92.520499 deg,
      new cmd heading: 92.543169 deg.

2021-02-16T07:51:51.152Z,1613461911.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:51.542Z,1613461911.542 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T07:51:51.938Z,1613461911.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:52.338Z,1613461912.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:53.165Z,1613461913.165 [Micromodem](INFO): Nmea in: $SNTTA,0.090900,,,,075153.42*43

2021-02-16T07:51:53.218Z,1613461913.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 92.891030 deg, deltaT: 4.465292 s, approachRate: -0.591227 m/s, LOS rate: 0.004023 deg/s, posRepo size: 4
2021-02-16T07:51:53.220Z,1613461913.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.260010 m,
      bearing: 92.891030 deg,
      approachRate: -0.591227 m/s,
      LOS rate: 0.004023 deg/s,
      cmd update: 0.012069 deg/s,
      cmd heading: 91.353103 deg,
      new cmd heading: 91.247135 deg.

2021-02-16T07:51:55.604Z,1613461915.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:51:56.381Z,1613461916.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:51:56.809Z,1613461916.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:51:57.608Z,1613461917.608 [Micromodem](INFO): Nmea in: $SNTTA,0.089081,,,,075157.87*46

2021-02-16T07:51:57.647Z,1613461917.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 93.147012 deg, deltaT: 4.418358 s, approachRate: -0.638248 m/s, LOS rate: 0.057936 deg/s, posRepo size: 4
2021-02-16T07:51:57.649Z,1613461917.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.440002 m,
      bearing: 93.147012 deg,
      approachRate: -0.638248 m/s,
      LOS rate: 0.057936 deg/s,
      cmd update: 0.173808 deg/s,
      cmd heading: 91.406368 deg,
      new cmd heading: 91.411443 deg.

2021-02-16T07:52:00.051Z,1613461920.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:00.820Z,1613461920.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:01.244Z,1613461921.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:02.048Z,1613461922.048 [Micromodem](INFO): Nmea in: $SNTTA,0.087329,,,,075202.31*47

2021-02-16T07:52:02.073Z,1613461922.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.860001 m, bearing: 92.894568 deg, deltaT: 4.401043 s, approachRate: -0.586225 m/s, LOS rate: -0.057360 deg/s, posRepo size: 4
2021-02-16T07:52:02.091Z,1613461922.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.860001 m,
      bearing: 92.894568 deg,
      approachRate: -0.586225 m/s,
      LOS rate: -0.057360 deg/s,
      cmd update: -0.172080 deg/s,
      cmd heading: 92.173216 deg,
      new cmd heading: 92.248775 deg.

2021-02-16T07:52:04.524Z,1613461924.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:05.288Z,1613461925.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:05.665Z,1613461925.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:06.504Z,1613461926.504 [Micromodem](INFO): Nmea in: $SNTTA,0.085371,,,,075206.77*4E

2021-02-16T07:52:06.542Z,1613461926.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 92.928692 deg, deltaT: 4.478398 s, approachRate: -0.669882 m/s, LOS rate: 0.007620 deg/s, posRepo size: 4
2021-02-16T07:52:06.544Z,1613461926.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 92.928692 deg,
      approachRate: -0.669882 m/s,
      LOS rate: 0.007620 deg/s,
      cmd update: 0.022859 deg/s,
      cmd heading: 91.403290 deg,
      new cmd heading: 91.329381 deg.

2021-02-16T07:52:08.937Z,1613461928.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:09.704Z,1613461929.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:10.111Z,1613461930.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:10.935Z,1613461930.935 [Micromodem](INFO): Nmea in: $SNTTA,0.083538,,,,075211.19*4D

2021-02-16T07:52:10.960Z,1613461930.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 93.468256 deg, deltaT: 4.426075 s, approachRate: -0.623576 m/s, LOS rate: 0.121906 deg/s, posRepo size: 4
2021-02-16T07:52:10.962Z,1613461930.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 93.468256 deg,
      approachRate: -0.623576 m/s,
      LOS rate: 0.121906 deg/s,
      cmd update: 0.365718 deg/s,
      cmd heading: 91.504560 deg,
      new cmd heading: 91.514090 deg.

2021-02-16T07:52:13.375Z,1613461933.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:14.148Z,1613461934.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:14.553Z,1613461934.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:15.380Z,1613461935.380 [Micromodem](INFO): Nmea in: $SNTTA,0.081748,,,,075215.63*43

2021-02-16T07:52:15.404Z,1613461935.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 93.212206 deg, deltaT: 4.442792 s, approachRate: -0.607727 m/s, LOS rate: -0.057633 deg/s, posRepo size: 4
2021-02-16T07:52:15.406Z,1613461935.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 93.212206 deg,
      approachRate: -0.607727 m/s,
      LOS rate: -0.057633 deg/s,
      cmd update: -0.172898 deg/s,
      cmd heading: 93.129313 deg,
      new cmd heading: 93.282316 deg.

2021-02-16T07:52:17.850Z,1613461937.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:18.597Z,1613461938.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:18.997Z,1613461938.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:19.824Z,1613461939.824 [Micromodem](INFO): Nmea in: $SNTTA,0.079904,,,,075220.08*49

2021-02-16T07:52:19.877Z,1613461939.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.639999 m, bearing: 93.378644 deg, deltaT: 4.534574 s, approachRate: -0.608657 m/s, LOS rate: 0.036704 deg/s, posRepo size: 4
2021-02-16T07:52:19.879Z,1613461939.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.639999 m,
      bearing: 93.378644 deg,
      approachRate: -0.608657 m/s,
      LOS rate: 0.036704 deg/s,
      cmd update: 0.110113 deg/s,
      cmd heading: 92.346766 deg,
      new cmd heading: 92.283622 deg.

2021-02-16T07:52:22.291Z,1613461942.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:23.038Z,1613461943.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:23.459Z,1613461943.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:24.300Z,1613461944.300 [Micromodem](INFO): Nmea in: $SNTTA,0.077893,,,,075224.52*43

2021-02-16T07:52:24.350Z,1613461944.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 93.114890 deg, deltaT: 4.372542 s, approachRate: -0.686098 m/s, LOS rate: -0.060321 deg/s, posRepo size: 4
2021-02-16T07:52:24.356Z,1613461944.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 93.114890 deg,
      approachRate: -0.686098 m/s,
      LOS rate: -0.060321 deg/s,
      cmd update: -0.180962 deg/s,
      cmd heading: 92.829177 deg,
      new cmd heading: 92.879551 deg.

2021-02-16T07:52:26.721Z,1613461946.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:27.492Z,1613461947.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:27.889Z,1613461947.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:28.716Z,1613461948.716 [Micromodem](INFO): Nmea in: $SNTTA,0.076004,,,,075228.98*4E

2021-02-16T07:52:28.784Z,1613461948.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.760002 m, bearing: 92.149866 deg, deltaT: 4.447213 s, approachRate: -0.647598 m/s, LOS rate: -0.216995 deg/s, posRepo size: 4
2021-02-16T07:52:28.794Z,1613461948.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 92.149866 deg,
      approachRate: -0.647598 m/s,
      LOS rate: -0.216995 deg/s,
      cmd update: -0.650986 deg/s,
      cmd heading: 92.025130 deg,
      new cmd heading: 91.946296 deg.

2021-02-16T07:52:31.146Z,1613461951.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:31.924Z,1613461951.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:32.335Z,1613461952.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:33.156Z,1613461953.156 [Micromodem](INFO): Nmea in: $SNTTA,0.074235,,,,075233.41*42

2021-02-16T07:52:33.213Z,1613461953.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 92.360857 deg, deltaT: 4.410682 s, approachRate: -0.598548 m/s, LOS rate: 0.047836 deg/s, posRepo size: 4
2021-02-16T07:52:33.220Z,1613461953.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.119995 m,
      bearing: 92.360857 deg,
      approachRate: -0.598548 m/s,
      LOS rate: 0.047836 deg/s,
      cmd update: 0.143509 deg/s,
      cmd heading: 89.151458 deg,
      new cmd heading: 88.850060 deg.

2021-02-16T07:52:35.278Z,1613461955.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:35.974Z,1613461955.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:36.370Z,1613461956.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:37.200Z,1613461957.200 [Micromodem](INFO): Nmea in: $SNTTA,0.072406,,,,075237.46*41

2021-02-16T07:52:37.243Z,1613461957.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 93.519189 deg, deltaT: 4.080896 s, approachRate: -0.691023 m/s, LOS rate: 0.283843 deg/s, posRepo size: 4
2021-02-16T07:52:37.249Z,1613461957.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.300003 m,
      bearing: 93.519189 deg,
      approachRate: -0.691023 m/s,
      LOS rate: 0.283843 deg/s,
      cmd update: 0.851528 deg/s,
      cmd heading: 89.737150 deg,
      new cmd heading: 89.795959 deg.

2021-02-16T07:52:39.625Z,1613461959.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:40.417Z,1613461960.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:40.819Z,1613461960.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:41.648Z,1613461961.648 [Micromodem](INFO): Nmea in: $SNTTA,0.070546,,,,075241.90*4C

2021-02-16T07:52:41.672Z,1613461961.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 93.469663 deg, deltaT: 4.504792 s, approachRate: -0.612680 m/s, LOS rate: -0.010994 deg/s, posRepo size: 4
2021-02-16T07:52:41.674Z,1613461961.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 93.469663 deg,
      approachRate: -0.612680 m/s,
      LOS rate: -0.010994 deg/s,
      cmd update: -0.032982 deg/s,
      cmd heading: 93.565960 deg,
      new cmd heading: 93.858878 deg.

2021-02-16T07:52:44.071Z,1613461964.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:44.852Z,1613461964.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:45.282Z,1613461965.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:46.088Z,1613461966.088 [Micromodem](INFO): Nmea in: $SNTTA,0.068604,,,,075246.34*49

2021-02-16T07:52:46.113Z,1613461966.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.720001 m, bearing: 94.284368 deg, deltaT: 4.343309 s, approachRate: -0.649276 m/s, LOS rate: 0.187577 deg/s, posRepo size: 4
2021-02-16T07:52:46.115Z,1613461966.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 94.284368 deg,
      approachRate: -0.649276 m/s,
      LOS rate: 0.187577 deg/s,
      cmd update: 0.562731 deg/s,
      cmd heading: 93.422425 deg,
      new cmd heading: 93.408132 deg.

2021-02-16T07:52:48.528Z,1613461968.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:49.306Z,1613461969.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:49.707Z,1613461969.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:50.532Z,1613461970.532 [Micromodem](INFO): Nmea in: $SNTTA,0.066600,,,,075250.79*4D

2021-02-16T07:52:50.576Z,1613461970.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 93.930961 deg, deltaT: 4.451215 s, approachRate: -0.687452 m/s, LOS rate: -0.079396 deg/s, posRepo size: 4
2021-02-16T07:52:50.578Z,1613461970.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.660004 m,
      bearing: 93.930961 deg,
      approachRate: -0.687452 m/s,
      LOS rate: -0.079396 deg/s,
      cmd update: -0.238187 deg/s,
      cmd heading: 95.927148 deg,
      new cmd heading: 96.177854 deg.

2021-02-16T07:52:52.978Z,1613461972.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:53.746Z,1613461973.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:54.145Z,1613461974.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:54.972Z,1613461974.972 [Micromodem](INFO): Nmea in: $SNTTA,0.064732,,,,075255.23*45

2021-02-16T07:52:55.031Z,1613461975.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 94.220957 deg, deltaT: 4.466706 s, approachRate: -0.617907 m/s, LOS rate: 0.064924 deg/s, posRepo size: 4
2021-02-16T07:52:55.033Z,1613461975.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.899994 m,
      bearing: 94.220957 deg,
      approachRate: -0.617907 m/s,
      LOS rate: 0.064924 deg/s,
      cmd update: 0.194772 deg/s,
      cmd heading: 94.864183 deg,
      new cmd heading: 94.763440 deg.

2021-02-16T07:52:57.408Z,1613461977.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:52:58.191Z,1613461978.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:52:58.593Z,1613461978.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:52:59.423Z,1613461979.423 [Micromodem](INFO): Nmea in: $SNTTA,0.062922,,,,075259.68*4F

2021-02-16T07:52:59.448Z,1613461979.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 93.726670 deg, deltaT: 4.447298 s, approachRate: -0.607108 m/s, LOS rate: -0.111143 deg/s, posRepo size: 4
2021-02-16T07:52:59.449Z,1613461979.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.200005 m,
      bearing: 93.726670 deg,
      approachRate: -0.607108 m/s,
      LOS rate: -0.111143 deg/s,
      cmd update: -0.333430 deg/s,
      cmd heading: 95.731207 deg,
      new cmd heading: 95.809584 deg.

2021-02-16T07:53:01.859Z,1613461981.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:02.629Z,1613461982.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:03.041Z,1613461983.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:03.861Z,1613461983.861 [Micromodem](INFO): Nmea in: $SNTTA,0.061075,,,,075304.11*40

2021-02-16T07:53:03.906Z,1613461983.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 91.272392 deg, deltaT: 4.429300 s, approachRate: -0.636671 m/s, LOS rate: -0.554101 deg/s, posRepo size: 4
2021-02-16T07:53:03.908Z,1613461983.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 91.272392 deg,
      approachRate: -0.636671 m/s,
      LOS rate: -0.554101 deg/s,
      cmd update: -1.662302 deg/s,
      cmd heading: 94.254356 deg,
      new cmd heading: 94.110476 deg.

2021-02-16T07:53:06.313Z,1613461986.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:07.077Z,1613461987.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:07.484Z,1613461987.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:08.312Z,1613461988.312 [Micromodem](INFO): Nmea in: $SNTTA,0.059298,,,,075308.56*45

2021-02-16T07:53:08.346Z,1613461988.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 94.067735 deg, deltaT: 4.445161 s, approachRate: -0.593902 m/s, LOS rate: 0.628851 deg/s, posRepo size: 4
2021-02-16T07:53:08.348Z,1613461988.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 94.067735 deg,
      approachRate: -0.593902 m/s,
      LOS rate: 0.628851 deg/s,
      cmd update: 1.886553 deg/s,
      cmd heading: 86.865414 deg,
      new cmd heading: 86.156180 deg.

2021-02-16T07:53:10.733Z,1613461990.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:11.521Z,1613461991.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:11.922Z,1613461991.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:12.748Z,1613461992.748 [Micromodem](INFO): Nmea in: $SNTTA,0.057463,,,,075313.01*41

2021-02-16T07:53:12.816Z,1613461992.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.920006 m, bearing: 93.787896 deg, deltaT: 4.474433 s, approachRate: -0.630247 m/s, LOS rate: -0.062542 deg/s, posRepo size: 4
2021-02-16T07:53:12.818Z,1613461992.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 93.787896 deg,
      approachRate: -0.630247 m/s,
      LOS rate: -0.062542 deg/s,
      cmd update: -0.187626 deg/s,
      cmd heading: 95.299434 deg,
      new cmd heading: 96.094982 deg.

2021-02-16T07:53:15.208Z,1613461995.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:15.978Z,1613461995.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:16.383Z,1613461996.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:17.210Z,1613461997.210 [Micromodem](INFO): Nmea in: $SNTTA,0.055671,,,,075317.46*45

2021-02-16T07:53:17.230Z,1613461997.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 94.069955 deg, deltaT: 4.428737 s, approachRate: -0.582559 m/s, LOS rate: 0.063688 deg/s, posRepo size: 4
2021-02-16T07:53:17.236Z,1613461997.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.340004 m,
      bearing: 94.069955 deg,
      approachRate: -0.582559 m/s,
      LOS rate: 0.063688 deg/s,
      cmd update: 0.191065 deg/s,
      cmd heading: 94.467739 deg,
      new cmd heading: 94.391297 deg.

2021-02-16T07:53:19.640Z,1613461999.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:20.405Z,1613462000.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:20.822Z,1613462000.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:21.636Z,1613462001.636 [Micromodem](INFO): Nmea in: $SNTTA,0.053816,,,,075321.89*4A

2021-02-16T07:53:21.681Z,1613462001.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 92.736135 deg, deltaT: 4.469389 s, approachRate: -0.698083 m/s, LOS rate: -0.298434 deg/s, posRepo size: 4
2021-02-16T07:53:21.683Z,1613462001.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.220001 m,
      bearing: 92.736135 deg,
      approachRate: -0.698083 m/s,
      LOS rate: -0.298434 deg/s,
      cmd update: -0.895304 deg/s,
      cmd heading: 95.320131 deg,
      new cmd heading: 95.396060 deg.

2021-02-16T07:53:24.086Z,1613462004.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:24.850Z,1613462004.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:25.284Z,1613462005.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:26.078Z,1613462006.078 [Micromodem](INFO): Nmea in: $SNTTA,0.051877,,,,075326.33*49

2021-02-16T07:53:26.152Z,1613462006.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 93.084755 deg, deltaT: 4.392902 s, approachRate: -0.587310 m/s, LOS rate: 0.079360 deg/s, posRepo size: 4
2021-02-16T07:53:26.154Z,1613462006.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.640007 m,
      bearing: 93.084755 deg,
      approachRate: -0.587310 m/s,
      LOS rate: 0.079360 deg/s,
      cmd update: 0.238079 deg/s,
      cmd heading: 91.379844 deg,
      new cmd heading: 90.976732 deg.

2021-02-16T07:53:28.510Z,1613462008.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:29.306Z,1613462009.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:29.703Z,1613462009.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:30.528Z,1613462010.528 [Micromodem](INFO): Nmea in: $SNTTA,0.049747,,,,075330.79*45

2021-02-16T07:53:30.563Z,1613462010.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 94.259725 deg, deltaT: 4.447193 s, approachRate: -0.715060 m/s, LOS rate: 0.264205 deg/s, posRepo size: 4
2021-02-16T07:53:30.565Z,1613462010.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 94.259725 deg,
      approachRate: -0.715060 m/s,
      LOS rate: 0.264205 deg/s,
      cmd update: 0.792615 deg/s,
      cmd heading: 92.438554 deg,
      new cmd heading: 92.541121 deg.

2021-02-16T07:53:32.970Z,1613462012.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:33.743Z,1613462013.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:34.152Z,1613462014.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:34.972Z,1613462014.972 [Micromodem](INFO): Nmea in: $SNTTA,0.048015,,,,075335.23*4E

2021-02-16T07:53:34.997Z,1613462014.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.820000 m, bearing: 94.240041 deg, deltaT: 4.483565 s, approachRate: -0.588817 m/s, LOS rate: -0.004390 deg/s, posRepo size: 4
2021-02-16T07:53:34.999Z,1613462014.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.820000 m,
      bearing: 94.240041 deg,
      approachRate: -0.588817 m/s,
      LOS rate: -0.004390 deg/s,
      cmd update: -0.013171 deg/s,
      cmd heading: 95.988097 deg,
      new cmd heading: 96.294746 deg.

2021-02-16T07:53:37.425Z,1613462017.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:38.190Z,1613462018.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:38.586Z,1613462018.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:39.436Z,1613462019.436 [Micromodem](INFO): Nmea in: $SNTTA,0.046076,,,,075339.68*46

2021-02-16T07:53:39.469Z,1613462019.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 94.118429 deg, deltaT: 4.398681 s, approachRate: -0.654741 m/s, LOS rate: -0.027647 deg/s, posRepo size: 4
2021-02-16T07:53:39.470Z,1613462019.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.940002 m,
      bearing: 94.118429 deg,
      approachRate: -0.654741 m/s,
      LOS rate: -0.027647 deg/s,
      cmd update: -0.082942 deg/s,
      cmd heading: 95.930088 deg,
      new cmd heading: 95.924107 deg.

2021-02-16T07:53:41.872Z,1613462021.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:42.626Z,1613462022.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:43.030Z,1613462023.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:43.852Z,1613462023.852 [Micromodem](INFO): Nmea in: $SNTTA,0.043940,,,,075344.11*4B

2021-02-16T07:53:43.878Z,1613462023.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 93.625583 deg, deltaT: 4.466321 s, approachRate: -0.725429 m/s, LOS rate: -0.110347 deg/s, posRepo size: 4
2021-02-16T07:53:43.880Z,1613462023.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 93.625583 deg,
      approachRate: -0.725429 m/s,
      LOS rate: -0.110347 deg/s,
      cmd update: -0.331042 deg/s,
      cmd heading: 95.559974 deg,
      new cmd heading: 95.526732 deg.

2021-02-16T07:53:46.328Z,1613462026.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:47.068Z,1613462027.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:47.485Z,1613462027.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:48.314Z,1613462028.314 [Micromodem](INFO): Nmea in: $SNTTA,0.042033,,,,075348.55*4B

2021-02-16T07:53:48.342Z,1613462028.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.879997 m, bearing: 93.666134 deg, deltaT: 4.439109 s, approachRate: -0.635264 m/s, LOS rate: 0.009135 deg/s, posRepo size: 4
2021-02-16T07:53:48.345Z,1613462028.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 93.666134 deg,
      approachRate: -0.635264 m/s,
      LOS rate: 0.009135 deg/s,
      cmd update: 0.027405 deg/s,
      cmd heading: 94.090004 deg,
      new cmd heading: 93.949496 deg.

2021-02-16T07:53:50.732Z,1613462030.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:51.520Z,1613462031.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:51.920Z,1613462031.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:52.748Z,1613462032.748 [Micromodem](INFO): Nmea in: $SNTTA,0.040112,,,,075353.01*40

2021-02-16T07:53:52.815Z,1613462032.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.000000 m, bearing: 93.702341 deg, deltaT: 4.423631 s, approachRate: -0.651048 m/s, LOS rate: 0.008185 deg/s, posRepo size: 4
2021-02-16T07:53:52.817Z,1613462032.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.000000 m,
      bearing: 93.702341 deg,
      approachRate: -0.651048 m/s,
      LOS rate: 0.008185 deg/s,
      cmd update: 0.024555 deg/s,
      cmd heading: 94.211305 deg,
      new cmd heading: 94.224117 deg.

2021-02-16T07:53:55.200Z,1613462035.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:53:55.956Z,1613462035.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:53:56.396Z,1613462036.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:53:57.189Z,1613462037.189 [Micromodem](INFO): Nmea in: $SNTTA,0.038225,,,,075357.44*4D

2021-02-16T07:53:57.226Z,1613462037.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 93.561270 deg, deltaT: 4.517495 s, approachRate: -0.624239 m/s, LOS rate: -0.031228 deg/s, posRepo size: 4
2021-02-16T07:53:57.229Z,1613462037.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.180004 m,
      bearing: 93.561270 deg,
      approachRate: -0.624239 m/s,
      LOS rate: -0.031228 deg/s,
      cmd update: -0.093683 deg/s,
      cmd heading: 94.321996 deg,
      new cmd heading: 94.331182 deg.

2021-02-16T07:53:59.616Z,1613462039.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:00.411Z,1613462040.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:00.811Z,1613462040.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:01.652Z,1613462041.652 [Micromodem](INFO): Nmea in: $SNTTA,0.036354,,,,075401.90*49

2021-02-16T07:54:01.685Z,1613462041.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 93.765609 deg, deltaT: 4.444805 s, approachRate: -0.647948 m/s, LOS rate: 0.045972 deg/s, posRepo size: 4
2021-02-16T07:54:01.686Z,1613462041.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.300003 m,
      bearing: 93.765609 deg,
      approachRate: -0.647948 m/s,
      LOS rate: 0.045972 deg/s,
      cmd update: 0.137917 deg/s,
      cmd heading: 93.906571 deg,
      new cmd heading: 93.869198 deg.

2021-02-16T07:54:04.081Z,1613462044.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:04.849Z,1613462044.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:05.335Z,1613462045.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:06.100Z,1613462046.100 [Micromodem](INFO): Nmea in: $SNTTA,0.034585,,0.047466,,075406.34*51

2021-02-16T07:54:06.125Z,1613462046.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.660004 m, bearing: 92.926247 deg, deltaT: 4.376587 s, approachRate: -0.603210 m/s, LOS rate: -0.191785 deg/s, posRepo size: 4
2021-02-16T07:54:06.127Z,1613462046.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 92.926247 deg,
      approachRate: -0.603210 m/s,
      LOS rate: -0.191785 deg/s,
      cmd update: -0.575354 deg/s,
      cmd heading: 94.510728 deg,
      new cmd heading: 94.574030 deg.

2021-02-16T07:54:08.552Z,1613462048.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:09.301Z,1613462049.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:09.699Z,1613462049.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:10.528Z,1613462050.528 [Micromodem](INFO): Nmea in: $SNTTA,0.032439,,,,075410.79*46

2021-02-16T07:54:10.573Z,1613462050.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.480000 m, bearing: 94.368189 deg, deltaT: 4.441506 s, approachRate: -0.715974 m/s, LOS rate: 0.324652 deg/s, posRepo size: 4
2021-02-16T07:54:10.575Z,1613462050.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.480000 m,
      bearing: 94.368189 deg,
      approachRate: -0.715974 m/s,
      LOS rate: 0.324652 deg/s,
      cmd update: 0.973955 deg/s,
      cmd heading: 91.946100 deg,
      new cmd heading: 91.687523 deg.

2021-02-16T07:54:12.975Z,1613462052.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:13.733Z,1613462053.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:14.137Z,1613462054.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:14.964Z,1613462054.964 [Micromodem](INFO): Nmea in: $SNTTA,0.030649,,,,075415.22*4A

2021-02-16T07:54:15.013Z,1613462055.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.719997 m, bearing: 93.856245 deg, deltaT: 4.439725 s, approachRate: -0.621661 m/s, LOS rate: -0.115310 deg/s, posRepo size: 4
2021-02-16T07:54:15.014Z,1613462055.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.719997 m,
      bearing: 93.856245 deg,
      approachRate: -0.621661 m/s,
      LOS rate: -0.115310 deg/s,
      cmd update: -0.345929 deg/s,
      cmd heading: 96.270186 deg,
      new cmd heading: 96.707575 deg.

2021-02-16T07:54:17.412Z,1613462057.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:18.202Z,1613462058.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:18.582Z,1613462058.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:19.428Z,1613462059.428 [Micromodem](INFO): Nmea in: $SNTTA,0.028763,,0.033607,,075419.69*56

2021-02-16T07:54:19.467Z,1613462059.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 93.416258 deg, deltaT: 4.446914 s, approachRate: -0.620655 m/s, LOS rate: -0.098942 deg/s, posRepo size: 4
2021-02-16T07:54:19.469Z,1613462059.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 93.416258 deg,
      approachRate: -0.620655 m/s,
      LOS rate: -0.098942 deg/s,
      cmd update: -0.296826 deg/s,
      cmd heading: 94.732071 deg,
      new cmd heading: 94.573938 deg.

2021-02-16T07:54:21.838Z,1613462061.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:22.632Z,1613462062.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:23.026Z,1613462063.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:23.872Z,1613462063.872 [Micromodem](INFO): Nmea in: $SNTTA,0.026896,,,,075424.12*40

2021-02-16T07:54:23.907Z,1613462063.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.139999 m, bearing: 93.185002 deg, deltaT: 4.474479 s, approachRate: -0.630241 m/s, LOS rate: -0.051683 deg/s, posRepo size: 4
2021-02-16T07:54:23.909Z,1613462063.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.139999 m,
      bearing: 93.185002 deg,
      approachRate: -0.630241 m/s,
      LOS rate: -0.051683 deg/s,
      cmd update: -0.155050 deg/s,
      cmd heading: 93.404928 deg,
      new cmd heading: 93.278477 deg.

2021-02-16T07:54:26.319Z,1613462066.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:27.071Z,1613462067.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:27.485Z,1613462067.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:28.308Z,1613462068.308 [Micromodem](INFO): Nmea in: $SNTTA,0.025078,,,,075428.56*47

2021-02-16T07:54:28.344Z,1613462068.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 93.663012 deg, deltaT: 4.441275 s, approachRate: -0.621443 m/s, LOS rate: 0.107629 deg/s, posRepo size: 4
2021-02-16T07:54:28.345Z,1613462068.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m.
2021-02-16T07:54:28.346Z,1613462068.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.380001 m,
      bearing: 93.663012 deg,
      approachRate: -0.621443 m/s,
      LOS rate: 0.107629 deg/s,
      cmd update: 0.322888 deg/s,
      cmd heading: 92.716312 deg,
      new cmd heading: 92.650912 deg.

2021-02-16T07:54:28.697Z,1613462068.697 [PowerOnly](INFO): Powering up loadControl
2021-02-16T07:54:30.715Z,1613462070.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:31.525Z,1613462071.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:31.914Z,1613462071.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:32.744Z,1613462072.744 [Micromodem](INFO): Nmea in: $SNTTA,0.023126,,,,075433.01*43

2021-02-16T07:54:32.802Z,1613462072.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.500000 m, bearing: 92.137695 deg, deltaT: 4.413249 s, approachRate: -0.652581 m/s, LOS rate: -0.345622 deg/s, posRepo size: 4
2021-02-16T07:54:32.811Z,1613462072.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m.
2021-02-16T07:54:32.811Z,1613462072.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.50 m.
2021-02-16T07:54:32.812Z,1613462072.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T07:54:32.813Z,1613462072.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.500000 m,
      bearing: 92.137695 deg,
      approachRate: -0.652581 m/s,
      LOS rate: -0.345622 deg/s,
      cmd update: -1.036867 deg/s,
      cmd heading: 94.142593 deg,
      new cmd heading: 94.292017 deg.

2021-02-16T07:54:35.201Z,1613462075.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:35.952Z,1613462075.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:36.369Z,1613462076.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:37.205Z,1613462077.205 [Micromodem](INFO): Nmea in: $SNTTA,0.021372,,0.024947,,075437.44*55

2021-02-16T07:54:37.228Z,1613462077.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 91.847439 deg, deltaT: 4.503551 s, approachRate: -0.599527 m/s, LOS rate: -0.064450 deg/s, posRepo size: 4
2021-02-16T07:54:37.235Z,1613462077.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.799999 m,
      bearing: 91.847439 deg,
      approachRate: -0.599527 m/s,
      LOS rate: -0.064450 deg/s,
      cmd update: -0.193351 deg/s,
      cmd heading: 89.473058 deg,
      new cmd heading: 89.075719 deg.

2021-02-16T07:54:39.636Z,1613462079.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:40.396Z,1613462080.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:40.822Z,1613462080.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:41.628Z,1613462081.628 [Micromodem](INFO): Nmea in: $SNTTA,0.019540,,,,075441.88*4A

2021-02-16T07:54:41.673Z,1613462081.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 93.682970 deg, deltaT: 4.410509 s, approachRate: -0.612174 m/s, LOS rate: 0.416172 deg/s, posRepo size: 4
2021-02-16T07:54:41.675Z,1613462081.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.099998 m,
      bearing: 93.682970 deg,
      approachRate: -0.612174 m/s,
      LOS rate: 0.416172 deg/s,
      cmd update: 1.248517 deg/s,
      cmd heading: 88.626370 deg,
      new cmd heading: 88.539211 deg.

2021-02-16T07:54:44.072Z,1613462084.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:44.840Z,1613462084.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:45.269Z,1613462085.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:46.068Z,1613462086.068 [Micromodem](INFO): Nmea in: $SNTTA,0.017725,,,,075446.33*42

2021-02-16T07:54:46.109Z,1613462086.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 94.030074 deg, deltaT: 4.432850 s, approachRate: -0.609089 m/s, LOS rate: 0.078303 deg/s, posRepo size: 4
2021-02-16T07:54:46.111Z,1613462086.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.399998 m,
      bearing: 94.030074 deg,
      approachRate: -0.609089 m/s,
      LOS rate: 0.078303 deg/s,
      cmd update: 0.234908 deg/s,
      cmd heading: 94.195198 deg,
      new cmd heading: 94.728136 deg.

2021-02-16T07:54:48.507Z,1613462088.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:49.302Z,1613462089.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:49.695Z,1613462089.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:50.536Z,1613462090.536 [Micromodem](INFO): Nmea in: $SNTTA,0.015776,,,,075450.79*4F

2021-02-16T07:54:50.586Z,1613462090.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 91.943225 deg, deltaT: 4.441295 s, approachRate: -0.661969 m/s, LOS rate: -0.469874 deg/s, posRepo size: 4
2021-02-16T07:54:50.592Z,1613462090.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.459999 m,
      bearing: 91.943225 deg,
      approachRate: -0.661969 m/s,
      LOS rate: -0.469874 deg/s,
      cmd update: -1.409621 deg/s,
      cmd heading: 95.239436 deg,
      new cmd heading: 95.347114 deg.

2021-02-16T07:54:52.953Z,1613462092.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:53.730Z,1613462093.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:54.137Z,1613462094.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:54.960Z,1613462094.960 [Micromodem](INFO): Nmea in: $SNTTA,0.013761,,,,075455.22*44

2021-02-16T07:54:55.005Z,1613462095.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 92.480112 deg, deltaT: 4.457957 s, approachRate: -0.672954 m/s, LOS rate: 0.120433 deg/s, posRepo size: 4
2021-02-16T07:54:55.011Z,1613462095.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.459999 m,
      bearing: 92.480112 deg,
      approachRate: -0.672954 m/s,
      LOS rate: 0.120433 deg/s,
      cmd update: 0.361300 deg/s,
      cmd heading: 88.961023 deg,
      new cmd heading: 88.364101 deg.

2021-02-16T07:54:57.404Z,1613462097.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:54:58.181Z,1613462098.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:54:58.587Z,1613462098.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:54:59.468Z,1613462099.468 [Micromodem](INFO): Nmea in: $SNTTA,0.011997,,,,075459.67*4C

2021-02-16T07:54:59.513Z,1613462099.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 93.275222 deg, deltaT: 4.424635 s, approachRate: -0.610220 m/s, LOS rate: 0.179701 deg/s, posRepo size: 4
2021-02-16T07:54:59.514Z,1613462099.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 93.275222 deg,
      approachRate: -0.610220 m/s,
      LOS rate: 0.179701 deg/s,
      cmd update: 0.539101 deg/s,
      cmd heading: 90.561037 deg,
      new cmd heading: 90.742539 deg.

2021-02-16T07:55:01.864Z,1613462101.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:02.630Z,1613462102.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:03.037Z,1613462103.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:03.852Z,1613462103.852 [Micromodem](INFO): Nmea in: $SNTTA,0.010271,,,,075504.12*45

2021-02-16T07:55:03.898Z,1613462103.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 93.508903 deg, deltaT: 4.457447 s, approachRate: -0.578807 m/s, LOS rate: 0.052425 deg/s, posRepo size: 4
2021-02-16T07:55:03.900Z,1613462103.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.179998 m,
      bearing: 93.508903 deg,
      approachRate: -0.578807 m/s,
      LOS rate: 0.052425 deg/s,
      cmd update: 0.157275 deg/s,
      cmd heading: 92.953243 deg,
      new cmd heading: 93.196230 deg.

2021-02-16T07:55:06.314Z,1613462106.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:07.073Z,1613462107.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:07.465Z,1613462107.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:08.312Z,1613462108.312 [Micromodem](INFO): Nmea in: $SNTTA,0.008535,,,,075508.56*47

2021-02-16T07:55:08.351Z,1613462108.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 93.816555 deg, deltaT: 4.465901 s, approachRate: -0.577711 m/s, LOS rate: 0.068889 deg/s, posRepo size: 4
2021-02-16T07:55:08.353Z,1613462108.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 93.816555 deg,
      approachRate: -0.577711 m/s,
      LOS rate: 0.068889 deg/s,
      cmd update: 0.206668 deg/s,
      cmd heading: 93.658163 deg,
      new cmd heading: 93.724443 deg.

2021-02-16T07:55:10.713Z,1613462110.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:11.504Z,1613462111.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:11.921Z,1613462111.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:12.732Z,1613462112.732 [Micromodem](INFO): Nmea in: $SNTTA,0.006906,,,,075512.99*4D

2021-02-16T07:55:12.806Z,1613462112.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 93.601404 deg, deltaT: 4.423048 s, approachRate: -0.569742 m/s, LOS rate: -0.048643 deg/s, posRepo size: 4
2021-02-16T07:55:12.808Z,1613462112.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 93.601404 deg,
      approachRate: -0.569742 m/s,
      LOS rate: -0.048643 deg/s,
      cmd update: -0.145929 deg/s,
      cmd heading: 94.573094 deg,
      new cmd heading: 94.666040 deg.

2021-02-16T07:55:15.198Z,1613462115.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:15.954Z,1613462115.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:16.365Z,1613462116.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:17.209Z,1613462117.209 [Micromodem](INFO): Nmea in: $SNTTA,0.005372,,0.037465,,075517.44*5F

2021-02-16T07:55:17.238Z,1613462117.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 91.548393 deg, deltaT: 4.469946 s, approachRate: -0.536919 m/s, LOS rate: -0.459292 deg/s, posRepo size: 4
2021-02-16T07:55:17.240Z,1613462117.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 91.548393 deg,
      approachRate: -0.536919 m/s,
      LOS rate: -0.459292 deg/s,
      cmd update: -1.377877 deg/s,
      cmd heading: 93.921392 deg,
      new cmd heading: 93.860843 deg.

2021-02-16T07:55:19.634Z,1613462119.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:20.394Z,1613462120.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:20.811Z,1613462120.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:21.626Z,1613462121.626 [Micromodem](INFO): Nmea in: $SNTTA,0.003628,,,,075521.88*4B

2021-02-16T07:55:21.703Z,1613462121.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 89.641076 deg, deltaT: 4.408832 s, approachRate: -0.571580 m/s, LOS rate: -0.432613 deg/s, posRepo size: 4
2021-02-16T07:55:21.705Z,1613462121.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 89.641076 deg,
      approachRate: -0.571580 m/s,
      LOS rate: -0.432613 deg/s,
      cmd update: -1.297838 deg/s,
      cmd heading: 87.863093 deg,
      new cmd heading: 87.202309 deg.

2021-02-16T07:55:24.063Z,1613462124.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:24.875Z,1613462124.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:25.260Z,1613462125.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:26.106Z,1613462126.106 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T07:55:26.106Z,1613462126.106 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:55:26.107Z,1613462126.107 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T07:55:26.108Z,1613462126.108 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:55:26.108Z,1613462126.108 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T07:55:26.109Z,1613462126.109 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.839998 m 
2021-02-16T07:55:26.109Z,1613462126.109 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T07:55:26.109Z,1613462126.109 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T07:55:26.110Z,1613462126.110 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T07:55:26.115Z,1613462126.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.839998 m, bearing: 103.479572 deg, deltaT: 4.439056 s, approachRate: -0.297361 m/s, LOS rate: 3.117441 deg/s, posRepo size: 4
2021-02-16T07:55:26.135Z,1613462126.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.839998 m,
      bearing: 103.479572 deg,
      approachRate: -0.297361 m/s,
      LOS rate: 3.117441 deg/s,
      cmd update: 9.352324 deg/s,
      cmd heading: 82.086474 deg,
      new cmd heading: 81.511716 deg.

2021-02-16T07:55:26.492Z,1613462126.492 [Micromodem](INFO): Nmea in: $SNTTA,0.002690,,0.047408,,075526.41*5A

2021-02-16T07:55:26.537Z,1613462126.537 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T075526: (41.552319, -70.708603)
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T07:55:26.538Z,1613462126.538 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T07:55:26.895Z,1613462126.895 [UniversalFixResidualReporter](INFO): Fix residual: 4.7 %DT, over the last 560.1 m. Residual distance 26.2 m at bearing 159.4 degrees. Fix at (41.5529, -70.7088) with 0.0 m made good.
2021-02-16T07:55:28.513Z,1613462128.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:29.301Z,1613462129.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:29.689Z,1613462129.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:30.520Z,1613462130.520 [Micromodem](INFO): Nmea in: $SNTTA,0.002867,,,,075530.79*41

2021-02-16T07:55:30.565Z,1613462130.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 86.161300 deg, deltaT: 4.479388 s, approachRate: 0.107158 m/s, LOS rate: -3.866214 deg/s, posRepo size: 4
2021-02-16T07:55:30.566Z,1613462130.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 86.161300 deg,
      approachRate: 0.107158 m/s,
      LOS rate: -3.866214 deg/s,
      cmd update: -11.598642 deg/s,
      cmd heading: 123.913909 deg,
      new cmd heading: 127.857906 deg.

2021-02-16T07:55:32.975Z,1613462132.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:33.744Z,1613462133.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:34.130Z,1613462134.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:34.968Z,1613462134.968 [Micromodem](INFO): Nmea in: $SNTTA,0.004935,,,,075535.23*4B

2021-02-16T07:55:35.013Z,1613462135.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 88.315200 deg, deltaT: 4.491387 s, approachRate: 0.694663 m/s, LOS rate: 0.479562 deg/s, posRepo size: 4
2021-02-16T07:55:35.019Z,1613462135.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 88.315200 deg,
      approachRate: 0.694663 m/s,
      LOS rate: 0.479562 deg/s,
      cmd update: 1.438687 deg/s,
      cmd heading: 71.737510 deg,
      new cmd heading: 67.426017 deg.

2021-02-16T07:55:37.419Z,1613462137.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:38.175Z,1613462138.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:38.574Z,1613462138.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:39.417Z,1613462139.417 [Micromodem](INFO): Nmea in: $SNTTA,0.005969,,0.023369,0.062681,075539.67*49

2021-02-16T07:55:39.456Z,1613462139.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 88.001844 deg, deltaT: 4.376883 s, approachRate: 0.356418 m/s, LOS rate: -0.071593 deg/s, posRepo size: 4
2021-02-16T07:55:39.457Z,1613462139.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 88.001844 deg,
      approachRate: 0.356418 m/s,
      LOS rate: -0.071593 deg/s,
      cmd update: -0.214780 deg/s,
      cmd heading: 78.017265 deg,
      new cmd heading: 78.663235 deg.

2021-02-16T07:55:41.863Z,1613462141.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:42.612Z,1613462142.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:43.027Z,1613462143.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:43.856Z,1613462143.856 [Micromodem](INFO): Nmea in: $SNTTA,0.007465,,,,075544.10*46

2021-02-16T07:55:43.881Z,1613462143.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 77.516240 deg, deltaT: 4.432578 s, approachRate: 0.514373 m/s, LOS rate: -2.365577 deg/s, posRepo size: 4
2021-02-16T07:55:43.883Z,1613462143.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 77.516240 deg,
      approachRate: 0.514373 m/s,
      LOS rate: -2.365577 deg/s,
      cmd update: -7.096730 deg/s,
      cmd heading: 77.061805 deg,
      new cmd heading: 76.970272 deg.

2021-02-16T07:55:46.313Z,1613462146.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:47.061Z,1613462147.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:47.462Z,1613462147.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:48.305Z,1613462148.305 [Micromodem](INFO): Nmea in: $SNTTA,0.008122,,,,075548.55*42

2021-02-16T07:55:48.344Z,1613462148.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 82.405734 deg, deltaT: 4.459792 s, approachRate: 0.242164 m/s, LOS rate: 1.096350 deg/s, posRepo size: 4
2021-02-16T07:55:48.344Z,1613462148.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.36 m. Rolling out.
2021-02-16T07:55:48.345Z,1613462148.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T07:55:50.722Z,1613462150.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:51.533Z,1613462151.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:51.917Z,1613462151.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:52.749Z,1613462152.749 [Micromodem](INFO): Nmea in: $SNTTA,0.009787,,,,075553.02*42

2021-02-16T07:55:52.821Z,1613462152.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 26.737443 deg, deltaT: 4.435096 s, approachRate: 0.554666 m/s, LOS rate: -12.551766 deg/s, posRepo size: 4
2021-02-16T07:55:55.183Z,1613462155.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:55:55.955Z,1613462155.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:55:56.350Z,1613462156.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:55:57.185Z,1613462157.185 [Micromodem](INFO): Nmea in: $SNTTA,0.011288,,,,075557.44*47

2021-02-16T07:55:57.243Z,1613462157.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 19.375621 deg, deltaT: 4.473585 s, approachRate: 0.684015 m/s, LOS rate: -1.645620 deg/s, posRepo size: 4
2021-02-16T07:55:59.621Z,1613462159.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:00.389Z,1613462160.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:00.809Z,1613462160.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:01.635Z,1613462161.635 [Micromodem](INFO): Nmea in: $SNTTA,0.012727,,,,075601.87*4B

2021-02-16T07:56:01.660Z,1613462161.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 4.309062 deg, deltaT: 4.421070 s, approachRate: 0.312142 m/s, LOS rate: -3.407899 deg/s, posRepo size: 4
2021-02-16T07:56:03.234Z,1613462163.234 [PowerOnly](INFO): Powering down loadControl
2021-02-16T07:56:04.077Z,1613462164.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:04.868Z,1613462164.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:05.257Z,1613462165.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:06.074Z,1613462166.074 [Micromodem](INFO): Nmea in: $SNTTA,0.014411,,,,075606.37*47

2021-02-16T07:56:06.131Z,1613462166.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 0.046746 deg, deltaT: 4.421418 s, approachRate: 0.556382 m/s, LOS rate: -0.964015 deg/s, posRepo size: 4
2021-02-16T07:56:08.510Z,1613462168.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:09.289Z,1613462169.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:09.694Z,1613462169.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:10.532Z,1613462170.532 [Micromodem](INFO): Nmea in: $SNTTA,0.016132,0.020969,,,075610.78*57

2021-02-16T07:56:10.556Z,1613462170.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 4.624249 deg, deltaT: 4.458108 s, approachRate: 0.592179 m/s, LOS rate: 1.026782 deg/s, posRepo size: 4
2021-02-16T07:56:12.953Z,1613462172.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:13.720Z,1613462173.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:14.127Z,1613462174.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:14.952Z,1613462174.952 [Micromodem](INFO): Nmea in: $SNTTA,0.017816,,,,075615.20*4B

2021-02-16T07:56:14.977Z,1613462174.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 35.003176 deg, deltaT: 4.575454 s, approachRate: 0.668787 m/s, LOS rate: 6.639544 deg/s, posRepo size: 4
2021-02-16T07:56:17.380Z,1613462177.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:18.165Z,1613462178.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:18.570Z,1613462178.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:19.396Z,1613462179.396 [Micromodem](INFO): Nmea in: $SNTTA,0.019694,,,,075619.65*4C

2021-02-16T07:56:19.440Z,1613462179.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 66.386577 deg, deltaT: 4.322826 s, approachRate: 0.527432 m/s, LOS rate: 7.259927 deg/s, posRepo size: 4
2021-02-16T07:56:21.857Z,1613462181.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:22.610Z,1613462182.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:23.014Z,1613462183.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:23.840Z,1613462183.840 [Micromodem](INFO): Nmea in: $SNTTA,0.021518,,,,075624.10*4C

2021-02-16T07:56:23.886Z,1613462183.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 16.415238 deg, deltaT: 4.456504 s, approachRate: 0.605856 m/s, LOS rate: -11.213125 deg/s, posRepo size: 4
2021-02-16T07:56:26.329Z,1613462186.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:27.052Z,1613462187.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:27.458Z,1613462187.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:28.304Z,1613462188.304 [Micromodem](INFO): Nmea in: $SNTTA,0.023369,,,,075628.54*42

2021-02-16T07:56:28.328Z,1613462188.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.220001 m, bearing: 31.134253 deg, deltaT: 4.425265 s, approachRate: 0.637251 m/s, LOS rate: 3.326132 deg/s, posRepo size: 4
2021-02-16T07:56:30.713Z,1613462190.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:31.501Z,1613462191.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:31.904Z,1613462191.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:32.738Z,1613462192.738 [Micromodem](INFO): Nmea in: $SNTTA,0.025267,,,,075632.99*41

2021-02-16T07:56:32.804Z,1613462192.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.520000 m, bearing: 39.497556 deg, deltaT: 4.439333 s, approachRate: 0.743355 m/s, LOS rate: 1.883910 deg/s, posRepo size: 4
2021-02-16T07:56:35.163Z,1613462195.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:35.940Z,1613462195.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:36.345Z,1613462196.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:37.177Z,1613462197.177 [Micromodem](INFO): Nmea in: $SNTTA,0.027437,,,,075637.42*43

2021-02-16T07:56:37.234Z,1613462197.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 27.528266 deg, deltaT: 4.470514 s, approachRate: 0.724748 m/s, LOS rate: -2.677386 deg/s, posRepo size: 4
2021-02-16T07:56:39.622Z,1613462199.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:40.392Z,1613462200.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:40.814Z,1613462200.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:41.620Z,1613462201.620 [Micromodem](INFO): Nmea in: $SNTTA,0.029216,,0.056496,,075641.88*59

2021-02-16T07:56:41.664Z,1613462201.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 47.828055 deg, deltaT: 4.401304 s, approachRate: 0.572558 m/s, LOS rate: 4.612221 deg/s, posRepo size: 4
2021-02-16T07:56:44.072Z,1613462204.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:44.829Z,1613462204.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:45.240Z,1613462205.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:46.077Z,1613462206.077 [Micromodem](INFO): Nmea in: $SNTTA,0.031067,,0.046193,,075646.31*50

2021-02-16T07:56:46.101Z,1613462206.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 46.417539 deg, deltaT: 4.464696 s, approachRate: 0.631623 m/s, LOS rate: -0.315927 deg/s, posRepo size: 4
2021-02-16T07:56:48.496Z,1613462208.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:49.292Z,1613462209.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:49.685Z,1613462209.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:50.516Z,1613462210.516 [Micromodem](INFO): Nmea in: $SNTTA,0.032882,,,,075650.78*4D

2021-02-16T07:56:50.540Z,1613462210.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.740002 m, bearing: 46.094922 deg, deltaT: 4.448136 s, approachRate: 0.593507 m/s, LOS rate: -0.072529 deg/s, posRepo size: 4
2021-02-16T07:56:52.137Z,1613462212.137 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T07:56:52.934Z,1613462212.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:53.733Z,1613462213.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:54.124Z,1613462214.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:54.961Z,1613462214.961 [Micromodem](INFO): Nmea in: $SNTTA,0.034780,,,,075655.22*4C

2021-02-16T07:56:55.009Z,1613462215.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.620003 m, bearing: 47.139452 deg, deltaT: 4.425072 s, approachRate: 0.650837 m/s, LOS rate: 0.236048 deg/s, posRepo size: 4
2021-02-16T07:56:57.405Z,1613462217.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:56:58.186Z,1613462218.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:56:58.576Z,1613462218.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:56:59.440Z,1613462219.440 [Micromodem](INFO): Nmea in: $SNTTA,0.036639,,0.051120,,075659.67*59

2021-02-16T07:56:59.542Z,1613462219.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 48.678669 deg, deltaT: 4.471589 s, approachRate: 0.617228 m/s, LOS rate: 0.344222 deg/s, posRepo size: 4
2021-02-16T07:57:01.840Z,1613462221.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:02.605Z,1613462222.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:03.010Z,1613462223.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:03.855Z,1613462223.855 [Micromodem](INFO): Nmea in: $SNTTA,0.038628,,,,075704.09*4F

2021-02-16T07:57:03.880Z,1613462223.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 46.791983 deg, deltaT: 4.456546 s, approachRate: 0.646243 m/s, LOS rate: -0.423352 deg/s, posRepo size: 4
2021-02-16T07:57:06.306Z,1613462226.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:07.048Z,1613462227.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:07.453Z,1613462227.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:08.300Z,1613462228.300 [Micromodem](INFO): Nmea in: $SNTTA,0.040598,,,,075708.53*4B

2021-02-16T07:57:08.352Z,1613462228.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 44.730533 deg, deltaT: 4.404976 s, approachRate: 0.681046 m/s, LOS rate: -0.467982 deg/s, posRepo size: 4
2021-02-16T07:57:10.699Z,1613462230.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:11.503Z,1613462231.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:11.914Z,1613462231.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:12.744Z,1613462232.744 [Micromodem](INFO): Nmea in: $SNTTA,0.042444,,,,075713.02*47

2021-02-16T07:57:12.815Z,1613462232.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 42.803867 deg, deltaT: 4.443076 s, approachRate: 0.567176 m/s, LOS rate: -0.433634 deg/s, posRepo size: 4
2021-02-16T07:57:15.172Z,1613462235.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:15.936Z,1613462235.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:16.353Z,1613462236.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:17.168Z,1613462237.168 [Micromodem](INFO): Nmea in: $SNTTA,0.044353,,,,075717.42*40

2021-02-16T07:57:17.288Z,1613462237.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.660004 m, bearing: 41.839270 deg, deltaT: 4.473550 s, approachRate: 0.643784 m/s, LOS rate: -0.215622 deg/s, posRepo size: 4
2021-02-16T07:57:19.611Z,1613462239.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:20.389Z,1613462240.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:20.878Z,1613462240.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:21.700Z,1613462241.700 [Micromodem](INFO): Nmea in: $SNTTA,0.046424,,,,075721.88*46

2021-02-16T07:57:21.722Z,1613462241.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 46.797236 deg, deltaT: 4.535795 s, approachRate: 0.727545 m/s, LOS rate: 1.093075 deg/s, posRepo size: 4
2021-02-16T07:57:24.145Z,1613462244.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:24.924Z,1613462244.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:25.326Z,1613462245.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:26.152Z,1613462246.152 [Micromodem](INFO): Nmea in: $SNTTA,0.048323,,,,075726.41*4A

2021-02-16T07:57:26.219Z,1613462246.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 48.439247 deg, deltaT: 4.468134 s, approachRate: 0.644565 m/s, LOS rate: 0.367494 deg/s, posRepo size: 4
2021-02-16T07:57:28.577Z,1613462248.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:29.362Z,1613462249.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:29.796Z,1613462249.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:30.588Z,1613462250.588 [Micromodem](INFO): Nmea in: $SNTTA,0.050210,,,,075730.85*4D

2021-02-16T07:57:30.630Z,1613462250.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.600006 m, bearing: 46.833654 deg, deltaT: 4.403214 s, approachRate: 0.626815 m/s, LOS rate: -0.364641 deg/s, posRepo size: 4
2021-02-16T07:57:33.029Z,1613462253.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:33.810Z,1613462253.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:34.214Z,1613462254.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:35.047Z,1613462255.047 [Micromodem](INFO): Nmea in: $SNTTA,0.052046,,,,075735.29*4D

2021-02-16T07:57:35.072Z,1613462255.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 53.856216 deg, deltaT: 4.481130 s, approachRate: 0.615915 m/s, LOS rate: 1.567141 deg/s, posRepo size: 4
2021-02-16T07:57:37.469Z,1613462257.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:38.290Z,1613462258.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:38.655Z,1613462258.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:39.500Z,1613462259.500 [Micromodem](INFO): Nmea in: $SNTTA,0.053836,,,,075739.77*44

2021-02-16T07:57:39.558Z,1613462259.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 45.860004 deg, deltaT: 4.396431 s, approachRate: 0.600489 m/s, LOS rate: -1.818796 deg/s, posRepo size: 4
2021-02-16T07:57:41.923Z,1613462261.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:42.693Z,1613462262.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:43.098Z,1613462263.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:43.909Z,1613462263.909 [Micromodem](INFO): Nmea in: $SNTTA,0.055814,,,,075744.18*41

2021-02-16T07:57:44.740Z,1613462264.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:46.336Z,1613462266.336 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T07:57:47.566Z,1613462267.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:48.367Z,1613462268.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:48.766Z,1613462268.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:49.588Z,1613462269.588 [Micromodem](INFO): Nmea in: $SNTTA,0.058207,,,,075749.85*4D

2021-02-16T07:57:49.612Z,1613462269.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.540001 m, bearing: 53.188042 deg, deltaT: 10.090263 s, approachRate: 0.648149 m/s, LOS rate: 0.726248 deg/s, posRepo size: 4
2021-02-16T07:57:52.014Z,1613462272.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:52.808Z,1613462272.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:53.204Z,1613462273.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:54.032Z,1613462274.032 [Micromodem](INFO): Nmea in: $SNTTA,0.060216,,0.107977,,075754.29*5D

2021-02-16T07:57:54.077Z,1613462274.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 58.037729 deg, deltaT: 4.446086 s, approachRate: 0.674751 m/s, LOS rate: 1.090777 deg/s, posRepo size: 4
2021-02-16T07:57:56.487Z,1613462276.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:57:57.242Z,1613462277.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:57:57.657Z,1613462277.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:57:58.468Z,1613462278.468 [Micromodem](INFO): Nmea in: $SNTTA,0.062174,,,,075758.73*4A

2021-02-16T07:57:58.533Z,1613462278.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 45.219827 deg, deltaT: 4.469432 s, approachRate: 0.630954 m/s, LOS rate: -2.867904 deg/s, posRepo size: 4
2021-02-16T07:58:00.921Z,1613462280.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:01.321Z,1613462281.321 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T07:58:01.681Z,1613462281.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:02.085Z,1613462282.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:02.912Z,1613462282.912 [Micromodem](INFO): Nmea in: $SNTTA,0.064188,,,,075803.17*4C

2021-02-16T07:58:02.961Z,1613462282.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 43.476657 deg, deltaT: 4.446722 s, approachRate: 0.715132 m/s, LOS rate: -0.392012 deg/s, posRepo size: 4
2021-02-16T07:58:05.364Z,1613462285.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:06.125Z,1613462286.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:06.530Z,1613462286.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:07.352Z,1613462287.352 [Micromodem](INFO): Nmea in: $SNTTA,0.065987,,,,075807.61*4F

2021-02-16T07:58:07.404Z,1613462287.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.180000 m, bearing: 47.836917 deg, deltaT: 4.436727 s, approachRate: 0.595033 m/s, LOS rate: 0.982765 deg/s, posRepo size: 4
2021-02-16T07:58:09.830Z,1613462289.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:10.568Z,1613462290.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:10.985Z,1613462290.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:11.815Z,1613462291.815 [Micromodem](INFO): Nmea in: $SNTTA,0.067984,,,,075812.05*48

2021-02-16T07:58:11.840Z,1613462291.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.120003 m, bearing: 56.100889 deg, deltaT: 4.454207 s, approachRate: 0.660051 m/s, LOS rate: 1.855318 deg/s, posRepo size: 4
2021-02-16T07:58:14.234Z,1613462294.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:15.012Z,1613462295.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:15.428Z,1613462295.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:16.264Z,1613462296.264 [Micromodem](INFO): Nmea in: $SNTTA,0.069862,,0.112451,,075816.50*57

2021-02-16T07:58:16.323Z,1613462296.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.880005 m, bearing: 58.842175 deg, deltaT: 4.426668 s, approachRate: 0.623494 m/s, LOS rate: 0.619266 deg/s, posRepo size: 4
2021-02-16T07:58:18.682Z,1613462298.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:19.465Z,1613462299.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:19.870Z,1613462299.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:20.703Z,1613462300.703 [Micromodem](INFO): Nmea in: $SNTTA,0.071829,,,,075820.95*41

2021-02-16T07:58:20.717Z,1613462300.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.879997 m, bearing: 53.881149 deg, deltaT: 4.454719 s, approachRate: 0.673441 m/s, LOS rate: -1.113656 deg/s, posRepo size: 4
2021-02-16T07:58:23.122Z,1613462303.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:23.906Z,1613462303.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:24.306Z,1613462304.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:25.136Z,1613462305.136 [Micromodem](INFO): Nmea in: $SNTTA,0.073782,,,,075825.39*4E

2021-02-16T07:58:25.186Z,1613462305.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 49.941701 deg, deltaT: 4.415139 s, approachRate: 0.665891 m/s, LOS rate: -0.892259 deg/s, posRepo size: 4
2021-02-16T07:58:27.569Z,1613462307.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:28.349Z,1613462308.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:28.754Z,1613462308.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:29.576Z,1613462309.576 [Micromodem](INFO): Nmea in: $SNTTA,0.075889,,,,075829.83*41

2021-02-16T07:58:29.624Z,1613462309.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.000008 m, bearing: 51.212465 deg, deltaT: 4.487399 s, approachRate: 0.708653 m/s, LOS rate: 0.283185 deg/s, posRepo size: 4
2021-02-16T07:58:32.025Z,1613462312.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:32.811Z,1613462312.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:33.213Z,1613462313.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:34.032Z,1613462314.032 [Micromodem](INFO): Nmea in: $SNTTA,0.077768,,,,075834.30*47

2021-02-16T07:58:34.078Z,1613462314.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 55.441687 deg, deltaT: 4.422646 s, approachRate: 0.637627 m/s, LOS rate: 0.956265 deg/s, posRepo size: 4
2021-02-16T07:58:36.474Z,1613462316.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:37.257Z,1613462317.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:37.638Z,1613462317.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:38.472Z,1613462318.472 [Micromodem](INFO): Nmea in: $SNTTA,0.079596,,,,075838.74*46

2021-02-16T07:58:38.514Z,1613462318.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 55.156981 deg, deltaT: 4.452539 s, approachRate: 0.619868 m/s, LOS rate: -0.063942 deg/s, posRepo size: 4
2021-02-16T07:58:40.905Z,1613462320.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:41.685Z,1613462321.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:42.082Z,1613462322.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:42.924Z,1613462322.924 [Micromodem](INFO): Nmea in: $SNTTA,0.081620,,,,075843.17*46

2021-02-16T07:58:42.973Z,1613462322.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.580002 m, bearing: 61.579326 deg, deltaT: 4.427168 s, approachRate: 0.677636 m/s, LOS rate: 1.450667 deg/s, posRepo size: 4
2021-02-16T07:58:45.336Z,1613462325.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:46.120Z,1613462326.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:46.531Z,1613462326.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:47.352Z,1613462327.352 [Micromodem](INFO): Nmea in: $SNTTA,0.083528,,,,075847.60*4B

2021-02-16T07:58:47.390Z,1613462327.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 61.049856 deg, deltaT: 4.450719 s, approachRate: 0.647086 m/s, LOS rate: -0.118963 deg/s, posRepo size: 4
2021-02-16T07:58:49.826Z,1613462329.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:50.564Z,1613462330.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:50.987Z,1613462330.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:51.816Z,1613462331.816 [Micromodem](INFO): Nmea in: $SNTTA,0.085447,,,,075852.05*42

2021-02-16T07:58:51.841Z,1613462331.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.339996 m, bearing: 56.769302 deg, deltaT: 4.439996 s, approachRate: 0.648649 m/s, LOS rate: -0.964090 deg/s, posRepo size: 4
2021-02-16T07:58:54.222Z,1613462334.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:55.025Z,1613462335.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:55.420Z,1613462335.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:58:56.256Z,1613462336.256 [Micromodem](INFO): Nmea in: $SNTTA,0.087523,,,,075856.51*46

2021-02-16T07:58:56.297Z,1613462336.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.460007 m, bearing: 59.923367 deg, deltaT: 4.446613 s, approachRate: 0.701660 m/s, LOS rate: 0.709319 deg/s, posRepo size: 4
2021-02-16T07:58:58.668Z,1613462338.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:58:59.457Z,1613462339.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:58:59.859Z,1613462339.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:00.691Z,1613462340.691 [Micromodem](INFO): Nmea in: $SNTTA,0.089632,,,,075900.94*40

2021-02-16T07:59:00.710Z,1613462340.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 59.044827 deg, deltaT: 4.460664 s, approachRate: 0.712897 m/s, LOS rate: -0.196953 deg/s, posRepo size: 4
2021-02-16T07:59:03.118Z,1613462343.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:03.896Z,1613462343.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:04.311Z,1613462344.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:05.128Z,1613462345.128 [Micromodem](INFO): Nmea in: $SNTTA,0.091609,,,,075905.38*42

2021-02-16T07:59:05.158Z,1613462345.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 47.602887 deg, deltaT: 4.412406 s, approachRate: 0.679901 m/s, LOS rate: -2.593129 deg/s, posRepo size: 4
2021-02-16T07:59:07.565Z,1613462347.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:08.353Z,1613462348.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:08.758Z,1613462348.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:09.584Z,1613462349.584 [Micromodem](INFO): Nmea in: $SNTTA,0.093511,,0.100892,,075909.84*5D

2021-02-16T07:59:09.614Z,1613462349.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 54.500152 deg, deltaT: 4.492818 s, approachRate: 0.614316 m/s, LOS rate: 1.535176 deg/s, posRepo size: 4
2021-02-16T07:59:12.034Z,1613462352.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:12.805Z,1613462352.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:13.198Z,1613462353.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:14.028Z,1613462354.028 [Micromodem](INFO): Nmea in: $SNTTA,0.095437,,0.117186,,075914.29*5F

2021-02-16T07:59:14.073Z,1613462354.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.280014 m, bearing: 57.737358 deg, deltaT: 4.404827 s, approachRate: 0.653829 m/s, LOS rate: 0.734922 deg/s, posRepo size: 4
2021-02-16T07:59:16.474Z,1613462356.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:17.256Z,1613462357.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:17.645Z,1613462357.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:18.475Z,1613462358.475 [Micromodem](INFO): Nmea in: $SNTTA,0.097309,,,,075918.74*45

2021-02-16T07:59:18.500Z,1613462358.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.100006 m, bearing: 57.199119 deg, deltaT: 4.470477 s, approachRate: 0.630803 m/s, LOS rate: -0.120399 deg/s, posRepo size: 4
2021-02-16T07:59:20.897Z,1613462360.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:21.678Z,1613462361.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:22.083Z,1613462362.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:22.907Z,1613462362.907 [Micromodem](INFO): Nmea in: $SNTTA,0.099263,,,,075923.16*4A

2021-02-16T07:59:22.932Z,1613462362.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 57.962071 deg, deltaT: 4.422209 s, approachRate: 0.664827 m/s, LOS rate: 0.172527 deg/s, posRepo size: 4
2021-02-16T07:59:25.371Z,1613462365.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:26.116Z,1613462366.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:26.534Z,1613462366.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:27.344Z,1613462367.344 [Micromodem](INFO): Nmea in: $SNTTA,0.101285,,,,075927.60*47

2021-02-16T07:59:27.382Z,1613462367.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.099991 m, bearing: 60.219278 deg, deltaT: 4.444625 s, approachRate: 0.688468 m/s, LOS rate: 0.507851 deg/s, posRepo size: 4
2021-02-16T07:59:27.382Z,1613462367.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.10 m. Resuming terminal guidance.
2021-02-16T07:59:27.382Z,1613462367.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T07:59:29.815Z,1613462369.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:30.566Z,1613462370.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:30.968Z,1613462370.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:31.817Z,1613462371.817 [Micromodem](INFO): Nmea in: $SNTTA,0.103049,,,,075932.05*40

2021-02-16T07:59:31.883Z,1613462371.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 59.370074 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T07:59:31.884Z,1613462371.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 59.370074deg and heading rate command to 0 deg/s.
2021-02-16T07:59:34.225Z,1613462374.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:35.012Z,1613462375.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:35.421Z,1613462375.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:36.263Z,1613462376.263 [Micromodem](INFO): Nmea in: $SNTTA,0.105121,,,,075936.50*4D

2021-02-16T07:59:36.318Z,1613462376.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.920013 m, bearing: 61.680802 deg, deltaT: 4.456349 s, approachRate: 0.713590 m/s, LOS rate: 0.518525 deg/s, posRepo size: 2
2021-02-16T07:59:36.320Z,1613462376.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.920013 m,
      bearing: 61.680802 deg,
      approachRate: 0.713590 m/s,
      LOS rate: 0.518525 deg/s,
      cmd update: 1.555575 deg/s,
      cmd heading: 59.370074 deg,
      new cmd heading: 59.370074 deg.

2021-02-16T07:59:38.683Z,1613462378.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:39.454Z,1613462379.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:39.856Z,1613462379.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:40.699Z,1613462380.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,075940.94*5C

2021-02-16T07:59:40.718Z,1613462380.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 104.020503 deg, deltaT: 4.483985 s, approachRate: 0.602142 m/s, LOS rate: 9.442427 deg/s, posRepo size: 3
2021-02-16T07:59:40.720Z,1613462380.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 104.020503 deg,
      approachRate: 0.602142 m/s,
      LOS rate: 9.442427 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 66.343653 deg,
      new cmd heading: 66.921522 deg.

2021-02-16T07:59:43.122Z,1613462383.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:43.894Z,1613462383.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:44.313Z,1613462384.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:45.124Z,1613462385.124 [Micromodem](INFO): Nmea in: $SNTTA,0.108741,,,,075945.38*4A

2021-02-16T07:59:45.149Z,1613462385.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 52.593905 deg, deltaT: 4.376171 s, approachRate: 0.589553 m/s, LOS rate: -11.751505 deg/s, posRepo size: 4
2021-02-16T07:59:45.150Z,1613462385.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.751505 deg/s. Setting heading cmd to target bearing of 52.593905deg and heading rate command to 0 deg/s.
2021-02-16T07:59:47.576Z,1613462387.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:48.345Z,1613462388.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:48.753Z,1613462388.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T07:59:49.572Z,1613462389.572 [Micromodem](INFO): Nmea in: $SNTTA,0.110510,,,,075949.83*49

2021-02-16T07:59:49.596Z,1613462389.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 93.366043 deg, deltaT: 4.481364 s, approachRate: 0.000000 m/s, LOS rate: 9.098153 deg/s, posRepo size: 4
2021-02-16T07:59:49.598Z,1613462389.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.199997 m,
      bearing: 93.366043 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.098153 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.593905 deg,
      new cmd heading: 52.593905 deg.

2021-02-16T07:59:52.027Z,1613462392.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:52.804Z,1613462392.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:53.201Z,1613462393.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD6B

2021-02-16T07:59:53.201Z,1613462393.201 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD6B
 expected 40
2021-02-16T07:59:53.201Z,1613462393.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T07:59:53.221Z,1613462393.221 [Micromodem](INFO): Nmea in: $CATXP,400*46

2021-02-16T07:59:53.222Z,1613462393.222 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46

2021-02-16T07:59:53.590Z,1613462393.590 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T07:59:53.590Z,1613462393.590 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T07:59:53.593Z,1613462393.593 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,075954.293231,3,0,40,4000,14500,1,0,0,0,2,0,3,0*70

2021-02-16T07:59:53.593Z,1613462393.593 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,075954.293231,3,0,40,4000,14500,1,0,0,0,2,0,3,0*70

2021-02-16T07:59:54.016Z,1613462394.016 [Micromodem](INFO): Nmea in: $CAERR,075954,NI  ,29,Busy completing a previous request*71

2021-02-16T07:59:54.017Z,1613462394.017 [Micromodem](ERROR): Got error from modem: $CAERR,075954,NI  ,29,Busy completing a previous request*71

2021-02-16T07:59:54.018Z,1613462394.018 [Micromodem](INFO): Nmea in: $SNTTA,0.111614,,0.125394,,075954.29*55

2021-02-16T07:59:54.018Z,1613462394.018 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.111614,,0.125394,,075954.29*55

2021-02-16T07:59:54.489Z,1613462394.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 85.644104 deg, deltaT: 4.866524 s, approachRate: 0.875367 m/s, LOS rate: -1.586746 deg/s, posRepo size: 4
2021-02-16T07:59:54.491Z,1613462394.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.459991 m,
      bearing: 85.644104 deg,
      approachRate: 0.875367 m/s,
      LOS rate: -1.586746 deg/s,
      cmd update: -4.760239 deg/s,
      cmd heading: 110.641938 deg,
      new cmd heading: 116.008974 deg.

2021-02-16T07:59:56.857Z,1613462396.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T07:59:59.674Z,1613462399.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:02.506Z,1613462402.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:04.513Z,1613462404.513 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:04.911Z,1613462404.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:05.356Z,1613462405.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:05.731Z,1613462405.731 [Micromodem](INFO): Nmea in: $SNTTA,0.114793,,,,080006.00*47

2021-02-16T08:00:06.134Z,1613462406.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:06.522Z,1613462406.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:06.892Z,1613462406.892 [CTD_Seabird](ERROR): Failed to parse device response: 8,2.74490,3345.33
2021-02-16T08:00:07.749Z,1613462407.749 [Micromodem](INFO): Nmea in: $SNTTA,0.115321,,,0.176885,080007.66*51

2021-02-16T08:00:07.818Z,1613462407.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.100006 m, bearing: 100.687418 deg, deltaT: 13.329186 s, approachRate: 0.423133 m/s, LOS rate: 1.128600 deg/s, posRepo size: 4
2021-02-16T08:00:07.820Z,1613462407.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.100006 m,
      bearing: 100.687418 deg,
      approachRate: 0.423133 m/s,
      LOS rate: 1.128600 deg/s,
      cmd update: 3.385799 deg/s,
      cmd heading: 47.052234 deg,
      new cmd heading: 45.067324 deg.

2021-02-16T08:00:10.198Z,1613462410.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:10.970Z,1613462410.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:11.370Z,1613462411.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:12.204Z,1613462412.204 [Micromodem](INFO): Nmea in: $SNTTA,0.116898,,,,080012.45*45

2021-02-16T08:00:12.254Z,1613462412.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.380005 m, bearing: 54.276747 deg, deltaT: 4.437216 s, approachRate: 0.513835 m/s, LOS rate: -10.459412 deg/s, posRepo size: 4
2021-02-16T08:00:12.260Z,1613462412.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.380005 m,
      bearing: 54.276747 deg,
      approachRate: 0.513835 m/s,
      LOS rate: -10.459412 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 62.088205 deg,
      new cmd heading: 63.469899 deg.

2021-02-16T08:00:14.630Z,1613462414.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:15.409Z,1613462415.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:15.827Z,1613462415.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:16.648Z,1613462416.648 [Micromodem](INFO): Nmea in: $SNTTA,0.118631,,,,080016.90*4A

2021-02-16T08:00:16.673Z,1613462416.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.380005 m, bearing: 47.854255 deg, deltaT: 4.431273 s, approachRate: 0.000000 m/s, LOS rate: -1.449356 deg/s, posRepo size: 4
2021-02-16T08:00:16.675Z,1613462416.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.380005 m,
      bearing: 47.854255 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.449356 deg/s,
      cmd update: -4.348068 deg/s,
      cmd heading: 9.227856 deg,
      new cmd heading: 4.112172 deg.

2021-02-16T08:00:19.081Z,1613462419.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:19.852Z,1613462419.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:20.288Z,1613462420.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:21.084Z,1613462421.084 [Micromodem](INFO): Nmea in: $SNTTA,0.120555,,,,080021.34*4A

2021-02-16T08:00:21.129Z,1613462421.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.380005 m, bearing: 38.955134 deg, deltaT: 4.424950 s, approachRate: 0.000000 m/s, LOS rate: -2.011124 deg/s, posRepo size: 4
2021-02-16T08:00:21.130Z,1613462421.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.380005 m,
      bearing: 38.955134 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.011124 deg/s,
      cmd update: -6.033371 deg/s,
      cmd heading: 349.948037 deg,
      new cmd heading: 348.000142 deg.

2021-02-16T08:00:23.528Z,1613462423.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:24.305Z,1613462424.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:24.702Z,1613462424.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:25.520Z,1613462425.520 [Micromodem](INFO): Nmea in: $SNTTA,0.122366,,,,080025.79*43

2021-02-16T08:00:25.964Z,1613462425.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 343.153458 deg, deltaT: 4.846749 s, approachRate: 1.708361 m/s, LOS rate: -11.513218 deg/s, posRepo size: 4
2021-02-16T08:00:25.964Z,1613462425.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.513218 deg/s. Setting heading cmd to target bearing of 343.153458deg and heading rate command to 0 deg/s.
2021-02-16T08:00:28.376Z,1613462428.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:29.152Z,1613462429.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:29.551Z,1613462429.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:30.368Z,1613462430.368 [Micromodem](INFO): Nmea in: $SNTTA,0.124178,,,,080030.64*40

2021-02-16T08:00:30.833Z,1613462430.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.360001 m, bearing: 9.894200 deg, deltaT: 4.847355 s, approachRate: 0.557004 m/s, LOS rate: 5.516566 deg/s, posRepo size: 4
2021-02-16T08:00:30.835Z,1613462430.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.360001 m,
      bearing: 9.894200 deg,
      approachRate: 0.557004 m/s,
      LOS rate: 5.516566 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.153458 deg,
      new cmd heading: 343.153458 deg.

2021-02-16T08:00:33.209Z,1613462433.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:33.992Z,1613462433.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:34.406Z,1613462434.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:35.378Z,1613462435.378 [Micromodem](INFO): Nmea in: $SNTTA,0.125398,,,,080035.48*46

2021-02-16T08:00:35.403Z,1613462435.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.360001 m, bearing: 336.789661 deg, deltaT: 4.478185 s, approachRate: 0.000000 m/s, LOS rate: -7.392403 deg/s, posRepo size: 4
2021-02-16T08:00:35.405Z,1613462435.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.360001 m,
      bearing: 336.789661 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.392403 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 36.795715 deg,
      new cmd heading: 43.283444 deg.

2021-02-16T08:00:37.658Z,1613462437.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:38.437Z,1613462438.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:38.842Z,1613462438.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:39.661Z,1613462439.661 [Micromodem](INFO): Nmea in: $SNTTA,0.126531,,,,080039.92*4B

2021-02-16T08:00:40.104Z,1613462440.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.959991 m, bearing: 326.375672 deg, deltaT: 4.846964 s, approachRate: 0.742731 m/s, LOS rate: -2.148559 deg/s, posRepo size: 4
2021-02-16T08:00:40.106Z,1613462440.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.959991 m,
      bearing: 326.375672 deg,
      approachRate: 0.742731 m/s,
      LOS rate: -2.148559 deg/s,
      cmd update: -6.445678 deg/s,
      cmd heading: 338.539002 deg,
      new cmd heading: 333.899634 deg.

2021-02-16T08:00:42.511Z,1613462442.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:43.297Z,1613462443.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:43.695Z,1613462443.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:44.527Z,1613462444.527 [Micromodem](INFO): Nmea in: $SNTTA,0.128066,,,,080044.78*4C

2021-02-16T08:00:44.966Z,1613462444.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.240005 m, bearing: 16.873649 deg, deltaT: 4.833998 s, approachRate: 0.471662 m/s, LOS rate: 10.446422 deg/s, posRepo size: 4
2021-02-16T08:00:44.973Z,1613462444.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.240005 m,
      bearing: 16.873649 deg,
      approachRate: 0.471662 m/s,
      LOS rate: 10.446422 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.377777 deg,
      new cmd heading: 304.707526 deg.

2021-02-16T08:00:47.370Z,1613462447.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:48.156Z,1613462448.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:48.538Z,1613462448.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:49.367Z,1613462449.367 [Micromodem](INFO): Nmea in: $SNTTA,0.129605,,,,080049.64*4E

2021-02-16T08:00:49.824Z,1613462449.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.519989 m, bearing: 338.878114 deg, deltaT: 4.868425 s, approachRate: 0.468321 m/s, LOS rate: -7.804483 deg/s, posRepo size: 4
2021-02-16T08:00:49.825Z,1613462449.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.519989 m,
      bearing: 338.878114 deg,
      approachRate: 0.468321 m/s,
      LOS rate: -7.804483 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.702351 deg,
      new cmd heading: 10.639667 deg.

2021-02-16T08:00:52.204Z,1613462452.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:52.986Z,1613462452.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:53.391Z,1613462453.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:54.206Z,1613462454.206 [Micromodem](INFO): Nmea in: $SNTTA,0.130627,,,,080054.47*4B

2021-02-16T08:00:54.647Z,1613462454.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.019989 m, bearing: 328.166247 deg, deltaT: 4.801582 s, approachRate: 0.312397 m/s, LOS rate: -2.230904 deg/s, posRepo size: 4
2021-02-16T08:00:54.649Z,1613462454.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.019989 m,
      bearing: 328.166247 deg,
      approachRate: 0.312397 m/s,
      LOS rate: -2.230904 deg/s,
      cmd update: -6.692712 deg/s,
      cmd heading: 307.989202 deg,
      new cmd heading: 302.880381 deg.

2021-02-16T08:00:57.053Z,1613462457.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:00:57.846Z,1613462457.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:00:58.240Z,1613462458.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:00:59.055Z,1613462459.055 [Micromodem](INFO): Nmea in: $SNTTA,0.131643,,,,080059.33*46

2021-02-16T08:00:59.495Z,1613462459.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.579987 m, bearing: 334.794727 deg, deltaT: 4.879579 s, approachRate: 0.319699 m/s, LOS rate: 1.358412 deg/s, posRepo size: 4
2021-02-16T08:00:59.497Z,1613462459.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.579987 m,
      bearing: 334.794727 deg,
      approachRate: 0.319699 m/s,
      LOS rate: 1.358412 deg/s,
      cmd update: 4.075237 deg/s,
      cmd heading: 275.330882 deg,
      new cmd heading: 272.694958 deg.

2021-02-16T08:01:01.915Z,1613462461.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:02.686Z,1613462462.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:03.091Z,1613462463.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:03.900Z,1613462463.900 [Micromodem](INFO): Nmea in: $SNTTA,0.132489,,,,080104.17*4E

2021-02-16T08:01:04.351Z,1613462464.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.719986 m, bearing: 283.732342 deg, deltaT: 4.846125 s, approachRate: 0.235239 m/s, LOS rate: -10.536745 deg/s, posRepo size: 4
2021-02-16T08:01:04.353Z,1613462464.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.719986 m,
      bearing: 283.732342 deg,
      approachRate: 0.235239 m/s,
      LOS rate: -10.536745 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.080306 deg,
      new cmd heading: 296.725174 deg.

2021-02-16T08:01:06.813Z,1613462466.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:07.526Z,1613462467.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:07.938Z,1613462467.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:08.776Z,1613462468.776 [Micromodem](INFO): Nmea in: $SNTTA,0.132602,,,,080109.01*45

2021-02-16T08:01:09.203Z,1613462469.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.899994 m, bearing: 274.662452 deg, deltaT: 4.882112 s, approachRate: 0.036871 m/s, LOS rate: -1.857780 deg/s, posRepo size: 4
2021-02-16T08:01:09.209Z,1613462469.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.899994 m,
      bearing: 274.662452 deg,
      approachRate: 0.036871 m/s,
      LOS rate: -1.857780 deg/s,
      cmd update: -5.573340 deg/s,
      cmd heading: 236.735321 deg,
      new cmd heading: 232.015769 deg.

2021-02-16T08:01:11.618Z,1613462471.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:12.374Z,1613462472.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:12.808Z,1613462472.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:13.617Z,1613462473.617 [Micromodem](INFO): Nmea in: $SNTTA,0.132008,,,,080113.86*4D

2021-02-16T08:01:13.672Z,1613462473.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.899994 m, bearing: 288.189997 deg, deltaT: 4.443490 s, approachRate: 0.000000 m/s, LOS rate: 3.044351 deg/s, posRepo size: 4
2021-02-16T08:01:13.674Z,1613462473.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.899994 m,
      bearing: 288.189997 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.044351 deg/s,
      cmd update: 9.133054 deg/s,
      cmd heading: 212.003957 deg,
      new cmd heading: 209.658344 deg.

2021-02-16T08:01:16.044Z,1613462476.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:16.826Z,1613462476.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:17.240Z,1613462477.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:18.042Z,1613462478.042 [Micromodem](INFO): Nmea in: $SNTTA,0.130934,,,,080118.31*4E

2021-02-16T08:01:18.490Z,1613462478.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.259979 m, bearing: 202.015399 deg, deltaT: 4.813588 s, approachRate: -0.548450 m/s, LOS rate: -17.902363 deg/s, posRepo size: 4
2021-02-16T08:01:18.491Z,1613462478.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.902363 deg/s. Setting heading cmd to target bearing of 202.015399deg and heading rate command to 0 deg/s.
2021-02-16T08:01:20.908Z,1613462480.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:21.681Z,1613462481.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:22.086Z,1613462482.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:22.905Z,1613462482.905 [Micromodem](INFO): Nmea in: $SNTTA,0.129323,,,,080123.17*46

2021-02-16T08:01:23.342Z,1613462483.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.859985 m, bearing: 209.957584 deg, deltaT: 4.844265 s, approachRate: -0.495430 m/s, LOS rate: 1.639503 deg/s, posRepo size: 4
2021-02-16T08:01:23.344Z,1613462483.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.859985 m,
      bearing: 209.957584 deg,
      approachRate: -0.495430 m/s,
      LOS rate: 1.639503 deg/s,
      cmd update: 4.918508 deg/s,
      cmd heading: 202.015399 deg,
      new cmd heading: 202.015399 deg.

2021-02-16T08:01:25.737Z,1613462485.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:26.521Z,1613462486.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:26.922Z,1613462486.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:27.757Z,1613462487.757 [Micromodem](INFO): Nmea in: $SNTTA,0.127360,,,,080128.00*42

2021-02-16T08:01:28.171Z,1613462488.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 203.927319 deg, deltaT: 4.880509 s, approachRate: -0.602394 m/s, LOS rate: -1.235581 deg/s, posRepo size: 4
2021-02-16T08:01:28.174Z,1613462488.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 203.927319 deg,
      approachRate: -0.602394 m/s,
      LOS rate: -1.235581 deg/s,
      cmd update: -3.706743 deg/s,
      cmd heading: 226.020094 deg,
      new cmd heading: 227.785804 deg.

2021-02-16T08:01:30.626Z,1613462490.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:31.369Z,1613462491.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:31.834Z,1613462491.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:31.853Z,1613462491.853 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T08:01:32.600Z,1613462492.600 [Micromodem](INFO): Nmea in: $SNTTA,0.125298,,,,080132.85*40

2021-02-16T08:01:32.638Z,1613462492.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 204.071299 deg, deltaT: 4.401504 s, approachRate: 0.000000 m/s, LOS rate: 0.032712 deg/s, posRepo size: 4
2021-02-16T08:01:32.640Z,1613462492.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 204.071299 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.032712 deg/s,
      cmd update: 0.098135 deg/s,
      cmd heading: 209.709760 deg,
      new cmd heading: 208.128367 deg.

2021-02-16T08:01:35.033Z,1613462495.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:35.812Z,1613462495.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:36.216Z,1613462496.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:37.028Z,1613462497.028 [Micromodem](INFO): Nmea in: $SNTTA,0.123067,,,,080137.30*4F

2021-02-16T08:01:37.035Z,1613462497.035 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:01:37.467Z,1613462497.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.440018 m, bearing: 205.242390 deg, deltaT: 4.856154 s, approachRate: -1.334385 m/s, LOS rate: 0.241156 deg/s, posRepo size: 4
2021-02-16T08:01:37.469Z,1613462497.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.440018 m,
      bearing: 205.242390 deg,
      approachRate: -1.334385 m/s,
      LOS rate: 0.241156 deg/s,
      cmd update: 0.723468 deg/s,
      cmd heading: 210.184485 deg,
      new cmd heading: 210.225510 deg.

2021-02-16T08:01:39.882Z,1613462499.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:40.656Z,1613462500.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:41.079Z,1613462501.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:41.891Z,1613462501.891 [Micromodem](INFO): Nmea in: $SNTTA,0.120487,,,,080142.14*42

2021-02-16T08:01:41.898Z,1613462501.898 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:01:41.911Z,1613462501.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.440018 m, bearing: 205.775991 deg, deltaT: 4.440142 s, approachRate: 0.000000 m/s, LOS rate: 0.120177 deg/s, posRepo size: 4
2021-02-16T08:01:41.913Z,1613462501.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.440018 m,
      bearing: 205.775991 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.120177 deg/s,
      cmd update: 0.360530 deg/s,
      cmd heading: 213.410553 deg,
      new cmd heading: 213.702273 deg.

2021-02-16T08:01:44.387Z,1613462504.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:45.108Z,1613462505.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:45.516Z,1613462505.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:46.356Z,1613462506.356 [Micromodem](INFO): Nmea in: $SNTTA,0.118074,,,,080146.59*4C

2021-02-16T08:01:46.392Z,1613462506.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.440018 m, bearing: 205.273153 deg, deltaT: 4.455980 s, approachRate: 0.000000 m/s, LOS rate: -0.112846 deg/s, posRepo size: 4
2021-02-16T08:01:46.393Z,1613462506.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.440018 m,
      bearing: 205.273153 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.112846 deg/s,
      cmd update: -0.338537 deg/s,
      cmd heading: 215.016002 deg,
      new cmd heading: 215.171231 deg.

2021-02-16T08:01:48.813Z,1613462508.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:49.549Z,1613462509.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:49.967Z,1613462509.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:50.808Z,1613462510.808 [Micromodem](INFO): Nmea in: $SNTTA,0.115587,,,,080151.03*41

2021-02-16T08:01:50.850Z,1613462510.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.160004 m, bearing: 204.451577 deg, deltaT: 4.443883 s, approachRate: -2.538324 m/s, LOS rate: -0.184878 deg/s, posRepo size: 4
2021-02-16T08:01:50.856Z,1613462510.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.160004 m,
      bearing: 204.451577 deg,
      approachRate: -2.538324 m/s,
      LOS rate: -0.184878 deg/s,
      cmd update: -0.554634 deg/s,
      cmd heading: 213.510228 deg,
      new cmd heading: 213.360944 deg.

2021-02-16T08:01:53.208Z,1613462513.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:53.988Z,1613462513.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:54.332Z,1613462514.332 [CTD_Seabird](ERROR): Failed to parse device response: .52
2021-02-16T08:01:54.395Z,1613462514.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:55.220Z,1613462515.220 [Micromodem](INFO): Nmea in: $SNTTA,0.113156,,,,080155.48*44

2021-02-16T08:01:55.294Z,1613462515.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 204.536681 deg, deltaT: 4.449751 s, approachRate: -0.809032 m/s, LOS rate: 0.019126 deg/s, posRepo size: 4
2021-02-16T08:01:55.300Z,1613462515.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.560013 m,
      bearing: 204.536681 deg,
      approachRate: -0.809032 m/s,
      LOS rate: 0.019126 deg/s,
      cmd update: 0.057377 deg/s,
      cmd heading: 211.042273 deg,
      new cmd heading: 210.800805 deg.

2021-02-16T08:01:57.666Z,1613462517.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:01:58.438Z,1613462518.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:01:58.842Z,1613462518.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:01:59.668Z,1613462519.668 [Micromodem](INFO): Nmea in: $SNTTA,0.110678,,,,080159.92*47

2021-02-16T08:01:59.713Z,1613462519.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 205.132533 deg, deltaT: 4.448606 s, approachRate: -0.836217 m/s, LOS rate: 0.133941 deg/s, posRepo size: 4
2021-02-16T08:01:59.715Z,1613462519.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.840012 m,
      bearing: 205.132533 deg,
      approachRate: -0.836217 m/s,
      LOS rate: 0.133941 deg/s,
      cmd update: 0.401824 deg/s,
      cmd heading: 211.297292 deg,
      new cmd heading: 211.320814 deg.

2021-02-16T08:02:02.098Z,1613462522.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:02.881Z,1613462522.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:03.304Z,1613462523.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:04.108Z,1613462524.108 [Micromodem](INFO): Nmea in: $SNTTA,0.108337,,,,080204.36*45

2021-02-16T08:02:04.157Z,1613462524.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.300003 m, bearing: 204.627495 deg, deltaT: 4.424195 s, approachRate: -0.800147 m/s, LOS rate: -0.114154 deg/s, posRepo size: 4
2021-02-16T08:02:04.158Z,1613462524.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.300003 m,
      bearing: 204.627495 deg,
      approachRate: -0.800147 m/s,
      LOS rate: -0.114154 deg/s,
      cmd update: -0.342461 deg/s,
      cmd heading: 213.075037 deg,
      new cmd heading: 213.247532 deg.

2021-02-16T08:02:06.544Z,1613462526.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:06.935Z,1613462526.935 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:02:07.320Z,1613462527.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:07.726Z,1613462527.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:08.548Z,1613462528.548 [Micromodem](INFO): Nmea in: $SNTTA,0.105906,,,,080208.80*41

2021-02-16T08:02:08.592Z,1613462528.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.699997 m, bearing: 203.871694 deg, deltaT: 4.475516 s, approachRate: -0.804378 m/s, LOS rate: -0.168875 deg/s, posRepo size: 4
2021-02-16T08:02:08.594Z,1613462528.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.699997 m,
      bearing: 203.871694 deg,
      approachRate: -0.804378 m/s,
      LOS rate: -0.168875 deg/s,
      cmd update: -0.506624 deg/s,
      cmd heading: 211.542423 deg,
      new cmd heading: 211.408896 deg.

2021-02-16T08:02:10.993Z,1613462530.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:11.819Z,1613462531.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:12.182Z,1613462532.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:13.010Z,1613462533.010 [Micromodem](INFO): Nmea in: $SNTTA,0.103459,,,,080213.30*41

2021-02-16T08:02:13.439Z,1613462533.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 203.563639 deg, deltaT: 4.871103 s, approachRate: -0.763688 m/s, LOS rate: -0.063241 deg/s, posRepo size: 4
2021-02-16T08:02:13.441Z,1613462533.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 203.563639 deg,
      approachRate: -0.763688 m/s,
      LOS rate: -0.063241 deg/s,
      cmd update: -0.189724 deg/s,
      cmd heading: 209.074560 deg,
      new cmd heading: 208.891550 deg.

2021-02-16T08:02:15.836Z,1613462535.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:16.618Z,1613462536.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:17.035Z,1613462537.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:17.844Z,1613462537.844 [Micromodem](INFO): Nmea in: $SNTTA,0.100873,,,,080218.10*4F

2021-02-16T08:02:17.885Z,1613462537.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.140015 m, bearing: 203.438578 deg, deltaT: 4.404519 s, approachRate: -0.871828 m/s, LOS rate: -0.028394 deg/s, posRepo size: 4
2021-02-16T08:02:17.886Z,1613462537.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 203.438578 deg,
      approachRate: -0.871828 m/s,
      LOS rate: -0.028394 deg/s,
      cmd update: -0.085181 deg/s,
      cmd heading: 208.238887 deg,
      new cmd heading: 208.161830 deg.

2021-02-16T08:02:20.325Z,1613462540.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:21.056Z,1613462541.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:21.480Z,1613462541.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:21.890Z,1613462541.890 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:02:22.304Z,1613462542.304 [Micromodem](INFO): Nmea in: $SNTTA,0.098473,,,,080222.54*4A

2021-02-16T08:02:22.328Z,1613462542.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 206.045360 deg, deltaT: 4.440673 s, approachRate: -0.797178 m/s, LOS rate: 0.587024 deg/s, posRepo size: 4
2021-02-16T08:02:22.330Z,1613462542.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.600006 m,
      bearing: 206.045360 deg,
      approachRate: -0.797178 m/s,
      LOS rate: 0.587024 deg/s,
      cmd update: 1.761073 deg/s,
      cmd heading: 207.860647 deg,
      new cmd heading: 207.825807 deg.

2021-02-16T08:02:24.713Z,1613462544.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:25.505Z,1613462545.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:25.919Z,1613462545.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:26.733Z,1613462546.733 [Micromodem](INFO): Nmea in: $SNTTA,0.096107,,,,080226.99*47

2021-02-16T08:02:26.836Z,1613462546.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 204.407973 deg, deltaT: 4.432785 s, approachRate: -0.825667 m/s, LOS rate: -0.369381 deg/s, posRepo size: 4
2021-02-16T08:02:26.838Z,1613462546.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.940002 m,
      bearing: 204.407973 deg,
      approachRate: -0.825667 m/s,
      LOS rate: -0.369381 deg/s,
      cmd update: -1.108144 deg/s,
      cmd heading: 215.673135 deg,
      new cmd heading: 216.520495 deg.

2021-02-16T08:02:29.209Z,1613462549.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:29.952Z,1613462549.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:30.355Z,1613462550.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:31.189Z,1613462551.189 [Micromodem](INFO): Nmea in: $SNTTA,0.093734,,,0.096226,080231.44*55

2021-02-16T08:02:31.208Z,1613462551.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.340012 m, bearing: 202.851291 deg, deltaT: 4.469786 s, approachRate: -0.805406 m/s, LOS rate: -0.348268 deg/s, posRepo size: 4
2021-02-16T08:02:31.210Z,1613462551.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.340012 m,
      bearing: 202.851291 deg,
      approachRate: -0.805406 m/s,
      LOS rate: -0.348268 deg/s,
      cmd update: -1.044803 deg/s,
      cmd heading: 210.719461 deg,
      new cmd heading: 210.294998 deg.

2021-02-16T08:02:33.610Z,1613462553.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:34.393Z,1613462554.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:34.813Z,1613462554.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:35.620Z,1613462555.620 [Micromodem](INFO): Nmea in: $SNTTA,0.091289,,,,080235.88*47

2021-02-16T08:02:35.659Z,1613462555.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.800003 m, bearing: 203.912374 deg, deltaT: 4.454598 s, approachRate: -0.794686 m/s, LOS rate: 0.238200 deg/s, posRepo size: 4
2021-02-16T08:02:35.661Z,1613462555.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.800003 m,
      bearing: 203.912374 deg,
      approachRate: -0.794686 m/s,
      LOS rate: 0.238200 deg/s,
      cmd update: 0.714599 deg/s,
      cmd heading: 206.098216 deg,
      new cmd heading: 205.669459 deg.

2021-02-16T08:02:38.054Z,1613462558.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:38.851Z,1613462558.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:39.244Z,1613462559.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:40.076Z,1613462560.076 [Micromodem](INFO): Nmea in: $SNTTA,0.088843,,,0.098187,080240.33*50

2021-02-16T08:02:40.102Z,1613462560.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.020004 m, bearing: 203.553516 deg, deltaT: 4.389091 s, approachRate: -0.861226 m/s, LOS rate: -0.081761 deg/s, posRepo size: 4
2021-02-16T08:02:40.124Z,1613462560.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.020004 m,
      bearing: 203.553516 deg,
      approachRate: -0.861226 m/s,
      LOS rate: -0.081761 deg/s,
      cmd update: -0.245284 deg/s,
      cmd heading: 209.257440 deg,
      new cmd heading: 209.566494 deg.

2021-02-16T08:02:42.492Z,1613462562.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:43.293Z,1613462563.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:43.685Z,1613462563.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:44.504Z,1613462564.504 [Micromodem](INFO): Nmea in: $SNTTA,0.086412,,,,080244.78*4C

2021-02-16T08:02:45.340Z,1613462565.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:46.917Z,1613462566.917 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:02:48.161Z,1613462568.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:48.932Z,1613462568.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:49.345Z,1613462569.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:50.175Z,1613462570.175 [Micromodem](INFO): Nmea in: $SNTTA,0.083391,,,0.085866,080250.42*52

2021-02-16T08:02:50.208Z,1613462570.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.920006 m, bearing: 203.283109 deg, deltaT: 10.132009 s, approachRate: -0.799446 m/s, LOS rate: -0.026688 deg/s, posRepo size: 4
2021-02-16T08:02:50.210Z,1613462570.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 203.283109 deg,
      approachRate: -0.799446 m/s,
      LOS rate: -0.026688 deg/s,
      cmd update: -0.080065 deg/s,
      cmd heading: 206.773268 deg,
      new cmd heading: 206.672589 deg.

2021-02-16T08:02:52.611Z,1613462572.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:53.377Z,1613462573.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:53.806Z,1613462573.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:54.620Z,1613462574.620 [Micromodem](INFO): Nmea in: $SNTTA,0.081151,,,,080254.86*49

2021-02-16T08:02:54.644Z,1613462574.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 202.241792 deg, deltaT: 4.419810 s, approachRate: -0.773790 m/s, LOS rate: -0.235602 deg/s, posRepo size: 4
2021-02-16T08:02:54.645Z,1613462574.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 202.241792 deg,
      approachRate: -0.773790 m/s,
      LOS rate: -0.235602 deg/s,
      cmd update: -0.706807 deg/s,
      cmd heading: 206.419054 deg,
      new cmd heading: 206.385249 deg.

2021-02-16T08:02:57.045Z,1613462577.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:02:57.826Z,1613462577.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:02:58.226Z,1613462578.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:02:59.056Z,1613462579.056 [Micromodem](INFO): Nmea in: $SNTTA,0.078754,,,,080259.31*4D

2021-02-16T08:02:59.098Z,1613462579.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 203.917579 deg, deltaT: 4.455679 s, approachRate: -0.794492 m/s, LOS rate: 0.376101 deg/s, posRepo size: 4
2021-02-16T08:02:59.100Z,1613462579.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.959999 m,
      bearing: 203.917579 deg,
      approachRate: -0.794492 m/s,
      LOS rate: 0.376101 deg/s,
      cmd update: 1.128304 deg/s,
      cmd heading: 203.269705 deg,
      new cmd heading: 202.972190 deg.

2021-02-16T08:03:01.498Z,1613462581.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:02.293Z,1613462582.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:02.670Z,1613462582.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:03.512Z,1613462583.512 [Micromodem](INFO): Nmea in: $SNTTA,0.076274,,,,080303.78*47

2021-02-16T08:03:03.567Z,1613462583.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.239998 m, bearing: 204.084263 deg, deltaT: 4.434823 s, approachRate: -0.838816 m/s, LOS rate: 0.037585 deg/s, posRepo size: 4
2021-02-16T08:03:03.569Z,1613462583.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.239998 m,
      bearing: 204.084263 deg,
      approachRate: -0.838816 m/s,
      LOS rate: 0.037585 deg/s,
      cmd update: 0.112756 deg/s,
      cmd heading: 208.273251 deg,
      new cmd heading: 208.782492 deg.

2021-02-16T08:03:05.933Z,1613462585.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:06.717Z,1613462586.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:07.119Z,1613462587.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:07.956Z,1613462587.956 [Micromodem](INFO): Nmea in: $SNTTA,,,0.121310,,080308.20*41

2021-02-16T08:03:07.981Z,1613462587.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 201.317749 deg, deltaT: 4.439340 s, approachRate: -0.824446 m/s, LOS rate: -0.623181 deg/s, posRepo size: 4
2021-02-16T08:03:07.983Z,1613462587.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.580002 m,
      bearing: 201.317749 deg,
      approachRate: -0.824446 m/s,
      LOS rate: -0.623181 deg/s,
      cmd update: -1.869544 deg/s,
      cmd heading: 208.773832 deg,
      new cmd heading: 208.822322 deg.

2021-02-16T08:03:10.370Z,1613462590.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:11.152Z,1613462591.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:11.561Z,1613462591.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:12.384Z,1613462592.384 [Micromodem](INFO): Nmea in: $SNTTA,0.071613,,,,080312.64*48

2021-02-16T08:03:12.425Z,1613462592.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 205.320828 deg, deltaT: 4.450957 s, approachRate: -0.768374 m/s, LOS rate: 0.899375 deg/s, posRepo size: 4
2021-02-16T08:03:12.427Z,1613462592.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 205.320828 deg,
      approachRate: -0.768374 m/s,
      LOS rate: 0.899375 deg/s,
      cmd update: 2.698124 deg/s,
      cmd heading: 200.452505 deg,
      new cmd heading: 199.661946 deg.

2021-02-16T08:03:14.832Z,1613462594.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:15.598Z,1613462595.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:16.013Z,1613462596.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:16.851Z,1613462596.851 [Micromodem](INFO): Nmea in: $SNTTA,0.069199,,,,080317.08*4B

2021-02-16T08:03:16.904Z,1613462596.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 204.206810 deg, deltaT: 4.443165 s, approachRate: -0.783225 m/s, LOS rate: -0.250726 deg/s, posRepo size: 4
2021-02-16T08:03:16.906Z,1613462596.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.680008 m,
      bearing: 204.206810 deg,
      approachRate: -0.783225 m/s,
      LOS rate: -0.250726 deg/s,
      cmd update: -0.752178 deg/s,
      cmd heading: 212.440746 deg,
      new cmd heading: 213.679333 deg.

2021-02-16T08:03:19.289Z,1613462599.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:20.049Z,1613462600.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:20.446Z,1613462600.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:21.308Z,1613462601.308 [Micromodem](INFO): Nmea in: $SNTTA,0.066824,,,,080321.54*47

2021-02-16T08:03:21.333Z,1613462601.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 201.395327 deg, deltaT: 4.461790 s, approachRate: -0.793404 m/s, LOS rate: -0.630125 deg/s, posRepo size: 4
2021-02-16T08:03:21.334Z,1613462601.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 201.395327 deg,
      approachRate: -0.793404 m/s,
      LOS rate: -0.630125 deg/s,
      cmd update: -1.890374 deg/s,
      cmd heading: 209.087861 deg,
      new cmd heading: 208.764602 deg.

2021-02-16T08:03:23.691Z,1613462603.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:24.486Z,1613462604.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:24.908Z,1613462604.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:25.729Z,1613462605.729 [Micromodem](INFO): Nmea in: $SNTTA,0.064422,,,,080325.97*44

2021-02-16T08:03:25.752Z,1613462605.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.479996 m, bearing: 201.328391 deg, deltaT: 4.421158 s, approachRate: -0.827840 m/s, LOS rate: -0.015140 deg/s, posRepo size: 4
2021-02-16T08:03:25.756Z,1613462605.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 201.328391 deg,
      approachRate: -0.827840 m/s,
      LOS rate: -0.015140 deg/s,
      cmd update: -0.045420 deg/s,
      cmd heading: 200.723085 deg,
      new cmd heading: 199.921043 deg.

2021-02-16T08:03:28.148Z,1613462608.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:28.930Z,1613462608.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:29.347Z,1613462609.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:30.169Z,1613462610.169 [Micromodem](INFO): Nmea in: $SNTTA,0.062182,,,,080330.42*41

2021-02-16T08:03:30.204Z,1613462610.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.820000 m, bearing: 201.453192 deg, deltaT: 4.489271 s, approachRate: -0.815276 m/s, LOS rate: 0.027800 deg/s, posRepo size: 4
2021-02-16T08:03:30.206Z,1613462610.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.820000 m,
      bearing: 201.453192 deg,
      approachRate: -0.815276 m/s,
      LOS rate: 0.027800 deg/s,
      cmd update: 0.083400 deg/s,
      cmd heading: 200.519347 deg,
      new cmd heading: 200.501626 deg.

2021-02-16T08:03:32.603Z,1613462612.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:33.373Z,1613462613.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:33.810Z,1613462613.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:34.619Z,1613462614.619 [Micromodem](INFO): Nmea in: $SNTTA,0.059893,,,,080334.86*4C

2021-02-16T08:03:34.652Z,1613462614.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.760002 m, bearing: 203.350728 deg, deltaT: 4.400010 s, approachRate: -0.695452 m/s, LOS rate: 0.431257 deg/s, posRepo size: 4
2021-02-16T08:03:34.653Z,1613462614.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.760002 m,
      bearing: 203.350728 deg,
      approachRate: -0.695452 m/s,
      LOS rate: 0.431257 deg/s,
      cmd update: 1.293771 deg/s,
      cmd heading: 200.886634 deg,
      new cmd heading: 200.922825 deg.

2021-02-16T08:03:37.050Z,1613462617.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:37.820Z,1613462617.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:38.222Z,1613462618.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:39.056Z,1613462619.056 [Micromodem](INFO): Nmea in: $SNTTA,0.057334,,,,080339.30*44

2021-02-16T08:03:39.102Z,1613462619.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 202.900960 deg, deltaT: 4.456384 s, approachRate: -0.875149 m/s, LOS rate: -0.100927 deg/s, posRepo size: 4
2021-02-16T08:03:39.104Z,1613462619.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.860001 m,
      bearing: 202.900960 deg,
      approachRate: -0.875149 m/s,
      LOS rate: -0.100927 deg/s,
      cmd update: -0.302780 deg/s,
      cmd heading: 206.631648 deg,
      new cmd heading: 207.205802 deg.

2021-02-16T08:03:41.506Z,1613462621.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:42.288Z,1613462622.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:42.671Z,1613462622.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:43.504Z,1613462623.504 [Micromodem](INFO): Nmea in: $SNTTA,0.055075,,,,080343.77*4E

2021-02-16T08:03:43.549Z,1613462623.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.500000 m, bearing: 201.107339 deg, deltaT: 4.459688 s, approachRate: -0.753416 m/s, LOS rate: -0.402185 deg/s, posRepo size: 4
2021-02-16T08:03:43.550Z,1613462623.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.500000 m,
      bearing: 201.107339 deg,
      approachRate: -0.753416 m/s,
      LOS rate: -0.402185 deg/s,
      cmd update: -1.206556 deg/s,
      cmd heading: 205.277731 deg,
      new cmd heading: 205.150779 deg.

2021-02-16T08:03:45.941Z,1613462625.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:46.706Z,1613462626.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:47.118Z,1613462627.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:47.932Z,1613462627.932 [Micromodem](INFO): Nmea in: $SNTTA,0.052770,,,,080348.19*48

2021-02-16T08:03:47.971Z,1613462627.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 200.604022 deg, deltaT: 4.432922 s, approachRate: -0.798571 m/s, LOS rate: -0.113541 deg/s, posRepo size: 4
2021-02-16T08:03:47.973Z,1613462627.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 200.604022 deg,
      approachRate: -0.798571 m/s,
      LOS rate: -0.113541 deg/s,
      cmd update: -0.340622 deg/s,
      cmd heading: 199.929195 deg,
      new cmd heading: 199.436251 deg.

2021-02-16T08:03:50.370Z,1613462630.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:51.148Z,1613462631.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:51.574Z,1613462631.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:51.962Z,1613462631.962 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:03:52.376Z,1613462632.376 [Micromodem](INFO): Nmea in: $SNTTA,0.050260,,,,080352.63*48

2021-02-16T08:03:52.423Z,1613462632.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.239998 m, bearing: 201.694311 deg, deltaT: 4.436319 s, approachRate: -0.838533 m/s, LOS rate: 0.245764 deg/s, posRepo size: 4
2021-02-16T08:03:52.425Z,1613462632.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.239998 m,
      bearing: 201.694311 deg,
      approachRate: -0.838533 m/s,
      LOS rate: 0.245764 deg/s,
      cmd update: 0.737293 deg/s,
      cmd heading: 198.418113 deg,
      new cmd heading: 198.273700 deg.

2021-02-16T08:03:54.834Z,1613462634.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:03:55.592Z,1613462635.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:03:56.011Z,1613462636.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:03:56.825Z,1613462636.825 [Micromodem](INFO): Nmea in: $SNTTA,0.047901,,,0.063031,080357.08*53

2021-02-16T08:03:56.927Z,1613462636.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 201.557120 deg, deltaT: 4.445649 s, approachRate: -0.796283 m/s, LOS rate: -0.030860 deg/s, posRepo size: 4
2021-02-16T08:03:56.929Z,1613462636.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.700005 m,
      bearing: 201.557120 deg,
      approachRate: -0.796283 m/s,
      LOS rate: -0.030860 deg/s,
      cmd update: -0.092579 deg/s,
      cmd heading: 201.695939 deg,
      new cmd heading: 202.048915 deg.

2021-02-16T08:03:59.265Z,1613462639.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:00.046Z,1613462640.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:00.442Z,1613462640.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:01.304Z,1613462641.304 [Micromodem](INFO): Nmea in: $SNTTA,0.045481,,,,080401.53*47

2021-02-16T08:04:01.328Z,1613462641.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 202.086870 deg, deltaT: 4.447909 s, approachRate: -0.795880 m/s, LOS rate: 0.119101 deg/s, posRepo size: 4
2021-02-16T08:04:01.330Z,1613462641.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.160004 m,
      bearing: 202.086870 deg,
      approachRate: -0.795880 m/s,
      LOS rate: 0.119101 deg/s,
      cmd update: 0.357302 deg/s,
      cmd heading: 201.284174 deg,
      new cmd heading: 201.243808 deg.

2021-02-16T08:04:03.690Z,1613462643.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:04.482Z,1613462644.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:04.904Z,1613462644.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:05.708Z,1613462645.708 [Micromodem](INFO): Nmea in: $SNTTA,0.043187,,,,080405.97*4E

2021-02-16T08:04:05.761Z,1613462645.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 199.563238 deg, deltaT: 4.459002 s, approachRate: -0.834268 m/s, LOS rate: -0.565963 deg/s, posRepo size: 4
2021-02-16T08:04:05.776Z,1613462645.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 199.563238 deg,
      approachRate: -0.834268 m/s,
      LOS rate: -0.565963 deg/s,
      cmd update: -1.697890 deg/s,
      cmd heading: 202.878039 deg,
      new cmd heading: 203.021528 deg.

2021-02-16T08:04:08.173Z,1613462648.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:08.945Z,1613462648.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:09.330Z,1613462649.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:10.165Z,1613462650.165 [Micromodem](INFO): Nmea in: $SNTTA,0.040807,,,,080410.43*41

2021-02-16T08:04:10.217Z,1613462650.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 199.768854 deg, deltaT: 4.394987 s, approachRate: -0.778161 m/s, LOS rate: 0.046784 deg/s, posRepo size: 4
2021-02-16T08:04:10.218Z,1613462650.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 199.768854 deg,
      approachRate: -0.778161 m/s,
      LOS rate: 0.046784 deg/s,
      cmd update: 0.140353 deg/s,
      cmd heading: 195.411849 deg,
      new cmd heading: 194.619779 deg.

2021-02-16T08:04:12.597Z,1613462652.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:13.385Z,1613462653.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:13.810Z,1613462653.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:14.611Z,1613462654.611 [Micromodem](INFO): Nmea in: $SNTTA,0.038293,,0.043737,,080414.87*5F

2021-02-16T08:04:14.635Z,1613462654.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 200.344447 deg, deltaT: 4.462420 s, approachRate: -0.847072 m/s, LOS rate: 0.128987 deg/s, posRepo size: 4
2021-02-16T08:04:14.637Z,1613462654.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.240005 m,
      bearing: 200.344447 deg,
      approachRate: -0.847072 m/s,
      LOS rate: 0.128987 deg/s,
      cmd update: 0.386961 deg/s,
      cmd heading: 196.038144 deg,
      new cmd heading: 196.097475 deg.

2021-02-16T08:04:17.053Z,1613462657.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:17.814Z,1613462657.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:18.219Z,1613462658.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:19.044Z,1613462659.044 [Micromodem](INFO): Nmea in: $SNTTA,0.036134,,,,080419.30*44

2021-02-16T08:04:19.096Z,1613462659.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.700005 m, bearing: 199.706016 deg, deltaT: 4.450550 s, approachRate: -0.795408 m/s, LOS rate: -0.143450 deg/s, posRepo size: 4
2021-02-16T08:04:19.099Z,1613462659.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 199.706016 deg,
      approachRate: -0.795408 m/s,
      LOS rate: -0.143450 deg/s,
      cmd update: -0.430350 deg/s,
      cmd heading: 197.752645 deg,
      new cmd heading: 197.927711 deg.

2021-02-16T08:04:21.473Z,1613462661.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:22.287Z,1613462662.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:22.662Z,1613462662.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:23.500Z,1613462663.500 [Micromodem](INFO): Nmea in: $SNTTA,0.033540,,,,080423.77*4C

2021-02-16T08:04:23.545Z,1613462663.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.039997 m, bearing: 199.911004 deg, deltaT: 4.431142 s, approachRate: -0.825974 m/s, LOS rate: 0.046261 deg/s, posRepo size: 4
2021-02-16T08:04:23.547Z,1613462663.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.039997 m,
      bearing: 199.911004 deg,
      approachRate: -0.825974 m/s,
      LOS rate: 0.046261 deg/s,
      cmd update: 0.138782 deg/s,
      cmd heading: 195.837262 deg,
      new cmd heading: 195.643001 deg.

2021-02-16T08:04:25.931Z,1613462665.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:26.701Z,1613462666.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:27.111Z,1613462667.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:27.932Z,1613462667.932 [Micromodem](INFO): Nmea in: $SNTTA,0.031150,,,,080428.18*49

2021-02-16T08:04:27.981Z,1613462667.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 200.495449 deg, deltaT: 4.463355 s, approachRate: -0.793124 m/s, LOS rate: 0.130943 deg/s, posRepo size: 4
2021-02-16T08:04:27.983Z,1613462667.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.500004 m,
      bearing: 200.495449 deg,
      approachRate: -0.793124 m/s,
      LOS rate: 0.130943 deg/s,
      cmd update: 0.392829 deg/s,
      cmd heading: 196.456197 deg,
      new cmd heading: 196.515482 deg.

2021-02-16T08:04:30.374Z,1613462670.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:31.150Z,1613462671.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:31.550Z,1613462671.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:32.376Z,1613462672.376 [Micromodem](INFO): Nmea in: $SNTTA,0.028685,,,,080432.63*49

2021-02-16T08:04:32.421Z,1613462672.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 201.111300 deg, deltaT: 4.457063 s, approachRate: -0.821169 m/s, LOS rate: 0.138174 deg/s, posRepo size: 4
2021-02-16T08:04:32.422Z,1613462672.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.840000 m,
      bearing: 201.111300 deg,
      approachRate: -0.821169 m/s,
      LOS rate: 0.138174 deg/s,
      cmd update: 0.414522 deg/s,
      cmd heading: 198.208591 deg,
      new cmd heading: 198.368034 deg.

2021-02-16T08:04:34.833Z,1613462674.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:35.609Z,1613462675.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:35.993Z,1613462675.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:36.832Z,1613462676.832 [Micromodem](INFO): Nmea in: $SNTTA,0.026255,,,,080437.09*47

2021-02-16T08:04:36.870Z,1613462676.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.240002 m, bearing: 200.451736 deg, deltaT: 4.432335 s, approachRate: -0.812213 m/s, LOS rate: -0.148807 deg/s, posRepo size: 4
2021-02-16T08:04:36.871Z,1613462676.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-02-16T08:04:36.873Z,1613462676.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 200.451736 deg,
      approachRate: -0.812213 m/s,
      LOS rate: -0.148807 deg/s,
      cmd update: -0.446422 deg/s,
      cmd heading: 200.044269 deg,
      new cmd heading: 200.221344 deg.

2021-02-16T08:04:37.237Z,1613462677.237 [PowerOnly](INFO): Powering up loadControl
2021-02-16T08:04:39.294Z,1613462679.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:40.037Z,1613462680.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:40.438Z,1613462680.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:41.293Z,1613462681.293 [Micromodem](INFO): Nmea in: $SNTTA,0.023896,,,,080441.52*48

2021-02-16T08:04:41.317Z,1613462681.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 201.275962 deg, deltaT: 4.418142 s, approachRate: -0.814823 m/s, LOS rate: 0.186555 deg/s, posRepo size: 4
2021-02-16T08:04:41.318Z,1613462681.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.64 m.
2021-02-16T08:04:41.318Z,1613462681.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.64 m.
2021-02-16T08:04:41.318Z,1613462681.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T08:04:41.321Z,1613462681.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 201.275962 deg,
      approachRate: -0.814823 m/s,
      LOS rate: 0.186555 deg/s,
      cmd update: 0.559665 deg/s,
      cmd heading: 198.070115 deg,
      new cmd heading: 197.868239 deg.

2021-02-16T08:04:43.701Z,1613462683.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:44.482Z,1613462684.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:44.888Z,1613462684.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:45.719Z,1613462685.719 [Micromodem](INFO): Nmea in: $SNTTA,0.021466,,,,080445.97*44

2021-02-16T08:04:45.775Z,1613462685.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.979998 m, bearing: 201.708778 deg, deltaT: 4.462602 s, approachRate: -0.820150 m/s, LOS rate: 0.096987 deg/s, posRepo size: 4
2021-02-16T08:04:45.786Z,1613462685.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.979998 m,
      bearing: 201.708778 deg,
      approachRate: -0.820150 m/s,
      LOS rate: 0.096987 deg/s,
      cmd update: 0.290962 deg/s,
      cmd heading: 200.567680 deg,
      new cmd heading: 200.802099 deg.

2021-02-16T08:04:48.172Z,1613462688.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:48.924Z,1613462688.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:49.331Z,1613462689.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:50.152Z,1613462690.152 [Micromodem](INFO): Nmea in: $SNTTA,0.019078,,,,080450.41*4B

2021-02-16T08:04:50.205Z,1613462690.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 199.087051 deg, deltaT: 4.467640 s, approachRate: -0.792364 m/s, LOS rate: -0.586826 deg/s, posRepo size: 4
2021-02-16T08:04:50.207Z,1613462690.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 199.087051 deg,
      approachRate: -0.792364 m/s,
      LOS rate: -0.586826 deg/s,
      cmd update: -1.760478 deg/s,
      cmd heading: 201.864019 deg,
      new cmd heading: 201.986698 deg.

2021-02-16T08:04:52.592Z,1613462692.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:53.381Z,1613462693.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:53.802Z,1613462693.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:54.604Z,1613462694.604 [Micromodem](INFO): Nmea in: $SNTTA,0.016796,,,,080454.87*4D

2021-02-16T08:04:54.629Z,1613462694.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 199.406703 deg, deltaT: 4.413733 s, approachRate: -0.788449 m/s, LOS rate: 0.072422 deg/s, posRepo size: 4
2021-02-16T08:04:54.630Z,1613462694.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.959997 m,
      bearing: 199.406703 deg,
      approachRate: -0.788449 m/s,
      LOS rate: 0.072422 deg/s,
      cmd update: 0.217267 deg/s,
      cmd heading: 194.072111 deg,
      new cmd heading: 193.334009 deg.

2021-02-16T08:04:57.033Z,1613462697.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:04:57.822Z,1613462697.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:04:58.225Z,1613462698.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:04:59.064Z,1613462699.064 [Micromodem](INFO): Nmea in: $SNTTA,0.014531,,,,080459.31*40

2021-02-16T08:04:59.094Z,1613462699.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 200.882093 deg, deltaT: 4.450567 s, approachRate: -0.754959 m/s, LOS rate: 0.331506 deg/s, posRepo size: 4
2021-02-16T08:04:59.096Z,1613462699.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.600000 m,
      bearing: 200.882093 deg,
      approachRate: -0.754959 m/s,
      LOS rate: 0.331506 deg/s,
      cmd update: 0.994518 deg/s,
      cmd heading: 195.039003 deg,
      new cmd heading: 195.133496 deg.

2021-02-16T08:05:01.469Z,1613462701.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:02.261Z,1613462702.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:02.659Z,1613462702.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:03.504Z,1613462703.504 [Micromodem](INFO): Nmea in: $SNTTA,0.012311,,0.026718,,080503.75*58

2021-02-16T08:05:03.529Z,1613462703.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 201.544717 deg, deltaT: 4.443393 s, approachRate: -0.756179 m/s, LOS rate: 0.149126 deg/s, posRepo size: 4
2021-02-16T08:05:03.530Z,1613462703.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 201.544717 deg,
      approachRate: -0.756179 m/s,
      LOS rate: 0.149126 deg/s,
      cmd update: 0.447377 deg/s,
      cmd heading: 199.458306 deg,
      new cmd heading: 199.881564 deg.

2021-02-16T08:05:05.925Z,1613462705.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:06.696Z,1613462706.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:07.104Z,1613462707.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:07.932Z,1613462707.932 [Micromodem](INFO): Nmea in: $SNTTA,0.010004,,,,080508.18*49

2021-02-16T08:05:07.957Z,1613462707.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 200.703483 deg, deltaT: 4.434483 s, approachRate: -0.771229 m/s, LOS rate: -0.189703 deg/s, posRepo size: 4
2021-02-16T08:05:07.959Z,1613462707.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.820001 m,
      bearing: 200.703483 deg,
      approachRate: -0.771229 m/s,
      LOS rate: -0.189703 deg/s,
      cmd update: -0.569108 deg/s,
      cmd heading: 201.442218 deg,
      new cmd heading: 201.629783 deg.

2021-02-16T08:05:10.378Z,1613462710.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:11.142Z,1613462711.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:11.563Z,1613462711.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:12.372Z,1613462712.372 [Micromodem](INFO): Nmea in: $SNTTA,0.007733,,,,080512.63*4B

2021-02-16T08:05:12.421Z,1613462712.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 198.509845 deg, deltaT: 4.465564 s, approachRate: -0.792733 m/s, LOS rate: -0.491234 deg/s, posRepo size: 4
2021-02-16T08:05:12.422Z,1613462712.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 198.509845 deg,
      approachRate: -0.792733 m/s,
      LOS rate: -0.491234 deg/s,
      cmd update: -1.473703 deg/s,
      cmd heading: 198.900847 deg,
      new cmd heading: 198.663358 deg.

2021-02-16T08:05:14.877Z,1613462714.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:15.585Z,1613462715.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:15.989Z,1613462715.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:16.820Z,1613462716.820 [Micromodem](INFO): Nmea in: $SNTTA,0.005679,,,,080517.07*41

2021-02-16T08:05:16.866Z,1613462716.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.100000 m, bearing: 196.949270 deg, deltaT: 4.446057 s, approachRate: -0.715240 m/s, LOS rate: -0.351002 deg/s, posRepo size: 4
2021-02-16T08:05:16.868Z,1613462716.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 196.949270 deg,
      approachRate: -0.715240 m/s,
      LOS rate: -0.351002 deg/s,
      cmd update: -1.053006 deg/s,
      cmd heading: 192.354538 deg,
      new cmd heading: 191.734418 deg.

2021-02-16T08:05:19.286Z,1613462719.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:20.050Z,1613462720.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:20.458Z,1613462720.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:21.308Z,1613462721.308 [Micromodem](INFO): Nmea in: $SNTTA,0.003761,,,0.059053,080521.54*58

2021-02-16T08:05:21.353Z,1613462721.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 194.074511 deg, deltaT: 4.449743 s, approachRate: -0.647228 m/s, LOS rate: -0.646050 deg/s, posRepo size: 4
2021-02-16T08:05:21.354Z,1613462721.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 194.074511 deg,
      approachRate: -0.647228 m/s,
      LOS rate: -0.646050 deg/s,
      cmd update: -1.938151 deg/s,
      cmd heading: 187.668994 deg,
      new cmd heading: 187.186946 deg.

2021-02-16T08:05:23.694Z,1613462723.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:24.482Z,1613462724.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:24.895Z,1613462724.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:25.708Z,1613462725.708 [Micromodem](INFO): Nmea in: $SNTTA,0.002712,,,,080525.97*42

2021-02-16T08:05:25.744Z,1613462725.744 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T08:05:25.745Z,1613462725.745 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T08:05:25.746Z,1613462725.746 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T08:05:25.748Z,1613462725.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 170.219379 deg, deltaT: 4.439500 s, approachRate: -0.270301 m/s, LOS rate: -5.373383 deg/s, posRepo size: 4
2021-02-16T08:05:25.750Z,1613462725.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 170.219379 deg,
      approachRate: -0.270301 m/s,
      LOS rate: -5.373383 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 179.064570 deg,
      new cmd heading: 178.263627 deg.

2021-02-16T08:05:26.131Z,1613462726.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T080526: (41.552319, -70.708603)
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T08:05:26.132Z,1613462726.132 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:05:28.145Z,1613462728.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:28.920Z,1613462728.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:29.328Z,1613462729.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:30.157Z,1613462730.157 [Micromodem](INFO): Nmea in: $SNTTA,0.004916,,,,080530.40*40

2021-02-16T08:05:30.213Z,1613462730.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 168.226507 deg, deltaT: 4.408167 s, approachRate: 0.299444 m/s, LOS rate: -0.452086 deg/s, posRepo size: 4
2021-02-16T08:05:30.214Z,1613462730.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 168.226507 deg,
      approachRate: 0.299444 m/s,
      LOS rate: -0.452086 deg/s,
      cmd update: -1.356259 deg/s,
      cmd heading: 126.155884 deg,
      new cmd heading: 120.526348 deg.

2021-02-16T08:05:32.586Z,1613462732.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:33.373Z,1613462733.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:33.799Z,1613462733.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:34.596Z,1613462734.596 [Micromodem](INFO): Nmea in: $SNTTA,0.005391,,,,080534.86*4A

2021-02-16T08:05:34.635Z,1613462734.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 158.659011 deg, deltaT: 4.465131 s, approachRate: 0.644998 m/s, LOS rate: -2.142714 deg/s, posRepo size: 4
2021-02-16T08:05:34.637Z,1613462734.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 158.659011 deg,
      approachRate: 0.644998 m/s,
      LOS rate: -2.142714 deg/s,
      cmd update: -6.428141 deg/s,
      cmd heading: 120.095720 deg,
      new cmd heading: 119.521859 deg.

2021-02-16T08:05:37.037Z,1613462737.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:37.815Z,1613462737.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:38.221Z,1613462738.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:39.040Z,1613462739.040 [Micromodem](INFO): Nmea in: $SNTTA,0.007001,,,,080539.30*42

2021-02-16T08:05:39.082Z,1613462739.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 168.637630 deg, deltaT: 4.463573 s, approachRate: 0.524244 m/s, LOS rate: 2.235568 deg/s, posRepo size: 4
2021-02-16T08:05:39.084Z,1613462739.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 168.637630 deg,
      approachRate: 0.524244 m/s,
      LOS rate: 2.235568 deg/s,
      cmd update: 6.706703 deg/s,
      cmd heading: 91.403657 deg,
      new cmd heading: 88.786767 deg.

2021-02-16T08:05:41.480Z,1613462741.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:42.273Z,1613462742.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:42.658Z,1613462742.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:43.496Z,1613462743.496 [Micromodem](INFO): Nmea in: $SNTTA,0.008701,,,,080543.76*45

2021-02-16T08:05:43.520Z,1613462743.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 99.881333 deg, deltaT: 4.411000 s, approachRate: 0.843346 m/s, LOS rate: -15.587463 deg/s, posRepo size: 4
2021-02-16T08:05:43.520Z,1613462743.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.28 m. Rolling out.
2021-02-16T08:05:43.521Z,1613462743.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T08:05:45.922Z,1613462745.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:46.696Z,1613462746.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:47.111Z,1613462747.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:47.928Z,1613462747.928 [Micromodem](INFO): Nmea in: $SNTTA,0.010146,,,,080548.18*4A

2021-02-16T08:05:47.953Z,1613462747.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.359997 m, bearing: 139.705509 deg, deltaT: 4.447807 s, approachRate: 0.242816 m/s, LOS rate: 8.953665 deg/s, posRepo size: 4
2021-02-16T08:05:50.382Z,1613462750.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:51.158Z,1613462751.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:51.546Z,1613462751.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:52.385Z,1613462752.385 [Micromodem](INFO): Nmea in: $SNTTA,0.011647,,,,080552.64*4D

2021-02-16T08:05:52.464Z,1613462752.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 133.351165 deg, deltaT: 4.483670 s, approachRate: 0.508512 m/s, LOS rate: -1.417219 deg/s, posRepo size: 4
2021-02-16T08:05:54.831Z,1613462754.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:05:55.600Z,1613462755.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:05:56.007Z,1613462756.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:05:56.844Z,1613462756.844 [Micromodem](INFO): Nmea in: $SNTTA,0.013279,,,,080557.09*48

2021-02-16T08:05:56.870Z,1613462756.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 144.312157 deg, deltaT: 4.427351 s, approachRate: 0.691159 m/s, LOS rate: 2.475745 deg/s, posRepo size: 4
2021-02-16T08:05:59.263Z,1613462759.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:00.028Z,1613462760.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:00.434Z,1613462760.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:01.273Z,1613462761.273 [Micromodem](INFO): Nmea in: $SNTTA,0.014970,,,0.046319,080601.51*57

2021-02-16T08:06:01.321Z,1613462761.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.219997 m, bearing: 84.302641 deg, deltaT: 4.432349 s, approachRate: 0.568547 m/s, LOS rate: -13.538987 deg/s, posRepo size: 4
2021-02-16T08:06:03.685Z,1613462763.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:04.478Z,1613462764.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:04.878Z,1613462764.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:05.708Z,1613462765.708 [Micromodem](INFO): Nmea in: $SNTTA,0.017111,,0.053435,,080605.96*59

2021-02-16T08:06:05.743Z,1613462765.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 83.831693 deg, deltaT: 4.452270 s, approachRate: 0.579480 m/s, LOS rate: -0.105777 deg/s, posRepo size: 4
2021-02-16T08:06:08.159Z,1613462768.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:08.918Z,1613462768.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:09.334Z,1613462769.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:10.148Z,1613462770.148 [Micromodem](INFO): Nmea in: $SNTTA,0.018588,,,0.041674,080610.40*59

2021-02-16T08:06:10.201Z,1613462770.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.020000 m, bearing: 76.180891 deg, deltaT: 4.456922 s, approachRate: 0.498102 m/s, LOS rate: -1.716611 deg/s, posRepo size: 4
2021-02-16T08:06:11.765Z,1613462771.765 [PowerOnly](INFO): Powering down loadControl
2021-02-16T08:06:12.593Z,1613462772.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:13.365Z,1613462773.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:13.803Z,1613462773.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:14.592Z,1613462774.592 [Micromodem](INFO): Nmea in: $SNTTA,0.020494,,,,080614.85*4D

2021-02-16T08:06:14.646Z,1613462774.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 74.622603 deg, deltaT: 4.432513 s, approachRate: 0.649745 m/s, LOS rate: -0.351558 deg/s, posRepo size: 4
2021-02-16T08:06:17.049Z,1613462777.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:17.810Z,1613462777.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:18.213Z,1613462778.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:19.040Z,1613462779.040 [Micromodem](INFO): Nmea in: $SNTTA,0.022499,,0.056868,,080619.29*52

2021-02-16T08:06:19.082Z,1613462779.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 76.182960 deg, deltaT: 4.435934 s, approachRate: 0.676295 m/s, LOS rate: 0.351754 deg/s, posRepo size: 4
2021-02-16T08:06:21.479Z,1613462781.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:22.264Z,1613462782.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:22.654Z,1613462782.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:23.496Z,1613462783.496 [Micromodem](INFO): Nmea in: $SNTTA,0.024543,,,,080623.75*49

2021-02-16T08:06:23.531Z,1613462783.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 82.278938 deg, deltaT: 4.453629 s, approachRate: 0.687080 m/s, LOS rate: 1.368766 deg/s, posRepo size: 4
2021-02-16T08:06:25.917Z,1613462785.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:26.697Z,1613462786.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:27.099Z,1613462787.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:27.924Z,1613462787.924 [Micromodem](INFO): Nmea in: $SNTTA,0.026512,,,,080628.18*4F

2021-02-16T08:06:27.968Z,1613462787.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 80.308791 deg, deltaT: 4.443557 s, approachRate: 0.661633 m/s, LOS rate: -0.443372 deg/s, posRepo size: 4
2021-02-16T08:06:30.369Z,1613462790.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:31.142Z,1613462791.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:31.546Z,1613462791.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:32.368Z,1613462792.368 [Micromodem](INFO): Nmea in: $SNTTA,0.028702,,,,080632.62*44

2021-02-16T08:06:32.408Z,1613462792.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.500000 m, bearing: 96.652238 deg, deltaT: 4.437477 s, approachRate: 0.811271 m/s, LOS rate: 3.683049 deg/s, posRepo size: 4
2021-02-16T08:06:34.858Z,1613462794.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:35.590Z,1613462795.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:35.989Z,1613462795.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:36.820Z,1613462796.820 [Micromodem](INFO): Nmea in: $SNTTA,0.030394,,,,080637.07*40

2021-02-16T08:06:36.858Z,1613462796.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.019997 m, bearing: 90.367774 deg, deltaT: 4.443555 s, approachRate: 0.567113 m/s, LOS rate: -1.414287 deg/s, posRepo size: 4
2021-02-16T08:06:39.304Z,1613462799.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:40.028Z,1613462800.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:40.440Z,1613462800.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:41.267Z,1613462801.267 [Micromodem](INFO): Nmea in: $SNTTA,0.032526,,,,080641.51*4F

2021-02-16T08:06:41.313Z,1613462801.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 136.193371 deg, deltaT: 4.427486 s, approachRate: 0.664035 m/s, LOS rate: 10.350253 deg/s, posRepo size: 4
2021-02-16T08:06:43.698Z,1613462803.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:44.472Z,1613462804.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:44.883Z,1613462804.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:45.704Z,1613462805.704 [Micromodem](INFO): Nmea in: $SNTTA,0.034382,,,,080645.96*4E

2021-02-16T08:06:45.752Z,1613462805.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 138.905052 deg, deltaT: 4.479942 s, approachRate: 0.616078 m/s, LOS rate: 0.605294 deg/s, posRepo size: 4
2021-02-16T08:06:48.152Z,1613462808.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:48.933Z,1613462808.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:49.323Z,1613462809.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:50.157Z,1613462810.157 [Micromodem](INFO): Nmea in: $SNTTA,0.036310,,,0.044136,080650.42*50

2021-02-16T08:06:50.189Z,1613462810.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 86.228297 deg, deltaT: 4.461553 s, approachRate: 0.645515 m/s, LOS rate: -11.806820 deg/s, posRepo size: 4
2021-02-16T08:06:52.589Z,1613462812.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:53.365Z,1613462813.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:53.802Z,1613462813.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:54.596Z,1613462814.596 [Micromodem](INFO): Nmea in: $SNTTA,0.038346,,0.042540,,080654.85*51

2021-02-16T08:06:54.659Z,1613462814.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.719997 m, bearing: 137.205318 deg, deltaT: 4.391588 s, approachRate: 0.710449 m/s, LOS rate: 11.607879 deg/s, posRepo size: 4
2021-02-16T08:06:57.074Z,1613462817.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:06:57.812Z,1613462817.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:06:58.285Z,1613462818.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:06:59.055Z,1613462819.055 [Micromodem](INFO): Nmea in: $SNTTA,0.040297,,,,080659.29*41

2021-02-16T08:06:59.085Z,1613462819.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.599998 m, bearing: 88.834123 deg, deltaT: 4.461039 s, approachRate: 0.645590 m/s, LOS rate: -10.843034 deg/s, posRepo size: 4
2021-02-16T08:07:01.480Z,1613462821.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:02.254Z,1613462822.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:02.672Z,1613462822.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:03.491Z,1613462823.491 [Micromodem](INFO): Nmea in: $SNTTA,0.042742,,,,080703.74*48

2021-02-16T08:07:03.514Z,1613462823.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.200005 m, bearing: 99.287755 deg, deltaT: 4.442891 s, approachRate: 0.810285 m/s, LOS rate: 2.352890 deg/s, posRepo size: 4
2021-02-16T08:07:05.926Z,1613462825.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:06.709Z,1613462826.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:07.098Z,1613462827.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:07.932Z,1613462827.932 [Micromodem](INFO): Nmea in: $SNTTA,0.044379,,,,080708.19*42

2021-02-16T08:07:07.977Z,1613462827.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 98.537568 deg, deltaT: 4.447400 s, approachRate: 0.566624 m/s, LOS rate: -0.168680 deg/s, posRepo size: 4
2021-02-16T08:07:10.375Z,1613462830.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:11.142Z,1613462831.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:11.542Z,1613462831.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:12.368Z,1613462832.368 [Micromodem](INFO): Nmea in: $SNTTA,0.046311,,,,080712.63*48

2021-02-16T08:07:12.413Z,1613462832.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.780006 m, bearing: 104.392461 deg, deltaT: 4.457872 s, approachRate: 0.686426 m/s, LOS rate: 1.313383 deg/s, posRepo size: 4
2021-02-16T08:07:14.855Z,1613462834.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:15.580Z,1613462835.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:15.592Z,1613462835.592 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:07:15.993Z,1613462835.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:16.823Z,1613462836.823 [Micromodem](INFO): Nmea in: $SNTTA,0.048281,,,,080717.06*48

2021-02-16T08:07:16.848Z,1613462836.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 95.593395 deg, deltaT: 4.426280 s, approachRate: 0.637102 m/s, LOS rate: -1.987915 deg/s, posRepo size: 4
2021-02-16T08:07:19.238Z,1613462839.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:20.024Z,1613462840.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:20.435Z,1613462840.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:21.260Z,1613462841.260 [Micromodem](INFO): Nmea in: $SNTTA,0.050317,,,,080721.51*48

2021-02-16T08:07:21.312Z,1613462841.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.659996 m, bearing: 118.442843 deg, deltaT: 4.444697 s, approachRate: 0.688460 m/s, LOS rate: 5.140834 deg/s, posRepo size: 4
2021-02-16T08:07:23.674Z,1613462843.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:24.474Z,1613462844.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:24.582Z,1613462844.582 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T08:07:24.582Z,1613462844.582 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T08:07:24.582Z,1613462844.582 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T08:07:24.582Z,1613462844.582 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T08:07:24.583Z,1613462844.583 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T08:07:24.591Z,1613462844.591 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T08:07:24.592Z,1613462844.592 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T08:07:24.592Z,1613462844.592 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T08:07:24.592Z,1613462844.592 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T08:07:24.593Z,1613462844.593 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T08:07:24.594Z,1613462844.594 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613457445.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T08:07:24.594Z,1613462844.594 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T08:07:24.875Z,1613462844.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:25.705Z,1613462845.705 [Micromodem](INFO): Nmea in: $SNTTA,0.052136,,,,080725.96*44

2021-02-16T08:07:25.762Z,1613462845.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.540001 m, bearing: 104.574158 deg, deltaT: 4.452881 s, approachRate: 0.646773 m/s, LOS rate: -3.114542 deg/s, posRepo size: 4
2021-02-16T08:07:28.145Z,1613462848.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:28.921Z,1613462848.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:29.320Z,1613462849.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:30.170Z,1613462850.170 [Micromodem](INFO): Nmea in: $SNTTA,0.054120,,0.055315,0.065620,080730.40*4A

2021-02-16T08:07:30.218Z,1613462850.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 106.542297 deg, deltaT: 4.474877 s, approachRate: 0.643592 m/s, LOS rate: 0.439820 deg/s, posRepo size: 4
2021-02-16T08:07:32.589Z,1613462852.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:33.361Z,1613462853.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:33.812Z,1613462853.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:34.596Z,1613462854.596 [Micromodem](INFO): Nmea in: $SNTTA,0.056124,,0.077138,,080734.84*54

2021-02-16T08:07:34.625Z,1613462854.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 114.409412 deg, deltaT: 4.484469 s, approachRate: 0.602077 m/s, LOS rate: 1.754302 deg/s, posRepo size: 4
2021-02-16T08:07:37.022Z,1613462857.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:37.829Z,1613462857.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:38.215Z,1613462858.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:39.052Z,1613462859.052 [Micromodem](INFO): Nmea in: $SNTTA,0.057991,,,,080739.31*44

2021-02-16T08:07:39.077Z,1613462859.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.180008 m, bearing: 123.105827 deg, deltaT: 4.357219 s, approachRate: 0.702286 m/s, LOS rate: 1.995864 deg/s, posRepo size: 4
2021-02-16T08:07:41.505Z,1613462861.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:42.296Z,1613462862.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:42.701Z,1613462862.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:43.516Z,1613462863.516 [Micromodem](INFO): Nmea in: $SNTTA,0.059731,,,,080743.78*4E

2021-02-16T08:07:43.553Z,1613462863.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.760002 m, bearing: 130.528098 deg, deltaT: 4.492949 s, approachRate: 0.574232 m/s, LOS rate: 1.651982 deg/s, posRepo size: 4
2021-02-16T08:07:45.957Z,1613462865.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:46.724Z,1613462866.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:47.145Z,1613462867.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:47.961Z,1613462867.961 [Micromodem](INFO): Nmea in: $SNTTA,0.061558,,,0.064084,080748.21*5F

2021-02-16T08:07:48.009Z,1613462868.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 123.001025 deg, deltaT: 4.438624 s, approachRate: 0.581262 m/s, LOS rate: -1.695812 deg/s, posRepo size: 4
2021-02-16T08:07:50.402Z,1613462870.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:51.179Z,1613462871.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:51.574Z,1613462871.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:52.404Z,1613462872.404 [Micromodem](INFO): Nmea in: $SNTTA,0.063302,,,,080752.66*4C

2021-02-16T08:07:52.429Z,1613462872.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 129.752530 deg, deltaT: 4.425976 s, approachRate: 0.637148 m/s, LOS rate: 1.525427 deg/s, posRepo size: 4
2021-02-16T08:07:54.884Z,1613462874.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:07:55.617Z,1613462875.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:07:56.035Z,1613462876.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:07:56.469Z,1613462876.469 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T08:07:56.851Z,1613462876.851 [Micromodem](INFO): Nmea in: $SNTTA,0.065079,,0.077397,,080757.10*52

2021-02-16T08:07:56.889Z,1613462876.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 132.506544 deg, deltaT: 4.460510 s, approachRate: 0.591860 m/s, LOS rate: 0.617421 deg/s, posRepo size: 4
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T08:07:56.891Z,1613462876.891 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T08:07:56.892Z,1613462876.892 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T08:07:57.072Z,1613462877.072 [Radio_Surface](INFO): Powering up
2021-02-16T08:07:59.309Z,1613462879.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:00.062Z,1613462880.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:00.462Z,1613462880.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:01.296Z,1613462881.296 [Micromodem](INFO): Nmea in: $SNTTA,0.066493,,,,080801.54*4E

2021-02-16T08:08:01.346Z,1613462881.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.900002 m, bearing: 94.504908 deg, deltaT: 4.471359 s, approachRate: 0.469656 m/s, LOS rate: -8.498901 deg/s, posRepo size: 4
2021-02-16T08:08:02.447Z,1613462882.447 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T08:08:03.722Z,1613462883.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:04.500Z,1613462884.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:04.942Z,1613462884.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:05.732Z,1613462885.732 [Micromodem](INFO): Nmea in: $SNTTA,0.067480,,,,080805.98*49

2021-02-16T08:08:05.822Z,1613462885.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.459999 m, bearing: 148.732710 deg, deltaT: 4.393628 s, approachRate: 0.355059 m/s, LOS rate: 12.342375 deg/s, posRepo size: 4
2021-02-16T08:08:07.351Z,1613462887.351 [NAL9602](INFO): SBD MO Status=0, MOMSN=13405, MT Status=0, MTMSN=0
2021-02-16T08:08:07.351Z,1613462887.351 [NAL9602](INFO): No messages in MT queue
2021-02-16T08:08:08.202Z,1613462888.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:08.957Z,1613462888.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:09.355Z,1613462889.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:10.242Z,1613462890.242 [Micromodem](INFO): Nmea in: $SNTTA,0.067767,,0.074891,,080810.44*5B

2021-02-16T08:08:10.327Z,1613462890.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.879997 m, bearing: 141.200651 deg, deltaT: 4.497964 s, approachRate: 0.093375 m/s, LOS rate: -1.674549 deg/s, posRepo size: 4
2021-02-16T08:08:12.615Z,1613462892.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:13.414Z,1613462893.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:13.825Z,1613462893.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:14.308Z,1613462894.308 [BuoyancyServo](FAULT): Overload Error
2021-02-16T08:08:14.308Z,1613462894.308 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T08:08:14.308Z,1613462894.308 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T08:08:14.417Z,1613462894.417 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T08:08:14.632Z,1613462894.632 [Micromodem](INFO): Nmea in: $SNTTA,0.067905,,,,080814.90*41

2021-02-16T08:08:14.674Z,1613462894.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 140.193840 deg, deltaT: 4.424311 s, approachRate: 0.040684 m/s, LOS rate: -0.227563 deg/s, posRepo size: 4
2021-02-16T08:08:16.276Z,1613462896.276 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T08:08:16.276Z,1613462896.276 [BuoyancyServo](INFO): Powering down
2021-02-16T08:08:17.067Z,1613462897.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:17.119Z,1613462897.119 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T08:08:17.120Z,1613462897.120 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T08:08:17.480Z,1613462897.480 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T08:08:17.481Z,1613462897.481 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T08:08:17.838Z,1613462897.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:18.244Z,1613462898.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:19.068Z,1613462899.068 [Micromodem](INFO): Nmea in: $SNTTA,0.067952,,,,080819.32*46

2021-02-16T08:08:19.117Z,1613462899.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 80.203367 deg, deltaT: 4.441108 s, approachRate: 0.067551 m/s, LOS rate: -13.507997 deg/s, posRepo size: 4
2021-02-16T08:08:21.508Z,1613462901.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:22.285Z,1613462902.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:22.688Z,1613462902.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:23.508Z,1613462903.508 [Micromodem](INFO): Nmea in: $SNTTA,0.067917,,,,080823.77*4F

2021-02-16T08:08:23.551Z,1613462903.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 149.678159 deg, deltaT: 4.455116 s, approachRate: -0.067339 m/s, LOS rate: 15.594384 deg/s, posRepo size: 4
2021-02-16T08:08:25.959Z,1613462905.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:26.720Z,1613462906.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:27.135Z,1613462907.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:27.956Z,1613462907.956 [Micromodem](INFO): Nmea in: $SNTTA,0.067713,,,,080828.20*4C

2021-02-16T08:08:28.048Z,1613462908.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 150.471444 deg, deltaT: 4.397803 s, approachRate: -0.068215 m/s, LOS rate: 0.180382 deg/s, posRepo size: 4
2021-02-16T08:08:30.413Z,1613462910.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:31.167Z,1613462911.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:31.570Z,1613462911.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:32.417Z,1613462912.417 [Micromodem](INFO): Nmea in: $SNTTA,0.067473,,0.099555,,080832.65*58

2021-02-16T08:08:32.462Z,1613462912.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 80.532978 deg, deltaT: 4.498155 s, approachRate: -0.080031 m/s, LOS rate: -15.548256 deg/s, posRepo size: 4
2021-02-16T08:08:32.567Z,1613462912.567 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:08:34.898Z,1613462914.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:35.303Z,1613462915.303 [BuoyancyServo](FAULT): Overload Error
2021-02-16T08:08:35.303Z,1613462915.303 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T08:08:35.303Z,1613462915.303 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T08:08:35.371Z,1613462915.371 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T08:08:35.609Z,1613462915.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:36.019Z,1613462916.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:36.848Z,1613462916.848 [Micromodem](INFO): Nmea in: $SNTTA,0.066977,,,,080837.09*44

2021-02-16T08:08:36.921Z,1613462916.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.619995 m, bearing: 106.564864 deg, deltaT: 4.425657 s, approachRate: -0.176248 m/s, LOS rate: 5.882039 deg/s, posRepo size: 4
2021-02-16T08:08:37.268Z,1613462917.268 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T08:08:37.268Z,1613462917.268 [BuoyancyServo](INFO): Powering down
2021-02-16T08:08:38.184Z,1613462918.184 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T08:08:38.184Z,1613462918.184 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T08:08:38.536Z,1613462918.536 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T08:08:38.543Z,1613462918.543 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T08:08:39.308Z,1613462919.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:40.052Z,1613462920.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:40.458Z,1613462920.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:41.300Z,1613462921.300 [Micromodem](INFO): Nmea in: $SNTTA,0.066672,,,,080841.54*47

2021-02-16T08:08:41.352Z,1613462921.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 33.834466 deg, deltaT: 4.455233 s, approachRate: -0.080802 m/s, LOS rate: -16.324712 deg/s, posRepo size: 4
2021-02-16T08:08:43.707Z,1613462923.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:44.507Z,1613462924.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:44.902Z,1613462924.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:45.732Z,1613462925.732 [Micromodem](INFO): Nmea in: $SNTTA,0.066179,,,,080845.99*4E

2021-02-16T08:08:45.820Z,1613462925.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.480003 m, bearing: 84.464011 deg, deltaT: 4.401199 s, approachRate: -0.177224 m/s, LOS rate: 11.503580 deg/s, posRepo size: 4
2021-02-16T08:08:48.189Z,1613462928.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:48.945Z,1613462928.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:49.347Z,1613462929.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:50.173Z,1613462930.173 [Micromodem](INFO): Nmea in: $SNTTA,0.065890,,,,080850.43*40

2021-02-16T08:08:50.234Z,1613462930.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 78.017071 deg, deltaT: 4.471634 s, approachRate: -0.107344 m/s, LOS rate: -1.441742 deg/s, posRepo size: 4
2021-02-16T08:08:52.613Z,1613462932.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:53.393Z,1613462933.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:53.825Z,1613462933.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:54.620Z,1613462934.620 [Micromodem](INFO): Nmea in: $SNTTA,0.065352,,,,080854.88*46

2021-02-16T08:08:54.667Z,1613462934.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.220001 m, bearing: 71.522319 deg, deltaT: 4.436312 s, approachRate: -0.175821 m/s, LOS rate: -1.463998 deg/s, posRepo size: 4
2021-02-16T08:08:57.063Z,1613462937.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:08:57.503Z,1613462937.503 [BuoyancyServo](FAULT): Overload Error
2021-02-16T08:08:57.503Z,1613462937.503 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T08:08:57.503Z,1613462937.503 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T08:08:57.544Z,1613462937.544 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T08:08:57.840Z,1613462937.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:08:58.250Z,1613462938.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:08:59.064Z,1613462939.064 [Micromodem](INFO): Nmea in: $SNTTA,0.064942,,,,080859.32*40

2021-02-16T08:08:59.108Z,1613462939.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.559998 m, bearing: 94.414716 deg, deltaT: 4.448563 s, approachRate: -0.148363 m/s, LOS rate: 5.146021 deg/s, posRepo size: 4
2021-02-16T08:08:59.544Z,1613462939.544 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T08:08:59.544Z,1613462939.544 [BuoyancyServo](INFO): Powering down
2021-02-16T08:09:00.352Z,1613462940.352 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T08:09:00.353Z,1613462940.353 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T08:09:00.728Z,1613462940.728 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T08:09:00.735Z,1613462940.735 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T08:09:01.512Z,1613462941.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:02.291Z,1613462942.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:02.694Z,1613462942.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:03.512Z,1613462943.512 [Micromodem](INFO): Nmea in: $SNTTA,0.064596,,,,080903.78*45

2021-02-16T08:09:03.551Z,1613462943.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 109.330824 deg, deltaT: 4.447005 s, approachRate: -0.107935 m/s, LOS rate: 3.354192 deg/s, posRepo size: 4
2021-02-16T08:09:05.951Z,1613462945.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:06.734Z,1613462946.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:07.158Z,1613462947.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:07.707Z,1613462947.707 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:09:07.956Z,1613462947.956 [Micromodem](INFO): Nmea in: $SNTTA,0.064202,,,,080908.22*4B

2021-02-16T08:09:08.011Z,1613462948.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.720001 m, bearing: 91.082567 deg, deltaT: 4.438409 s, approachRate: -0.081112 m/s, LOS rate: -4.111441 deg/s, posRepo size: 4
2021-02-16T08:09:10.401Z,1613462950.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:11.172Z,1613462951.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:11.575Z,1613462951.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:12.412Z,1613462952.412 [Micromodem](INFO): Nmea in: $SNTTA,0.063663,,,,080912.66*44

2021-02-16T08:09:12.462Z,1613462952.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 77.671538 deg, deltaT: 4.436090 s, approachRate: -0.189357 m/s, LOS rate: -3.023164 deg/s, posRepo size: 4
2021-02-16T08:09:14.897Z,1613462954.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:15.624Z,1613462955.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:16.013Z,1613462956.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:16.868Z,1613462956.868 [Micromodem](INFO): Nmea in: $SNTTA,0.063221,,,,080917.11*43

2021-02-16T08:09:16.935Z,1613462956.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.160004 m, bearing: 69.188614 deg, deltaT: 4.435865 s, approachRate: -0.162312 m/s, LOS rate: -1.912349 deg/s, posRepo size: 4
2021-02-16T08:09:18.131Z,1613462958.131 [BuoyancyServo](FAULT): Overload Error
2021-02-16T08:09:18.131Z,1613462958.131 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T08:09:18.131Z,1613462958.131 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T08:09:18.236Z,1613462958.236 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T08:09:19.336Z,1613462959.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:20.054Z,1613462960.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:20.214Z,1613462960.214 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T08:09:20.214Z,1613462960.214 [BuoyancyServo](INFO): Powering down
2021-02-16T08:09:20.458Z,1613462960.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:20.944Z,1613462960.944 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T08:09:20.944Z,1613462960.944 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T08:09:21.304Z,1613462961.304 [Micromodem](INFO): Nmea in: $SNTTA,0.062852,,,,080921.54*48

2021-02-16T08:09:21.329Z,1613462961.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 63.880232 deg, deltaT: 4.473554 s, approachRate: -0.160948 m/s, LOS rate: -1.186614 deg/s, posRepo size: 4
2021-02-16T08:09:21.340Z,1613462961.340 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T08:09:21.341Z,1613462961.341 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T08:09:23.726Z,1613462963.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:24.498Z,1613462964.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:24.902Z,1613462964.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:25.728Z,1613462965.728 [Micromodem](INFO): Nmea in: $SNTTA,0.062384,,,,080925.98*4C

2021-02-16T08:09:25.776Z,1613462965.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 75.488337 deg, deltaT: 4.414999 s, approachRate: -0.135900 m/s, LOS rate: 2.629243 deg/s, posRepo size: 4
2021-02-16T08:09:28.200Z,1613462968.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:28.945Z,1613462968.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:29.353Z,1613462969.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:30.193Z,1613462970.193 [Micromodem](INFO): Nmea in: $SNTTA,0.061897,,,,080930.43*44

2021-02-16T08:09:30.224Z,1613462970.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.000000 m, bearing: 106.876983 deg, deltaT: 4.507235 s, approachRate: -0.186366 m/s, LOS rate: 6.964058 deg/s, posRepo size: 4
2021-02-16T08:09:32.620Z,1613462972.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:33.386Z,1613462973.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:33.817Z,1613462973.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:34.616Z,1613462974.616 [Micromodem](INFO): Nmea in: $SNTTA,0.061349,,,,080934.87*40

2021-02-16T08:09:34.640Z,1613462974.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.159996 m, bearing: 94.784202 deg, deltaT: 4.394307 s, approachRate: -0.191157 m/s, LOS rate: -2.751920 deg/s, posRepo size: 4
2021-02-16T08:09:37.058Z,1613462977.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:37.836Z,1613462977.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:38.270Z,1613462978.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:38.403Z,1613462978.403 [BuoyancyServo](FAULT): Overload Error
2021-02-16T08:09:38.403Z,1613462978.403 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T08:09:38.403Z,1613462978.403 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T08:09:38.458Z,1613462978.458 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T08:09:39.071Z,1613462979.071 [Micromodem](INFO): Nmea in: $SNTTA,0.061056,,,,080939.32*4E

2021-02-16T08:09:39.096Z,1613462979.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 90.619712 deg, deltaT: 4.443987 s, approachRate: -0.094509 m/s, LOS rate: -0.937107 deg/s, posRepo size: 4
2021-02-16T08:09:40.397Z,1613462980.397 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T08:09:40.397Z,1613462980.397 [BuoyancyServo](INFO): Powering down
2021-02-16T08:09:40.707Z,1613462980.707 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T08:09:41.127Z,1613462981.127 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T08:09:41.127Z,1613462981.127 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T08:09:41.527Z,1613462981.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:41.544Z,1613462981.544 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T08:09:41.551Z,1613462981.551 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T08:09:42.285Z,1613462982.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:42.677Z,1613462982.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:42.867Z,1613462982.867 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:09:43.513Z,1613462983.513 [Micromodem](INFO): Nmea in: $SNTTA,0.060437,,,,080943.77*40

2021-02-16T08:09:43.560Z,1613462983.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 93.771920 deg, deltaT: 4.479070 s, approachRate: -0.214330 m/s, LOS rate: 0.703764 deg/s, posRepo size: 4
2021-02-16T08:09:45.958Z,1613462985.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:46.724Z,1613462986.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:47.127Z,1613462987.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:47.952Z,1613462987.952 [Micromodem](INFO): Nmea in: $SNTTA,0.059956,,,,080948.21*48

2021-02-16T08:09:48.014Z,1613462988.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.119995 m, bearing: 93.673763 deg, deltaT: 4.441255 s, approachRate: -0.148607 m/s, LOS rate: -0.022101 deg/s, posRepo size: 4
2021-02-16T08:09:50.418Z,1613462990.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:51.175Z,1613462991.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:51.575Z,1613462991.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:52.394Z,1613462992.394 [Micromodem](INFO): Nmea in: $SNTTA,0.059353,,,,080952.66*4F

2021-02-16T08:09:53.236Z,1613462993.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:54.825Z,1613462994.825 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:09:56.061Z,1613462996.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:09:56.835Z,1613462996.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:09:57.227Z,1613462997.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:09:58.052Z,1613462998.052 [Micromodem](INFO): Nmea in: $SNTTA,0.058307,,,,080958.32*44

2021-02-16T08:09:58.099Z,1613462998.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 80.983682 deg, deltaT: 10.085090 s, approachRate: -0.243924 m/s, LOS rate: -1.258301 deg/s, posRepo size: 4
2021-02-16T08:10:00.509Z,1613463000.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:01.284Z,1613463001.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:01.671Z,1613463001.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:02.500Z,1613463002.500 [Micromodem](INFO): Nmea in: $SNTTA,0.057470,,,,081002.77*4A

2021-02-16T08:10:02.549Z,1613463002.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 104.356575 deg, deltaT: 4.451880 s, approachRate: -0.283025 m/s, LOS rate: 5.250118 deg/s, posRepo size: 4
2021-02-16T08:10:04.953Z,1613463004.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:05.711Z,1613463005.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:06.111Z,1613463006.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:06.940Z,1613463006.940 [Micromodem](INFO): Nmea in: $SNTTA,0.056886,,,,081007.19*43

2021-02-16T08:10:07.021Z,1613463007.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.500008 m, bearing: 100.469446 deg, deltaT: 4.402410 s, approachRate: -0.204432 m/s, LOS rate: -0.882955 deg/s, posRepo size: 4
2021-02-16T08:10:09.364Z,1613463009.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:10.153Z,1613463010.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:10.563Z,1613463010.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:11.380Z,1613463011.380 [Micromodem](INFO): Nmea in: $SNTTA,0.056341,,,,081011.64*4E

2021-02-16T08:10:11.424Z,1613463011.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.719994 m, bearing: 100.274485 deg, deltaT: 4.482679 s, approachRate: -0.174006 m/s, LOS rate: -0.043492 deg/s, posRepo size: 4
2021-02-16T08:10:13.858Z,1613463013.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:14.594Z,1613463014.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:14.999Z,1613463014.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:15.843Z,1613463015.843 [Micromodem](INFO): Nmea in: $SNTTA,0.055631,,,,081016.08*42

2021-02-16T08:10:15.877Z,1613463015.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 113.804667 deg, deltaT: 4.448650 s, approachRate: -0.256256 m/s, LOS rate: 3.041413 deg/s, posRepo size: 4
2021-02-16T08:10:18.015Z,1613463018.015 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:10:18.286Z,1613463018.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:19.037Z,1613463019.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:19.468Z,1613463019.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:20.296Z,1613463020.296 [Micromodem](INFO): Nmea in: $SNTTA,0.055146,,,,081020.52*4F

2021-02-16T08:10:20.349Z,1613463020.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.859993 m, bearing: 86.811178 deg, deltaT: 4.428530 s, approachRate: -0.162584 m/s, LOS rate: -6.095361 deg/s, posRepo size: 4
2021-02-16T08:10:22.692Z,1613463022.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:23.485Z,1613463023.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:23.898Z,1613463023.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:24.723Z,1613463024.723 [Micromodem](INFO): Nmea in: $SNTTA,0.054626,,,,081024.97*42

2021-02-16T08:10:24.748Z,1613463024.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 50.482642 deg, deltaT: 4.476138 s, approachRate: -0.174255 m/s, LOS rate: -8.116045 deg/s, posRepo size: 4
2021-02-16T08:10:27.155Z,1613463027.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:27.929Z,1613463027.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:28.341Z,1613463028.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:29.156Z,1613463029.156 [Micromodem](INFO): Nmea in: $SNTTA,0.054245,,,,081029.41*45

2021-02-16T08:10:29.210Z,1613463029.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 75.646032 deg, deltaT: 4.413941 s, approachRate: -0.122340 m/s, LOS rate: 5.700890 deg/s, posRepo size: 4
2021-02-16T08:10:31.600Z,1613463031.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:32.373Z,1613463032.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:32.780Z,1613463032.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:33.600Z,1613463033.600 [Micromodem](INFO): Nmea in: $SNTTA,0.053843,,,,081033.86*4E

2021-02-16T08:10:33.640Z,1613463033.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 81.381888 deg, deltaT: 4.419633 s, approachRate: -0.122181 m/s, LOS rate: 1.297813 deg/s, posRepo size: 4
2021-02-16T08:10:36.050Z,1613463036.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:36.833Z,1613463036.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:37.239Z,1613463037.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:38.052Z,1613463038.052 [Micromodem](INFO): Nmea in: $SNTTA,0.053238,,,,081038.31*4F

2021-02-16T08:10:38.105Z,1613463038.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 57.908113 deg, deltaT: 4.490661 s, approachRate: -0.213778 m/s, LOS rate: -5.227243 deg/s, posRepo size: 4
2021-02-16T08:10:40.488Z,1613463040.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:41.282Z,1613463041.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:41.667Z,1613463041.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:42.496Z,1613463042.496 [Micromodem](INFO): Nmea in: $SNTTA,0.052643,,,,081042.76*48

2021-02-16T08:10:42.520Z,1613463042.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.199997 m, bearing: 86.357681 deg, deltaT: 4.419030 s, approachRate: -0.190088 m/s, LOS rate: 6.437967 deg/s, posRepo size: 4
2021-02-16T08:10:44.650Z,1613463044.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:45.301Z,1613463045.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:45.703Z,1613463045.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:46.528Z,1613463046.528 [Micromodem](INFO): Nmea in: $SNTTA,0.052330,,,,081046.78*43

2021-02-16T08:10:46.550Z,1613463046.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.660004 m, bearing: 83.319634 deg, deltaT: 4.052188 s, approachRate: -0.133260 m/s, LOS rate: -0.749730 deg/s, posRepo size: 4
2021-02-16T08:10:48.974Z,1613463048.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:49.750Z,1613463049.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:50.159Z,1613463050.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:50.988Z,1613463050.988 [Micromodem](INFO): Nmea in: $SNTTA,0.051753,,,,081051.23*49

2021-02-16T08:10:51.013Z,1613463051.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 94.068555 deg, deltaT: 4.455013 s, approachRate: -0.188553 m/s, LOS rate: 2.412770 deg/s, posRepo size: 4
2021-02-16T08:10:53.156Z,1613463053.156 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:10:53.450Z,1613463053.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:54.203Z,1613463054.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:54.599Z,1613463054.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:55.456Z,1613463055.456 [Micromodem](INFO): Nmea in: $SNTTA,0.051140,,,,081055.70*4F

2021-02-16T08:10:55.488Z,1613463055.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 102.147187 deg, deltaT: 4.427213 s, approachRate: -0.189735 m/s, LOS rate: 1.824767 deg/s, posRepo size: 4
2021-02-16T08:10:57.889Z,1613463057.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:10:58.642Z,1613463058.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:10:59.051Z,1613463059.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:10:59.872Z,1613463059.872 [Micromodem](INFO): Nmea in: $SNTTA,0.050532,,,,081100.12*4A

2021-02-16T08:10:59.927Z,1613463059.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 106.535836 deg, deltaT: 4.464018 s, approachRate: -0.241935 m/s, LOS rate: 0.983116 deg/s, posRepo size: 4
2021-02-16T08:11:02.372Z,1613463062.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:03.091Z,1613463063.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:03.491Z,1613463063.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:04.328Z,1613463064.328 [Micromodem](INFO): Nmea in: $SNTTA,0.050060,,,0.068475,081104.57*5B

2021-02-16T08:11:04.384Z,1613463064.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 109.444636 deg, deltaT: 4.409074 s, approachRate: -0.136083 m/s, LOS rate: 0.659730 deg/s, posRepo size: 4
2021-02-16T08:11:06.761Z,1613463066.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:07.535Z,1613463067.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:07.932Z,1613463067.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:08.767Z,1613463068.767 [Micromodem](INFO): Nmea in: $SNTTA,0.049281,,,,081109.02*45

2021-02-16T08:11:08.841Z,1613463068.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.040001 m, bearing: 98.515370 deg, deltaT: 4.472360 s, approachRate: -0.281731 m/s, LOS rate: -2.443736 deg/s, posRepo size: 4
2021-02-16T08:11:11.224Z,1613463071.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:11.975Z,1613463071.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:12.379Z,1613463072.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:12.403Z,1613463072.403 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:11:13.204Z,1613463073.204 [Micromodem](INFO): Nmea in: $SNTTA,0.048696,,,,081113.46*4D

2021-02-16T08:11:13.302Z,1613463073.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 38.981092 deg, deltaT: 4.443716 s, approachRate: -0.202532 m/s, LOS rate: -13.397408 deg/s, posRepo size: 4
2021-02-16T08:11:15.639Z,1613463075.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:16.417Z,1613463076.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:16.838Z,1613463076.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:17.653Z,1613463077.653 [Micromodem](INFO): Nmea in: $SNTTA,0.048202,,,0.086982,081117.90*58

2021-02-16T08:11:17.694Z,1613463077.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 43.280211 deg, deltaT: 4.459650 s, approachRate: -0.188356 m/s, LOS rate: 0.964004 deg/s, posRepo size: 4
2021-02-16T08:11:20.115Z,1613463080.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:20.857Z,1613463080.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:21.289Z,1613463081.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:22.093Z,1613463082.093 [Micromodem](INFO): Nmea in: $SNTTA,0.047756,,,0.065911,081122.34*5C

2021-02-16T08:11:22.171Z,1613463082.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 54.936321 deg, deltaT: 4.396106 s, approachRate: -0.122836 m/s, LOS rate: 2.651463 deg/s, posRepo size: 4
2021-02-16T08:11:22.292Z,1613463082.292 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003588
2021-02-16T08:11:22.511Z,1613463082.511 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T08:11:22.511Z,1613463082.511 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T08:11:22.511Z,1613463082.511 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T08:11:22.511Z,1613463082.511 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:11:22.512Z,1613463082.512 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T08:11:24.538Z,1613463084.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:25.321Z,1613463085.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:25.711Z,1613463085.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:26.308Z,1613463086.308 [DataOverHttps](INFO): Sending 83 bytes from file Logs/20210216T042015/Courier0052.lzma
2021-02-16T08:11:26.525Z,1613463086.525 [Micromodem](INFO): Nmea in: $SNTTA,0.047370,,,,081126.80*43

2021-02-16T08:11:27.309Z,1613463087.309 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0052.lzma.bak
2021-02-16T08:11:27.309Z,1613463087.309 [DataOverHttps](INFO): SBD MOMSN=81650
2021-02-16T08:11:27.358Z,1613463087.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:28.942Z,1613463088.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:11:29.868Z,1613463089.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:30.587Z,1613463090.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:30.967Z,1613463090.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:31.864Z,1613463091.864 [Micromodem](INFO): Nmea in: $SNTTA,0.046751,,,,081132.07*4F

2021-02-16T08:11:31.981Z,1613463091.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.260010 m, bearing: 91.777320 deg, deltaT: 9.754766 s, approachRate: -0.153770 m/s, LOS rate: 3.776718 deg/s, posRepo size: 4
2021-02-16T08:11:32.617Z,1613463092.617 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T08:11:34.277Z,1613463094.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:34.997Z,1613463094.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:35.456Z,1613463095.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:36.228Z,1613463096.228 [Micromodem](INFO): Nmea in: $SNTTA,0.046268,,,,081136.48*4F

2021-02-16T08:11:36.246Z,1613463096.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 121.416270 deg, deltaT: 4.501539 s, approachRate: -0.133291 m/s, LOS rate: 6.584182 deg/s, posRepo size: 4
2021-02-16T08:11:36.355Z,1613463096.355 [DataOverHttps](INFO): Sending 1841 bytes from file Logs/20210216T042015/Express0044.lzma
2021-02-16T08:11:37.353Z,1613463097.353 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0044.lzma.bak
2021-02-16T08:11:37.353Z,1613463097.353 [DataOverHttps](INFO): SBD MOMSN=81652
2021-02-16T08:11:38.715Z,1613463098.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:39.441Z,1613463099.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:39.850Z,1613463099.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:40.669Z,1613463100.669 [Micromodem](INFO): Nmea in: $SNTTA,0.045982,,,,081140.92*45

2021-02-16T08:11:40.712Z,1613463100.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 72.761910 deg, deltaT: 4.490738 s, approachRate: -0.093524 m/s, LOS rate: -10.834380 deg/s, posRepo size: 4
2021-02-16T08:11:42.341Z,1613463102.341 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:11:43.172Z,1613463103.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:43.890Z,1613463103.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:44.294Z,1613463104.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:45.116Z,1613463105.116 [Micromodem](INFO): Nmea in: $SNTTA,0.045462,,,,081145.37*4C

2021-02-16T08:11:45.170Z,1613463105.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 75.656803 deg, deltaT: 4.292868 s, approachRate: -0.181698 m/s, LOS rate: 0.674350 deg/s, posRepo size: 4
2021-02-16T08:11:46.395Z,1613463106.395 [DataOverHttps](INFO): Sending 175 bytes from file Logs/20210216T042015/Express0047.lzma
2021-02-16T08:11:47.397Z,1613463107.397 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0047.lzma.bak
2021-02-16T08:11:47.397Z,1613463107.397 [DataOverHttps](INFO): SBD MOMSN=81658
2021-02-16T08:11:47.584Z,1613463107.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:48.334Z,1613463108.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:48.739Z,1613463108.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:49.565Z,1613463109.565 [Micromodem](INFO): Nmea in: $SNTTA,0.045027,,0.053742,,081149.82*52

2021-02-16T08:11:49.636Z,1613463109.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.680000 m, bearing: 71.287524 deg, deltaT: 4.569251 s, approachRate: -0.170706 m/s, LOS rate: -0.956235 deg/s, posRepo size: 4
2021-02-16T08:11:52.122Z,1613463112.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:52.824Z,1613463112.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:53.189Z,1613463113.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:54.036Z,1613463114.036 [Micromodem](INFO): Nmea in: $SNTTA,0.044414,,,,081154.31*4A

2021-02-16T08:11:54.061Z,1613463114.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.779999 m, bearing: 76.139226 deg, deltaT: 4.354926 s, approachRate: -0.206663 m/s, LOS rate: 1.114072 deg/s, posRepo size: 4
2021-02-16T08:11:56.439Z,1613463116.439 [DataOverHttps](INFO): Sending 245 bytes from file Logs/20210216T042015/Express0050.lzma
2021-02-16T08:11:56.454Z,1613463116.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:11:57.220Z,1613463117.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:11:57.444Z,1613463117.444 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0050.lzma.bak
2021-02-16T08:11:57.444Z,1613463117.444 [DataOverHttps](INFO): SBD MOMSN=81660
2021-02-16T08:11:57.646Z,1613463117.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:11:58.463Z,1613463118.463 [Micromodem](INFO): Nmea in: $SNTTA,0.043888,,,,081158.70*4D

2021-02-16T08:11:58.534Z,1613463118.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.940010 m, bearing: 73.774232 deg, deltaT: 4.423835 s, approachRate: -0.189878 m/s, LOS rate: -0.534603 deg/s, posRepo size: 4
2021-02-16T08:12:00.894Z,1613463120.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:01.669Z,1613463121.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:02.082Z,1613463122.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:02.896Z,1613463122.896 [Micromodem](INFO): Nmea in: $SNTTA,0.043559,,,0.071365,081203.15*5A

2021-02-16T08:12:02.968Z,1613463122.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.520004 m, bearing: 120.545298 deg, deltaT: 4.452551 s, approachRate: -0.094329 m/s, LOS rate: 10.504330 deg/s, posRepo size: 4
2021-02-16T08:12:05.345Z,1613463125.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:06.113Z,1613463126.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:06.482Z,1613463126.482 [DataOverHttps](INFO): Sending 2013 bytes from file Logs/20210216T042015/Express0053.lzma
2021-02-16T08:12:06.526Z,1613463126.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:07.360Z,1613463127.360 [Micromodem](INFO): Nmea in: $SNTTA,0.043128,,0.088753,,081207.59*53

2021-02-16T08:12:07.382Z,1613463127.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.860008 m, bearing: 109.876727 deg, deltaT: 4.473269 s, approachRate: -0.147542 m/s, LOS rate: -2.384961 deg/s, posRepo size: 4
2021-02-16T08:12:07.481Z,1613463127.481 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0053.lzma.bak
2021-02-16T08:12:07.481Z,1613463127.481 [DataOverHttps](INFO): SBD MOMSN=81663
2021-02-16T08:12:08.989Z,1613463128.989 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T08:12:08.989Z,1613463128.989 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T08:12:08.989Z,1613463128.989 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T08:12:08.989Z,1613463128.989 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:12:08.989Z,1613463128.989 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T08:12:09.782Z,1613463129.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:10.553Z,1613463130.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:10.959Z,1613463130.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:11.799Z,1613463131.799 [Micromodem](INFO): Nmea in: $SNTTA,0.042638,,,,081212.04*47

2021-02-16T08:12:11.854Z,1613463131.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 58.828590 deg, deltaT: 4.429896 s, approachRate: -0.203167 m/s, LOS rate: -11.523552 deg/s, posRepo size: 4
2021-02-16T08:12:14.255Z,1613463134.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:15.005Z,1613463135.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:15.406Z,1613463135.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:16.228Z,1613463136.228 [Micromodem](INFO): Nmea in: $SNTTA,0.042128,,,,081216.49*4C

2021-02-16T08:12:16.251Z,1613463136.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 33.804928 deg, deltaT: 4.454308 s, approachRate: -0.161640 m/s, LOS rate: -5.617856 deg/s, posRepo size: 4
2021-02-16T08:12:18.661Z,1613463138.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:19.451Z,1613463139.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:19.851Z,1613463139.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:20.676Z,1613463140.676 [Micromodem](INFO): Nmea in: $SNTTA,0.041638,,,,081220.93*4B

2021-02-16T08:12:20.724Z,1613463140.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.459999 m, bearing: 57.404721 deg, deltaT: 4.465984 s, approachRate: -0.174655 m/s, LOS rate: 5.284343 deg/s, posRepo size: 4
2021-02-16T08:12:23.219Z,1613463143.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:23.892Z,1613463143.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:24.296Z,1613463144.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:25.128Z,1613463145.128 [Micromodem](INFO): Nmea in: $SNTTA,0.041256,,,,081225.37*4C

2021-02-16T08:12:25.182Z,1613463145.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 129.902685 deg, deltaT: 4.383392 s, approachRate: 0.068441 m/s, LOS rate: 16.539238 deg/s, posRepo size: 4
2021-02-16T08:12:27.556Z,1613463147.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:28.334Z,1613463148.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:28.739Z,1613463148.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:29.572Z,1613463149.572 [Micromodem](INFO): Nmea in: $SNTTA,0.040834,,0.061235,,081229.82*5C

2021-02-16T08:12:29.631Z,1613463149.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.380005 m, bearing: 29.254008 deg, deltaT: 4.462175 s, approachRate: -0.309266 m/s, LOS rate: -22.555969 deg/s, posRepo size: 4
2021-02-16T08:12:32.021Z,1613463152.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:32.778Z,1613463152.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:33.189Z,1613463153.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:34.004Z,1613463154.004 [Micromodem](INFO): Nmea in: $SNTTA,0.040441,,,,081234.26*4D

2021-02-16T08:12:34.066Z,1613463154.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 35.995818 deg, deltaT: 4.410070 s, approachRate: -0.149657 m/s, LOS rate: 1.528731 deg/s, posRepo size: 4
2021-02-16T08:12:36.428Z,1613463156.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:37.219Z,1613463157.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:37.655Z,1613463157.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:38.453Z,1613463158.453 [Micromodem](INFO): Nmea in: $SNTTA,0.040018,,,,081238.70*4A

2021-02-16T08:12:38.514Z,1613463158.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 35.591962 deg, deltaT: 4.474031 s, approachRate: -0.134107 m/s, LOS rate: -0.090267 deg/s, posRepo size: 4
2021-02-16T08:12:40.904Z,1613463160.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:41.669Z,1613463161.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:42.078Z,1613463162.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:42.892Z,1613463162.892 [Micromodem](INFO): Nmea in: $SNTTA,0.039480,,,,081243.15*4E

2021-02-16T08:12:42.933Z,1613463162.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 20.275779 deg, deltaT: 4.445380 s, approachRate: 0.742344 m/s, LOS rate: -3.445416 deg/s, posRepo size: 4
2021-02-16T08:12:45.336Z,1613463165.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:46.111Z,1613463166.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:46.516Z,1613463166.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:47.345Z,1613463167.345 [Micromodem](INFO): Nmea in: $SNTTA,0.039250,,,,081247.60*43

2021-02-16T08:12:48.174Z,1613463168.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:49.744Z,1613463169.744 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:12:50.983Z,1613463170.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:51.769Z,1613463171.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:52.183Z,1613463172.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:52.992Z,1613463172.992 [Micromodem](INFO): Nmea in: $SNTTA,0.038886,,,,081253.25*47

2021-02-16T08:12:53.044Z,1613463173.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 78.554258 deg, deltaT: 10.088021 s, approachRate: -0.457970 m/s, LOS rate: 5.776998 deg/s, posRepo size: 4
2021-02-16T08:12:55.466Z,1613463175.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:12:56.219Z,1613463176.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:12:56.640Z,1613463176.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:12:57.441Z,1613463177.441 [Micromodem](INFO): Nmea in: $SNTTA,0.038686,,,0.158327,081257.70*59

2021-02-16T08:12:57.462Z,1613463177.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 60.809529 deg, deltaT: 4.432933 s, approachRate: -0.162419 m/s, LOS rate: -4.002932 deg/s, posRepo size: 4
2021-02-16T08:12:59.887Z,1613463179.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:00.654Z,1613463180.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:01.071Z,1613463181.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:01.876Z,1613463181.876 [Micromodem](INFO): Nmea in: $SNTTA,0.038488,,,,081302.14*42

2021-02-16T08:13:01.926Z,1613463181.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 122.243693 deg, deltaT: 4.459631 s, approachRate: -0.040361 m/s, LOS rate: 13.775616 deg/s, posRepo size: 4
2021-02-16T08:13:04.348Z,1613463184.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:05.098Z,1613463185.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:05.500Z,1613463185.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:06.332Z,1613463186.332 [Micromodem](INFO): Nmea in: $SNTTA,0.038367,,,,081306.58*48

2021-02-16T08:13:06.354Z,1613463186.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 107.018471 deg, deltaT: 4.476613 s, approachRate: -0.026807 m/s, LOS rate: -3.401059 deg/s, posRepo size: 4
2021-02-16T08:13:08.806Z,1613463188.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:09.536Z,1613463189.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:09.947Z,1613463189.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:10.769Z,1613463190.769 [Micromodem](INFO): Nmea in: $SNTTA,0.038082,,,,081311.02*49

2021-02-16T08:13:10.845Z,1613463190.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 111.596125 deg, deltaT: 4.402057 s, approachRate: -0.109041 m/s, LOS rate: 1.039890 deg/s, posRepo size: 4
2021-02-16T08:13:12.794Z,1613463192.794 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.292652
2021-02-16T08:13:13.226Z,1613463193.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:13.988Z,1613463193.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:14.452Z,1613463194.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:15.224Z,1613463195.224 [Micromodem](INFO): Nmea in: $SNTTA,0.037817,,,0.040327,081315.47*5B

2021-02-16T08:13:15.250Z,1613463195.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.939999 m, bearing: 116.965118 deg, deltaT: 4.485589 s, approachRate: -0.080257 m/s, LOS rate: 1.196943 deg/s, posRepo size: 4
2021-02-16T08:13:17.695Z,1613463197.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:18.426Z,1613463198.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:18.839Z,1613463198.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:19.656Z,1613463199.656 [Micromodem](INFO): Nmea in: $SNTTA,0.037520,,,,081319.91*49

2021-02-16T08:13:19.678Z,1613463199.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 95.084102 deg, deltaT: 4.471247 s, approachRate: -0.107353 m/s, LOS rate: -4.893717 deg/s, posRepo size: 4
2021-02-16T08:13:22.102Z,1613463202.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:22.836Z,1613463202.836 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003567
2021-02-16T08:13:22.869Z,1613463202.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:23.313Z,1613463203.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:24.096Z,1613463204.096 [Micromodem](INFO): Nmea in: $SNTTA,0.037267,,,,081324.35*4D

2021-02-16T08:13:24.136Z,1613463204.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.039997 m, bearing: 140.539106 deg, deltaT: 4.362608 s, approachRate: -0.096272 m/s, LOS rate: 10.419227 deg/s, posRepo size: 4
2021-02-16T08:13:26.543Z,1613463206.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:27.317Z,1613463207.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:27.720Z,1613463207.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:28.560Z,1613463208.560 [Micromodem](INFO): Nmea in: $SNTTA,0.036965,,,,081328.81*46

2021-02-16T08:13:28.590Z,1613463208.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 126.614222 deg, deltaT: 4.482568 s, approachRate: -0.107080 m/s, LOS rate: -3.106452 deg/s, posRepo size: 4
2021-02-16T08:13:30.988Z,1613463210.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:31.758Z,1613463211.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:32.162Z,1613463212.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:32.991Z,1613463212.991 [Micromodem](INFO): Nmea in: $SNTTA,0.036694,,,,081333.24*42

2021-02-16T08:13:33.029Z,1613463213.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 128.659249 deg, deltaT: 4.449259 s, approachRate: -0.080914 m/s, LOS rate: 0.459633 deg/s, posRepo size: 4
2021-02-16T08:13:35.491Z,1613463215.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:36.211Z,1613463216.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:36.644Z,1613463216.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:37.444Z,1613463217.444 [Micromodem](INFO): Nmea in: $SNTTA,0.036365,,,,081337.70*4C

2021-02-16T08:13:37.462Z,1613463217.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.540005 m, bearing: 86.262748 deg, deltaT: 4.464318 s, approachRate: -0.147837 m/s, LOS rate: -9.496747 deg/s, posRepo size: 4
2021-02-16T08:13:39.924Z,1613463219.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:40.646Z,1613463220.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:41.050Z,1613463221.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:41.876Z,1613463221.876 [Micromodem](INFO): Nmea in: $SNTTA,0.036084,,,,081342.13*47

2021-02-16T08:13:41.944Z,1613463221.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 113.684319 deg, deltaT: 4.421855 s, approachRate: -0.067846 m/s, LOS rate: 6.201372 deg/s, posRepo size: 4
2021-02-16T08:13:44.376Z,1613463224.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:45.089Z,1613463225.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:45.496Z,1613463225.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:46.329Z,1613463226.329 [Micromodem](INFO): Nmea in: $SNTTA,0.035825,,0.064019,,081346.57*57

2021-02-16T08:13:46.385Z,1613463226.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.700005 m, bearing: 54.767848 deg, deltaT: 4.444642 s, approachRate: -0.121493 m/s, LOS rate: -13.255617 deg/s, posRepo size: 4
2021-02-16T08:13:48.755Z,1613463228.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:49.537Z,1613463229.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:49.939Z,1613463229.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:50.773Z,1613463230.773 [Micromodem](INFO): Nmea in: $SNTTA,0.035618,,,,081351.02*45

2021-02-16T08:13:50.865Z,1613463230.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.519993 m, bearing: 53.257707 deg, deltaT: 4.454975 s, approachRate: -0.040407 m/s, LOS rate: -0.338979 deg/s, posRepo size: 4
2021-02-16T08:13:53.302Z,1613463233.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:53.977Z,1613463233.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:54.452Z,1613463234.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:55.213Z,1613463235.213 [Micromodem](INFO): Nmea in: $SNTTA,0.035455,0.061887,,,081355.46*54

2021-02-16T08:13:55.236Z,1613463235.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 41.923749 deg, deltaT: 4.432924 s, approachRate: -0.054138 m/s, LOS rate: -2.556768 deg/s, posRepo size: 4
2021-02-16T08:13:57.679Z,1613463237.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:13:58.425Z,1613463238.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:13:58.837Z,1613463238.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:13:59.656Z,1613463239.656 [Micromodem](INFO): Nmea in: $SNTTA,0.035286,,,,081359.91*44

2021-02-16T08:13:59.718Z,1613463239.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 56.887519 deg, deltaT: 4.444205 s, approachRate: -0.054003 m/s, LOS rate: 3.367029 deg/s, posRepo size: 4
2021-02-16T08:14:02.112Z,1613463242.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:02.864Z,1613463242.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:03.302Z,1613463243.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:04.103Z,1613463244.103 [Micromodem](INFO): Nmea in: $SNTTA,0.035037,,,,081404.35*4D

2021-02-16T08:14:04.136Z,1613463244.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 35.392975 deg, deltaT: 4.394943 s, approachRate: -0.109217 m/s, LOS rate: -4.890745 deg/s, posRepo size: 4
2021-02-16T08:14:06.532Z,1613463246.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:07.308Z,1613463247.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:07.727Z,1613463247.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:08.553Z,1613463248.553 [Micromodem](INFO): Nmea in: $SNTTA,0.034960,,,,081408.79*43

2021-02-16T08:14:08.606Z,1613463248.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 77.236571 deg, deltaT: 4.460813 s, approachRate: -0.026900 m/s, LOS rate: 9.380262 deg/s, posRepo size: 4
2021-02-16T08:14:11.012Z,1613463251.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:11.755Z,1613463251.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:12.158Z,1613463252.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:12.984Z,1613463252.984 [Micromodem](INFO): Nmea in: $SNTTA,0.034819,,,,081413.24*4E

2021-02-16T08:14:13.042Z,1613463253.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 109.545982 deg, deltaT: 4.430907 s, approachRate: -0.040624 m/s, LOS rate: 7.291828 deg/s, posRepo size: 4
2021-02-16T08:14:15.438Z,1613463255.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:16.203Z,1613463256.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:16.640Z,1613463256.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:17.448Z,1613463257.448 [Micromodem](INFO): Nmea in: $SNTTA,0.034804,,,,081417.69*4F

2021-02-16T08:14:17.481Z,1613463257.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.200001 m, bearing: 75.964155 deg, deltaT: 4.480108 s, approachRate: -0.013393 m/s, LOS rate: -7.495763 deg/s, posRepo size: 4
2021-02-16T08:14:19.880Z,1613463259.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:20.642Z,1613463260.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:21.054Z,1613463261.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:21.880Z,1613463261.880 [Micromodem](INFO): Nmea in: $SNTTA,0.034864,,,0.088332,081422.13*5E

2021-02-16T08:14:21.905Z,1613463261.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 70.721165 deg, deltaT: 4.426334 s, approachRate: 0.027109 m/s, LOS rate: -1.184499 deg/s, posRepo size: 4
2021-02-16T08:14:24.296Z,1613463264.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:25.089Z,1613463265.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:25.499Z,1613463265.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:26.312Z,1613463266.312 [Micromodem](INFO): Nmea in: $SNTTA,0.034999,,,,081426.57*45

2021-02-16T08:14:26.362Z,1613463266.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.499996 m, bearing: 37.873792 deg, deltaT: 4.439588 s, approachRate: 0.040544 m/s, LOS rate: -7.398744 deg/s, posRepo size: 4
2021-02-16T08:14:28.737Z,1613463268.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:29.530Z,1613463269.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:29.941Z,1613463269.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:30.760Z,1613463270.760 [Micromodem](INFO): Nmea in: $SNTTA,0.035264,,,0.043444,081431.01*55

2021-02-16T08:14:30.834Z,1613463270.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 85.917660 deg, deltaT: 4.442232 s, approachRate: 0.121562 m/s, LOS rate: 10.815255 deg/s, posRepo size: 4
2021-02-16T08:14:33.211Z,1613463273.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:33.978Z,1613463273.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:34.383Z,1613463274.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:35.208Z,1613463275.208 [Micromodem](INFO): Nmea in: $SNTTA,0.035325,,,,081435.46*4B

2021-02-16T08:14:35.253Z,1613463275.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.600002 m, bearing: 97.255808 deg, deltaT: 4.488488 s, approachRate: 1.015933 m/s, LOS rate: 2.526051 deg/s, posRepo size: 4
2021-02-16T08:14:37.668Z,1613463277.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:38.423Z,1613463278.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:38.841Z,1613463278.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:39.656Z,1613463279.656 [Micromodem](INFO): Nmea in: $SNTTA,0.035475,,0.050420,,081439.90*53

2021-02-16T08:14:39.710Z,1613463279.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 94.660493 deg, deltaT: 4.423327 s, approachRate: -0.963077 m/s, LOS rate: -0.586734 deg/s, posRepo size: 4
2021-02-16T08:14:42.099Z,1613463282.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:42.862Z,1613463282.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:43.302Z,1613463283.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:44.088Z,1613463284.088 [Micromodem](INFO): Nmea in: $SNTTA,0.035617,,,,081444.34*4C

2021-02-16T08:14:44.140Z,1613463284.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 64.809923 deg, deltaT: 4.420429 s, approachRate: 0.108588 m/s, LOS rate: -6.752867 deg/s, posRepo size: 4
2021-02-16T08:14:46.530Z,1613463286.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:47.304Z,1613463287.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:47.731Z,1613463287.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:48.532Z,1613463288.532 [Micromodem](INFO): Nmea in: $SNTTA,0.035674,,,,081448.79*4C

2021-02-16T08:14:48.578Z,1613463288.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 121.692292 deg, deltaT: 4.455820 s, approachRate: 0.067328 m/s, LOS rate: 12.765858 deg/s, posRepo size: 4
2021-02-16T08:14:50.979Z,1613463290.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:51.748Z,1613463291.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:52.173Z,1613463292.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:52.983Z,1613463292.983 [Micromodem](INFO): Nmea in: $SNTTA,0.035732,,,,081453.23*4A

2021-02-16T08:14:53.045Z,1613463293.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.060001 m, bearing: 62.150371 deg, deltaT: 4.424852 s, approachRate: -0.013560 m/s, LOS rate: -13.456251 deg/s, posRepo size: 4
2021-02-16T08:14:55.413Z,1613463295.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:14:56.206Z,1613463296.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:14:56.628Z,1613463296.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:14:56.708Z,1613463296.708 [lineCaptureDepth:NeedComms:C](INFO): Timed out from 2021-02-16T08:07:56.5Z
2021-02-16T08:14:56.708Z,1613463296.708 [lineCaptureDepth:NeedComms:C:A_Timeout] Running Loop=1
2021-02-16T08:14:56.708Z,1613463296.708 [lineCaptureDepth:NeedComms:C:A_Timeout](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms:C:A_Timeout
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:C:A_Timeout:A] Running Loop=1
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:C:A_Timeout:A](IMPORTANT): first GPS update timeout
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:C:A_Timeout:A] Stopped
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:C:A_Timeout](INFO): Completed lineCaptureDepth:NeedComms:C:A_Timeout
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T08:14:56.709Z,1613463296.709 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T08:14:57.692Z,1613463297.692 [Micromodem](INFO): Nmea in: $SNTTA,0.035761,,0.076461,,081457.69*5A

2021-02-16T08:14:57.738Z,1613463297.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 106.717533 deg, deltaT: 4.500604 s, approachRate: 0.026662 m/s, LOS rate: 9.902484 deg/s, posRepo size: 4
2021-02-16T08:14:58.248Z,1613463298.248 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239582
2021-02-16T08:14:59.740Z,1613463299.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:00.510Z,1613463300.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:00.909Z,1613463300.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:01.723Z,1613463301.723 [Micromodem](INFO): Nmea in: $SNTTA,0.035853,,,,081501.99*45

2021-02-16T08:15:02.558Z,1613463302.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:03.281Z,1613463303.281 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.010253
2021-02-16T08:15:04.160Z,1613463304.160 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:15:05.371Z,1613463305.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:06.166Z,1613463306.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:06.576Z,1613463306.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:07.286Z,1613463307.286 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210216T042015/Courier0055.lzma
2021-02-16T08:15:08.295Z,1613463308.295 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0055.lzma.bak
2021-02-16T08:15:08.296Z,1613463308.296 [DataOverHttps](INFO): SBD MOMSN=81671
2021-02-16T08:15:09.177Z,1613463309.177 [Micromodem](INFO): Nmea in: $SNTTA,0.035872,,,,081507.65*43

2021-02-16T08:15:09.287Z,1613463309.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 105.252935 deg, deltaT: 11.958728 s, approachRate: 0.000000 m/s, LOS rate: -0.122471 deg/s, posRepo size: 4
2021-02-16T08:15:11.605Z,1613463311.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:12.378Z,1613463312.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:12.803Z,1613463312.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:13.604Z,1613463313.604 [Micromodem](INFO): Nmea in: $SNTTA,0.035985,,,,081513.86*42

2021-02-16T08:15:13.652Z,1613463313.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.840000 m, bearing: 94.255402 deg, deltaT: 4.189949 s, approachRate: 0.157521 m/s, LOS rate: -2.624742 deg/s, posRepo size: 4
2021-02-16T08:15:16.050Z,1613463316.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:16.835Z,1613463316.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:17.231Z,1613463317.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:17.330Z,1613463317.330 [DataOverHttps](INFO): Sending 1971 bytes from file Logs/20210216T042015/Express0056.lzma
2021-02-16T08:15:18.056Z,1613463318.056 [Micromodem](INFO): Nmea in: $SNTTA,0.036058,,,,081518.32*4C

2021-02-16T08:15:18.094Z,1613463318.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.179996 m, bearing: 115.962460 deg, deltaT: 4.442776 s, approachRate: -0.148557 m/s, LOS rate: 4.885922 deg/s, posRepo size: 4
2021-02-16T08:15:18.329Z,1613463318.329 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0056.lzma.bak
2021-02-16T08:15:18.329Z,1613463318.329 [DataOverHttps](INFO): SBD MOMSN=81673
2021-02-16T08:15:19.680Z,1613463319.680 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T08:15:19.680Z,1613463319.680 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T08:15:20.074Z,1613463320.074 [NAL9602](INFO): SBD MO Status=1, MOMSN=13406, MT Status=0, MTMSN=0
2021-02-16T08:15:20.123Z,1613463320.123 [NAL9602](INFO): Sent 61 bytes from file Logs/20210216T042015/Courier0055.lzma
2021-02-16T08:15:20.123Z,1613463320.123 [NAL9602](INFO): Packets left to send: 0
2021-02-16T08:15:20.197Z,1613463320.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:20.862Z,1613463320.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:21.288Z,1613463321.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:22.088Z,1613463322.088 [Micromodem](INFO): Nmea in: $SNTTA,0.036123,,,,081522.34*4E

2021-02-16T08:15:22.136Z,1613463322.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 87.785710 deg, deltaT: 4.045394 s, approachRate: 0.044494 m/s, LOS rate: -6.965143 deg/s, posRepo size: 4
2021-02-16T08:15:24.552Z,1613463324.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:25.306Z,1613463325.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:25.721Z,1613463325.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:26.536Z,1613463326.536 [Micromodem](INFO): Nmea in: $SNTTA,0.036258,,,,081526.79*4C

2021-02-16T08:15:26.574Z,1613463326.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 123.168624 deg, deltaT: 4.446066 s, approachRate: 0.053982 m/s, LOS rate: 7.958252 deg/s, posRepo size: 4
2021-02-16T08:15:28.993Z,1613463328.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:29.754Z,1613463329.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:30.170Z,1613463330.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:31.000Z,1613463331.000 [Micromodem](INFO): Nmea in: $SNTTA,0.036389,,,,081531.24*4F

2021-02-16T08:15:31.098Z,1613463331.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 96.447483 deg, deltaT: 4.456686 s, approachRate: 0.000000 m/s, LOS rate: -5.995742 deg/s, posRepo size: 4
2021-02-16T08:15:33.468Z,1613463333.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:34.197Z,1613463334.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:34.599Z,1613463334.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:35.445Z,1613463335.445 [Micromodem](INFO): Nmea in: $SNTTA,0.036368,,,,081535.68*4C

2021-02-16T08:15:35.537Z,1613463335.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 92.583720 deg, deltaT: 4.456245 s, approachRate: -0.040393 m/s, LOS rate: -0.867045 deg/s, posRepo size: 4
2021-02-16T08:15:37.940Z,1613463337.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:38.642Z,1613463338.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:39.044Z,1613463339.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:39.892Z,1613463339.892 [Micromodem](INFO): Nmea in: $SNTTA,0.036540,,,,081540.13*4E

2021-02-16T08:15:39.942Z,1613463339.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.660000 m, bearing: 98.516688 deg, deltaT: 4.454888 s, approachRate: 0.053874 m/s, LOS rate: 1.331788 deg/s, posRepo size: 4
2021-02-16T08:15:42.334Z,1613463342.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:43.086Z,1613463343.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:43.488Z,1613463343.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:44.351Z,1613463344.351 [Micromodem](INFO): Nmea in: $SNTTA,0.036815,,,,081544.57*47

2021-02-16T08:15:44.557Z,1613463344.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 99.337814 deg, deltaT: 4.444260 s, approachRate: 0.135005 m/s, LOS rate: 0.184761 deg/s, posRepo size: 4
2021-02-16T08:15:46.827Z,1613463346.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:47.525Z,1613463347.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:47.930Z,1613463347.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:48.755Z,1613463348.755 [Micromodem](INFO): Nmea in: $SNTTA,0.037160,,,,081549.01*43

2021-02-16T08:15:48.838Z,1613463348.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 112.298651 deg, deltaT: 4.427461 s, approachRate: 0.257486 m/s, LOS rate: 2.927375 deg/s, posRepo size: 4
2021-02-16T08:15:51.321Z,1613463351.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:51.969Z,1613463351.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:52.388Z,1613463352.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:53.209Z,1613463353.209 [Micromodem](INFO): Nmea in: $SNTTA,0.037306,,,,081553.45*4A

2021-02-16T08:15:53.232Z,1613463353.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 137.168462 deg, deltaT: 4.489643 s, approachRate: -0.066822 m/s, LOS rate: 5.539374 deg/s, posRepo size: 4
2021-02-16T08:15:54.409Z,1613463354.409 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,081555.00,A,4133.11570,N,07042.53790,W,0.175,0.00,160221,,,A*7B
2021-02-16T08:15:54.419Z,1613463354.419 [NAL9602](INFO): GPS fix at 20210216T081555: (41.551928, -70.708965)
2021-02-16T08:15:54.479Z,1613463354.479 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T08:15:54.480Z,1613463354.480 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T08:15:54.480Z,1613463354.480 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T08:15:54.480Z,1613463354.480 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T08:15:54.480Z,1613463354.480 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T08:15:54.481Z,1613463354.481 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T08:15:55.254Z,1613463355.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T08:15:55.254Z,1613463355.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T08:15:55.254Z,1613463355.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T08:15:55.254Z,1613463355.254 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T08:15:55.255Z,1613463355.255 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T08:15:55.259Z,1613463355.259 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T08:15:55.259Z,1613463355.259 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T08:15:55.669Z,1613463355.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:15:56.412Z,1613463356.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:15:56.834Z,1613463356.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:15:57.656Z,1613463357.656 [Micromodem](INFO): Nmea in: $SNTTA,0.037409,,0.052108,,081557.89*56

2021-02-16T08:15:57.750Z,1613463357.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 125.329135 deg, deltaT: 4.333348 s, approachRate: 0.041538 m/s, LOS rate: -2.732143 deg/s, posRepo size: 4
2021-02-16T08:16:00.099Z,1613463360.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:00.882Z,1613463360.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:01.290Z,1613463361.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:02.107Z,1613463362.107 [Micromodem](INFO): Nmea in: $SNTTA,0.037645,,,,081602.36*4B

2021-02-16T08:16:02.132Z,1613463362.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 88.285434 deg, deltaT: 4.467585 s, approachRate: 0.080582 m/s, LOS rate: -8.291661 deg/s, posRepo size: 4
2021-02-16T08:16:04.528Z,1613463364.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:05.300Z,1613463365.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:05.706Z,1613463365.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:06.528Z,1613463366.528 [Micromodem](INFO): Nmea in: $SNTTA,0.037509,,,,081606.78*4E

2021-02-16T08:16:06.565Z,1613463366.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 102.661104 deg, deltaT: 4.455987 s, approachRate: -0.094258 m/s, LOS rate: 3.226147 deg/s, posRepo size: 4
2021-02-16T08:16:08.963Z,1613463368.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:09.744Z,1613463369.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:10.152Z,1613463370.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:10.976Z,1613463370.976 [Micromodem](INFO): Nmea in: $SNTTA,0.037406,,,,081611.23*48

2021-02-16T08:16:11.034Z,1613463371.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 104.707524 deg, deltaT: 4.424784 s, approachRate: -0.027119 m/s, LOS rate: 0.462490 deg/s, posRepo size: 4
2021-02-16T08:16:13.406Z,1613463373.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:14.196Z,1613463374.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:14.594Z,1613463374.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:15.432Z,1613463375.432 [Micromodem](INFO): Nmea in: $SNTTA,0.037650,,,,081615.68*42

2021-02-16T08:16:15.476Z,1613463375.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 105.472553 deg, deltaT: 4.440489 s, approachRate: 0.081071 m/s, LOS rate: 0.172285 deg/s, posRepo size: 4
2021-02-16T08:16:17.925Z,1613463377.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:18.633Z,1613463378.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:19.053Z,1613463379.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:19.851Z,1613463379.851 [Micromodem](INFO): Nmea in: $SNTTA,0.037806,,,,081620.12*44

2021-02-16T08:16:20.682Z,1613463380.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:22.286Z,1613463382.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:16:23.511Z,1613463383.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:24.288Z,1613463384.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:24.703Z,1613463384.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:25.509Z,1613463385.509 [Micromodem](INFO): Nmea in: $SNTTA,0.038343,,,,081625.77*47

2021-02-16T08:16:26.334Z,1613463386.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:26.719Z,1613463386.719 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T08:16:27.940Z,1613463387.940 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:16:29.185Z,1613463389.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:29.955Z,1613463389.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:30.359Z,1613463390.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:31.185Z,1613463391.185 [Micromodem](INFO): Nmea in: $SNTTA,0.039043,,,,081631.44*40

2021-02-16T08:16:31.235Z,1613463391.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 60.948182 deg, deltaT: 15.750283 s, approachRate: 0.152379 m/s, LOS rate: -2.826893 deg/s, posRepo size: 4
2021-02-16T08:16:33.632Z,1613463393.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:34.401Z,1613463394.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:34.854Z,1613463394.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:35.648Z,1613463395.648 [Micromodem](INFO): Nmea in: $SNTTA,0.039573,,,,081635.88*42

2021-02-16T08:16:35.673Z,1613463395.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 98.240537 deg, deltaT: 4.517521 s, approachRate: 0.159378 m/s, LOS rate: 8.255049 deg/s, posRepo size: 4
2021-02-16T08:16:38.065Z,1613463398.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:38.838Z,1613463398.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:39.278Z,1613463399.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:40.064Z,1613463400.064 [Micromodem](INFO): Nmea in: $SNTTA,0.039792,,,,081640.32*4C

2021-02-16T08:16:40.089Z,1613463400.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 97.850506 deg, deltaT: 4.374534 s, approachRate: 0.123444 m/s, LOS rate: -0.089159 deg/s, posRepo size: 4
2021-02-16T08:16:42.542Z,1613463402.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:43.313Z,1613463403.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:43.686Z,1613463403.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:44.521Z,1613463404.521 [Micromodem](INFO): Nmea in: $SNTTA,0.040353,,,0.042859,081644.79*5C

2021-02-16T08:16:45.320Z,1613463405.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:46.920Z,1613463406.920 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:16:48.182Z,1613463408.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:48.957Z,1613463408.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:49.342Z,1613463409.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:50.189Z,1613463410.189 [Micromodem](INFO): Nmea in: $SNTTA,0.041176,,,,081650.44*4F

2021-02-16T08:16:50.271Z,1613463410.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.800007 m, bearing: 70.548204 deg, deltaT: 10.119663 s, approachRate: 0.166013 m/s, LOS rate: -2.697946 deg/s, posRepo size: 4
2021-02-16T08:16:52.614Z,1613463412.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:53.394Z,1613463413.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:53.825Z,1613463413.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:54.620Z,1613463414.620 [Micromodem](INFO): Nmea in: $SNTTA,0.042001,,,,081654.87*46

2021-02-16T08:16:54.665Z,1613463414.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.119999 m, bearing: 96.988577 deg, deltaT: 4.455860 s, approachRate: 0.296237 m/s, LOS rate: 5.933843 deg/s, posRepo size: 4
2021-02-16T08:16:57.064Z,1613463417.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:16:57.837Z,1613463417.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:16:58.247Z,1613463418.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:16:59.068Z,1613463419.068 [Micromodem](INFO): Nmea in: $SNTTA,0.042891,,0.044074,,081659.32*59

2021-02-16T08:16:59.113Z,1613463419.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.500008 m, bearing: 93.710749 deg, deltaT: 4.446502 s, approachRate: 0.310358 m/s, LOS rate: -0.737170 deg/s, posRepo size: 4
2021-02-16T08:17:01.514Z,1613463421.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:02.288Z,1613463422.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:02.682Z,1613463422.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:03.532Z,1613463423.532 [Micromodem](INFO): Nmea in: $SNTTA,0.043725,,,,081703.77*4A

2021-02-16T08:17:03.575Z,1613463423.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.639999 m, bearing: 79.976072 deg, deltaT: 4.443364 s, approachRate: 0.256561 m/s, LOS rate: -3.091054 deg/s, posRepo size: 4
2021-02-16T08:17:05.938Z,1613463425.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:06.720Z,1613463426.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:07.131Z,1613463427.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:07.968Z,1613463427.968 [Micromodem](INFO): Nmea in: $SNTTA,0.044481,,,,081708.20*49

2021-02-16T08:17:08.014Z,1613463428.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 75.340347 deg, deltaT: 4.484131 s, approachRate: 0.267611 m/s, LOS rate: -1.033807 deg/s, posRepo size: 4
2021-02-16T08:17:10.402Z,1613463430.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:11.177Z,1613463431.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:11.570Z,1613463431.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:12.400Z,1613463432.400 [Micromodem](INFO): Nmea in: $SNTTA,0.045191,,,,081712.66*45

2021-02-16T08:17:12.442Z,1613463432.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 63.521244 deg, deltaT: 4.410826 s, approachRate: 0.231248 m/s, LOS rate: -2.679567 deg/s, posRepo size: 4
2021-02-16T08:17:14.879Z,1613463434.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:15.613Z,1613463435.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:16.014Z,1613463436.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:16.855Z,1613463436.855 [Micromodem](INFO): Nmea in: $SNTTA,0.045668,,,,081717.09*48

2021-02-16T08:17:16.881Z,1613463436.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 60.805725 deg, deltaT: 4.447342 s, approachRate: 0.175385 m/s, LOS rate: -0.610594 deg/s, posRepo size: 4
2021-02-16T08:17:19.388Z,1613463439.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:20.058Z,1613463440.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:20.466Z,1613463440.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:21.304Z,1613463441.304 [Micromodem](INFO): Nmea in: $SNTTA,0.046240,,,0.066034,081721.54*51

2021-02-16T08:17:21.328Z,1613463441.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.540001 m, bearing: 137.338821 deg, deltaT: 4.427280 s, approachRate: 0.203285 m/s, LOS rate: 17.286708 deg/s, posRepo size: 4
2021-02-16T08:17:23.713Z,1613463443.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:24.501Z,1613463444.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:24.913Z,1613463444.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:25.734Z,1613463445.734 [Micromodem](INFO): Nmea in: $SNTTA,0.047096,0.053352,,,081725.98*58

2021-02-16T08:17:25.770Z,1613463445.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 104.437151 deg, deltaT: 4.496961 s, approachRate: 0.333559 m/s, LOS rate: -7.316424 deg/s, posRepo size: 4
2021-02-16T08:17:28.173Z,1613463448.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:28.945Z,1613463448.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:29.365Z,1613463449.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:30.173Z,1613463450.173 [Micromodem](INFO): Nmea in: $SNTTA,0.047995,,,,081730.43*4C

2021-02-16T08:17:30.223Z,1613463450.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 79.845328 deg, deltaT: 4.386796 s, approachRate: 0.246196 m/s, LOS rate: -5.605873 deg/s, posRepo size: 4
2021-02-16T08:17:32.304Z,1613463452.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:32.982Z,1613463452.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:33.396Z,1613463453.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:34.221Z,1613463454.221 [Micromodem](INFO): Nmea in: $SNTTA,0.048739,,,,081734.46*4A

2021-02-16T08:17:34.302Z,1613463454.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 85.070894 deg, deltaT: 4.112722 s, approachRate: 0.277187 m/s, LOS rate: 1.270586 deg/s, posRepo size: 4
2021-02-16T08:17:36.658Z,1613463456.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:37.425Z,1613463457.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:37.844Z,1613463457.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:38.671Z,1613463458.671 [Micromodem](INFO): Nmea in: $SNTTA,0.049540,,,,081738.91*41

2021-02-16T08:17:38.708Z,1613463458.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 89.193678 deg, deltaT: 4.405878 s, approachRate: 0.272363 m/s, LOS rate: 0.935746 deg/s, posRepo size: 4
2021-02-16T08:17:41.125Z,1613463461.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:41.869Z,1613463461.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:42.307Z,1613463462.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:43.101Z,1613463463.101 [Micromodem](INFO): Nmea in: $SNTTA,0.050361,,,,081743.35*4E

2021-02-16T08:17:43.152Z,1613463463.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.720001 m, bearing: 85.952357 deg, deltaT: 4.414928 s, approachRate: 0.285396 m/s, LOS rate: -0.734173 deg/s, posRepo size: 4
2021-02-16T08:17:45.575Z,1613463465.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:46.312Z,1613463466.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:46.718Z,1613463466.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:47.557Z,1613463467.557 [Micromodem](INFO): Nmea in: $SNTTA,0.051219,,,,081747.79*4D

2021-02-16T08:17:47.650Z,1613463467.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.280006 m, bearing: 137.106977 deg, deltaT: 4.484092 s, approachRate: 0.347898 m/s, LOS rate: 11.408022 deg/s, posRepo size: 4
2021-02-16T08:17:50.010Z,1613463470.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:50.757Z,1613463470.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:51.176Z,1613463471.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:51.989Z,1613463471.989 [Micromodem](INFO): Nmea in: $SNTTA,0.052030,,,,081752.24*4B

2021-02-16T08:17:52.027Z,1613463472.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 140.001461 deg, deltaT: 4.398710 s, approachRate: 0.204604 m/s, LOS rate: 0.658030 deg/s, posRepo size: 4
2021-02-16T08:17:54.495Z,1613463474.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:55.206Z,1613463475.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:17:55.611Z,1613463475.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:17:56.469Z,1613463476.469 [Micromodem](INFO): Nmea in: $SNTTA,0.053086,,,,081756.69*4A

2021-02-16T08:17:56.518Z,1613463476.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 143.632635 deg, deltaT: 4.432221 s, approachRate: 0.365504 m/s, LOS rate: 0.819267 deg/s, posRepo size: 4
2021-02-16T08:17:58.880Z,1613463478.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:17:59.658Z,1613463479.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:00.050Z,1613463480.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:00.884Z,1613463480.884 [Micromodem](INFO): Nmea in: $SNTTA,0.053978,,,,081801.14*45

2021-02-16T08:18:00.933Z,1613463480.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 140.281840 deg, deltaT: 4.466887 s, approachRate: 0.295509 m/s, LOS rate: -0.750141 deg/s, posRepo size: 4
2021-02-16T08:18:03.326Z,1613463483.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:04.093Z,1613463484.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:04.511Z,1613463484.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:05.343Z,1613463485.343 [Micromodem](INFO): Nmea in: $SNTTA,0.054886,,,,081805.57*41

2021-02-16T08:18:05.389Z,1613463485.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.620003 m, bearing: 143.516864 deg, deltaT: 4.465950 s, approachRate: 0.335875 m/s, LOS rate: 0.724375 deg/s, posRepo size: 4
2021-02-16T08:18:07.741Z,1613463487.741 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T08:18:07.755Z,1613463487.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:08.532Z,1613463488.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:08.943Z,1613463488.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:09.772Z,1613463489.772 [Micromodem](INFO): Nmea in: $SNTTA,0.055903,,,,081810.01*4B

2021-02-16T08:18:09.845Z,1613463489.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.240005 m, bearing: 105.051335 deg, deltaT: 4.407805 s, approachRate: 0.367530 m/s, LOS rate: -8.726686 deg/s, posRepo size: 4
2021-02-16T08:18:12.311Z,1613463492.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:12.976Z,1613463492.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:13.396Z,1613463493.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:14.219Z,1613463494.219 [Micromodem](INFO): Nmea in: $SNTTA,0.057014,,0.059783,,081814.46*5F

2021-02-16T08:18:14.245Z,1613463494.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 134.146131 deg, deltaT: 4.498933 s, approachRate: 0.360084 m/s, LOS rate: 6.467044 deg/s, posRepo size: 4
2021-02-16T08:18:16.661Z,1613463496.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:17.433Z,1613463497.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:17.842Z,1613463497.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:18.666Z,1613463498.666 [Micromodem](INFO): Nmea in: $SNTTA,0.057884,,,,081818.92*45

2021-02-16T08:18:18.672Z,1613463498.672 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:18:19.482Z,1613463499.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:21.055Z,1613463501.055 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:18:22.318Z,1613463502.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:23.085Z,1613463503.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:23.482Z,1613463503.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:24.338Z,1613463504.338 [Micromodem](INFO): Nmea in: $SNTTA,0.058894,,,,081824.57*4D

2021-02-16T08:18:24.362Z,1613463504.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.380005 m, bearing: 100.798873 deg, deltaT: 10.064285 s, approachRate: 0.250391 m/s, LOS rate: -3.313426 deg/s, posRepo size: 4
2021-02-16T08:18:26.743Z,1613463506.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:27.520Z,1613463507.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:27.931Z,1613463507.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:28.738Z,1613463508.738 [Micromodem](INFO): Nmea in: $SNTTA,0.059737,,,,081829.00*45

2021-02-16T08:18:29.570Z,1613463509.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:31.161Z,1613463511.161 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:18:32.393Z,1613463512.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:33.182Z,1613463513.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:33.594Z,1613463513.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:34.408Z,1613463514.408 [Micromodem](INFO): Nmea in: $SNTTA,0.061095,,,,081834.66*4D

2021-02-16T08:18:34.438Z,1613463514.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.800003 m, bearing: 75.893230 deg, deltaT: 10.071693 s, approachRate: 0.339565 m/s, LOS rate: -2.472836 deg/s, posRepo size: 4
2021-02-16T08:18:36.865Z,1613463516.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:37.665Z,1613463517.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:38.043Z,1613463518.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:38.877Z,1613463518.877 [Micromodem](INFO): Nmea in: $SNTTA,0.062001,,,,081839.15*4A

2021-02-16T08:18:38.926Z,1613463518.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 130.652790 deg, deltaT: 4.449101 s, approachRate: 0.296689 m/s, LOS rate: 12.308005 deg/s, posRepo size: 4
2021-02-16T08:18:41.334Z,1613463521.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:42.071Z,1613463522.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:42.476Z,1613463522.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:43.290Z,1613463523.290 [Micromodem](INFO): Nmea in: $SNTTA,0.062944,,,,081843.55*4B

2021-02-16T08:18:44.110Z,1613463524.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:45.707Z,1613463525.707 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:18:46.962Z,1613463526.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:47.727Z,1613463527.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:48.126Z,1613463528.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:48.944Z,1613463528.944 [Micromodem](INFO): Nmea in: $SNTTA,0.064310,,,,081849.21*4F

2021-02-16T08:18:49.757Z,1613463529.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:51.355Z,1613463531.355 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:18:52.635Z,1613463532.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:53.382Z,1613463533.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:53.817Z,1613463533.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:54.608Z,1613463534.608 [Micromodem](INFO): Nmea in: $SNTTA,0.065866,,,,081854.86*45

2021-02-16T08:18:54.653Z,1613463534.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.660004 m, bearing: 102.966277 deg, deltaT: 15.774148 s, approachRate: 0.414602 m/s, LOS rate: -1.755183 deg/s, posRepo size: 4
2021-02-16T08:18:57.058Z,1613463537.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:18:57.835Z,1613463537.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:18:58.226Z,1613463538.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:18:59.056Z,1613463539.056 [Micromodem](INFO): Nmea in: $SNTTA,0.067207,,,,081859.32*48

2021-02-16T08:18:59.095Z,1613463539.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 126.709845 deg, deltaT: 4.449177 s, approachRate: 0.283199 m/s, LOS rate: 5.336620 deg/s, posRepo size: 4
2021-02-16T08:19:01.488Z,1613463541.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:02.303Z,1613463542.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:02.678Z,1613463542.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:03.509Z,1613463543.509 [Micromodem](INFO): Nmea in: $SNTTA,0.068301,,,,081903.78*40

2021-02-16T08:19:03.547Z,1613463543.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.540001 m, bearing: 64.059709 deg, deltaT: 4.432668 s, approachRate: 0.365467 m/s, LOS rate: -14.133731 deg/s, posRepo size: 4
2021-02-16T08:19:05.949Z,1613463545.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:06.714Z,1613463546.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:07.114Z,1613463547.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:07.944Z,1613463547.944 [Micromodem](INFO): Nmea in: $SNTTA,0.069329,,,,081908.20*4D

2021-02-16T08:19:07.999Z,1613463547.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 129.539920 deg, deltaT: 4.421473 s, approachRate: 0.366393 m/s, LOS rate: 14.809592 deg/s, posRepo size: 4
2021-02-16T08:19:10.374Z,1613463550.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:11.168Z,1613463551.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:11.558Z,1613463551.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:12.392Z,1613463552.392 [Micromodem](INFO): Nmea in: $SNTTA,0.070063,,,,081912.65*42

2021-02-16T08:19:12.440Z,1613463552.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.300003 m, bearing: 107.549887 deg, deltaT: 4.493761 s, approachRate: 0.253687 m/s, LOS rate: -4.893459 deg/s, posRepo size: 4
2021-02-16T08:19:14.851Z,1613463554.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:15.601Z,1613463555.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:16.011Z,1613463556.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:16.844Z,1613463556.844 [Micromodem](INFO): Nmea in: $SNTTA,0.071195,,,,081917.08*45

2021-02-16T08:19:16.893Z,1613463556.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 130.002078 deg, deltaT: 4.431958 s, approachRate: 0.379065 m/s, LOS rate: 5.065976 deg/s, posRepo size: 4
2021-02-16T08:19:19.300Z,1613463559.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:20.046Z,1613463560.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:20.451Z,1613463560.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:21.300Z,1613463561.300 [Micromodem](INFO): Nmea in: $SNTTA,0.072778,,,,081921.53*48

2021-02-16T08:19:21.329Z,1613463561.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 92.816793 deg, deltaT: 4.430170 s, approachRate: 0.541740 m/s, LOS rate: -8.393648 deg/s, posRepo size: 4
2021-02-16T08:19:23.691Z,1613463563.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:24.489Z,1613463564.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:24.892Z,1613463564.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:25.711Z,1613463565.711 [Micromodem](INFO): Nmea in: $SNTTA,0.074207,,,,081925.97*4F

2021-02-16T08:19:26.550Z,1613463566.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:28.136Z,1613463568.136 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:19:29.368Z,1613463569.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:30.146Z,1613463570.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:30.608Z,1613463570.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:31.385Z,1613463571.385 [Micromodem](INFO): Nmea in: $SNTTA,0.075555,,,,081931.63*40

2021-02-16T08:19:31.878Z,1613463571.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:33.832Z,1613463573.832 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:19:34.655Z,1613463574.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:35.413Z,1613463575.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:35.844Z,1613463575.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:36.635Z,1613463576.635 [Micromodem](INFO): Nmea in: $SNTTA,0.076847,,,,081936.89*4E

2021-02-16T08:19:37.469Z,1613463577.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:39.048Z,1613463579.048 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:19:40.386Z,1613463580.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:41.068Z,1613463581.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:41.489Z,1613463581.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:42.309Z,1613463582.309 [Micromodem](INFO): Nmea in: $SNTTA,0.078234,,,,081942.55*4C

2021-02-16T08:19:42.377Z,1613463582.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 85.352100 deg, deltaT: 21.065513 s, approachRate: 0.390211 m/s, LOS rate: -0.354356 deg/s, posRepo size: 4
2021-02-16T08:19:44.728Z,1613463584.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:45.526Z,1613463585.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:45.932Z,1613463585.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:46.749Z,1613463586.749 [Micromodem](INFO): Nmea in: $SNTTA,0.079216,,0.089577,,081947.01*53

2021-02-16T08:19:47.592Z,1613463587.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:49.148Z,1613463589.148 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:19:50.403Z,1613463590.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:51.171Z,1613463591.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:51.587Z,1613463591.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:52.401Z,1613463592.401 [Micromodem](INFO): Nmea in: $SNTTA,0.080471,,,,081952.65*4E

2021-02-16T08:19:52.482Z,1613463592.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.839996 m, bearing: 86.430218 deg, deltaT: 10.110831 s, approachRate: 0.320448 m/s, LOS rate: 0.106630 deg/s, posRepo size: 4
2021-02-16T08:19:54.860Z,1613463594.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:19:55.614Z,1613463595.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:19:56.023Z,1613463596.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:19:56.864Z,1613463596.864 [Micromodem](INFO): Nmea in: $SNTTA,0.081677,,,,081957.09*44

2021-02-16T08:19:56.904Z,1613463596.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 106.390052 deg, deltaT: 4.432326 s, approachRate: 0.460255 m/s, LOS rate: 4.503241 deg/s, posRepo size: 4
2021-02-16T08:19:59.309Z,1613463599.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:00.065Z,1613463600.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:00.468Z,1613463600.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:01.300Z,1613463601.300 [Micromodem](INFO): Nmea in: $SNTTA,0.082881,,,,082001.55*40

2021-02-16T08:20:01.339Z,1613463601.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 127.831935 deg, deltaT: 4.411728 s, approachRate: 0.353604 m/s, LOS rate: 4.860200 deg/s, posRepo size: 4
2021-02-16T08:20:03.722Z,1613463603.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:04.524Z,1613463604.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:04.911Z,1613463604.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:05.744Z,1613463605.744 [Micromodem](INFO): Nmea in: $SNTTA,0.084036,,,,082006.00*45

2021-02-16T08:20:05.829Z,1613463605.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 124.377280 deg, deltaT: 4.468396 s, approachRate: 0.389401 m/s, LOS rate: -0.773131 deg/s, posRepo size: 4
2021-02-16T08:20:08.188Z,1613463608.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:08.954Z,1613463608.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:09.356Z,1613463609.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:10.181Z,1613463610.181 [Micromodem](INFO): Nmea in: $SNTTA,0.085218,,,,082010.43*4A

2021-02-16T08:20:10.249Z,1613463610.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 102.492043 deg, deltaT: 4.390227 s, approachRate: 0.437336 m/s, LOS rate: -4.984990 deg/s, posRepo size: 4
2021-02-16T08:20:12.357Z,1613463612.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:12.989Z,1613463612.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:13.391Z,1613463613.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:14.223Z,1613463614.223 [Micromodem](INFO): Nmea in: $SNTTA,0.086238,,,,082014.47*4B

2021-02-16T08:20:14.304Z,1613463614.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 59.521581 deg, deltaT: 4.082482 s, approachRate: 0.338027 m/s, LOS rate: -10.525573 deg/s, posRepo size: 4
2021-02-16T08:20:16.662Z,1613463616.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:17.438Z,1613463617.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:17.839Z,1613463617.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:18.664Z,1613463618.664 [Micromodem](INFO): Nmea in: $SNTTA,0.087490,,,,082018.92*4A

2021-02-16T08:20:18.704Z,1613463618.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 108.646883 deg, deltaT: 4.428227 s, approachRate: 0.474232 m/s, LOS rate: 11.093673 deg/s, posRepo size: 4
2021-02-16T08:20:21.124Z,1613463621.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:21.873Z,1613463621.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:22.292Z,1613463622.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:23.107Z,1613463623.107 [Micromodem](INFO): Nmea in: $SNTTA,0.088628,,,,082023.35*41

2021-02-16T08:20:23.934Z,1613463623.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:25.524Z,1613463625.524 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:20:26.740Z,1613463626.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:27.545Z,1613463627.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:27.939Z,1613463627.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:28.770Z,1613463628.770 [Micromodem](INFO): Nmea in: $SNTTA,0.090007,,,,082029.03*4C

2021-02-16T08:20:28.843Z,1613463628.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.240005 m, bearing: 128.969503 deg, deltaT: 10.073272 s, approachRate: 0.363338 m/s, LOS rate: 2.017480 deg/s, posRepo size: 4
2021-02-16T08:20:29.688Z,1613463629.688 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.291164
2021-02-16T08:20:30.022Z,1613463630.022 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T08:20:30.022Z,1613463630.022 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T08:20:30.022Z,1613463630.022 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T08:20:30.022Z,1613463630.022 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:20:30.023Z,1613463630.023 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T08:20:31.258Z,1613463631.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:31.989Z,1613463631.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:32.398Z,1613463632.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:33.361Z,1613463633.361 [Micromodem](INFO): Nmea in: $SNTTA,0.091001,,,,082033.47*40

2021-02-16T08:20:33.406Z,1613463633.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 167.515936 deg, deltaT: 4.493896 s, approachRate: 0.333786 m/s, LOS rate: 8.577509 deg/s, posRepo size: 4
2021-02-16T08:20:35.633Z,1613463635.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:36.073Z,1613463636.073 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B603A0000005D00000400610000000000000000151D80030C5669BF92F9E5646D888B7707C970D4B919590F31E761FCB07EE58681AA4C8058075D60C9A2
2021-02-16T08:20:36.073Z,1613463636.073 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 6E4CB128C59F7109C44BA2D8822577085FCCE52CCF2C456911100F594F2003745C0FDA9C
2021-02-16T08:20:36.073Z,1613463636.073 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T08:20:36.424Z,1613463636.424 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T08:20:36.425Z,1613463636.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:36.834Z,1613463636.834 [Micromodem](INFO): Nmea in: $CADRQ,082037,1,10,0,64,1*78

2021-02-16T08:20:36.835Z,1613463636.835 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,082037,1,10,0,64,1*78

2021-02-16T08:20:37.238Z,1613463637.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:37.656Z,1613463637.656 [Micromodem](INFO): Nmea in: $SNTTA,0.092293,,,,082037.91*45

2021-02-16T08:20:37.680Z,1613463637.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 89.784517 deg, deltaT: 4.463881 s, approachRate: 0.389797 m/s, LOS rate: -17.413417 deg/s, posRepo size: 4
2021-02-16T08:20:40.093Z,1613463640.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:40.868Z,1613463640.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:41.304Z,1613463641.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:42.112Z,1613463642.112 [Micromodem](INFO): Nmea in: $SNTTA,0.093560,,,,082042.35*43

2021-02-16T08:20:42.141Z,1613463642.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 77.044527 deg, deltaT: 4.400424 s, approachRate: 0.449956 m/s, LOS rate: -2.895173 deg/s, posRepo size: 4
2021-02-16T08:20:44.534Z,1613463644.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:45.317Z,1613463645.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:45.719Z,1613463645.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:46.551Z,1613463646.551 [Micromodem](INFO): Nmea in: $SNTTA,0.094856,,,,082046.80*46

2021-02-16T08:20:46.575Z,1613463646.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 80.487250 deg, deltaT: 4.443241 s, approachRate: 0.459123 m/s, LOS rate: 0.774822 deg/s, posRepo size: 4
2021-02-16T08:20:46.575Z,1613463646.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 142.50 m. Resuming terminal guidance.
2021-02-16T08:20:46.576Z,1613463646.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T08:20:48.973Z,1613463648.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:49.792Z,1613463649.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:50.162Z,1613463650.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:51.004Z,1613463651.004 [Micromodem](INFO): Nmea in: $SNTTA,0.096486,,,,082051.27*4E

2021-02-16T08:20:51.058Z,1613463651.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 81.217691 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T08:20:51.059Z,1613463651.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 81.217691deg and heading rate command to 0 deg/s.
2021-02-16T08:20:53.046Z,1613463653.046 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:20:53.433Z,1613463653.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:54.229Z,1613463654.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:54.606Z,1613463654.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:55.451Z,1613463655.451 [Micromodem](INFO): Nmea in: $SNTTA,0.098416,,,,082055.71*4E

2021-02-16T08:20:55.490Z,1613463655.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 83.251796 deg, deltaT: 4.440659 s, approachRate: 0.000000 m/s, LOS rate: 0.458064 deg/s, posRepo size: 2
2021-02-16T08:20:55.492Z,1613463655.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 83.251796 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.458064 deg/s,
      cmd update: 1.374192 deg/s,
      cmd heading: 81.217691 deg,
      new cmd heading: 81.217691 deg.

2021-02-16T08:20:57.909Z,1613463657.909 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:20:57.949Z,1613463657.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:20:58.644Z,1613463658.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:20:59.067Z,1613463659.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:20:59.881Z,1613463659.881 [Micromodem](INFO): Nmea in: $SNTTA,0.099849,,,,082100.13*4C

2021-02-16T08:20:59.907Z,1613463659.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.300003 m, bearing: 120.526324 deg, deltaT: 4.425926 s, approachRate: 1.762344 m/s, LOS rate: 8.421860 deg/s, posRepo size: 3
2021-02-16T08:20:59.909Z,1613463659.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.300003 m,
      bearing: 120.526324 deg,
      approachRate: 1.762344 m/s,
      LOS rate: 8.421860 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 87.299776 deg,
      new cmd heading: 87.880202 deg.

2021-02-16T08:21:01.993Z,1613463661.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:02.685Z,1613463662.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:03.089Z,1613463663.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:03.138Z,1613463663.138 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:21:03.924Z,1613463663.924 [Micromodem](INFO): Nmea in: $SNTTA,0.100968,,0.103724,,082104.17*52

2021-02-16T08:21:04.018Z,1613463664.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.500000 m, bearing: 76.590067 deg, deltaT: 4.081654 s, approachRate: 0.293998 m/s, LOS rate: -10.764327 deg/s, posRepo size: 4
2021-02-16T08:21:04.020Z,1613463664.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 76.590067 deg,
      approachRate: 0.293998 m/s,
      LOS rate: -10.764327 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 136.233330 deg,
      new cmd heading: 141.704598 deg.

2021-02-16T08:21:05.831Z,1613463665.831 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:21:06.340Z,1613463666.340 [Micromodem](INFO): Nmea in: $CAERR,082107,DATA_TIMEOUT,1*42

2021-02-16T08:21:06.365Z,1613463666.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:07.135Z,1613463667.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:07.602Z,1613463667.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:08.436Z,1613463668.436 [Micromodem](INFO): Nmea in: $SNTTA,0.102233,,,,082108.62*46

2021-02-16T08:21:08.476Z,1613463668.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 97.514611 deg, deltaT: 4.536643 s, approachRate: 0.423220 m/s, LOS rate: 4.612341 deg/s, posRepo size: 4
2021-02-16T08:21:08.478Z,1613463668.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.419998 m,
      bearing: 97.514611 deg,
      approachRate: 0.423220 m/s,
      LOS rate: 4.612341 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 81.739229 deg,
      new cmd heading: 77.272816 deg.

2021-02-16T08:21:10.891Z,1613463670.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:11.640Z,1613463671.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:12.078Z,1613463672.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:12.904Z,1613463672.904 [Micromodem](INFO): Nmea in: $SNTTA,0.103687,,,,082113.12*41

2021-02-16T08:21:12.910Z,1613463672.910 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:21:12.926Z,1613463672.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 104.763914 deg, deltaT: 4.426253 s, approachRate: 0.515112 m/s, LOS rate: 1.637797 deg/s, posRepo size: 4
2021-02-16T08:21:12.928Z,1613463672.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.700012 m,
      bearing: 104.763914 deg,
      approachRate: 0.515112 m/s,
      LOS rate: 1.637797 deg/s,
      cmd update: 4.913390 deg/s,
      cmd heading: 134.853690 deg,
      new cmd heading: 139.615134 deg.

2021-02-16T08:21:15.372Z,1613463675.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:16.116Z,1613463676.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:16.539Z,1613463676.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:17.347Z,1613463677.347 [Micromodem](INFO): Nmea in: $SNTTA,0.105287,,,,082117.60*42

2021-02-16T08:21:17.418Z,1613463677.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.100006 m, bearing: 127.063157 deg, deltaT: 4.431363 s, approachRate: 0.541593 m/s, LOS rate: 5.032141 deg/s, posRepo size: 4
2021-02-16T08:21:17.425Z,1613463677.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 127.063157 deg,
      approachRate: 0.541593 m/s,
      LOS rate: 5.032141 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.625444 deg,
      new cmd heading: 158.874037 deg.

2021-02-16T08:21:18.149Z,1613463678.149 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:21:19.827Z,1613463679.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:20.605Z,1613463680.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:20.994Z,1613463680.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:21.828Z,1613463681.828 [Micromodem](INFO): Nmea in: $SNTTA,0.106986,,,,082122.09*42

2021-02-16T08:21:21.891Z,1613463681.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.100006 m, bearing: 111.603809 deg, deltaT: 4.513247 s, approachRate: 0.000000 m/s, LOS rate: -3.425327 deg/s, posRepo size: 4
2021-02-16T08:21:21.893Z,1613463681.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 111.603809 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.425327 deg/s,
      cmd update: -10.275982 deg/s,
      cmd heading: 210.787590 deg,
      new cmd heading: 215.732094 deg.

2021-02-16T08:21:24.297Z,1613463684.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:25.032Z,1613463685.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:25.308Z,1613463685.308 [CTD_Seabird](ERROR): Failed to parse device response: 5,2.76079,5869.79
2021-02-16T08:21:25.446Z,1613463685.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:26.260Z,1613463686.260 [Micromodem](INFO): Nmea in: $SNTTA,0.108997,,,,082126.51*45

2021-02-16T08:21:26.354Z,1613463686.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.680008 m, bearing: 164.091115 deg, deltaT: 4.417153 s, approachRate: 1.263258 m/s, LOS rate: 11.882610 deg/s, posRepo size: 4
2021-02-16T08:21:26.360Z,1613463686.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.882610 deg/s. Setting heading cmd to target bearing of 164.091115deg and heading rate command to 0 deg/s.
2021-02-16T08:21:27.927Z,1613463687.927 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T08:21:27.927Z,1613463687.927 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T08:21:27.927Z,1613463687.927 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T08:21:28.075Z,1613463688.075 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T08:21:28.395Z,1613463688.395 [RDI_Pathfinder](INFO): Powering down
2021-02-16T08:21:28.462Z,1613463688.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:29.090Z,1613463689.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:29.371Z,1613463689.371 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T08:21:29.371Z,1613463689.371 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T08:21:29.482Z,1613463689.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:30.340Z,1613463690.340 [Micromodem](INFO): Nmea in: $SNTTA,,,,,082130.57*54

2021-02-16T08:21:31.143Z,1613463691.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:32.718Z,1613463692.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:21:33.675Z,1613463693.675 [Radio_Surface](INFO): Powering down
2021-02-16T08:21:33.951Z,1613463693.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:34.732Z,1613463694.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:35.138Z,1613463695.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:35.543Z,1613463695.543 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DC9,000,004
9,187,80,80,9D,FF
2021-02-16T08:21:35.965Z,1613463695.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,082136.21*53

2021-02-16T08:21:36.776Z,1613463696.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:39.665Z,1613463699.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:40.977Z,1613463700.977 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T08:21:41.208Z,1613463701.208 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T08:21:41.640Z,1613463701.640 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B603A0000005D00000400610000000000000000151D80030C5669BF92F9E5646D888B7707C970D4B919590F31E761FCB07EE58681AA4C8058075D60C9A2
2021-02-16T08:21:41.640Z,1613463701.640 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 6E4CB128C59F7109C44BA2D8822577085FCCE52CCF2C456911100F594F2003745C0FDA9C
2021-02-16T08:21:41.640Z,1613463701.640 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T08:21:41.979Z,1613463701.979 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T08:21:42.004Z,1613463702.004 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T08:21:42.429Z,1613463702.429 [Micromodem](INFO): Nmea in: $CADRQ,082143,1,10,0,64,1*7A

2021-02-16T08:21:42.430Z,1613463702.430 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B603A0000005D00000400610000000000000000151D80030C5669BF92F9E5646D888B7707C970D4B919590F31E761FCB07EE58681AA4C8058075D60C9A2*3E

2021-02-16T08:21:42.573Z,1613463702.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:42.819Z,1613463702.819 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T08:21:43.220Z,1613463703.220 [Micromodem](INFO): Nmea in: $CADRQ,082143,1,10,0,64,2*79

2021-02-16T08:21:43.220Z,1613463703.220 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6E4CB128C59F7109C44BA2D8822577085FCCE52CCF2C456911100F594F2003745C0FDA9C*45

2021-02-16T08:21:43.623Z,1613463703.623 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E

2021-02-16T08:21:43.623Z,1613463703.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:44.023Z,1613463704.023 [Micromodem](INFO): Nmea in: $CATXP,100*43

2021-02-16T08:21:44.023Z,1613463704.023 [Micromodem](ERROR): Response from modem unexpected: $CATXP,100*43

2021-02-16T08:21:45.260Z,1613463705.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:46.453Z,1613463706.453 [Micromodem](INFO): Nmea in: $CATXF,100*55

2021-02-16T08:21:46.453Z,1613463706.453 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55

2021-02-16T08:21:47.660Z,1613463707.660 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,082144.709736,3,0,200,4000,14500,1,1,10,1,2,2,3,100*71

2021-02-16T08:21:47.661Z,1613463707.661 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,082144.709736,3,0,200,4000,14500,1,1,10,1,2,2,3,100*71

2021-02-16T08:21:48.170Z,1613463708.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:50.919Z,1613463710.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:53.777Z,1613463713.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:54.931Z,1613463714.931 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:21:55.362Z,1613463715.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:21:56.147Z,1613463716.147 [Micromodem](INFO): Nmea in: $SNTTA,,,,,082156.41*53

2021-02-16T08:21:56.614Z,1613463716.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 197.484196 deg, deltaT: 30.270015 s, approachRate: 0.656094 m/s, LOS rate: 1.103174 deg/s, posRepo size: 4
2021-02-16T08:21:56.620Z,1613463716.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 197.484196 deg,
      approachRate: 0.656094 m/s,
      LOS rate: 1.103174 deg/s,
      cmd update: 3.309521 deg/s,
      cmd heading: 164.091115 deg,
      new cmd heading: 164.091115 deg.

2021-02-16T08:21:59.055Z,1613463719.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:21:59.781Z,1613463719.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:00.194Z,1613463720.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:01.003Z,1613463721.003 [Micromodem](INFO): Nmea in: $SNTTA,0.124771,,,,082201.27*4A

2021-02-16T08:22:01.478Z,1613463721.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.020004 m, bearing: 196.418496 deg, deltaT: 4.939231 s, approachRate: 0.704565 m/s, LOS rate: -0.215762 deg/s, posRepo size: 4
2021-02-16T08:22:01.484Z,1613463721.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 196.418496 deg,
      approachRate: 0.704565 m/s,
      LOS rate: -0.215762 deg/s,
      cmd update: -0.647287 deg/s,
      cmd heading: 180.437576 deg,
      new cmd heading: 181.684458 deg.

2021-02-16T08:22:03.840Z,1613463723.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:04.637Z,1613463724.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:05.034Z,1613463725.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:05.853Z,1613463725.853 [Micromodem](INFO): Nmea in: $SNTTA,0.127081,,,,082206.12*40

2021-02-16T08:22:06.323Z,1613463726.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 214.855540 deg, deltaT: 4.766535 s, approachRate: 0.730086 m/s, LOS rate: 3.868018 deg/s, posRepo size: 4
2021-02-16T08:22:06.334Z,1613463726.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.499985 m,
      bearing: 214.855540 deg,
      approachRate: 0.730086 m/s,
      LOS rate: 3.868018 deg/s,
      cmd update: 11.604054 deg/s,
      cmd heading: 177.352417 deg,
      new cmd heading: 177.064470 deg.

2021-02-16T08:22:08.726Z,1613463728.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:09.481Z,1613463729.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:09.882Z,1613463729.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:10.708Z,1613463730.708 [Micromodem](INFO): Nmea in: $SNTTA,0.128996,,,,082210.96*4B

2021-02-16T08:22:10.734Z,1613463730.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 149.106841 deg, deltaT: 4.538608 s, approachRate: 0.000000 m/s, LOS rate: -14.486534 deg/s, posRepo size: 4
2021-02-16T08:22:10.734Z,1613463730.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.486534 deg/s. Setting heading cmd to target bearing of 149.106841deg and heading rate command to 0 deg/s.
2021-02-16T08:22:11.539Z,1613463731.539 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:22:13.170Z,1613463733.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:13.920Z,1613463733.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:14.358Z,1613463734.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:15.149Z,1613463735.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,082215.40*56

2021-02-16T08:22:15.597Z,1613463735.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.599976 m, bearing: 236.444565 deg, deltaT: 4.803276 s, approachRate: 1.061773 m/s, LOS rate: 18.182949 deg/s, posRepo size: 4
2021-02-16T08:22:15.598Z,1613463735.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.182949 deg/s. Setting heading cmd to target bearing of 236.444565deg and heading rate command to 0 deg/s.
2021-02-16T08:22:17.993Z,1613463737.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:18.769Z,1613463738.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:19.170Z,1613463739.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:19.985Z,1613463739.985 [Micromodem](INFO): Nmea in: $SNTTA,0.131727,,,,082220.25*4C

2021-02-16T08:22:20.506Z,1613463740.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.639999 m, bearing: 196.441431 deg, deltaT: 4.829914 s, approachRate: 0.422373 m/s, LOS rate: -8.282370 deg/s, posRepo size: 4
2021-02-16T08:22:20.508Z,1613463740.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.639999 m,
      bearing: 196.441431 deg,
      approachRate: 0.422373 m/s,
      LOS rate: -8.282370 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 236.444565 deg,
      new cmd heading: 236.444565 deg.

2021-02-16T08:22:22.872Z,1613463742.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:23.624Z,1613463743.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:24.018Z,1613463744.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:24.852Z,1613463744.852 [Micromodem](INFO): Nmea in: $SNTTA,0.132966,,,,082225.10*47

2021-02-16T08:22:24.931Z,1613463744.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.559998 m, bearing: 204.574534 deg, deltaT: 4.645493 s, approachRate: 0.413303 m/s, LOS rate: 1.750751 deg/s, posRepo size: 4
2021-02-16T08:22:24.933Z,1613463744.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 204.574534 deg,
      approachRate: 0.413303 m/s,
      LOS rate: 1.750751 deg/s,
      cmd update: 5.252254 deg/s,
      cmd heading: 180.817880 deg,
      new cmd heading: 177.746803 deg.

2021-02-16T08:22:27.312Z,1613463747.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:28.062Z,1613463748.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:28.467Z,1613463748.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:29.305Z,1613463749.305 [Micromodem](INFO): Nmea in: $SNTTA,0.133917,,,,082229.54*4C

2021-02-16T08:22:29.717Z,1613463749.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.939987 m, bearing: 258.069518 deg, deltaT: 4.689621 s, approachRate: 0.294265 m/s, LOS rate: 11.407101 deg/s, posRepo size: 4
2021-02-16T08:22:29.718Z,1613463749.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.939987 m,
      bearing: 258.069518 deg,
      approachRate: 0.294265 m/s,
      LOS rate: 11.407101 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 205.479942 deg,
      new cmd heading: 207.298844 deg.

2021-02-16T08:22:32.123Z,1613463752.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:32.905Z,1613463752.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:33.364Z,1613463753.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:34.123Z,1613463754.123 [Micromodem](INFO): Nmea in: $SNTTA,0.135091,,,,082234.39*4A

2021-02-16T08:22:34.598Z,1613463754.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.679977 m, bearing: 204.107226 deg, deltaT: 4.810870 s, approachRate: 0.361679 m/s, LOS rate: -11.216743 deg/s, posRepo size: 4
2021-02-16T08:22:34.600Z,1613463754.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.679977 m,
      bearing: 204.107226 deg,
      approachRate: 0.361679 m/s,
      LOS rate: -11.216743 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 263.120839 deg,
      new cmd heading: 268.209847 deg.

2021-02-16T08:22:36.966Z,1613463756.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:37.771Z,1613463757.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:38.216Z,1613463758.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:39.009Z,1613463759.009 [Micromodem](INFO): Nmea in: $SNTTA,0.136623,,,,082239.25*46

2021-02-16T08:22:39.494Z,1613463759.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.299988 m, bearing: 235.932492 deg, deltaT: 4.873803 s, approachRate: 0.332391 m/s, LOS rate: 6.529863 deg/s, posRepo size: 4
2021-02-16T08:22:39.513Z,1613463759.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.299988 m,
      bearing: 235.932492 deg,
      approachRate: 0.332391 m/s,
      LOS rate: 6.529863 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.500645 deg,
      new cmd heading: 199.292249 deg.

2021-02-16T08:22:41.871Z,1613463761.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:42.645Z,1613463762.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:43.050Z,1613463763.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:43.865Z,1613463763.865 [Micromodem](INFO): Nmea in: $SNTTA,0.136843,,,,082244.13*41

2021-02-16T08:22:44.436Z,1613463764.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.259995 m, bearing: 275.086142 deg, deltaT: 4.863568 s, approachRate: 0.197387 m/s, LOS rate: 8.050396 deg/s, posRepo size: 4
2021-02-16T08:22:44.438Z,1613463764.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.259995 m,
      bearing: 275.086142 deg,
      approachRate: 0.197387 m/s,
      LOS rate: 8.050396 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 262.577970 deg,
      new cmd heading: 268.831518 deg.

2021-02-16T08:22:46.432Z,1613463766.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:46.691Z,1613463766.691 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T08:22:47.093Z,1613463767.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:47.505Z,1613463767.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:22:47.562Z,1613463767.562 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B603A0000005D00000400610000000000000000151D80030C5669BF92F9E5646D888B7707C970D4B919590F31E761FCB07EE58681AA4C8058075D60C9A2
2021-02-16T08:22:47.563Z,1613463767.563 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 6E4CB128C59F7109C44BA2D8822577085FCCE52CCF2C456911100F594F2003745C0FDA9C
2021-02-16T08:22:47.564Z,1613463767.564 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T08:22:47.915Z,1613463767.915 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T08:22:48.316Z,1613463768.316 [Micromodem](INFO): Nmea in: $CADRQ,082248,1,10,0,64,1*72

2021-02-16T08:22:48.316Z,1613463768.316 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B603A0000005D00000400610000000000000000151D80030C5669BF92F9E5646D888B7707C970D4B919590F31E761FCB07EE58681AA4C8058075D60C9A2*3E

2021-02-16T08:22:48.728Z,1613463768.728 [Micromodem](INFO): Nmea in: $SNTTA,0.137516,,,,082248.58*4E

2021-02-16T08:22:48.729Z,1613463768.729 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.137516,,,,082248.58*4E

2021-02-16T08:22:48.773Z,1613463768.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.279999 m, bearing: 265.471257 deg, deltaT: 4.525291 s, approachRate: 0.225401 m/s, LOS rate: -2.124700 deg/s, posRepo size: 4
2021-02-16T08:22:48.777Z,1613463768.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.279999 m,
      bearing: 265.471257 deg,
      approachRate: 0.225401 m/s,
      LOS rate: -2.124700 deg/s,
      cmd update: -6.374099 deg/s,
      cmd heading: 317.072935 deg,
      new cmd heading: 321.078199 deg.

2021-02-16T08:22:49.928Z,1613463769.928 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T08:22:50.339Z,1613463770.339 [Micromodem](INFO): Nmea in: $CADRQ,082249,1,10,0,64,2*70

2021-02-16T08:22:50.340Z,1613463770.340 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6E4CB128C59F7109C44BA2D8822577085FCCE52CCF2C456911100F594F2003745C0FDA9C*45

2021-02-16T08:22:50.736Z,1613463770.736 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E

2021-02-16T08:22:51.129Z,1613463771.129 [Micromodem](INFO): Nmea in: $CATXP,100*43

2021-02-16T08:22:51.179Z,1613463771.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:51.944Z,1613463771.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:22:53.559Z,1613463773.559 [Micromodem](INFO): Nmea in: $CATXF,100*55

2021-02-16T08:22:53.559Z,1613463773.559 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55

2021-02-16T08:22:53.962Z,1613463773.962 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,082251.826386,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7B

2021-02-16T08:22:53.962Z,1613463773.963 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,082251.826386,3,0,200,4000,14500,1,1,10,1,2,2,3,100*7B

2021-02-16T08:22:54.005Z,1613463774.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:56.384Z,1613463776.384 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T08:22:56.795Z,1613463776.795 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T08:22:56.796Z,1613463776.796 [Micromodem](INFO): Sent 92 bytes from file Logs/20210216T042015/Courier0058.lzma.parts
2021-02-16T08:22:56.796Z,1613463776.796 [Micromodem](INFO): Packets left to send: 0
2021-02-16T08:22:56.832Z,1613463776.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:22:57.200Z,1613463777.200 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216082256.692836,06,2315,33,0158,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,19.2,11.00,23,-8.00,-01,0.13,28,14500,4000*6D

2021-02-16T08:22:57.200Z,1613463777.200 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216082256.692836,06,2315,33,0158,0150,29,02,02,00,02,1,010,001,0,4,1,0,150,19.2,11.00,23,-8.00,-01,0.13,28,14500,4000*6D

2021-02-16T08:22:57.446Z,1613463777.446 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T08:22:57.446Z,1613463777.446 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T08:22:57.446Z,1613463777.446 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T08:22:57.446Z,1613463777.446 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:22:57.446Z,1613463777.446 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T08:22:59.690Z,1613463779.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:02.518Z,1613463782.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:03.257Z,1613463783.257 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:03.659Z,1613463783.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:04.525Z,1613463784.525 [Micromodem](INFO): Nmea in: $SNTTA,0.136975,,,0.139481,082304.74*59

2021-02-16T08:23:04.894Z,1613463784.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.440002 m, bearing: 233.854339 deg, deltaT: 16.265965 s, approachRate: -0.051641 m/s, LOS rate: -1.943747 deg/s, posRepo size: 4
2021-02-16T08:23:04.917Z,1613463784.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.440002 m,
      bearing: 233.854339 deg,
      approachRate: -0.051641 m/s,
      LOS rate: -1.943747 deg/s,
      cmd update: -5.831240 deg/s,
      cmd heading: 213.520928 deg,
      new cmd heading: 212.188652 deg.

2021-02-16T08:23:07.385Z,1613463787.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:08.109Z,1613463788.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:08.506Z,1613463788.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:09.328Z,1613463789.328 [Micromodem](INFO): Nmea in: $SNTTA,0.136905,,,,082309.59*44

2021-02-16T08:23:09.755Z,1613463789.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.379990 m, bearing: 293.484814 deg, deltaT: 4.699380 s, approachRate: -0.012770 m/s, LOS rate: 12.689009 deg/s, posRepo size: 4
2021-02-16T08:23:09.756Z,1613463789.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.689009 deg/s. Setting heading cmd to target bearing of 293.484814deg and heading rate command to 0 deg/s.
2021-02-16T08:23:12.152Z,1613463792.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:12.951Z,1613463792.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:13.377Z,1613463793.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:14.189Z,1613463794.189 [Micromodem](INFO): Nmea in: $SNTTA,0.137561,,,,082314.43*4C

2021-02-16T08:23:14.606Z,1613463794.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.399979 m, bearing: 262.249211 deg, deltaT: 4.823935 s, approachRate: 0.211443 m/s, LOS rate: -6.475129 deg/s, posRepo size: 4
2021-02-16T08:23:14.608Z,1613463794.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.399979 m,
      bearing: 262.249211 deg,
      approachRate: 0.211443 m/s,
      LOS rate: -6.475129 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 293.484814 deg,
      new cmd heading: 293.484814 deg.

2021-02-16T08:23:17.006Z,1613463797.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:17.798Z,1613463797.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:18.207Z,1613463798.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:19.014Z,1613463799.014 [Micromodem](INFO): Nmea in: $SNTTA,0.138845,,,,082319.28*48

2021-02-16T08:23:19.453Z,1613463799.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.319992 m, bearing: 218.950033 deg, deltaT: 4.792210 s, approachRate: 0.400653 m/s, LOS rate: -9.035326 deg/s, posRepo size: 4
2021-02-16T08:23:19.471Z,1613463799.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.319992 m,
      bearing: 218.950033 deg,
      approachRate: 0.400653 m/s,
      LOS rate: -9.035326 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.860273 deg,
      new cmd heading: 230.771553 deg.

2021-02-16T08:23:21.861Z,1613463801.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:22.641Z,1613463802.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:23.058Z,1613463803.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:23.862Z,1613463803.862 [Micromodem](INFO): Nmea in: $SNTTA,0.139933,,,,082324.12*4E

2021-02-16T08:23:24.322Z,1613463804.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.939987 m, bearing: 271.420243 deg, deltaT: 4.848093 s, approachRate: 0.334151 m/s, LOS rate: 10.822856 deg/s, posRepo size: 4
2021-02-16T08:23:24.324Z,1613463804.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.939987 m,
      bearing: 271.420243 deg,
      approachRate: 0.334151 m/s,
      LOS rate: 10.822856 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 177.684619 deg,
      new cmd heading: 172.350739 deg.

2021-02-16T08:23:26.386Z,1613463806.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:27.085Z,1613463807.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:27.508Z,1613463807.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:27.900Z,1613463807.900 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T08:23:28.323Z,1613463808.323 [Micromodem](INFO): Nmea in: $SNTTA,0.140725,,,,082328.57*44

2021-02-16T08:23:28.740Z,1613463808.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.079987 m, bearing: 266.624139 deg, deltaT: 4.517076 s, approachRate: 0.252376 m/s, LOS rate: -1.061772 deg/s, posRepo size: 4
2021-02-16T08:23:28.742Z,1613463808.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.079987 m,
      bearing: 266.624139 deg,
      approachRate: 0.252376 m/s,
      LOS rate: -1.061772 deg/s,
      cmd update: -3.185316 deg/s,
      cmd heading: 231.890720 deg,
      new cmd heading: 236.038760 deg.

2021-02-16T08:23:31.145Z,1613463811.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:31.932Z,1613463811.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:32.369Z,1613463812.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:33.159Z,1613463813.159 [Micromodem](INFO): Nmea in: $SNTTA,0.141893,,,,082333.41*4A

2021-02-16T08:23:33.632Z,1613463813.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.880005 m, bearing: 238.489415 deg, deltaT: 4.808969 s, approachRate: 0.374304 m/s, LOS rate: -5.850469 deg/s, posRepo size: 4
2021-02-16T08:23:33.634Z,1613463813.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.880005 m,
      bearing: 238.489415 deg,
      approachRate: 0.374304 m/s,
      LOS rate: -5.850469 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 216.602778 deg,
      new cmd heading: 215.270548 deg.

2021-02-16T08:23:35.996Z,1613463815.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:36.796Z,1613463816.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:37.194Z,1613463817.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:38.010Z,1613463818.010 [Micromodem](INFO): Nmea in: $SNTTA,0.143333,,,,082338.28*4D

2021-02-16T08:23:38.458Z,1613463818.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.039978 m, bearing: 254.014735 deg, deltaT: 4.821520 s, approachRate: 0.447986 m/s, LOS rate: 3.220005 deg/s, posRepo size: 4
2021-02-16T08:23:38.460Z,1613463818.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.039978 m,
      bearing: 254.014735 deg,
      approachRate: 0.447986 m/s,
      LOS rate: 3.220005 deg/s,
      cmd update: 9.660016 deg/s,
      cmd heading: 158.633044 deg,
      new cmd heading: 153.437992 deg.

2021-02-16T08:23:40.840Z,1613463820.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:41.640Z,1613463821.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:42.049Z,1613463822.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:42.857Z,1613463822.857 [Micromodem](INFO): Nmea in: $SNTTA,0.144728,,,,082343.12*41

2021-02-16T08:23:43.370Z,1613463823.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.139999 m, bearing: 217.987359 deg, deltaT: 4.892808 s, approachRate: 0.429206 m/s, LOS rate: -7.363333 deg/s, posRepo size: 4
2021-02-16T08:23:43.377Z,1613463823.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.139999 m,
      bearing: 217.987359 deg,
      approachRate: 0.429206 m/s,
      LOS rate: -7.363333 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 205.819112 deg,
      new cmd heading: 210.127325 deg.

2021-02-16T08:23:45.702Z,1613463825.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:46.481Z,1613463826.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:46.890Z,1613463826.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:47.698Z,1613463827.698 [Micromodem](INFO): Nmea in: $SNTTA,0.146626,,,,082347.96*44

2021-02-16T08:23:48.130Z,1613463828.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.959976 m, bearing: 186.518096 deg, deltaT: 4.829442 s, approachRate: 0.583914 m/s, LOS rate: -6.516128 deg/s, posRepo size: 4
2021-02-16T08:23:48.132Z,1613463828.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.959976 m,
      bearing: 186.518096 deg,
      approachRate: 0.583914 m/s,
      LOS rate: -6.516128 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.766339 deg,
      new cmd heading: 143.167003 deg.

2021-02-16T08:23:50.594Z,1613463830.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:51.336Z,1613463831.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:51.730Z,1613463831.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:52.549Z,1613463832.549 [Micromodem](INFO): Nmea in: $SNTTA,0.148779,,,,082352.82*40

2021-02-16T08:23:52.994Z,1613463832.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.380005 m, bearing: 114.606900 deg, deltaT: 4.861196 s, approachRate: 0.703536 m/s, LOS rate: -14.792902 deg/s, posRepo size: 4
2021-02-16T08:23:52.995Z,1613463832.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.792902 deg/s. Setting heading cmd to target bearing of 114.606900deg and heading rate command to 0 deg/s.
2021-02-16T08:23:55.420Z,1613463835.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:56.194Z,1613463836.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:23:56.578Z,1613463836.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:23:57.406Z,1613463837.406 [Micromodem](INFO): Nmea in: $SNTTA,0.151067,,,,082357.67*4E

2021-02-16T08:23:58.228Z,1613463838.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:23:59.806Z,1613463839.806 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:24:01.042Z,1613463841.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:01.828Z,1613463841.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:02.245Z,1613463842.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:03.078Z,1613463843.078 [Micromodem](INFO): Nmea in: $SNTTA,0.153515,,,,082403.31*49

2021-02-16T08:24:03.513Z,1613463843.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.399994 m, bearing: 124.157362 deg, deltaT: 10.484458 s, approachRate: 0.669561 m/s, LOS rate: 0.910916 deg/s, posRepo size: 4
2021-02-16T08:24:03.516Z,1613463843.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.399994 m,
      bearing: 124.157362 deg,
      approachRate: 0.669561 m/s,
      LOS rate: 0.910916 deg/s,
      cmd update: 2.732748 deg/s,
      cmd heading: 114.606900 deg,
      new cmd heading: 114.606900 deg.

2021-02-16T08:24:05.883Z,1613463845.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:06.676Z,1613463846.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:07.083Z,1613463847.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:07.922Z,1613463847.922 [Micromodem](INFO): Nmea in: $SNTTA,0.155314,,,,082408.16*46

2021-02-16T08:24:08.390Z,1613463848.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.159988 m, bearing: 127.406961 deg, deltaT: 4.846920 s, approachRate: 0.569433 m/s, LOS rate: 0.670446 deg/s, posRepo size: 4
2021-02-16T08:24:08.392Z,1613463848.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.159988 m,
      bearing: 127.406961 deg,
      approachRate: 0.569433 m/s,
      LOS rate: 0.670446 deg/s,
      cmd update: 2.011339 deg/s,
      cmd heading: 127.852070 deg,
      new cmd heading: 129.082304 deg.

2021-02-16T08:24:10.742Z,1613463850.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:11.529Z,1613463851.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:11.949Z,1613463851.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:12.746Z,1613463852.746 [Micromodem](INFO): Nmea in: $SNTTA,0.156862,,,,082413.01*43

2021-02-16T08:24:13.178Z,1613463853.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.559998 m, bearing: 135.346796 deg, deltaT: 4.829418 s, approachRate: 0.496956 m/s, LOS rate: 1.644056 deg/s, posRepo size: 4
2021-02-16T08:24:13.180Z,1613463853.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.559998 m,
      bearing: 135.346796 deg,
      approachRate: 0.496956 m/s,
      LOS rate: 1.644056 deg/s,
      cmd update: 4.932169 deg/s,
      cmd heading: 137.560694 deg,
      new cmd heading: 138.375367 deg.

2021-02-16T08:24:15.614Z,1613463855.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:16.378Z,1613463856.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:16.788Z,1613463856.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:17.596Z,1613463857.596 [Micromodem](INFO): Nmea in: $SNTTA,0.158593,,,,082417.86*45

2021-02-16T08:24:18.022Z,1613463858.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.079987 m, bearing: 137.557879 deg, deltaT: 4.893317 s, approachRate: 0.514986 m/s, LOS rate: 0.451858 deg/s, posRepo size: 4
2021-02-16T08:24:18.024Z,1613463858.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.079987 m,
      bearing: 137.557879 deg,
      approachRate: 0.514986 m/s,
      LOS rate: 0.451858 deg/s,
      cmd update: 1.355573 deg/s,
      cmd heading: 161.688040 deg,
      new cmd heading: 163.483532 deg.

2021-02-16T08:24:20.458Z,1613463860.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:21.224Z,1613463861.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:21.638Z,1613463861.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:22.443Z,1613463862.443 [Micromodem](INFO): Nmea in: $SNTTA,0.160536,,,,082422.70*4E

2021-02-16T08:24:22.870Z,1613463862.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.019989 m, bearing: 176.897187 deg, deltaT: 4.839626 s, approachRate: 0.607485 m/s, LOS rate: 8.128584 deg/s, posRepo size: 4
2021-02-16T08:24:22.872Z,1613463862.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.019989 m,
      bearing: 176.897187 deg,
      approachRate: 0.607485 m/s,
      LOS rate: 8.128584 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 168.253930 deg,
      new cmd heading: 168.753223 deg.

2021-02-16T08:24:25.357Z,1613463865.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:26.077Z,1613463866.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:26.478Z,1613463866.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:27.332Z,1613463867.332 [Micromodem](INFO): Nmea in: $SNTTA,0.162873,,,,082427.56*41

2021-02-16T08:24:28.123Z,1613463868.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:28.506Z,1613463868.506 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:24:29.706Z,1613463869.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:24:30.939Z,1613463870.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:31.747Z,1613463871.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:32.137Z,1613463872.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:32.981Z,1613463872.981 [Micromodem](INFO): Nmea in: $SNTTA,0.165298,,,,082433.23*4E

2021-02-16T08:24:33.430Z,1613463873.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.859985 m, bearing: 232.733150 deg, deltaT: 10.522420 s, approachRate: 0.650040 m/s, LOS rate: 5.306380 deg/s, posRepo size: 4
2021-02-16T08:24:33.432Z,1613463873.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.859985 m,
      bearing: 232.733150 deg,
      approachRate: 0.650040 m/s,
      LOS rate: 5.306380 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 294.474853 deg,
      new cmd heading: 299.387677 deg.

2021-02-16T08:24:35.793Z,1613463875.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:36.586Z,1613463876.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:36.991Z,1613463876.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:37.807Z,1613463877.807 [Micromodem](INFO): Nmea in: $SNTTA,0.167504,,,,082438.06*42

2021-02-16T08:24:38.276Z,1613463878.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.579987 m, bearing: 210.147258 deg, deltaT: 4.798090 s, approachRate: 0.775309 m/s, LOS rate: -4.707267 deg/s, posRepo size: 4
2021-02-16T08:24:38.291Z,1613463878.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.579987 m,
      bearing: 210.147258 deg,
      approachRate: 0.775309 m/s,
      LOS rate: -4.707267 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 352.097331 deg,
      new cmd heading: 357.329043 deg.

2021-02-16T08:24:40.668Z,1613463880.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:41.437Z,1613463881.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:41.847Z,1613463881.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:42.651Z,1613463882.651 [Micromodem](INFO): Nmea in: $SNTTA,0.168809,,,,082442.92*4D

2021-02-16T08:24:43.082Z,1613463883.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.259979 m, bearing: 216.816787 deg, deltaT: 4.903112 s, approachRate: 0.342638 m/s, LOS rate: 1.360265 deg/s, posRepo size: 4
2021-02-16T08:24:43.084Z,1613463883.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.259979 m,
      bearing: 216.816787 deg,
      approachRate: 0.342638 m/s,
      LOS rate: 1.360265 deg/s,
      cmd update: 4.080793 deg/s,
      cmd heading: 293.398562 deg,
      new cmd heading: 288.977402 deg.

2021-02-16T08:24:45.542Z,1613463885.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:46.322Z,1613463886.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:46.701Z,1613463886.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:47.524Z,1613463887.524 [Micromodem](INFO): Nmea in: $SNTTA,0.169784,,,,082447.80*40

2021-02-16T08:24:47.958Z,1613463887.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.639984 m, bearing: 280.767329 deg, deltaT: 4.855892 s, approachRate: 0.284192 m/s, LOS rate: 13.169680 deg/s, posRepo size: 4
2021-02-16T08:24:47.959Z,1613463887.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.169680 deg/s. Setting heading cmd to target bearing of 280.767329deg and heading rate command to 0 deg/s.
2021-02-16T08:24:50.394Z,1613463890.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:51.130Z,1613463891.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:51.531Z,1613463891.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:52.383Z,1613463892.383 [Micromodem](INFO): Nmea in: $SNTTA,0.170444,,,,082452.61*4C

2021-02-16T08:24:52.778Z,1613463892.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.599991 m, bearing: 215.596014 deg, deltaT: 4.851628 s, approachRate: 0.197873 m/s, LOS rate: -13.432876 deg/s, posRepo size: 4
2021-02-16T08:24:52.779Z,1613463892.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.432876 deg/s. Setting heading cmd to target bearing of 215.596014deg and heading rate command to 0 deg/s.
2021-02-16T08:24:55.205Z,1613463895.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:24:55.974Z,1613463895.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:24:56.378Z,1613463896.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:24:57.198Z,1613463897.198 [Micromodem](INFO): Nmea in: $SNTTA,0.170399,,,,082457.46*4B

2021-02-16T08:24:57.661Z,1613463897.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.479980 m, bearing: 241.441696 deg, deltaT: 4.817072 s, approachRate: -0.024914 m/s, LOS rate: 5.365434 deg/s, posRepo size: 4
2021-02-16T08:24:57.665Z,1613463897.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.479980 m,
      bearing: 241.441696 deg,
      approachRate: -0.024914 m/s,
      LOS rate: 5.365434 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.596014 deg,
      new cmd heading: 215.596014 deg.

2021-02-16T08:25:00.033Z,1613463900.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:00.821Z,1613463900.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:01.243Z,1613463901.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:02.038Z,1613463902.038 [Micromodem](INFO): Nmea in: $SNTTA,0.169917,,,,082502.30*4F

2021-02-16T08:25:02.501Z,1613463902.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.879990 m, bearing: 228.188943 deg, deltaT: 4.803278 s, approachRate: -0.124913 m/s, LOS rate: -2.759106 deg/s, posRepo size: 4
2021-02-16T08:25:02.507Z,1613463902.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.879990 m,
      bearing: 228.188943 deg,
      approachRate: -0.124913 m/s,
      LOS rate: -2.759106 deg/s,
      cmd update: -8.277318 deg/s,
      cmd heading: 273.320996 deg,
      new cmd heading: 278.691392 deg.

2021-02-16T08:25:04.880Z,1613463904.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:05.668Z,1613463905.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:06.082Z,1613463906.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:06.895Z,1613463906.895 [Micromodem](INFO): Nmea in: $SNTTA,0.170132,,,,082507.15*4A

2021-02-16T08:25:07.387Z,1613463907.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.239990 m, bearing: 308.447272 deg, deltaT: 4.884761 s, approachRate: 0.073699 m/s, LOS rate: 16.430350 deg/s, posRepo size: 4
2021-02-16T08:25:07.388Z,1613463907.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.430350 deg/s. Setting heading cmd to target bearing of 308.447272deg and heading rate command to 0 deg/s.
2021-02-16T08:25:09.741Z,1613463909.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:10.518Z,1613463910.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:10.922Z,1613463910.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:11.738Z,1613463911.738 [Micromodem](INFO): Nmea in: $SNTTA,0.170384,,,,082512.00*45

2021-02-16T08:25:12.206Z,1613463912.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.599991 m, bearing: 310.196238 deg, deltaT: 4.814453 s, approachRate: 0.074775 m/s, LOS rate: 0.363274 deg/s, posRepo size: 4
2021-02-16T08:25:12.212Z,1613463912.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.599991 m,
      bearing: 310.196238 deg,
      approachRate: 0.074775 m/s,
      LOS rate: 0.363274 deg/s,
      cmd update: 1.089822 deg/s,
      cmd heading: 308.447272 deg,
      new cmd heading: 308.447272 deg.

2021-02-16T08:25:14.610Z,1613463914.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:15.375Z,1613463915.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:15.770Z,1613463915.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:16.590Z,1613463916.590 [Micromodem](INFO): Nmea in: $SNTTA,0.170905,,,,082516.85*4F

2021-02-16T08:25:17.018Z,1613463917.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.259979 m, bearing: 306.200386 deg, deltaT: 4.870953 s, approachRate: 0.135495 m/s, LOS rate: -0.820343 deg/s, posRepo size: 4
2021-02-16T08:25:17.020Z,1613463917.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.259979 m,
      bearing: 306.200386 deg,
      approachRate: 0.135495 m/s,
      LOS rate: -0.820343 deg/s,
      cmd update: -2.461029 deg/s,
      cmd heading: 313.755672 deg,
      new cmd heading: 314.185790 deg.

2021-02-16T08:25:19.444Z,1613463919.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:20.215Z,1613463920.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:20.630Z,1613463920.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:21.455Z,1613463921.455 [Micromodem](INFO): Nmea in: $SNTTA,0.170827,,,,082521.70*40

2021-02-16T08:25:21.873Z,1613463921.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.380005 m, bearing: 292.022907 deg, deltaT: 4.893808 s, approachRate: 0.024526 m/s, LOS rate: -2.897024 deg/s, posRepo size: 4
2021-02-16T08:25:21.875Z,1613463921.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.380005 m,
      bearing: 292.022907 deg,
      approachRate: 0.024526 m/s,
      LOS rate: -2.897024 deg/s,
      cmd update: -8.691072 deg/s,
      cmd heading: 301.721703 deg,
      new cmd heading: 300.836254 deg.

2021-02-16T08:25:24.341Z,1613463924.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:25.062Z,1613463925.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:25.471Z,1613463925.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:26.309Z,1613463926.309 [Micromodem](INFO): Nmea in: $SNTTA,0.170363,,,,082526.54*4A

2021-02-16T08:25:26.731Z,1613463926.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.419998 m, bearing: 346.945633 deg, deltaT: 4.870303 s, approachRate: -0.197114 m/s, LOS rate: 11.277066 deg/s, posRepo size: 4
2021-02-16T08:25:26.733Z,1613463926.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.419998 m,
      bearing: 346.945633 deg,
      approachRate: -0.197114 m/s,
      LOS rate: 11.277066 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 259.429019 deg,
      new cmd heading: 256.377280 deg.

2021-02-16T08:25:29.153Z,1613463929.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:29.914Z,1613463929.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:30.353Z,1613463930.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:31.129Z,1613463931.129 [Micromodem](INFO): Nmea in: $SNTTA,0.169675,,,,082531.39*4D

2021-02-16T08:25:31.593Z,1613463931.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.279984 m, bearing: 309.510159 deg, deltaT: 4.755870 s, approachRate: -0.239707 m/s, LOS rate: -7.871425 deg/s, posRepo size: 4
2021-02-16T08:25:31.600Z,1613463931.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.279984 m,
      bearing: 309.510159 deg,
      approachRate: -0.239707 m/s,
      LOS rate: -7.871425 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 316.596745 deg,
      new cmd heading: 321.993517 deg.

2021-02-16T08:25:33.989Z,1613463933.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:34.758Z,1613463934.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:35.161Z,1613463935.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:35.979Z,1613463935.979 [Micromodem](INFO): Nmea in: $SNTTA,0.169508,,,,082536.24*4F

2021-02-16T08:25:36.452Z,1613463936.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.500000 m, bearing: 245.063035 deg, deltaT: 4.850154 s, approachRate: -0.160816 m/s, LOS rate: -13.287645 deg/s, posRepo size: 4
2021-02-16T08:25:36.453Z,1613463936.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.287645 deg/s. Setting heading cmd to target bearing of 245.063035deg and heading rate command to 0 deg/s.
2021-02-16T08:25:38.811Z,1613463938.811 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:39.606Z,1613463939.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:40.010Z,1613463940.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:40.826Z,1613463940.826 [Micromodem](INFO): Nmea in: $SNTTA,0.168414,,,,082541.08*4C

2021-02-16T08:25:41.265Z,1613463941.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.479996 m, bearing: 347.249713 deg, deltaT: 4.847581 s, approachRate: -0.210415 m/s, LOS rate: 21.079933 deg/s, posRepo size: 4
2021-02-16T08:25:41.268Z,1613463941.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.079933 deg/s. Setting heading cmd to target bearing of 347.249713deg and heading rate command to 0 deg/s.
2021-02-16T08:25:43.680Z,1613463943.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:44.454Z,1613463944.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:44.873Z,1613463944.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:45.671Z,1613463945.671 [Micromodem](INFO): Nmea in: $SNTTA,0.167850,,,,082545.93*49

2021-02-16T08:25:46.114Z,1613463946.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.759979 m, bearing: 278.397910 deg, deltaT: 4.895572 s, approachRate: -0.147075 m/s, LOS rate: -14.064098 deg/s, posRepo size: 4
2021-02-16T08:25:46.114Z,1613463946.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.064098 deg/s. Setting heading cmd to target bearing of 278.397910deg and heading rate command to 0 deg/s.
2021-02-16T08:25:48.548Z,1613463948.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:49.315Z,1613463949.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:49.713Z,1613463949.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:50.527Z,1613463950.527 [Micromodem](INFO): Nmea in: $SNTTA,0.167587,,,,082550.80*48

2021-02-16T08:25:50.946Z,1613463950.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.339996 m, bearing: 246.934425 deg, deltaT: 4.865046 s, approachRate: -0.086327 m/s, LOS rate: -6.467253 deg/s, posRepo size: 4
2021-02-16T08:25:50.948Z,1613463950.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.339996 m,
      bearing: 246.934425 deg,
      approachRate: -0.086327 m/s,
      LOS rate: -6.467253 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 278.397910 deg,
      new cmd heading: 278.397910 deg.

2021-02-16T08:25:53.443Z,1613463953.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:54.150Z,1613463954.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:54.581Z,1613463954.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:25:55.377Z,1613463955.377 [Micromodem](INFO): Nmea in: $SNTTA,0.167033,,,,082555.63*4A

2021-02-16T08:25:55.810Z,1613463955.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.440002 m, bearing: 329.765741 deg, deltaT: 4.850271 s, approachRate: -0.185555 m/s, LOS rate: 17.077667 deg/s, posRepo size: 4
2021-02-16T08:25:55.811Z,1613463955.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.077667 deg/s. Setting heading cmd to target bearing of 329.765741deg and heading rate command to 0 deg/s.
2021-02-16T08:25:58.216Z,1613463958.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:25:59.008Z,1613463959.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:25:59.466Z,1613463959.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:00.243Z,1613463960.243 [Micromodem](INFO): Nmea in: $SNTTA,0.166638,,,,082600.49*4D

2021-02-16T08:26:00.685Z,1613463960.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.899979 m, bearing: 326.760457 deg, deltaT: 4.858013 s, approachRate: -0.111161 m/s, LOS rate: -0.618624 deg/s, posRepo size: 4
2021-02-16T08:26:00.691Z,1613463960.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.899979 m,
      bearing: 326.760457 deg,
      approachRate: -0.111161 m/s,
      LOS rate: -0.618624 deg/s,
      cmd update: -1.855872 deg/s,
      cmd heading: 329.765741 deg,
      new cmd heading: 329.765741 deg.

2021-02-16T08:26:03.072Z,1613463963.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:03.844Z,1613463963.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:04.270Z,1613463964.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:05.067Z,1613463965.067 [Micromodem](INFO): Nmea in: $SNTTA,0.166669,,,,082605.32*40

2021-02-16T08:26:05.526Z,1613463965.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.079987 m, bearing: 312.891266 deg, deltaT: 4.803523 s, approachRate: 0.037474 m/s, LOS rate: -2.887296 deg/s, posRepo size: 4
2021-02-16T08:26:05.528Z,1613463965.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.079987 m,
      bearing: 312.891266 deg,
      approachRate: 0.037474 m/s,
      LOS rate: -2.887296 deg/s,
      cmd update: -8.661887 deg/s,
      cmd heading: 320.848790 deg,
      new cmd heading: 320.077306 deg.

2021-02-16T08:26:07.899Z,1613463967.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:08.692Z,1613463968.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:09.105Z,1613463969.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:09.910Z,1613463969.910 [Micromodem](INFO): Nmea in: $SNTTA,0.166983,,,,082610.17*48

2021-02-16T08:26:10.378Z,1613463970.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.500000 m, bearing: 233.968075 deg, deltaT: 4.835021 s, approachRate: 0.086869 m/s, LOS rate: -16.323237 deg/s, posRepo size: 4
2021-02-16T08:26:10.379Z,1613463970.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.323237 deg/s. Setting heading cmd to target bearing of 233.968075deg and heading rate command to 0 deg/s.
2021-02-16T08:26:12.762Z,1613463972.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:13.550Z,1613463973.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:13.961Z,1613463973.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:14.766Z,1613463974.766 [Micromodem](INFO): Nmea in: $SNTTA,0.166744,,,,082615.03*4D

2021-02-16T08:26:15.220Z,1613463975.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.079987 m, bearing: 249.549950 deg, deltaT: 4.852214 s, approachRate: -0.086561 m/s, LOS rate: 3.211292 deg/s, posRepo size: 4
2021-02-16T08:26:15.222Z,1613463975.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.079987 m,
      bearing: 249.549950 deg,
      approachRate: -0.086561 m/s,
      LOS rate: 3.211292 deg/s,
      cmd update: 9.633875 deg/s,
      cmd heading: 233.968075 deg,
      new cmd heading: 233.968075 deg.

2021-02-16T08:26:17.632Z,1613463977.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:18.398Z,1613463978.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:18.798Z,1613463978.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:19.616Z,1613463979.616 [Micromodem](INFO): Nmea in: $SNTTA,0.166546,,,,082619.88*42

2021-02-16T08:26:20.050Z,1613463980.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.839996 m, bearing: 323.233184 deg, deltaT: 4.881424 s, approachRate: -0.049164 m/s, LOS rate: 15.094619 deg/s, posRepo size: 4
2021-02-16T08:26:20.051Z,1613463980.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.094619 deg/s. Setting heading cmd to target bearing of 323.233184deg and heading rate command to 0 deg/s.
2021-02-16T08:26:22.497Z,1613463982.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:23.250Z,1613463983.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:23.666Z,1613463983.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:24.466Z,1613463984.466 [Micromodem](INFO): Nmea in: $SNTTA,0.167034,,,,082624.73*49

2021-02-16T08:26:24.898Z,1613463984.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.559982 m, bearing: 309.845931 deg, deltaT: 4.851834 s, approachRate: 0.148395 m/s, LOS rate: -2.759215 deg/s, posRepo size: 4
2021-02-16T08:26:24.900Z,1613463984.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.559982 m,
      bearing: 309.845931 deg,
      approachRate: 0.148395 m/s,
      LOS rate: -2.759215 deg/s,
      cmd update: -8.277645 deg/s,
      cmd heading: 323.233184 deg,
      new cmd heading: 323.233184 deg.

2021-02-16T08:26:27.379Z,1613463987.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:28.097Z,1613463988.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:28.502Z,1613463988.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:28.611Z,1613463988.611 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T08:26:28.611Z,1613463988.611 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T08:26:28.611Z,1613463988.611 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T08:26:28.739Z,1613463988.739 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T08:26:28.967Z,1613463988.967 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T08:26:29.315Z,1613463989.315 [Micromodem](INFO): Nmea in: $SNTTA,0.167195,,,,082629.58*47

2021-02-16T08:26:29.744Z,1613463989.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.800003 m, bearing: 253.490177 deg, deltaT: 4.841541 s, approachRate: 0.049575 m/s, LOS rate: -11.640045 deg/s, posRepo size: 4
2021-02-16T08:26:29.745Z,1613463989.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.640045 deg/s. Setting heading cmd to target bearing of 253.490177deg and heading rate command to 0 deg/s.
2021-02-16T08:26:29.831Z,1613463989.831 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T08:26:29.831Z,1613463989.831 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T08:26:32.164Z,1613463992.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:32.946Z,1613463992.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:33.371Z,1613463993.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:34.162Z,1613463994.162 [Micromodem](INFO): Nmea in: $SNTTA,0.166810,,,,082634.42*45

2021-02-16T08:26:34.608Z,1613463994.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.079987 m, bearing: 260.320530 deg, deltaT: 4.807212 s, approachRate: -0.149778 m/s, LOS rate: 1.420855 deg/s, posRepo size: 4
2021-02-16T08:26:34.609Z,1613463994.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.079987 m,
      bearing: 260.320530 deg,
      approachRate: -0.149778 m/s,
      LOS rate: 1.420855 deg/s,
      cmd update: 4.262567 deg/s,
      cmd heading: 253.490177 deg,
      new cmd heading: 253.490177 deg.

2021-02-16T08:26:37.003Z,1613463997.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:37.790Z,1613463997.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:38.207Z,1613463998.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:39.011Z,1613463999.011 [Micromodem](INFO): Nmea in: $SNTTA,0.166639,,,,082639.27*4E

2021-02-16T08:26:39.452Z,1613463999.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.019989 m, bearing: 327.253652 deg, deltaT: 4.879626 s, approachRate: -0.012296 m/s, LOS rate: 13.716855 deg/s, posRepo size: 4
2021-02-16T08:26:39.453Z,1613463999.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.716855 deg/s. Setting heading cmd to target bearing of 327.253652deg and heading rate command to 0 deg/s.
2021-02-16T08:26:41.852Z,1613464001.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:42.649Z,1613464002.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:43.060Z,1613464003.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:43.860Z,1613464003.860 [Micromodem](INFO): Nmea in: $SNTTA,0.166988,,,,082644.13*46

2021-02-16T08:26:44.292Z,1613464004.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.500000 m, bearing: 330.334422 deg, deltaT: 4.812572 s, approachRate: 0.099741 m/s, LOS rate: 0.640151 deg/s, posRepo size: 4
2021-02-16T08:26:44.294Z,1613464004.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.500000 m,
      bearing: 330.334422 deg,
      approachRate: 0.099741 m/s,
      LOS rate: 0.640151 deg/s,
      cmd update: 1.920452 deg/s,
      cmd heading: 327.253652 deg,
      new cmd heading: 327.253652 deg.

2021-02-16T08:26:46.737Z,1613464006.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:47.480Z,1613464007.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:47.885Z,1613464007.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:48.703Z,1613464008.703 [Micromodem](INFO): Nmea in: $SNTTA,0.167138,,,,082648.96*45

2021-02-16T08:26:49.131Z,1613464009.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.619995 m, bearing: 263.521648 deg, deltaT: 4.877404 s, approachRate: 0.024602 m/s, LOS rate: -13.698429 deg/s, posRepo size: 4
2021-02-16T08:26:49.132Z,1613464009.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.698429 deg/s. Setting heading cmd to target bearing of 263.521648deg and heading rate command to 0 deg/s.
2021-02-16T08:26:51.561Z,1613464011.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:52.370Z,1613464012.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:52.734Z,1613464012.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:53.577Z,1613464013.577 [Micromodem](INFO): Nmea in: $SNTTA,0.166324,,,,082653.85*43

2021-02-16T08:26:54.021Z,1613464014.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.300003 m, bearing: 10.682641 deg, deltaT: 4.850155 s, approachRate: -0.272155 m/s, LOS rate: 22.094342 deg/s, posRepo size: 4
2021-02-16T08:26:54.022Z,1613464014.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.094342 deg/s. Setting heading cmd to target bearing of 10.682641deg and heading rate command to 0 deg/s.
2021-02-16T08:26:56.428Z,1613464016.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:26:57.200Z,1613464017.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:26:57.582Z,1613464017.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:26:58.409Z,1613464018.409 [Micromodem](INFO): Nmea in: $SNTTA,0.165170,,,,082658.68*4B

2021-02-16T08:26:58.825Z,1613464018.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.559998 m, bearing: 12.251719 deg, deltaT: 4.855563 s, approachRate: -0.358353 m/s, LOS rate: 0.323151 deg/s, posRepo size: 4
2021-02-16T08:26:58.828Z,1613464018.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.559998 m,
      bearing: 12.251719 deg,
      approachRate: -0.358353 m/s,
      LOS rate: 0.323151 deg/s,
      cmd update: 0.969452 deg/s,
      cmd heading: 10.682641 deg,
      new cmd heading: 10.682641 deg.

2021-02-16T08:27:01.273Z,1613464021.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:02.031Z,1613464022.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:02.455Z,1613464022.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:03.248Z,1613464023.248 [Micromodem](INFO): Nmea in: $SNTTA,0.164129,,,,082703.51*43

2021-02-16T08:27:03.685Z,1613464023.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.179977 m, bearing: 324.292737 deg, deltaT: 4.818450 s, approachRate: -0.286403 m/s, LOS rate: -9.953198 deg/s, posRepo size: 4
2021-02-16T08:27:03.686Z,1613464023.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.179977 m,
      bearing: 324.292737 deg,
      approachRate: -0.286403 m/s,
      LOS rate: -9.953198 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 15.353858 deg,
      new cmd heading: 15.749244 deg.

2021-02-16T08:27:06.094Z,1613464026.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:06.887Z,1613464026.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:07.278Z,1613464027.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:08.119Z,1613464028.119 [Micromodem](INFO): Nmea in: $SNTTA,0.162901,,,,082708.37*4C

2021-02-16T08:27:08.534Z,1613464028.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.139984 m, bearing: 21.560774 deg, deltaT: 4.896449 s, approachRate: -0.416627 m/s, LOS rate: 11.695831 deg/s, posRepo size: 4
2021-02-16T08:27:08.535Z,1613464028.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.695831 deg/s. Setting heading cmd to target bearing of 21.560774deg and heading rate command to 0 deg/s.
2021-02-16T08:27:10.937Z,1613464030.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:11.720Z,1613464031.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:12.126Z,1613464032.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:12.943Z,1613464032.943 [Micromodem](INFO): Nmea in: $SNTTA,0.161238,,,0.163749,082713.20*52

2021-02-16T08:27:13.416Z,1613464033.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.739990 m, bearing: 7.583757 deg, deltaT: 4.789555 s, approachRate: -0.501089 m/s, LOS rate: -2.918229 deg/s, posRepo size: 4
2021-02-16T08:27:13.417Z,1613464033.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.739990 m,
      bearing: 7.583757 deg,
      approachRate: -0.501089 m/s,
      LOS rate: -2.918229 deg/s,
      cmd update: -8.754686 deg/s,
      cmd heading: 21.560774 deg,
      new cmd heading: 21.560774 deg.

2021-02-16T08:27:15.781Z,1613464035.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:16.574Z,1613464036.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:17.009Z,1613464037.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:17.793Z,1613464037.793 [Micromodem](INFO): Nmea in: $SNTTA,0.159282,,,,082718.05*44

2021-02-16T08:27:18.238Z,1613464038.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.679993 m, bearing: 12.275984 deg, deltaT: 4.869866 s, approachRate: -0.628354 m/s, LOS rate: 0.963523 deg/s, posRepo size: 4
2021-02-16T08:27:18.241Z,1613464038.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.679993 m,
      bearing: 12.275984 deg,
      approachRate: -0.628354 m/s,
      LOS rate: 0.963523 deg/s,
      cmd update: 2.890568 deg/s,
      cmd heading: 339.036917 deg,
      new cmd heading: 335.374131 deg.

2021-02-16T08:27:20.657Z,1613464040.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:21.422Z,1613464041.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:21.821Z,1613464041.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:22.638Z,1613464042.638 [Micromodem](INFO): Nmea in: $SNTTA,0.157306,,,,082722.90*42

2021-02-16T08:27:23.104Z,1613464043.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.679977 m, bearing: 12.205960 deg, deltaT: 4.855165 s, approachRate: -0.617902 m/s, LOS rate: -0.014423 deg/s, posRepo size: 4
2021-02-16T08:27:23.106Z,1613464043.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.679977 m,
      bearing: 12.205960 deg,
      approachRate: -0.617902 m/s,
      LOS rate: -0.014423 deg/s,
      cmd update: -0.043268 deg/s,
      cmd heading: 353.107274 deg,
      new cmd heading: 354.310190 deg.

2021-02-16T08:27:25.498Z,1613464045.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:26.270Z,1613464046.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:26.678Z,1613464046.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:27.507Z,1613464047.507 [Micromodem](INFO): Nmea in: $SNTTA,0.155255,,,,082727.75*49

2021-02-16T08:27:27.914Z,1613464047.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 232.680008 m, bearing: 11.221146 deg, deltaT: 4.844424 s, approachRate: -0.619262 m/s, LOS rate: -0.203288 deg/s, posRepo size: 4
2021-02-16T08:27:27.936Z,1613464047.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.680008 m,
      bearing: 11.221146 deg,
      approachRate: -0.619262 m/s,
      LOS rate: -0.203288 deg/s,
      cmd update: -0.609864 deg/s,
      cmd heading: 352.897675 deg,
      new cmd heading: 352.881129 deg.

2021-02-16T08:27:30.382Z,1613464050.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:31.130Z,1613464051.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:31.518Z,1613464051.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:32.367Z,1613464052.367 [Micromodem](INFO): Nmea in: $SNTTA,0.153174,,,,082732.61*4E

2021-02-16T08:27:32.762Z,1613464052.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.619995 m, bearing: 13.066263 deg, deltaT: 4.869569 s, approachRate: -0.628395 m/s, LOS rate: 0.378908 deg/s, posRepo size: 4
2021-02-16T08:27:32.764Z,1613464052.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.619995 m,
      bearing: 13.066263 deg,
      approachRate: -0.628395 m/s,
      LOS rate: 0.378908 deg/s,
      cmd update: 1.136723 deg/s,
      cmd heading: 349.927767 deg,
      new cmd heading: 349.707911 deg.

2021-02-16T08:27:35.181Z,1613464055.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:35.964Z,1613464055.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:36.373Z,1613464056.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:37.190Z,1613464057.190 [Micromodem](INFO): Nmea in: $SNTTA,0.151071,,,,082737.45*4B

2021-02-16T08:27:37.617Z,1613464057.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.440002 m, bearing: 12.110415 deg, deltaT: 4.852175 s, approachRate: -0.655375 m/s, LOS rate: -0.196994 deg/s, posRepo size: 4
2021-02-16T08:27:37.619Z,1613464057.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.440002 m,
      bearing: 12.110415 deg,
      approachRate: -0.655375 m/s,
      LOS rate: -0.196994 deg/s,
      cmd update: -0.590981 deg/s,
      cmd heading: 355.438729 deg,
      new cmd heading: 355.855792 deg.

2021-02-16T08:27:40.056Z,1613464060.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:40.814Z,1613464060.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:41.217Z,1613464061.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:42.072Z,1613464062.072 [Micromodem](INFO): Nmea in: $SNTTA,0.149016,,,,082742.29*4B

2021-02-16T08:27:42.460Z,1613464062.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.380005 m, bearing: 13.758663 deg, deltaT: 4.860590 s, approachRate: -0.629553 m/s, LOS rate: 0.339105 deg/s, posRepo size: 4
2021-02-16T08:27:42.462Z,1613464062.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.380005 m,
      bearing: 13.758663 deg,
      approachRate: -0.629553 m/s,
      LOS rate: 0.339105 deg/s,
      cmd update: 1.017314 deg/s,
      cmd heading: 352.568468 deg,
      new cmd heading: 352.359591 deg.

2021-02-16T08:27:44.869Z,1613464064.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:45.664Z,1613464065.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:46.063Z,1613464066.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:46.880Z,1613464066.880 [Micromodem](INFO): Nmea in: $SNTTA,0.146872,,,,082747.14*45

2021-02-16T08:27:47.312Z,1613464067.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.199997 m, bearing: 13.070533 deg, deltaT: 4.790234 s, approachRate: -0.663852 m/s, LOS rate: -0.143653 deg/s, posRepo size: 4
2021-02-16T08:27:47.313Z,1613464067.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.199997 m,
      bearing: 13.070533 deg,
      approachRate: -0.663852 m/s,
      LOS rate: -0.143653 deg/s,
      cmd update: -0.430958 deg/s,
      cmd heading: 357.447009 deg,
      new cmd heading: 357.863235 deg.

2021-02-16T08:27:49.737Z,1613464069.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:50.516Z,1613464070.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:50.916Z,1613464070.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:51.732Z,1613464071.732 [Micromodem](INFO): Nmea in: $SNTTA,0.144760,,,,082752.00*4A

2021-02-16T08:27:52.155Z,1613464072.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.899979 m, bearing: 14.813386 deg, deltaT: 4.876622 s, approachRate: -0.676702 m/s, LOS rate: 0.357389 deg/s, posRepo size: 4
2021-02-16T08:27:52.157Z,1613464072.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.899979 m,
      bearing: 14.813386 deg,
      approachRate: -0.676702 m/s,
      LOS rate: 0.357389 deg/s,
      cmd update: 1.072169 deg/s,
      cmd heading: 355.354628 deg,
      new cmd heading: 355.183293 deg.

2021-02-16T08:27:54.581Z,1613464074.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:27:55.370Z,1613464075.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:27:55.759Z,1613464075.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:27:56.580Z,1613464076.580 [Micromodem](INFO): Nmea in: $SNTTA,0.142673,,,,082756.85*46

2021-02-16T08:27:57.034Z,1613464077.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.779999 m, bearing: 15.558114 deg, deltaT: 4.844422 s, approachRate: -0.644036 m/s, LOS rate: 0.153729 deg/s, posRepo size: 4
2021-02-16T08:27:57.040Z,1613464077.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.779999 m,
      bearing: 15.558114 deg,
      approachRate: -0.644036 m/s,
      LOS rate: 0.153729 deg/s,
      cmd update: 0.461187 deg/s,
      cmd heading: 0.574524 deg,
      new cmd heading: 1.011831 deg.

2021-02-16T08:27:59.425Z,1613464079.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:00.206Z,1613464080.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:00.620Z,1613464080.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:01.432Z,1613464081.432 [Micromodem](INFO): Nmea in: $SNTTA,0.140645,,,,082801.73*45

2021-02-16T08:28:01.846Z,1613464081.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.720001 m, bearing: 16.974890 deg, deltaT: 4.868639 s, approachRate: -0.628512 m/s, LOS rate: 0.291000 deg/s, posRepo size: 4
2021-02-16T08:28:01.848Z,1613464081.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.720001 m,
      bearing: 16.974890 deg,
      approachRate: -0.628512 m/s,
      LOS rate: 0.291000 deg/s,
      cmd update: 0.873001 deg/s,
      cmd heading: 2.818030 deg,
      new cmd heading: 2.982113 deg.

2021-02-16T08:28:04.265Z,1613464084.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:05.048Z,1613464085.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:05.454Z,1613464085.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:06.271Z,1613464086.271 [Micromodem](INFO): Nmea in: $SNTTA,0.138461,,,,082806.53*4B

2021-02-16T08:28:06.732Z,1613464086.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.479996 m, bearing: 16.519461 deg, deltaT: 4.822746 s, approachRate: -0.671818 m/s, LOS rate: -0.094433 deg/s, posRepo size: 4
2021-02-16T08:28:06.734Z,1613464086.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.479996 m,
      bearing: 16.519461 deg,
      approachRate: -0.671818 m/s,
      LOS rate: -0.094433 deg/s,
      cmd update: -0.283300 deg/s,
      cmd heading: 7.026365 deg,
      new cmd heading: 7.393632 deg.

2021-02-16T08:28:09.126Z,1613464089.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:09.897Z,1613464089.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:10.307Z,1613464090.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:11.117Z,1613464091.117 [Micromodem](INFO): Nmea in: $SNTTA,0.136210,,,,082811.38*4E

2021-02-16T08:28:11.565Z,1613464091.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.119995 m, bearing: 17.405658 deg, deltaT: 4.828883 s, approachRate: -0.695813 m/s, LOS rate: 0.183520 deg/s, posRepo size: 4
2021-02-16T08:28:11.567Z,1613464091.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.119995 m,
      bearing: 17.405658 deg,
      approachRate: -0.695813 m/s,
      LOS rate: 0.183520 deg/s,
      cmd update: 0.550560 deg/s,
      cmd heading: 5.656569 deg,
      new cmd heading: 5.537936 deg.

2021-02-16T08:28:13.964Z,1613464093.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:14.749Z,1613464094.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:15.174Z,1613464095.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:15.973Z,1613464095.973 [Micromodem](INFO): Nmea in: $SNTTA,0.134005,,,,082816.23*47

2021-02-16T08:28:16.419Z,1613464096.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.819977 m, bearing: 17.134808 deg, deltaT: 4.912609 s, approachRate: -0.671745 m/s, LOS rate: -0.055134 deg/s, posRepo size: 4
2021-02-16T08:28:16.421Z,1613464096.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.819977 m,
      bearing: 17.134808 deg,
      approachRate: -0.671745 m/s,
      LOS rate: -0.055134 deg/s,
      cmd update: -0.165401 deg/s,
      cmd heading: 8.359036 deg,
      new cmd heading: 8.559420 deg.

2021-02-16T08:28:18.799Z,1613464098.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:19.599Z,1613464099.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:20.018Z,1613464100.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:20.816Z,1613464100.816 [Micromodem](INFO): Nmea in: $SNTTA,0.131779,,,,082821.08*43

2021-02-16T08:28:21.247Z,1613464101.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 17.818717 deg, deltaT: 4.802365 s, approachRate: -0.712146 m/s, LOS rate: 0.142411 deg/s, posRepo size: 4
2021-02-16T08:28:21.249Z,1613464101.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 17.818717 deg,
      approachRate: -0.712146 m/s,
      LOS rate: 0.142411 deg/s,
      cmd update: 0.427232 deg/s,
      cmd heading: 7.567687 deg,
      new cmd heading: 7.500262 deg.

2021-02-16T08:28:23.716Z,1613464103.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:24.447Z,1613464104.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:24.846Z,1613464104.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:25.664Z,1613464105.664 [Micromodem](INFO): Nmea in: $SNTTA,0.129611,,,,082825.93*43

2021-02-16T08:28:26.132Z,1613464106.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.219986 m, bearing: 18.644914 deg, deltaT: 4.852007 s, approachRate: -0.655401 m/s, LOS rate: 0.170279 deg/s, posRepo size: 4
2021-02-16T08:28:26.136Z,1613464106.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.219986 m,
      bearing: 18.644914 deg,
      approachRate: -0.655401 m/s,
      LOS rate: 0.170279 deg/s,
      cmd update: 0.510838 deg/s,
      cmd heading: 9.648290 deg,
      new cmd heading: 9.828758 deg.

2021-02-16T08:28:28.527Z,1613464108.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:29.309Z,1613464109.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:29.699Z,1613464109.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:30.520Z,1613464110.520 [Micromodem](INFO): Nmea in: $SNTTA,0.127366,,,,082830.79*48

2021-02-16T08:28:30.942Z,1613464110.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 19.130001 deg, deltaT: 4.831714 s, approachRate: -0.707823 m/s, LOS rate: 0.100396 deg/s, posRepo size: 4
2021-02-16T08:28:30.944Z,1613464110.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 19.130001 deg,
      approachRate: -0.707823 m/s,
      LOS rate: 0.100396 deg/s,
      cmd update: 0.301189 deg/s,
      cmd heading: 12.118556 deg,
      new cmd heading: 12.321545 deg.

2021-02-16T08:28:33.388Z,1613464113.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:34.147Z,1613464114.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:34.542Z,1613464114.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:35.373Z,1613464115.373 [Micromodem](INFO): Nmea in: $SNTTA,0.124964,,,,082835.63*4D

2021-02-16T08:28:35.782Z,1613464115.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 19.714679 deg, deltaT: 4.897815 s, approachRate: -0.735017 m/s, LOS rate: 0.119375 deg/s, posRepo size: 4
2021-02-16T08:28:35.784Z,1613464115.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 19.714679 deg,
      approachRate: -0.735017 m/s,
      LOS rate: 0.119375 deg/s,
      cmd update: 0.358126 deg/s,
      cmd heading: 13.592507 deg,
      new cmd heading: 13.695998 deg.

2021-02-16T08:28:38.230Z,1613464118.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:39.014Z,1613464119.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:39.407Z,1613464119.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:40.223Z,1613464120.223 [Micromodem](INFO): Nmea in: $SNTTA,0.122717,,,,082840.49*4B

2021-02-16T08:28:40.653Z,1613464120.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 20.134529 deg, deltaT: 4.804949 s, approachRate: -0.699282 m/s, LOS rate: 0.087379 deg/s, posRepo size: 4
2021-02-16T08:28:40.655Z,1613464120.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 20.134529 deg,
      approachRate: -0.699282 m/s,
      LOS rate: 0.087379 deg/s,
      cmd update: 0.262136 deg/s,
      cmd heading: 15.314726 deg,
      new cmd heading: 15.459935 deg.

2021-02-16T08:28:43.064Z,1613464123.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:43.834Z,1613464123.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:44.250Z,1613464124.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:45.064Z,1613464125.064 [Micromodem](INFO): Nmea in: $SNTTA,0.120440,,,,082845.31*42

2021-02-16T08:28:45.107Z,1613464125.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 20.460723 deg, deltaT: 4.447812 s, approachRate: 0.000000 m/s, LOS rate: 0.073338 deg/s, posRepo size: 4
2021-02-16T08:28:45.109Z,1613464125.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 20.460723 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.073338 deg/s,
      cmd update: 0.220015 deg/s,
      cmd heading: 16.480613 deg,
      new cmd heading: 16.588516 deg.

2021-02-16T08:28:47.512Z,1613464127.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:48.286Z,1613464128.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:48.686Z,1613464128.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:49.516Z,1613464129.516 [Micromodem](INFO): Nmea in: $SNTTA,0.118200,,,,082849.76*44

2021-02-16T08:28:49.555Z,1613464129.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 23.670965 deg, deltaT: 4.460329 s, approachRate: 0.000000 m/s, LOS rate: 0.719732 deg/s, posRepo size: 4
2021-02-16T08:28:49.557Z,1613464129.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 23.670965 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.719732 deg/s,
      cmd update: 2.159196 deg/s,
      cmd heading: 17.459408 deg,
      new cmd heading: 17.549735 deg.

2021-02-16T08:28:51.940Z,1613464131.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:52.720Z,1613464132.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:53.159Z,1613464133.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:53.959Z,1613464133.959 [Micromodem](INFO): Nmea in: $SNTTA,0.116175,,,,082854.20*44

2021-02-16T08:28:54.020Z,1613464134.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.839996 m, bearing: 20.845196 deg, deltaT: 4.436039 s, approachRate: 0.000000 m/s, LOS rate: -0.637003 deg/s, posRepo size: 4
2021-02-16T08:28:54.022Z,1613464134.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 20.845196 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.637003 deg/s,
      cmd update: -1.911008 deg/s,
      cmd heading: 27.054330 deg,
      new cmd heading: 27.949861 deg.

2021-02-16T08:28:56.408Z,1613464136.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:28:57.170Z,1613464137.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:28:57.572Z,1613464137.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:28:58.403Z,1613464138.403 [Micromodem](INFO): Nmea in: $SNTTA,0.114013,,,,082858.65*4A

2021-02-16T08:28:58.428Z,1613464138.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.820007 m, bearing: 21.098876 deg, deltaT: 4.461108 s, approachRate: -2.918555 m/s, LOS rate: 0.056865 deg/s, posRepo size: 4
2021-02-16T08:28:58.430Z,1613464138.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.820007 m,
      bearing: 21.098876 deg,
      approachRate: -2.918555 m/s,
      LOS rate: 0.056865 deg/s,
      cmd update: 0.170594 deg/s,
      cmd heading: 18.529024 deg,
      new cmd heading: 17.804489 deg.

2021-02-16T08:29:00.829Z,1613464140.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:01.615Z,1613464141.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:02.032Z,1613464142.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:02.840Z,1613464142.840 [Micromodem](INFO): Nmea in: $SNTTA,0.111785,,,,082903.09*42

2021-02-16T08:29:02.881Z,1613464142.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 21.363288 deg, deltaT: 4.415421 s, approachRate: -0.760973 m/s, LOS rate: 0.059884 deg/s, posRepo size: 4
2021-02-16T08:29:02.882Z,1613464142.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.459991 m,
      bearing: 21.363288 deg,
      approachRate: -0.760973 m/s,
      LOS rate: 0.059884 deg/s,
      cmd update: 0.179651 deg/s,
      cmd heading: 19.282951 deg,
      new cmd heading: 19.353274 deg.

2021-02-16T08:29:05.294Z,1613464145.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:06.052Z,1613464146.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:06.473Z,1613464146.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:07.284Z,1613464147.284 [Micromodem](INFO): Nmea in: $SNTTA,0.109640,,,,082907.53*48

2021-02-16T08:29:07.361Z,1613464147.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.279999 m, bearing: 21.378041 deg, deltaT: 4.433050 s, approachRate: -0.717337 m/s, LOS rate: 0.003328 deg/s, posRepo size: 4
2021-02-16T08:29:07.367Z,1613464147.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.279999 m,
      bearing: 21.378041 deg,
      approachRate: -0.717337 m/s,
      LOS rate: 0.003328 deg/s,
      cmd update: 0.009984 deg/s,
      cmd heading: 20.078615 deg,
      new cmd heading: 20.161897 deg.

2021-02-16T08:29:09.713Z,1613464149.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:10.496Z,1613464150.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:10.903Z,1613464150.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:11.733Z,1613464151.733 [Micromodem](INFO): Nmea in: $SNTTA,0.107599,,,,082911.98*41

2021-02-16T08:29:11.785Z,1613464151.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.160004 m, bearing: 21.555196 deg, deltaT: 4.491466 s, approachRate: -0.694650 m/s, LOS rate: 0.039442 deg/s, posRepo size: 4
2021-02-16T08:29:11.787Z,1613464151.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.160004 m,
      bearing: 21.555196 deg,
      approachRate: -0.694650 m/s,
      LOS rate: 0.039442 deg/s,
      cmd update: 0.118327 deg/s,
      cmd heading: 20.123458 deg,
      new cmd heading: 20.127411 deg.

2021-02-16T08:29:14.200Z,1613464154.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:14.965Z,1613464154.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:15.367Z,1613464155.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:16.193Z,1613464156.193 [Micromodem](INFO): Nmea in: $SNTTA,0.105441,,,,082916.45*40

2021-02-16T08:29:16.234Z,1613464156.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.160004 m, bearing: 22.207860 deg, deltaT: 4.398061 s, approachRate: 0.000000 m/s, LOS rate: 0.148398 deg/s, posRepo size: 4
2021-02-16T08:29:16.252Z,1613464156.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.160004 m,
      bearing: 22.207860 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.148398 deg/s,
      cmd update: 0.445194 deg/s,
      cmd heading: 20.643737 deg,
      new cmd heading: 20.696803 deg.

2021-02-16T08:29:18.601Z,1613464158.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:19.401Z,1613464159.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:19.790Z,1613464159.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:20.628Z,1613464160.628 [Micromodem](INFO): Nmea in: $SNTTA,0.103255,,,,082920.88*41

2021-02-16T08:29:20.666Z,1613464160.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.680008 m, bearing: 22.507814 deg, deltaT: 4.469880 s, approachRate: -1.449702 m/s, LOS rate: 0.067106 deg/s, posRepo size: 4
2021-02-16T08:29:20.668Z,1613464160.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.680008 m,
      bearing: 22.507814 deg,
      approachRate: -1.449702 m/s,
      LOS rate: 0.067106 deg/s,
      cmd update: 0.201317 deg/s,
      cmd heading: 22.635956 deg,
      new cmd heading: 22.816315 deg.

2021-02-16T08:29:23.066Z,1613464163.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:23.828Z,1613464163.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:24.256Z,1613464164.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:25.064Z,1613464165.064 [Micromodem](INFO): Nmea in: $SNTTA,0.101050,,,,082925.31*43

2021-02-16T08:29:25.088Z,1613464165.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 22.988832 deg, deltaT: 4.409623 s, approachRate: -0.734755 m/s, LOS rate: 0.109084 deg/s, posRepo size: 4
2021-02-16T08:29:25.090Z,1613464165.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 22.988832 deg,
      approachRate: -0.734755 m/s,
      LOS rate: 0.109084 deg/s,
      cmd update: 0.327251 deg/s,
      cmd heading: 23.523704 deg,
      new cmd heading: 23.607782 deg.

2021-02-16T08:29:27.495Z,1613464167.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:28.277Z,1613464168.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:28.688Z,1613464168.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:29.532Z,1613464169.532 [Micromodem](INFO): Nmea in: $SNTTA,0.098905,,,,082929.76*44

2021-02-16T08:29:29.570Z,1613464169.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 23.088937 deg, deltaT: 4.439722 s, approachRate: -0.729777 m/s, LOS rate: 0.022548 deg/s, posRepo size: 4
2021-02-16T08:29:29.572Z,1613464169.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 23.088937 deg,
      approachRate: -0.729777 m/s,
      LOS rate: 0.022548 deg/s,
      cmd update: 0.067643 deg/s,
      cmd heading: 24.976547 deg,
      new cmd heading: 25.126992 deg.

2021-02-16T08:29:31.930Z,1613464171.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:32.716Z,1613464172.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:33.129Z,1613464173.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:33.944Z,1613464173.944 [Micromodem](INFO): Nmea in: $SNTTA,0.096732,,,,082934.20*4F

2021-02-16T08:29:34.029Z,1613464174.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.900009 m, bearing: 23.235938 deg, deltaT: 4.457763 s, approachRate: -0.740282 m/s, LOS rate: 0.032976 deg/s, posRepo size: 4
2021-02-16T08:29:34.030Z,1613464174.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.900009 m,
      bearing: 23.235938 deg,
      approachRate: -0.740282 m/s,
      LOS rate: 0.032976 deg/s,
      cmd update: 0.098929 deg/s,
      cmd heading: 25.278083 deg,
      new cmd heading: 25.309267 deg.

2021-02-16T08:29:36.436Z,1613464176.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:37.169Z,1613464177.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:37.566Z,1613464177.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:38.412Z,1613464178.412 [Micromodem](INFO): Nmea in: $SNTTA,0.094609,,,,082938.65*49

2021-02-16T08:29:38.448Z,1613464178.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 23.244356 deg, deltaT: 4.480614 s, approachRate: -0.709726 m/s, LOS rate: 0.001879 deg/s, posRepo size: 4
2021-02-16T08:29:38.450Z,1613464178.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.720001 m,
      bearing: 23.244356 deg,
      approachRate: -0.709726 m/s,
      LOS rate: 0.001879 deg/s,
      cmd update: 0.005636 deg/s,
      cmd heading: 25.720586 deg,
      new cmd heading: 25.760833 deg.

2021-02-16T08:29:40.817Z,1613464180.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:41.609Z,1613464181.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:42.021Z,1613464182.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:42.836Z,1613464182.836 [Micromodem](INFO): Nmea in: $SNTTA,0.092504,,,,082943.09*47

2021-02-16T08:29:42.870Z,1613464182.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.600006 m, bearing: 23.250826 deg, deltaT: 4.421493 s, approachRate: -0.705643 m/s, LOS rate: 0.001463 deg/s, posRepo size: 4
2021-02-16T08:29:42.872Z,1613464182.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.600006 m,
      bearing: 23.250826 deg,
      approachRate: -0.705643 m/s,
      LOS rate: 0.001463 deg/s,
      cmd update: 0.004390 deg/s,
      cmd heading: 25.745539 deg,
      new cmd heading: 25.747808 deg.

2021-02-16T08:29:45.286Z,1613464185.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:46.052Z,1613464186.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:46.463Z,1613464186.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:47.298Z,1613464187.298 [Micromodem](INFO): Nmea in: $SNTTA,0.090357,,,,082947.53*4E

2021-02-16T08:29:47.371Z,1613464187.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.360001 m, bearing: 23.368591 deg, deltaT: 4.428588 s, approachRate: -0.731611 m/s, LOS rate: 0.026592 deg/s, posRepo size: 4
2021-02-16T08:29:47.377Z,1613464187.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.360001 m,
      bearing: 23.368591 deg,
      approachRate: -0.731611 m/s,
      LOS rate: 0.026592 deg/s,
      cmd update: 0.079776 deg/s,
      cmd heading: 25.764972 deg,
      new cmd heading: 25.767062 deg.

2021-02-16T08:29:49.737Z,1613464189.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:50.502Z,1613464190.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:50.902Z,1613464190.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:51.728Z,1613464191.728 [Micromodem](INFO): Nmea in: $SNTTA,0.088144,,,,082951.98*47

2021-02-16T08:29:51.774Z,1613464191.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.059998 m, bearing: 23.738731 deg, deltaT: 4.512039 s, approachRate: -0.731377 m/s, LOS rate: 0.082034 deg/s, posRepo size: 4
2021-02-16T08:29:51.781Z,1613464191.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.059998 m,
      bearing: 23.738731 deg,
      approachRate: -0.731377 m/s,
      LOS rate: 0.082034 deg/s,
      cmd update: 0.246102 deg/s,
      cmd heading: 26.124594 deg,
      new cmd heading: 26.154268 deg.

2021-02-16T08:29:54.219Z,1613464194.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:54.941Z,1613464194.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:55.370Z,1613464195.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:29:56.179Z,1613464196.179 [Micromodem](INFO): Nmea in: $SNTTA,0.085991,,,,082956.42*4A

2021-02-16T08:29:56.211Z,1613464196.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 23.464645 deg, deltaT: 4.369457 s, approachRate: -0.741509 m/s, LOS rate: -0.062728 deg/s, posRepo size: 4
2021-02-16T08:29:56.213Z,1613464196.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 23.464645 deg,
      approachRate: -0.741509 m/s,
      LOS rate: -0.062728 deg/s,
      cmd update: -0.188183 deg/s,
      cmd heading: 27.201830 deg,
      new cmd heading: 27.307964 deg.

2021-02-16T08:29:58.606Z,1613464198.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:29:59.384Z,1613464199.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:29:59.790Z,1613464199.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:00.616Z,1613464200.616 [Micromodem](INFO): Nmea in: $SNTTA,0.083863,,,,083000.86*43

2021-02-16T08:30:00.641Z,1613464200.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.639999 m, bearing: 24.390293 deg, deltaT: 4.463392 s, approachRate: -0.712464 m/s, LOS rate: 0.207387 deg/s, posRepo size: 4
2021-02-16T08:30:00.643Z,1613464200.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.639999 m,
      bearing: 24.390293 deg,
      approachRate: -0.712464 m/s,
      LOS rate: 0.207387 deg/s,
      cmd update: 0.622160 deg/s,
      cmd heading: 26.365121 deg,
      new cmd heading: 26.287024 deg.

2021-02-16T08:30:03.052Z,1613464203.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:03.834Z,1613464203.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:04.245Z,1613464204.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:05.060Z,1613464205.060 [Micromodem](INFO): Nmea in: $SNTTA,0.081748,,,,083005.31*4E

2021-02-16T08:30:05.110Z,1613464205.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 24.098859 deg, deltaT: 4.433055 s, approachRate: -0.730872 m/s, LOS rate: -0.065741 deg/s, posRepo size: 4
2021-02-16T08:30:05.112Z,1613464205.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 24.098859 deg,
      approachRate: -0.730872 m/s,
      LOS rate: -0.065741 deg/s,
      cmd update: -0.197223 deg/s,
      cmd heading: 29.133936 deg,
      new cmd heading: 29.403982 deg.

2021-02-16T08:30:07.493Z,1613464207.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:08.283Z,1613464208.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:08.683Z,1613464208.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:09.516Z,1613464209.516 [Micromodem](INFO): Nmea in: $SNTTA,0.079643,,,,083009.76*4C

2021-02-16T08:30:09.561Z,1613464209.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.280006 m, bearing: 24.209991 deg, deltaT: 4.446930 s, approachRate: -0.701607 m/s, LOS rate: 0.024991 deg/s, posRepo size: 4
2021-02-16T08:30:09.563Z,1613464209.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.280006 m,
      bearing: 24.209991 deg,
      approachRate: -0.701607 m/s,
      LOS rate: 0.024991 deg/s,
      cmd update: 0.074972 deg/s,
      cmd heading: 28.260003 deg,
      new cmd heading: 28.170613 deg.

2021-02-16T08:30:11.923Z,1613464211.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:12.718Z,1613464212.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:13.125Z,1613464213.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:13.944Z,1613464213.944 [Micromodem](INFO): Nmea in: $SNTTA,0.077510,,,,083014.20*48

2021-02-16T08:30:14.019Z,1613464214.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 25.106537 deg, deltaT: 4.457583 s, approachRate: -0.726851 m/s, LOS rate: 0.201128 deg/s, posRepo size: 4
2021-02-16T08:30:14.021Z,1613464214.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.040009 m,
      bearing: 25.106537 deg,
      approachRate: -0.726851 m/s,
      LOS rate: 0.201128 deg/s,
      cmd update: 0.603385 deg/s,
      cmd heading: 28.595085 deg,
      new cmd heading: 28.626861 deg.

2021-02-16T08:30:16.451Z,1613464216.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:17.161Z,1613464217.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:17.566Z,1613464217.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:18.392Z,1613464218.392 [Micromodem](INFO): Nmea in: $SNTTA,0.075405,,,,083018.64*43

2021-02-16T08:30:18.453Z,1613464218.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 23.988714 deg, deltaT: 4.452825 s, approachRate: -0.700679 m/s, LOS rate: -0.251037 deg/s, posRepo size: 4
2021-02-16T08:30:18.455Z,1613464218.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 23.988714 deg,
      approachRate: -0.700679 m/s,
      LOS rate: -0.251037 deg/s,
      cmd update: -0.753111 deg/s,
      cmd heading: 31.284255 deg,
      new cmd heading: 31.537473 deg.

2021-02-16T08:30:20.817Z,1613464220.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:21.621Z,1613464221.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:22.043Z,1613464222.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:22.844Z,1613464222.844 [Micromodem](INFO): Nmea in: $SNTTA,0.073300,,,,083023.10*4C

2021-02-16T08:30:22.885Z,1613464222.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 24.758326 deg, deltaT: 4.402605 s, approachRate: -0.722301 m/s, LOS rate: 0.174808 deg/s, posRepo size: 4
2021-02-16T08:30:22.887Z,1613464222.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 24.758326 deg,
      approachRate: -0.722301 m/s,
      LOS rate: 0.174808 deg/s,
      cmd update: 0.524425 deg/s,
      cmd heading: 27.968764 deg,
      new cmd heading: 27.630783 deg.

2021-02-16T08:30:25.284Z,1613464225.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:26.049Z,1613464226.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:26.454Z,1613464226.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:27.280Z,1613464227.280 [Micromodem](INFO): Nmea in: $SNTTA,0.071070,,,,083027.53*49

2021-02-16T08:30:27.371Z,1613464227.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.440002 m, bearing: 25.142211 deg, deltaT: 4.434292 s, approachRate: -0.744199 m/s, LOS rate: 0.086572 deg/s, posRepo size: 4
2021-02-16T08:30:27.373Z,1613464227.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.440002 m,
      bearing: 25.142211 deg,
      approachRate: -0.744199 m/s,
      LOS rate: 0.086572 deg/s,
      cmd update: 0.259716 deg/s,
      cmd heading: 30.294427 deg,
      new cmd heading: 30.556714 deg.

2021-02-16T08:30:29.763Z,1613464229.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:30.502Z,1613464230.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:30.911Z,1613464230.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:31.731Z,1613464231.731 [Micromodem](INFO): Nmea in: $SNTTA,0.068821,,,,083031.98*4D

2021-02-16T08:30:31.756Z,1613464231.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.079994 m, bearing: 25.766706 deg, deltaT: 4.505017 s, approachRate: -0.745837 m/s, LOS rate: 0.138622 deg/s, posRepo size: 4
2021-02-16T08:30:31.758Z,1613464231.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.079994 m,
      bearing: 25.766706 deg,
      approachRate: -0.745837 m/s,
      LOS rate: 0.138622 deg/s,
      cmd update: 0.415866 deg/s,
      cmd heading: 31.464455 deg,
      new cmd heading: 31.563218 deg.

2021-02-16T08:30:34.173Z,1613464234.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:34.937Z,1613464234.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:35.366Z,1613464235.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:36.164Z,1613464236.164 [Micromodem](INFO): Nmea in: $SNTTA,0.066676,,,,083036.42*4F

2021-02-16T08:30:36.222Z,1613464236.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 25.061757 deg, deltaT: 4.388014 s, approachRate: -0.738373 m/s, LOS rate: -0.160653 deg/s, posRepo size: 4
2021-02-16T08:30:36.224Z,1613464236.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 25.061757 deg,
      approachRate: -0.738373 m/s,
      LOS rate: -0.160653 deg/s,
      cmd update: -0.481960 deg/s,
      cmd heading: 33.289283 deg,
      new cmd heading: 33.479932 deg.

2021-02-16T08:30:38.609Z,1613464238.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:39.380Z,1613464239.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:39.847Z,1613464239.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:40.652Z,1613464240.652 [Micromodem](INFO): Nmea in: $SNTTA,0.064626,,,,083040.86*41

2021-02-16T08:30:40.701Z,1613464240.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.720001 m, bearing: 25.391811 deg, deltaT: 4.512315 s, approachRate: -0.691442 m/s, LOS rate: 0.073145 deg/s, posRepo size: 4
2021-02-16T08:30:40.707Z,1613464240.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.720001 m,
      bearing: 25.391811 deg,
      approachRate: -0.691442 m/s,
      LOS rate: 0.073145 deg/s,
      cmd update: 0.219435 deg/s,
      cmd heading: 31.118449 deg,
      new cmd heading: 30.909621 deg.

2021-02-16T08:30:43.096Z,1613464243.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:43.874Z,1613464243.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:44.274Z,1613464244.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:45.104Z,1613464245.104 [Micromodem](INFO): Nmea in: $SNTTA,0.062550,,,0.080974,083045.35*54

2021-02-16T08:30:45.149Z,1613464245.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 26.119649 deg, deltaT: 4.431225 s, approachRate: -0.690553 m/s, LOS rate: 0.164252 deg/s, posRepo size: 4
2021-02-16T08:30:45.150Z,1613464245.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.660004 m,
      bearing: 26.119649 deg,
      approachRate: -0.690553 m/s,
      LOS rate: 0.164252 deg/s,
      cmd update: 0.492757 deg/s,
      cmd heading: 32.092601 deg,
      new cmd heading: 32.189427 deg.

2021-02-16T08:30:47.544Z,1613464247.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:48.339Z,1613464248.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:48.718Z,1613464248.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:49.556Z,1613464249.556 [Micromodem](INFO): Nmea in: $SNTTA,0.060422,,,,083049.82*4E

2021-02-16T08:30:49.595Z,1613464249.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.420006 m, bearing: 25.445378 deg, deltaT: 4.467897 s, approachRate: -0.725173 m/s, LOS rate: -0.150915 deg/s, posRepo size: 4
2021-02-16T08:30:49.597Z,1613464249.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.420006 m,
      bearing: 25.445378 deg,
      approachRate: -0.725173 m/s,
      LOS rate: -0.150915 deg/s,
      cmd update: -0.452744 deg/s,
      cmd heading: 34.293207 deg,
      new cmd heading: 34.500803 deg.

2021-02-16T08:30:52.019Z,1613464252.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:52.758Z,1613464252.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:53.162Z,1613464253.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:54.011Z,1613464254.011 [Micromodem](INFO): Nmea in: $SNTTA,0.058349,,,,083054.24*4F

2021-02-16T08:30:54.035Z,1613464254.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.360008 m, bearing: 26.498445 deg, deltaT: 4.437549 s, approachRate: -0.689569 m/s, LOS rate: 0.237308 deg/s, posRepo size: 4
2021-02-16T08:30:54.041Z,1613464254.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.360008 m,
      bearing: 26.498445 deg,
      approachRate: -0.689569 m/s,
      LOS rate: 0.237308 deg/s,
      cmd update: 0.711924 deg/s,
      cmd heading: 32.285022 deg,
      new cmd heading: 32.091996 deg.

2021-02-16T08:30:56.425Z,1613464256.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:30:57.210Z,1613464257.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:30:57.624Z,1613464257.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:30:58.436Z,1613464258.436 [Micromodem](INFO): Nmea in: $SNTTA,0.056303,,,,083058.69*4A

2021-02-16T08:30:58.476Z,1613464258.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.060005 m, bearing: 25.443232 deg, deltaT: 4.453886 s, approachRate: -0.740927 m/s, LOS rate: -0.236920 deg/s, posRepo size: 4
2021-02-16T08:30:58.478Z,1613464258.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.060005 m,
      bearing: 25.443232 deg,
      approachRate: -0.740927 m/s,
      LOS rate: -0.236920 deg/s,
      cmd update: -0.710759 deg/s,
      cmd heading: 35.458574 deg,
      new cmd heading: 35.750095 deg.

2021-02-16T08:31:00.863Z,1613464260.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:01.645Z,1613464261.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:02.050Z,1613464262.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:02.872Z,1613464262.872 [Micromodem](INFO): Nmea in: $SNTTA,0.054066,,,,083103.12*4B

2021-02-16T08:31:02.914Z,1613464262.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 26.664871 deg, deltaT: 4.434049 s, approachRate: -0.690114 m/s, LOS rate: 0.275513 deg/s, posRepo size: 4
2021-02-16T08:31:02.916Z,1613464262.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.000008 m,
      bearing: 26.664871 deg,
      approachRate: -0.690114 m/s,
      LOS rate: 0.275513 deg/s,
      cmd update: 0.826540 deg/s,
      cmd heading: 32.309756 deg,
      new cmd heading: 32.013302 deg.

2021-02-16T08:31:05.309Z,1613464265.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:06.088Z,1613464266.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:06.495Z,1613464266.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:07.334Z,1613464267.334 [Micromodem](INFO): Nmea in: $SNTTA,0.051948,,,,083107.57*4E

2021-02-16T08:31:07.384Z,1613464267.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 25.988117 deg, deltaT: 4.417505 s, approachRate: -0.760610 m/s, LOS rate: -0.153198 deg/s, posRepo size: 4
2021-02-16T08:31:07.385Z,1613464267.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.640007 m,
      bearing: 25.988117 deg,
      approachRate: -0.760610 m/s,
      LOS rate: -0.153198 deg/s,
      cmd update: -0.459595 deg/s,
      cmd heading: 35.964259 deg,
      new cmd heading: 36.348627 deg.

2021-02-16T08:31:09.440Z,1613464269.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:10.128Z,1613464270.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:10.533Z,1613464270.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:11.384Z,1613464271.384 [Micromodem](INFO): Nmea in: $SNTTA,0.050050,,,,083111.61*4D

2021-02-16T08:31:11.417Z,1613464271.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 25.962177 deg, deltaT: 4.080642 s, approachRate: -0.691070 m/s, LOS rate: -0.006357 deg/s, posRepo size: 4
2021-02-16T08:31:11.420Z,1613464271.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 25.962177 deg,
      approachRate: -0.691070 m/s,
      LOS rate: -0.006357 deg/s,
      cmd update: -0.019070 deg/s,
      cmd heading: 34.106690 deg,
      new cmd heading: 33.896427 deg.

2021-02-16T08:31:13.799Z,1613464273.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:14.573Z,1613464274.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:15.015Z,1613464275.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:15.808Z,1613464275.808 [Micromodem](INFO): Nmea in: $SNTTA,0.047892,,,,083116.05*48

2021-02-16T08:31:15.839Z,1613464275.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 26.554196 deg, deltaT: 4.424895 s, approachRate: -0.718659 m/s, LOS rate: 0.133793 deg/s, posRepo size: 4
2021-02-16T08:31:15.841Z,1613464275.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 26.554196 deg,
      approachRate: -0.718659 m/s,
      LOS rate: 0.133793 deg/s,
      cmd update: 0.401378 deg/s,
      cmd heading: 34.021567 deg,
      new cmd heading: 34.013646 deg.

2021-02-16T08:31:18.280Z,1613464278.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:19.022Z,1613464279.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:19.422Z,1613464279.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:20.248Z,1613464280.248 [Micromodem](INFO): Nmea in: $SNTTA,0.045724,,,,083120.50*4D

2021-02-16T08:31:20.290Z,1613464280.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 26.817071 deg, deltaT: 4.414077 s, approachRate: -0.720424 m/s, LOS rate: 0.059554 deg/s, posRepo size: 4
2021-02-16T08:31:20.292Z,1613464280.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.459999 m,
      bearing: 26.817071 deg,
      approachRate: -0.720424 m/s,
      LOS rate: 0.059554 deg/s,
      cmd update: 0.178662 deg/s,
      cmd heading: 35.793307 deg,
      new cmd heading: 35.974837 deg.

2021-02-16T08:31:22.686Z,1613464282.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:23.477Z,1613464283.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:23.866Z,1613464283.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:24.716Z,1613464284.716 [Micromodem](INFO): Nmea in: $SNTTA,0.043591,,,,083124.96*49

2021-02-16T08:31:24.756Z,1613464284.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.220001 m, bearing: 26.464261 deg, deltaT: 4.515565 s, approachRate: -0.717518 m/s, LOS rate: -0.078132 deg/s, posRepo size: 4
2021-02-16T08:31:24.757Z,1613464284.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.220001 m,
      bearing: 26.464261 deg,
      approachRate: -0.717518 m/s,
      LOS rate: -0.078132 deg/s,
      cmd update: -0.234396 deg/s,
      cmd heading: 36.596606 deg,
      new cmd heading: 36.671877 deg.

2021-02-16T08:31:27.121Z,1613464287.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:27.909Z,1613464287.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:28.316Z,1613464288.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:29.191Z,1613464289.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 26.383786 deg, deltaT: 4.384034 s, approachRate: -0.752731 m/s, LOS rate: -0.018356 deg/s, posRepo size: 4
2021-02-16T08:31:29.194Z,1613464289.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.920002 m,
      bearing: 26.383786 deg,
      approachRate: -0.752731 m/s,
      LOS rate: -0.018356 deg/s,
      cmd update: -0.055069 deg/s,
      cmd heading: 35.564457 deg,
      new cmd heading: 35.460743 deg.

2021-02-16T08:31:29.541Z,1613464289.541 [Micromodem](INFO): Nmea in: $SNTTA,0.041451,,,,083129.44*44

2021-02-16T08:31:31.578Z,1613464291.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:32.382Z,1613464292.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:32.762Z,1613464292.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:33.604Z,1613464293.604 [Micromodem](INFO): Nmea in: $SNTTA,0.039433,,,,083133.86*4A

2021-02-16T08:31:33.630Z,1613464293.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 26.271452 deg, deltaT: 4.469275 s, approachRate: -0.657825 m/s, LOS rate: -0.025135 deg/s, posRepo size: 4
2021-02-16T08:31:33.648Z,1613464293.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.980000 m,
      bearing: 26.271452 deg,
      approachRate: -0.657825 m/s,
      LOS rate: -0.025135 deg/s,
      cmd update: -0.075404 deg/s,
      cmd heading: 35.318371 deg,
      new cmd heading: 35.295040 deg.

2021-02-16T08:31:36.041Z,1613464296.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:36.793Z,1613464296.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:37.219Z,1613464297.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:38.047Z,1613464298.047 [Micromodem](INFO): Nmea in: $SNTTA,0.037395,,0.061827,,083138.27*5B

2021-02-16T08:31:38.074Z,1613464298.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.799995 m, bearing: 26.571094 deg, deltaT: 4.441815 s, approachRate: -0.715925 m/s, LOS rate: 0.067459 deg/s, posRepo size: 4
2021-02-16T08:31:38.076Z,1613464298.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.799995 m,
      bearing: 26.571094 deg,
      approachRate: -0.715925 m/s,
      LOS rate: 0.067459 deg/s,
      cmd update: 0.202378 deg/s,
      cmd heading: 34.983702 deg,
      new cmd heading: 34.951299 deg.

2021-02-16T08:31:40.466Z,1613464300.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:41.242Z,1613464301.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:41.642Z,1613464301.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:42.487Z,1613464302.487 [Micromodem](INFO): Nmea in: $SNTTA,0.035118,,0.039425,,083142.76*54

2021-02-16T08:31:42.523Z,1613464302.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 26.327374 deg, deltaT: 4.445087 s, approachRate: -0.755889 m/s, LOS rate: -0.054829 deg/s, posRepo size: 4
2021-02-16T08:31:42.525Z,1613464302.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.440002 m,
      bearing: 26.327374 deg,
      approachRate: -0.755889 m/s,
      LOS rate: -0.054829 deg/s,
      cmd update: -0.164487 deg/s,
      cmd heading: 35.883318 deg,
      new cmd heading: 35.970960 deg.

2021-02-16T08:31:44.915Z,1613464304.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:45.680Z,1613464305.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:46.094Z,1613464306.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:46.908Z,1613464306.908 [Micromodem](INFO): Nmea in: $SNTTA,0.033087,,,,083147.16*41

2021-02-16T08:31:46.962Z,1613464306.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.380005 m, bearing: 26.502775 deg, deltaT: 4.453542 s, approachRate: -0.687093 m/s, LOS rate: 0.039385 deg/s, posRepo size: 4
2021-02-16T08:31:46.964Z,1613464306.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.380005 m,
      bearing: 26.502775 deg,
      approachRate: -0.687093 m/s,
      LOS rate: 0.039385 deg/s,
      cmd update: 0.118154 deg/s,
      cmd heading: 35.150120 deg,
      new cmd heading: 35.081896 deg.

2021-02-16T08:31:49.460Z,1613464309.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:50.124Z,1613464310.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:50.545Z,1613464310.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:51.379Z,1613464311.379 [Micromodem](INFO): Nmea in: $SNTTA,0.031008,,,,083151.60*42

2021-02-16T08:31:51.413Z,1613464311.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.320000 m, bearing: 26.517596 deg, deltaT: 4.446945 s, approachRate: -0.688114 m/s, LOS rate: 0.003333 deg/s, posRepo size: 4
2021-02-16T08:31:51.415Z,1613464311.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.320000 m,
      bearing: 26.517596 deg,
      approachRate: -0.688114 m/s,
      LOS rate: 0.003333 deg/s,
      cmd update: 0.009999 deg/s,
      cmd heading: 35.670933 deg,
      new cmd heading: 35.725044 deg.

2021-02-16T08:31:53.775Z,1613464313.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:54.568Z,1613464314.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:55.022Z,1613464315.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:31:55.804Z,1613464315.804 [Micromodem](INFO): Nmea in: $SNTTA,0.028931,,,,083156.05*4D

2021-02-16T08:31:55.826Z,1613464315.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 26.165917 deg, deltaT: 4.416229 s, approachRate: -0.720071 m/s, LOS rate: -0.079633 deg/s, posRepo size: 4
2021-02-16T08:31:55.828Z,1613464315.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 26.165917 deg,
      approachRate: -0.720071 m/s,
      LOS rate: -0.079633 deg/s,
      cmd update: -0.238900 deg/s,
      cmd heading: 35.715481 deg,
      new cmd heading: 35.719640 deg.

2021-02-16T08:31:58.235Z,1613464318.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:31:59.012Z,1613464319.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:31:59.423Z,1613464319.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:00.244Z,1613464320.244 [Micromodem](INFO): Nmea in: $SNTTA,0.026778,,,,083200.49*48

2021-02-16T08:32:00.339Z,1613464320.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.959999 m, bearing: 26.238267 deg, deltaT: 4.439423 s, approachRate: -0.716309 m/s, LOS rate: 0.016297 deg/s, posRepo size: 4
2021-02-16T08:32:00.344Z,1613464320.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-02-16T08:32:00.359Z,1613464320.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 26.238267 deg,
      approachRate: -0.716309 m/s,
      LOS rate: 0.016297 deg/s,
      cmd update: 0.048892 deg/s,
      cmd heading: 34.654901 deg,
      new cmd heading: 34.539967 deg.

2021-02-16T08:32:00.657Z,1613464320.657 [PowerOnly](INFO): Powering up loadControl
2021-02-16T08:32:02.690Z,1613464322.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:03.466Z,1613464323.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:03.862Z,1613464323.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:04.696Z,1613464324.696 [Micromodem](INFO): Nmea in: $SNTTA,0.024961,,,,083204.95*49

2021-02-16T08:32:04.726Z,1613464324.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 25.623591 deg, deltaT: 4.447340 s, approachRate: -0.715034 m/s, LOS rate: -0.138212 deg/s, posRepo size: 4
2021-02-16T08:32:04.726Z,1613464324.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-02-16T08:32:04.726Z,1613464324.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.78 m.
2021-02-16T08:32:04.727Z,1613464324.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T08:32:04.753Z,1613464324.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 25.623591 deg,
      approachRate: -0.715034 m/s,
      LOS rate: -0.138212 deg/s,
      cmd update: -0.414636 deg/s,
      cmd heading: 34.872199 deg,
      new cmd heading: 34.893293 deg.

2021-02-16T08:32:07.159Z,1613464327.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:07.917Z,1613464327.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:08.371Z,1613464328.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:09.140Z,1613464329.140 [Micromodem](INFO): Nmea in: $SNTTA,0.022535,,,,083209.40*47

2021-02-16T08:32:09.190Z,1613464329.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 25.938791 deg, deltaT: 4.431296 s, approachRate: -0.731163 m/s, LOS rate: 0.071130 deg/s, posRepo size: 4
2021-02-16T08:32:09.197Z,1613464329.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.539997 m,
      bearing: 25.938791 deg,
      approachRate: -0.731163 m/s,
      LOS rate: 0.071130 deg/s,
      cmd update: 0.213391 deg/s,
      cmd heading: 33.033777 deg,
      new cmd heading: 32.842673 deg.

2021-02-16T08:32:11.582Z,1613464331.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:12.365Z,1613464332.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:12.750Z,1613464332.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:13.584Z,1613464333.584 [Micromodem](INFO): Nmea in: $SNTTA,0.020414,,,,083213.84*44

2021-02-16T08:32:13.626Z,1613464333.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 26.872710 deg, deltaT: 4.503192 s, approachRate: -0.692842 m/s, LOS rate: 0.207390 deg/s, posRepo size: 4
2021-02-16T08:32:13.628Z,1613464333.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 26.872710 deg,
      approachRate: -0.692842 m/s,
      LOS rate: 0.207390 deg/s,
      cmd update: 0.622171 deg/s,
      cmd heading: 33.993914 deg,
      new cmd heading: 34.079010 deg.

2021-02-16T08:32:16.061Z,1613464336.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:16.793Z,1613464336.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:17.209Z,1613464337.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:18.044Z,1613464338.044 [Micromodem](INFO): Nmea in: $SNTTA,0.018358,,,,083218.27*42

2021-02-16T08:32:18.068Z,1613464338.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 26.019268 deg, deltaT: 4.411365 s, approachRate: -0.707263 m/s, LOS rate: -0.193464 deg/s, posRepo size: 4
2021-02-16T08:32:18.070Z,1613464338.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 26.019268 deg,
      approachRate: -0.707263 m/s,
      LOS rate: -0.193464 deg/s,
      cmd update: -0.580393 deg/s,
      cmd heading: 36.740874 deg,
      new cmd heading: 37.005279 deg.

2021-02-16T08:32:20.485Z,1613464340.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:21.232Z,1613464341.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:21.644Z,1613464341.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:22.460Z,1613464342.460 [Micromodem](INFO): Nmea in: $SNTTA,0.016754,,,,083222.71*4E

2021-02-16T08:32:22.500Z,1613464342.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 26.057095 deg, deltaT: 4.457554 s, approachRate: -0.699936 m/s, LOS rate: 0.008486 deg/s, posRepo size: 4
2021-02-16T08:32:22.502Z,1613464342.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 26.057095 deg,
      approachRate: -0.699936 m/s,
      LOS rate: 0.008486 deg/s,
      cmd update: 0.025458 deg/s,
      cmd heading: 34.155856 deg,
      new cmd heading: 33.921425 deg.

2021-02-16T08:32:24.901Z,1613464344.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:25.682Z,1613464345.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:26.082Z,1613464346.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:26.908Z,1613464346.908 [Micromodem](INFO): Nmea in: $SNTTA,0.014235,,,,083227.16*4A

2021-02-16T08:32:26.942Z,1613464346.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 27.357431 deg, deltaT: 4.427049 s, approachRate: -0.691205 m/s, LOS rate: 0.293725 deg/s, posRepo size: 4
2021-02-16T08:32:26.944Z,1613464346.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.120001 m,
      bearing: 27.357431 deg,
      approachRate: -0.691205 m/s,
      LOS rate: 0.293725 deg/s,
      cmd update: 0.881176 deg/s,
      cmd heading: 34.268661 deg,
      new cmd heading: 34.279220 deg.

2021-02-16T08:32:28.533Z,1613464348.533 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 89
2021-02-16T08:32:29.380Z,1613464349.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:30.120Z,1613464350.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:30.527Z,1613464350.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:31.388Z,1613464351.388 [Micromodem](INFO): Nmea in: $SNTTA,0.012236,,,,083231.60*49

2021-02-16T08:32:31.430Z,1613464351.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 26.027662 deg, deltaT: 4.416913 s, approachRate: -0.679207 m/s, LOS rate: -0.301063 deg/s, posRepo size: 4
2021-02-16T08:32:31.432Z,1613464351.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.120001 m,
      bearing: 26.027662 deg,
      approachRate: -0.679207 m/s,
      LOS rate: -0.301063 deg/s,
      cmd update: -0.903189 deg/s,
      cmd heading: 38.160624 deg,
      new cmd heading: 38.588741 deg.

2021-02-16T08:32:33.779Z,1613464353.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:34.564Z,1613464354.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:35.005Z,1613464355.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:35.797Z,1613464355.797 [Micromodem](INFO): Nmea in: $SNTTA,0.010812,,,0.048359,083236.04*5F

2021-02-16T08:32:35.838Z,1613464355.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 26.971066 deg, deltaT: 4.475317 s, approachRate: -0.643530 m/s, LOS rate: 0.210802 deg/s, posRepo size: 4
2021-02-16T08:32:35.844Z,1613464355.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 26.971066 deg,
      approachRate: -0.643530 m/s,
      LOS rate: 0.210802 deg/s,
      cmd update: 0.632405 deg/s,
      cmd heading: 34.119438 deg,
      new cmd heading: 33.740314 deg.

2021-02-16T08:32:38.244Z,1613464358.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:38.618Z,1613464358.618 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:32:39.023Z,1613464359.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:39.419Z,1613464359.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:40.249Z,1613464360.249 [Micromodem](INFO): Nmea in: $SNTTA,0.009110,,,,083240.50*41

2021-02-16T08:32:40.308Z,1613464360.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 30.921540 deg, deltaT: 4.416087 s, approachRate: -0.652161 m/s, LOS rate: 0.894564 deg/s, posRepo size: 4
2021-02-16T08:32:40.310Z,1613464360.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 30.921540 deg,
      approachRate: -0.652161 m/s,
      LOS rate: 0.894564 deg/s,
      cmd update: 2.683693 deg/s,
      cmd heading: 36.912931 deg,
      new cmd heading: 37.211704 deg.

2021-02-16T08:32:42.702Z,1613464362.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:43.458Z,1613464363.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:43.492Z,1613464363.492 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T08:32:43.860Z,1613464363.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:44.684Z,1613464364.684 [Micromodem](INFO): Nmea in: $SNTTA,0.006535,,,,083244.94*41

2021-02-16T08:32:44.730Z,1613464364.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 26.627272 deg, deltaT: 4.450240 s, approachRate: -0.660639 m/s, LOS rate: -0.964952 deg/s, posRepo size: 4
2021-02-16T08:32:44.732Z,1613464364.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 26.627272 deg,
      approachRate: -0.660639 m/s,
      LOS rate: -0.964952 deg/s,
      cmd update: -2.894856 deg/s,
      cmd heading: 48.856086 deg,
      new cmd heading: 50.046234 deg.

2021-02-16T08:32:47.118Z,1613464367.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:47.901Z,1613464367.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:48.306Z,1613464368.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:48.376Z,1613464368.376 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:32:49.136Z,1613464369.136 [Micromodem](INFO): Nmea in: $SNTTA,0.004944,,,,083249.38*42

2021-02-16T08:32:49.165Z,1613464369.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 29.598386 deg, deltaT: 4.438594 s, approachRate: -0.500158 m/s, LOS rate: 0.669382 deg/s, posRepo size: 4
2021-02-16T08:32:49.166Z,1613464369.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 29.598386 deg,
      approachRate: -0.500158 m/s,
      LOS rate: 0.669382 deg/s,
      cmd update: 2.008145 deg/s,
      cmd heading: 36.006900 deg,
      new cmd heading: 34.733325 deg.

2021-02-16T08:32:51.563Z,1613464371.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:52.362Z,1613464372.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:52.747Z,1613464372.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:53.584Z,1613464373.584 [Micromodem](INFO): Nmea in: $SNTTA,0.004884,,,,083253.84*43

2021-02-16T08:32:53.592Z,1613464373.592 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:32:53.608Z,1613464373.608 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T08:32:53.608Z,1613464373.608 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T08:32:53.609Z,1613464373.609 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T08:32:53.612Z,1613464373.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 24.743200 deg, deltaT: 4.458473 s, approachRate: -0.497928 m/s, LOS rate: -1.088979 deg/s, posRepo size: 4
2021-02-16T08:32:53.614Z,1613464373.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 24.743200 deg,
      approachRate: -0.497928 m/s,
      LOS rate: -1.088979 deg/s,
      cmd update: -3.266938 deg/s,
      cmd heading: 44.955918 deg,
      new cmd heading: 45.820416 deg.

2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T083254: (41.552319, -70.708603)
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T08:32:54.021Z,1613464374.021 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:32:54.442Z,1613464374.442 [UniversalFixResidualReporter](INFO): Fix residual: 2.4 %DT, over the last 614.9 m. Residual distance 15.0 m at bearing -151.4 degrees. Fix at (41.5519, -70.7090) with 52.8 m made good.
2021-02-16T08:32:56.039Z,1613464376.039 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:32:56.789Z,1613464376.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:32:57.210Z,1613464377.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:32:58.032Z,1613464378.032 [Micromodem](INFO): Nmea in: $SNTTA,0.002876,0.069083,,,083258.27*50

2021-02-16T08:32:58.071Z,1613464378.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 59.531034 deg, deltaT: 4.463273 s, approachRate: -0.120987 m/s, LOS rate: 7.794243 deg/s, posRepo size: 4
2021-02-16T08:32:58.073Z,1613464378.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 59.531034 deg,
      approachRate: -0.120987 m/s,
      LOS rate: 7.794243 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 30.381214 deg,
      new cmd heading: 28.981154 deg.

2021-02-16T08:32:58.420Z,1613464378.420 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:33:00.447Z,1613464380.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:01.254Z,1613464381.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:01.639Z,1613464381.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:02.472Z,1613464382.472 [Micromodem](INFO): Nmea in: $SNTTA,0.003539,,,,083302.73*42

2021-02-16T08:33:02.497Z,1613464382.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 17.394917 deg, deltaT: 4.415709 s, approachRate: 0.203817 m/s, LOS rate: -9.542322 deg/s, posRepo size: 4
2021-02-16T08:33:02.519Z,1613464382.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 17.394917 deg,
      approachRate: 0.203817 m/s,
      LOS rate: -9.542322 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.418215 deg,
      new cmd heading: 88.640675 deg.

2021-02-16T08:33:03.674Z,1613464383.674 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:33:04.885Z,1613464384.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:05.672Z,1613464385.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:06.078Z,1613464386.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:06.900Z,1613464386.900 [Micromodem](INFO): Nmea in: $SNTTA,0.005095,,,,083307.15*42

2021-02-16T08:33:06.940Z,1613464386.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 39.648449 deg, deltaT: 4.467660 s, approachRate: 0.537194 m/s, LOS rate: 4.981026 deg/s, posRepo size: 4
2021-02-16T08:33:06.942Z,1613464386.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 39.648449 deg,
      approachRate: 0.537194 m/s,
      LOS rate: 4.981026 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 29.853668 deg,
      new cmd heading: 24.885920 deg.

2021-02-16T08:33:08.529Z,1613464388.529 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:33:09.381Z,1613464389.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:10.116Z,1613464390.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:10.527Z,1613464390.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:11.372Z,1613464391.372 [Micromodem](INFO): Nmea in: $SNTTA,0.008378,,,,083311.59*40

2021-02-16T08:33:11.443Z,1613464391.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 51.421605 deg, deltaT: 4.436089 s, approachRate: 0.852102 m/s, LOS rate: 2.653949 deg/s, posRepo size: 4
2021-02-16T08:33:11.445Z,1613464391.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 51.421605 deg,
      approachRate: 0.852102 m/s,
      LOS rate: 2.653949 deg/s,
      cmd update: 7.961848 deg/s,
      cmd heading: 83.074761 deg,
      new cmd heading: 88.813425 deg.

2021-02-16T08:33:13.474Z,1613464393.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:14.178Z,1613464394.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:14.565Z,1613464394.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:15.420Z,1613464395.420 [Micromodem](INFO): Nmea in: $SNTTA,0.009138,,0.032837,0.038018,083315.66*40

2021-02-16T08:33:15.421Z,1613464395.421 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,0833146*4F
 expected 54
2021-02-16T08:33:15.477Z,1613464395.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 53.738532 deg, deltaT: 4.065339 s, approachRate: 0.309936 m/s, LOS rate: 0.569922 deg/s, posRepo size: 4
2021-02-16T08:33:15.478Z,1613464395.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.78 m. Rolling out.
2021-02-16T08:33:15.478Z,1613464395.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T08:33:17.810Z,1613464397.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:18.600Z,1613464398.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:18.657Z,1613464398.657 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:33:19.027Z,1613464399.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:19.835Z,1613464399.835 [Micromodem](INFO): Nmea in: $SNTTA,0.010465,,,,083320.08*44

2021-02-16T08:33:19.854Z,1613464399.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 91.081877 deg, deltaT: 4.413031 s, approachRate: 0.652614 m/s, LOS rate: 8.462063 deg/s, posRepo size: 4
2021-02-16T08:33:22.262Z,1613464402.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:23.044Z,1613464403.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:23.460Z,1613464403.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:23.481Z,1613464403.481 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:33:24.272Z,1613464404.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,083324.52*57

2021-02-16T08:33:24.355Z,1613464404.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 61.501749 deg, deltaT: 4.446850 s, approachRate: 0.566693 m/s, LOS rate: -6.651928 deg/s, posRepo size: 4
2021-02-16T08:33:26.711Z,1613464406.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:27.494Z,1613464407.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:27.906Z,1613464407.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:28.720Z,1613464408.720 [Micromodem](INFO): Nmea in: $SNTTA,0.014038,,,,083328.97*42

2021-02-16T08:33:28.750Z,1613464408.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.120001 m, bearing: 136.375191 deg, deltaT: 4.506645 s, approachRate: 0.652371 m/s, LOS rate: 16.614010 deg/s, posRepo size: 4
2021-02-16T08:33:31.166Z,1613464411.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:31.937Z,1613464411.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:32.369Z,1613464412.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:33.167Z,1613464413.167 [Micromodem](INFO): Nmea in: $SNTTA,0.014681,,,,083333.42*44

2021-02-16T08:33:33.203Z,1613464413.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 119.509063 deg, deltaT: 4.368000 s, approachRate: 0.206044 m/s, LOS rate: -3.861293 deg/s, posRepo size: 4
2021-02-16T08:33:33.595Z,1613464413.595 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:33:35.193Z,1613464415.193 [PowerOnly](INFO): Powering down loadControl
2021-02-16T08:33:35.634Z,1613464415.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:36.384Z,1613464416.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:36.795Z,1613464416.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:37.616Z,1613464417.616 [Micromodem](INFO): Nmea in: $SNTTA,0.015725,,,,083337.86*46

2021-02-16T08:33:37.641Z,1613464417.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 114.710268 deg, deltaT: 4.476917 s, approachRate: 0.375258 m/s, LOS rate: -1.071897 deg/s, posRepo size: 4
2021-02-16T08:33:40.062Z,1613464420.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:40.830Z,1613464420.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:41.234Z,1613464421.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:42.065Z,1613464422.065 [Micromodem](INFO): Nmea in: $SNTTA,0.016805,,,,083342.31*46

2021-02-16T08:33:42.116Z,1613464422.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.379997 m, bearing: 132.326897 deg, deltaT: 4.442897 s, approachRate: 0.378131 m/s, LOS rate: 3.965122 deg/s, posRepo size: 4
2021-02-16T08:33:44.519Z,1613464424.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:45.285Z,1613464425.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:45.695Z,1613464425.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:46.512Z,1613464426.512 [Micromodem](INFO): Nmea in: $SNTTA,0.018227,,,,083346.77*44

2021-02-16T08:33:46.542Z,1613464426.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.480007 m, bearing: 164.961814 deg, deltaT: 4.419495 s, approachRate: 7.263276 m/s, LOS rate: 7.384309 deg/s, posRepo size: 4
2021-02-16T08:33:48.928Z,1613464428.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:49.733Z,1613464429.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:50.128Z,1613464430.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:50.962Z,1613464430.962 [Micromodem](INFO): Nmea in: $SNTTA,0.020094,,0.056044,,083351.21*5D

2021-02-16T08:33:51.031Z,1613464431.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 69.534604 deg, deltaT: 4.481643 s, approachRate: -5.971026 m/s, LOS rate: -21.292908 deg/s, posRepo size: 4
2021-02-16T08:33:53.454Z,1613464433.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:54.173Z,1613464434.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:54.566Z,1613464434.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:55.412Z,1613464435.412 [Micromodem](INFO): Nmea in: $SNTTA,0.021522,,,,083355.65*4D

2021-02-16T08:33:55.465Z,1613464435.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.520000 m, bearing: 117.271561 deg, deltaT: 4.441860 s, approachRate: 0.405235 m/s, LOS rate: 10.747064 deg/s, posRepo size: 4
2021-02-16T08:33:57.838Z,1613464437.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:33:58.605Z,1613464438.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:33:59.032Z,1613464439.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:33:59.836Z,1613464439.836 [Micromodem](INFO): Nmea in: $SNTTA,0.022908,,,,083400.08*46

2021-02-16T08:33:59.874Z,1613464439.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 133.091878 deg, deltaT: 4.435819 s, approachRate: 0.432840 m/s, LOS rate: 3.566493 deg/s, posRepo size: 4
2021-02-16T08:34:02.268Z,1613464442.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:03.065Z,1613464443.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:03.463Z,1613464443.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:04.291Z,1613464444.291 [Micromodem](INFO): Nmea in: $SNTTA,0.024722,,,,083404.54*4B

2021-02-16T08:34:04.377Z,1613464444.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 105.076504 deg, deltaT: 4.417603 s, approachRate: 0.570445 m/s, LOS rate: -6.341759 deg/s, posRepo size: 4
2021-02-16T08:34:06.714Z,1613464446.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:07.502Z,1613464447.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:07.903Z,1613464447.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:08.727Z,1613464448.727 [Micromodem](INFO): Nmea in: $SNTTA,0.026255,,,,083408.98*40

2021-02-16T08:34:08.752Z,1613464448.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 101.507778 deg, deltaT: 4.530687 s, approachRate: 0.529721 m/s, LOS rate: -0.787679 deg/s, posRepo size: 4
2021-02-16T08:34:11.154Z,1613464451.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:11.936Z,1613464451.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:12.364Z,1613464452.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:13.173Z,1613464453.173 [Micromodem](INFO): Nmea in: $SNTTA,0.027774,,,,083413.41*49

2021-02-16T08:34:13.226Z,1613464453.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 97.878626 deg, deltaT: 4.353822 s, approachRate: 0.565021 m/s, LOS rate: -0.833556 deg/s, posRepo size: 4
2021-02-16T08:34:15.600Z,1613464455.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:16.391Z,1613464456.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:16.791Z,1613464456.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:17.616Z,1613464457.616 [Micromodem](INFO): Nmea in: $SNTTA,0.029785,,,,083417.87*47

2021-02-16T08:34:17.672Z,1613464457.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.759998 m, bearing: 95.952560 deg, deltaT: 4.480437 s, approachRate: 0.656186 m/s, LOS rate: -0.429883 deg/s, posRepo size: 4
2021-02-16T08:34:20.077Z,1613464460.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:20.826Z,1613464460.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:21.230Z,1613464461.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:22.061Z,1613464462.061 [Micromodem](INFO): Nmea in: $SNTTA,0.031533,,,,083422.30*4B

2021-02-16T08:34:22.103Z,1613464462.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.219997 m, bearing: 160.541602 deg, deltaT: 4.439942 s, approachRate: 0.554061 m/s, LOS rate: 14.547272 deg/s, posRepo size: 4
2021-02-16T08:34:24.515Z,1613464464.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:25.279Z,1613464465.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:25.674Z,1613464465.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:26.520Z,1613464466.520 [Micromodem](INFO): Nmea in: $SNTTA,0.033243,,0.065326,,083426.76*55

2021-02-16T08:34:26.545Z,1613464466.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 160.128526 deg, deltaT: 4.412964 s, approachRate: 0.557448 m/s, LOS rate: -0.093605 deg/s, posRepo size: 4
2021-02-16T08:34:28.920Z,1613464468.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:29.717Z,1613464469.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:30.120Z,1613464470.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:30.960Z,1613464470.960 [Micromodem](INFO): Nmea in: $SNTTA,0.035023,,,,083431.20*48

2021-02-16T08:34:31.033Z,1613464471.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 160.601148 deg, deltaT: 4.458040 s, approachRate: 0.592188 m/s, LOS rate: 0.106016 deg/s, posRepo size: 4
2021-02-16T08:34:33.464Z,1613464473.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:34.162Z,1613464474.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:34.562Z,1613464474.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:35.388Z,1613464475.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,083435.64*55

2021-02-16T08:34:35.459Z,1613464475.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 163.476480 deg, deltaT: 4.464159 s, approachRate: 0.658579 m/s, LOS rate: 0.644093 deg/s, posRepo size: 4
2021-02-16T08:34:37.827Z,1613464477.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:38.601Z,1613464478.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:39.021Z,1613464479.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:39.839Z,1613464479.839 [Micromodem](INFO): Nmea in: $SNTTA,0.038888,,0.068239,,083440.08*58

2021-02-16T08:34:39.854Z,1613464479.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 167.668180 deg, deltaT: 4.422563 s, approachRate: 0.637641 m/s, LOS rate: 0.947799 deg/s, posRepo size: 4
2021-02-16T08:34:42.262Z,1613464482.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:43.049Z,1613464483.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:43.452Z,1613464483.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:44.276Z,1613464484.276 [Micromodem](INFO): Nmea in: $SNTTA,0.040683,,,,083444.53*40

2021-02-16T08:34:44.360Z,1613464484.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.900002 m, bearing: 163.852905 deg, deltaT: 4.443584 s, approachRate: 0.634622 m/s, LOS rate: -0.858603 deg/s, posRepo size: 4
2021-02-16T08:34:46.756Z,1613464486.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:47.488Z,1613464487.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:47.905Z,1613464487.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:48.720Z,1613464488.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,083448.97*53

2021-02-16T08:34:48.773Z,1613464488.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 161.073769 deg, deltaT: 4.482966 s, approachRate: 0.562129 m/s, LOS rate: -0.619932 deg/s, posRepo size: 4
2021-02-16T08:34:51.174Z,1613464491.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:51.933Z,1613464491.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:52.383Z,1613464492.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:53.164Z,1613464493.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,083453.41*52

2021-02-16T08:34:53.226Z,1613464493.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 162.871434 deg, deltaT: 4.383041 s, approachRate: 0.643387 m/s, LOS rate: 0.410141 deg/s, posRepo size: 4
2021-02-16T08:34:55.612Z,1613464495.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:34:56.400Z,1613464496.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:34:56.798Z,1613464496.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:34:57.636Z,1613464497.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,083457.88*53

2021-02-16T08:34:57.660Z,1613464497.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 157.583843 deg, deltaT: 4.482765 s, approachRate: 0.629076 m/s, LOS rate: -1.179538 deg/s, posRepo size: 4
2021-02-16T08:35:00.050Z,1613464500.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:00.826Z,1613464500.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:01.226Z,1613464501.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:02.052Z,1613464502.052 [Micromodem](INFO): Nmea in: $SNTTA,0.066257,,,,083502.30*4F

2021-02-16T08:35:02.105Z,1613464502.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.000000 m, bearing: 159.071609 deg, deltaT: 4.440732 s, approachRate: 0.662054 m/s, LOS rate: 0.335027 deg/s, posRepo size: 4
2021-02-16T08:35:04.490Z,1613464504.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:05.269Z,1613464505.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:05.671Z,1613464505.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:06.496Z,1613464506.496 [Micromodem](INFO): Nmea in: $SNTTA,0.049835,,,,083506.75*49

2021-02-16T08:35:06.520Z,1613464506.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 163.389163 deg, deltaT: 4.425016 s, approachRate: 0.664405 m/s, LOS rate: 0.975715 deg/s, posRepo size: 4
2021-02-16T08:35:08.920Z,1613464508.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:09.708Z,1613464509.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:10.114Z,1613464510.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:10.940Z,1613464510.940 [Micromodem](INFO): Nmea in: $SNTTA,0.051713,,,,083511.19*47

2021-02-16T08:35:10.966Z,1613464510.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.760002 m, bearing: 161.504713 deg, deltaT: 4.470698 s, approachRate: 0.630774 m/s, LOS rate: -0.421511 deg/s, posRepo size: 4
2021-02-16T08:35:13.397Z,1613464513.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:14.154Z,1613464514.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:14.558Z,1613464514.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:15.392Z,1613464515.392 [Micromodem](INFO): Nmea in: $SNTTA,0.053737,,,,083515.63*4A

2021-02-16T08:35:15.446Z,1613464515.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.700005 m, bearing: 114.598703 deg, deltaT: 4.446694 s, approachRate: 0.661166 m/s, LOS rate: -10.548513 deg/s, posRepo size: 4
2021-02-16T08:35:17.824Z,1613464517.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:18.597Z,1613464518.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:19.027Z,1613464519.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:19.836Z,1613464519.836 [Micromodem](INFO): Nmea in: $SNTTA,0.055483,,,,083520.08*4B

2021-02-16T08:35:19.869Z,1613464519.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 105.926890 deg, deltaT: 4.482884 s, approachRate: 0.588906 m/s, LOS rate: -1.934427 deg/s, posRepo size: 4
2021-02-16T08:35:22.273Z,1613464522.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:23.041Z,1613464523.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:23.481Z,1613464523.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:24.268Z,1613464524.268 [Micromodem](INFO): Nmea in: $SNTTA,0.057315,,,,083524.52*4A

2021-02-16T08:35:24.358Z,1613464524.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 155.452196 deg, deltaT: 4.387870 s, approachRate: 0.629007 m/s, LOS rate: 11.286867 deg/s, posRepo size: 4
2021-02-16T08:35:26.709Z,1613464526.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:27.484Z,1613464527.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:27.901Z,1613464527.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:28.732Z,1613464528.732 [Micromodem](INFO): Nmea in: $SNTTA,0.059319,,,,083528.96*4C

2021-02-16T08:35:28.762Z,1613464528.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.099998 m, bearing: 106.448491 deg, deltaT: 4.479497 s, approachRate: 0.669716 m/s, LOS rate: -10.939555 deg/s, posRepo size: 4
2021-02-16T08:35:31.157Z,1613464531.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:31.945Z,1613464531.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:32.383Z,1613464532.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:33.168Z,1613464533.168 [Micromodem](INFO): Nmea in: $SNTTA,0.061374,,,,083533.42*4F

2021-02-16T08:35:33.218Z,1613464533.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.220001 m, bearing: 158.864736 deg, deltaT: 4.384615 s, approachRate: 0.711580 m/s, LOS rate: 11.954583 deg/s, posRepo size: 4
2021-02-16T08:35:35.613Z,1613464535.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:36.381Z,1613464536.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:36.807Z,1613464536.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:37.610Z,1613464537.610 [Micromodem](INFO): Nmea in: $SNTTA,0.063135,,,,083537.86*46

2021-02-16T08:35:37.657Z,1613464537.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.860001 m, bearing: 150.772943 deg, deltaT: 4.485909 s, approachRate: 0.588509 m/s, LOS rate: -1.803825 deg/s, posRepo size: 4
2021-02-16T08:35:40.058Z,1613464540.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:40.822Z,1613464540.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:41.225Z,1613464541.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:42.055Z,1613464542.055 [Micromodem](INFO): Nmea in: $SNTTA,0.065057,,,,083542.30*4A

2021-02-16T08:35:42.080Z,1613464542.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 144.330585 deg, deltaT: 4.419502 s, approachRate: 0.665234 m/s, LOS rate: -1.457711 deg/s, posRepo size: 4
2021-02-16T08:35:44.483Z,1613464544.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:45.260Z,1613464545.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:45.666Z,1613464545.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:46.492Z,1613464546.492 [Micromodem](INFO): Nmea in: $SNTTA,0.067193,,,,083546.74*45

2021-02-16T08:35:46.532Z,1613464546.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.980003 m, bearing: 147.829063 deg, deltaT: 4.470815 s, approachRate: 0.711280 m/s, LOS rate: 0.782514 deg/s, posRepo size: 4
2021-02-16T08:35:48.921Z,1613464548.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:49.704Z,1613464549.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:50.123Z,1613464550.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:50.936Z,1613464550.936 [Micromodem](INFO): Nmea in: $SNTTA,0.069245,,,,083551.18*4F

2021-02-16T08:35:51.013Z,1613464551.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 151.224281 deg, deltaT: 4.431568 s, approachRate: 0.676961 m/s, LOS rate: 0.766144 deg/s, posRepo size: 4
2021-02-16T08:35:53.424Z,1613464553.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:54.152Z,1613464554.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:54.572Z,1613464554.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:55.387Z,1613464555.387 [Micromodem](INFO): Nmea in: $SNTTA,0.071264,,,,083555.63*4D

2021-02-16T08:35:55.422Z,1613464555.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 144.595036 deg, deltaT: 4.463164 s, approachRate: 0.685612 m/s, LOS rate: -1.485324 deg/s, posRepo size: 4
2021-02-16T08:35:57.808Z,1613464557.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:35:58.613Z,1613464558.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:35:59.026Z,1613464559.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:35:59.838Z,1613464559.838 [Micromodem](INFO): Nmea in: $SNTTA,0.073120,,,,083600.09*43

2021-02-16T08:35:59.892Z,1613464559.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.800003 m, bearing: 146.728501 deg, deltaT: 4.408216 s, approachRate: 0.626104 m/s, LOS rate: 0.483975 deg/s, posRepo size: 4
2021-02-16T08:36:02.256Z,1613464562.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:03.054Z,1613464563.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:03.451Z,1613464563.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:04.280Z,1613464564.280 [Micromodem](INFO): Nmea in: $SNTTA,0.074962,,,,083604.53*41

2021-02-16T08:36:04.362Z,1613464564.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.620003 m, bearing: 135.424428 deg, deltaT: 4.460548 s, approachRate: 0.632209 m/s, LOS rate: -2.534234 deg/s, posRepo size: 4
2021-02-16T08:36:06.716Z,1613464566.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:07.486Z,1613464567.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:07.890Z,1613464567.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:08.716Z,1613464568.716 [Micromodem](INFO): Nmea in: $SNTTA,0.076799,,,,083608.96*4C

2021-02-16T08:36:08.773Z,1613464568.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 138.484271 deg, deltaT: 4.485061 s, approachRate: 0.668887 m/s, LOS rate: 0.682230 deg/s, posRepo size: 4
2021-02-16T08:36:11.161Z,1613464571.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:11.928Z,1613464571.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:12.363Z,1613464572.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:13.156Z,1613464573.156 [Micromodem](INFO): Nmea in: $SNTTA,0.078758,,,,083613.41*4F

2021-02-16T08:36:13.257Z,1613464573.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 136.744977 deg, deltaT: 4.381620 s, approachRate: 0.698371 m/s, LOS rate: -0.396952 deg/s, posRepo size: 4
2021-02-16T08:36:15.590Z,1613464575.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:16.373Z,1613464576.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:16.784Z,1613464576.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:17.607Z,1613464577.607 [Micromodem](INFO): Nmea in: $SNTTA,0.080676,,,,083617.85*49

2021-02-16T08:36:17.632Z,1613464577.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.500000 m, bearing: 136.579686 deg, deltaT: 4.460937 s, approachRate: 0.632154 m/s, LOS rate: -0.037053 deg/s, posRepo size: 4
2021-02-16T08:36:20.093Z,1613464580.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:20.835Z,1613464580.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:21.227Z,1613464581.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:22.064Z,1613464582.064 [Micromodem](INFO): Nmea in: $SNTTA,0.082469,,,,083622.31*4E

2021-02-16T08:36:22.105Z,1613464582.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 151.689171 deg, deltaT: 4.430630 s, approachRate: 0.528143 m/s, LOS rate: 3.410234 deg/s, posRepo size: 4
2021-02-16T08:36:24.464Z,1613464584.464 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:36:24.479Z,1613464584.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:25.260Z,1613464585.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:25.666Z,1613464585.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:26.484Z,1613464586.484 [Micromodem](INFO): Nmea in: $SNTTA,0.084707,,,,083626.74*46

2021-02-16T08:36:27.357Z,1613464587.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:28.900Z,1613464588.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:36:30.144Z,1613464590.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:30.916Z,1613464590.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:31.358Z,1613464591.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:32.139Z,1613464592.139 [Micromodem](INFO): Nmea in: $SNTTA,0.087280,,,,083632.39*43

2021-02-16T08:36:32.989Z,1613464592.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:34.562Z,1613464594.562 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:36:35.796Z,1613464595.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:36.572Z,1613464596.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:37.019Z,1613464597.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:37.791Z,1613464597.791 [Micromodem](INFO): Nmea in: $SNTTA,0.089830,,,,083638.05*49

2021-02-16T08:36:38.640Z,1613464598.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:39.110Z,1613464599.110 [CTD_Seabird](ERROR): Failed to parse device response: 5.60,1.3343,2.749981
2021-02-16T08:36:40.232Z,1613464600.232 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:36:41.462Z,1613464601.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:42.246Z,1613464602.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:42.634Z,1613464602.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:43.457Z,1613464603.457 [Micromodem](INFO): Nmea in: $SNTTA,0.092348,,,,083643.72*4B

2021-02-16T08:36:44.290Z,1613464604.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:45.880Z,1613464605.880 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:36:47.105Z,1613464607.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:47.884Z,1613464607.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:48.305Z,1613464608.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:49.128Z,1613464609.128 [Micromodem](INFO): Nmea in: $SNTTA,0.094953,,,,083649.36*47

2021-02-16T08:36:49.157Z,1613464609.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 116.896707 deg, deltaT: 27.094474 s, approachRate: 0.719704 m/s, LOS rate: -1.284117 deg/s, posRepo size: 4
2021-02-16T08:36:51.552Z,1613464611.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:52.365Z,1613464612.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:52.735Z,1613464612.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:53.592Z,1613464613.592 [Micromodem](INFO): Nmea in: $SNTTA,0.097111,,,,083653.84*48

2021-02-16T08:36:53.631Z,1613464613.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.339996 m, bearing: 126.836777 deg, deltaT: 4.435453 s, approachRate: 0.000000 m/s, LOS rate: 2.241050 deg/s, posRepo size: 4
2021-02-16T08:36:56.030Z,1613464616.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:36:56.782Z,1613464616.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:36:57.184Z,1613464617.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:36:58.018Z,1613464618.018 [Micromodem](INFO): Nmea in: $SNTTA,0.099147,,,,083658.26*46

2021-02-16T08:36:58.809Z,1613464618.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:00.412Z,1613464620.412 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:37:01.666Z,1613464621.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:02.438Z,1613464622.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:02.834Z,1613464622.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:03.664Z,1613464623.664 [Micromodem](INFO): Nmea in: $SNTTA,0.101364,,,,083703.91*46

2021-02-16T08:37:03.713Z,1613464623.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 126.961892 deg, deltaT: 10.134744 s, approachRate: 0.982760 m/s, LOS rate: 0.012345 deg/s, posRepo size: 4
2021-02-16T08:37:03.713Z,1613464623.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.30 m. Resuming terminal guidance.
2021-02-16T08:37:03.713Z,1613464623.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T08:37:06.104Z,1613464626.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:06.880Z,1613464626.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:07.278Z,1613464627.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:08.104Z,1613464628.104 [Micromodem](INFO): Nmea in: $SNTTA,0.103402,,,,083708.36*45

2021-02-16T08:37:08.128Z,1613464628.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 141.940279 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T08:37:08.129Z,1613464628.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 141.940279deg and heading rate command to 0 deg/s.
2021-02-16T08:37:10.566Z,1613464630.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:11.333Z,1613464631.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:11.723Z,1613464631.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:12.572Z,1613464632.572 [Micromodem](INFO): Nmea in: $SNTTA,0.105233,,,,083712.81*40

2021-02-16T08:37:12.613Z,1613464632.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 159.860222 deg, deltaT: 4.437369 s, approachRate: 0.000000 m/s, LOS rate: 4.038416 deg/s, posRepo size: 2
2021-02-16T08:37:12.615Z,1613464632.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.700012 m,
      bearing: 159.860222 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.038416 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 141.940279 deg,
      new cmd heading: 141.940279 deg.

2021-02-16T08:37:15.011Z,1613464635.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:15.761Z,1613464635.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:16.170Z,1613464636.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:16.995Z,1613464636.995 [Micromodem](INFO): Nmea in: $SNTTA,0.106998,,,,083717.24*43

2021-02-16T08:37:17.052Z,1613464637.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 175.481002 deg, deltaT: 4.433272 s, approachRate: 1.109789 m/s, LOS rate: 3.523533 deg/s, posRepo size: 3
2021-02-16T08:37:17.054Z,1613464637.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 175.481002 deg,
      approachRate: 1.109789 m/s,
      LOS rate: 3.523533 deg/s,
      cmd update: 10.570599 deg/s,
      cmd heading: 195.214088 deg,
      new cmd heading: 200.354756 deg.

2021-02-16T08:37:19.439Z,1613464639.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:20.210Z,1613464640.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:20.615Z,1613464640.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:21.436Z,1613464641.436 [Micromodem](INFO): Nmea in: $SNTTA,0.108394,,,,083721.69*47

2021-02-16T08:37:21.462Z,1613464641.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 156.224827 deg, deltaT: 4.451647 s, approachRate: 0.471733 m/s, LOS rate: -4.325629 deg/s, posRepo size: 4
2021-02-16T08:37:21.466Z,1613464641.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 156.224827 deg,
      approachRate: 0.471733 m/s,
      LOS rate: -4.325629 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 242.269669 deg,
      new cmd heading: 246.351093 deg.

2021-02-16T08:37:23.861Z,1613464643.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:24.653Z,1613464644.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:25.066Z,1613464645.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:25.880Z,1613464645.880 [Micromodem](INFO): Nmea in: $SNTTA,0.109559,,,,083726.13*4B

2021-02-16T08:37:25.918Z,1613464645.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 162.931226 deg, deltaT: 4.435878 s, approachRate: 0.378728 m/s, LOS rate: 1.511854 deg/s, posRepo size: 4
2021-02-16T08:37:25.920Z,1613464645.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 162.931226 deg,
      approachRate: 0.378728 m/s,
      LOS rate: 1.511854 deg/s,
      cmd update: 4.535561 deg/s,
      cmd heading: 189.038711 deg,
      new cmd heading: 184.155623 deg.

2021-02-16T08:37:28.331Z,1613464648.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:29.097Z,1613464649.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:29.546Z,1613464649.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:30.365Z,1613464650.365 [Micromodem](INFO): Nmea in: $SNTTA,0.110339,,,,083730.57*44

2021-02-16T08:37:30.426Z,1613464650.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 230.905719 deg, deltaT: 4.426688 s, approachRate: 0.000000 m/s, LOS rate: 15.355609 deg/s, posRepo size: 4
2021-02-16T08:37:30.426Z,1613464650.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.355609 deg/s. Setting heading cmd to target bearing of 230.905719deg and heading rate command to 0 deg/s.
2021-02-16T08:37:32.759Z,1613464652.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:33.542Z,1613464653.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:33.943Z,1613464653.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:34.768Z,1613464654.768 [Micromodem](INFO): Nmea in: $SNTTA,0.110517,,,,083735.02*4B

2021-02-16T08:37:34.802Z,1613464654.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 217.351455 deg, deltaT: 4.491385 s, approachRate: 0.333976 m/s, LOS rate: -3.017836 deg/s, posRepo size: 4
2021-02-16T08:37:34.804Z,1613464654.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 217.351455 deg,
      approachRate: 0.333976 m/s,
      LOS rate: -3.017836 deg/s,
      cmd update: -9.053509 deg/s,
      cmd heading: 230.905719 deg,
      new cmd heading: 230.905719 deg.

2021-02-16T08:37:37.231Z,1613464657.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:37.999Z,1613464657.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:38.390Z,1613464658.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:39.224Z,1613464659.224 [Micromodem](INFO): Nmea in: $SNTTA,0.110052,,,,083739.48*4D

2021-02-16T08:37:39.261Z,1613464659.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 272.748879 deg, deltaT: 4.376815 s, approachRate: 0.000000 m/s, LOS rate: 12.657018 deg/s, posRepo size: 4
2021-02-16T08:37:39.262Z,1613464659.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.657018 deg/s. Setting heading cmd to target bearing of 272.748879deg and heading rate command to 0 deg/s.
2021-02-16T08:37:41.695Z,1613464661.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:42.424Z,1613464662.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:42.831Z,1613464662.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:43.663Z,1613464663.663 [Micromodem](INFO): Nmea in: $SNTTA,0.109165,,,,083743.90*48

2021-02-16T08:37:43.693Z,1613464663.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.680008 m, bearing: 184.915364 deg, deltaT: 4.465945 s, approachRate: -0.497096 m/s, LOS rate: -19.667397 deg/s, posRepo size: 4
2021-02-16T08:37:43.693Z,1613464663.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.667397 deg/s. Setting heading cmd to target bearing of 184.915364deg and heading rate command to 0 deg/s.
2021-02-16T08:37:46.102Z,1613464666.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:46.869Z,1613464666.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:47.282Z,1613464667.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:48.108Z,1613464668.108 [Micromodem](INFO): Nmea in: $SNTTA,0.108755,,,,083748.35*48

2021-02-16T08:37:48.132Z,1613464668.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 167.672757 deg, deltaT: 4.439744 s, approachRate: -0.135144 m/s, LOS rate: -3.883694 deg/s, posRepo size: 4
2021-02-16T08:37:48.134Z,1613464668.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 167.672757 deg,
      approachRate: -0.135144 m/s,
      LOS rate: -3.883694 deg/s,
      cmd update: -11.651083 deg/s,
      cmd heading: 184.915364 deg,
      new cmd heading: 184.915364 deg.

2021-02-16T08:37:50.531Z,1613464670.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:51.348Z,1613464671.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:51.724Z,1613464671.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:52.546Z,1613464672.546 [Micromodem](INFO): Nmea in: $SNTTA,0.108078,,,,083752.83*46

2021-02-16T08:37:52.962Z,1613464672.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.000000 m, bearing: 183.626535 deg, deltaT: 4.888031 s, approachRate: -0.220948 m/s, LOS rate: 3.263846 deg/s, posRepo size: 4
2021-02-16T08:37:52.992Z,1613464672.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.000000 m,
      bearing: 183.626535 deg,
      approachRate: -0.220948 m/s,
      LOS rate: 3.263846 deg/s,
      cmd update: 9.791537 deg/s,
      cmd heading: 128.014774 deg,
      new cmd heading: 123.784871 deg.

2021-02-16T08:37:55.450Z,1613464675.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:37:56.161Z,1613464676.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:37:56.577Z,1613464676.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:37:57.392Z,1613464677.392 [Micromodem](INFO): Nmea in: $SNTTA,0.107709,,,,083757.64*44

2021-02-16T08:37:57.441Z,1613464677.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 259.289444 deg, deltaT: 4.431702 s, approachRate: -0.094775 m/s, LOS rate: 17.073105 deg/s, posRepo size: 4
2021-02-16T08:37:57.442Z,1613464677.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.073105 deg/s. Setting heading cmd to target bearing of 259.289444deg and heading rate command to 0 deg/s.
2021-02-16T08:37:59.829Z,1613464679.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:00.604Z,1613464680.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:01.027Z,1613464681.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:01.836Z,1613464681.836 [Micromodem](INFO): Nmea in: $SNTTA,0.107982,,,,083802.08*4C

2021-02-16T08:38:01.874Z,1613464681.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.000000 m, bearing: 226.259729 deg, deltaT: 4.423373 s, approachRate: 0.094953 m/s, LOS rate: -7.467088 deg/s, posRepo size: 4
2021-02-16T08:38:01.876Z,1613464681.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.000000 m,
      bearing: 226.259729 deg,
      approachRate: 0.094953 m/s,
      LOS rate: -7.467088 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 259.289444 deg,
      new cmd heading: 259.289444 deg.

2021-02-16T08:38:04.279Z,1613464684.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:05.054Z,1613464685.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:05.461Z,1613464685.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:06.280Z,1613464686.280 [Micromodem](INFO): Nmea in: $SNTTA,0.108580,,,,083806.53*47

2021-02-16T08:38:06.353Z,1613464686.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.360016 m, bearing: 238.214950 deg, deltaT: 4.443087 s, approachRate: 3.457059 m/s, LOS rate: 2.690747 deg/s, posRepo size: 4
2021-02-16T08:38:06.361Z,1613464686.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.360016 m,
      bearing: 238.214950 deg,
      approachRate: 3.457059 m/s,
      LOS rate: 2.690747 deg/s,
      cmd update: 8.072240 deg/s,
      cmd heading: 206.016630 deg,
      new cmd heading: 200.792442 deg.

2021-02-16T08:38:08.724Z,1613464688.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:09.492Z,1613464689.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:09.898Z,1613464689.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:10.724Z,1613464690.724 [Micromodem](INFO): Nmea in: $SNTTA,0.109027,,,,083810.97*41

2021-02-16T08:38:10.772Z,1613464690.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 261.406557 deg, deltaT: 4.485242 s, approachRate: -3.090138 m/s, LOS rate: 5.170648 deg/s, posRepo size: 4
2021-02-16T08:38:10.774Z,1613464690.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 261.406557 deg,
      approachRate: -3.090138 m/s,
      LOS rate: 5.170648 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.222759 deg,
      new cmd heading: 245.361480 deg.

2021-02-16T08:38:13.173Z,1613464693.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:13.938Z,1613464693.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:14.376Z,1613464694.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:15.173Z,1613464695.173 [Micromodem](INFO): Nmea in: $SNTTA,0.109058,,,,083815.42*44

2021-02-16T08:38:15.226Z,1613464695.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.619995 m, bearing: 242.238205 deg, deltaT: 4.382161 s, approachRate: 0.027383 m/s, LOS rate: -4.374178 deg/s, posRepo size: 4
2021-02-16T08:38:15.234Z,1613464695.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.619995 m,
      bearing: 242.238205 deg,
      approachRate: 0.027383 m/s,
      LOS rate: -4.374178 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.841500 deg,
      new cmd heading: 300.345432 deg.

2021-02-16T08:38:17.626Z,1613464697.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:18.380Z,1613464698.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:18.803Z,1613464698.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:19.628Z,1613464699.628 [Micromodem](INFO): Nmea in: $SNTTA,0.108579,,,,083819.86*47

2021-02-16T08:38:19.653Z,1613464699.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 294.256653 deg, deltaT: 4.512015 s, approachRate: -0.199466 m/s, LOS rate: 11.528873 deg/s, posRepo size: 4
2021-02-16T08:38:19.654Z,1613464699.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.528873 deg/s. Setting heading cmd to target bearing of 294.256653deg and heading rate command to 0 deg/s.
2021-02-16T08:38:22.077Z,1613464702.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:22.830Z,1613464702.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:23.236Z,1613464703.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:24.063Z,1613464704.063 [Micromodem](INFO): Nmea in: $SNTTA,0.107442,,,,083824.31*43

2021-02-16T08:38:24.089Z,1613464704.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.039993 m, bearing: 310.922861 deg, deltaT: 4.402125 s, approachRate: -0.381636 m/s, LOS rate: 3.785946 deg/s, posRepo size: 4
2021-02-16T08:38:24.091Z,1613464704.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 310.922861 deg,
      approachRate: -0.381636 m/s,
      LOS rate: 3.785946 deg/s,
      cmd update: 11.357838 deg/s,
      cmd heading: 294.256653 deg,
      new cmd heading: 294.256653 deg.

2021-02-16T08:38:26.494Z,1613464706.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:27.268Z,1613464707.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:27.675Z,1613464707.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:28.504Z,1613464708.504 [Micromodem](INFO): Nmea in: $SNTTA,0.105765,,,,083828.75*4B

2021-02-16T08:38:28.549Z,1613464708.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 298.966396 deg, deltaT: 4.457548 s, approachRate: -0.592250 m/s, LOS rate: -2.682296 deg/s, posRepo size: 4
2021-02-16T08:38:28.551Z,1613464708.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 298.966396 deg,
      approachRate: -0.592250 m/s,
      LOS rate: -2.682296 deg/s,
      cmd update: -8.046889 deg/s,
      cmd heading: 344.839352 deg,
      new cmd heading: 349.519814 deg.

2021-02-16T08:38:30.925Z,1613464710.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:31.714Z,1613464711.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:32.129Z,1613464712.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:32.944Z,1613464712.944 [Micromodem](INFO): Nmea in: $SNTTA,0.103989,,,,083833.19*41

2021-02-16T08:38:33.026Z,1613464713.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 299.352274 deg, deltaT: 4.432531 s, approachRate: -0.595600 m/s, LOS rate: 0.087056 deg/s, posRepo size: 4
2021-02-16T08:38:33.028Z,1613464713.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 299.352274 deg,
      approachRate: -0.595600 m/s,
      LOS rate: 0.087056 deg/s,
      cmd update: 0.261168 deg/s,
      cmd heading: 309.140865 deg,
      new cmd heading: 305.500267 deg.

2021-02-16T08:38:35.420Z,1613464715.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:36.156Z,1613464716.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:36.562Z,1613464716.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:37.388Z,1613464717.388 [Micromodem](INFO): Nmea in: $SNTTA,0.101979,,,,083837.63*45

2021-02-16T08:38:37.438Z,1613464717.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.820007 m, bearing: 300.498653 deg, deltaT: 4.471358 s, approachRate: -0.657516 m/s, LOS rate: 0.256383 deg/s, posRepo size: 4
2021-02-16T08:38:37.444Z,1613464717.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.820007 m,
      bearing: 300.498653 deg,
      approachRate: -0.657516 m/s,
      LOS rate: 0.256383 deg/s,
      cmd update: 0.769148 deg/s,
      cmd heading: 310.306566 deg,
      new cmd heading: 310.411306 deg.

2021-02-16T08:38:39.604Z,1613464719.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:40.204Z,1613464720.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:40.601Z,1613464720.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:41.432Z,1613464721.432 [Micromodem](INFO): Nmea in: $SNTTA,0.100196,,,,083841.68*47

2021-02-16T08:38:41.472Z,1613464721.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.120010 m, bearing: 298.393425 deg, deltaT: 4.044485 s, approachRate: -0.667575 m/s, LOS rate: -0.520518 deg/s, posRepo size: 4
2021-02-16T08:38:41.473Z,1613464721.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.120010 m,
      bearing: 298.393425 deg,
      approachRate: -0.667575 m/s,
      LOS rate: -0.520518 deg/s,
      cmd update: -1.561555 deg/s,
      cmd heading: 313.411233 deg,
      new cmd heading: 313.717650 deg.

2021-02-16T08:38:43.866Z,1613464723.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:44.642Z,1613464724.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:45.046Z,1613464725.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:45.872Z,1613464725.872 [Micromodem](INFO): Nmea in: $SNTTA,0.098004,,,,083846.12*47

2021-02-16T08:38:45.894Z,1613464725.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 298.071177 deg, deltaT: 4.411342 s, approachRate: -0.802479 m/s, LOS rate: -0.073050 deg/s, posRepo size: 4
2021-02-16T08:38:45.916Z,1613464725.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.580002 m,
      bearing: 298.071177 deg,
      approachRate: -0.802479 m/s,
      LOS rate: -0.073050 deg/s,
      cmd update: -0.219150 deg/s,
      cmd heading: 306.503728 deg,
      new cmd heading: 305.882515 deg.

2021-02-16T08:38:48.312Z,1613464728.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:49.084Z,1613464729.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:49.506Z,1613464729.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:50.319Z,1613464730.319 [Micromodem](INFO): Nmea in: $SNTTA,0.095901,,,,083850.56*41

2021-02-16T08:38:50.406Z,1613464730.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 298.140080 deg, deltaT: 4.428880 s, approachRate: -0.704466 m/s, LOS rate: 0.015558 deg/s, posRepo size: 4
2021-02-16T08:38:50.412Z,1613464730.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.460007 m,
      bearing: 298.140080 deg,
      approachRate: -0.704466 m/s,
      LOS rate: 0.015558 deg/s,
      cmd update: 0.046673 deg/s,
      cmd heading: 305.533141 deg,
      new cmd heading: 305.427903 deg.

2021-02-16T08:38:52.746Z,1613464732.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:53.528Z,1613464733.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:53.940Z,1613464733.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:54.786Z,1613464734.786 [Micromodem](INFO): Nmea in: $SNTTA,0.093331,,,,083855.01*49

2021-02-16T08:38:54.830Z,1613464734.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 298.544782 deg, deltaT: 4.496727 s, approachRate: -0.813926 m/s, LOS rate: 0.089999 deg/s, posRepo size: 4
2021-02-16T08:38:54.836Z,1613464734.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.800003 m,
      bearing: 298.544782 deg,
      approachRate: -0.813926 m/s,
      LOS rate: 0.089999 deg/s,
      cmd update: 0.269998 deg/s,
      cmd heading: 305.743194 deg,
      new cmd heading: 305.762068 deg.

2021-02-16T08:38:57.216Z,1613464737.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:38:58.016Z,1613464738.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:38:58.393Z,1613464738.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:38:59.218Z,1613464739.218 [Micromodem](INFO): Nmea in: $SNTTA,0.090936,,,,083859.49*47

2021-02-16T08:38:59.257Z,1613464739.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.800003 m, bearing: 298.283295 deg, deltaT: 4.388654 s, approachRate: 0.000000 m/s, LOS rate: -0.059582 deg/s, posRepo size: 4
2021-02-16T08:38:59.259Z,1613464739.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.800003 m,
      bearing: 298.283295 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.059582 deg/s,
      cmd update: -0.178747 deg/s,
      cmd heading: 306.924704 deg,
      new cmd heading: 307.047518 deg.

2021-02-16T08:39:01.638Z,1613464741.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:02.418Z,1613464742.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:02.824Z,1613464742.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:03.668Z,1613464743.668 [Micromodem](INFO): Nmea in: $SNTTA,0.088669,,,,083903.89*49

2021-02-16T08:39:03.693Z,1613464743.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 297.404495 deg, deltaT: 4.494698 s, approachRate: -1.548493 m/s, LOS rate: -0.195519 deg/s, posRepo size: 4
2021-02-16T08:39:03.695Z,1613464743.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.839996 m,
      bearing: 297.404495 deg,
      approachRate: -1.548493 m/s,
      LOS rate: -0.195519 deg/s,
      cmd update: -0.586557 deg/s,
      cmd heading: 306.121320 deg,
      new cmd heading: 306.050395 deg.

2021-02-16T08:39:06.097Z,1613464746.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:06.866Z,1613464746.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:07.266Z,1613464747.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:08.092Z,1613464748.092 [Micromodem](INFO): Nmea in: $SNTTA,0.086440,,,,083908.34*43

2021-02-16T08:39:08.138Z,1613464748.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 297.451269 deg, deltaT: 4.402346 s, approachRate: -0.817744 m/s, LOS rate: 0.010625 deg/s, posRepo size: 4
2021-02-16T08:39:08.140Z,1613464748.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.240005 m,
      bearing: 297.451269 deg,
      approachRate: -0.817744 m/s,
      LOS rate: 0.010625 deg/s,
      cmd update: 0.031874 deg/s,
      cmd heading: 303.531468 deg,
      new cmd heading: 303.281407 deg.

2021-02-16T08:39:10.542Z,1613464750.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:11.309Z,1613464751.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:11.710Z,1613464751.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:12.536Z,1613464752.536 [Micromodem](INFO): Nmea in: $SNTTA,0.083971,,,,083912.79*4B

2021-02-16T08:39:12.575Z,1613464752.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 297.431926 deg, deltaT: 4.447717 s, approachRate: -0.782423 m/s, LOS rate: -0.004349 deg/s, posRepo size: 4
2021-02-16T08:39:12.577Z,1613464752.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 297.431926 deg,
      approachRate: -0.782423 m/s,
      LOS rate: -0.004349 deg/s,
      cmd update: -0.013047 deg/s,
      cmd heading: 303.673107 deg,
      new cmd heading: 303.686463 deg.

2021-02-16T08:39:14.971Z,1613464754.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:15.748Z,1613464755.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:16.165Z,1613464756.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:16.984Z,1613464756.984 [Micromodem](INFO): Nmea in: $SNTTA,0.081602,,,,083917.23*48

2021-02-16T08:39:17.059Z,1613464757.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 297.216228 deg, deltaT: 4.440162 s, approachRate: -0.810783 m/s, LOS rate: -0.048579 deg/s, posRepo size: 4
2021-02-16T08:39:17.062Z,1613464757.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.160004 m,
      bearing: 297.216228 deg,
      approachRate: -0.810783 m/s,
      LOS rate: -0.048579 deg/s,
      cmd update: -0.145736 deg/s,
      cmd heading: 303.615125 deg,
      new cmd heading: 303.609135 deg.

2021-02-16T08:39:19.421Z,1613464759.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:20.204Z,1613464760.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:20.615Z,1613464760.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:21.428Z,1613464761.428 [Micromodem](INFO): Nmea in: $SNTTA,0.079204,,,,083921.68*47

2021-02-16T08:39:21.473Z,1613464761.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 296.900346 deg, deltaT: 4.466656 s, approachRate: -0.792539 m/s, LOS rate: -0.070720 deg/s, posRepo size: 4
2021-02-16T08:39:21.479Z,1613464761.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 296.900346 deg,
      approachRate: -0.792539 m/s,
      LOS rate: -0.070720 deg/s,
      cmd update: -0.212160 deg/s,
      cmd heading: 302.964181 deg,
      new cmd heading: 302.904917 deg.

2021-02-16T08:39:23.865Z,1613464763.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:24.637Z,1613464764.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:25.042Z,1613464765.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:25.868Z,1613464765.868 [Micromodem](INFO): Nmea in: $SNTTA,0.076914,,,,083926.12*48

2021-02-16T08:39:25.919Z,1613464765.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.200005 m, bearing: 297.149566 deg, deltaT: 4.426700 s, approachRate: -0.772584 m/s, LOS rate: 0.056299 deg/s, posRepo size: 4
2021-02-16T08:39:25.921Z,1613464765.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.200005 m,
      bearing: 297.149566 deg,
      approachRate: -0.772584 m/s,
      LOS rate: 0.056299 deg/s,
      cmd update: 0.168898 deg/s,
      cmd heading: 302.026115 deg,
      new cmd heading: 301.934609 deg.

2021-02-16T08:39:28.324Z,1613464768.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:29.081Z,1613464769.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:29.486Z,1613464769.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:30.323Z,1613464770.323 [Micromodem](INFO): Nmea in: $SNTTA,0.074723,,,,083930.56*47

2021-02-16T08:39:30.399Z,1613464770.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 296.590719 deg, deltaT: 4.414012 s, approachRate: -0.734027 m/s, LOS rate: -0.126607 deg/s, posRepo size: 4
2021-02-16T08:39:30.401Z,1613464770.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.959999 m,
      bearing: 296.590719 deg,
      approachRate: -0.734027 m/s,
      LOS rate: -0.126607 deg/s,
      cmd update: -0.379822 deg/s,
      cmd heading: 302.772524 deg,
      new cmd heading: 302.855621 deg.

2021-02-16T08:39:32.749Z,1613464772.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:33.525Z,1613464773.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:33.930Z,1613464773.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:34.756Z,1613464774.756 [Micromodem](INFO): Nmea in: $SNTTA,0.072322,,,,083935.00*42

2021-02-16T08:39:34.778Z,1613464774.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 296.326336 deg, deltaT: 4.496049 s, approachRate: -0.814047 m/s, LOS rate: -0.058803 deg/s, posRepo size: 4
2021-02-16T08:39:34.800Z,1613464774.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.300003 m,
      bearing: 296.326336 deg,
      approachRate: -0.814047 m/s,
      LOS rate: -0.058803 deg/s,
      cmd update: -0.176410 deg/s,
      cmd heading: 301.064903 deg,
      new cmd heading: 300.922371 deg.

2021-02-16T08:39:37.221Z,1613464777.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:37.983Z,1613464777.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:38.379Z,1613464778.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:39.213Z,1613464779.213 [Micromodem](INFO): Nmea in: $SNTTA,0.069950,,,0.072443,083939.46*51

2021-02-16T08:39:39.254Z,1613464779.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 296.397698 deg, deltaT: 4.392669 s, approachRate: -0.792230 m/s, LOS rate: 0.016246 deg/s, posRepo size: 4
2021-02-16T08:39:39.256Z,1613464779.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.820000 m,
      bearing: 296.397698 deg,
      approachRate: -0.792230 m/s,
      LOS rate: 0.016246 deg/s,
      cmd update: 0.048737 deg/s,
      cmd heading: 300.289958 deg,
      new cmd heading: 300.209087 deg.

2021-02-16T08:39:41.635Z,1613464781.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:42.412Z,1613464782.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:42.818Z,1613464782.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:43.644Z,1613464783.644 [Micromodem](INFO): Nmea in: $SNTTA,0.067691,,,,083943.89*4B

2021-02-16T08:39:43.723Z,1613464783.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 296.227927 deg, deltaT: 4.467836 s, approachRate: -0.765469 m/s, LOS rate: -0.037999 deg/s, posRepo size: 4
2021-02-16T08:39:43.725Z,1613464783.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.400009 m,
      bearing: 296.227927 deg,
      approachRate: -0.765469 m/s,
      LOS rate: -0.037999 deg/s,
      cmd update: -0.113996 deg/s,
      cmd heading: 300.507704 deg,
      new cmd heading: 300.529888 deg.

2021-02-16T08:39:46.074Z,1613464786.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:46.864Z,1613464786.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:47.262Z,1613464787.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:48.092Z,1613464788.092 [Micromodem](INFO): Nmea in: $SNTTA,0.065184,,,,083948.34*47

2021-02-16T08:39:48.141Z,1613464788.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 296.332156 deg, deltaT: 4.424280 s, approachRate: -0.840815 m/s, LOS rate: 0.023558 deg/s, posRepo size: 4
2021-02-16T08:39:48.147Z,1613464788.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.680008 m,
      bearing: 296.332156 deg,
      approachRate: -0.840815 m/s,
      LOS rate: 0.023558 deg/s,
      cmd update: 0.070675 deg/s,
      cmd heading: 300.003348 deg,
      new cmd heading: 299.951681 deg.

2021-02-16T08:39:50.552Z,1613464790.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:51.304Z,1613464791.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:51.706Z,1613464791.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:52.532Z,1613464792.532 [Micromodem](INFO): Nmea in: $SNTTA,0.062676,,,,083952.78*49

2021-02-16T08:39:52.557Z,1613464792.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 296.269291 deg, deltaT: 4.456016 s, approachRate: -0.875222 m/s, LOS rate: -0.014108 deg/s, posRepo size: 4
2021-02-16T08:39:52.559Z,1613464792.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 296.269291 deg,
      approachRate: -0.875222 m/s,
      LOS rate: -0.014108 deg/s,
      cmd update: -0.042324 deg/s,
      cmd heading: 300.318278 deg,
      new cmd heading: 300.347463 deg.

2021-02-16T08:39:54.971Z,1613464794.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:39:55.744Z,1613464795.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:39:56.156Z,1613464796.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:39:56.000Z,1613464797.000 [Micromodem](INFO): Nmea in: $SNTTA,0.060365,,,,083957.22*46

2021-02-16T08:39:57.059Z,1613464797.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 295.667032 deg, deltaT: 4.447789 s, approachRate: -0.768923 m/s, LOS rate: -0.135406 deg/s, posRepo size: 4
2021-02-16T08:39:57.061Z,1613464797.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 295.667032 deg,
      approachRate: -0.768923 m/s,
      LOS rate: -0.135406 deg/s,
      cmd update: -0.406219 deg/s,
      cmd heading: 300.130036 deg,
      new cmd heading: 300.110426 deg.

2021-02-16T08:39:59.448Z,1613464799.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:00.214Z,1613464800.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:00.597Z,1613464800.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:01.432Z,1613464801.432 [Micromodem](INFO): Nmea in: $SNTTA,0.057934,,,,084001.69*4E

2021-02-16T08:40:01.462Z,1613464801.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.700005 m, bearing: 295.373088 deg, deltaT: 4.492984 s, approachRate: -0.814602 m/s, LOS rate: -0.065423 deg/s, posRepo size: 4
2021-02-16T08:40:01.484Z,1613464801.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.700005 m,
      bearing: 295.373088 deg,
      approachRate: -0.814602 m/s,
      LOS rate: -0.065423 deg/s,
      cmd update: -0.196269 deg/s,
      cmd heading: 298.308474 deg,
      new cmd heading: 298.151663 deg.

2021-02-16T08:40:03.857Z,1613464803.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:04.638Z,1613464804.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:05.050Z,1613464805.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:05.868Z,1613464805.868 [Micromodem](INFO): Nmea in: $SNTTA,0.055534,,,,084006.11*48

2021-02-16T08:40:05.890Z,1613464805.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 295.144987 deg, deltaT: 4.385978 s, approachRate: -0.807118 m/s, LOS rate: -0.052007 deg/s, posRepo size: 4
2021-02-16T08:40:05.892Z,1613464805.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.160004 m,
      bearing: 295.144987 deg,
      approachRate: -0.807118 m/s,
      LOS rate: -0.052007 deg/s,
      cmd update: -0.156021 deg/s,
      cmd heading: 297.445904 deg,
      new cmd heading: 297.363573 deg.

2021-02-16T08:40:08.294Z,1613464808.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:09.076Z,1613464809.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:09.488Z,1613464809.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:10.320Z,1613464810.320 [Micromodem](INFO): Nmea in: $SNTTA,0.053146,0.074607,,,084010.55*54

2021-02-16T08:40:10.382Z,1613464810.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 295.824427 deg, deltaT: 4.443700 s, approachRate: -0.796634 m/s, LOS rate: 0.152900 deg/s, posRepo size: 4
2021-02-16T08:40:10.384Z,1613464810.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.620003 m,
      bearing: 295.824427 deg,
      approachRate: -0.796634 m/s,
      LOS rate: 0.152900 deg/s,
      cmd update: 0.458699 deg/s,
      cmd heading: 296.752596 deg,
      new cmd heading: 296.679601 deg.

2021-02-16T08:40:12.738Z,1613464812.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:13.520Z,1613464813.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:13.926Z,1613464813.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:14.756Z,1613464814.756 [Micromodem](INFO): Nmea in: $SNTTA,0.050918,,,,084015.00*4D

2021-02-16T08:40:14.778Z,1613464814.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.200005 m, bearing: 294.680862 deg, deltaT: 4.491448 s, approachRate: -0.761447 m/s, LOS rate: -0.254609 deg/s, posRepo size: 4
2021-02-16T08:40:14.780Z,1613464814.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.200005 m,
      bearing: 294.680862 deg,
      approachRate: -0.761447 m/s,
      LOS rate: -0.254609 deg/s,
      cmd update: -0.763828 deg/s,
      cmd heading: 298.812845 deg,
      new cmd heading: 298.983724 deg.

2021-02-16T08:40:17.222Z,1613464817.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:17.968Z,1613464817.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:18.374Z,1613464818.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:19.201Z,1613464819.201 [Micromodem](INFO): Nmea in: $SNTTA,0.048329,,,,084019.44*40

2021-02-16T08:40:19.255Z,1613464819.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 295.188072 deg, deltaT: 4.382004 s, approachRate: -0.876312 m/s, LOS rate: 0.115748 deg/s, posRepo size: 4
2021-02-16T08:40:19.257Z,1613464819.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.360001 m,
      bearing: 295.188072 deg,
      approachRate: -0.876312 m/s,
      LOS rate: 0.115748 deg/s,
      cmd update: 0.347245 deg/s,
      cmd heading: 295.465763 deg,
      new cmd heading: 295.112171 deg.

2021-02-16T08:40:21.650Z,1613464821.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:22.413Z,1613464822.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:22.816Z,1613464822.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:23.640Z,1613464823.640 [Micromodem](INFO): Nmea in: $SNTTA,0.046079,,,,084023.89*40

2021-02-16T08:40:23.709Z,1613464823.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 295.231922 deg, deltaT: 4.470049 s, approachRate: -0.765092 m/s, LOS rate: 0.009810 deg/s, posRepo size: 4
2021-02-16T08:40:23.715Z,1613464823.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.940002 m,
      bearing: 295.231922 deg,
      approachRate: -0.765092 m/s,
      LOS rate: 0.009810 deg/s,
      cmd update: 0.029429 deg/s,
      cmd heading: 297.016553 deg,
      new cmd heading: 297.174596 deg.

2021-02-16T08:40:26.110Z,1613464826.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:26.856Z,1613464826.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:27.287Z,1613464827.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:28.104Z,1613464828.104 [Micromodem](INFO): Nmea in: $SNTTA,0.043741,,,,084028.33*43

2021-02-16T08:40:28.149Z,1613464828.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 295.753284 deg, deltaT: 4.442912 s, approachRate: -0.810281 m/s, LOS rate: 0.117347 deg/s, posRepo size: 4
2021-02-16T08:40:28.155Z,1613464828.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.339996 m,
      bearing: 295.753284 deg,
      approachRate: -0.810281 m/s,
      LOS rate: 0.117347 deg/s,
      cmd update: 0.352041 deg/s,
      cmd heading: 297.147425 deg,
      new cmd heading: 297.160625 deg.

2021-02-16T08:40:30.517Z,1613464830.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:31.327Z,1613464831.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:31.711Z,1613464831.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:32.552Z,1613464832.552 [Micromodem](INFO): Nmea in: $SNTTA,0.041379,,,,084032.81*4C

2021-02-16T08:40:32.594Z,1613464832.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 294.959971 deg, deltaT: 4.434765 s, approachRate: -0.852354 m/s, LOS rate: -0.178885 deg/s, posRepo size: 4
2021-02-16T08:40:32.596Z,1613464832.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.560005 m,
      bearing: 294.959971 deg,
      approachRate: -0.852354 m/s,
      LOS rate: -0.178885 deg/s,
      cmd update: -0.536655 deg/s,
      cmd heading: 298.708635 deg,
      new cmd heading: 298.870098 deg.

2021-02-16T08:40:34.971Z,1613464834.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:35.750Z,1613464835.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:36.150Z,1613464836.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:36.996Z,1613464836.996 [Micromodem](INFO): Nmea in: $SNTTA,0.038707,,,,084037.23*42

2021-02-16T08:40:37.056Z,1613464837.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 294.399376 deg, deltaT: 4.483124 s, approachRate: -0.816394 m/s, LOS rate: -0.125046 deg/s, posRepo size: 4
2021-02-16T08:40:37.058Z,1613464837.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 294.399376 deg,
      approachRate: -0.816394 m/s,
      LOS rate: -0.125046 deg/s,
      cmd update: -0.375137 deg/s,
      cmd heading: 296.304923 deg,
      new cmd heading: 296.070161 deg.

2021-02-16T08:40:39.425Z,1613464839.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:40.209Z,1613464840.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:40.593Z,1613464840.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:41.428Z,1613464841.428 [Micromodem](INFO): Nmea in: $SNTTA,0.036374,,,,084041.69*43

2021-02-16T08:40:41.468Z,1613464841.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 294.148872 deg, deltaT: 4.432377 s, approachRate: -0.798672 m/s, LOS rate: -0.056517 deg/s, posRepo size: 4
2021-02-16T08:40:41.470Z,1613464841.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 294.148872 deg,
      approachRate: -0.798672 m/s,
      LOS rate: -0.056517 deg/s,
      cmd update: -0.169551 deg/s,
      cmd heading: 294.640702 deg,
      new cmd heading: 294.484300 deg.

2021-02-16T08:40:43.860Z,1613464843.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:44.649Z,1613464844.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:45.048Z,1613464845.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:45.871Z,1613464845.871 [Micromodem](INFO): Nmea in: $SNTTA,0.033867,,,,084046.13*45

2021-02-16T08:40:45.890Z,1613464845.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 293.825886 deg, deltaT: 4.425811 s, approachRate: -0.840523 m/s, LOS rate: -0.072978 deg/s, posRepo size: 4
2021-02-16T08:40:45.892Z,1613464845.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 293.825886 deg,
      approachRate: -0.840523 m/s,
      LOS rate: -0.072978 deg/s,
      cmd update: -0.218933 deg/s,
      cmd heading: 293.890299 deg,
      new cmd heading: 293.820176 deg.

2021-02-16T08:40:48.356Z,1613464848.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:49.076Z,1613464849.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:49.488Z,1613464849.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:50.309Z,1613464850.309 [Micromodem](INFO): Nmea in: $SNTTA,0.031557,,,,084050.55*4C

2021-02-16T08:40:50.380Z,1613464850.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 294.536936 deg, deltaT: 4.428382 s, approachRate: -0.785840 m/s, LOS rate: 0.160567 deg/s, posRepo size: 4
2021-02-16T08:40:50.382Z,1613464850.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.159996 m,
      bearing: 294.536936 deg,
      approachRate: -0.785840 m/s,
      LOS rate: 0.160567 deg/s,
      cmd update: 0.481700 deg/s,
      cmd heading: 292.920769 deg,
      new cmd heading: 292.816719 deg.

2021-02-16T08:40:52.745Z,1613464852.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:53.528Z,1613464853.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:53.932Z,1613464853.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:54.760Z,1613464854.760 [Micromodem](INFO): Nmea in: $SNTTA,0.029380,,,0.063048,084055.01*5A

2021-02-16T08:40:54.800Z,1613464854.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.859997 m, bearing: 294.253839 deg, deltaT: 4.493349 s, approachRate: -0.734419 m/s, LOS rate: -0.063004 deg/s, posRepo size: 4
2021-02-16T08:40:54.802Z,1613464854.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.859997 m,
      bearing: 294.253839 deg,
      approachRate: -0.734419 m/s,
      LOS rate: -0.063004 deg/s,
      cmd update: -0.189011 deg/s,
      cmd heading: 295.085222 deg,
      new cmd heading: 295.278781 deg.

2021-02-16T08:40:55.559Z,1613464855.559 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:40:57.211Z,1613464857.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:40:57.984Z,1613464857.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:40:58.373Z,1613464858.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:40:59.220Z,1613464859.220 [Micromodem](INFO): Nmea in: $SNTTA,0.027005,,,,084059.46*42

2021-02-16T08:40:59.269Z,1613464859.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 294.250779 deg, deltaT: 4.402566 s, approachRate: -0.804077 m/s, LOS rate: -0.000695 deg/s, posRepo size: 4
2021-02-16T08:40:59.270Z,1613464859.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.319996 m,
      bearing: 294.250779 deg,
      approachRate: -0.804077 m/s,
      LOS rate: -0.000695 deg/s,
      cmd update: -0.002085 deg/s,
      cmd heading: 294.253434 deg,
      new cmd heading: 294.164714 deg.

2021-02-16T08:41:01.613Z,1613464861.613 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:41:01.628Z,1613464861.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:02.410Z,1613464862.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:02.814Z,1613464862.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:03.636Z,1613464863.636 [Micromodem](INFO): Nmea in: $SNTTA,0.024482,,,,084103.89*47

2021-02-16T08:41:03.685Z,1613464863.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 294.119338 deg, deltaT: 4.465156 s, approachRate: -0.846555 m/s, LOS rate: -0.029437 deg/s, posRepo size: 4
2021-02-16T08:41:03.686Z,1613464863.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.54 m.
2021-02-16T08:41:03.692Z,1613464863.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.539997 m,
      bearing: 294.119338 deg,
      approachRate: -0.846555 m/s,
      LOS rate: -0.029437 deg/s,
      cmd update: -0.088311 deg/s,
      cmd heading: 294.244128 deg,
      new cmd heading: 294.243246 deg.

2021-02-16T08:41:04.041Z,1613464864.041 [PowerOnly](INFO): Powering up loadControl
2021-02-16T08:41:06.070Z,1613464866.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:06.853Z,1613464866.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:07.275Z,1613464867.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:08.080Z,1613464868.080 [Micromodem](INFO): Nmea in: $SNTTA,0.022242,,,,084108.33*41

2021-02-16T08:41:08.125Z,1613464868.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 294.603763 deg, deltaT: 4.442151 s, approachRate: -0.756390 m/s, LOS rate: 0.109052 deg/s, posRepo size: 4
2021-02-16T08:41:08.126Z,1613464868.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.18 m.
2021-02-16T08:41:08.126Z,1613464868.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.18 m.
2021-02-16T08:41:08.126Z,1613464868.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T08:41:08.128Z,1613464868.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.180000 m,
      bearing: 294.603763 deg,
      approachRate: -0.756390 m/s,
      LOS rate: 0.109052 deg/s,
      cmd update: 0.327155 deg/s,
      cmd heading: 293.851849 deg,
      new cmd heading: 293.814669 deg.

2021-02-16T08:41:10.539Z,1613464870.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:11.312Z,1613464871.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:11.702Z,1613464871.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:12.536Z,1613464872.536 [Micromodem](INFO): Nmea in: $SNTTA,0.020230,,,,084112.79*43

2021-02-16T08:41:12.565Z,1613464872.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.180000 m, bearing: 294.376645 deg, deltaT: 4.444999 s, approachRate: -0.674916 m/s, LOS rate: -0.051095 deg/s, posRepo size: 4
2021-02-16T08:41:12.568Z,1613464872.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.180000 m,
      bearing: 294.376645 deg,
      approachRate: -0.674916 m/s,
      LOS rate: -0.051095 deg/s,
      cmd update: -0.153285 deg/s,
      cmd heading: 295.306099 deg,
      new cmd heading: 295.441195 deg.

2021-02-16T08:41:14.961Z,1613464874.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:15.741Z,1613464875.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:16.159Z,1613464876.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:16.984Z,1613464876.984 [Micromodem](INFO): Nmea in: $SNTTA,0.017516,0.047797,,,084117.22*5B

2021-02-16T08:41:17.042Z,1613464877.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 294.656328 deg, deltaT: 4.437720 s, approachRate: -0.932912 m/s, LOS rate: 0.063024 deg/s, posRepo size: 4
2021-02-16T08:41:17.048Z,1613464877.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.039999 m,
      bearing: 294.656328 deg,
      approachRate: -0.932912 m/s,
      LOS rate: 0.063024 deg/s,
      cmd update: 0.189072 deg/s,
      cmd heading: 294.625251 deg,
      new cmd heading: 294.556206 deg.

2021-02-16T08:41:19.428Z,1613464879.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:20.200Z,1613464880.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:20.589Z,1613464880.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:21.428Z,1613464881.428 [Micromodem](INFO): Nmea in: $SNTTA,0.015019,,,,084121.68*4C

2021-02-16T08:41:21.469Z,1613464881.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 295.300278 deg, deltaT: 4.475471 s, approachRate: -0.831197 m/s, LOS rate: 0.143884 deg/s, posRepo size: 4
2021-02-16T08:41:21.470Z,1613464881.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 295.300278 deg,
      approachRate: -0.831197 m/s,
      LOS rate: 0.143884 deg/s,
      cmd update: 0.431653 deg/s,
      cmd heading: 295.470950 deg,
      new cmd heading: 295.547425 deg.

2021-02-16T08:41:23.841Z,1613464883.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:24.628Z,1613464884.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:25.040Z,1613464885.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:25.856Z,1613464885.856 [Micromodem](INFO): Nmea in: $SNTTA,0.012744,,,,084126.10*4C

2021-02-16T08:41:25.893Z,1613464885.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.899998 m, bearing: 294.343041 deg, deltaT: 4.415498 s, approachRate: -0.774545 m/s, LOS rate: -0.216790 deg/s, posRepo size: 4
2021-02-16T08:41:25.896Z,1613464885.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.899998 m,
      bearing: 294.343041 deg,
      approachRate: -0.774545 m/s,
      LOS rate: -0.216790 deg/s,
      cmd update: -0.650371 deg/s,
      cmd heading: 297.377993 deg,
      new cmd heading: 297.555572 deg.

2021-02-16T08:41:28.297Z,1613464888.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:29.072Z,1613464889.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:29.480Z,1613464889.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:30.308Z,1613464890.308 [Micromodem](INFO): Nmea in: $SNTTA,0.010420,,,,084130.55*49

2021-02-16T08:41:30.393Z,1613464890.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 293.891128 deg, deltaT: 4.426061 s, approachRate: -0.786252 m/s, LOS rate: -0.102103 deg/s, posRepo size: 4
2021-02-16T08:41:30.399Z,1613464890.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 293.891128 deg,
      approachRate: -0.786252 m/s,
      LOS rate: -0.102103 deg/s,
      cmd update: -0.306308 deg/s,
      cmd heading: 294.499580 deg,
      new cmd heading: 294.183906 deg.

2021-02-16T08:41:32.775Z,1613464892.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:33.521Z,1613464893.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:33.927Z,1613464893.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:34.748Z,1613464894.748 [Micromodem](INFO): Nmea in: $SNTTA,0.008012,,,,084135.00*40

2021-02-16T08:41:34.770Z,1613464894.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 295.507889 deg, deltaT: 4.506188 s, approachRate: -0.825532 m/s, LOS rate: 0.358787 deg/s, posRepo size: 4
2021-02-16T08:41:34.772Z,1613464894.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 295.507889 deg,
      approachRate: -0.825532 m/s,
      LOS rate: 0.358787 deg/s,
      cmd update: 1.076360 deg/s,
      cmd heading: 293.119199 deg,
      new cmd heading: 293.010165 deg.

2021-02-16T08:41:37.205Z,1613464897.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:37.969Z,1613464897.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:38.391Z,1613464898.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:39.212Z,1613464899.212 [Micromodem](INFO): Nmea in: $SNTTA,0.005727,,,,084139.45*41

2021-02-16T08:41:39.247Z,1613464899.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 294.301623 deg, deltaT: 4.400714 s, approachRate: -0.790781 m/s, LOS rate: -0.274107 deg/s, posRepo size: 4
2021-02-16T08:41:39.249Z,1613464899.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 294.301623 deg,
      approachRate: -0.790781 m/s,
      LOS rate: -0.274107 deg/s,
      cmd update: -0.822321 deg/s,
      cmd heading: 297.851584 deg,
      new cmd heading: 298.320686 deg.

2021-02-16T08:41:41.636Z,1613464901.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:42.414Z,1613464902.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:42.827Z,1613464902.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:43.652Z,1613464903.652 [Micromodem](INFO): Nmea in: $SNTTA,0.003785,,,,084143.89*42

2021-02-16T08:41:43.693Z,1613464903.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 292.979981 deg, deltaT: 4.446676 s, approachRate: -0.620688 m/s, LOS rate: -0.297220 deg/s, posRepo size: 4
2021-02-16T08:41:43.694Z,1613464903.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 292.979981 deg,
      approachRate: -0.620688 m/s,
      LOS rate: -0.297220 deg/s,
      cmd update: -0.891660 deg/s,
      cmd heading: 294.205363 deg,
      new cmd heading: 293.837414 deg.

2021-02-16T08:41:46.071Z,1613464906.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:46.854Z,1613464906.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:47.279Z,1613464907.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:48.085Z,1613464908.085 [Micromodem](INFO): Nmea in: $SNTTA,0.002825,,0.018637,,084148.33*59

2021-02-16T08:41:48.112Z,1613464908.112 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T08:41:48.112Z,1613464908.112 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:41:48.112Z,1613464908.112 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T08:41:48.113Z,1613464908.113 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T08:41:48.116Z,1613464908.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 290.896418 deg, deltaT: 4.434661 s, approachRate: -0.284126 m/s, LOS rate: -0.469836 deg/s, posRepo size: 4
2021-02-16T08:41:48.117Z,1613464908.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 290.896418 deg,
      approachRate: -0.284126 m/s,
      LOS rate: -0.469836 deg/s,
      cmd update: -1.409508 deg/s,
      cmd heading: 290.236297 deg,
      new cmd heading: 289.862591 deg.

2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T084148: (41.552319, -70.708603)
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T08:41:48.508Z,1613464908.508 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T08:41:50.519Z,1613464910.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:51.292Z,1613464911.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:51.716Z,1613464911.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:52.520Z,1613464912.520 [Micromodem](INFO): Nmea in: $SNTTA,0.003497,,,,084152.77*43

2021-02-16T08:41:52.545Z,1613464912.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 283.861979 deg, deltaT: 4.503964 s, approachRate: 0.199824 m/s, LOS rate: -1.561833 deg/s, posRepo size: 4
2021-02-16T08:41:52.547Z,1613464912.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 283.861979 deg,
      approachRate: 0.199824 m/s,
      LOS rate: -1.561833 deg/s,
      cmd update: -4.685499 deg/s,
      cmd heading: 283.902606 deg,
      new cmd heading: 283.401961 deg.

2021-02-16T08:41:54.945Z,1613464914.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:41:55.738Z,1613464915.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:41:56.148Z,1613464916.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:41:56.987Z,1613464916.987 [Micromodem](INFO): Nmea in: $SNTTA,0.004951,,,,084157.21*45

2021-02-16T08:41:57.037Z,1613464917.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 286.019882 deg, deltaT: 4.387023 s, approachRate: 0.533391 m/s, LOS rate: 0.491883 deg/s, posRepo size: 4
2021-02-16T08:41:57.038Z,1613464917.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 286.019882 deg,
      approachRate: 0.533391 m/s,
      LOS rate: 0.491883 deg/s,
      cmd update: 1.475649 deg/s,
      cmd heading: 263.298445 deg,
      new cmd heading: 261.193077 deg.

2021-02-16T08:41:59.423Z,1613464919.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:00.187Z,1613464920.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:00.586Z,1613464920.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:01.416Z,1613464921.416 [Micromodem](INFO): Nmea in: $SNTTA,0.006974,,,,084201.67*42

2021-02-16T08:42:01.487Z,1613464921.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.559999 m, bearing: 277.352044 deg, deltaT: 4.437318 s, approachRate: 0.703127 m/s, LOS rate: -1.953396 deg/s, posRepo size: 4
2021-02-16T08:42:01.489Z,1613464921.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.559999 m,
      bearing: 277.352044 deg,
      approachRate: 0.703127 m/s,
      LOS rate: -1.953396 deg/s,
      cmd update: -5.860187 deg/s,
      cmd heading: 269.821095 deg,
      new cmd heading: 270.522747 deg.

2021-02-16T08:42:03.842Z,1613464923.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:04.625Z,1613464924.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:05.031Z,1613464925.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:05.856Z,1613464925.856 [Micromodem](INFO): Nmea in: $SNTTA,0.009395,,,,084206.10*4F

2021-02-16T08:42:05.892Z,1613464925.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 259.445801 deg, deltaT: 4.465874 s, approachRate: 0.819549 m/s, LOS rate: -4.009572 deg/s, posRepo size: 4
2021-02-16T08:42:05.894Z,1613464925.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 259.445801 deg,
      approachRate: 0.819549 m/s,
      LOS rate: -4.009572 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.597039 deg,
      new cmd heading: 241.195248 deg.

2021-02-16T08:42:08.292Z,1613464928.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:09.074Z,1613464929.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:09.474Z,1613464929.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:10.319Z,1613464930.319 [Micromodem](INFO): Nmea in: $SNTTA,0.011566,,,,084210.55*4A

2021-02-16T08:42:10.392Z,1613464930.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 238.811335 deg, deltaT: 4.425717 s, approachRate: 0.745642 m/s, LOS rate: -4.662401 deg/s, posRepo size: 4
2021-02-16T08:42:10.393Z,1613464930.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.52 m. Rolling out.
2021-02-16T08:42:10.393Z,1613464930.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T08:42:12.754Z,1613464932.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:13.512Z,1613464933.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:13.929Z,1613464933.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:14.740Z,1613464934.740 [Micromodem](INFO): Nmea in: $SNTTA,0.013758,,,,084214.99*43

2021-02-16T08:42:14.786Z,1613464934.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 199.079947 deg, deltaT: 4.491264 s, approachRate: 0.721400 m/s, LOS rate: -8.846371 deg/s, posRepo size: 4
2021-02-16T08:42:17.191Z,1613464937.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:17.956Z,1613464937.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:18.392Z,1613464938.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:19.193Z,1613464939.193 [Micromodem](INFO): Nmea in: $SNTTA,0.015703,,,,084219.43*41

2021-02-16T08:42:19.237Z,1613464939.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 242.587610 deg, deltaT: 4.411414 s, approachRate: 0.666454 m/s, LOS rate: 9.862521 deg/s, posRepo size: 4
2021-02-16T08:42:21.642Z,1613464941.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:22.405Z,1613464942.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:22.819Z,1613464942.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:23.652Z,1613464943.652 [Micromodem](INFO): Nmea in: $SNTTA,0.017201,,,,084223.88*4A

2021-02-16T08:42:23.693Z,1613464943.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 144.896835 deg, deltaT: 4.439617 s, approachRate: 0.486528 m/s, LOS rate: -22.004325 deg/s, posRepo size: 4
2021-02-16T08:42:26.074Z,1613464946.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:26.865Z,1613464946.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:27.250Z,1613464947.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:28.092Z,1613464948.092 [Micromodem](INFO): Nmea in: $SNTTA,0.018633,,,,084228.34*4C

2021-02-16T08:42:28.142Z,1613464948.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 173.758114 deg, deltaT: 4.433848 s, approachRate: 0.473628 m/s, LOS rate: 6.509307 deg/s, posRepo size: 4
2021-02-16T08:42:30.505Z,1613464950.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:31.288Z,1613464951.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:31.699Z,1613464951.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:32.520Z,1613464952.520 [Micromodem](INFO): Nmea in: $SNTTA,0.019814,,,,084232.76*4B

2021-02-16T08:42:32.545Z,1613464952.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.819998 m, bearing: 171.668936 deg, deltaT: 4.469156 s, approachRate: 0.416186 m/s, LOS rate: -0.467466 deg/s, posRepo size: 4
2021-02-16T08:42:34.939Z,1613464954.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:35.744Z,1613464955.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:36.143Z,1613464956.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:36.970Z,1613464956.970 [Micromodem](INFO): Nmea in: $SNTTA,0.021054,,,,084237.22*48

2021-02-16T08:42:37.042Z,1613464957.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.620001 m, bearing: 177.341490 deg, deltaT: 4.438175 s, approachRate: 0.405573 m/s, LOS rate: 1.278128 deg/s, posRepo size: 4
2021-02-16T08:42:38.580Z,1613464958.580 [PowerOnly](INFO): Powering down loadControl
2021-02-16T08:42:39.419Z,1613464959.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:40.181Z,1613464960.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:40.606Z,1613464960.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:41.408Z,1613464961.408 [Micromodem](INFO): Nmea in: $SNTTA,0.022294,,,,084241.66*44

2021-02-16T08:42:41.459Z,1613464961.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.480000 m, bearing: 187.295808 deg, deltaT: 4.449569 s, approachRate: 0.418018 m/s, LOS rate: 2.237142 deg/s, posRepo size: 4
2021-02-16T08:42:43.857Z,1613464963.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:44.625Z,1613464964.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:45.033Z,1613464965.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:45.857Z,1613464965.857 [Micromodem](INFO): Nmea in: $SNTTA,0.023869,0.030425,,,084246.10*55

2021-02-16T08:42:45.905Z,1613464965.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.539997 m, bearing: 214.456028 deg, deltaT: 4.422796 s, approachRate: 0.691869 m/s, LOS rate: 6.140962 deg/s, posRepo size: 4
2021-02-16T08:42:48.294Z,1613464968.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:49.073Z,1613464969.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:49.475Z,1613464969.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:50.304Z,1613464970.304 [Micromodem](INFO): Nmea in: $SNTTA,0.025614,,,,084250.55*4F

2021-02-16T08:42:50.378Z,1613464970.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 186.665341 deg, deltaT: 4.414073 s, approachRate: 0.462158 m/s, LOS rate: -6.295928 deg/s, posRepo size: 4
2021-02-16T08:42:52.750Z,1613464972.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:53.530Z,1613464973.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:53.914Z,1613464973.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:54.760Z,1613464974.760 [Micromodem](INFO): Nmea in: $SNTTA,0.027627,,,,084255.01*49

2021-02-16T08:42:54.782Z,1613464974.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.579998 m, bearing: 186.350401 deg, deltaT: 4.589978 s, approachRate: 0.653598 m/s, LOS rate: -0.068615 deg/s, posRepo size: 4
2021-02-16T08:42:57.181Z,1613464977.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:42:57.952Z,1613464977.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:42:58.371Z,1613464978.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:42:59.197Z,1613464979.197 [Micromodem](INFO): Nmea in: $SNTTA,0.029484,,,,084259.43*46

2021-02-16T08:42:59.224Z,1613464979.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.400002 m, bearing: 199.506697 deg, deltaT: 4.309154 s, approachRate: 0.654422 m/s, LOS rate: 3.053104 deg/s, posRepo size: 4
2021-02-16T08:43:01.618Z,1613464981.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:02.396Z,1613464982.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:02.808Z,1613464982.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:03.631Z,1613464983.631 [Micromodem](INFO): Nmea in: $SNTTA,0.031430,,,,084303.87*46

2021-02-16T08:43:03.656Z,1613464983.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.280003 m, bearing: 202.594926 deg, deltaT: 4.466868 s, approachRate: 0.644747 m/s, LOS rate: 0.691363 deg/s, posRepo size: 4
2021-02-16T08:43:06.085Z,1613464986.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:06.840Z,1613464986.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:07.246Z,1613464987.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:08.072Z,1613464988.072 [Micromodem](INFO): Nmea in: $SNTTA,0.033441,,,,084308.32*47

2021-02-16T08:43:08.096Z,1613464988.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 204.541271 deg, deltaT: 4.425387 s, approachRate: 0.691464 m/s, LOS rate: 0.439813 deg/s, posRepo size: 4
2021-02-16T08:43:10.514Z,1613464990.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:11.285Z,1613464991.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:11.690Z,1613464991.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:12.520Z,1613464992.520 [Micromodem](INFO): Nmea in: $SNTTA,0.035201,,,,084312.76*48

2021-02-16T08:43:12.569Z,1613464992.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 143.048053 deg, deltaT: 4.437670 s, approachRate: 0.581385 m/s, LOS rate: -13.857095 deg/s, posRepo size: 4
2021-02-16T08:43:14.935Z,1613464994.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:15.728Z,1613464995.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:16.134Z,1613464996.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:16.971Z,1613464996.971 [Micromodem](INFO): Nmea in: $SNTTA,0.037375,,0.059774,,084317.21*59

2021-02-16T08:43:17.041Z,1613464997.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 143.197457 deg, deltaT: 4.447022 s, approachRate: 0.742069 m/s, LOS rate: 0.033596 deg/s, posRepo size: 4
2021-02-16T08:43:19.420Z,1613464999.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:20.182Z,1613465000.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:20.578Z,1613465000.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:21.408Z,1613465001.408 [Micromodem](INFO): Nmea in: $SNTTA,0.039494,,,,084321.66*4F

2021-02-16T08:43:21.453Z,1613465001.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.400002 m, bearing: 156.670101 deg, deltaT: 4.486650 s, approachRate: 0.708771 m/s, LOS rate: 3.002829 deg/s, posRepo size: 4
2021-02-16T08:43:23.872Z,1613465003.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:24.617Z,1613465004.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:25.032Z,1613465005.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:25.864Z,1613465005.864 [Micromodem](INFO): Nmea in: $SNTTA,0.041655,,,,084326.09*41

2021-02-16T08:43:25.898Z,1613465005.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 161.358219 deg, deltaT: 4.423477 s, approachRate: 0.718892 m/s, LOS rate: 1.059827 deg/s, posRepo size: 4
2021-02-16T08:43:28.315Z,1613465008.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:29.070Z,1613465009.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:29.483Z,1613465009.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:30.297Z,1613465010.297 [Micromodem](INFO): Nmea in: $SNTTA,0.043727,,,,084330.55*49

2021-02-16T08:43:30.388Z,1613465010.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 157.844893 deg, deltaT: 4.415471 s, approachRate: 0.706606 m/s, LOS rate: -0.795686 deg/s, posRepo size: 4
2021-02-16T08:43:32.733Z,1613465012.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:33.508Z,1613465013.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:33.916Z,1613465013.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:34.752Z,1613465014.752 [Micromodem](INFO): Nmea in: $SNTTA,0.046002,,,,084334.98*49

2021-02-16T08:43:34.777Z,1613465014.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.180008 m, bearing: 152.928700 deg, deltaT: 4.494992 s, approachRate: 0.774196 m/s, LOS rate: -1.093704 deg/s, posRepo size: 4
2021-02-16T08:43:37.173Z,1613465017.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:37.965Z,1613465017.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:38.369Z,1613465018.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:39.191Z,1613465019.191 [Micromodem](INFO): Nmea in: $SNTTA,0.048024,,0.069448,,084339.44*56

2021-02-16T08:43:40.053Z,1613465020.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:41.586Z,1613465021.586 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:43:42.821Z,1613465022.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:43.625Z,1613465023.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:44.047Z,1613465024.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:44.851Z,1613465024.851 [Micromodem](INFO): Nmea in: $SNTTA,0.050728,,,,084345.10*47

2021-02-16T08:43:44.870Z,1613465024.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 164.788942 deg, deltaT: 10.080132 s, approachRate: 0.702370 m/s, LOS rate: 1.176596 deg/s, posRepo size: 4
2021-02-16T08:43:47.270Z,1613465027.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:48.054Z,1613465028.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:48.468Z,1613465028.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:49.280Z,1613465029.280 [Micromodem](INFO): Nmea in: $SNTTA,0.052847,,,,084349.53*48

2021-02-16T08:43:49.361Z,1613465029.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 171.818531 deg, deltaT: 4.437930 s, approachRate: 0.716552 m/s, LOS rate: 1.583979 deg/s, posRepo size: 4
2021-02-16T08:43:51.723Z,1613465031.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:52.496Z,1613465032.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:52.927Z,1613465032.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:53.742Z,1613465033.742 [Micromodem](INFO): Nmea in: $SNTTA,0.055001,,,,084353.97*46

2021-02-16T08:43:53.772Z,1613465033.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 162.634659 deg, deltaT: 4.482121 s, approachRate: 0.722872 m/s, LOS rate: -2.049001 deg/s, posRepo size: 4
2021-02-16T08:43:56.175Z,1613465036.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:43:56.946Z,1613465036.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:43:57.381Z,1613465037.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:43:58.218Z,1613465038.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 175.791871 deg, deltaT: 4.384780 s, approachRate: 0.725236 m/s, LOS rate: 3.000655 deg/s, posRepo size: 4
2021-02-16T08:43:58.568Z,1613465038.568 [Micromodem](INFO): Nmea in: $SNTTA,0.057107,,,,084358.50*43

2021-02-16T08:44:00.608Z,1613465040.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:01.402Z,1613465041.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:01.800Z,1613465041.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:02.624Z,1613465042.624 [Micromodem](INFO): Nmea in: $SNTTA,0.059255,,,,084402.88*44

2021-02-16T08:44:02.649Z,1613465042.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.099998 m, bearing: 184.172486 deg, deltaT: 4.478033 s, approachRate: 0.723531 m/s, LOS rate: 1.871495 deg/s, posRepo size: 4
2021-02-16T08:44:05.056Z,1613465045.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:05.828Z,1613465045.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:06.234Z,1613465046.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:07.064Z,1613465047.064 [Micromodem](INFO): Nmea in: $SNTTA,0.061435,,,,084407.31*48

2021-02-16T08:44:07.088Z,1613465047.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 233.546598 deg, deltaT: 4.425893 s, approachRate: 0.732057 m/s, LOS rate: 11.155740 deg/s, posRepo size: 4
2021-02-16T08:44:09.489Z,1613465049.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:10.272Z,1613465050.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:10.687Z,1613465050.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:11.500Z,1613465051.500 [Micromodem](INFO): Nmea in: $SNTTA,0.063576,,,,084411.75*4B

2021-02-16T08:44:11.525Z,1613465051.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 179.203482 deg, deltaT: 4.468981 s, approachRate: 0.698145 m/s, LOS rate: -12.160068 deg/s, posRepo size: 4
2021-02-16T08:44:13.953Z,1613465053.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:14.717Z,1613465054.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:15.133Z,1613465055.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:15.944Z,1613465055.944 [Micromodem](INFO): Nmea in: $SNTTA,0.065707,,,,084416.19*44

2021-02-16T08:44:16.043Z,1613465056.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 179.878496 deg, deltaT: 4.480138 s, approachRate: 0.736583 m/s, LOS rate: 0.150668 deg/s, posRepo size: 4
2021-02-16T08:44:18.407Z,1613465058.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:19.168Z,1613465059.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:19.585Z,1613465059.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:20.388Z,1613465060.388 [Micromodem](INFO): Nmea in: $SNTTA,0.068002,,,,084420.65*45

2021-02-16T08:44:21.227Z,1613465061.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:22.794Z,1613465062.794 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:44:24.054Z,1613465064.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:24.822Z,1613465064.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:25.223Z,1613465065.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:26.048Z,1613465066.048 [Micromodem](INFO): Nmea in: $SNTTA,0.070716,,,,084426.30*48

2021-02-16T08:44:26.100Z,1613465066.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 180.849025 deg, deltaT: 10.029669 s, approachRate: 0.747782 m/s, LOS rate: 0.096766 deg/s, posRepo size: 4
2021-02-16T08:44:28.498Z,1613465068.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:29.268Z,1613465069.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:29.679Z,1613465069.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:30.496Z,1613465070.496 [Micromodem](INFO): Nmea in: $SNTTA,0.072938,,,,084430.74*4F

2021-02-16T08:44:30.521Z,1613465070.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 181.978588 deg, deltaT: 4.454193 s, approachRate: 0.740876 m/s, LOS rate: 0.253595 deg/s, posRepo size: 4
2021-02-16T08:44:32.912Z,1613465072.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:33.704Z,1613465073.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:34.121Z,1613465074.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:34.940Z,1613465074.940 [Micromodem](INFO): Nmea in: $SNTTA,0.075126,,,,084435.18*40

2021-02-16T08:44:34.966Z,1613465074.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 167.866734 deg, deltaT: 4.443049 s, approachRate: 0.756238 m/s, LOS rate: -3.176164 deg/s, posRepo size: 4
2021-02-16T08:44:37.411Z,1613465077.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:38.152Z,1613465078.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:38.561Z,1613465078.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:39.401Z,1613465079.401 [Micromodem](INFO): Nmea in: $SNTTA,0.077408,,,,084439.63*4B

2021-02-16T08:44:39.501Z,1613465079.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.220001 m, bearing: 192.696125 deg, deltaT: 4.469541 s, approachRate: 0.738330 m/s, LOS rate: 5.555244 deg/s, posRepo size: 4
2021-02-16T08:44:41.799Z,1613465081.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:42.592Z,1613465082.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:43.026Z,1613465083.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:43.828Z,1613465083.828 [Micromodem](INFO): Nmea in: $SNTTA,0.079653,,,,084444.07*41

2021-02-16T08:44:43.870Z,1613465083.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 188.179266 deg, deltaT: 4.428275 s, approachRate: 0.758759 m/s, LOS rate: -1.020004 deg/s, posRepo size: 4
2021-02-16T08:44:46.255Z,1613465086.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:47.036Z,1613465087.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:47.442Z,1613465087.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:48.272Z,1613465088.272 [Micromodem](INFO): Nmea in: $SNTTA,0.081837,,,,084448.51*45

2021-02-16T08:44:48.297Z,1613465088.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 191.623143 deg, deltaT: 4.419895 s, approachRate: 0.746625 m/s, LOS rate: 0.779176 deg/s, posRepo size: 4
2021-02-16T08:44:50.718Z,1613465090.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:51.485Z,1613465091.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:51.899Z,1613465091.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:52.712Z,1613465092.712 [Micromodem](INFO): Nmea in: $SNTTA,0.084080,,,,084452.96*44

2021-02-16T08:44:52.750Z,1613465092.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.239998 m, bearing: 194.386952 deg, deltaT: 4.507957 s, approachRate: 0.745349 m/s, LOS rate: 0.613096 deg/s, posRepo size: 4
2021-02-16T08:44:55.157Z,1613465095.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:44:55.926Z,1613465095.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:44:56.368Z,1613465096.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:44:57.173Z,1613465097.173 [Micromodem](INFO): Nmea in: $SNTTA,0.086359,,,,084457.40*4F

2021-02-16T08:44:57.225Z,1613465097.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.660004 m, bearing: 196.844153 deg, deltaT: 4.372552 s, approachRate: 0.782153 m/s, LOS rate: 0.561960 deg/s, posRepo size: 4
2021-02-16T08:44:59.600Z,1613465099.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:00.372Z,1613465100.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:00.785Z,1613465100.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:01.601Z,1613465101.601 [Micromodem](INFO): Nmea in: $SNTTA,0.088547,,,,084501.85*43

2021-02-16T08:45:01.640Z,1613465101.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.960007 m, bearing: 193.658512 deg, deltaT: 4.483809 s, approachRate: 0.735982 m/s, LOS rate: -0.710477 deg/s, posRepo size: 4
2021-02-16T08:45:04.054Z,1613465104.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:04.818Z,1613465104.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:05.229Z,1613465105.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:06.037Z,1613465106.037 [Micromodem](INFO): Nmea in: $SNTTA,0.090868,,,,084506.29*4B

2021-02-16T08:45:06.868Z,1613465106.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:08.448Z,1613465108.448 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:45:09.697Z,1613465109.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:10.473Z,1613465110.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:10.881Z,1613465110.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:11.707Z,1613465111.707 [Micromodem](INFO): Nmea in: $SNTTA,0.093724,,,,084511.95*4E

2021-02-16T08:45:11.732Z,1613465111.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 220.005065 deg, deltaT: 10.141296 s, approachRate: 0.786881 m/s, LOS rate: 2.597947 deg/s, posRepo size: 4
2021-02-16T08:45:14.134Z,1613465114.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:14.917Z,1613465114.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:15.361Z,1613465115.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:16.144Z,1613465116.144 [Micromodem](INFO): Nmea in: $SNTTA,0.095865,,,,084516.39*43

2021-02-16T08:45:16.190Z,1613465116.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 147.729246 deg, deltaT: 4.370870 s, approachRate: 0.686362 m/s, LOS rate: -16.535797 deg/s, posRepo size: 4
2021-02-16T08:45:18.602Z,1613465118.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:19.372Z,1613465119.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:19.791Z,1613465119.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:20.600Z,1613465120.600 [Micromodem](INFO): Nmea in: $SNTTA,0.098108,,,,084520.85*4E

2021-02-16T08:45:20.629Z,1613465120.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.360001 m, bearing: 155.638783 deg, deltaT: 4.480667 s, approachRate: 0.763279 m/s, LOS rate: 1.765259 deg/s, posRepo size: 4
2021-02-16T08:45:23.069Z,1613465123.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:23.808Z,1613465123.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:24.240Z,1613465124.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:25.046Z,1613465125.046 [Micromodem](INFO): Nmea in: $SNTTA,0.100332,,,,084525.28*47

2021-02-16T08:45:25.070Z,1613465125.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.660004 m, bearing: 173.699688 deg, deltaT: 4.470694 s, approachRate: 0.738141 m/s, LOS rate: 4.039844 deg/s, posRepo size: 4
2021-02-16T08:45:25.070Z,1613465125.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.66 m. Resuming terminal guidance.
2021-02-16T08:45:25.070Z,1613465125.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T08:45:27.477Z,1613465127.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:28.248Z,1613465128.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:28.659Z,1613465128.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:29.471Z,1613465129.471 [Micromodem](INFO): Nmea in: $SNTTA,0.102485,,,,084529.72*4D

2021-02-16T08:45:30.312Z,1613465130.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:31.888Z,1613465131.888 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:45:33.132Z,1613465133.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:33.910Z,1613465133.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:34.329Z,1613465134.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:34.389Z,1613465134.389 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:45:35.143Z,1613465135.143 [Micromodem](INFO): Nmea in: $SNTTA,0.105371,,,,084535.39*44

2021-02-16T08:45:35.167Z,1613465135.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 200.044329 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T08:45:35.168Z,1613465135.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 200.044329deg and heading rate command to 0 deg/s.
2021-02-16T08:45:37.566Z,1613465137.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:38.367Z,1613465138.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:38.769Z,1613465138.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:39.588Z,1613465139.588 [Micromodem](INFO): Nmea in: $SNTTA,0.107547,,,,084539.85*4E

2021-02-16T08:45:39.644Z,1613465139.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 159.138668 deg, deltaT: 4.466821 s, approachRate: 0.859668 m/s, LOS rate: -9.157667 deg/s, posRepo size: 2
2021-02-16T08:45:39.645Z,1613465139.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 159.138668 deg,
      approachRate: 0.859668 m/s,
      LOS rate: -9.157667 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 200.044329 deg,
      new cmd heading: 200.044329 deg.

2021-02-16T08:45:42.050Z,1613465142.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:42.814Z,1613465142.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:43.210Z,1613465143.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:44.068Z,1613465144.068 [Micromodem](INFO): Nmea in: $SNTTA,0.109714,,,,084544.29*48

2021-02-16T08:45:44.092Z,1613465144.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 164.972482 deg, deltaT: 4.439462 s, approachRate: 0.000000 m/s, LOS rate: 1.314081 deg/s, posRepo size: 3
2021-02-16T08:45:44.094Z,1613465144.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 164.972482 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.314081 deg/s,
      cmd update: 3.942244 deg/s,
      cmd heading: 146.817919 deg,
      new cmd heading: 141.611527 deg.

2021-02-16T08:45:46.480Z,1613465146.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:47.241Z,1613465147.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:47.642Z,1613465147.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:48.472Z,1613465148.472 [Micromodem](INFO): Nmea in: $SNTTA,0.111917,,,,084548.72*4E

2021-02-16T08:45:48.505Z,1613465148.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 170.956944 deg, deltaT: 4.420878 s, approachRate: 0.000000 m/s, LOS rate: 1.353682 deg/s, posRepo size: 4
2021-02-16T08:45:48.515Z,1613465148.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 170.956944 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.353682 deg/s,
      cmd update: 4.061045 deg/s,
      cmd heading: 164.259938 deg,
      new cmd heading: 165.926297 deg.

2021-02-16T08:45:50.896Z,1613465150.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:51.682Z,1613465151.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:52.086Z,1613465152.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:52.912Z,1613465152.912 [Micromodem](INFO): Nmea in: $SNTTA,0.113806,,0.126924,,084553.16*51

2021-02-16T08:45:52.954Z,1613465152.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.419998 m, bearing: 178.123506 deg, deltaT: 4.461830 s, approachRate: 3.442534 m/s, LOS rate: 1.606193 deg/s, posRepo size: 4
2021-02-16T08:45:52.961Z,1613465152.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.419998 m,
      bearing: 178.123506 deg,
      approachRate: 3.442534 m/s,
      LOS rate: 1.606193 deg/s,
      cmd update: 4.818581 deg/s,
      cmd heading: 182.381556 deg,
      new cmd heading: 184.045618 deg.

2021-02-16T08:45:55.384Z,1613465155.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:45:56.133Z,1613465156.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:45:56.535Z,1613465156.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:45:57.365Z,1613465157.365 [Micromodem](INFO): Nmea in: $SNTTA,0.115607,,,,084557.61*48

2021-02-16T08:45:57.791Z,1613465157.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.580002 m, bearing: 149.915563 deg, deltaT: 4.877309 s, approachRate: -0.787319 m/s, LOS rate: -5.783505 deg/s, posRepo size: 4
2021-02-16T08:45:57.793Z,1613465157.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.580002 m,
      bearing: 149.915563 deg,
      approachRate: -0.787319 m/s,
      LOS rate: -5.783505 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 205.883451 deg,
      new cmd heading: 207.661377 deg.

2021-02-16T08:46:00.220Z,1613465160.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:01.020Z,1613465161.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:01.383Z,1613465161.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:02.223Z,1613465162.223 [Micromodem](INFO): Nmea in: $SNTTA,0.117931,,,,084602.50*41

2021-02-16T08:46:02.644Z,1613465162.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 169.364198 deg, deltaT: 4.825293 s, approachRate: 0.721199 m/s, LOS rate: 4.030561 deg/s, posRepo size: 4
2021-02-16T08:46:02.646Z,1613465162.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 169.364198 deg,
      approachRate: 0.721199 m/s,
      LOS rate: 4.030561 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 147.980606 deg,
      new cmd heading: 143.213258 deg.

2021-02-16T08:46:05.060Z,1613465165.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:05.821Z,1613465165.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:06.237Z,1613465166.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:07.059Z,1613465167.059 [Micromodem](INFO): Nmea in: $SNTTA,0.120266,,,,084607.30*4F

2021-02-16T08:46:07.083Z,1613465167.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 202.486600 deg, deltaT: 4.443951 s, approachRate: 0.000000 m/s, LOS rate: 7.453368 deg/s, posRepo size: 4
2021-02-16T08:46:07.085Z,1613465167.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 202.486600 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.453368 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 201.258411 deg,
      new cmd heading: 206.005755 deg.

2021-02-16T08:46:09.494Z,1613465169.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:10.264Z,1613465170.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:10.675Z,1613465170.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:11.484Z,1613465171.484 [Micromodem](INFO): Nmea in: $SNTTA,0.122285,,,,084611.74*47

2021-02-16T08:46:11.918Z,1613465171.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 140.243974 deg, deltaT: 4.847601 s, approachRate: 1.336743 m/s, LOS rate: -12.839882 deg/s, posRepo size: 4
2021-02-16T08:46:11.919Z,1613465171.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.839882 deg/s. Setting heading cmd to target bearing of 140.243974deg and heading rate command to 0 deg/s.
2021-02-16T08:46:14.342Z,1613465174.342 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:46:14.379Z,1613465174.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:15.118Z,1613465175.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:15.518Z,1613465175.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:16.396Z,1613465176.396 [Micromodem](INFO): Nmea in: $SNTTA,0.124454,,,,084616.60*49

2021-02-16T08:46:16.784Z,1613465176.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 194.967641 deg, deltaT: 4.912677 s, approachRate: 0.659519 m/s, LOS rate: 11.139276 deg/s, posRepo size: 4
2021-02-16T08:46:16.786Z,1613465176.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.779999 m,
      bearing: 194.967641 deg,
      approachRate: 0.659519 m/s,
      LOS rate: 11.139276 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.243974 deg,
      new cmd heading: 140.243974 deg.

2021-02-16T08:46:19.178Z,1613465179.178 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:46:19.221Z,1613465179.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:19.987Z,1613465179.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:20.377Z,1613465180.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:21.204Z,1613465181.204 [Micromodem](INFO): Nmea in: $SNTTA,0.126718,,,,084621.46*40

2021-02-16T08:46:21.626Z,1613465181.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.199997 m, bearing: 208.489175 deg, deltaT: 4.806158 s, approachRate: 0.711587 m/s, LOS rate: 2.813377 deg/s, posRepo size: 4
2021-02-16T08:46:21.628Z,1613465181.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.199997 m,
      bearing: 208.489175 deg,
      approachRate: 0.711587 m/s,
      LOS rate: 2.813377 deg/s,
      cmd update: 8.440130 deg/s,
      cmd heading: 197.870339 deg,
      new cmd heading: 202.345236 deg.

2021-02-16T08:46:24.076Z,1613465184.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:24.810Z,1613465184.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:25.220Z,1613465185.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:25.636Z,1613465185.636 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:46:26.036Z,1613465186.036 [Micromodem](INFO): Nmea in: $SNTTA,0.129109,,,,084626.29*47

2021-02-16T08:46:26.488Z,1613465186.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.859985 m, bearing: 153.154411 deg, deltaT: 4.821852 s, approachRate: 0.759042 m/s, LOS rate: -11.475832 deg/s, posRepo size: 4
2021-02-16T08:46:26.489Z,1613465186.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.475832 deg/s. Setting heading cmd to target bearing of 153.154411deg and heading rate command to 0 deg/s.
2021-02-16T08:46:28.887Z,1613465188.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:29.667Z,1613465189.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:30.062Z,1613465190.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:30.888Z,1613465190.888 [Micromodem](INFO): Nmea in: $SNTTA,0.131499,,,,084631.15*4B

2021-02-16T08:46:31.362Z,1613465191.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.399994 m, bearing: 188.769367 deg, deltaT: 4.822857 s, approachRate: 0.734007 m/s, LOS rate: 7.384618 deg/s, posRepo size: 4
2021-02-16T08:46:31.368Z,1613465191.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 188.769367 deg,
      approachRate: 0.734007 m/s,
      LOS rate: 7.384618 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 153.154411 deg,
      new cmd heading: 153.154411 deg.

2021-02-16T08:46:33.726Z,1613465193.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:34.556Z,1613465194.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:34.913Z,1613465194.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:35.740Z,1613465195.740 [Micromodem](INFO): Nmea in: $SNTTA,0.133872,,,,084636.03*40

2021-02-16T08:46:36.176Z,1613465196.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.419998 m, bearing: 235.772311 deg, deltaT: 4.898269 s, approachRate: 0.820699 m/s, LOS rate: 9.595828 deg/s, posRepo size: 4
2021-02-16T08:46:36.178Z,1613465196.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.419998 m,
      bearing: 235.772311 deg,
      approachRate: 0.820699 m/s,
      LOS rate: 9.595828 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.933593 deg,
      new cmd heading: 216.379293 deg.

2021-02-16T08:46:38.576Z,1613465198.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:39.372Z,1613465199.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:39.771Z,1613465199.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:40.583Z,1613465200.583 [Micromodem](INFO): Nmea in: $SNTTA,0.136335,,,,084640.85*42

2021-02-16T08:46:41.422Z,1613465201.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:43.009Z,1613465203.009 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:46:44.265Z,1613465204.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:45.027Z,1613465205.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:45.414Z,1613465205.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:46.242Z,1613465206.242 [Micromodem](INFO): Nmea in: $SNTTA,0.139642,,,,084646.51*47

2021-02-16T08:46:47.056Z,1613465207.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:48.649Z,1613465208.649 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:46:49.070Z,1613465209.070 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:46:49.890Z,1613465209.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:50.666Z,1613465210.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:51.070Z,1613465211.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:51.903Z,1613465211.903 [Micromodem](INFO): Nmea in: $SNTTA,0.141915,,,,084652.14*41

2021-02-16T08:46:52.362Z,1613465212.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.939987 m, bearing: 215.369634 deg, deltaT: 16.139246 s, approachRate: 0.713787 m/s, LOS rate: -1.264165 deg/s, posRepo size: 4
2021-02-16T08:46:52.368Z,1613465212.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.939987 m,
      bearing: 215.369634 deg,
      approachRate: 0.713787 m/s,
      LOS rate: -1.264165 deg/s,
      cmd update: -3.792496 deg/s,
      cmd heading: 45.602173 deg,
      new cmd heading: 50.670206 deg.

2021-02-16T08:46:54.750Z,1613465214.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:46:55.520Z,1613465215.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:46:55.918Z,1613465215.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:46:56.747Z,1613465216.747 [Micromodem](INFO): Nmea in: $SNTTA,0.143670,,,,084657.00*4F

2021-02-16T08:46:57.217Z,1613465217.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.580002 m, bearing: 263.758437 deg, deltaT: 4.848145 s, approachRate: 0.544541 m/s, LOS rate: 9.980891 deg/s, posRepo size: 4
2021-02-16T08:46:57.219Z,1613465217.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.580002 m,
      bearing: 263.758437 deg,
      approachRate: 0.544541 m/s,
      LOS rate: 9.980891 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 27.276031 deg,
      new cmd heading: 25.588408 deg.

2021-02-16T08:46:59.603Z,1613465219.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:00.374Z,1613465220.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:00.767Z,1613465220.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:01.591Z,1613465221.591 [Micromodem](INFO): Nmea in: $SNTTA,0.144991,,,,084701.85*47

2021-02-16T08:47:02.053Z,1613465222.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.559982 m, bearing: 319.577339 deg, deltaT: 4.839146 s, approachRate: 0.409159 m/s, LOS rate: 11.534866 deg/s, posRepo size: 4
2021-02-16T08:47:02.054Z,1613465222.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.534866 deg/s. Setting heading cmd to target bearing of 319.577339deg and heading rate command to 0 deg/s.
2021-02-16T08:47:04.443Z,1613465224.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:05.220Z,1613465225.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:05.622Z,1613465225.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:06.433Z,1613465226.433 [Micromodem](INFO): Nmea in: $SNTTA,0.145714,,,,084706.70*48

2021-02-16T08:47:06.858Z,1613465226.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.519989 m, bearing: 260.569395 deg, deltaT: 4.830437 s, approachRate: 0.198741 m/s, LOS rate: -12.215861 deg/s, posRepo size: 4
2021-02-16T08:47:06.859Z,1613465226.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.215861 deg/s. Setting heading cmd to target bearing of 260.569395deg and heading rate command to 0 deg/s.
2021-02-16T08:47:09.278Z,1613465229.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:10.061Z,1613465230.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:10.467Z,1613465230.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:11.283Z,1613465231.283 [Micromodem](INFO): Nmea in: $SNTTA,0.145613,,,,084711.54*4E

2021-02-16T08:47:11.726Z,1613465231.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.339996 m, bearing: 357.421723 deg, deltaT: 4.853204 s, approachRate: -0.037087 m/s, LOS rate: 19.956368 deg/s, posRepo size: 4
2021-02-16T08:47:11.727Z,1613465231.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.956368 deg/s. Setting heading cmd to target bearing of 357.421723deg and heading rate command to 0 deg/s.
2021-02-16T08:47:14.138Z,1613465234.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:14.910Z,1613465234.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:15.348Z,1613465235.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:16.126Z,1613465236.126 [Micromodem](INFO): Nmea in: $SNTTA,0.145079,,,,084716.39*48

2021-02-16T08:47:16.573Z,1613465236.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.440002 m, bearing: 39.897379 deg, deltaT: 4.862945 s, approachRate: -0.185072 m/s, LOS rate: 8.734553 deg/s, posRepo size: 4
2021-02-16T08:47:16.574Z,1613465236.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.440002 m,
      bearing: 39.897379 deg,
      approachRate: -0.185072 m/s,
      LOS rate: 8.734553 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 357.421723 deg,
      new cmd heading: 357.421723 deg.

2021-02-16T08:47:18.969Z,1613465238.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:19.752Z,1613465239.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:20.163Z,1613465240.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:20.982Z,1613465240.982 [Micromodem](INFO): Nmea in: $SNTTA,0.143780,,,,084721.23*40

2021-02-16T08:47:21.425Z,1613465241.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.519989 m, bearing: 32.036773 deg, deltaT: 4.866771 s, approachRate: -0.394515 m/s, LOS rate: -1.615158 deg/s, posRepo size: 4
2021-02-16T08:47:21.431Z,1613465241.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.519989 m,
      bearing: 32.036773 deg,
      approachRate: -0.394515 m/s,
      LOS rate: -1.615158 deg/s,
      cmd update: -4.845475 deg/s,
      cmd heading: 55.622157 deg,
      new cmd heading: 60.470193 deg.

2021-02-16T08:47:23.846Z,1613465243.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:24.606Z,1613465244.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:25.040Z,1613465245.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:25.838Z,1613465245.838 [Micromodem](INFO): Nmea in: $SNTTA,0.141981,,,,084726.08*43

2021-02-16T08:47:26.267Z,1613465246.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.759995 m, bearing: 37.254294 deg, deltaT: 4.828663 s, approachRate: -0.571586 m/s, LOS rate: 1.080531 deg/s, posRepo size: 4
2021-02-16T08:47:26.269Z,1613465246.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.759995 m,
      bearing: 37.254294 deg,
      approachRate: -0.571586 m/s,
      LOS rate: 1.080531 deg/s,
      cmd update: 3.241593 deg/s,
      cmd heading: 32.203901 deg,
      new cmd heading: 30.197778 deg.

2021-02-16T08:47:28.680Z,1613465248.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:29.449Z,1613465249.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:29.858Z,1613465249.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:30.667Z,1613465250.667 [Micromodem](INFO): Nmea in: $SNTTA,0.139878,,,,084730.92*4F

2021-02-16T08:47:31.128Z,1613465251.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.579987 m, bearing: 36.531560 deg, deltaT: 4.822378 s, approachRate: -0.659427 m/s, LOS rate: -0.149871 deg/s, posRepo size: 4
2021-02-16T08:47:31.130Z,1613465251.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.579987 m,
      bearing: 36.531560 deg,
      approachRate: -0.659427 m/s,
      LOS rate: -0.149871 deg/s,
      cmd update: -0.449612 deg/s,
      cmd heading: 47.888524 deg,
      new cmd heading: 49.250220 deg.

2021-02-16T08:47:33.534Z,1613465253.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:34.328Z,1613465254.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:34.714Z,1613465254.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:35.555Z,1613465255.555 [Micromodem](INFO): Nmea in: $SNTTA,0.137847,,,,084735.80*4B

2021-02-16T08:47:35.953Z,1613465255.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.579987 m, bearing: 35.066683 deg, deltaT: 4.888341 s, approachRate: -0.613705 m/s, LOS rate: -0.299668 deg/s, posRepo size: 4
2021-02-16T08:47:35.971Z,1613465255.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.579987 m,
      bearing: 35.066683 deg,
      approachRate: -0.613705 m/s,
      LOS rate: -0.299668 deg/s,
      cmd update: -0.899003 deg/s,
      cmd heading: 45.690813 deg,
      new cmd heading: 45.522719 deg.

2021-02-16T08:47:38.398Z,1613465258.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:39.146Z,1613465259.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:39.559Z,1613465259.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:40.371Z,1613465260.371 [Micromodem](INFO): Nmea in: $SNTTA,0.135622,,,,084740.62*4A

2021-02-16T08:47:40.797Z,1613465260.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.279999 m, bearing: 34.844364 deg, deltaT: 4.857107 s, approachRate: -0.679414 m/s, LOS rate: -0.045772 deg/s, posRepo size: 4
2021-02-16T08:47:40.799Z,1613465260.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.279999 m,
      bearing: 34.844364 deg,
      approachRate: -0.679414 m/s,
      LOS rate: -0.045772 deg/s,
      cmd update: -0.137316 deg/s,
      cmd heading: 41.327830 deg,
      new cmd heading: 40.999925 deg.

2021-02-16T08:47:43.240Z,1613465263.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:44.032Z,1613465264.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:44.498Z,1613465264.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:45.247Z,1613465265.247 [Micromodem](INFO): Nmea in: $SNTTA,0.133305,,,,084745.51*49

2021-02-16T08:47:45.651Z,1613465265.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.799988 m, bearing: 36.046416 deg, deltaT: 4.850448 s, approachRate: -0.717462 m/s, LOS rate: 0.247823 deg/s, posRepo size: 4
2021-02-16T08:47:45.653Z,1613465265.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.799988 m,
      bearing: 36.046416 deg,
      approachRate: -0.717462 m/s,
      LOS rate: 0.247823 deg/s,
      cmd update: 0.743469 deg/s,
      cmd heading: 40.661202 deg,
      new cmd heading: 40.611275 deg.

2021-02-16T08:47:48.069Z,1613465268.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:48.840Z,1613465268.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:49.259Z,1613465269.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:50.059Z,1613465270.059 [Micromodem](INFO): Nmea in: $SNTTA,0.131061,,,,084750.32*4B

2021-02-16T08:47:50.496Z,1613465270.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.439987 m, bearing: 35.841769 deg, deltaT: 4.795217 s, approachRate: -0.700698 m/s, LOS rate: -0.042677 deg/s, posRepo size: 4
2021-02-16T08:47:50.498Z,1613465270.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.439987 m,
      bearing: 35.841769 deg,
      approachRate: -0.700698 m/s,
      LOS rate: -0.042677 deg/s,
      cmd update: -0.128031 deg/s,
      cmd heading: 44.226149 deg,
      new cmd heading: 44.533922 deg.

2021-02-16T08:47:52.895Z,1613465272.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:53.688Z,1613465273.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:54.103Z,1613465274.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:54.914Z,1613465274.914 [Micromodem](INFO): Nmea in: $SNTTA,0.128808,,,,084755.16*47

2021-02-16T08:47:55.386Z,1613465275.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 35.042753 deg, deltaT: 4.845648 s, approachRate: -0.693403 m/s, LOS rate: -0.164894 deg/s, posRepo size: 4
2021-02-16T08:47:55.388Z,1613465275.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 35.042753 deg,
      approachRate: -0.693403 m/s,
      LOS rate: -0.164894 deg/s,
      cmd update: -0.494681 deg/s,
      cmd heading: 43.605753 deg,
      new cmd heading: 43.547114 deg.

2021-02-16T08:47:57.760Z,1613465277.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:47:58.542Z,1613465278.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:47:58.942Z,1613465278.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:47:59.788Z,1613465279.788 [Micromodem](INFO): Nmea in: $SNTTA,0.126361,,,,084800.02*47

2021-02-16T08:47:59.810Z,1613465279.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 35.367385 deg, deltaT: 4.502986 s, approachRate: 0.000000 m/s, LOS rate: 0.072093 deg/s, posRepo size: 4
2021-02-16T08:47:59.838Z,1613465279.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 35.367385 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.072093 deg/s,
      cmd update: 0.216278 deg/s,
      cmd heading: 41.378123 deg,
      new cmd heading: 41.190716 deg.

2021-02-16T08:48:02.225Z,1613465282.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:03.022Z,1613465283.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:03.386Z,1613465283.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:04.236Z,1613465284.236 [Micromodem](INFO): Nmea in: $SNTTA,0.124227,,,,084804.50*45

2021-02-16T08:48:04.639Z,1613465284.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.180008 m, bearing: 36.091488 deg, deltaT: 4.848564 s, approachRate: -1.423100 m/s, LOS rate: 0.149344 deg/s, posRepo size: 4
2021-02-16T08:48:04.641Z,1613465284.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.180008 m,
      bearing: 36.091488 deg,
      approachRate: -1.423100 m/s,
      LOS rate: 0.149344 deg/s,
      cmd update: 0.448031 deg/s,
      cmd heading: 42.425899 deg,
      new cmd heading: 42.504454 deg.

2021-02-16T08:48:07.110Z,1613465287.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:07.836Z,1613465287.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:08.242Z,1613465288.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:09.080Z,1613465289.080 [Micromodem](INFO): Nmea in: $SNTTA,0.121906,,,,084809.31*42

2021-02-16T08:48:09.134Z,1613465289.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.180008 m, bearing: 35.990207 deg, deltaT: 4.418040 s, approachRate: 0.000000 m/s, LOS rate: -0.022925 deg/s, posRepo size: 4
2021-02-16T08:48:09.136Z,1613465289.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.180008 m,
      bearing: 35.990207 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.022925 deg/s,
      cmd update: -0.068774 deg/s,
      cmd heading: 44.399596 deg,
      new cmd heading: 44.602678 deg.

2021-02-16T08:48:11.503Z,1613465291.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:12.286Z,1613465292.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:12.692Z,1613465292.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:13.524Z,1613465293.524 [Micromodem](INFO): Nmea in: $SNTTA,0.119719,,,,084813.76*41

2021-02-16T08:48:13.549Z,1613465293.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.180008 m, bearing: 40.551222 deg, deltaT: 4.424586 s, approachRate: 0.000000 m/s, LOS rate: 1.030834 deg/s, posRepo size: 4
2021-02-16T08:48:13.571Z,1613465293.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.180008 m,
      bearing: 40.551222 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.030834 deg/s,
      cmd update: 3.092503 deg/s,
      cmd heading: 44.094221 deg,
      new cmd heading: 44.064796 deg.

2021-02-16T08:48:15.937Z,1613465295.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:16.729Z,1613465296.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:17.136Z,1613465297.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:17.956Z,1613465297.956 [Micromodem](INFO): Nmea in: $SNTTA,0.117614,,,,084818.20*4B

2021-02-16T08:48:18.032Z,1613465298.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.180008 m, bearing: 35.494202 deg, deltaT: 4.458739 s, approachRate: 0.000000 m/s, LOS rate: -1.134182 deg/s, posRepo size: 4
2021-02-16T08:48:18.034Z,1613465298.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.180008 m,
      bearing: 35.494202 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.134182 deg/s,
      cmd update: -3.402545 deg/s,
      cmd heading: 57.885113 deg,
      new cmd heading: 59.267960 deg.

2021-02-16T08:48:20.420Z,1613465300.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:21.170Z,1613465301.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:21.574Z,1613465301.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:22.396Z,1613465302.396 [Micromodem](INFO): Nmea in: $SNTTA,0.115421,,,,084822.64*44

2021-02-16T08:48:22.421Z,1613465302.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 33.999971 deg, deltaT: 4.480235 s, approachRate: -2.946273 m/s, LOS rate: -0.333516 deg/s, posRepo size: 4
2021-02-16T08:48:22.423Z,1613465302.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.980011 m,
      bearing: 33.999971 deg,
      approachRate: -2.946273 m/s,
      LOS rate: -0.333516 deg/s,
      cmd update: -1.000548 deg/s,
      cmd heading: 42.639668 deg,
      new cmd heading: 41.415967 deg.

2021-02-16T08:48:24.827Z,1613465304.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:25.618Z,1613465305.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:26.034Z,1613465306.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:26.844Z,1613465306.844 [Micromodem](INFO): Nmea in: $SNTTA,0.113394,,,,084827.10*4D

2021-02-16T08:48:26.881Z,1613465306.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.980011 m, bearing: 35.488386 deg, deltaT: 4.415998 s, approachRate: 0.000000 m/s, LOS rate: 0.337050 deg/s, posRepo size: 4
2021-02-16T08:48:26.883Z,1613465306.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.980011 m,
      bearing: 35.488386 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.337050 deg/s,
      cmd update: 1.011151 deg/s,
      cmd heading: 38.225353 deg,
      new cmd heading: 37.816940 deg.

2021-02-16T08:48:29.285Z,1613465309.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:30.056Z,1613465310.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:30.482Z,1613465310.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:31.284Z,1613465311.284 [Micromodem](INFO): Nmea in: $SNTTA,0.111313,,,,084831.53*40

2021-02-16T08:48:31.373Z,1613465311.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 35.119917 deg, deltaT: 4.432785 s, approachRate: -1.407694 m/s, LOS rate: -0.083123 deg/s, posRepo size: 4
2021-02-16T08:48:31.379Z,1613465311.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.740005 m,
      bearing: 35.119917 deg,
      approachRate: -1.407694 m/s,
      LOS rate: -0.083123 deg/s,
      cmd update: -0.249370 deg/s,
      cmd heading: 42.707401 deg,
      new cmd heading: 43.179775 deg.

2021-02-16T08:48:33.745Z,1613465313.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:34.546Z,1613465314.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:34.916Z,1613465314.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:36.140Z,1613465316.140 [Micromodem](INFO): Nmea in: $SNTTA,0.109126,,,,084836.05*49

2021-02-16T08:48:36.187Z,1613465316.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 35.546449 deg, deltaT: 4.888623 s, approachRate: -0.662764 m/s, LOS rate: 0.087250 deg/s, posRepo size: 4
2021-02-16T08:48:36.190Z,1613465316.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 35.546449 deg,
      approachRate: -0.662764 m/s,
      LOS rate: 0.087250 deg/s,
      cmd update: 0.261750 deg/s,
      cmd heading: 41.488323 deg,
      new cmd heading: 41.390664 deg.

2021-02-16T08:48:38.565Z,1613465318.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:39.366Z,1613465319.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:39.754Z,1613465319.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:40.588Z,1613465320.588 [Micromodem](INFO): Nmea in: $SNTTA,0.106746,,,,084840.84*4E

2021-02-16T08:48:40.626Z,1613465320.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 34.199386 deg, deltaT: 4.421759 s, approachRate: 0.000000 m/s, LOS rate: -0.304644 deg/s, posRepo size: 4
2021-02-16T08:48:40.628Z,1613465320.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 34.199386 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.304644 deg/s,
      cmd update: -0.913933 deg/s,
      cmd heading: 42.644609 deg,
      new cmd heading: 42.753033 deg.

2021-02-16T08:48:43.060Z,1613465323.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:43.794Z,1613465323.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:44.214Z,1613465324.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:45.039Z,1613465325.039 [Micromodem](INFO): Nmea in: $SNTTA,0.104482,,,,084845.27*4B

2021-02-16T08:48:45.064Z,1613465325.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 34.845965 deg, deltaT: 4.422550 s, approachRate: -1.573751 m/s, LOS rate: 0.146201 deg/s, posRepo size: 4
2021-02-16T08:48:45.065Z,1613465325.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.540009 m,
      bearing: 34.845965 deg,
      approachRate: -1.573751 m/s,
      LOS rate: 0.146201 deg/s,
      cmd update: 0.438602 deg/s,
      cmd heading: 38.595362 deg,
      new cmd heading: 38.210769 deg.

2021-02-16T08:48:47.483Z,1613465327.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:48.241Z,1613465328.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:48.642Z,1613465328.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:49.477Z,1613465329.477 [Micromodem](INFO): Nmea in: $SNTTA,0.102387,,,,084849.72*43

2021-02-16T08:48:49.537Z,1613465329.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 36.240492 deg, deltaT: 4.447519 s, approachRate: -0.715007 m/s, LOS rate: 0.313552 deg/s, posRepo size: 4
2021-02-16T08:48:49.539Z,1613465329.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.360001 m,
      bearing: 36.240492 deg,
      approachRate: -0.715007 m/s,
      LOS rate: 0.313552 deg/s,
      cmd update: 0.940655 deg/s,
      cmd heading: 40.546157 deg,
      new cmd heading: 40.741937 deg.

2021-02-16T08:48:51.903Z,1613465331.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:52.691Z,1613465332.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:53.086Z,1613465333.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:53.920Z,1613465333.920 [Micromodem](INFO): Nmea in: $SNTTA,0.100202,,,,084854.17*42

2021-02-16T08:48:53.957Z,1613465333.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.120010 m, bearing: 36.283205 deg, deltaT: 4.456629 s, approachRate: -0.727005 m/s, LOS rate: 0.009584 deg/s, posRepo size: 4
2021-02-16T08:48:53.963Z,1613465333.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.120010 m,
      bearing: 36.283205 deg,
      approachRate: -0.727005 m/s,
      LOS rate: 0.009584 deg/s,
      cmd update: 0.028752 deg/s,
      cmd heading: 44.727818 deg,
      new cmd heading: 45.124401 deg.

2021-02-16T08:48:56.379Z,1613465336.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:48:57.136Z,1613465337.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:48:57.530Z,1613465337.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:48:58.380Z,1613465338.380 [Micromodem](INFO): Nmea in: $SNTTA,0.098065,,,,084858.61*4C

2021-02-16T08:48:58.503Z,1613465338.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 36.246619 deg, deltaT: 4.463060 s, approachRate: -0.712517 m/s, LOS rate: -0.008197 deg/s, posRepo size: 4
2021-02-16T08:48:58.505Z,1613465338.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.940002 m,
      bearing: 36.246619 deg,
      approachRate: -0.712517 m/s,
      LOS rate: -0.008197 deg/s,
      cmd update: -0.024592 deg/s,
      cmd heading: 44.855680 deg,
      new cmd heading: 44.870628 deg.

2021-02-16T08:49:00.790Z,1613465340.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:01.572Z,1613465341.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:02.010Z,1613465342.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:02.804Z,1613465342.804 [Micromodem](INFO): Nmea in: $SNTTA,0.095985,,,,084903.05*4B

2021-02-16T08:49:02.826Z,1613465342.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 36.120171 deg, deltaT: 4.413929 s, approachRate: -0.706852 m/s, LOS rate: -0.028647 deg/s, posRepo size: 4
2021-02-16T08:49:02.848Z,1613465342.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.820007 m,
      bearing: 36.120171 deg,
      approachRate: -0.706852 m/s,
      LOS rate: -0.028647 deg/s,
      cmd update: -0.085942 deg/s,
      cmd heading: 44.746860 deg,
      new cmd heading: 44.736568 deg.

2021-02-16T08:49:05.262Z,1613465345.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:06.032Z,1613465346.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:06.424Z,1613465346.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:07.264Z,1613465347.264 [Micromodem](INFO): Nmea in: $SNTTA,0.093869,,,,084907.51*4B

2021-02-16T08:49:07.360Z,1613465347.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 36.018248 deg, deltaT: 4.430612 s, approachRate: -0.717736 m/s, LOS rate: -0.023004 deg/s, posRepo size: 4
2021-02-16T08:49:07.362Z,1613465347.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.639999 m,
      bearing: 36.018248 deg,
      approachRate: -0.717736 m/s,
      LOS rate: -0.023004 deg/s,
      cmd update: -0.069013 deg/s,
      cmd heading: 44.364691 deg,
      new cmd heading: 44.321774 deg.

2021-02-16T08:49:09.691Z,1613465349.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:10.466Z,1613465350.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:10.878Z,1613465350.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:11.692Z,1613465351.692 [Micromodem](INFO): Nmea in: $SNTTA,0.091829,,,,084911.94*43

2021-02-16T08:49:11.744Z,1613465351.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 36.774039 deg, deltaT: 4.485874 s, approachRate: -0.682141 m/s, LOS rate: 0.168482 deg/s, posRepo size: 4
2021-02-16T08:49:11.763Z,1613465351.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.580002 m,
      bearing: 36.774039 deg,
      approachRate: -0.682141 m/s,
      LOS rate: 0.168482 deg/s,
      cmd update: 0.505447 deg/s,
      cmd heading: 44.056624 deg,
      new cmd heading: 44.027311 deg.

2021-02-16T08:49:14.168Z,1613465354.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:14.908Z,1613465354.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:15.349Z,1613465355.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:16.136Z,1613465356.136 [Micromodem](INFO): Nmea in: $SNTTA,0.089720,,,,084916.39*4C

2021-02-16T08:49:16.175Z,1613465356.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.459991 m, bearing: 37.304594 deg, deltaT: 4.402400 s, approachRate: -0.708707 m/s, LOS rate: 0.120515 deg/s, posRepo size: 4
2021-02-16T08:49:16.178Z,1613465356.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.459991 m,
      bearing: 37.304594 deg,
      approachRate: -0.708707 m/s,
      LOS rate: 0.120515 deg/s,
      cmd update: 0.361545 deg/s,
      cmd heading: 46.292919 deg,
      new cmd heading: 46.511100 deg.

2021-02-16T08:49:18.258Z,1613465358.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:18.945Z,1613465358.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:19.373Z,1613465359.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:20.177Z,1613465360.177 [Micromodem](INFO): Nmea in: $SNTTA,0.087721,,,,084920.42*4A

2021-02-16T08:49:20.254Z,1613465360.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 37.222062 deg, deltaT: 4.039138 s, approachRate: -0.727875 m/s, LOS rate: -0.020433 deg/s, posRepo size: 4
2021-02-16T08:49:20.261Z,1613465360.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 37.222062 deg,
      approachRate: -0.727875 m/s,
      LOS rate: -0.020433 deg/s,
      cmd update: -0.061300 deg/s,
      cmd heading: 47.753378 deg,
      new cmd heading: 47.923542 deg.

2021-02-16T08:49:22.625Z,1613465362.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:23.399Z,1613465363.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:23.793Z,1613465363.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:24.624Z,1613465364.624 [Micromodem](INFO): Nmea in: $SNTTA,0.085676,,,,084924.88*49

2021-02-16T08:49:24.662Z,1613465364.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.339996 m, bearing: 36.777816 deg, deltaT: 4.591139 s, approachRate: -0.692640 m/s, LOS rate: -0.096762 deg/s, posRepo size: 4
2021-02-16T08:49:24.664Z,1613465364.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.339996 m,
      bearing: 36.777816 deg,
      approachRate: -0.692640 m/s,
      LOS rate: -0.096762 deg/s,
      cmd update: -0.290285 deg/s,
      cmd heading: 47.472201 deg,
      new cmd heading: 47.454273 deg.

2021-02-16T08:49:27.062Z,1613465367.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:27.834Z,1613465367.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:28.255Z,1613465368.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:28.274Z,1613465368.274 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T08:49:29.060Z,1613465369.060 [Micromodem](INFO): Nmea in: $SNTTA,0.083520,,,,084929.31*40

2021-02-16T08:49:29.102Z,1613465369.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 36.906514 deg, deltaT: 4.314922 s, approachRate: -0.750880 m/s, LOS rate: 0.029826 deg/s, posRepo size: 4
2021-02-16T08:49:29.104Z,1613465369.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 36.906514 deg,
      approachRate: -0.750880 m/s,
      LOS rate: 0.029826 deg/s,
      cmd update: 0.089479 deg/s,
      cmd heading: 46.219412 deg,
      new cmd heading: 46.098357 deg.

2021-02-16T08:49:31.504Z,1613465371.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:32.276Z,1613465372.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:32.683Z,1613465372.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:33.515Z,1613465373.515 [Micromodem](INFO): Nmea in: $SNTTA,0.081462,,,,084933.75*4E

2021-02-16T08:49:33.540Z,1613465373.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 36.711242 deg, deltaT: 4.430455 s, approachRate: -0.690673 m/s, LOS rate: -0.044075 deg/s, posRepo size: 4
2021-02-16T08:49:33.542Z,1613465373.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 36.711242 deg,
      approachRate: -0.690673 m/s,
      LOS rate: -0.044075 deg/s,
      cmd update: -0.132225 deg/s,
      cmd heading: 46.616126 deg,
      new cmd heading: 46.653828 deg.

2021-02-16T08:49:35.927Z,1613465375.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:36.720Z,1613465376.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:37.126Z,1613465377.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:37.952Z,1613465377.952 [Micromodem](INFO): Nmea in: $SNTTA,0.079394,,,,084938.20*4C

2021-02-16T08:49:37.980Z,1613465377.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.920006 m, bearing: 37.084697 deg, deltaT: 4.440790 s, approachRate: -0.702578 m/s, LOS rate: 0.084096 deg/s, posRepo size: 4
2021-02-16T08:49:38.008Z,1613465378.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.920006 m,
      bearing: 37.084697 deg,
      approachRate: -0.702578 m/s,
      LOS rate: 0.084096 deg/s,
      cmd update: 0.252289 deg/s,
      cmd heading: 46.028932 deg,
      new cmd heading: 45.974019 deg.

2021-02-16T08:49:40.457Z,1613465380.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:41.169Z,1613465381.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:41.588Z,1613465381.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:42.412Z,1613465382.412 [Micromodem](INFO): Nmea in: $SNTTA,0.077265,,,,084942.65*41

2021-02-16T08:49:42.446Z,1613465382.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.680000 m, bearing: 36.093592 deg, deltaT: 4.491029 s, approachRate: -0.721439 m/s, LOS rate: -0.220685 deg/s, posRepo size: 4
2021-02-16T08:49:42.448Z,1613465382.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.680000 m,
      bearing: 36.093592 deg,
      approachRate: -0.721439 m/s,
      LOS rate: -0.220685 deg/s,
      cmd update: -0.662056 deg/s,
      cmd heading: 47.157932 deg,
      new cmd heading: 47.261814 deg.

2021-02-16T08:49:44.815Z,1613465384.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:45.608Z,1613465385.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:46.028Z,1613465386.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:46.844Z,1613465386.844 [Micromodem](INFO): Nmea in: $SNTTA,0.075201,,,,084947.08*4F

2021-02-16T08:49:46.866Z,1613465386.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.560005 m, bearing: 35.972229 deg, deltaT: 4.395553 s, approachRate: -0.709807 m/s, LOS rate: -0.027610 deg/s, posRepo size: 4
2021-02-16T08:49:46.868Z,1613465386.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.560005 m,
      bearing: 35.972229 deg,
      approachRate: -0.709807 m/s,
      LOS rate: -0.027610 deg/s,
      cmd update: -0.082831 deg/s,
      cmd heading: 44.237262 deg,
      new cmd heading: 43.959028 deg.

2021-02-16T08:49:49.279Z,1613465389.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:50.069Z,1613465390.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:50.470Z,1613465390.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:51.298Z,1613465391.298 [Micromodem](INFO): Nmea in: $SNTTA,0.073236,,,,084951.55*42

2021-02-16T08:49:51.365Z,1613465391.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.620003 m, bearing: 36.714763 deg, deltaT: 4.443857 s, approachRate: -0.661588 m/s, LOS rate: 0.167092 deg/s, posRepo size: 4
2021-02-16T08:49:51.367Z,1613465391.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.620003 m,
      bearing: 36.714763 deg,
      approachRate: -0.661588 m/s,
      LOS rate: 0.167092 deg/s,
      cmd update: 0.501277 deg/s,
      cmd heading: 43.869177 deg,
      new cmd heading: 43.829811 deg.

2021-02-16T08:49:53.721Z,1613465393.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:54.502Z,1613465394.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:54.914Z,1613465394.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:49:55.739Z,1613465395.739 [Micromodem](INFO): Nmea in: $SNTTA,0.071357,,,,084955.98*43

2021-02-16T08:49:55.764Z,1613465395.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.560005 m, bearing: 35.811174 deg, deltaT: 4.503186 s, approachRate: -0.679518 m/s, LOS rate: -0.200656 deg/s, posRepo size: 4
2021-02-16T08:49:55.766Z,1613465395.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.560005 m,
      bearing: 35.811174 deg,
      approachRate: -0.679518 m/s,
      LOS rate: -0.200656 deg/s,
      cmd update: -0.601967 deg/s,
      cmd heading: 46.124564 deg,
      new cmd heading: 46.312346 deg.

2021-02-16T08:49:58.182Z,1613465398.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:49:58.946Z,1613465398.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:49:59.375Z,1613465399.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:00.177Z,1613465400.177 [Micromodem](INFO): Nmea in: $SNTTA,0.069150,,,,085000.42*40

2021-02-16T08:50:00.236Z,1613465400.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 37.454203 deg, deltaT: 4.374671 s, approachRate: -0.699482 m/s, LOS rate: 0.375578 deg/s, posRepo size: 4
2021-02-16T08:50:00.237Z,1613465400.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.500000 m,
      bearing: 37.454203 deg,
      approachRate: -0.699482 m/s,
      LOS rate: 0.375578 deg/s,
      cmd update: 1.126733 deg/s,
      cmd heading: 43.488832 deg,
      new cmd heading: 43.209672 deg.

2021-02-16T08:50:02.640Z,1613465402.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:03.393Z,1613465403.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:03.794Z,1613465403.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:04.620Z,1613465404.620 [Micromodem](INFO): Nmea in: $SNTTA,0.067028,0.072083,,,085004.87*5D

2021-02-16T08:50:04.658Z,1613465404.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 36.721641 deg, deltaT: 4.486572 s, approachRate: -0.695407 m/s, LOS rate: -0.163279 deg/s, posRepo size: 4
2021-02-16T08:50:04.660Z,1613465404.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.380005 m,
      bearing: 36.721641 deg,
      approachRate: -0.695407 m/s,
      LOS rate: -0.163279 deg/s,
      cmd update: -0.489836 deg/s,
      cmd heading: 48.544161 deg,
      new cmd heading: 48.998932 deg.

2021-02-16T08:50:07.076Z,1613465407.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:07.840Z,1613465407.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:08.238Z,1613465408.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:09.068Z,1613465409.068 [Micromodem](INFO): Nmea in: $SNTTA,0.064788,,,,085009.32*40

2021-02-16T08:50:09.116Z,1613465409.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.080009 m, bearing: 37.569302 deg, deltaT: 4.410113 s, approachRate: -0.748279 m/s, LOS rate: 0.192208 deg/s, posRepo size: 4
2021-02-16T08:50:09.118Z,1613465409.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.080009 m,
      bearing: 37.569302 deg,
      approachRate: -0.748279 m/s,
      LOS rate: 0.192208 deg/s,
      cmd update: 0.576625 deg/s,
      cmd heading: 46.383987 deg,
      new cmd heading: 46.174538 deg.

2021-02-16T08:50:11.528Z,1613465411.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:12.276Z,1613465412.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:12.687Z,1613465412.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:13.517Z,1613465413.517 [Micromodem](INFO): Nmea in: $SNTTA,0.062586,,,,085013.75*42

2021-02-16T08:50:13.566Z,1613465413.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 37.000747 deg, deltaT: 4.450919 s, approachRate: -0.727943 m/s, LOS rate: -0.127739 deg/s, posRepo size: 4
2021-02-16T08:50:13.572Z,1613465413.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.839996 m,
      bearing: 37.000747 deg,
      approachRate: -0.727943 m/s,
      LOS rate: -0.127739 deg/s,
      cmd update: -0.383216 deg/s,
      cmd heading: 48.947655 deg,
      new cmd heading: 49.210237 deg.

2021-02-16T08:50:15.949Z,1613465415.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:16.731Z,1613465416.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:17.135Z,1613465417.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:17.965Z,1613465417.965 [Micromodem](INFO): Nmea in: $SNTTA,0.060431,,,,085018.21*47

2021-02-16T08:50:18.006Z,1613465418.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 36.336688 deg, deltaT: 4.459478 s, approachRate: -0.739996 m/s, LOS rate: -0.148909 deg/s, posRepo size: 4
2021-02-16T08:50:18.033Z,1613465418.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.540001 m,
      bearing: 36.336688 deg,
      approachRate: -0.739996 m/s,
      LOS rate: -0.148909 deg/s,
      cmd update: -0.446728 deg/s,
      cmd heading: 47.236938 deg,
      new cmd heading: 47.072842 deg.

2021-02-16T08:50:20.420Z,1613465420.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:21.165Z,1613465421.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:21.583Z,1613465421.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:22.424Z,1613465422.424 [Micromodem](INFO): Nmea in: $SNTTA,0.058285,,,,085022.64*4D

2021-02-16T08:50:22.449Z,1613465422.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 36.703729 deg, deltaT: 4.480435 s, approachRate: -0.723144 m/s, LOS rate: 0.081921 deg/s, posRepo size: 4
2021-02-16T08:50:22.451Z,1613465422.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.300003 m,
      bearing: 36.703729 deg,
      approachRate: -0.723144 m/s,
      LOS rate: 0.081921 deg/s,
      cmd update: 0.245762 deg/s,
      cmd heading: 45.235212 deg,
      new cmd heading: 45.059253 deg.

2021-02-16T08:50:24.829Z,1613465424.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:25.618Z,1613465425.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:26.041Z,1613465426.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:26.844Z,1613465426.844 [Micromodem](INFO): Nmea in: $SNTTA,0.056121,,,,085027.09*40

2021-02-16T08:50:26.882Z,1613465426.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 37.542548 deg, deltaT: 4.413228 s, approachRate: -0.747753 m/s, LOS rate: 0.190069 deg/s, posRepo size: 4
2021-02-16T08:50:26.884Z,1613465426.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.000000 m,
      bearing: 37.542548 deg,
      approachRate: -0.747753 m/s,
      LOS rate: 0.190069 deg/s,
      cmd update: 0.570208 deg/s,
      cmd heading: 46.319791 deg,
      new cmd heading: 46.421299 deg.

2021-02-16T08:50:29.346Z,1613465429.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:30.052Z,1613465430.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:30.458Z,1613465430.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:31.289Z,1613465431.289 [Micromodem](INFO): Nmea in: $SNTTA,0.053998,,,,085031.53*47

2021-02-16T08:50:31.368Z,1613465431.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.760002 m, bearing: 37.388445 deg, deltaT: 4.426944 s, approachRate: -0.731881 m/s, LOS rate: -0.034810 deg/s, posRepo size: 4
2021-02-16T08:50:31.370Z,1613465431.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.760002 m,
      bearing: 37.388445 deg,
      approachRate: -0.731881 m/s,
      LOS rate: -0.034810 deg/s,
      cmd update: -0.104431 deg/s,
      cmd heading: 48.834926 deg,
      new cmd heading: 49.113772 deg.

2021-02-16T08:50:33.733Z,1613465433.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:34.512Z,1613465434.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:34.902Z,1613465434.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:35.740Z,1613465435.740 [Micromodem](INFO): Nmea in: $SNTTA,0.051939,,,,085035.99*4C

2021-02-16T08:50:35.778Z,1613465435.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.700005 m, bearing: 36.763186 deg, deltaT: 4.498065 s, approachRate: -0.680292 m/s, LOS rate: -0.139006 deg/s, posRepo size: 4
2021-02-16T08:50:35.780Z,1613465435.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.700005 m,
      bearing: 36.763186 deg,
      approachRate: -0.680292 m/s,
      LOS rate: -0.139006 deg/s,
      cmd update: -0.417019 deg/s,
      cmd heading: 48.363937 deg,
      new cmd heading: 48.323395 deg.

2021-02-16T08:50:38.169Z,1613465438.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:38.947Z,1613465438.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:39.368Z,1613465439.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:40.183Z,1613465440.183 [Micromodem](INFO): Nmea in: $SNTTA,0.049954,,,,085040.42*4A

2021-02-16T08:50:40.215Z,1613465440.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.760002 m, bearing: 36.868524 deg, deltaT: 4.396945 s, approachRate: -0.668647 m/s, LOS rate: 0.023957 deg/s, posRepo size: 4
2021-02-16T08:50:40.217Z,1613465440.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.760002 m,
      bearing: 36.868524 deg,
      approachRate: -0.668647 m/s,
      LOS rate: 0.023957 deg/s,
      cmd update: 0.071872 deg/s,
      cmd heading: 46.528701 deg,
      new cmd heading: 46.351553 deg.

2021-02-16T08:50:42.334Z,1613465442.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:43.049Z,1613465443.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:43.397Z,1613465443.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:44.260Z,1613465444.260 [Micromodem](INFO): Nmea in: $SNTTA,0.048114,,,,085044.53*43

2021-02-16T08:50:44.303Z,1613465444.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 36.754016 deg, deltaT: 4.021600 s, approachRate: -0.775809 m/s, LOS rate: -0.028473 deg/s, posRepo size: 4
2021-02-16T08:50:44.305Z,1613465444.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 36.754016 deg,
      approachRate: -0.775809 m/s,
      LOS rate: -0.028473 deg/s,
      cmd update: -0.085420 deg/s,
      cmd heading: 46.817672 deg,
      new cmd heading: 46.853006 deg.

2021-02-16T08:50:46.658Z,1613465446.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:47.425Z,1613465447.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:47.841Z,1613465447.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:48.656Z,1613465448.656 [Micromodem](INFO): Nmea in: $SNTTA,0.045933,,,,085048.90*40

2021-02-16T08:50:48.703Z,1613465448.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 37.452598 deg, deltaT: 4.525316 s, approachRate: -0.636421 m/s, LOS rate: 0.154372 deg/s, posRepo size: 4
2021-02-16T08:50:48.705Z,1613465448.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.760002 m,
      bearing: 37.452598 deg,
      approachRate: -0.636421 m/s,
      LOS rate: 0.154372 deg/s,
      cmd update: 0.463116 deg/s,
      cmd heading: 46.431953 deg,
      new cmd heading: 46.399820 deg.

2021-02-16T08:50:51.109Z,1613465451.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:51.870Z,1613465451.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:52.274Z,1613465452.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:53.100Z,1613465453.100 [Micromodem](INFO): Nmea in: $SNTTA,0.043837,,,,085053.35*46

2021-02-16T08:50:53.144Z,1613465453.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 36.393714 deg, deltaT: 4.384533 s, approachRate: -0.725277 m/s, LOS rate: -0.241504 deg/s, posRepo size: 4
2021-02-16T08:50:53.146Z,1613465453.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.580002 m,
      bearing: 36.393714 deg,
      approachRate: -0.725277 m/s,
      LOS rate: -0.241504 deg/s,
      cmd update: -0.724513 deg/s,
      cmd heading: 48.465686 deg,
      new cmd heading: 48.662941 deg.

2021-02-16T08:50:55.642Z,1613465455.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:50:56.360Z,1613465456.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:50:56.755Z,1613465456.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:50:57.554Z,1613465457.554 [Micromodem](INFO): Nmea in: $SNTTA,0.041758,,,,085057.84*4C

2021-02-16T08:50:57.600Z,1613465457.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.520000 m, bearing: 37.784849 deg, deltaT: 4.439903 s, approachRate: -0.689205 m/s, LOS rate: 0.313326 deg/s, posRepo size: 4
2021-02-16T08:50:57.602Z,1613465457.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.520000 m,
      bearing: 37.784849 deg,
      approachRate: -0.689205 m/s,
      LOS rate: 0.313326 deg/s,
      cmd update: 0.939977 deg/s,
      cmd heading: 45.246028 deg,
      new cmd heading: 44.934647 deg.

2021-02-16T08:50:59.981Z,1613465459.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:00.758Z,1613465460.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:01.162Z,1613465461.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:02.013Z,1613465462.013 [Micromodem](INFO): Nmea in: $SNTTA,0.039601,,,,085102.23*42

2021-02-16T08:51:02.069Z,1613465462.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 37.985636 deg, deltaT: 4.454773 s, approachRate: -0.740778 m/s, LOS rate: 0.045072 deg/s, posRepo size: 4
2021-02-16T08:51:02.075Z,1613465462.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.220001 m,
      bearing: 37.985636 deg,
      approachRate: -0.740778 m/s,
      LOS rate: 0.045072 deg/s,
      cmd update: 0.135217 deg/s,
      cmd heading: 49.429733 deg,
      new cmd heading: 49.858741 deg.

2021-02-16T08:51:04.487Z,1613465464.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:05.215Z,1613465465.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:05.606Z,1613465465.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:06.448Z,1613465466.448 [Micromodem](INFO): Nmea in: $SNTTA,0.037380,,,,085106.69*4A

2021-02-16T08:51:06.489Z,1613465466.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.859997 m, bearing: 35.992139 deg, deltaT: 4.446459 s, approachRate: -0.755658 m/s, LOS rate: -0.448334 deg/s, posRepo size: 4
2021-02-16T08:51:06.490Z,1613465466.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.859997 m,
      bearing: 35.992139 deg,
      approachRate: -0.755658 m/s,
      LOS rate: -0.448334 deg/s,
      cmd update: -1.345001 deg/s,
      cmd heading: 50.031509 deg,
      new cmd heading: 50.089052 deg.

2021-02-16T08:51:08.858Z,1613465468.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:09.668Z,1613465469.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:10.073Z,1613465470.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:10.892Z,1613465470.892 [Micromodem](INFO): Nmea in: $SNTTA,0.035625,,,,085111.14*4E

2021-02-16T08:51:10.930Z,1613465470.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.919994 m, bearing: 35.996128 deg, deltaT: 4.455967 s, approachRate: -0.659790 m/s, LOS rate: 0.000895 deg/s, posRepo size: 4
2021-02-16T08:51:10.932Z,1613465470.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 35.996128 deg,
      approachRate: -0.659790 m/s,
      LOS rate: 0.000895 deg/s,
      cmd update: 0.002685 deg/s,
      cmd heading: 44.038276 deg,
      new cmd heading: 43.486077 deg.

2021-02-16T08:51:13.334Z,1613465473.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:14.089Z,1613465474.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:14.494Z,1613465474.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:15.356Z,1613465475.356 [Micromodem](INFO): Nmea in: $SNTTA,0.033446,,,,085115.56*4D

2021-02-16T08:51:15.391Z,1613465475.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 39.069976 deg, deltaT: 4.403523 s, approachRate: -0.681271 m/s, LOS rate: 0.698043 deg/s, posRepo size: 4
2021-02-16T08:51:15.393Z,1613465475.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 39.069976 deg,
      approachRate: -0.681271 m/s,
      LOS rate: 0.698043 deg/s,
      cmd update: 2.094129 deg/s,
      cmd heading: 44.050102 deg,
      new cmd heading: 44.051359 deg.

2021-02-16T08:51:17.769Z,1613465477.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:18.541Z,1613465478.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:18.956Z,1613465478.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:19.769Z,1613465479.769 [Micromodem](INFO): Nmea in: $SNTTA,0.031180,,,,085120.02*47

2021-02-16T08:51:19.820Z,1613465479.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 36.458798 deg, deltaT: 4.561593 s, approachRate: -0.736585 m/s, LOS rate: -0.572427 deg/s, posRepo size: 4
2021-02-16T08:51:19.822Z,1613465479.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.560001 m,
      bearing: 36.458798 deg,
      approachRate: -0.736585 m/s,
      LOS rate: -0.572427 deg/s,
      cmd update: -1.717280 deg/s,
      cmd heading: 53.602257 deg,
      new cmd heading: 54.305423 deg.

2021-02-16T08:51:22.306Z,1613465482.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:23.087Z,1613465483.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:23.424Z,1613465483.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:24.316Z,1613465484.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.380001 m, bearing: 34.962413 deg, deltaT: 4.345312 s, approachRate: -0.731823 m/s, LOS rate: -0.344368 deg/s, posRepo size: 4
2021-02-16T08:51:24.338Z,1613465484.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 34.962413 deg,
      approachRate: -0.731823 m/s,
      LOS rate: -0.344368 deg/s,
      cmd update: -1.033103 deg/s,
      cmd heading: 46.139914 deg,
      new cmd heading: 45.307797 deg.

2021-02-16T08:51:24.616Z,1613465484.616 [Micromodem](INFO): Nmea in: $SNTTA,0.029210,,,,085124.56*41

2021-02-16T08:51:26.666Z,1613465486.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:27.440Z,1613465487.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:27.834Z,1613465487.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:28.668Z,1613465488.668 [Micromodem](INFO): Nmea in: $SNTTA,0.027117,,,,085128.92*4F

2021-02-16T08:51:28.708Z,1613465488.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.439999 m, bearing: 36.618533 deg, deltaT: 4.450272 s, approachRate: -0.660634 m/s, LOS rate: 0.372139 deg/s, posRepo size: 4
2021-02-16T08:51:28.710Z,1613465488.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.439999 m,
      bearing: 36.618533 deg,
      approachRate: -0.660634 m/s,
      LOS rate: 0.372139 deg/s,
      cmd update: 1.116417 deg/s,
      cmd heading: 41.546388 deg,
      new cmd heading: 41.099926 deg.

2021-02-16T08:51:31.117Z,1613465491.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:31.889Z,1613465491.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:32.279Z,1613465492.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:33.124Z,1613465493.124 [Micromodem](INFO): Nmea in: $SNTTA,0.025129,,,,085133.37*45

2021-02-16T08:51:33.159Z,1613465493.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.500000 m, bearing: 38.377265 deg, deltaT: 4.452582 s, approachRate: -0.660291 m/s, LOS rate: 0.394992 deg/s, posRepo size: 4
2021-02-16T08:51:33.159Z,1613465493.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.50 m.
2021-02-16T08:51:33.161Z,1613465493.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.500000 m,
      bearing: 38.377265 deg,
      approachRate: -0.660291 m/s,
      LOS rate: 0.394992 deg/s,
      cmd update: 1.184975 deg/s,
      cmd heading: 46.509826 deg,
      new cmd heading: 46.997610 deg.

2021-02-16T08:51:33.501Z,1613465493.501 [PowerOnly](INFO): Powering up loadControl
2021-02-16T08:51:35.534Z,1613465495.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:36.447Z,1613465496.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:36.767Z,1613465496.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:37.590Z,1613465497.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.200001 m, bearing: 34.914004 deg, deltaT: 4.458355 s, approachRate: -0.740183 m/s, LOS rate: -0.776802 deg/s, posRepo size: 4
2021-02-16T08:51:37.591Z,1613465497.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m.
2021-02-16T08:51:37.591Z,1613465497.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.20 m.
2021-02-16T08:51:37.591Z,1613465497.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T08:51:37.593Z,1613465497.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 34.914004 deg,
      approachRate: -0.740183 m/s,
      LOS rate: -0.776802 deg/s,
      cmd update: -2.330407 deg/s,
      cmd heading: 51.803274 deg,
      new cmd heading: 52.278938 deg.

2021-02-16T08:51:37.948Z,1613465497.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085137.92*5D

2021-02-16T08:51:39.976Z,1613465499.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:40.762Z,1613465500.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:41.166Z,1613465501.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:41.000Z,1613465502.000 [Micromodem](INFO): Nmea in: $SNTTA,0.021187,,,,085142.24*41

2021-02-16T08:51:42.063Z,1613465502.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 32.828819 deg, deltaT: 4.426092 s, approachRate: -0.650687 m/s, LOS rate: -0.471112 deg/s, posRepo size: 4
2021-02-16T08:51:42.065Z,1613465502.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 32.828819 deg,
      approachRate: -0.650687 m/s,
      LOS rate: -0.471112 deg/s,
      cmd update: -1.413336 deg/s,
      cmd heading: 41.493387 deg,
      new cmd heading: 40.453827 deg.

2021-02-16T08:51:44.498Z,1613465504.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:45.213Z,1613465505.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:45.629Z,1613465505.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:46.440Z,1613465506.440 [Micromodem](INFO): Nmea in: $SNTTA,0.018996,,,,085146.69*4E

2021-02-16T08:51:46.489Z,1613465506.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 35.378990 deg, deltaT: 4.467269 s, approachRate: -0.671552 m/s, LOS rate: 0.570857 deg/s, posRepo size: 4
2021-02-16T08:51:46.496Z,1613465506.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 35.378990 deg,
      approachRate: -0.671552 m/s,
      LOS rate: 0.570857 deg/s,
      cmd update: 1.712570 deg/s,
      cmd heading: 35.187037 deg,
      new cmd heading: 34.601223 deg.

2021-02-16T08:51:47.656Z,1613465507.656 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:51:48.857Z,1613465508.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:49.658Z,1613465509.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:50.130Z,1613465510.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:50.916Z,1613465510.916 [Micromodem](INFO): Nmea in: $SNTTA,0.016943,,,,085151.13*43

2021-02-16T08:51:50.970Z,1613465510.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 36.720193 deg, deltaT: 4.469542 s, approachRate: -0.684635 m/s, LOS rate: 0.300076 deg/s, posRepo size: 4
2021-02-16T08:51:50.984Z,1613465510.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 36.720193 deg,
      approachRate: -0.684635 m/s,
      LOS rate: 0.300076 deg/s,
      cmd update: 0.900229 deg/s,
      cmd heading: 42.857269 deg,
      new cmd heading: 43.570308 deg.

2021-02-16T08:51:53.372Z,1613465513.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:54.102Z,1613465514.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:54.498Z,1613465514.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:55.355Z,1613465515.355 [Micromodem](INFO): Nmea in: $SNTTA,0.014897,,,,085155.58*42

2021-02-16T08:51:55.406Z,1613465515.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 35.575532 deg, deltaT: 4.379068 s, approachRate: -0.726182 m/s, LOS rate: -0.261394 deg/s, posRepo size: 4
2021-02-16T08:51:55.408Z,1613465515.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 35.575532 deg,
      approachRate: -0.726182 m/s,
      LOS rate: -0.261394 deg/s,
      cmd update: -0.784181 deg/s,
      cmd heading: 46.791419 deg,
      new cmd heading: 47.225645 deg.

2021-02-16T08:51:57.757Z,1613465517.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:51:58.540Z,1613465518.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:51:58.948Z,1613465518.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:51:59.768Z,1613465519.768 [Micromodem](INFO): Nmea in: $SNTTA,0.012806,,,,085200.02*40

2021-02-16T08:51:59.806Z,1613465519.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 35.740382 deg, deltaT: 4.496652 s, approachRate: -0.680506 m/s, LOS rate: 0.036661 deg/s, posRepo size: 4
2021-02-16T08:51:59.808Z,1613465519.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.020000 m,
      bearing: 35.740382 deg,
      approachRate: -0.680506 m/s,
      LOS rate: 0.036661 deg/s,
      cmd update: 0.109982 deg/s,
      cmd heading: 43.261459 deg,
      new cmd heading: 42.962584 deg.

2021-02-16T08:52:02.272Z,1613465522.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:03.035Z,1613465523.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:03.408Z,1613465523.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:04.248Z,1613465524.248 [Micromodem](INFO): Nmea in: $SNTTA,0.010806,,,,085204.51*40

2021-02-16T08:52:04.356Z,1613465524.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.960001 m, bearing: 38.569163 deg, deltaT: 4.447394 s, approachRate: -0.688043 m/s, LOS rate: 0.636054 deg/s, posRepo size: 4
2021-02-16T08:52:04.358Z,1613465524.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 38.569163 deg,
      approachRate: -0.688043 m/s,
      LOS rate: 0.636054 deg/s,
      cmd update: 1.908161 deg/s,
      cmd heading: 43.751040 deg,
      new cmd heading: 43.802984 deg.

2021-02-16T08:52:06.682Z,1613465526.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:07.425Z,1613465527.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:07.828Z,1613465527.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,2846

2021-02-16T08:52:07.829Z,1613465527.829 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,2846
 expected 7F
2021-02-16T08:52:07.829Z,1613465527.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:07.832Z,1613465527.832 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T08:52:07.833Z,1613465527.833 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T08:52:08.242Z,1613465528.242 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,085208.904883,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7B

2021-02-16T08:52:08.242Z,1613465528.242 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,085208.904883,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7B

2021-02-16T08:52:08.244Z,1613465528.244 [Micromodem](INFO): Nmea in: $CAERR,085209,NI  ,29,Busy completing a previous request*7D

2021-02-16T08:52:08.244Z,1613465528.244 [Micromodem](ERROR): Got error from modem: $CAERR,085209,NI  ,29,Busy completing a previous request*7D

2021-02-16T08:52:08.656Z,1613465528.656 [Micromodem](INFO): Nmea in: $SNTTA,0.009313,0.042373,,,085208.90*59

2021-02-16T08:52:08.657Z,1613465528.657 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.009313,0.042373,,,085208.90*59

2021-02-16T08:52:08.706Z,1613465528.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.899998 m, bearing: 37.369468 deg, deltaT: 4.390399 s, approachRate: -0.696976 m/s, LOS rate: -0.273254 deg/s, posRepo size: 4
2021-02-16T08:52:08.708Z,1613465528.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.899998 m,
      bearing: 37.369468 deg,
      approachRate: -0.696976 m/s,
      LOS rate: -0.273254 deg/s,
      cmd update: -0.819763 deg/s,
      cmd heading: 52.128402 deg,
      new cmd heading: 52.966468 deg.

2021-02-16T08:52:11.107Z,1613465531.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:13.925Z,1613465533.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:16.753Z,1613465536.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:19.157Z,1613465539.157 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:19.310Z,1613465539.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:19.622Z,1613465539.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:20.042Z,1613465540.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:20.405Z,1613465540.405 [Micromodem](INFO): Nmea in: $CAERR,085221,NI  ,29,Busy completing a previous request*77

2021-02-16T08:52:20.406Z,1613465540.406 [Micromodem](ERROR): Got error from modem: $CAERR,085221,NI  ,29,Busy completing a previous request*77

2021-02-16T08:52:20.407Z,1613465540.407 [Micromodem](INFO): Nmea in: $SNTTA,0.004031,,,,085220.63*4E

2021-02-16T08:52:20.407Z,1613465540.407 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.004031,,,,085220.63*4E

2021-02-16T08:52:22.062Z,1613465542.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:24.864Z,1613465544.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:27.731Z,1613465547.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:30.610Z,1613465550.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:31.340Z,1613465551.340 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:31.739Z,1613465551.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:32.563Z,1613465552.563 [Micromodem](INFO): Nmea in: $SNTTA,0.005356,,,,085232.82*41

2021-02-16T08:52:32.588Z,1613465552.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 335.169404 deg, deltaT: 23.905387 s, approachRate: -0.198282 m/s, LOS rate: -2.601927 deg/s, posRepo size: 4
2021-02-16T08:52:32.590Z,1613465552.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 335.169404 deg,
      approachRate: -0.198282 m/s,
      LOS rate: -2.601927 deg/s,
      cmd update: -7.805780 deg/s,
      cmd heading: 32.532815 deg,
      new cmd heading: 32.190628 deg.

2021-02-16T08:52:35.016Z,1613465555.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:35.758Z,1613465555.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:36.170Z,1613465556.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:37.009Z,1613465557.009 [Micromodem](INFO): Nmea in: $SNTTA,0.005958,,,,085237.23*4B

2021-02-16T08:52:37.060Z,1613465557.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 31.052502 deg, deltaT: 4.436404 s, approachRate: 0.189342 m/s, LOS rate: 12.596485 deg/s, posRepo size: 4
2021-02-16T08:52:37.060Z,1613465557.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.596485 deg/s. Setting heading cmd to target bearing of 31.052502deg and heading rate command to 0 deg/s.
2021-02-16T08:52:39.427Z,1613465559.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:40.208Z,1613465560.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:40.624Z,1613465560.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:41.436Z,1613465561.436 [Micromodem](INFO): Nmea in: $SNTTA,0.007880,,,,085241.68*43

2021-02-16T08:52:41.478Z,1613465561.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 11.729724 deg, deltaT: 4.448118 s, approachRate: 0.647465 m/s, LOS rate: -4.344035 deg/s, posRepo size: 4
2021-02-16T08:52:41.480Z,1613465561.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 11.729724 deg,
      approachRate: 0.647465 m/s,
      LOS rate: -4.344035 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 31.052502 deg,
      new cmd heading: 31.052502 deg.

2021-02-16T08:52:43.881Z,1613465563.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:44.665Z,1613465564.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:44.710Z,1613465564.710 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:52:45.052Z,1613465565.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:45.889Z,1613465565.889 [Micromodem](INFO): Nmea in: $SNTTA,0.009755,,,0.054381,085246.14*53

2021-02-16T08:52:45.934Z,1613465565.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 12.671529 deg, deltaT: 4.445740 s, approachRate: 0.850253 m/s, LOS rate: 0.211844 deg/s, posRepo size: 4
2021-02-16T08:52:45.936Z,1613465565.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 12.671529 deg,
      approachRate: 0.850253 m/s,
      LOS rate: 0.211844 deg/s,
      cmd update: 0.635533 deg/s,
      cmd heading: 337.751345 deg,
      new cmd heading: 332.529868 deg.

2021-02-16T08:52:48.356Z,1613465568.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:49.096Z,1613465569.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:49.497Z,1613465569.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:50.333Z,1613465570.333 [Micromodem](INFO): Nmea in: $SNTTA,0.012346,,,,085250.57*4A

2021-02-16T08:52:50.388Z,1613465570.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 15.858128 deg, deltaT: 4.417525 s, approachRate: 0.488962 m/s, LOS rate: 0.721354 deg/s, posRepo size: 4
2021-02-16T08:52:50.389Z,1613465570.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 15.858128 deg,
      approachRate: 0.488962 m/s,
      LOS rate: 0.721354 deg/s,
      cmd update: 2.164062 deg/s,
      cmd heading: 340.561286 deg,
      new cmd heading: 340.858276 deg.

2021-02-16T08:52:52.742Z,1613465572.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:53.550Z,1613465573.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:53.945Z,1613465573.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:54.775Z,1613465574.775 [Micromodem](INFO): Nmea in: $SNTTA,0.013821,,,,085255.03*45

2021-02-16T08:52:54.794Z,1613465574.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 8.379679 deg, deltaT: 4.572745 s, approachRate: 0.800394 m/s, LOS rate: -1.635440 deg/s, posRepo size: 4
2021-02-16T08:52:54.795Z,1613465574.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.48 m. Rolling out.
2021-02-16T08:52:54.795Z,1613465574.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T08:52:57.257Z,1613465577.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:52:57.704Z,1613465577.704 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T08:52:57.704Z,1613465577.704 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T08:52:57.704Z,1613465577.704 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T08:52:57.704Z,1613465577.704 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:52:57.704Z,1613465577.704 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T08:52:58.153Z,1613465578.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:52:58.563Z,1613465578.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:52:58.649Z,1613465578.649 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B603D0000005D000004003E0000000000000000151D80030C5669BF92F9E56FB7D8434A8B20AF3B59799B6290C7B4299B166EC204A33740DE9CBBFF56CB
2021-02-16T08:52:58.650Z,1613465578.650 [Micromodem](INFO): Outgoing frame #2, 17 bytes: EBBC34A61221A6012FC08A77CFEBB6E000
2021-02-16T08:52:58.650Z,1613465578.650 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T08:52:58.973Z,1613465578.973 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T08:52:59.390Z,1613465579.390 [Micromodem](INFO): Nmea in: $CADRQ,085300,1,10,0,64,1*78

2021-02-16T08:52:59.390Z,1613465579.390 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B603D0000005D000004003E0000000000000000151D80030C5669BF92F9E56FB7D8434A8B20AF3B59799B6290C7B4299B166EC204A33740DE9CBBFF56CB*44

2021-02-16T08:52:59.470Z,1613465579.470 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:52:59.520Z,1613465579.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 314.116493 deg, deltaT: 4.571139 s, approachRate: 0.564411 m/s, LOS rate: -11.870825 deg/s, posRepo size: 4
2021-02-16T08:52:59.768Z,1613465579.768 [Micromodem](INFO): Nmea in: $SNTTA,0.015942,,,,085259.63*4D

2021-02-16T08:52:59.769Z,1613465579.769 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.015942,,,,085259.63*4D

2021-02-16T08:53:00.986Z,1613465580.986 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T08:53:01.400Z,1613465581.400 [Micromodem](INFO): Nmea in: $CADRQ,085300,1,10,0,64,2*7B

2021-02-16T08:53:01.400Z,1613465581.400 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EBBC34A61221A6012FC08A77CFEBB6E000*34

2021-02-16T08:53:01.788Z,1613465581.788 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T08:53:01.813Z,1613465581.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:02.202Z,1613465582.202 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T08:53:02.589Z,1613465582.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:04.363Z,1613465584.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:04.605Z,1613465584.605 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T08:53:04.606Z,1613465584.606 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T08:53:04.612Z,1613465584.612 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T08:53:05.036Z,1613465585.036 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,085302.861342,3,0,200,4000,14500,1,1,10,1,2,2,3,81*48

2021-02-16T08:53:05.036Z,1613465585.036 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,085302.861342,3,0,200,4000,14500,1,1,10,1,2,2,3,81*48

2021-02-16T08:53:07.068Z,1613465587.068 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T08:53:07.149Z,1613465587.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:07.433Z,1613465587.433 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T08:53:07.433Z,1613465587.433 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0061.lzma.parts
2021-02-16T08:53:07.433Z,1613465587.433 [Micromodem](INFO): Packets left to send: 0
2021-02-16T08:53:07.849Z,1613465587.849 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216085307.505389,06,2821,34,0101,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,14.1,3.00,08,0.00,-01,-1.24,36,14500,4000*51

2021-02-16T08:53:07.849Z,1613465587.849 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216085307.505389,06,2821,34,0101,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,14.1,3.00,08,0.00,-01,-1.24,36,14500,4000*51

2021-02-16T08:53:07.924Z,1613465587.924 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T08:53:07.924Z,1613465587.924 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T08:53:07.924Z,1613465587.924 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T08:53:07.924Z,1613465587.924 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T08:53:07.924Z,1613465587.924 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T08:53:08.275Z,1613465588.275 [PowerOnly](INFO): Powering down loadControl
2021-02-16T08:53:08.281Z,1613465588.281 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T08:53:09.525Z,1613465589.525 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T08:53:09.914Z,1613465589.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:12.707Z,1613465592.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:13.897Z,1613465593.897 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:14.306Z,1613465594.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:14.374Z,1613465594.374 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T08:53:15.128Z,1613465595.128 [Micromodem](INFO): Nmea in: $SNTTA,0.023443,,,,085315.37*4C

2021-02-16T08:53:15.152Z,1613465595.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 330.280737 deg, deltaT: 15.663257 s, approachRate: 0.720157 m/s, LOS rate: 1.031985 deg/s, posRepo size: 4
2021-02-16T08:53:17.591Z,1613465597.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:18.364Z,1613465598.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:18.769Z,1613465598.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:19.584Z,1613465599.584 [Micromodem](INFO): Nmea in: $SNTTA,0.025543,,,,085319.84*4F

2021-02-16T08:53:19.610Z,1613465599.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 326.894438 deg, deltaT: 4.471293 s, approachRate: 0.697784 m/s, LOS rate: -0.757342 deg/s, posRepo size: 4
2021-02-16T08:53:22.050Z,1613465602.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:22.787Z,1613465602.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:23.267Z,1613465603.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:24.068Z,1613465604.068 [Micromodem](INFO): Nmea in: $SNTTA,0.027743,,,,085324.26*49

2021-02-16T08:53:24.098Z,1613465604.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 340.598912 deg, deltaT: 4.426979 s, approachRate: 0.840302 m/s, LOS rate: 3.095672 deg/s, posRepo size: 4
2021-02-16T08:53:24.667Z,1613465604.667 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T08:53:26.480Z,1613465606.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:27.260Z,1613465607.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:27.665Z,1613465607.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:28.495Z,1613465608.495 [Micromodem](INFO): Nmea in: $SNTTA,0.029888,,,,085328.73*43

2021-02-16T08:53:28.520Z,1613465608.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.240002 m, bearing: 346.453969 deg, deltaT: 4.471107 s, approachRate: 0.684395 m/s, LOS rate: 1.309532 deg/s, posRepo size: 4
2021-02-16T08:53:30.919Z,1613465610.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:31.698Z,1613465611.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:32.109Z,1613465612.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:32.928Z,1613465612.928 [Micromodem](INFO): Nmea in: $SNTTA,0.032043,,,,085333.17*4E

2021-02-16T08:53:32.972Z,1613465612.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 343.438413 deg, deltaT: 4.480222 s, approachRate: 0.656216 m/s, LOS rate: -0.673082 deg/s, posRepo size: 4
2021-02-16T08:53:34.545Z,1613465614.545 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T08:53:35.429Z,1613465615.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:36.217Z,1613465616.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:36.571Z,1613465616.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:37.414Z,1613465617.414 [Micromodem](INFO): Nmea in: $SNTTA,0.034418,,,,085337.69*4F

2021-02-16T08:53:37.465Z,1613465617.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 344.386416 deg, deltaT: 4.458046 s, approachRate: 0.861365 m/s, LOS rate: 0.212650 deg/s, posRepo size: 4
2021-02-16T08:53:39.427Z,1613465619.427 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T08:53:39.813Z,1613465619.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:40.586Z,1613465620.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:41.026Z,1613465621.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:41.395Z,1613465621.395 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T08:53:41.816Z,1613465621.816 [Micromodem](INFO): Nmea in: $SNTTA,0.036577,,,,085342.06*4E

2021-02-16T08:53:41.858Z,1613465621.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 346.093035 deg, deltaT: 4.413207 s, approachRate: 0.666184 m/s, LOS rate: 0.386707 deg/s, posRepo size: 4
2021-02-16T08:53:44.268Z,1613465624.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:45.040Z,1613465625.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:45.439Z,1613465625.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:46.264Z,1613465626.264 [Micromodem](INFO): Nmea in: $SNTTA,0.039041,,,,085346.51*47

2021-02-16T08:53:46.352Z,1613465626.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 350.659918 deg, deltaT: 4.402633 s, approachRate: 0.899462 m/s, LOS rate: 1.037307 deg/s, posRepo size: 4
2021-02-16T08:53:48.704Z,1613465628.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:49.483Z,1613465629.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:49.949Z,1613465629.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:50.732Z,1613465630.732 [Micromodem](INFO): Nmea in: $SNTTA,0.041160,,,,085350.96*46

2021-02-16T08:53:50.773Z,1613465630.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 347.449155 deg, deltaT: 4.513825 s, approachRate: 0.664624 m/s, LOS rate: -0.711318 deg/s, posRepo size: 4
2021-02-16T08:53:53.154Z,1613465633.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:53.922Z,1613465633.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:54.385Z,1613465634.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:55.152Z,1613465635.152 [Micromodem](INFO): Nmea in: $SNTTA,0.043493,,,,085355.40*43

2021-02-16T08:53:55.178Z,1613465635.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.460007 m, bearing: 348.095236 deg, deltaT: 4.378684 s, approachRate: 0.808463 m/s, LOS rate: 0.147551 deg/s, posRepo size: 4
2021-02-16T08:53:57.582Z,1613465637.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:53:58.375Z,1613465638.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:53:58.766Z,1613465638.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:53:59.601Z,1613465639.601 [Micromodem](INFO): Nmea in: $SNTTA,0.045779,,,,085359.85*47

2021-02-16T08:53:59.646Z,1613465639.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 349.859201 deg, deltaT: 4.475248 s, approachRate: 0.804423 m/s, LOS rate: 0.394160 deg/s, posRepo size: 4
2021-02-16T08:54:02.054Z,1613465642.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:02.814Z,1613465642.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:03.376Z,1613465643.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:04.046Z,1613465644.046 [Micromodem](INFO): Nmea in: $SNTTA,0.048119,,,,085404.29*43

2021-02-16T08:54:04.558Z,1613465644.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:06.448Z,1613465646.448 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:54:07.279Z,1613465647.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:08.061Z,1613465648.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:08.464Z,1613465648.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:09.295Z,1613465649.295 [Micromodem](INFO): Nmea in: $SNTTA,0.051011,,,,085409.54*45

2021-02-16T08:54:09.395Z,1613465649.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 353.936086 deg, deltaT: 9.688469 s, approachRate: 0.792695 m/s, LOS rate: 0.420798 deg/s, posRepo size: 4
2021-02-16T08:54:11.719Z,1613465651.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:12.504Z,1613465652.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:12.907Z,1613465652.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:13.748Z,1613465653.748 [Micromodem](INFO): Nmea in: $SNTTA,0.053235,,,,085413.98*48

2021-02-16T08:54:13.801Z,1613465653.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 350.807969 deg, deltaT: 4.484010 s, approachRate: 0.722567 m/s, LOS rate: -0.697616 deg/s, posRepo size: 4
2021-02-16T08:54:16.163Z,1613465656.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:17.051Z,1613465657.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:17.400Z,1613465657.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:18.295Z,1613465658.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.460007 m, bearing: 349.405075 deg, deltaT: 4.479092 s, approachRate: 0.776946 m/s, LOS rate: -0.313209 deg/s, posRepo size: 4
2021-02-16T08:54:18.608Z,1613465658.608 [Micromodem](INFO): Nmea in: $SNTTA,0.055483,,,,085418.53*49

2021-02-16T08:54:20.622Z,1613465660.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:21.404Z,1613465661.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:21.810Z,1613465661.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:22.636Z,1613465662.636 [Micromodem](INFO): Nmea in: $SNTTA,0.057750,,,,085422.88*49

2021-02-16T08:54:22.680Z,1613465662.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 349.807783 deg, deltaT: 4.388395 s, approachRate: 0.751984 m/s, LOS rate: 0.091767 deg/s, posRepo size: 4
2021-02-16T08:54:25.082Z,1613465665.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:25.866Z,1613465665.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:26.259Z,1613465666.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:27.108Z,1613465667.108 [Micromodem](INFO): Nmea in: $SNTTA,0.060013,,,,085427.34*4F

2021-02-16T08:54:27.133Z,1613465667.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 355.975608 deg, deltaT: 4.444534 s, approachRate: 0.782983 m/s, LOS rate: 1.387733 deg/s, posRepo size: 4
2021-02-16T08:54:29.528Z,1613465669.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:30.395Z,1613465670.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:30.721Z,1613465670.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:31.636Z,1613465671.636 [Micromodem](INFO): Nmea in: $SNTTA,0.062352,,,,085431.87*44

2021-02-16T08:54:31.672Z,1613465671.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 351.931289 deg, deltaT: 4.451092 s, approachRate: 0.781830 m/s, LOS rate: -0.908613 deg/s, posRepo size: 4
2021-02-16T08:54:33.959Z,1613465673.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:34.737Z,1613465674.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:35.149Z,1613465675.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:35.964Z,1613465675.964 [Micromodem](INFO): Nmea in: $SNTTA,0.064568,,,,085436.21*46

2021-02-16T08:54:36.039Z,1613465676.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 354.887067 deg, deltaT: 4.426933 s, approachRate: 0.718329 m/s, LOS rate: 0.667681 deg/s, posRepo size: 4
2021-02-16T08:54:38.412Z,1613465678.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:39.191Z,1613465679.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:39.592Z,1613465679.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:40.420Z,1613465680.420 [Micromodem](INFO): Nmea in: $SNTTA,0.066898,,,,085440.66*44

2021-02-16T08:54:40.445Z,1613465680.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.560005 m, bearing: 5.530355 deg, deltaT: 4.479629 s, approachRate: 0.817034 m/s, LOS rate: 2.375930 deg/s, posRepo size: 4
2021-02-16T08:54:42.833Z,1613465682.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:43.701Z,1613465683.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:44.080Z,1613465684.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:44.956Z,1613465684.956 [Micromodem](INFO): Nmea in: $SNTTA,0.069254,,,,085445.18*4D

2021-02-16T08:54:44.996Z,1613465684.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 1.365033 deg, deltaT: 4.601977 s, approachRate: 0.756196 m/s, LOS rate: -0.905116 deg/s, posRepo size: 4
2021-02-16T08:54:47.360Z,1613465687.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:48.073Z,1613465688.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:48.475Z,1613465688.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:49.302Z,1613465689.302 [Micromodem](INFO): Nmea in: $SNTTA,0.071581,,,,085449.55*4E

2021-02-16T08:54:49.380Z,1613465689.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.520004 m, bearing: 12.987667 deg, deltaT: 4.240062 s, approachRate: 0.820744 m/s, LOS rate: 2.741147 deg/s, posRepo size: 4
2021-02-16T08:54:51.731Z,1613465691.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:52.517Z,1613465692.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:52.920Z,1613465692.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:53.748Z,1613465693.748 [Micromodem](INFO): Nmea in: $SNTTA,0.073811,,,,085453.99*43

2021-02-16T08:54:53.782Z,1613465693.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.880005 m, bearing: 7.291806 deg, deltaT: 4.516192 s, approachRate: 0.743990 m/s, LOS rate: -1.261209 deg/s, posRepo size: 4
2021-02-16T08:54:56.184Z,1613465696.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:54:57.056Z,1613465697.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:54:57.419Z,1613465697.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:54:58.329Z,1613465698.329 [Micromodem](INFO): Nmea in: $SNTTA,0.076184,,,,085458.53*4E

2021-02-16T08:54:58.394Z,1613465698.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.360008 m, bearing: 351.277667 deg, deltaT: 4.422024 s, approachRate: 0.786971 m/s, LOS rate: -3.621449 deg/s, posRepo size: 4
2021-02-16T08:55:00.662Z,1613465700.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:01.425Z,1613465701.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:01.830Z,1613465701.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:02.661Z,1613465702.661 [Micromodem](INFO): Nmea in: $SNTTA,0.078475,,,,085502.90*4A

2021-02-16T08:55:02.724Z,1613465702.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.900009 m, bearing: 358.320357 deg, deltaT: 4.443895 s, approachRate: 0.796599 m/s, LOS rate: 1.584801 deg/s, posRepo size: 4
2021-02-16T08:55:05.098Z,1613465705.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:05.872Z,1613465705.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:06.274Z,1613465706.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:07.100Z,1613465707.100 [Micromodem](INFO): Nmea in: $SNTTA,0.080662,,,,085507.35*43

2021-02-16T08:55:07.152Z,1613465707.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 0.695635 deg, deltaT: 4.440573 s, approachRate: 0.729633 m/s, LOS rate: 0.534905 deg/s, posRepo size: 4
2021-02-16T08:55:09.543Z,1613465709.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:10.411Z,1613465710.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:10.741Z,1613465710.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:11.644Z,1613465711.644 [Micromodem](INFO): Nmea in: $SNTTA,0.082985,,,,085511.90*4F

2021-02-16T08:55:11.687Z,1613465711.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 14.206677 deg, deltaT: 4.464782 s, approachRate: 0.000000 m/s, LOS rate: 3.026137 deg/s, posRepo size: 4
2021-02-16T08:55:14.026Z,1613465714.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:14.773Z,1613465714.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:15.162Z,1613465715.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:16.018Z,1613465716.018 [Micromodem](INFO): Nmea in: $SNTTA,0.085184,,,,085516.25*48

2021-02-16T08:55:16.061Z,1613465716.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.980003 m, bearing: 3.479837 deg, deltaT: 4.425454 s, approachRate: 1.545605 m/s, LOS rate: -2.423896 deg/s, posRepo size: 4
2021-02-16T08:55:18.426Z,1613465718.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:19.208Z,1613465719.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:19.630Z,1613465719.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:20.432Z,1613465720.432 [Micromodem](INFO): Nmea in: $SNTTA,0.087424,,,,085520.68*49

2021-02-16T08:55:20.472Z,1613465720.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.339996 m, bearing: 6.504129 deg, deltaT: 4.447095 s, approachRate: 0.755548 m/s, LOS rate: 0.680060 deg/s, posRepo size: 4
2021-02-16T08:55:22.865Z,1613465722.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:23.650Z,1613465723.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:24.115Z,1613465724.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:24.901Z,1613465724.901 [Micromodem](INFO): Nmea in: $SNTTA,0.089674,,,,085525.12*48

2021-02-16T08:55:24.948Z,1613465724.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 2.755985 deg, deltaT: 4.627152 s, approachRate: 0.713182 m/s, LOS rate: -0.810033 deg/s, posRepo size: 4
2021-02-16T08:55:27.311Z,1613465727.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:28.095Z,1613465728.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:28.511Z,1613465728.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:29.341Z,1613465729.341 [Micromodem](INFO): Nmea in: $SNTTA,0.092003,,,,085529.57*49

2021-02-16T08:55:29.404Z,1613465729.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.120010 m, bearing: 4.774998 deg, deltaT: 4.245574 s, approachRate: 0.819680 m/s, LOS rate: 0.475557 deg/s, posRepo size: 4
2021-02-16T08:55:31.764Z,1613465731.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:32.540Z,1613465732.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:32.943Z,1613465732.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:33.768Z,1613465733.768 [Micromodem](INFO): Nmea in: $SNTTA,0.094306,,,,085534.01*46

2021-02-16T08:55:33.813Z,1613465733.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 1.389170 deg, deltaT: 4.515567 s, approachRate: 0.783953 m/s, LOS rate: -0.749812 deg/s, posRepo size: 4
2021-02-16T08:55:36.218Z,1613465736.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:36.998Z,1613465736.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:37.383Z,1613465737.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:38.216Z,1613465738.216 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085538.47*5E

2021-02-16T08:55:39.125Z,1613465739.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:40.616Z,1613465740.616 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T08:55:41.870Z,1613465741.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:42.637Z,1613465742.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:43.055Z,1613465743.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:43.865Z,1613465743.865 [Micromodem](INFO): Nmea in: $SNTTA,0.099590,,,,085544.11*44

2021-02-16T08:55:43.908Z,1613465743.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.520004 m, bearing: 355.808104 deg, deltaT: 10.049126 s, approachRate: 0.782158 m/s, LOS rate: -0.555379 deg/s, posRepo size: 4
2021-02-16T08:55:46.324Z,1613465746.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:47.078Z,1613465747.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:47.497Z,1613465747.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:48.308Z,1613465748.308 [Micromodem](INFO): Nmea in: $SNTTA,0.101918,,,,085548.55*44

2021-02-16T08:55:48.382Z,1613465748.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.059998 m, bearing: 359.943565 deg, deltaT: 4.424771 s, approachRate: 0.800040 m/s, LOS rate: 0.934616 deg/s, posRepo size: 4
2021-02-16T08:55:48.382Z,1613465748.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.06 m. Resuming terminal guidance.
2021-02-16T08:55:48.382Z,1613465748.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T08:55:50.768Z,1613465750.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:51.530Z,1613465751.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:51.950Z,1613465751.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:52.784Z,1613465752.784 [Micromodem](INFO): Nmea in: $SNTTA,0.103981,,,0.106507,085553.01*56

2021-02-16T08:55:52.810Z,1613465752.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 2.665513 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T08:55:52.819Z,1613465752.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 2.665513deg and heading rate command to 0 deg/s.
2021-02-16T08:55:55.197Z,1613465755.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:55:55.967Z,1613465755.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:55:56.391Z,1613465756.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:55:57.207Z,1613465757.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085557.44*54

2021-02-16T08:55:57.233Z,1613465757.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.260010 m, bearing: 10.183422 deg, deltaT: 4.286478 s, approachRate: 0.965831 m/s, LOS rate: 1.753866 deg/s, posRepo size: 2
2021-02-16T08:55:57.234Z,1613465757.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.260010 m,
      bearing: 10.183422 deg,
      approachRate: 0.965831 m/s,
      LOS rate: 1.753866 deg/s,
      cmd update: 5.261599 deg/s,
      cmd heading: 2.665513 deg,
      new cmd heading: 2.665513 deg.

2021-02-16T08:55:59.635Z,1613465759.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:00.413Z,1613465760.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:00.814Z,1613465760.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:01.640Z,1613465761.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,085601.89*55

2021-02-16T08:56:01.693Z,1613465761.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.840012 m, bearing: 51.938063 deg, deltaT: 4.486498 s, approachRate: 0.575059 m/s, LOS rate: 9.306733 deg/s, posRepo size: 3
2021-02-16T08:56:01.695Z,1613465761.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.840012 m,
      bearing: 51.938063 deg,
      approachRate: 0.575059 m/s,
      LOS rate: 9.306733 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 26.249835 deg,
      new cmd heading: 28.399266 deg.

2021-02-16T08:56:04.086Z,1613465764.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:04.877Z,1613465764.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:05.280Z,1613465765.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:06.136Z,1613465766.136 [Micromodem](INFO): Nmea in: $SNTTA,0.110741,,,,085606.35*49

2021-02-16T08:56:06.193Z,1613465766.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 12.509629 deg, deltaT: 4.489277 s, approachRate: 0.708353 m/s, LOS rate: -8.782803 deg/s, posRepo size: 4
2021-02-16T08:56:06.200Z,1613465766.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 12.509629 deg,
      approachRate: 0.708353 m/s,
      LOS rate: -8.782803 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 80.145040 deg,
      new cmd heading: 85.149713 deg.

2021-02-16T08:56:08.515Z,1613465768.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:09.302Z,1613465769.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:09.707Z,1613465769.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:10.539Z,1613465770.539 [Micromodem](INFO): Nmea in: $SNTTA,0.112384,,,,085610.78*48

2021-02-16T08:56:10.565Z,1613465770.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.720016 m, bearing: 51.846658 deg, deltaT: 4.368000 s, approachRate: 0.618135 m/s, LOS rate: 9.005730 deg/s, posRepo size: 4
2021-02-16T08:56:10.567Z,1613465770.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.720016 m,
      bearing: 51.846658 deg,
      approachRate: 0.618135 m/s,
      LOS rate: 9.005730 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 27.703623 deg,
      new cmd heading: 22.674291 deg.

2021-02-16T08:56:12.966Z,1613465772.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:13.757Z,1613465773.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:14.147Z,1613465774.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:14.972Z,1613465774.972 [Micromodem](INFO): Nmea in: $SNTTA,0.113559,,,,085615.23*44

2021-02-16T08:56:15.427Z,1613465775.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.400009 m, bearing: 77.620257 deg, deltaT: 4.885396 s, approachRate: 0.343881 m/s, LOS rate: 5.275642 deg/s, posRepo size: 4
2021-02-16T08:56:15.429Z,1613465775.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.400009 m,
      bearing: 77.620257 deg,
      approachRate: 0.343881 m/s,
      LOS rate: 5.275642 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 86.281782 deg,
      new cmd heading: 91.077102 deg.

2021-02-16T08:56:17.883Z,1613465777.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:18.609Z,1613465778.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:19.117Z,1613465779.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:19.858Z,1613465779.858 [Micromodem](INFO): Nmea in: $SNTTA,0.115044,,0.119644,,085620.08*55

2021-02-16T08:56:19.878Z,1613465779.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.559998 m, bearing: 97.403094 deg, deltaT: 4.545439 s, approachRate: 0.475199 m/s, LOS rate: 4.352239 deg/s, posRepo size: 4
2021-02-16T08:56:19.880Z,1613465779.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.559998 m,
      bearing: 97.403094 deg,
      approachRate: 0.475199 m/s,
      LOS rate: 4.352239 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.825359 deg,
      new cmd heading: 144.492836 deg.

2021-02-16T08:56:22.277Z,1613465782.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:23.051Z,1613465783.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:23.446Z,1613465783.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:24.271Z,1613465784.271 [Micromodem](INFO): Nmea in: $SNTTA,0.115974,,,,085624.52*45

2021-02-16T08:56:24.704Z,1613465784.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.820007 m, bearing: 135.811850 deg, deltaT: 4.791762 s, approachRate: 0.262953 m/s, LOS rate: 8.015581 deg/s, posRepo size: 4
2021-02-16T08:56:24.706Z,1613465784.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.820007 m,
      bearing: 135.811850 deg,
      approachRate: 0.262953 m/s,
      LOS rate: 8.015581 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 198.275553 deg,
      new cmd heading: 202.400361 deg.

2021-02-16T08:56:27.112Z,1613465787.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:27.893Z,1613465787.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:28.295Z,1613465788.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:29.136Z,1613465789.136 [Micromodem](INFO): Nmea in: $SNTTA,0.116169,,,,085629.37*4C

2021-02-16T08:56:29.161Z,1613465789.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.239990 m, bearing: 62.242605 deg, deltaT: 4.403828 s, approachRate: 0.095368 m/s, LOS rate: -16.705750 deg/s, posRepo size: 4
2021-02-16T08:56:29.161Z,1613465789.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.705750 deg/s. Setting heading cmd to target bearing of 62.242605deg and heading rate command to 0 deg/s.
2021-02-16T08:56:31.640Z,1613465791.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:32.386Z,1613465792.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:32.769Z,1613465792.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:33.964Z,1613465793.964 [Micromodem](INFO): Nmea in: $SNTTA,0.115936,,,,085633.86*4C

2021-02-16T08:56:34.043Z,1613465794.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 171.926312 deg, deltaT: 4.859174 s, approachRate: -0.111129 m/s, LOS rate: 22.572500 deg/s, posRepo size: 4
2021-02-16T08:56:34.044Z,1613465794.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.572500 deg/s. Setting heading cmd to target bearing of 171.926312deg and heading rate command to 0 deg/s.
2021-02-16T08:56:36.404Z,1613465796.404 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T08:56:36.424Z,1613465796.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:37.191Z,1613465797.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:37.591Z,1613465797.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:38.444Z,1613465798.444 [Micromodem](INFO): Nmea in: $SNTTA,0.114876,,,,085638.67*4C

2021-02-16T08:56:38.470Z,1613465798.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 174.525021 deg, deltaT: 4.458628 s, approachRate: 0.000000 m/s, LOS rate: 0.582850 deg/s, posRepo size: 4
2021-02-16T08:56:38.472Z,1613465798.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 174.525021 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.582850 deg/s,
      cmd update: 1.748549 deg/s,
      cmd heading: 171.926312 deg,
      new cmd heading: 171.926312 deg.

2021-02-16T08:56:40.841Z,1613465800.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:41.629Z,1613465801.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:42.039Z,1613465802.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:42.856Z,1613465802.856 [Micromodem](INFO): Nmea in: $SNTTA,0.113443,,,,085643.11*4C

2021-02-16T08:56:42.894Z,1613465802.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 172.302628 deg, deltaT: 4.390556 s, approachRate: 0.000000 m/s, LOS rate: -0.506176 deg/s, posRepo size: 4
2021-02-16T08:56:42.896Z,1613465802.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 172.302628 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.506176 deg/s,
      cmd update: -1.518527 deg/s,
      cmd heading: 179.639195 deg,
      new cmd heading: 180.360872 deg.

2021-02-16T08:56:44.860Z,1613465804.860 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T08:56:44.862Z,1613465804.862 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T08:56:45.284Z,1613465805.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:46.073Z,1613465806.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:46.474Z,1613465806.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:47.302Z,1613465807.302 [Micromodem](INFO): Nmea in: $SNTTA,0.111665,,,,085647.55*4C

2021-02-16T08:56:47.388Z,1613465807.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 171.978767 deg, deltaT: 4.430759 s, approachRate: 0.000000 m/s, LOS rate: -0.073094 deg/s, posRepo size: 4
2021-02-16T08:56:47.390Z,1613465807.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 171.978767 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.073094 deg/s,
      cmd update: -0.219281 deg/s,
      cmd heading: 172.917978 deg,
      new cmd heading: 172.193830 deg.

2021-02-16T08:56:49.755Z,1613465809.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:50.512Z,1613465810.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:50.917Z,1613465810.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:51.740Z,1613465811.740 [Micromodem](INFO): Nmea in: $SNTTA,0.109671,,,,085651.99*47

2021-02-16T08:56:51.762Z,1613465811.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.220001 m, bearing: 169.244424 deg, deltaT: 4.498582 s, approachRate: -2.107330 m/s, LOS rate: -0.607823 deg/s, posRepo size: 4
2021-02-16T08:56:51.765Z,1613465811.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.220001 m,
      bearing: 169.244424 deg,
      approachRate: -2.107330 m/s,
      LOS rate: -0.607823 deg/s,
      cmd update: -1.823470 deg/s,
      cmd heading: 171.933140 deg,
      new cmd heading: 171.853269 deg.

2021-02-16T08:56:54.204Z,1613465814.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:54.967Z,1613465814.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:55.371Z,1613465815.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:56:56.209Z,1613465816.209 [Micromodem](INFO): Nmea in: $SNTTA,0.107663,,,,085656.44*4D

2021-02-16T08:56:56.251Z,1613465816.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 170.312352 deg, deltaT: 4.402865 s, approachRate: -0.667744 m/s, LOS rate: 0.242553 deg/s, posRepo size: 4
2021-02-16T08:56:56.253Z,1613465816.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.280014 m,
      bearing: 170.312352 deg,
      approachRate: -0.667744 m/s,
      LOS rate: 0.242553 deg/s,
      cmd update: 0.727658 deg/s,
      cmd heading: 163.882777 deg,
      new cmd heading: 163.084266 deg.

2021-02-16T08:56:58.637Z,1613465818.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:56:59.434Z,1613465819.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:56:59.807Z,1613465819.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:00.652Z,1613465820.652 [Micromodem](INFO): Nmea in: $SNTTA,0.105566,,,,085700.91*43

2021-02-16T08:57:00.693Z,1613465820.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 170.255593 deg, deltaT: 4.438706 s, approachRate: 0.000000 m/s, LOS rate: -0.012787 deg/s, posRepo size: 4
2021-02-16T08:57:00.699Z,1613465820.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.280014 m,
      bearing: 170.255593 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.012787 deg/s,
      cmd update: -0.038362 deg/s,
      cmd heading: 167.111632 deg,
      new cmd heading: 167.433903 deg.

2021-02-16T08:57:03.068Z,1613465823.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:03.845Z,1613465823.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:04.261Z,1613465824.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:05.072Z,1613465825.072 [Micromodem](INFO): Nmea in: $SNTTA,0.103536,,,,085705.32*4C

2021-02-16T08:57:05.113Z,1613465825.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.040009 m, bearing: 170.649763 deg, deltaT: 4.442831 s, approachRate: -1.404511 m/s, LOS rate: 0.088721 deg/s, posRepo size: 4
2021-02-16T08:57:05.115Z,1613465825.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.040009 m,
      bearing: 170.649763 deg,
      approachRate: -1.404511 m/s,
      LOS rate: 0.088721 deg/s,
      cmd update: 0.266162 deg/s,
      cmd heading: 166.941146 deg,
      new cmd heading: 166.925100 deg.

2021-02-16T08:57:07.506Z,1613465827.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:08.288Z,1613465828.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:08.711Z,1613465828.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:09.520Z,1613465829.520 [Micromodem](INFO): Nmea in: $SNTTA,0.101456,,,,085709.76*45

2021-02-16T08:57:09.593Z,1613465829.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.980011 m, bearing: 170.434489 deg, deltaT: 4.432496 s, approachRate: -0.690355 m/s, LOS rate: -0.048567 deg/s, posRepo size: 4
2021-02-16T08:57:09.600Z,1613465829.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.980011 m,
      bearing: 170.434489 deg,
      approachRate: -0.690355 m/s,
      LOS rate: -0.048567 deg/s,
      cmd update: -0.145702 deg/s,
      cmd heading: 168.120912 deg,
      new cmd heading: 168.245065 deg.

2021-02-16T08:57:11.939Z,1613465831.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:12.750Z,1613465832.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:13.138Z,1613465833.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:13.976Z,1613465833.976 [Micromodem](INFO): Nmea in: $SNTTA,0.099282,,,,085714.22*47

2021-02-16T08:57:14.036Z,1613465834.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.679993 m, bearing: 170.370709 deg, deltaT: 4.466973 s, approachRate: -0.738759 m/s, LOS rate: -0.014278 deg/s, posRepo size: 4
2021-02-16T08:57:14.038Z,1613465834.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.679993 m,
      bearing: 170.370709 deg,
      approachRate: -0.738759 m/s,
      LOS rate: -0.014278 deg/s,
      cmd update: -0.042835 deg/s,
      cmd heading: 167.472394 deg,
      new cmd heading: 167.406289 deg.

2021-02-16T08:57:16.408Z,1613465836.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:17.178Z,1613465837.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:17.581Z,1613465837.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:18.420Z,1613465838.420 [Micromodem](INFO): Nmea in: $SNTTA,0.097110,,,0.099624,085718.65*50

2021-02-16T08:57:18.456Z,1613465838.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 170.566530 deg, deltaT: 4.458802 s, approachRate: -0.726650 m/s, LOS rate: 0.043918 deg/s, posRepo size: 4
2021-02-16T08:57:18.458Z,1613465838.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.440002 m,
      bearing: 170.566530 deg,
      approachRate: -0.726650 m/s,
      LOS rate: 0.043918 deg/s,
      cmd update: 0.131754 deg/s,
      cmd heading: 167.280718 deg,
      new cmd heading: 167.263470 deg.

2021-02-16T08:57:20.843Z,1613465840.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:21.621Z,1613465841.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:22.041Z,1613465842.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:22.852Z,1613465842.852 [Micromodem](INFO): Nmea in: $SNTTA,0.094928,,,,085723.10*44

2021-02-16T08:57:22.893Z,1613465842.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 170.007889 deg, deltaT: 4.431572 s, approachRate: -0.744657 m/s, LOS rate: -0.126059 deg/s, posRepo size: 4
2021-02-16T08:57:22.895Z,1613465842.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.139999 m,
      bearing: 170.007889 deg,
      approachRate: -0.744657 m/s,
      LOS rate: -0.126059 deg/s,
      cmd update: -0.378178 deg/s,
      cmd heading: 167.864063 deg,
      new cmd heading: 167.918407 deg.

2021-02-16T08:57:25.322Z,1613465845.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:26.069Z,1613465846.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:26.475Z,1613465846.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:27.297Z,1613465847.297 [Micromodem](INFO): Nmea in: $SNTTA,0.092808,,,,085727.54*45

2021-02-16T08:57:27.378Z,1613465847.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 170.705169 deg, deltaT: 4.405265 s, approachRate: -0.708242 m/s, LOS rate: 0.158283 deg/s, posRepo size: 4
2021-02-16T08:57:27.384Z,1613465847.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.020004 m,
      bearing: 170.705169 deg,
      approachRate: -0.708242 m/s,
      LOS rate: 0.158283 deg/s,
      cmd update: 0.474850 deg/s,
      cmd heading: 166.196560 deg,
      new cmd heading: 166.011916 deg.

2021-02-16T08:57:29.400Z,1613465849.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:30.105Z,1613465850.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:30.509Z,1613465850.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:31.364Z,1613465851.364 [Micromodem](INFO): Nmea in: $SNTTA,0.090911,,,,085731.58*45

2021-02-16T08:57:31.416Z,1613465851.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.139999 m, bearing: 170.184873 deg, deltaT: 4.038209 s, approachRate: -0.713189 m/s, LOS rate: -0.128843 deg/s, posRepo size: 4
2021-02-16T08:57:31.418Z,1613465851.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.139999 m,
      bearing: 170.184873 deg,
      approachRate: -0.713189 m/s,
      LOS rate: -0.128843 deg/s,
      cmd update: -0.386530 deg/s,
      cmd heading: 168.114094 deg,
      new cmd heading: 168.346079 deg.

2021-02-16T08:57:33.774Z,1613465853.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:34.558Z,1613465854.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:34.965Z,1613465854.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:35.792Z,1613465855.792 [Micromodem](INFO): Nmea in: $SNTTA,0.088781,,,,085736.04*45

2021-02-16T08:57:35.807Z,1613465855.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.900009 m, bearing: 170.768062 deg, deltaT: 4.505815 s, approachRate: -0.719069 m/s, LOS rate: 0.129430 deg/s, posRepo size: 4
2021-02-16T08:57:35.809Z,1613465855.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 170.768062 deg,
      approachRate: -0.719069 m/s,
      LOS rate: 0.129430 deg/s,
      cmd update: 0.388291 deg/s,
      cmd heading: 166.374026 deg,
      new cmd heading: 166.228172 deg.

2021-02-16T08:57:38.229Z,1613465858.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:39.046Z,1613465859.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:39.411Z,1613465859.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:40.252Z,1613465860.252 [Micromodem](INFO): Nmea in: $SNTTA,0.086532,,,,085740.52*43

2021-02-16T08:57:40.277Z,1613465860.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 170.976874 deg, deltaT: 4.419224 s, approachRate: -0.773895 m/s, LOS rate: 0.047251 deg/s, posRepo size: 4
2021-02-16T08:57:40.278Z,1613465860.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.479996 m,
      bearing: 170.976874 deg,
      approachRate: -0.773895 m/s,
      LOS rate: 0.047251 deg/s,
      cmd update: 0.141753 deg/s,
      cmd heading: 168.089881 deg,
      new cmd heading: 168.256072 deg.

2021-02-16T08:57:42.675Z,1613465862.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:43.449Z,1613465863.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:43.850Z,1613465863.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:44.676Z,1613465864.676 [Micromodem](INFO): Nmea in: $SNTTA,0.084338,,,,085744.92*45

2021-02-16T08:57:44.721Z,1613465864.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 172.155355 deg, deltaT: 4.470480 s, approachRate: -0.711331 m/s, LOS rate: 0.263614 deg/s, posRepo size: 4
2021-02-16T08:57:44.722Z,1613465864.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.300003 m,
      bearing: 172.155355 deg,
      approachRate: -0.711331 m/s,
      LOS rate: 0.263614 deg/s,
      cmd update: 0.790842 deg/s,
      cmd heading: 168.722296 deg,
      new cmd heading: 168.780495 deg.

2021-02-16T08:57:47.125Z,1613465867.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:47.893Z,1613465867.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:48.302Z,1613465868.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:49.124Z,1613465869.124 [Micromodem](INFO): Nmea in: $SNTTA,0.082236,,,,085749.37*4E

2021-02-16T08:57:49.162Z,1613465869.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 171.990420 deg, deltaT: 4.419356 s, approachRate: -0.719564 m/s, LOS rate: -0.037321 deg/s, posRepo size: 4
2021-02-16T08:57:49.165Z,1613465869.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.119995 m,
      bearing: 171.990420 deg,
      approachRate: -0.719564 m/s,
      LOS rate: -0.037321 deg/s,
      cmd update: -0.111963 deg/s,
      cmd heading: 172.224690 deg,
      new cmd heading: 172.559833 deg.

2021-02-16T08:57:51.550Z,1613465871.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:52.362Z,1613465872.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:52.738Z,1613465872.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:53.580Z,1613465873.580 [Micromodem](INFO): Nmea in: $SNTTA,0.080145,,,,085753.84*48

2021-02-16T08:57:53.605Z,1613465873.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 171.746172 deg, deltaT: 4.424731 s, approachRate: -0.718686 m/s, LOS rate: -0.055201 deg/s, posRepo size: 4
2021-02-16T08:57:53.627Z,1613465873.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 171.746172 deg,
      approachRate: -0.718686 m/s,
      LOS rate: -0.055201 deg/s,
      cmd update: -0.165602 deg/s,
      cmd heading: 171.728844 deg,
      new cmd heading: 171.679830 deg.

2021-02-16T08:57:56.029Z,1613465876.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:57:56.781Z,1613465876.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:57:57.198Z,1613465877.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:57:58.040Z,1613465878.040 [Micromodem](INFO): Nmea in: $SNTTA,0.078011,,,,085758.26*4C

2021-02-16T08:57:58.065Z,1613465878.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 171.302306 deg, deltaT: 4.459875 s, approachRate: -0.699570 m/s, LOS rate: -0.099524 deg/s, posRepo size: 4
2021-02-16T08:57:58.066Z,1613465878.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 171.302306 deg,
      approachRate: -0.699570 m/s,
      LOS rate: -0.099524 deg/s,
      cmd update: -0.298573 deg/s,
      cmd heading: 170.990262 deg,
      new cmd heading: 170.917837 deg.

2021-02-16T08:58:00.458Z,1613465880.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:01.231Z,1613465881.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:01.631Z,1613465881.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:02.460Z,1613465882.460 [Micromodem](INFO): Nmea in: $SNTTA,0.075827,,,,085802.70*4F

2021-02-16T08:58:02.504Z,1613465882.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 172.266250 deg, deltaT: 4.454209 s, approachRate: -0.727401 m/s, LOS rate: 0.216412 deg/s, posRepo size: 4
2021-02-16T08:58:02.505Z,1613465882.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 172.266250 deg,
      approachRate: -0.727401 m/s,
      LOS rate: 0.216412 deg/s,
      cmd update: 0.649236 deg/s,
      cmd heading: 169.661542 deg,
      new cmd heading: 169.534427 deg.

2021-02-16T08:58:04.891Z,1613465884.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:05.664Z,1613465885.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:06.076Z,1613465886.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:06.892Z,1613465886.892 [Micromodem](INFO): Nmea in: $SNTTA,0.073662,,,,085807.14*41

2021-02-16T08:58:06.942Z,1613465886.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 172.061276 deg, deltaT: 4.434816 s, approachRate: -0.744113 m/s, LOS rate: -0.046219 deg/s, posRepo size: 4
2021-02-16T08:58:06.949Z,1613465886.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.280006 m,
      bearing: 172.061276 deg,
      approachRate: -0.744113 m/s,
      LOS rate: -0.046219 deg/s,
      cmd update: -0.138658 deg/s,
      cmd heading: 172.530005 deg,
      new cmd heading: 172.819872 deg.

2021-02-16T08:58:09.379Z,1613465889.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:10.110Z,1613465890.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:10.514Z,1613465890.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:11.369Z,1613465891.369 [Micromodem](INFO): Nmea in: $SNTTA,0.071645,,,,085811.58*49

2021-02-16T08:58:11.417Z,1613465891.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.400009 m, bearing: 172.264078 deg, deltaT: 4.414081 s, approachRate: -0.652457 m/s, LOS rate: 0.045944 deg/s, posRepo size: 4
2021-02-16T08:58:11.419Z,1613465891.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.400009 m,
      bearing: 172.264078 deg,
      approachRate: -0.652457 m/s,
      LOS rate: 0.045944 deg/s,
      cmd update: 0.137833 deg/s,
      cmd heading: 171.915107 deg,
      new cmd heading: 171.847672 deg.

2021-02-16T08:58:13.443Z,1613465893.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:14.150Z,1613465894.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:14.558Z,1613465894.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:15.380Z,1613465895.380 [Micromodem](INFO): Nmea in: $SNTTA,0.069578,,,,085815.63*41

2021-02-16T08:58:15.457Z,1613465895.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.220001 m, bearing: 171.755652 deg, deltaT: 4.043898 s, approachRate: -0.786372 m/s, LOS rate: -0.125727 deg/s, posRepo size: 4
2021-02-16T08:58:15.463Z,1613465895.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.220001 m,
      bearing: 171.755652 deg,
      approachRate: -0.786372 m/s,
      LOS rate: -0.125727 deg/s,
      cmd update: -0.377180 deg/s,
      cmd heading: 172.472480 deg,
      new cmd heading: 172.539046 deg.

2021-02-16T08:58:17.799Z,1613465897.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:18.598Z,1613465898.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:19.030Z,1613465899.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:19.829Z,1613465899.829 [Micromodem](INFO): Nmea in: $SNTTA,0.067413,,,,085820.07*47

2021-02-16T08:58:19.870Z,1613465899.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 171.185113 deg, deltaT: 4.480238 s, approachRate: -0.736567 m/s, LOS rate: -0.127346 deg/s, posRepo size: 4
2021-02-16T08:58:19.872Z,1613465899.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.920006 m,
      bearing: 171.185113 deg,
      approachRate: -0.736567 m/s,
      LOS rate: -0.127346 deg/s,
      cmd update: -0.382037 deg/s,
      cmd heading: 170.784202 deg,
      new cmd heading: 170.625814 deg.

2021-02-16T08:58:22.278Z,1613465902.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:23.041Z,1613465903.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:23.449Z,1613465903.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:24.268Z,1613465904.268 [Micromodem](INFO): Nmea in: $SNTTA,0.065279,,,,085824.51*48

2021-02-16T08:58:24.310Z,1613465904.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 170.760863 deg, deltaT: 4.427885 s, approachRate: -0.718178 m/s, LOS rate: -0.095813 deg/s, posRepo size: 4
2021-02-16T08:58:24.312Z,1613465904.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.739998 m,
      bearing: 170.760863 deg,
      approachRate: -0.718178 m/s,
      LOS rate: -0.095813 deg/s,
      cmd update: -0.287440 deg/s,
      cmd heading: 169.092499 deg,
      new cmd heading: 168.927513 deg.

2021-02-16T08:58:26.707Z,1613465906.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:27.490Z,1613465907.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:27.889Z,1613465907.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:28.716Z,1613465908.716 [Micromodem](INFO): Nmea in: $SNTTA,0.063157,,,,085828.96*46

2021-02-16T08:58:28.741Z,1613465908.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 171.266051 deg, deltaT: 4.498512 s, approachRate: -0.720238 m/s, LOS rate: 0.112301 deg/s, posRepo size: 4
2021-02-16T08:58:28.743Z,1613465908.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.500000 m,
      bearing: 171.266051 deg,
      approachRate: -0.720238 m/s,
      LOS rate: 0.112301 deg/s,
      cmd update: 0.336903 deg/s,
      cmd heading: 167.799448 deg,
      new cmd heading: 167.694711 deg.

2021-02-16T08:58:31.162Z,1613465911.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:31.933Z,1613465911.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:32.363Z,1613465912.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:33.160Z,1613465913.160 [Micromodem](INFO): Nmea in: $SNTTA,0.061054,,,,085833.41*46

2021-02-16T08:58:33.217Z,1613465913.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 171.396262 deg, deltaT: 4.374629 s, approachRate: -0.699487 m/s, LOS rate: 0.029765 deg/s, posRepo size: 4
2021-02-16T08:58:33.223Z,1613465913.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.440002 m,
      bearing: 171.396262 deg,
      approachRate: -0.699487 m/s,
      LOS rate: 0.029765 deg/s,
      cmd update: 0.089295 deg/s,
      cmd heading: 169.274647 deg,
      new cmd heading: 169.430092 deg.

2021-02-16T08:58:35.621Z,1613465915.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:36.372Z,1613465916.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:36.789Z,1613465916.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:37.613Z,1613465917.613 [Micromodem](INFO): Nmea in: $SNTTA,0.058895,,,,085837.85*45

2021-02-16T08:58:37.637Z,1613465917.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 171.914209 deg, deltaT: 4.468976 s, approachRate: -0.738423 m/s, LOS rate: 0.115898 deg/s, posRepo size: 4
2021-02-16T08:58:37.639Z,1613465917.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 171.914209 deg,
      approachRate: -0.738423 m/s,
      LOS rate: 0.115898 deg/s,
      cmd update: 0.347695 deg/s,
      cmd heading: 169.673704 deg,
      new cmd heading: 169.710544 deg.

2021-02-16T08:58:40.056Z,1613465920.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:40.822Z,1613465920.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:41.225Z,1613465921.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:42.053Z,1613465922.053 [Micromodem](INFO): Nmea in: $SNTTA,0.056724,,,,085842.30*42

2021-02-16T08:58:42.117Z,1613465922.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.900009 m, bearing: 171.467883 deg, deltaT: 4.426588 s, approachRate: -0.731940 m/s, LOS rate: -0.100828 deg/s, posRepo size: 4
2021-02-16T08:58:42.123Z,1613465922.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.900009 m,
      bearing: 171.467883 deg,
      approachRate: -0.731940 m/s,
      LOS rate: -0.100828 deg/s,
      cmd update: -0.302485 deg/s,
      cmd heading: 171.212793 deg,
      new cmd heading: 171.374905 deg.

2021-02-16T08:58:44.483Z,1613465924.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:45.266Z,1613465925.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:45.672Z,1613465925.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:46.492Z,1613465926.492 [Micromodem](INFO): Nmea in: $SNTTA,0.054831,,,,085846.74*4F

2021-02-16T08:58:46.517Z,1613465926.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 171.457528 deg, deltaT: 4.448559 s, approachRate: -0.647402 m/s, LOS rate: -0.002328 deg/s, posRepo size: 4
2021-02-16T08:58:46.519Z,1613465926.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 171.457528 deg,
      approachRate: -0.647402 m/s,
      LOS rate: -0.002328 deg/s,
      cmd update: -0.006983 deg/s,
      cmd heading: 169.867158 deg,
      new cmd heading: 169.741014 deg.

2021-02-16T08:58:48.924Z,1613465928.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:49.706Z,1613465929.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:50.110Z,1613465930.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:50.936Z,1613465930.936 [Micromodem](INFO): Nmea in: $SNTTA,0.052517,,,,085851.18*4C

2021-02-16T08:58:50.979Z,1613465930.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.599998 m, bearing: 170.829629 deg, deltaT: 4.480658 s, approachRate: -0.763282 m/s, LOS rate: -0.140136 deg/s, posRepo size: 4
2021-02-16T08:58:50.984Z,1613465930.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.599998 m,
      bearing: 170.829629 deg,
      approachRate: -0.763282 m/s,
      LOS rate: -0.140136 deg/s,
      cmd update: -0.420407 deg/s,
      cmd heading: 169.835939 deg,
      new cmd heading: 169.833085 deg.

2021-02-16T08:58:53.411Z,1613465933.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:54.164Z,1613465934.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:54.554Z,1613465934.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:55.392Z,1613465935.392 [Micromodem](INFO): Nmea in: $SNTTA,0.050510,,,,085855.64*46

2021-02-16T08:58:55.441Z,1613465935.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.600006 m, bearing: 171.273673 deg, deltaT: 4.418157 s, approachRate: -0.679014 m/s, LOS rate: 0.100504 deg/s, posRepo size: 4
2021-02-16T08:58:55.443Z,1613465935.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.600006 m,
      bearing: 171.273673 deg,
      approachRate: -0.679014 m/s,
      LOS rate: 0.100504 deg/s,
      cmd update: 0.301513 deg/s,
      cmd heading: 167.981814 deg,
      new cmd heading: 167.788423 deg.

2021-02-16T08:58:57.805Z,1613465937.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:58:58.597Z,1613465938.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:58:59.030Z,1613465939.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:58:59.831Z,1613465939.831 [Micromodem](INFO): Nmea in: $SNTTA,0.048374,,,,085900.07*4F

2021-02-16T08:58:59.850Z,1613465939.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 171.081253 deg, deltaT: 4.444839 s, approachRate: -0.728937 m/s, LOS rate: -0.043291 deg/s, posRepo size: 4
2021-02-16T08:58:59.852Z,1613465939.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.360001 m,
      bearing: 171.081253 deg,
      approachRate: -0.728937 m/s,
      LOS rate: -0.043291 deg/s,
      cmd update: -0.129872 deg/s,
      cmd heading: 169.327356 deg,
      new cmd heading: 169.450073 deg.

2021-02-16T08:59:02.273Z,1613465942.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:03.037Z,1613465943.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:03.450Z,1613465943.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:04.268Z,1613465944.268 [Micromodem](INFO): Nmea in: $SNTTA,0.046121,,,0.053008,085904.51*54

2021-02-16T08:59:04.319Z,1613465944.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 170.802814 deg, deltaT: 4.436475 s, approachRate: -0.757356 m/s, LOS rate: -0.062761 deg/s, posRepo size: 4
2021-02-16T08:59:04.347Z,1613465944.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 170.802814 deg,
      approachRate: -0.757356 m/s,
      LOS rate: -0.062761 deg/s,
      cmd update: -0.188284 deg/s,
      cmd heading: 168.751186 deg,
      new cmd heading: 168.694927 deg.

2021-02-16T08:59:06.709Z,1613465946.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:07.480Z,1613465947.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:07.899Z,1613465947.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:08.712Z,1613465948.712 [Micromodem](INFO): Nmea in: $SNTTA,0.044046,,,,085908.95*42

2021-02-16T08:59:08.759Z,1613465948.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 171.241804 deg, deltaT: 4.499089 s, approachRate: -0.693474 m/s, LOS rate: 0.097573 deg/s, posRepo size: 4
2021-02-16T08:59:08.761Z,1613465948.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.880005 m,
      bearing: 171.241804 deg,
      approachRate: -0.693474 m/s,
      LOS rate: 0.097573 deg/s,
      cmd update: 0.292719 deg/s,
      cmd heading: 167.904075 deg,
      new cmd heading: 167.832590 deg.

2021-02-16T08:59:11.156Z,1613465951.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:11.925Z,1613465951.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:12.360Z,1613465952.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:13.156Z,1613465953.156 [Micromodem](INFO): Nmea in: $SNTTA,0.042038,,,,085913.40*4F

2021-02-16T08:59:13.213Z,1613465953.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 172.126832 deg, deltaT: 4.367561 s, approachRate: -0.714358 m/s, LOS rate: 0.202637 deg/s, posRepo size: 4
2021-02-16T08:59:13.219Z,1613465953.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.760002 m,
      bearing: 172.126832 deg,
      approachRate: -0.714358 m/s,
      LOS rate: 0.202637 deg/s,
      cmd update: 0.607910 deg/s,
      cmd heading: 169.182535 deg,
      new cmd heading: 169.319142 deg.

2021-02-16T08:59:15.606Z,1613465955.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:16.379Z,1613465956.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:16.774Z,1613465956.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:17.604Z,1613465957.604 [Micromodem](INFO): Nmea in: $SNTTA,0.039773,,,,085917.85*46

2021-02-16T08:59:17.649Z,1613465957.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 171.479959 deg, deltaT: 4.487035 s, approachRate: -0.735452 m/s, LOS rate: -0.144165 deg/s, posRepo size: 4
2021-02-16T08:59:17.655Z,1613465957.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.460003 m,
      bearing: 171.479959 deg,
      approachRate: -0.735452 m/s,
      LOS rate: -0.144165 deg/s,
      cmd update: -0.432495 deg/s,
      cmd heading: 171.907788 deg,
      new cmd heading: 172.162838 deg.

2021-02-16T08:59:20.060Z,1613465960.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:20.812Z,1613465960.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:21.227Z,1613465961.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:22.064Z,1613465962.064 [Micromodem](INFO): Nmea in: $SNTTA,0.037574,,,,085922.29*4D

2021-02-16T08:59:22.115Z,1613465962.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 170.559263 deg, deltaT: 4.428236 s, approachRate: -0.758768 m/s, LOS rate: -0.207915 deg/s, posRepo size: 4
2021-02-16T08:59:22.117Z,1613465962.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.099998 m,
      bearing: 170.559263 deg,
      approachRate: -0.758768 m/s,
      LOS rate: -0.207915 deg/s,
      cmd update: -0.623744 deg/s,
      cmd heading: 169.990812 deg,
      new cmd heading: 169.806454 deg.

2021-02-16T08:59:24.640Z,1613465964.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:25.257Z,1613465965.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:25.662Z,1613465965.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:26.488Z,1613465966.488 [Micromodem](INFO): Nmea in: $SNTTA,0.035358,,,,085926.73*4C

2021-02-16T08:59:26.537Z,1613465966.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.799999 m, bearing: 171.570964 deg, deltaT: 4.431661 s, approachRate: -0.744642 m/s, LOS rate: 0.228289 deg/s, posRepo size: 4
2021-02-16T08:59:26.540Z,1613465966.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.799999 m,
      bearing: 171.570964 deg,
      approachRate: -0.744642 m/s,
      LOS rate: 0.228289 deg/s,
      cmd update: 0.684868 deg/s,
      cmd heading: 167.226667 deg,
      new cmd heading: 166.949656 deg.

2021-02-16T08:59:28.935Z,1613465968.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:29.710Z,1613465969.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:30.110Z,1613465970.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:30.936Z,1613465970.936 [Micromodem](INFO): Nmea in: $SNTTA,0.033217,,,,085931.18*4B

2021-02-16T08:59:30.982Z,1613465970.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 171.688375 deg, deltaT: 4.442946 s, approachRate: -0.715742 m/s, LOS rate: 0.026426 deg/s, posRepo size: 4
2021-02-16T08:59:30.997Z,1613465970.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.619995 m,
      bearing: 171.688375 deg,
      approachRate: -0.715742 m/s,
      LOS rate: 0.026426 deg/s,
      cmd update: 0.079279 deg/s,
      cmd heading: 170.269540 deg,
      new cmd heading: 170.574521 deg.

2021-02-16T08:59:33.409Z,1613465973.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:34.144Z,1613465974.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:34.550Z,1613465974.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:34.599Z,1613465974.599 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T08:59:34.599Z,1613465974.599 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T08:59:34.599Z,1613465974.599 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T08:59:34.759Z,1613465974.759 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T08:59:35.024Z,1613465975.024 [RDI_Pathfinder](INFO): Powering down
2021-02-16T08:59:35.372Z,1613465975.372 [Micromodem](INFO): Nmea in: $SNTTA,0.031308,,,,085935.62*4F

2021-02-16T08:59:35.394Z,1613465975.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.439999 m, bearing: 171.613817 deg, deltaT: 4.541985 s, approachRate: -0.700134 m/s, LOS rate: -0.016415 deg/s, posRepo size: 4
2021-02-16T08:59:35.396Z,1613465975.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 171.613817 deg,
      approachRate: -0.700134 m/s,
      LOS rate: -0.016415 deg/s,
      cmd update: -0.049246 deg/s,
      cmd heading: 170.629494 deg,
      new cmd heading: 170.654662 deg.

2021-02-16T08:59:35.911Z,1613465975.911 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T08:59:35.911Z,1613465975.911 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T08:59:37.794Z,1613465977.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:38.588Z,1613465978.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:39.024Z,1613465979.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:39.816Z,1613465979.816 [Micromodem](INFO): Nmea in: $SNTTA,0.028966,,,,085940.06*45

2021-02-16T08:59:39.853Z,1613465979.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 171.526595 deg, deltaT: 4.355332 s, approachRate: -0.730140 m/s, LOS rate: -0.020026 deg/s, posRepo size: 4
2021-02-16T08:59:39.854Z,1613465979.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.259998 m,
      bearing: 171.526595 deg,
      approachRate: -0.730140 m/s,
      LOS rate: -0.020026 deg/s,
      cmd update: -0.060079 deg/s,
      cmd heading: 170.415321 deg,
      new cmd heading: 170.394298 deg.

2021-02-16T08:59:42.251Z,1613465982.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:43.037Z,1613465983.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:43.444Z,1613465983.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:44.264Z,1613465984.264 [Micromodem](INFO): Nmea in: $SNTTA,0.026825,,,,085944.51*4B

2021-02-16T08:59:44.302Z,1613465984.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.080002 m, bearing: 171.691763 deg, deltaT: 4.451197 s, approachRate: -0.714414 m/s, LOS rate: 0.037106 deg/s, posRepo size: 4
2021-02-16T08:59:44.304Z,1613465984.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 171.691763 deg,
      approachRate: -0.714414 m/s,
      LOS rate: 0.037106 deg/s,
      cmd update: 0.111319 deg/s,
      cmd heading: 170.147418 deg,
      new cmd heading: 170.122386 deg.

2021-02-16T08:59:46.686Z,1613465986.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:47.476Z,1613465987.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:47.898Z,1613465987.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:48.708Z,1613465988.708 [Micromodem](INFO): Nmea in: $SNTTA,0.024655,,0.057485,,085948.95*51

2021-02-16T08:59:48.745Z,1613465988.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 171.429702 deg, deltaT: 4.440154 s, approachRate: -0.743218 m/s, LOS rate: -0.059021 deg/s, posRepo size: 4
2021-02-16T08:59:48.746Z,1613465988.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.78 m.
2021-02-16T08:59:48.748Z,1613465988.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.779999 m,
      bearing: 171.429702 deg,
      approachRate: -0.743218 m/s,
      LOS rate: -0.059021 deg/s,
      cmd update: -0.177062 deg/s,
      cmd heading: 170.641695 deg,
      new cmd heading: 170.688480 deg.

2021-02-16T08:59:49.105Z,1613465989.105 [PowerOnly](INFO): Powering up loadControl
2021-02-16T08:59:51.154Z,1613465991.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:51.920Z,1613465991.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:52.343Z,1613465992.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:53.153Z,1613465993.153 [Micromodem](INFO): Nmea in: $SNTTA,0.022507,,,0.025032,085953.39*52

2021-02-16T08:59:53.194Z,1613465993.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 172.225105 deg, deltaT: 4.425284 s, approachRate: -0.732157 m/s, LOS rate: 0.179741 deg/s, posRepo size: 4
2021-02-16T08:59:53.215Z,1613465993.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.54 m.
2021-02-16T08:59:53.215Z,1613465993.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.54 m.
2021-02-16T08:59:53.216Z,1613465993.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T08:59:53.217Z,1613465993.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.539997 m,
      bearing: 172.225105 deg,
      approachRate: -0.732157 m/s,
      LOS rate: 0.179741 deg/s,
      cmd update: 0.539222 deg/s,
      cmd heading: 169.858171 deg,
      new cmd heading: 169.779695 deg.

2021-02-16T08:59:55.573Z,1613465995.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T08:59:56.364Z,1613465996.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T08:59:56.770Z,1613465996.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T08:59:57.592Z,1613465997.592 [Micromodem](INFO): Nmea in: $SNTTA,0.020436,,,,085957.84*49

2021-02-16T08:59:57.634Z,1613465997.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 171.802685 deg, deltaT: 4.506097 s, approachRate: -0.692395 m/s, LOS rate: -0.093744 deg/s, posRepo size: 4
2021-02-16T08:59:57.647Z,1613465997.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 171.802685 deg,
      approachRate: -0.692395 m/s,
      LOS rate: -0.093744 deg/s,
      cmd update: -0.281232 deg/s,
      cmd heading: 172.286470 deg,
      new cmd heading: 172.491699 deg.

2021-02-16T09:00:00.110Z,1613466000.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:00.814Z,1613466000.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:01.275Z,1613466001.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:02.068Z,1613466002.068 [Micromodem](INFO): Nmea in: $SNTTA,0.018265,,0.025507,,090002.29*53

2021-02-16T09:00:02.123Z,1613466002.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 170.551859 deg, deltaT: 4.397775 s, approachRate: -0.736735 m/s, LOS rate: -0.284422 deg/s, posRepo size: 4
2021-02-16T09:00:02.125Z,1613466002.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 170.551859 deg,
      approachRate: -0.736735 m/s,
      LOS rate: -0.284422 deg/s,
      cmd update: -0.853267 deg/s,
      cmd heading: 171.048874 deg,
      new cmd heading: 170.917140 deg.

2021-02-16T09:00:04.096Z,1613466004.096 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:00:04.466Z,1613466004.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:05.252Z,1613466005.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:05.659Z,1613466005.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:06.496Z,1613466006.496 [Micromodem](INFO): Nmea in: $SNTTA,0.016232,,,,090006.72*4E

2021-02-16T09:00:06.518Z,1613466006.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 170.350751 deg, deltaT: 4.481303 s, approachRate: -0.669448 m/s, LOS rate: -0.044877 deg/s, posRepo size: 4
2021-02-16T09:00:06.520Z,1613466006.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.180000 m,
      bearing: 170.350751 deg,
      approachRate: -0.669448 m/s,
      LOS rate: -0.044877 deg/s,
      cmd update: -0.134631 deg/s,
      cmd heading: 167.228529 deg,
      new cmd heading: 166.898452 deg.

2021-02-16T09:00:08.923Z,1613466008.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:09.719Z,1613466009.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:10.128Z,1613466010.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:10.939Z,1613466010.939 [Micromodem](INFO): Nmea in: $SNTTA,0.014147,0.029284,,,090011.19*5D

2021-02-16T09:00:10.962Z,1613466010.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.000000 m, bearing: 171.813832 deg, deltaT: 4.399106 s, approachRate: -0.722874 m/s, LOS rate: 0.332586 deg/s, posRepo size: 4
2021-02-16T09:00:10.968Z,1613466010.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.000000 m,
      bearing: 171.813832 deg,
      approachRate: -0.722874 m/s,
      LOS rate: 0.332586 deg/s,
      cmd update: 0.997758 deg/s,
      cmd heading: 166.635749 deg,
      new cmd heading: 166.578140 deg.

2021-02-16T09:00:13.388Z,1613466013.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:14.158Z,1613466014.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:14.545Z,1613466014.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:15.385Z,1613466015.385 [Micromodem](INFO): Nmea in: $SNTTA,0.012049,,0.037549,,090015.63*54

2021-02-16T09:00:15.437Z,1613466015.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 170.953597 deg, deltaT: 4.458501 s, approachRate: -0.699787 m/s, LOS rate: -0.192943 deg/s, posRepo size: 4
2021-02-16T09:00:15.455Z,1613466015.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 170.953597 deg,
      approachRate: -0.699787 m/s,
      LOS rate: -0.192943 deg/s,
      cmd update: -0.578828 deg/s,
      cmd heading: 171.056442 deg,
      new cmd heading: 171.527196 deg.

2021-02-16T09:00:16.201Z,1613466016.201 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:00:17.801Z,1613466017.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:18.588Z,1613466018.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:19.042Z,1613466019.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:19.824Z,1613466019.824 [Micromodem](INFO): Nmea in: $SNTTA,0.009970,,0.029207,,090020.06*5A

2021-02-16T09:00:19.846Z,1613466019.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.700000 m, bearing: 168.398860 deg, deltaT: 4.415149 s, approachRate: -0.720247 m/s, LOS rate: -0.578630 deg/s, posRepo size: 4
2021-02-16T09:00:19.848Z,1613466019.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 168.398860 deg,
      approachRate: -0.720247 m/s,
      LOS rate: -0.578630 deg/s,
      cmd update: -1.735889 deg/s,
      cmd heading: 168.484734 deg,
      new cmd heading: 168.231020 deg.

2021-02-16T09:00:22.264Z,1613466022.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:23.069Z,1613466023.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:23.463Z,1613466023.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:24.296Z,1613466024.296 [Micromodem](INFO): Nmea in: $SNTTA,0.007831,,,,090024.54*43

2021-02-16T09:00:24.338Z,1613466024.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 171.388011 deg, deltaT: 4.470913 s, approachRate: -0.711264 m/s, LOS rate: 0.668577 deg/s, posRepo size: 4
2021-02-16T09:00:24.340Z,1613466024.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 171.388011 deg,
      approachRate: -0.711264 m/s,
      LOS rate: 0.668577 deg/s,
      cmd update: 2.005732 deg/s,
      cmd heading: 160.726173 deg,
      new cmd heading: 159.926718 deg.

2021-02-16T09:00:26.701Z,1613466026.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:27.484Z,1613466027.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:27.895Z,1613466027.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:28.712Z,1613466028.712 [Micromodem](INFO): Nmea in: $SNTTA,0.005884,,,,090028.96*4D

2021-02-16T09:00:28.754Z,1613466028.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 172.324880 deg, deltaT: 4.461565 s, approachRate: -0.672410 m/s, LOS rate: 0.209987 deg/s, posRepo size: 4
2021-02-16T09:00:28.756Z,1613466028.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 172.324880 deg,
      approachRate: -0.672410 m/s,
      LOS rate: 0.209987 deg/s,
      cmd update: 0.629960 deg/s,
      cmd heading: 169.678080 deg,
      new cmd heading: 170.506457 deg.

2021-02-16T09:00:31.185Z,1613466031.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:31.933Z,1613466031.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:32.341Z,1613466032.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:33.169Z,1613466033.169 [Micromodem](INFO): Nmea in: $SNTTA,0.004175,,0.025486,0.056667,090033.41*42

2021-02-16T09:00:33.237Z,1613466033.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 164.764271 deg, deltaT: 4.411206 s, approachRate: -0.571273 m/s, LOS rate: -1.713955 deg/s, posRepo size: 4
2021-02-16T09:00:33.239Z,1613466033.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 164.764271 deg,
      approachRate: -0.571273 m/s,
      LOS rate: -1.713955 deg/s,
      cmd update: -5.141865 deg/s,
      cmd heading: 172.456984 deg,
      new cmd heading: 172.762645 deg.

2021-02-16T09:00:35.598Z,1613466035.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:36.389Z,1613466036.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:36.791Z,1613466036.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:37.620Z,1613466037.620 [Micromodem](INFO): Nmea in: $SNTTA,0.002991,,,,090037.86*40

2021-02-16T09:00:37.645Z,1613466037.645 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T09:00:37.645Z,1613466037.645 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:00:37.645Z,1613466037.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T09:00:37.645Z,1613466037.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:00:37.645Z,1613466037.645 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T09:00:37.646Z,1613466037.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T09:00:37.646Z,1613466037.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T09:00:37.646Z,1613466037.646 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T09:00:37.647Z,1613466037.647 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T09:00:37.650Z,1613466037.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 191.561862 deg, deltaT: 4.507206 s, approachRate: -0.346112 m/s, LOS rate: 5.945500 deg/s, posRepo size: 4
2021-02-16T09:00:37.653Z,1613466037.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 191.561862 deg,
      approachRate: -0.346112 m/s,
      LOS rate: 5.945500 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 149.302490 deg,
      new cmd heading: 147.273762 deg.

2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T090038: (41.552319, -70.708603)
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T09:00:38.081Z,1613466038.081 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T09:00:38.082Z,1613466038.082 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:00:38.429Z,1613466038.429 [UniversalFixResidualReporter](INFO): Fix residual: 3.5 %DT, over the last 775.7 m. Residual distance 26.8 m at bearing 118.1 degrees. Fix at (41.5519, -70.7090) with 0.0 m made good.
2021-02-16T09:00:40.128Z,1613466040.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:40.824Z,1613466040.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:41.230Z,1613466041.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:42.072Z,1613466042.072 [Micromodem](INFO): Nmea in: $SNTTA,0.003042,,0.014773,,090042.30*51

2021-02-16T09:00:42.135Z,1613466042.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 155.906622 deg, deltaT: 4.394728 s, approachRate: 0.013653 m/s, LOS rate: -8.113185 deg/s, posRepo size: 4
2021-02-16T09:00:42.137Z,1613466042.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 155.906622 deg,
      approachRate: 0.013653 m/s,
      LOS rate: -8.113185 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 202.087815 deg,
      new cmd heading: 207.814180 deg.

2021-02-16T09:00:44.494Z,1613466044.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:45.265Z,1613466045.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:45.668Z,1613466045.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:46.492Z,1613466046.492 [Micromodem](INFO): Nmea in: $SNTTA,0.004526,,,,090046.74*4D

2021-02-16T09:00:46.538Z,1613466046.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 164.182462 deg, deltaT: 4.505034 s, approachRate: 0.519419 m/s, LOS rate: 1.837021 deg/s, posRepo size: 4
2021-02-16T09:00:46.544Z,1613466046.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 164.182462 deg,
      approachRate: 0.519419 m/s,
      LOS rate: 1.837021 deg/s,
      cmd update: 5.511062 deg/s,
      cmd heading: 148.075802 deg,
      new cmd heading: 143.475710 deg.

2021-02-16T09:00:48.912Z,1613466048.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:49.704Z,1613466049.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:50.110Z,1613466050.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:50.948Z,1613466050.948 [Micromodem](INFO): Nmea in: $SNTTA,0.006263,,,,090051.18*45

2021-02-16T09:00:50.973Z,1613466050.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.479997 m, bearing: 173.802728 deg, deltaT: 4.373876 s, approachRate: 0.603583 m/s, LOS rate: 2.199483 deg/s, posRepo size: 4
2021-02-16T09:00:50.976Z,1613466050.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 173.802728 deg,
      approachRate: 0.603583 m/s,
      LOS rate: 2.199483 deg/s,
      cmd update: 6.598449 deg/s,
      cmd heading: 172.202884 deg,
      new cmd heading: 174.612651 deg.

2021-02-16T09:00:53.386Z,1613466053.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:54.152Z,1613466054.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:54.561Z,1613466054.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:55.383Z,1613466055.383 [Micromodem](INFO): Nmea in: $SNTTA,0.008975,,,,090055.62*4E

2021-02-16T09:00:55.418Z,1613466055.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 170.340082 deg, deltaT: 4.510324 s, approachRate: 0.891290 m/s, LOS rate: -0.767716 deg/s, posRepo size: 4
2021-02-16T09:00:55.420Z,1613466055.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 170.340082 deg,
      approachRate: 0.891290 m/s,
      LOS rate: -0.767716 deg/s,
      cmd update: -2.303147 deg/s,
      cmd heading: 201.712509 deg,
      new cmd heading: 204.437200 deg.

2021-02-16T09:00:57.832Z,1613466057.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:00:58.597Z,1613466058.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:00:59.048Z,1613466059.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:00:59.832Z,1613466059.832 [Micromodem](INFO): Nmea in: $SNTTA,0.010765,,,0.013221,090100.07*57

2021-02-16T09:00:59.877Z,1613466059.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 181.050652 deg, deltaT: 4.451219 s, approachRate: 0.579615 m/s, LOS rate: 2.406211 deg/s, posRepo size: 4
2021-02-16T09:00:59.877Z,1613466059.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.08 m. Rolling out.
2021-02-16T09:00:59.877Z,1613466059.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T09:01:02.278Z,1613466062.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:03.060Z,1613466063.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:03.446Z,1613466063.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:04.284Z,1613466064.284 [Micromodem](INFO): Nmea in: $SNTTA,0.012743,,,,090104.53*49

2021-02-16T09:01:04.338Z,1613466064.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 218.447044 deg, deltaT: 4.390383 s, approachRate: 0.505651 m/s, LOS rate: 8.517797 deg/s, posRepo size: 4
2021-02-16T09:01:06.711Z,1613466066.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:07.484Z,1613466067.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:07.890Z,1613466067.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:08.717Z,1613466068.717 [Micromodem](INFO): Nmea in: $SNTTA,0.014836,,,,090108.96*47

2021-02-16T09:01:08.757Z,1613466068.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 218.370546 deg, deltaT: 4.489253 s, approachRate: 0.681628 m/s, LOS rate: -0.017040 deg/s, posRepo size: 4
2021-02-16T09:01:11.178Z,1613466071.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:11.930Z,1613466071.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:12.339Z,1613466072.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:13.143Z,1613466073.143 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090113.40*50

2021-02-16T09:01:13.964Z,1613466073.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:15.564Z,1613466075.564 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:16.790Z,1613466076.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:17.585Z,1613466077.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:18.039Z,1613466078.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:18.812Z,1613466078.812 [Micromodem](INFO): Nmea in: $SNTTA,0.019673,,,,090119.06*4C

2021-02-16T09:01:18.828Z,1613466078.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.399998 m, bearing: 195.726065 deg, deltaT: 10.054191 s, approachRate: 0.799666 m/s, LOS rate: -2.252243 deg/s, posRepo size: 4
2021-02-16T09:01:21.289Z,1613466081.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:22.055Z,1613466082.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:22.434Z,1613466082.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:23.261Z,1613466083.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090123.53*51

2021-02-16T09:01:23.646Z,1613466083.646 [PowerOnly](INFO): Powering down loadControl
2021-02-16T09:01:24.120Z,1613466084.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:25.663Z,1613466085.663 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:26.924Z,1613466086.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:27.689Z,1613466087.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:28.089Z,1613466088.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:28.901Z,1613466088.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090129.16*5A

2021-02-16T09:01:29.733Z,1613466089.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:31.318Z,1613466091.318 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:32.553Z,1613466092.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:33.342Z,1613466093.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:33.765Z,1613466093.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:34.561Z,1613466094.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090134.82*5B

2021-02-16T09:01:35.417Z,1613466095.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:36.985Z,1613466096.985 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:38.247Z,1613466098.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:39.034Z,1613466099.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:39.411Z,1613466099.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:40.229Z,1613466100.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090140.51*56

2021-02-16T09:01:41.101Z,1613466101.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:42.630Z,1613466102.630 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:43.869Z,1613466103.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:44.658Z,1613466104.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:45.066Z,1613466105.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:45.869Z,1613466105.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090146.13*56

2021-02-16T09:01:46.688Z,1613466106.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:48.286Z,1613466108.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:01:49.516Z,1613466109.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:50.308Z,1613466110.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:50.713Z,1613466110.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:51.536Z,1613466111.536 [Micromodem](INFO): Nmea in: $SNTTA,0.034741,,,,090151.78*46

2021-02-16T09:01:51.572Z,1613466111.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 206.049650 deg, deltaT: 32.760903 s, approachRate: 0.697783 m/s, LOS rate: 0.315119 deg/s, posRepo size: 4
2021-02-16T09:01:54.049Z,1613466114.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:54.758Z,1613466114.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:55.176Z,1613466115.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:01:56.017Z,1613466116.017 [Micromodem](INFO): Nmea in: $SNTTA,0.037007,,,,090156.23*49

2021-02-16T09:01:56.107Z,1613466116.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.680000 m, bearing: 206.888561 deg, deltaT: 4.402315 s, approachRate: 0.776864 m/s, LOS rate: 0.190561 deg/s, posRepo size: 4
2021-02-16T09:01:58.428Z,1613466118.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:01:59.215Z,1613466119.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:01:59.603Z,1613466119.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:00.444Z,1613466120.444 [Micromodem](INFO): Nmea in: $SNTTA,0.039191,,,,090200.69*47

2021-02-16T09:02:00.459Z,1613466120.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 206.161474 deg, deltaT: 4.497172 s, approachRate: 0.733794 m/s, LOS rate: -0.161677 deg/s, posRepo size: 4
2021-02-16T09:02:02.850Z,1613466122.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:03.644Z,1613466123.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:04.064Z,1613466124.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:04.876Z,1613466124.876 [Micromodem](INFO): Nmea in: $SNTTA,0.041544,,,,090205.12*4D

2021-02-16T09:02:04.898Z,1613466124.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.459999 m, bearing: 207.838435 deg, deltaT: 4.380157 s, approachRate: 0.794492 m/s, LOS rate: 0.382854 deg/s, posRepo size: 4
2021-02-16T09:02:05.288Z,1613466125.288 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:02:07.327Z,1613466127.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:08.089Z,1613466128.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:08.493Z,1613466128.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:09.320Z,1613466129.320 [Micromodem](INFO): Nmea in: $SNTTA,0.043791,,0.055653,,090209.56*57

2021-02-16T09:02:09.376Z,1613466129.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 207.010944 deg, deltaT: 4.441102 s, approachRate: 0.770080 m/s, LOS rate: -0.186326 deg/s, posRepo size: 4
2021-02-16T09:02:11.739Z,1613466131.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:12.539Z,1613466132.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:12.937Z,1613466132.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:13.764Z,1613466133.764 [Micromodem](INFO): Nmea in: $SNTTA,0.045987,,,,090214.01*48

2021-02-16T09:02:13.810Z,1613466133.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.120003 m, bearing: 205.673061 deg, deltaT: 4.494497 s, approachRate: 0.720881 m/s, LOS rate: -0.297672 deg/s, posRepo size: 4
2021-02-16T09:02:16.250Z,1613466136.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:16.980Z,1613466136.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:17.401Z,1613466137.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:18.220Z,1613466138.220 [Micromodem](INFO): Nmea in: $SNTTA,0.048225,,,,090218.46*49

2021-02-16T09:02:18.266Z,1613466138.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.480003 m, bearing: 203.844960 deg, deltaT: 4.398725 s, approachRate: 0.763858 m/s, LOS rate: -0.415598 deg/s, posRepo size: 4
2021-02-16T09:02:20.646Z,1613466140.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:21.422Z,1613466141.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:21.826Z,1613466141.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:22.648Z,1613466142.648 [Micromodem](INFO): Nmea in: $SNTTA,0.050525,,,,090222.89*4D

2021-02-16T09:02:22.690Z,1613466142.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 194.774469 deg, deltaT: 4.480841 s, approachRate: 0.763249 m/s, LOS rate: -2.024283 deg/s, posRepo size: 4
2021-02-16T09:02:25.097Z,1613466145.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:25.864Z,1613466145.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:26.270Z,1613466146.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:27.092Z,1613466147.092 [Micromodem](INFO): Nmea in: $SNTTA,0.052805,,,,090227.34*43

2021-02-16T09:02:27.140Z,1613466147.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.260002 m, bearing: 187.059292 deg, deltaT: 4.422064 s, approachRate: 0.759826 m/s, LOS rate: -1.744700 deg/s, posRepo size: 4
2021-02-16T09:02:29.514Z,1613466149.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:30.315Z,1613466150.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:30.720Z,1613466150.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:31.540Z,1613466151.540 [Micromodem](INFO): Nmea in: $SNTTA,0.055016,,,,090231.79*40

2021-02-16T09:02:31.585Z,1613466151.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 196.306645 deg, deltaT: 4.469358 s, approachRate: 0.778634 m/s, LOS rate: 2.069056 deg/s, posRepo size: 4
2021-02-16T09:02:33.980Z,1613466153.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:34.758Z,1613466154.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:35.164Z,1613466155.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:35.984Z,1613466155.984 [Micromodem](INFO): Nmea in: $SNTTA,0.057211,,,,090236.23*4F

2021-02-16T09:02:36.062Z,1613466156.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.920006 m, bearing: 195.552510 deg, deltaT: 4.403000 s, approachRate: 0.722237 m/s, LOS rate: -0.171278 deg/s, posRepo size: 4
2021-02-16T09:02:38.089Z,1613466158.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:38.794Z,1613466158.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:39.213Z,1613466159.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:40.060Z,1613466160.060 [Micromodem](INFO): Nmea in: $SNTTA,0.059152,,,,090240.27*40

2021-02-16T09:02:40.122Z,1613466160.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 200.291759 deg, deltaT: 4.052417 s, approachRate: 0.740297 m/s, LOS rate: 1.169487 deg/s, posRepo size: 4
2021-02-16T09:02:42.462Z,1613466162.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:43.238Z,1613466163.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:43.658Z,1613466163.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:44.484Z,1613466164.484 [Micromodem](INFO): Nmea in: $SNTTA,0.061410,,,,090244.71*4F

2021-02-16T09:02:44.506Z,1613466164.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 196.608990 deg, deltaT: 4.475903 s, approachRate: 0.764093 m/s, LOS rate: -0.822799 deg/s, posRepo size: 4
2021-02-16T09:02:46.895Z,1613466166.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:47.680Z,1613466167.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:48.085Z,1613466168.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:48.932Z,1613466168.932 [Micromodem](INFO): Nmea in: $SNTTA,0.063580,,,,090249.15*4A

2021-02-16T09:02:48.950Z,1613466168.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.580002 m, bearing: 193.496773 deg, deltaT: 4.395460 s, approachRate: 0.737124 m/s, LOS rate: -0.708053 deg/s, posRepo size: 4
2021-02-16T09:02:51.368Z,1613466171.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:52.141Z,1613466172.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:52.537Z,1613466172.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:53.364Z,1613466173.364 [Micromodem](INFO): Nmea in: $SNTTA,0.065841,,,,090253.61*44

2021-02-16T09:02:53.398Z,1613466173.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.880005 m, bearing: 190.550024 deg, deltaT: 4.461372 s, approachRate: 0.739683 m/s, LOS rate: -0.660503 deg/s, posRepo size: 4
2021-02-16T09:02:55.778Z,1613466175.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:02:56.586Z,1613466176.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:02:56.982Z,1613466176.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:02:57.808Z,1613466177.808 [Micromodem](INFO): Nmea in: $SNTTA,0.067972,,0.082097,,090258.06*57

2021-02-16T09:02:57.850Z,1613466177.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 202.302991 deg, deltaT: 4.471609 s, approachRate: 0.711152 m/s, LOS rate: 2.628353 deg/s, posRepo size: 4
2021-02-16T09:03:00.257Z,1613466180.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:01.056Z,1613466181.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:01.419Z,1613466181.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:02.254Z,1613466182.254 [Micromodem](INFO): Nmea in: $SNTTA,0.070140,,,,090302.53*4C

2021-02-16T09:03:02.305Z,1613466182.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.419998 m, bearing: 196.375356 deg, deltaT: 4.419185 s, approachRate: 0.760321 m/s, LOS rate: -1.341341 deg/s, posRepo size: 4
2021-02-16T09:03:04.681Z,1613466184.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:05.474Z,1613466185.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:05.867Z,1613466185.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:06.701Z,1613466186.701 [Micromodem](INFO): Nmea in: $SNTTA,0.072305,,,,090306.95*43

2021-02-16T09:03:06.716Z,1613466186.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 183.374556 deg, deltaT: 4.458269 s, approachRate: 0.726739 m/s, LOS rate: -2.916110 deg/s, posRepo size: 4
2021-02-16T09:03:08.310Z,1613466188.310 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:03:09.128Z,1613466189.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:09.906Z,1613466189.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:10.352Z,1613466190.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:11.148Z,1613466191.148 [Micromodem](INFO): Nmea in: $SNTTA,0.074546,,,,090311.38*45

2021-02-16T09:03:11.207Z,1613466191.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.020004 m, bearing: 189.081261 deg, deltaT: 4.459940 s, approachRate: 0.753375 m/s, LOS rate: 1.279547 deg/s, posRepo size: 4
2021-02-16T09:03:13.575Z,1613466193.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:14.377Z,1613466194.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:14.791Z,1613466194.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:15.605Z,1613466195.605 [Micromodem](INFO): Nmea in: $SNTTA,0.076836,,,,090315.85*4F

2021-02-16T09:03:15.649Z,1613466195.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 196.581163 deg, deltaT: 4.489274 s, approachRate: 0.748451 m/s, LOS rate: 1.670627 deg/s, posRepo size: 4
2021-02-16T09:03:18.052Z,1613466198.052 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:03:18.097Z,1613466198.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:18.813Z,1613466198.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:19.222Z,1613466199.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:20.067Z,1613466200.067 [Micromodem](INFO): Nmea in: $SNTTA,0.078961,0.081587,,,090320.29*5F

2021-02-16T09:03:20.106Z,1613466200.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 192.007519 deg, deltaT: 4.398792 s, approachRate: 0.736565 m/s, LOS rate: -1.039750 deg/s, posRepo size: 4
2021-02-16T09:03:22.482Z,1613466202.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:23.256Z,1613466203.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:23.664Z,1613466203.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:24.492Z,1613466204.492 [Micromodem](INFO): Nmea in: $SNTTA,0.081133,,,,090324.73*40

2021-02-16T09:03:24.542Z,1613466204.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 191.412964 deg, deltaT: 4.469462 s, approachRate: 0.724919 m/s, LOS rate: -0.133026 deg/s, posRepo size: 4
2021-02-16T09:03:26.907Z,1613466206.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:27.705Z,1613466207.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:28.123Z,1613466208.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:28.932Z,1613466208.932 [Micromodem](INFO): Nmea in: $SNTTA,0.083308,,,,090329.18*48

2021-02-16T09:03:28.986Z,1613466208.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 189.530223 deg, deltaT: 4.397666 s, approachRate: 0.736756 m/s, LOS rate: -0.428123 deg/s, posRepo size: 4
2021-02-16T09:03:31.383Z,1613466211.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:32.145Z,1613466212.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:32.570Z,1613466212.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:33.376Z,1613466213.376 [Micromodem](INFO): Nmea in: $SNTTA,0.085542,,,0.088054,090333.62*5F

2021-02-16T09:03:33.430Z,1613466213.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 193.306429 deg, deltaT: 4.457936 s, approachRate: 0.753709 m/s, LOS rate: 0.847075 deg/s, posRepo size: 4
2021-02-16T09:03:35.808Z,1613466215.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:36.588Z,1613466216.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:37.034Z,1613466217.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:37.844Z,1613466217.844 [Micromodem](INFO): Nmea in: $SNTTA,0.087652,,,,090338.06*49

2021-02-16T09:03:37.867Z,1613466217.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 186.183894 deg, deltaT: 4.424599 s, approachRate: 0.718711 m/s, LOS rate: -1.609758 deg/s, posRepo size: 4
2021-02-16T09:03:40.292Z,1613466220.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:41.069Z,1613466221.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:41.443Z,1613466221.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:42.288Z,1613466222.288 [Micromodem](INFO): Nmea in: $SNTTA,0.090015,,,,090342.54*40

2021-02-16T09:03:42.342Z,1613466222.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.180008 m, bearing: 189.220105 deg, deltaT: 4.463336 s, approachRate: 0.793131 m/s, LOS rate: 0.680256 deg/s, posRepo size: 4
2021-02-16T09:03:44.685Z,1613466224.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:45.481Z,1613466225.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:45.899Z,1613466225.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:46.708Z,1613466226.708 [Micromodem](INFO): Nmea in: $SNTTA,0.092137,,,,090346.95*4A

2021-02-16T09:03:46.740Z,1613466226.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 196.076453 deg, deltaT: 4.507018 s, approachRate: 0.718877 m/s, LOS rate: 1.521261 deg/s, posRepo size: 4
2021-02-16T09:03:49.154Z,1613466229.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:49.950Z,1613466229.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:50.343Z,1613466230.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:51.164Z,1613466231.164 [Micromodem](INFO): Nmea in: $SNTTA,0.094317,,,,090351.42*40

2021-02-16T09:03:51.241Z,1613466231.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.660004 m, bearing: 192.544194 deg, deltaT: 4.371974 s, approachRate: 0.741085 m/s, LOS rate: -0.807932 deg/s, posRepo size: 4
2021-02-16T09:03:53.571Z,1613466233.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:54.381Z,1613466234.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:54.769Z,1613466234.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:03:55.609Z,1613466235.609 [Micromodem](INFO): Nmea in: $SNTTA,0.096536,,,,090355.86*4B

2021-02-16T09:03:55.630Z,1613466235.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 192.538976 deg, deltaT: 4.493229 s, approachRate: 0.734436 m/s, LOS rate: -0.001161 deg/s, posRepo size: 4
2021-02-16T09:03:56.416Z,1613466236.416 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:03:58.116Z,1613466238.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:03:58.814Z,1613466238.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:03:59.222Z,1613466239.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:00.070Z,1613466240.070 [Micromodem](INFO): Nmea in: $SNTTA,0.098710,,,0.100173,090400.29*5B

2021-02-16T09:04:00.151Z,1613466240.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 191.210313 deg, deltaT: 4.391879 s, approachRate: 0.751388 m/s, LOS rate: -0.302527 deg/s, posRepo size: 4
2021-02-16T09:04:02.459Z,1613466242.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:03.255Z,1613466243.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:03.658Z,1613466243.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:04.484Z,1613466244.484 [Micromodem](INFO): Nmea in: $SNTTA,0.100867,,,,090404.73*45

2021-02-16T09:04:04.530Z,1613466244.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 194.262820 deg, deltaT: 4.485568 s, approachRate: 0.708946 m/s, LOS rate: 0.680517 deg/s, posRepo size: 4
2021-02-16T09:04:04.535Z,1613466244.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.44 m. Resuming terminal guidance.
2021-02-16T09:04:04.535Z,1613466244.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T09:04:06.915Z,1613466246.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:07.713Z,1613466247.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:08.113Z,1613466248.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:08.932Z,1613466248.932 [Micromodem](INFO): Nmea in: $SNTTA,0.103058,,,,090409.19*43

2021-02-16T09:04:08.982Z,1613466248.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 197.790216 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T09:04:08.983Z,1613466248.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 197.790216deg and heading rate command to 0 deg/s.
2021-02-16T09:04:11.380Z,1613466251.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:12.145Z,1613466252.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:12.546Z,1613466252.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:13.372Z,1613466253.372 [Micromodem](INFO): Nmea in: $SNTTA,0.105159,,,,090413.62*42

2021-02-16T09:04:13.434Z,1613466253.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 204.940468 deg, deltaT: 4.493029 s, approachRate: 0.694405 m/s, LOS rate: 1.591410 deg/s, posRepo size: 2
2021-02-16T09:04:13.440Z,1613466253.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 204.940468 deg,
      approachRate: 0.694405 m/s,
      LOS rate: 1.591410 deg/s,
      cmd update: 4.774231 deg/s,
      cmd heading: 197.790216 deg,
      new cmd heading: 197.790216 deg.

2021-02-16T09:04:15.810Z,1613466255.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:16.589Z,1613466256.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:17.064Z,1613466257.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:17.804Z,1613466257.804 [Micromodem](INFO): Nmea in: $SNTTA,0.107405,,,,090418.06*45

2021-02-16T09:04:18.633Z,1613466258.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:20.238Z,1613466260.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:04:21.453Z,1613466261.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:22.240Z,1613466262.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:22.655Z,1613466262.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:23.479Z,1613466263.479 [Micromodem](INFO): Nmea in: $SNTTA,0.110007,,,,090423.71*4D

2021-02-16T09:04:23.498Z,1613466263.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 200.654238 deg, deltaT: 10.086879 s, approachRate: 0.713800 m/s, LOS rate: -0.424931 deg/s, posRepo size: 3
2021-02-16T09:04:23.500Z,1613466263.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 200.654238 deg,
      approachRate: 0.713800 m/s,
      LOS rate: -0.424931 deg/s,
      cmd update: -1.274794 deg/s,
      cmd heading: 246.114161 deg,
      new cmd heading: 247.898200 deg.

2021-02-16T09:04:25.896Z,1613466265.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:26.701Z,1613466266.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:27.089Z,1613466267.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:27.912Z,1613466267.912 [Micromodem](INFO): Nmea in: $SNTTA,0.111742,,,,090428.17*41

2021-02-16T09:04:28.760Z,1613466268.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:30.344Z,1613466270.344 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:04:31.552Z,1613466271.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:32.350Z,1613466272.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:32.771Z,1613466272.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:33.154Z,1613466273.154 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,E87,0003,E4
0,186,80,80,7B,FF
2021-02-16T09:04:33.564Z,1613466273.564 [Micromodem](INFO): Nmea in: $SNTTA,0.113564,,,,090433.82*43

2021-02-16T09:04:34.368Z,1613466274.368 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:04:34.463Z,1613466274.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:37.276Z,1613466277.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:40.108Z,1613466280.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:40.830Z,1613466280.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:41.231Z,1613466281.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:42.057Z,1613466282.057 [Micromodem](INFO): Nmea in: $SNTTA,0.116668,,,,090442.30*46

2021-02-16T09:04:42.470Z,1613466282.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.959991 m, bearing: 271.008082 deg, deltaT: 19.016034 s, approachRate: 0.520613 m/s, LOS rate: 3.699712 deg/s, posRepo size: 4
2021-02-16T09:04:42.472Z,1613466282.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.959991 m,
      bearing: 271.008082 deg,
      approachRate: 0.520613 m/s,
      LOS rate: 3.699712 deg/s,
      cmd update: 11.099134 deg/s,
      cmd heading: 221.877690 deg,
      new cmd heading: 221.452289 deg.

2021-02-16T09:04:44.880Z,1613466284.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:45.684Z,1613466285.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:46.078Z,1613466286.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:46.898Z,1613466286.898 [Micromodem](INFO): Nmea in: $SNTTA,0.118792,,,,090447.16*4D

2021-02-16T09:04:47.336Z,1613466287.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.080002 m, bearing: 222.273589 deg, deltaT: 4.772909 s, approachRate: 0.653692 m/s, LOS rate: -10.210648 deg/s, posRepo size: 4
2021-02-16T09:04:47.338Z,1613466287.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.080002 m,
      bearing: 222.273589 deg,
      approachRate: 0.653692 m/s,
      LOS rate: -10.210648 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.894037 deg,
      new cmd heading: 279.582478 deg.

2021-02-16T09:04:49.739Z,1613466289.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:50.526Z,1613466290.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:50.925Z,1613466290.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:51.744Z,1613466291.744 [Micromodem](INFO): Nmea in: $SNTTA,0.120624,,,0.123143,090452.00*51

2021-02-16T09:04:52.223Z,1613466292.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 253.807808 deg, deltaT: 4.869642 s, approachRate: 0.616065 m/s, LOS rate: 6.475675 deg/s, posRepo size: 4
2021-02-16T09:04:52.225Z,1613466292.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.080017 m,
      bearing: 253.807808 deg,
      approachRate: 0.616065 m/s,
      LOS rate: 6.475675 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.743788 deg,
      new cmd heading: 211.224580 deg.

2021-02-16T09:04:54.577Z,1613466294.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:04:55.374Z,1613466295.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:04:55.774Z,1613466295.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:04:56.591Z,1613466296.591 [Micromodem](INFO): Nmea in: $SNTTA,0.121995,,,,090456.85*44

2021-02-16T09:04:57.075Z,1613466297.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.000000 m, bearing: 265.086964 deg, deltaT: 4.823106 s, approachRate: 0.398080 m/s, LOS rate: 2.338567 deg/s, posRepo size: 4
2021-02-16T09:04:57.077Z,1613466297.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 265.086964 deg,
      approachRate: 0.398080 m/s,
      LOS rate: 2.338567 deg/s,
      cmd update: 7.015701 deg/s,
      cmd heading: 274.909578 deg,
      new cmd heading: 280.535082 deg.

2021-02-16T09:04:59.437Z,1613466299.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:00.229Z,1613466300.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:00.627Z,1613466300.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:01.455Z,1613466301.455 [Micromodem](INFO): Nmea in: $SNTTA,0.123550,,,,090501.70*4A

2021-02-16T09:05:01.474Z,1613466301.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.000000 m, bearing: 255.294603 deg, deltaT: 4.519012 s, approachRate: 0.000000 m/s, LOS rate: -2.166925 deg/s, posRepo size: 4
2021-02-16T09:05:01.476Z,1613466301.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 255.294603 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.166925 deg/s,
      cmd update: -6.500775 deg/s,
      cmd heading: 306.585908 deg,
      new cmd heading: 309.060451 deg.

2021-02-16T09:05:03.887Z,1613466303.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:04.681Z,1613466304.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:05.074Z,1613466305.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:05.892Z,1613466305.892 [Micromodem](INFO): Nmea in: $SNTTA,0.125036,,,,090506.15*4D

2021-02-16T09:05:06.341Z,1613466306.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.619980 m, bearing: 256.946526 deg, deltaT: 4.809591 s, approachRate: 0.960576 m/s, LOS rate: 0.343464 deg/s, posRepo size: 4
2021-02-16T09:05:06.343Z,1613466306.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.619980 m,
      bearing: 256.946526 deg,
      approachRate: 0.960576 m/s,
      LOS rate: 0.343464 deg/s,
      cmd update: 1.030393 deg/s,
      cmd heading: 275.320235 deg,
      new cmd heading: 272.650971 deg.

2021-02-16T09:05:08.721Z,1613466308.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:09.513Z,1613466309.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:09.914Z,1613466309.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:10.730Z,1613466310.730 [Micromodem](INFO): Nmea in: $SNTTA,0.126292,,,,090510.99*41

2021-02-16T09:05:11.213Z,1613466311.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.479980 m, bearing: 326.351056 deg, deltaT: 4.810390 s, approachRate: 0.386663 m/s, LOS rate: 14.428047 deg/s, posRepo size: 4
2021-02-16T09:05:11.213Z,1613466311.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.428047 deg/s. Setting heading cmd to target bearing of 326.351056deg and heading rate command to 0 deg/s.
2021-02-16T09:05:13.569Z,1613466313.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:14.367Z,1613466314.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:14.763Z,1613466314.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:15.582Z,1613466315.582 [Micromodem](INFO): Nmea in: $SNTTA,0.127067,,,,090515.84*41

2021-02-16T09:05:16.064Z,1613466316.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.619995 m, bearing: 322.433751 deg, deltaT: 4.851205 s, approachRate: 0.234996 m/s, LOS rate: -0.807491 deg/s, posRepo size: 4
2021-02-16T09:05:16.065Z,1613466316.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 322.433751 deg,
      approachRate: 0.234996 m/s,
      LOS rate: -0.807491 deg/s,
      cmd update: -2.422473 deg/s,
      cmd heading: 326.351056 deg,
      new cmd heading: 326.351056 deg.

2021-02-16T09:05:18.427Z,1613466318.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:19.211Z,1613466319.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:19.628Z,1613466319.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:20.436Z,1613466320.436 [Micromodem](INFO): Nmea in: $SNTTA,0.127405,,,,090520.69*44

2021-02-16T09:05:20.474Z,1613466320.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.580002 m, bearing: 272.576922 deg, deltaT: 4.525439 s, approachRate: 0.212136 m/s, LOS rate: -11.017015 deg/s, posRepo size: 4
2021-02-16T09:05:20.476Z,1613466320.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.580002 m,
      bearing: 272.576922 deg,
      approachRate: 0.212136 m/s,
      LOS rate: -11.017015 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 315.397930 deg,
      new cmd heading: 314.536591 deg.

2021-02-16T09:05:22.862Z,1613466322.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:23.648Z,1613466323.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:24.064Z,1613466324.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:24.866Z,1613466324.866 [Micromodem](INFO): Nmea in: $SNTTA,0.127141,,,,090525.12*48

2021-02-16T09:05:25.329Z,1613466325.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.679977 m, bearing: 355.119375 deg, deltaT: 4.783420 s, approachRate: -0.188155 m/s, LOS rate: 17.255949 deg/s, posRepo size: 4
2021-02-16T09:05:25.329Z,1613466325.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.255949 deg/s. Setting heading cmd to target bearing of 355.119375deg and heading rate command to 0 deg/s.
2021-02-16T09:05:27.720Z,1613466327.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:28.501Z,1613466328.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:28.910Z,1613466328.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:29.309Z,1613466329.309 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:05:29.735Z,1613466329.735 [Micromodem](INFO): Nmea in: $SNTTA,0.126769,,,,090529.97*44

2021-02-16T09:05:30.172Z,1613466330.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.139984 m, bearing: 354.894307 deg, deltaT: 4.844513 s, approachRate: -0.111465 m/s, LOS rate: -0.046458 deg/s, posRepo size: 4
2021-02-16T09:05:30.174Z,1613466330.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.139984 m,
      bearing: 354.894307 deg,
      approachRate: -0.111465 m/s,
      LOS rate: -0.046458 deg/s,
      cmd update: -0.139375 deg/s,
      cmd heading: 355.119375 deg,
      new cmd heading: 355.119375 deg.

2021-02-16T09:05:32.585Z,1613466332.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:33.358Z,1613466333.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:33.751Z,1613466333.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:34.572Z,1613466334.572 [Micromodem](INFO): Nmea in: $SNTTA,0.127295,,,,090534.83*4A

2021-02-16T09:05:35.054Z,1613466335.054 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:05:35.083Z,1613466335.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 332.769193 deg, deltaT: 4.836447 s, approachRate: 0.161278 m/s, LOS rate: -4.574663 deg/s, posRepo size: 4
2021-02-16T09:05:35.085Z,1613466335.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 332.769193 deg,
      approachRate: 0.161278 m/s,
      LOS rate: -4.574663 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 354.445286 deg,
      new cmd heading: 354.376632 deg.

2021-02-16T09:05:36.206Z,1613466336.206 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:05:37.437Z,1613466337.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:38.231Z,1613466338.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:38.620Z,1613466338.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:39.077Z,1613466339.077 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:05:39.486Z,1613466339.486 [Micromodem](INFO): Nmea in: $SNTTA,0.127806,,,,090539.71*4A

2021-02-16T09:05:39.506Z,1613466339.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 256.086796 deg, deltaT: 4.519362 s, approachRate: 0.000000 m/s, LOS rate: -16.967527 deg/s, posRepo size: 4
2021-02-16T09:05:39.507Z,1613466339.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.967527 deg/s. Setting heading cmd to target bearing of 256.086796deg and heading rate command to 0 deg/s.
2021-02-16T09:05:41.870Z,1613466341.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:42.642Z,1613466342.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:43.077Z,1613466343.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:43.096Z,1613466343.096 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:05:43.860Z,1613466343.860 [Micromodem](INFO): Nmea in: $SNTTA,0.127844,,,,090544.12*43

2021-02-16T09:05:44.305Z,1613466344.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.699982 m, bearing: 282.618994 deg, deltaT: 4.768839 s, approachRate: 0.163558 m/s, LOS rate: 5.563660 deg/s, posRepo size: 4
2021-02-16T09:05:44.307Z,1613466344.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.699982 m,
      bearing: 282.618994 deg,
      approachRate: 0.163558 m/s,
      LOS rate: 5.563660 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.086796 deg,
      new cmd heading: 256.086796 deg.

2021-02-16T09:05:45.114Z,1613466345.114 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:05:46.705Z,1613466346.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:47.502Z,1613466347.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:47.890Z,1613466347.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:48.714Z,1613466348.714 [Micromodem](INFO): Nmea in: $SNTTA,0.127722,,,,090548.98*42

2021-02-16T09:05:49.185Z,1613466349.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.639984 m, bearing: 356.284824 deg, deltaT: 4.854848 s, approachRate: -0.012358 m/s, LOS rate: 15.173663 deg/s, posRepo size: 4
2021-02-16T09:05:49.186Z,1613466349.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.173663 deg/s. Setting heading cmd to target bearing of 356.284824deg and heading rate command to 0 deg/s.
2021-02-16T09:05:50.333Z,1613466350.333 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:05:50.341Z,1613466350.341 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 51
2021-02-16T09:05:51.545Z,1613466351.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:52.343Z,1613466352.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:52.739Z,1613466352.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:53.563Z,1613466353.563 [Micromodem](INFO): Nmea in: $SNTTA,0.128328,,,,090553.82*42

2021-02-16T09:05:54.022Z,1613466354.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 337.702694 deg, deltaT: 4.850026 s, approachRate: 0.173197 m/s, LOS rate: -3.831347 deg/s, posRepo size: 4
2021-02-16T09:05:54.037Z,1613466354.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.479996 m,
      bearing: 337.702694 deg,
      approachRate: 0.173197 m/s,
      LOS rate: -3.831347 deg/s,
      cmd update: -11.494040 deg/s,
      cmd heading: 356.284824 deg,
      new cmd heading: 356.284824 deg.

2021-02-16T09:05:55.188Z,1613466355.188 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:05:55.195Z,1613466355.195 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:05:56.429Z,1613466356.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:05:57.187Z,1613466357.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:05:57.603Z,1613466357.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:05:58.408Z,1613466358.408 [Micromodem](INFO): Nmea in: $SNTTA,0.128902,,,,090558.66*41

2021-02-16T09:05:58.838Z,1613466358.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.440002 m, bearing: 326.649453 deg, deltaT: 4.891045 s, approachRate: 0.196278 m/s, LOS rate: -2.259893 deg/s, posRepo size: 4
2021-02-16T09:05:58.840Z,1613466358.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.440002 m,
      bearing: 326.649453 deg,
      approachRate: 0.196278 m/s,
      LOS rate: -2.259893 deg/s,
      cmd update: -6.779680 deg/s,
      cmd heading: 300.112908 deg,
      new cmd heading: 295.854136 deg.

2021-02-16T09:06:00.092Z,1613466360.092 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:06:01.282Z,1613466361.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:02.056Z,1613466362.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:02.439Z,1613466362.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:03.262Z,1613466363.262 [Micromodem](INFO): Nmea in: $SNTTA,0.128743,,,,090603.53*41

2021-02-16T09:06:03.674Z,1613466363.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.019989 m, bearing: 291.021848 deg, deltaT: 4.853869 s, approachRate: -0.086532 m/s, LOS rate: -7.340042 deg/s, posRepo size: 4
2021-02-16T09:06:03.676Z,1613466363.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.019989 m,
      bearing: 291.021848 deg,
      approachRate: -0.086532 m/s,
      LOS rate: -7.340042 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 267.233610 deg,
      new cmd heading: 264.806078 deg.

2021-02-16T09:06:05.287Z,1613466365.287 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:06:05.295Z,1613466365.295 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:06:06.105Z,1613466366.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:06.876Z,1613466366.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:07.304Z,1613466367.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:08.097Z,1613466368.097 [Micromodem](INFO): Nmea in: $SNTTA,0.128622,,,,090608.35*4C

2021-02-16T09:06:08.522Z,1613466368.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.019989 m, bearing: 258.985747 deg, deltaT: 4.831159 s, approachRate: 0.000000 m/s, LOS rate: -6.631142 deg/s, posRepo size: 4
2021-02-16T09:06:08.524Z,1613466368.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.019989 m,
      bearing: 258.985747 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.631142 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 209.451100 deg,
      new cmd heading: 204.756568 deg.

2021-02-16T09:06:10.124Z,1613466370.124 [RDI_Pathfinder](ERROR): DVL BIT error. See manual. Result code: 87
2021-02-16T09:06:10.937Z,1613466370.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:11.724Z,1613466371.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:12.139Z,1613466372.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:12.943Z,1613466372.943 [Micromodem](INFO): Nmea in: $SNTTA,0.129019,,,,090613.20*4D

2021-02-16T09:06:13.390Z,1613466373.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.499985 m, bearing: 326.891952 deg, deltaT: 4.879929 s, approachRate: 0.098361 m/s, LOS rate: 13.915408 deg/s, posRepo size: 4
2021-02-16T09:06:13.391Z,1613466373.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.915408 deg/s. Setting heading cmd to target bearing of 326.891952deg and heading rate command to 0 deg/s.
2021-02-16T09:06:15.388Z,1613466375.388 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:06:15.820Z,1613466375.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:16.574Z,1613466376.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:16.982Z,1613466376.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:17.791Z,1613466377.791 [Micromodem](INFO): Nmea in: $SNTTA,0.130298,,,,090618.05*42

2021-02-16T09:06:18.266Z,1613466378.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 284.576417 deg, deltaT: 4.770224 s, approachRate: 0.402496 m/s, LOS rate: -8.870765 deg/s, posRepo size: 4
2021-02-16T09:06:18.272Z,1613466378.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.419983 m,
      bearing: 284.576417 deg,
      approachRate: 0.402496 m/s,
      LOS rate: -8.870765 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 326.891952 deg,
      new cmd heading: 326.891952 deg.

2021-02-16T09:06:20.629Z,1613466380.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:21.431Z,1613466381.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:21.826Z,1613466381.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:22.646Z,1613466382.646 [Micromodem](INFO): Nmea in: $SNTTA,0.132195,,,,090622.91*4A

2021-02-16T09:06:23.121Z,1613466383.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.360001 m, bearing: 236.416889 deg, deltaT: 4.855770 s, approachRate: 0.605469 m/s, LOS rate: -9.918000 deg/s, posRepo size: 4
2021-02-16T09:06:23.124Z,1613466383.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.360001 m,
      bearing: 236.416889 deg,
      approachRate: 0.605469 m/s,
      LOS rate: -9.918000 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.622998 deg,
      new cmd heading: 263.103358 deg.

2021-02-16T09:06:25.111Z,1613466385.111 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T09:06:25.111Z,1613466385.111 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T09:06:25.111Z,1613466385.111 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T09:06:25.118Z,1613466385.118 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:06:25.169Z,1613466385.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:25.247Z,1613466385.247 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T09:06:25.539Z,1613466385.539 [RDI_Pathfinder](INFO): Powering down
2021-02-16T09:06:25.864Z,1613466385.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:26.275Z,1613466386.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:26.411Z,1613466386.411 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T09:06:26.411Z,1613466386.411 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T09:06:27.082Z,1613466387.082 [Micromodem](INFO): Nmea in: $SNTTA,0.134429,,,,090627.34*44

2021-02-16T09:06:27.542Z,1613466387.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.419998 m, bearing: 224.606331 deg, deltaT: 4.474158 s, approachRate: 0.683927 m/s, LOS rate: -2.639728 deg/s, posRepo size: 4
2021-02-16T09:06:27.548Z,1613466387.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.419998 m,
      bearing: 224.606331 deg,
      approachRate: 0.683927 m/s,
      LOS rate: -2.639728 deg/s,
      cmd update: -7.919183 deg/s,
      cmd heading: 214.932871 deg,
      new cmd heading: 210.052759 deg.

2021-02-16T09:06:29.924Z,1613466389.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:30.712Z,1613466390.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:31.123Z,1613466391.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:31.935Z,1613466391.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090632.18*59

2021-02-16T09:06:32.391Z,1613466392.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.839996 m, bearing: 283.945253 deg, deltaT: 4.829787 s, approachRate: 0.708105 m/s, LOS rate: 12.286032 deg/s, posRepo size: 4
2021-02-16T09:06:32.392Z,1613466392.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.286032 deg/s. Setting heading cmd to target bearing of 283.945253deg and heading rate command to 0 deg/s.
2021-02-16T09:06:34.777Z,1613466394.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:35.581Z,1613466395.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:35.976Z,1613466395.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:36.790Z,1613466396.790 [Micromodem](INFO): Nmea in: $SNTTA,0.138936,,,,090637.05*48

2021-02-16T09:06:37.600Z,1613466397.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:39.201Z,1613466399.201 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:06:40.441Z,1613466400.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:41.228Z,1613466401.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:41.627Z,1613466401.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:42.442Z,1613466402.442 [Micromodem](INFO): Nmea in: $SNTTA,0.141787,,,,090642.70*42

2021-02-16T09:06:42.888Z,1613466402.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.819992 m, bearing: 199.672084 deg, deltaT: 10.491579 s, approachRate: 0.760610 m/s, LOS rate: -8.032458 deg/s, posRepo size: 4
2021-02-16T09:06:42.890Z,1613466402.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.819992 m,
      bearing: 199.672084 deg,
      approachRate: 0.760610 m/s,
      LOS rate: -8.032458 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 283.945253 deg,
      new cmd heading: 283.945253 deg.

2021-02-16T09:06:45.282Z,1613466405.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:46.064Z,1613466406.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:46.470Z,1613466406.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:47.285Z,1613466407.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090647.54*53

2021-02-16T09:06:48.133Z,1613466408.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:49.716Z,1613466409.716 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:06:50.927Z,1613466410.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:51.730Z,1613466411.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:52.126Z,1613466412.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:52.967Z,1613466412.967 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090653.20*55

2021-02-16T09:06:53.374Z,1613466413.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.559998 m, bearing: 222.611397 deg, deltaT: 10.575324 s, approachRate: 0.731893 m/s, LOS rate: 2.169136 deg/s, posRepo size: 4
2021-02-16T09:06:53.376Z,1613466413.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.559998 m,
      bearing: 222.611397 deg,
      approachRate: 0.731893 m/s,
      LOS rate: 2.169136 deg/s,
      cmd update: 6.507407 deg/s,
      cmd heading: 157.193856 deg,
      new cmd heading: 152.935428 deg.

2021-02-16T09:06:55.791Z,1613466415.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:06:56.568Z,1613466416.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:06:56.978Z,1613466416.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:06:57.788Z,1613466417.788 [Micromodem](INFO): Nmea in: $SNTTA,0.149105,,,,090658.04*4E

2021-02-16T09:06:58.257Z,1613466418.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.279999 m, bearing: 236.492267 deg, deltaT: 4.804132 s, approachRate: 0.774334 m/s, LOS rate: 2.889361 deg/s, posRepo size: 4
2021-02-16T09:06:58.259Z,1613466418.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.279999 m,
      bearing: 236.492267 deg,
      approachRate: 0.774334 m/s,
      LOS rate: 2.889361 deg/s,
      cmd update: 8.668082 deg/s,
      cmd heading: 188.381119 deg,
      new cmd heading: 191.276180 deg.

2021-02-16T09:07:00.649Z,1613466420.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:01.422Z,1613466421.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:01.823Z,1613466421.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:02.638Z,1613466422.638 [Micromodem](INFO): Nmea in: $SNTTA,0.151621,,,,090702.90*45

2021-02-16T09:07:03.477Z,1613466423.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:05.079Z,1613466425.079 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:07:06.300Z,1613466426.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:07.072Z,1613466427.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:07.481Z,1613466427.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:08.291Z,1613466428.291 [Micromodem](INFO): Nmea in: $SNTTA,0.154381,,,,090708.54*4D

2021-02-16T09:07:08.732Z,1613466428.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.719986 m, bearing: 205.959136 deg, deltaT: 10.478500 s, approachRate: 0.710024 m/s, LOS rate: -2.913884 deg/s, posRepo size: 4
2021-02-16T09:07:08.734Z,1613466428.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.719986 m,
      bearing: 205.959136 deg,
      approachRate: 0.710024 m/s,
      LOS rate: -2.913884 deg/s,
      cmd update: -8.741652 deg/s,
      cmd heading: 279.419473 deg,
      new cmd heading: 283.035658 deg.

2021-02-16T09:07:11.150Z,1613466431.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:11.920Z,1613466431.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:12.326Z,1613466432.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:13.137Z,1613466433.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090713.39*58

2021-02-16T09:07:13.588Z,1613466433.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.199982 m, bearing: 276.654545 deg, deltaT: 4.846764 s, approachRate: 0.718004 m/s, LOS rate: 14.586105 deg/s, posRepo size: 4
2021-02-16T09:07:13.589Z,1613466433.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.586105 deg/s. Setting heading cmd to target bearing of 276.654545deg and heading rate command to 0 deg/s.
2021-02-16T09:07:15.984Z,1613466435.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:16.773Z,1613466436.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:17.186Z,1613466437.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:18.018Z,1613466438.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090718.24*5F

2021-02-16T09:07:18.418Z,1613466438.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.440002 m, bearing: 228.147853 deg, deltaT: 4.913282 s, approachRate: 0.659441 m/s, LOS rate: -9.872565 deg/s, posRepo size: 4
2021-02-16T09:07:18.438Z,1613466438.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.440002 m,
      bearing: 228.147853 deg,
      approachRate: 0.659441 m/s,
      LOS rate: -9.872565 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.654545 deg,
      new cmd heading: 276.654545 deg.

2021-02-16T09:07:20.863Z,1613466440.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:21.621Z,1613466441.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:22.040Z,1613466442.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:22.847Z,1613466442.847 [Micromodem](INFO): Nmea in: $SNTTA,0.160972,,,,090723.09*4D

2021-02-16T09:07:23.275Z,1613466443.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 241.679993 m, bearing: 268.028835 deg, deltaT: 4.824740 s, approachRate: 0.671537 m/s, LOS rate: 8.265934 deg/s, posRepo size: 4
2021-02-16T09:07:23.277Z,1613466443.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.679993 m,
      bearing: 268.028835 deg,
      approachRate: 0.671537 m/s,
      LOS rate: 8.265934 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 218.757783 deg,
      new cmd heading: 214.203483 deg.

2021-02-16T09:07:25.682Z,1613466445.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:26.464Z,1613466446.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:26.875Z,1613466446.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:27.681Z,1613466447.681 [Micromodem](INFO): Nmea in: $SNTTA,0.162856,,,,090727.94*48

2021-02-16T09:07:28.545Z,1613466448.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:30.121Z,1613466450.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:07:31.343Z,1613466451.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:32.134Z,1613466452.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:32.547Z,1613466452.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:33.346Z,1613466453.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090733.61*57

2021-02-16T09:07:33.776Z,1613466453.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.039978 m, bearing: 234.944410 deg, deltaT: 10.498227 s, approachRate: 0.605815 m/s, LOS rate: -3.151430 deg/s, posRepo size: 4
2021-02-16T09:07:33.778Z,1613466453.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.039978 m,
      bearing: 234.944410 deg,
      approachRate: 0.605815 m/s,
      LOS rate: -3.151430 deg/s,
      cmd update: -9.454290 deg/s,
      cmd heading: 344.737038 deg,
      new cmd heading: 349.319130 deg.

2021-02-16T09:07:36.190Z,1613466456.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:36.971Z,1613466456.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:37.379Z,1613466457.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:38.196Z,1613466458.196 [Micromodem](INFO): Nmea in: $SNTTA,0.167263,,,,090738.44*42

2021-02-16T09:07:38.640Z,1613466458.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 250.979996 m, bearing: 275.184251 deg, deltaT: 4.827240 s, approachRate: 0.609047 m/s, LOS rate: 8.335993 deg/s, posRepo size: 4
2021-02-16T09:07:38.642Z,1613466458.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 250.979996 m,
      bearing: 275.184251 deg,
      approachRate: 0.609047 m/s,
      LOS rate: 8.335993 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.061473 deg,
      new cmd heading: 295.143238 deg.

2021-02-16T09:07:41.084Z,1613466461.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:41.822Z,1613466461.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:42.226Z,1613466462.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:43.043Z,1613466463.043 [Micromodem](INFO): Nmea in: $SNTTA,0.168647,,,,090743.29*48

2021-02-16T09:07:43.486Z,1613466463.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.019989 m, bearing: 333.776728 deg, deltaT: 4.862456 s, approachRate: 0.419540 m/s, LOS rate: 12.049976 deg/s, posRepo size: 4
2021-02-16T09:07:43.491Z,1613466463.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.049976 deg/s. Setting heading cmd to target bearing of 333.776728deg and heading rate command to 0 deg/s.
2021-02-16T09:07:45.924Z,1613466465.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:46.665Z,1613466466.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:47.083Z,1613466467.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:47.892Z,1613466467.892 [Micromodem](INFO): Nmea in: $SNTTA,0.169301,,,,090748.14*4B

2021-02-16T09:07:48.319Z,1613466468.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.919983 m, bearing: 9.819405 deg, deltaT: 4.853244 s, approachRate: 0.185442 m/s, LOS rate: 7.426513 deg/s, posRepo size: 4
2021-02-16T09:07:48.321Z,1613466468.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.919983 m,
      bearing: 9.819405 deg,
      approachRate: 0.185442 m/s,
      LOS rate: 7.426513 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 333.776728 deg,
      new cmd heading: 333.776728 deg.

2021-02-16T09:07:50.735Z,1613466470.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:51.544Z,1613466471.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:51.920Z,1613466471.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:52.748Z,1613466472.748 [Micromodem](INFO): Nmea in: $SNTTA,0.169494,,,,090753.02*4D

2021-02-16T09:07:53.187Z,1613466473.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.220001 m, bearing: 10.866729 deg, deltaT: 4.858216 s, approachRate: 0.061755 m/s, LOS rate: 0.215578 deg/s, posRepo size: 4
2021-02-16T09:07:53.190Z,1613466473.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.220001 m,
      bearing: 10.866729 deg,
      approachRate: 0.061755 m/s,
      LOS rate: 0.215578 deg/s,
      cmd update: 0.646734 deg/s,
      cmd heading: 31.881606 deg,
      new cmd heading: 36.769830 deg.

2021-02-16T09:07:55.591Z,1613466475.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:07:56.360Z,1613466476.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:07:56.772Z,1613466476.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:07:57.588Z,1613466477.588 [Micromodem](INFO): Nmea in: $SNTTA,0.168863,,,,090757.83*45

2021-02-16T09:07:58.044Z,1613466478.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.199997 m, bearing: 57.052393 deg, deltaT: 4.844324 s, approachRate: -0.210557 m/s, LOS rate: 9.533975 deg/s, posRepo size: 4
2021-02-16T09:07:58.045Z,1613466478.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.199997 m,
      bearing: 57.052393 deg,
      approachRate: -0.210557 m/s,
      LOS rate: 9.533975 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 35.024885 deg,
      new cmd heading: 35.286335 deg.

2021-02-16T09:08:00.440Z,1613466480.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:01.215Z,1613466481.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:01.613Z,1613466481.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:02.435Z,1613466482.435 [Micromodem](INFO): Nmea in: $SNTTA,0.167610,,,,090802.69*4B

2021-02-16T09:08:02.894Z,1613466482.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.219986 m, bearing: 49.959279 deg, deltaT: 4.832421 s, approachRate: -0.409735 m/s, LOS rate: -1.467818 deg/s, posRepo size: 4
2021-02-16T09:08:02.908Z,1613466482.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.219986 m,
      bearing: 49.959279 deg,
      approachRate: -0.409735 m/s,
      LOS rate: -1.467818 deg/s,
      cmd update: -4.403454 deg/s,
      cmd heading: 92.754583 deg,
      new cmd heading: 98.080627 deg.

2021-02-16T09:08:05.290Z,1613466485.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:06.071Z,1613466486.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:06.467Z,1613466486.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:07.284Z,1613466487.284 [Micromodem](INFO): Nmea in: $SNTTA,0.165938,,,,090807.54*47

2021-02-16T09:08:07.720Z,1613466487.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 248.699982 m, bearing: 52.819226 deg, deltaT: 4.856437 s, approachRate: -0.518900 m/s, LOS rate: 0.588898 deg/s, posRepo size: 4
2021-02-16T09:08:07.722Z,1613466487.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.699982 m,
      bearing: 52.819226 deg,
      approachRate: -0.518900 m/s,
      LOS rate: 0.588898 deg/s,
      cmd update: 1.766695 deg/s,
      cmd heading: 71.362235 deg,
      new cmd heading: 69.549954 deg.

2021-02-16T09:08:10.161Z,1613466490.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:10.909Z,1613466490.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:11.318Z,1613466491.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:12.127Z,1613466492.127 [Micromodem](INFO): Nmea in: $SNTTA,0.163958,,,,090812.38*49

2021-02-16T09:08:12.601Z,1613466492.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.759995 m, bearing: 51.776591 deg, deltaT: 4.818706 s, approachRate: -0.610120 m/s, LOS rate: -0.216372 deg/s, posRepo size: 4
2021-02-16T09:08:12.604Z,1613466492.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.759995 m,
      bearing: 51.776591 deg,
      approachRate: -0.610120 m/s,
      LOS rate: -0.216372 deg/s,
      cmd update: -0.649117 deg/s,
      cmd heading: 79.918091 deg,
      new cmd heading: 80.713731 deg.

2021-02-16T09:08:14.963Z,1613466494.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:15.757Z,1613466495.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:16.161Z,1613466496.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:17.009Z,1613466497.009 [Micromodem](INFO): Nmea in: $SNTTA,0.162054,,,,090817.23*42

2021-02-16T09:08:17.398Z,1613466497.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.759995 m, bearing: 48.314043 deg, deltaT: 4.934036 s, approachRate: -0.608021 m/s, LOS rate: -0.701768 deg/s, posRepo size: 4
2021-02-16T09:08:17.416Z,1613466497.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.759995 m,
      bearing: 48.314043 deg,
      approachRate: -0.608021 m/s,
      LOS rate: -0.701768 deg/s,
      cmd update: -2.105303 deg/s,
      cmd heading: 76.717908 deg,
      new cmd heading: 76.511995 deg.

2021-02-16T09:08:19.851Z,1613466499.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:20.609Z,1613466500.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:21.052Z,1613466501.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:21.826Z,1613466501.826 [Micromodem](INFO): Nmea in: $SNTTA,0.160160,,,,090822.08*49

2021-02-16T09:08:22.259Z,1613466502.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 239.939987 m, bearing: 47.054710 deg, deltaT: 4.790606 s, approachRate: -0.588654 m/s, LOS rate: -0.262876 deg/s, posRepo size: 4
2021-02-16T09:08:22.261Z,1613466502.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.939987 m,
      bearing: 47.054710 deg,
      approachRate: -0.588654 m/s,
      LOS rate: -0.262876 deg/s,
      cmd update: -0.788627 deg/s,
      cmd heading: 66.632247 deg,
      new cmd heading: 65.816386 deg.

2021-02-16T09:08:24.691Z,1613466504.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:25.469Z,1613466505.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:25.858Z,1613466505.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:26.682Z,1613466506.682 [Micromodem](INFO): Nmea in: $SNTTA,0.158152,,,,090826.94*42

2021-02-16T09:08:27.103Z,1613466507.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 236.879990 m, bearing: 47.685813 deg, deltaT: 4.857211 s, approachRate: -0.629991 m/s, LOS rate: 0.129931 deg/s, posRepo size: 4
2021-02-16T09:08:27.105Z,1613466507.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.879990 m,
      bearing: 47.685813 deg,
      approachRate: -0.629991 m/s,
      LOS rate: 0.129931 deg/s,
      cmd update: 0.389793 deg/s,
      cmd heading: 62.804981 deg,
      new cmd heading: 62.506620 deg.

2021-02-16T09:08:29.570Z,1613466509.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:30.307Z,1613466510.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:30.712Z,1613466510.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:31.563Z,1613466511.563 [Micromodem](INFO): Nmea in: $SNTTA,0.155870,,,,090831.78*42

2021-02-16T09:08:31.950Z,1613466511.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.639984 m, bearing: 48.519181 deg, deltaT: 4.854698 s, approachRate: -0.667396 m/s, LOS rate: 0.171662 deg/s, posRepo size: 4
2021-02-16T09:08:31.952Z,1613466511.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.639984 m,
      bearing: 48.519181 deg,
      approachRate: -0.667396 m/s,
      LOS rate: 0.171662 deg/s,
      cmd update: 0.514987 deg/s,
      cmd heading: 64.700480 deg,
      new cmd heading: 64.841998 deg.

2021-02-16T09:08:34.371Z,1613466514.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:35.169Z,1613466515.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:35.555Z,1613466515.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:36.379Z,1613466516.379 [Micromodem](INFO): Nmea in: $SNTTA,0.153634,,,,090836.64*40

2021-02-16T09:08:36.818Z,1613466516.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.279984 m, bearing: 47.922626 deg, deltaT: 4.815609 s, approachRate: -0.697731 m/s, LOS rate: -0.123880 deg/s, posRepo size: 4
2021-02-16T09:08:36.820Z,1613466516.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.279984 m,
      bearing: 47.922626 deg,
      approachRate: -0.697731 m/s,
      LOS rate: -0.123880 deg/s,
      cmd update: -0.371639 deg/s,
      cmd heading: 67.180457 deg,
      new cmd heading: 67.393448 deg.

2021-02-16T09:08:39.249Z,1613466519.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:40.029Z,1613466520.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:40.407Z,1613466520.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:41.233Z,1613466521.233 [Micromodem](INFO): Nmea in: $SNTTA,0.151585,,,,090841.50*4C

2021-02-16T09:08:41.650Z,1613466521.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.919998 m, bearing: 47.655309 deg, deltaT: 4.882497 s, approachRate: -0.688169 m/s, LOS rate: -0.054750 deg/s, posRepo size: 4
2021-02-16T09:08:41.652Z,1613466521.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.919998 m,
      bearing: 47.655309 deg,
      approachRate: -0.688169 m/s,
      LOS rate: -0.054750 deg/s,
      cmd update: -0.164250 deg/s,
      cmd heading: 65.367408 deg,
      new cmd heading: 65.230343 deg.

2021-02-16T09:08:44.081Z,1613466524.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:44.844Z,1613466524.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:45.260Z,1613466525.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:46.063Z,1613466526.063 [Micromodem](INFO): Nmea in: $SNTTA,0.149362,,,,090846.32*49

2021-02-16T09:08:46.536Z,1613466526.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.619995 m, bearing: 48.059339 deg, deltaT: 4.826933 s, approachRate: -0.683665 m/s, LOS rate: 0.083703 deg/s, posRepo size: 4
2021-02-16T09:08:46.538Z,1613466526.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.619995 m,
      bearing: 48.059339 deg,
      approachRate: -0.683665 m/s,
      LOS rate: 0.083703 deg/s,
      cmd update: 0.251110 deg/s,
      cmd heading: 64.573933 deg,
      new cmd heading: 64.505371 deg.

2021-02-16T09:08:48.910Z,1613466528.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:49.709Z,1613466529.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:50.099Z,1613466530.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:50.924Z,1613466530.924 [Micromodem](INFO): Nmea in: $SNTTA,0.147145,,,,090851.18*4E

2021-02-16T09:08:51.366Z,1613466531.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.379990 m, bearing: 46.744469 deg, deltaT: 4.836684 s, approachRate: -0.669882 m/s, LOS rate: -0.271854 deg/s, posRepo size: 4
2021-02-16T09:08:51.372Z,1613466531.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.379990 m,
      bearing: 46.744469 deg,
      approachRate: -0.669882 m/s,
      LOS rate: -0.271854 deg/s,
      cmd update: -0.815561 deg/s,
      cmd heading: 65.788467 deg,
      new cmd heading: 65.893121 deg.

2021-02-16T09:08:53.794Z,1613466533.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:54.549Z,1613466534.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:54.951Z,1613466534.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:08:55.764Z,1613466535.764 [Micromodem](INFO): Nmea in: $SNTTA,0.144939,,,,090856.02*42

2021-02-16T09:08:56.217Z,1613466536.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.019989 m, bearing: 46.652709 deg, deltaT: 4.862063 s, approachRate: -0.691065 m/s, LOS rate: -0.018873 deg/s, posRepo size: 4
2021-02-16T09:08:56.219Z,1613466536.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.019989 m,
      bearing: 46.652709 deg,
      approachRate: -0.691065 m/s,
      LOS rate: -0.018873 deg/s,
      cmd update: -0.056618 deg/s,
      cmd heading: 61.823168 deg,
      new cmd heading: 61.492347 deg.

2021-02-16T09:08:58.613Z,1613466538.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:08:59.394Z,1613466539.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:08:59.805Z,1613466539.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:00.635Z,1613466540.635 [Micromodem](INFO): Nmea in: $SNTTA,0.142500,,,,090900.87*4D

2021-02-16T09:09:01.078Z,1613466541.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.539978 m, bearing: 46.639277 deg, deltaT: 4.853343 s, approachRate: -0.717034 m/s, LOS rate: -0.002767 deg/s, posRepo size: 4
2021-02-16T09:09:01.080Z,1613466541.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 46.639277 deg,
      approachRate: -0.717034 m/s,
      LOS rate: -0.002767 deg/s,
      cmd update: -0.008302 deg/s,
      cmd heading: 61.548380 deg,
      new cmd heading: 61.524946 deg.

2021-02-16T09:09:03.460Z,1613466543.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:04.253Z,1613466544.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:04.657Z,1613466544.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:05.465Z,1613466545.465 [Micromodem](INFO): Nmea in: $SNTTA,0.140229,,,,090905.73*4D

2021-02-16T09:09:05.896Z,1613466545.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.119980 m, bearing: 46.913701 deg, deltaT: 4.872681 s, approachRate: -0.701872 m/s, LOS rate: 0.056319 deg/s, posRepo size: 4
2021-02-16T09:09:05.898Z,1613466545.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.119980 m,
      bearing: 46.913701 deg,
      approachRate: -0.701872 m/s,
      LOS rate: 0.056319 deg/s,
      cmd update: 0.168956 deg/s,
      cmd heading: 61.508367 deg,
      new cmd heading: 61.504949 deg.

2021-02-16T09:09:08.312Z,1613466548.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:09.084Z,1613466549.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:09.515Z,1613466549.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:10.301Z,1613466550.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,090910.56*5C

2021-02-16T09:09:10.767Z,1613466550.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 47.004320 deg, deltaT: 4.815843 s, approachRate: -0.685236 m/s, LOS rate: 0.018817 deg/s, posRepo size: 4
2021-02-16T09:09:10.769Z,1613466550.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.819992 m,
      bearing: 47.004320 deg,
      approachRate: -0.685236 m/s,
      LOS rate: 0.018817 deg/s,
      cmd update: 0.056451 deg/s,
      cmd heading: 62.330369 deg,
      new cmd heading: 62.400917 deg.

2021-02-16T09:09:13.161Z,1613466553.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:13.936Z,1613466553.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:14.343Z,1613466554.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:15.178Z,1613466555.178 [Micromodem](INFO): Nmea in: $SNTTA,0.135820,,,,090915.41*4C

2021-02-16T09:09:15.245Z,1613466555.245 [CTD_Seabird](ERROR): Failed to parse device response: 
2021-02-16T09:09:15.591Z,1613466555.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 46.112028 deg, deltaT: 4.933558 s, approachRate: -0.668889 m/s, LOS rate: -0.180862 deg/s, posRepo size: 4
2021-02-16T09:09:15.593Z,1613466555.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.519989 m,
      bearing: 46.112028 deg,
      approachRate: -0.668889 m/s,
      LOS rate: -0.180862 deg/s,
      cmd update: -0.542586 deg/s,
      cmd heading: 62.608863 deg,
      new cmd heading: 62.626257 deg.

2021-02-16T09:09:18.005Z,1613466558.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:18.780Z,1613466558.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:19.200Z,1613466559.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:20.033Z,1613466560.033 [Micromodem](INFO): Nmea in: $SNTTA,0.133694,,,,090920.25*4F

2021-02-16T09:09:20.446Z,1613466560.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.339981 m, bearing: 46.012993 deg, deltaT: 4.771372 s, approachRate: -0.666477 m/s, LOS rate: -0.020756 deg/s, posRepo size: 4
2021-02-16T09:09:20.448Z,1613466560.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 46.012993 deg,
      approachRate: -0.666477 m/s,
      LOS rate: -0.020756 deg/s,
      cmd update: -0.062268 deg/s,
      cmd heading: 60.017713 deg,
      new cmd heading: 59.807371 deg.

2021-02-16T09:09:22.846Z,1613466562.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:23.628Z,1613466563.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:24.041Z,1613466564.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:24.847Z,1613466564.847 [Micromodem](INFO): Nmea in: $SNTTA,0.131539,,,,090925.10*4A

2021-02-16T09:09:25.305Z,1613466565.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.099991 m, bearing: 46.296101 deg, deltaT: 4.835064 s, approachRate: -0.670103 m/s, LOS rate: 0.058553 deg/s, posRepo size: 4
2021-02-16T09:09:25.306Z,1613466565.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.099991 m,
      bearing: 46.296101 deg,
      approachRate: -0.670103 m/s,
      LOS rate: 0.058553 deg/s,
      cmd update: 0.175659 deg/s,
      cmd heading: 59.716656 deg,
      new cmd heading: 59.691015 deg.

2021-02-16T09:09:27.712Z,1613466567.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:28.484Z,1613466568.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:28.890Z,1613466568.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:29.699Z,1613466569.699 [Micromodem](INFO): Nmea in: $SNTTA,0.129157,,,,090929.96*4D

2021-02-16T09:09:30.143Z,1613466570.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.559982 m, bearing: 46.038371 deg, deltaT: 4.867243 s, approachRate: -0.727313 m/s, LOS rate: -0.052952 deg/s, posRepo size: 4
2021-02-16T09:09:30.145Z,1613466570.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 46.038371 deg,
      approachRate: -0.727313 m/s,
      LOS rate: -0.052952 deg/s,
      cmd update: -0.158856 deg/s,
      cmd heading: 60.570101 deg,
      new cmd heading: 60.636026 deg.

2021-02-16T09:09:32.569Z,1613466572.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:33.333Z,1613466573.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:33.730Z,1613466573.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:34.613Z,1613466574.613 [Micromodem](INFO): Nmea in: $SNTTA,0.127002,,,,090934.81*48

2021-02-16T09:09:35.001Z,1613466575.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.319992 m, bearing: 45.965923 deg, deltaT: 4.898484 s, approachRate: -0.661427 m/s, LOS rate: -0.014790 deg/s, posRepo size: 4
2021-02-16T09:09:35.016Z,1613466575.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.319992 m,
      bearing: 45.965923 deg,
      approachRate: -0.661427 m/s,
      LOS rate: -0.014790 deg/s,
      cmd update: -0.044370 deg/s,
      cmd heading: 59.790536 deg,
      new cmd heading: 59.739306 deg.

2021-02-16T09:09:37.410Z,1613466577.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:38.174Z,1613466578.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:38.582Z,1613466578.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:39.397Z,1613466579.397 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,185,80,80,BA,FF
186,80,80,D5,FF
2021-02-16T09:09:39.412Z,1613466579.412 [Micromodem](INFO): Nmea in: $SNTTA,0.124679,,,,090939.65*46

2021-02-16T09:09:39.428Z,1613466579.428 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:09:40.278Z,1613466580.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:43.089Z,1613466583.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:45.873Z,1613466585.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:46.664Z,1613466586.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:47.062Z,1613466587.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:47.880Z,1613466587.880 [Micromodem](INFO): Nmea in: $SNTTA,0.120817,,,,090948.14*44

2021-02-16T09:09:48.307Z,1613466588.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.080017 m, bearing: 45.699286 deg, deltaT: 13.274393 s, approachRate: -0.696075 m/s, LOS rate: -0.020087 deg/s, posRepo size: 4
2021-02-16T09:09:48.309Z,1613466588.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.080017 m,
      bearing: 45.699286 deg,
      approachRate: -0.696075 m/s,
      LOS rate: -0.020087 deg/s,
      cmd update: -0.060260 deg/s,
      cmd heading: 59.201749 deg,
      new cmd heading: 59.184978 deg.

2021-02-16T09:09:50.726Z,1613466590.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:51.538Z,1613466591.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:51.910Z,1613466591.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:52.743Z,1613466592.743 [Micromodem](INFO): Nmea in: $SNTTA,0.118676,,,,090953.01*48

2021-02-16T09:09:53.173Z,1613466593.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 45.289786 deg, deltaT: 4.834534 s, approachRate: -0.682593 m/s, LOS rate: -0.084703 deg/s, posRepo size: 4
2021-02-16T09:09:53.175Z,1613466593.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 45.289786 deg,
      approachRate: -0.682593 m/s,
      LOS rate: -0.084703 deg/s,
      cmd update: -0.254110 deg/s,
      cmd heading: 58.910160 deg,
      new cmd heading: 58.885744 deg.

2021-02-16T09:09:55.584Z,1613466595.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:09:56.352Z,1613466596.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:09:56.759Z,1613466596.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:09:57.591Z,1613466597.591 [Micromodem](INFO): Nmea in: $SNTTA,0.116334,,0.121569,,090957.82*5C

2021-02-16T09:09:57.616Z,1613466597.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 45.585287 deg, deltaT: 4.443733 s, approachRate: 0.000000 m/s, LOS rate: 0.066498 deg/s, posRepo size: 4
2021-02-16T09:09:57.618Z,1613466597.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 45.585287 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.066498 deg/s,
      cmd update: 0.199495 deg/s,
      cmd heading: 57.781538 deg,
      new cmd heading: 57.678204 deg.

2021-02-16T09:10:00.051Z,1613466600.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:00.798Z,1613466600.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:01.210Z,1613466601.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:02.051Z,1613466602.051 [Micromodem](INFO): Nmea in: $SNTTA,0.114292,,,,091002.27*42

2021-02-16T09:10:02.076Z,1613466602.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 45.220295 deg, deltaT: 4.445565 s, approachRate: -1.511619 m/s, LOS rate: -0.082102 deg/s, posRepo size: 4
2021-02-16T09:10:02.077Z,1613466602.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 45.220295 deg,
      approachRate: -1.511619 m/s,
      LOS rate: -0.082102 deg/s,
      cmd update: -0.246307 deg/s,
      cmd heading: 58.668793 deg,
      new cmd heading: 58.752315 deg.

2021-02-16T09:10:04.451Z,1613466604.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:05.240Z,1613466605.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:05.646Z,1613466605.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:06.482Z,1613466606.482 [Micromodem](INFO): Nmea in: $SNTTA,0.112310,,,,091006.71*48

2021-02-16T09:10:06.544Z,1613466606.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.240005 m, bearing: 45.157085 deg, deltaT: 4.428658 s, approachRate: -0.636760 m/s, LOS rate: -0.014273 deg/s, posRepo size: 4
2021-02-16T09:10:06.545Z,1613466606.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.240005 m,
      bearing: 45.157085 deg,
      approachRate: -0.636760 m/s,
      LOS rate: -0.014273 deg/s,
      cmd update: -0.042819 deg/s,
      cmd heading: 57.577959 deg,
      new cmd heading: 57.466202 deg.

2021-02-16T09:10:08.933Z,1613466608.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:09.697Z,1613466609.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:10.115Z,1613466610.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:10.940Z,1613466610.940 [Micromodem](INFO): Nmea in: $SNTTA,0.110223,,,,091011.17*4D

2021-02-16T09:10:10.972Z,1613466610.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 45.477944 deg, deltaT: 4.516253 s, approachRate: -0.690840 m/s, LOS rate: 0.071045 deg/s, posRepo size: 4
2021-02-16T09:10:10.974Z,1613466610.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.119995 m,
      bearing: 45.477944 deg,
      approachRate: -0.690840 m/s,
      LOS rate: 0.071045 deg/s,
      cmd update: 0.213136 deg/s,
      cmd heading: 57.385261 deg,
      new cmd heading: 57.368721 deg.

2021-02-16T09:10:13.357Z,1613466613.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:14.141Z,1613466614.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:14.552Z,1613466614.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:15.380Z,1613466615.380 [Micromodem](INFO): Nmea in: $SNTTA,0.108041,,,,091015.61*47

2021-02-16T09:10:15.414Z,1613466615.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 45.473227 deg, deltaT: 4.389042 s, approachRate: -0.751870 m/s, LOS rate: -0.001075 deg/s, posRepo size: 4
2021-02-16T09:10:15.416Z,1613466615.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 45.473227 deg,
      approachRate: -0.751870 m/s,
      LOS rate: -0.001075 deg/s,
      cmd update: -0.003224 deg/s,
      cmd heading: 58.322664 deg,
      new cmd heading: 58.414221 deg.

2021-02-16T09:10:17.799Z,1613466617.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:18.597Z,1613466618.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:18.998Z,1613466618.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:19.820Z,1613466619.820 [Micromodem](INFO): Nmea in: $SNTTA,0.106095,,,,091020.07*46

2021-02-16T09:10:19.864Z,1613466619.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 45.033193 deg, deltaT: 4.438852 s, approachRate: 0.000000 m/s, LOS rate: -0.099133 deg/s, posRepo size: 4
2021-02-16T09:10:19.866Z,1613466619.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 45.033193 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.099133 deg/s,
      cmd update: -0.297398 deg/s,
      cmd heading: 58.308387 deg,
      new cmd heading: 58.306933 deg.

2021-02-16T09:10:22.316Z,1613466622.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:23.038Z,1613466623.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:23.430Z,1613466623.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:24.260Z,1613466624.260 [Micromodem](INFO): Nmea in: $SNTTA,0.104088,,,,091024.51*4F

2021-02-16T09:10:24.305Z,1613466624.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 44.852257 deg, deltaT: 4.475913 s, approachRate: -1.313700 m/s, LOS rate: -0.040424 deg/s, posRepo size: 4
2021-02-16T09:10:24.307Z,1613466624.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.940002 m,
      bearing: 44.852257 deg,
      approachRate: -1.313700 m/s,
      LOS rate: -0.040424 deg/s,
      cmd update: -0.121273 deg/s,
      cmd heading: 56.973333 deg,
      new cmd heading: 56.853484 deg.

2021-02-16T09:10:26.685Z,1613466626.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:27.468Z,1613466627.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:27.873Z,1613466627.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:28.700Z,1613466628.700 [Micromodem](INFO): Nmea in: $SNTTA,0.102074,,,,091028.94*4F

2021-02-16T09:10:28.749Z,1613466628.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 44.332869 deg, deltaT: 4.415339 s, approachRate: -0.693038 m/s, LOS rate: -0.117633 deg/s, posRepo size: 4
2021-02-16T09:10:28.750Z,1613466628.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.880005 m,
      bearing: 44.332869 deg,
      approachRate: -0.693038 m/s,
      LOS rate: -0.117633 deg/s,
      cmd update: -0.352898 deg/s,
      cmd heading: 56.437437 deg,
      new cmd heading: 56.385536 deg.

2021-02-16T09:10:31.134Z,1613466631.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:31.912Z,1613466631.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:32.325Z,1613466632.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:33.140Z,1613466633.140 [Micromodem](INFO): Nmea in: $SNTTA,0.100002,,,,091033.38*40

2021-02-16T09:10:33.164Z,1613466633.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 45.367431 deg, deltaT: 4.444562 s, approachRate: -0.715483 m/s, LOS rate: 0.232770 deg/s, posRepo size: 4
2021-02-16T09:10:33.166Z,1613466633.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.699997 m,
      bearing: 45.367431 deg,
      approachRate: -0.715483 m/s,
      LOS rate: 0.232770 deg/s,
      cmd update: 0.698311 deg/s,
      cmd heading: 54.874503 deg,
      new cmd heading: 54.728340 deg.

2021-02-16T09:10:35.593Z,1613466635.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:36.357Z,1613466636.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:36.762Z,1613466636.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:37.584Z,1613466637.584 [Micromodem](INFO): Nmea in: $SNTTA,0.097848,,,,091037.83*4D

2021-02-16T09:10:37.650Z,1613466637.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.580002 m, bearing: 44.787456 deg, deltaT: 4.462994 s, approachRate: -0.699081 m/s, LOS rate: -0.129952 deg/s, posRepo size: 4
2021-02-16T09:10:37.657Z,1613466637.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.580002 m,
      bearing: 44.787456 deg,
      approachRate: -0.699081 m/s,
      LOS rate: -0.129952 deg/s,
      cmd update: -0.389856 deg/s,
      cmd heading: 58.000085 deg,
      new cmd heading: 58.295766 deg.

2021-02-16T09:10:40.068Z,1613466640.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:40.808Z,1613466640.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:41.215Z,1613466641.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:42.068Z,1613466642.068 [Micromodem](INFO): Nmea in: $SNTTA,0.095819,,,,091042.28*48

2021-02-16T09:10:42.102Z,1613466642.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 44.693353 deg, deltaT: 4.419054 s, approachRate: -0.692455 m/s, LOS rate: -0.021295 deg/s, posRepo size: 4
2021-02-16T09:10:42.104Z,1613466642.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 44.693353 deg,
      approachRate: -0.692455 m/s,
      LOS rate: -0.021295 deg/s,
      cmd update: -0.063884 deg/s,
      cmd heading: 56.276317 deg,
      new cmd heading: 56.098795 deg.

2021-02-16T09:10:44.695Z,1613466644.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:45.265Z,1613466645.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:45.661Z,1613466645.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:46.488Z,1613466646.488 [Micromodem](INFO): Nmea in: $SNTTA,0.093932,,,,091046.74*4B

2021-02-16T09:10:46.545Z,1613466646.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 44.282090 deg, deltaT: 4.478026 s, approachRate: -0.696734 m/s, LOS rate: -0.091840 deg/s, posRepo size: 4
2021-02-16T09:10:46.551Z,1613466646.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 44.282090 deg,
      approachRate: -0.696734 m/s,
      LOS rate: -0.091840 deg/s,
      cmd update: -0.275521 deg/s,
      cmd heading: 55.991659 deg,
      new cmd heading: 55.963393 deg.

2021-02-16T09:10:48.906Z,1613466648.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:49.689Z,1613466649.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:50.091Z,1613466650.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:50.923Z,1613466650.923 [Micromodem](INFO): Nmea in: $SNTTA,0.091929,,,,091051.16*41

2021-02-16T09:10:50.942Z,1613466650.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 44.257539 deg, deltaT: 4.441139 s, approachRate: -0.661993 m/s, LOS rate: -0.005528 deg/s, posRepo size: 4
2021-02-16T09:10:50.944Z,1613466650.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 44.257539 deg,
      approachRate: -0.661993 m/s,
      LOS rate: -0.005528 deg/s,
      cmd update: -0.016584 deg/s,
      cmd heading: 54.761808 deg,
      new cmd heading: 54.658294 deg.

2021-02-16T09:10:53.346Z,1613466653.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:54.128Z,1613466654.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:54.550Z,1613466654.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:55.371Z,1613466655.371 [Micromodem](INFO): Nmea in: $SNTTA,0.089603,,,,091055.60*4A

2021-02-16T09:10:55.396Z,1613466655.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 43.754940 deg, deltaT: 4.396020 s, approachRate: -0.723383 m/s, LOS rate: -0.114331 deg/s, posRepo size: 4
2021-02-16T09:10:55.398Z,1613466655.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.279999 m,
      bearing: 43.754940 deg,
      approachRate: -0.723383 m/s,
      LOS rate: -0.114331 deg/s,
      cmd update: -0.342992 deg/s,
      cmd heading: 54.689098 deg,
      new cmd heading: 54.681720 deg.

2021-02-16T09:10:57.833Z,1613466657.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:10:58.573Z,1613466658.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:10:58.995Z,1613466658.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:10:59.804Z,1613466659.804 [Micromodem](INFO): Nmea in: $SNTTA,0.087489,,,,091100.05*46

2021-02-16T09:10:59.849Z,1613466659.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.040009 m, bearing: 44.131543 deg, deltaT: 4.436940 s, approachRate: -0.730231 m/s, LOS rate: 0.084879 deg/s, posRepo size: 4
2021-02-16T09:10:59.850Z,1613466659.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.040009 m,
      bearing: 44.131543 deg,
      approachRate: -0.730231 m/s,
      LOS rate: 0.084879 deg/s,
      cmd update: 0.254637 deg/s,
      cmd heading: 53.163137 deg,
      new cmd heading: 53.009206 deg.

2021-02-16T09:11:02.240Z,1613466662.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:03.039Z,1613466663.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:03.422Z,1613466663.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:04.260Z,1613466664.260 [Micromodem](INFO): Nmea in: $SNTTA,0.085416,,,,091104.51*47

2021-02-16T09:11:04.284Z,1613466664.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.980003 m, bearing: 44.544998 deg, deltaT: 4.454057 s, approachRate: -0.687015 m/s, LOS rate: 0.092827 deg/s, posRepo size: 4
2021-02-16T09:11:04.286Z,1613466664.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 44.544998 deg,
      approachRate: -0.687015 m/s,
      LOS rate: 0.092827 deg/s,
      cmd update: 0.278480 deg/s,
      cmd heading: 54.297303 deg,
      new cmd heading: 54.406816 deg.

2021-02-16T09:11:06.687Z,1613466666.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:07.466Z,1613466667.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:07.871Z,1613466667.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:08.695Z,1613466668.695 [Micromodem](INFO): Nmea in: $SNTTA,0.083420,,,,091108.94*41

2021-02-16T09:11:08.725Z,1613466668.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 44.225109 deg, deltaT: 4.449317 s, approachRate: -0.674263 m/s, LOS rate: -0.071896 deg/s, posRepo size: 4
2021-02-16T09:11:08.726Z,1613466668.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.979996 m,
      bearing: 44.225109 deg,
      approachRate: -0.674263 m/s,
      LOS rate: -0.071896 deg/s,
      cmd update: -0.215688 deg/s,
      cmd heading: 55.536308 deg,
      new cmd heading: 55.653727 deg.

2021-02-16T09:11:11.128Z,1613466671.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:11.904Z,1613466671.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:12.310Z,1613466672.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:13.136Z,1613466673.136 [Micromodem](INFO): Nmea in: $SNTTA,0.081358,,,,091113.38*47

2021-02-16T09:11:13.181Z,1613466673.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 43.680159 deg, deltaT: 4.453098 s, approachRate: -0.700635 m/s, LOS rate: -0.122375 deg/s, posRepo size: 4
2021-02-16T09:11:13.188Z,1613466673.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.860001 m,
      bearing: 43.680159 deg,
      approachRate: -0.700635 m/s,
      LOS rate: -0.122375 deg/s,
      cmd update: -0.367126 deg/s,
      cmd heading: 54.579239 deg,
      new cmd heading: 54.488776 deg.

2021-02-16T09:11:15.586Z,1613466675.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:16.365Z,1613466676.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:16.758Z,1613466676.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:17.588Z,1613466677.588 [Micromodem](INFO): Nmea in: $SNTTA,0.079458,,,,091117.84*44

2021-02-16T09:11:17.632Z,1613466677.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 43.989874 deg, deltaT: 4.488852 s, approachRate: -0.681688 m/s, LOS rate: 0.068996 deg/s, posRepo size: 4
2021-02-16T09:11:17.634Z,1613466677.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.800003 m,
      bearing: 43.989874 deg,
      approachRate: -0.681688 m/s,
      LOS rate: 0.068996 deg/s,
      cmd update: 0.206989 deg/s,
      cmd heading: 52.926870 deg,
      new cmd heading: 52.783373 deg.

2021-02-16T09:11:20.056Z,1613466680.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:20.806Z,1613466680.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:21.219Z,1613466681.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:22.060Z,1613466682.060 [Micromodem](INFO): Nmea in: $SNTTA,0.077364,,,,091122.28*42

2021-02-16T09:11:22.085Z,1613466682.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 44.122042 deg, deltaT: 4.407716 s, approachRate: -0.667011 m/s, LOS rate: 0.029986 deg/s, posRepo size: 4
2021-02-16T09:11:22.086Z,1613466682.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.860008 m,
      bearing: 44.122042 deg,
      approachRate: -0.667011 m/s,
      LOS rate: 0.029986 deg/s,
      cmd update: 0.089956 deg/s,
      cmd heading: 53.839199 deg,
      new cmd heading: 53.929437 deg.

2021-02-16T09:11:24.602Z,1613466684.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:25.247Z,1613466685.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:25.642Z,1613466685.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:26.476Z,1613466686.476 [Micromodem](INFO): Nmea in: $SNTTA,0.075369,,,,091126.73*47

2021-02-16T09:11:26.553Z,1613466686.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 44.882023 deg, deltaT: 4.433415 s, approachRate: -0.649615 m/s, LOS rate: 0.171421 deg/s, posRepo size: 4
2021-02-16T09:11:26.555Z,1613466686.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.979996 m,
      bearing: 44.882023 deg,
      approachRate: -0.649615 m/s,
      LOS rate: 0.171421 deg/s,
      cmd update: 0.514264 deg/s,
      cmd heading: 54.236939 deg,
      new cmd heading: 54.280396 deg.

2021-02-16T09:11:28.918Z,1613466688.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:29.680Z,1613466689.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:30.103Z,1613466690.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:30.908Z,1613466690.908 [Micromodem](INFO): Nmea in: $SNTTA,0.073335,,,,091131.15*4E

2021-02-16T09:11:30.984Z,1613466690.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 43.879113 deg, deltaT: 4.470951 s, approachRate: -0.697835 m/s, LOS rate: -0.224317 deg/s, posRepo size: 4
2021-02-16T09:11:30.986Z,1613466690.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.860008 m,
      bearing: 43.879113 deg,
      approachRate: -0.697835 m/s,
      LOS rate: -0.224317 deg/s,
      cmd update: -0.672951 deg/s,
      cmd heading: 56.542354 deg,
      new cmd heading: 56.753638 deg.

2021-02-16T09:11:33.374Z,1613466693.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:34.130Z,1613466694.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:34.556Z,1613466694.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:35.360Z,1613466695.360 [Micromodem](INFO): Nmea in: $SNTTA,0.071222,,,,091135.60*4D

2021-02-16T09:11:35.413Z,1613466695.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.619995 m, bearing: 42.431273 deg, deltaT: 4.394248 s, approachRate: -0.737330 m/s, LOS rate: -0.329485 deg/s, posRepo size: 4
2021-02-16T09:11:35.414Z,1613466695.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.619995 m,
      bearing: 42.431273 deg,
      approachRate: -0.737330 m/s,
      LOS rate: -0.329485 deg/s,
      cmd update: -0.988456 deg/s,
      cmd heading: 53.582528 deg,
      new cmd heading: 53.272209 deg.

2021-02-16T09:11:37.786Z,1613466697.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:38.568Z,1613466698.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:38.979Z,1613466698.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:39.803Z,1613466699.803 [Micromodem](INFO): Nmea in: $SNTTA,0.069192,,,,091140.04*4C

2021-02-16T09:11:39.828Z,1613466699.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.620003 m, bearing: 43.395839 deg, deltaT: 4.462809 s, approachRate: -0.672221 m/s, LOS rate: 0.216134 deg/s, posRepo size: 4
2021-02-16T09:11:39.829Z,1613466699.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.620003 m,
      bearing: 43.395839 deg,
      approachRate: -0.672221 m/s,
      LOS rate: 0.216134 deg/s,
      cmd update: 0.648403 deg/s,
      cmd heading: 49.171252 deg,
      new cmd heading: 48.762997 deg.

2021-02-16T09:11:42.321Z,1613466702.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:43.033Z,1613466703.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:43.418Z,1613466703.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:44.256Z,1613466704.256 [Micromodem](INFO): Nmea in: $SNTTA,0.067091,,,,091144.51*44

2021-02-16T09:11:44.302Z,1613466704.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 43.687263 deg, deltaT: 4.451655 s, approachRate: -0.714341 m/s, LOS rate: 0.065464 deg/s, posRepo size: 4
2021-02-16T09:11:44.304Z,1613466704.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.440002 m,
      bearing: 43.687263 deg,
      approachRate: -0.714341 m/s,
      LOS rate: 0.065464 deg/s,
      cmd update: 0.196392 deg/s,
      cmd heading: 52.047356 deg,
      new cmd heading: 52.340522 deg.

2021-02-16T09:11:46.673Z,1613466706.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:47.456Z,1613466707.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:47.862Z,1613466707.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:48.693Z,1613466708.693 [Micromodem](INFO): Nmea in: $SNTTA,0.065003,,,,091148.93*4F

2021-02-16T09:11:48.719Z,1613466708.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 43.712002 deg, deltaT: 4.422880 s, approachRate: -0.691856 m/s, LOS rate: 0.005593 deg/s, posRepo size: 4
2021-02-16T09:11:48.721Z,1613466708.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 43.712002 deg,
      approachRate: -0.691856 m/s,
      LOS rate: 0.005593 deg/s,
      cmd update: 0.016780 deg/s,
      cmd heading: 52.919101 deg,
      new cmd heading: 53.003555 deg.

2021-02-16T09:11:51.142Z,1613466711.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:51.921Z,1613466711.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:52.308Z,1613466712.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:53.141Z,1613466713.141 [Micromodem](INFO): Nmea in: $SNTTA,0.062902,,,,091153.39*4A

2021-02-16T09:11:53.165Z,1613466713.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 43.544604 deg, deltaT: 4.455706 s, approachRate: -0.713692 m/s, LOS rate: -0.037569 deg/s, posRepo size: 4
2021-02-16T09:11:53.167Z,1613466713.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.200005 m,
      bearing: 43.544604 deg,
      approachRate: -0.713692 m/s,
      LOS rate: -0.037569 deg/s,
      cmd update: -0.112708 deg/s,
      cmd heading: 52.993868 deg,
      new cmd heading: 53.000929 deg.

2021-02-16T09:11:55.576Z,1613466715.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:11:56.349Z,1613466716.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:11:56.757Z,1613466716.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:11:57.576Z,1613466717.576 [Micromodem](INFO): Nmea in: $SNTTA,0.060899,,,,091157.82*4F

2021-02-16T09:11:57.615Z,1613466717.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 43.283595 deg, deltaT: 4.479101 s, approachRate: -0.696567 m/s, LOS rate: -0.058273 deg/s, posRepo size: 4
2021-02-16T09:11:57.617Z,1613466717.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.080009 m,
      bearing: 43.283595 deg,
      approachRate: -0.696567 m/s,
      LOS rate: -0.058273 deg/s,
      cmd update: -0.174818 deg/s,
      cmd heading: 52.489925 deg,
      new cmd heading: 52.444958 deg.

2021-02-16T09:12:00.047Z,1613466720.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:00.789Z,1613466720.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:01.204Z,1613466721.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:02.044Z,1613466722.044 [Micromodem](INFO): Nmea in: $SNTTA,0.058713,,,,091202.26*44

2021-02-16T09:12:02.068Z,1613466722.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 42.934306 deg, deltaT: 4.424876 s, approachRate: -0.732227 m/s, LOS rate: -0.078938 deg/s, posRepo size: 4
2021-02-16T09:12:02.070Z,1613466722.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.839996 m,
      bearing: 42.934306 deg,
      approachRate: -0.732227 m/s,
      LOS rate: -0.078938 deg/s,
      cmd update: -0.236813 deg/s,
      cmd heading: 51.715705 deg,
      new cmd heading: 51.641573 deg.

2021-02-16T09:12:04.439Z,1613466724.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:05.237Z,1613466725.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:05.654Z,1613466725.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:06.468Z,1613466726.468 [Micromodem](INFO): Nmea in: $SNTTA,0.056595,,0.080144,,091206.71*57

2021-02-16T09:12:06.548Z,1613466726.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.660004 m, bearing: 43.219822 deg, deltaT: 4.445886 s, approachRate: -0.715266 m/s, LOS rate: 0.064220 deg/s, posRepo size: 4
2021-02-16T09:12:06.549Z,1613466726.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.660004 m,
      bearing: 43.219822 deg,
      approachRate: -0.715266 m/s,
      LOS rate: 0.064220 deg/s,
      cmd update: 0.192661 deg/s,
      cmd heading: 50.662839 deg,
      new cmd heading: 50.559006 deg.

2021-02-16T09:12:08.901Z,1613466728.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:09.676Z,1613466729.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:10.082Z,1613466730.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:10.905Z,1613466730.905 [Micromodem](INFO): Nmea in: $SNTTA,0.054476,,,,091211.15*4A

2021-02-16T09:12:10.968Z,1613466730.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 43.036551 deg, deltaT: 4.452083 s, approachRate: -0.700796 m/s, LOS rate: -0.041165 deg/s, posRepo size: 4
2021-02-16T09:12:10.969Z,1613466730.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 43.036551 deg,
      approachRate: -0.700796 m/s,
      LOS rate: -0.041165 deg/s,
      cmd update: -0.123496 deg/s,
      cmd heading: 51.521357 deg,
      new cmd heading: 51.602434 deg.

2021-02-16T09:12:13.357Z,1613466733.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:14.135Z,1613466734.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:14.545Z,1613466734.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:15.368Z,1613466735.368 [Micromodem](INFO): Nmea in: $SNTTA,0.052333,,,,091215.61*4D

2021-02-16T09:12:15.418Z,1613466735.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 42.962337 deg, deltaT: 4.400817 s, approachRate: -0.722593 m/s, LOS rate: -0.016864 deg/s, posRepo size: 4
2021-02-16T09:12:15.420Z,1613466735.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.360001 m,
      bearing: 42.962337 deg,
      approachRate: -0.722593 m/s,
      LOS rate: -0.016864 deg/s,
      cmd update: -0.050591 deg/s,
      cmd heading: 50.977878 deg,
      new cmd heading: 50.919748 deg.

2021-02-16T09:12:17.787Z,1613466737.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:18.564Z,1613466738.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:18.989Z,1613466738.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:19.799Z,1613466739.799 [Micromodem](INFO): Nmea in: $SNTTA,0.050254,,,,091220.03*4D

2021-02-16T09:12:19.823Z,1613466739.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.180008 m, bearing: 43.078929 deg, deltaT: 4.491703 s, approachRate: -0.707970 m/s, LOS rate: 0.025957 deg/s, posRepo size: 4
2021-02-16T09:12:19.825Z,1613466739.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.180008 m,
      bearing: 43.078929 deg,
      approachRate: -0.707970 m/s,
      LOS rate: 0.025957 deg/s,
      cmd update: 0.077871 deg/s,
      cmd heading: 50.751274 deg,
      new cmd heading: 50.731210 deg.

2021-02-16T09:12:22.243Z,1613466742.243 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:23.032Z,1613466743.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:23.414Z,1613466743.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:24.252Z,1613466744.252 [Micromodem](INFO): Nmea in: $SNTTA,0.048280,,,,091224.51*4E

2021-02-16T09:12:24.301Z,1613466744.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 43.105645 deg, deltaT: 4.401906 s, approachRate: -0.667893 m/s, LOS rate: 0.006069 deg/s, posRepo size: 4
2021-02-16T09:12:24.303Z,1613466744.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 43.105645 deg,
      approachRate: -0.667893 m/s,
      LOS rate: 0.006069 deg/s,
      cmd update: 0.018208 deg/s,
      cmd heading: 51.095026 deg,
      new cmd heading: 51.130848 deg.

2021-02-16T09:12:26.674Z,1613466746.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:27.452Z,1613466747.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:27.862Z,1613466747.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:28.700Z,1613466748.700 [Micromodem](INFO): Nmea in: $SNTTA,0.046162,,,,091228.93*4D

2021-02-16T09:12:28.735Z,1613466748.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 42.777297 deg, deltaT: 4.472529 s, approachRate: -0.724422 m/s, LOS rate: -0.073414 deg/s, posRepo size: 4
2021-02-16T09:12:28.737Z,1613466748.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 42.777297 deg,
      approachRate: -0.724422 m/s,
      LOS rate: -0.073414 deg/s,
      cmd update: -0.220243 deg/s,
      cmd heading: 51.176099 deg,
      new cmd heading: 51.184131 deg.

2021-02-16T09:12:31.149Z,1613466751.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:31.900Z,1613466751.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:32.306Z,1613466752.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:33.148Z,1613466753.148 [Micromodem](INFO): Nmea in: $SNTTA,0.044162,,,,091233.37*4B

2021-02-16T09:12:33.185Z,1613466753.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.060005 m, bearing: 42.378745 deg, deltaT: 4.441842 s, approachRate: -0.661888 m/s, LOS rate: -0.089727 deg/s, posRepo size: 4
2021-02-16T09:12:33.189Z,1613466753.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 42.378745 deg,
      approachRate: -0.661888 m/s,
      LOS rate: -0.089727 deg/s,
      cmd update: -0.269180 deg/s,
      cmd heading: 50.193417 deg,
      new cmd heading: 50.099092 deg.

2021-02-16T09:12:35.581Z,1613466755.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:36.350Z,1613466756.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:36.750Z,1613466756.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:37.576Z,1613466757.576 [Micromodem](INFO): Nmea in: $SNTTA,0.042121,,,,091237.82*40

2021-02-16T09:12:37.621Z,1613466757.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 43.011726 deg, deltaT: 4.455091 s, approachRate: -0.686855 m/s, LOS rate: 0.142080 deg/s, posRepo size: 4
2021-02-16T09:12:37.623Z,1613466757.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.000004 m,
      bearing: 43.011726 deg,
      approachRate: -0.686855 m/s,
      LOS rate: 0.142080 deg/s,
      cmd update: 0.426241 deg/s,
      cmd heading: 48.996991 deg,
      new cmd heading: 48.883712 deg.

2021-02-16T09:12:40.037Z,1613466760.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:40.788Z,1613466760.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:41.201Z,1613466761.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:42.044Z,1613466762.044 [Micromodem](INFO): Nmea in: $SNTTA,0.040000,,,,091242.26*4C

2021-02-16T09:12:42.082Z,1613466762.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.880005 m, bearing: 43.059087 deg, deltaT: 4.410406 s, approachRate: -0.707418 m/s, LOS rate: 0.010738 deg/s, posRepo size: 4
2021-02-16T09:12:42.084Z,1613466762.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.880005 m,
      bearing: 43.059087 deg,
      approachRate: -0.707418 m/s,
      LOS rate: 0.010738 deg/s,
      cmd update: 0.032215 deg/s,
      cmd heading: 50.881301 deg,
      new cmd heading: 51.077817 deg.

2021-02-16T09:12:44.440Z,1613466764.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:45.237Z,1613466765.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:45.638Z,1613466765.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:46.464Z,1613466766.464 [Micromodem](INFO): Nmea in: $SNTTA,0.037817,,,,091246.71*44

2021-02-16T09:12:46.490Z,1613466766.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 42.919239 deg, deltaT: 4.452249 s, approachRate: -0.754676 m/s, LOS rate: -0.031411 deg/s, posRepo size: 4
2021-02-16T09:12:46.492Z,1613466766.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.520000 m,
      bearing: 42.919239 deg,
      approachRate: -0.754676 m/s,
      LOS rate: -0.031411 deg/s,
      cmd update: -0.094232 deg/s,
      cmd heading: 51.024733 deg,
      new cmd heading: 51.038178 deg.

2021-02-16T09:12:48.893Z,1613466768.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:49.676Z,1613466769.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:50.083Z,1613466770.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:50.904Z,1613466770.904 [Micromodem](INFO): Nmea in: $SNTTA,0.035687,,,,091251.15*45

2021-02-16T09:12:50.953Z,1613466770.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 42.121503 deg, deltaT: 4.472688 s, approachRate: -0.710983 m/s, LOS rate: -0.178357 deg/s, posRepo size: 4
2021-02-16T09:12:50.959Z,1613466770.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 42.121503 deg,
      approachRate: -0.710983 m/s,
      LOS rate: -0.178357 deg/s,
      cmd update: -0.535071 deg/s,
      cmd heading: 50.603655 deg,
      new cmd heading: 50.564871 deg.

2021-02-16T09:12:53.376Z,1613466773.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:54.128Z,1613466774.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:54.548Z,1613466774.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:55.396Z,1613466775.396 [Micromodem](INFO): Nmea in: $SNTTA,0.033835,,,,091255.60*42

2021-02-16T09:12:55.449Z,1613466775.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.279999 m, bearing: 42.146748 deg, deltaT: 4.396230 s, approachRate: -0.696050 m/s, LOS rate: 0.005742 deg/s, posRepo size: 4
2021-02-16T09:12:55.456Z,1613466775.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.279999 m,
      bearing: 42.146748 deg,
      approachRate: -0.696050 m/s,
      LOS rate: 0.005742 deg/s,
      cmd update: 0.017227 deg/s,
      cmd heading: 48.249165 deg,
      new cmd heading: 47.989069 deg.

2021-02-16T09:12:57.792Z,1613466777.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:12:58.581Z,1613466778.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:12:58.979Z,1613466778.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:12:59.813Z,1613466779.813 [Micromodem](INFO): Nmea in: $SNTTA,0.031830,,0.044805,,091300.05*54

2021-02-16T09:12:59.838Z,1613466779.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.159996 m, bearing: 42.460909 deg, deltaT: 4.476118 s, approachRate: -0.697033 m/s, LOS rate: 0.070186 deg/s, posRepo size: 4
2021-02-16T09:12:59.840Z,1613466779.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.159996 m,
      bearing: 42.460909 deg,
      approachRate: -0.697033 m/s,
      LOS rate: 0.070186 deg/s,
      cmd update: 0.210558 deg/s,
      cmd heading: 48.326274 deg,
      new cmd heading: 48.333505 deg.

2021-02-16T09:13:02.244Z,1613466782.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:03.039Z,1613466783.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:03.423Z,1613466783.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:04.264Z,1613466784.264 [Micromodem](INFO): Nmea in: $SNTTA,0.029548,,,,091304.51*49

2021-02-16T09:13:04.296Z,1613466784.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.160000 m, bearing: 43.000846 deg, deltaT: 4.428870 s, approachRate: -0.677373 m/s, LOS rate: 0.121913 deg/s, posRepo size: 4
2021-02-16T09:13:04.298Z,1613466784.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.160000 m,
      bearing: 43.000846 deg,
      approachRate: -0.677373 m/s,
      LOS rate: 0.121913 deg/s,
      cmd update: 0.365739 deg/s,
      cmd heading: 49.258814 deg,
      new cmd heading: 49.353314 deg.

2021-02-16T09:13:06.670Z,1613466786.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:07.452Z,1613466787.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:07.863Z,1613466787.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:08.680Z,1613466788.680 [Micromodem](INFO): Nmea in: $SNTTA,0.027423,,,,091308.92*48

2021-02-16T09:13:08.706Z,1613466788.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.980000 m, bearing: 43.295903 deg, deltaT: 4.455404 s, approachRate: -0.713740 m/s, LOS rate: 0.066225 deg/s, posRepo size: 4
2021-02-16T09:13:08.708Z,1613466788.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.980000 m,
      bearing: 43.295903 deg,
      approachRate: -0.713740 m/s,
      LOS rate: 0.066225 deg/s,
      cmd update: 0.198674 deg/s,
      cmd heading: 50.888332 deg,
      new cmd heading: 51.035862 deg.

2021-02-16T09:13:11.114Z,1613466791.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:11.896Z,1613466791.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:12.303Z,1613466792.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:13.124Z,1613466793.124 [Micromodem](INFO): Nmea in: $SNTTA,0.025225,,,,091313.37*4F

2021-02-16T09:13:13.162Z,1613466793.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.620003 m, bearing: 41.433980 deg, deltaT: 4.438109 s, approachRate: -0.757078 m/s, LOS rate: -0.419531 deg/s, posRepo size: 4
2021-02-16T09:13:13.162Z,1613466793.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.62 m.
2021-02-16T09:13:13.164Z,1613466793.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.620003 m,
      bearing: 41.433980 deg,
      approachRate: -0.757078 m/s,
      LOS rate: -0.419531 deg/s,
      cmd update: -1.258592 deg/s,
      cmd heading: 51.770067 deg,
      new cmd heading: 51.853826 deg.

2021-02-16T09:13:13.553Z,1613466793.553 [PowerOnly](INFO): Powering up loadControl
2021-02-16T09:13:15.627Z,1613466795.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:16.340Z,1613466796.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:16.747Z,1613466796.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:17.579Z,1613466797.579 [Micromodem](INFO): Nmea in: $SNTTA,0.023262,,0.039387,,091317.81*5B

2021-02-16T09:13:17.613Z,1613466797.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 41.002131 deg, deltaT: 4.457853 s, approachRate: -0.726808 m/s, LOS rate: -0.096874 deg/s, posRepo size: 4
2021-02-16T09:13:17.614Z,1613466797.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.38 m.
2021-02-16T09:13:17.614Z,1613466797.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.38 m.
2021-02-16T09:13:17.614Z,1613466797.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T09:13:17.616Z,1613466797.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 41.002131 deg,
      approachRate: -0.726808 m/s,
      LOS rate: -0.096874 deg/s,
      cmd update: -0.290621 deg/s,
      cmd heading: 46.162402 deg,
      new cmd heading: 45.637251 deg.

2021-02-16T09:13:20.040Z,1613466800.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:20.791Z,1613466800.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:21.196Z,1613466801.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:22.046Z,1613466802.046 [Micromodem](INFO): Nmea in: $SNTTA,0.020909,,,,091322.26*4D

2021-02-16T09:13:22.071Z,1613466802.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 41.152450 deg, deltaT: 4.434562 s, approachRate: -0.730625 m/s, LOS rate: 0.033897 deg/s, posRepo size: 4
2021-02-16T09:13:22.073Z,1613466802.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 41.152450 deg,
      approachRate: -0.730625 m/s,
      LOS rate: 0.033897 deg/s,
      cmd update: 0.101691 deg/s,
      cmd heading: 44.877643 deg,
      new cmd heading: 44.745694 deg.

2021-02-16T09:13:24.451Z,1613466804.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:25.229Z,1613466805.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:25.649Z,1613466805.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:26.456Z,1613466806.456 [Micromodem](INFO): Nmea in: $SNTTA,0.018788,,,,091326.70*46

2021-02-16T09:13:26.521Z,1613466806.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 41.831606 deg, deltaT: 4.457518 s, approachRate: -0.713402 m/s, LOS rate: 0.152362 deg/s, posRepo size: 4
2021-02-16T09:13:26.536Z,1613466806.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.959997 m,
      bearing: 41.831606 deg,
      approachRate: -0.713402 m/s,
      LOS rate: 0.152362 deg/s,
      cmd update: 0.457086 deg/s,
      cmd heading: 45.332171 deg,
      new cmd heading: 45.375544 deg.

2021-02-16T09:13:28.890Z,1613466808.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:29.674Z,1613466809.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:30.080Z,1613466810.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:30.900Z,1613466810.900 [Micromodem](INFO): Nmea in: $SNTTA,0.016584,,,,091331.15*43

2021-02-16T09:13:30.941Z,1613466810.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 42.107225 deg, deltaT: 4.465486 s, approachRate: -0.739001 m/s, LOS rate: 0.061722 deg/s, posRepo size: 4
2021-02-16T09:13:30.943Z,1613466810.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.659998 m,
      bearing: 42.107225 deg,
      approachRate: -0.739001 m/s,
      LOS rate: 0.061722 deg/s,
      cmd update: 0.185166 deg/s,
      cmd heading: 47.367712 deg,
      new cmd heading: 47.550716 deg.

2021-02-16T09:13:33.342Z,1613466813.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:34.122Z,1613466814.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:34.555Z,1613466814.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:35.364Z,1613466815.364 [Micromodem](INFO): Nmea in: $SNTTA,0.014459,,,,091335.59*4C

2021-02-16T09:13:35.454Z,1613466815.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.480000 m, bearing: 41.343955 deg, deltaT: 4.452557 s, approachRate: -0.714196 m/s, LOS rate: -0.171423 deg/s, posRepo size: 4
2021-02-16T09:13:35.460Z,1613466815.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.480000 m,
      bearing: 41.343955 deg,
      approachRate: -0.714196 m/s,
      LOS rate: -0.171423 deg/s,
      cmd update: -0.514269 deg/s,
      cmd heading: 48.190061 deg,
      new cmd heading: 48.277761 deg.

2021-02-16T09:13:37.782Z,1613466817.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:38.560Z,1613466818.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:38.967Z,1613466818.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:39.792Z,1613466819.792 [Micromodem](INFO): Nmea in: $SNTTA,0.012306,,,,091340.03*4A

2021-02-16T09:13:39.817Z,1613466819.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 41.643486 deg, deltaT: 4.413328 s, approachRate: -0.734139 m/s, LOS rate: 0.067870 deg/s, posRepo size: 4
2021-02-16T09:13:39.819Z,1613466819.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.240002 m,
      bearing: 41.643486 deg,
      approachRate: -0.734139 m/s,
      LOS rate: 0.067870 deg/s,
      cmd update: 0.203609 deg/s,
      cmd heading: 45.908336 deg,
      new cmd heading: 45.702996 deg.

2021-02-16T09:13:42.233Z,1613466822.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:43.035Z,1613466823.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:43.417Z,1613466823.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:44.256Z,1613466824.256 [Micromodem](INFO): Nmea in: $SNTTA,0.010158,,,,091344.51*42

2021-02-16T09:13:44.280Z,1613466824.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 40.931872 deg, deltaT: 4.428273 s, approachRate: -0.758761 m/s, LOS rate: -0.160698 deg/s, posRepo size: 4
2021-02-16T09:13:44.282Z,1613466824.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 40.931872 deg,
      approachRate: -0.758761 m/s,
      LOS rate: -0.160698 deg/s,
      cmd update: -0.482093 deg/s,
      cmd heading: 46.810807 deg,
      new cmd heading: 46.898450 deg.

2021-02-16T09:13:46.676Z,1613466826.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:47.450Z,1613466827.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:47.854Z,1613466827.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:48.680Z,1613466828.680 [Micromodem](INFO): Nmea in: $SNTTA,0.008224,,,,091348.92*40

2021-02-16T09:13:48.730Z,1613466828.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 44.238831 deg, deltaT: 4.465351 s, approachRate: -0.658402 m/s, LOS rate: 0.740582 deg/s, posRepo size: 4
2021-02-16T09:13:48.736Z,1613466828.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 44.238831 deg,
      approachRate: -0.658402 m/s,
      LOS rate: 0.740582 deg/s,
      cmd update: 2.221746 deg/s,
      cmd heading: 44.658100 deg,
      new cmd heading: 44.458057 deg.

2021-02-16T09:13:51.110Z,1613466831.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:51.897Z,1613466831.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:52.299Z,1613466832.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:53.136Z,1613466833.136 [Micromodem](INFO): Nmea in: $SNTTA,0.006053,,,,091353.37*49

2021-02-16T09:13:53.160Z,1613466833.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.880000 m, bearing: 42.862695 deg, deltaT: 4.424017 s, approachRate: -0.691679 m/s, LOS rate: -0.311060 deg/s, posRepo size: 4
2021-02-16T09:13:53.162Z,1613466833.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.880000 m,
      bearing: 42.862695 deg,
      approachRate: -0.691679 m/s,
      LOS rate: -0.311060 deg/s,
      cmd update: -0.933181 deg/s,
      cmd heading: 54.487099 deg,
      new cmd heading: 55.422630 deg.

2021-02-16T09:13:55.573Z,1613466835.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:13:56.336Z,1613466836.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:13:56.760Z,1613466836.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:13:56.777Z,1613466836.777 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:13:57.564Z,1613466837.564 [Micromodem](INFO): Nmea in: $SNTTA,0.004421,,,,091357.81*43

2021-02-16T09:13:57.619Z,1613466837.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 45.589481 deg, deltaT: 4.477360 s, approachRate: -0.536030 m/s, LOS rate: 0.609016 deg/s, posRepo size: 4
2021-02-16T09:13:57.621Z,1613466837.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 45.589481 deg,
      approachRate: -0.536030 m/s,
      LOS rate: 0.609016 deg/s,
      cmd update: 1.827049 deg/s,
      cmd heading: 50.317862 deg,
      new cmd heading: 49.933758 deg.

2021-02-16T09:14:00.051Z,1613466840.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:00.798Z,1613466840.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:01.202Z,1613466841.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:02.044Z,1613466842.044 [Micromodem](INFO): Nmea in: $SNTTA,0.004806,,,,091402.27*41

2021-02-16T09:14:02.067Z,1613466842.067 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T09:14:02.067Z,1613466842.067 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:14:02.067Z,1613466842.067 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T09:14:02.067Z,1613466842.067 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:14:02.067Z,1613466842.067 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T09:14:02.068Z,1613466842.068 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-02-16T09:14:02.068Z,1613466842.068 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T09:14:02.068Z,1613466842.068 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T09:14:02.068Z,1613466842.068 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T09:14:02.070Z,1613466842.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 55.834208 deg, deltaT: 4.415811 s, approachRate: -0.421214 m/s, LOS rate: 2.320010 deg/s, posRepo size: 4
2021-02-16T09:14:02.100Z,1613466842.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 55.834208 deg,
      approachRate: -0.421214 m/s,
      LOS rate: 2.320010 deg/s,
      cmd update: 6.960031 deg/s,
      cmd heading: 58.403358 deg,
      new cmd heading: 59.203399 deg.

2021-02-16T09:14:02.429Z,1613466842.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T091402: (41.552319, -70.708603)
2021-02-16T09:14:02.429Z,1613466842.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T09:14:02.429Z,1613466842.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T09:14:02.429Z,1613466842.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:14:02.430Z,1613466842.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T09:14:02.430Z,1613466842.430 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:14:02.430Z,1613466842.430 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T09:14:02.430Z,1613466842.430 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T09:14:02.430Z,1613466842.430 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:14:02.847Z,1613466842.847 [UniversalFixResidualReporter](INFO): Fix residual: 4.9 %DT, over the last 549.2 m. Residual distance 27.2 m at bearing 142.6 degrees. Fix at (41.5519, -70.7090) with 0.0 m made good.
2021-02-16T09:14:04.432Z,1613466844.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:05.232Z,1613466845.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:05.631Z,1613466845.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:06.466Z,1613466846.466 [Micromodem](INFO): Nmea in: $SNTTA,0.003133,,,,091406.70*4F

2021-02-16T09:14:06.549Z,1613466846.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 66.905316 deg, deltaT: 4.430745 s, approachRate: 0.000000 m/s, LOS rate: 2.498701 deg/s, posRepo size: 4
2021-02-16T09:14:06.551Z,1613466846.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 66.905316 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.498701 deg/s,
      cmd update: 7.496104 deg/s,
      cmd heading: 89.241328 deg,
      new cmd heading: 92.621439 deg.

2021-02-16T09:14:08.892Z,1613466848.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:09.675Z,1613466849.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:10.090Z,1613466850.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:10.911Z,1613466850.911 [Micromodem](INFO): Nmea in: $SNTTA,0.004324,,,,091411.15*49

2021-02-16T09:14:10.936Z,1613466850.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 82.905984 deg, deltaT: 4.480423 s, approachRate: 0.428531 m/s, LOS rate: 3.571240 deg/s, posRepo size: 4
2021-02-16T09:14:10.938Z,1613466850.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 82.905984 deg,
      approachRate: 0.428531 m/s,
      LOS rate: 3.571240 deg/s,
      cmd update: 10.713721 deg/s,
      cmd heading: 122.796774 deg,
      new cmd heading: 125.765606 deg.

2021-02-16T09:14:13.343Z,1613466853.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:14.113Z,1613466854.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:14.550Z,1613466854.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:15.359Z,1613466855.359 [Micromodem](INFO): Nmea in: $SNTTA,0.006986,,,,091415.58*44

2021-02-16T09:14:15.384Z,1613466855.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 76.045086 deg, deltaT: 4.426160 s, approachRate: 0.881125 m/s, LOS rate: -1.550079 deg/s, posRepo size: 4
2021-02-16T09:14:15.386Z,1613466855.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 76.045086 deg,
      approachRate: 0.881125 m/s,
      LOS rate: -1.550079 deg/s,
      cmd update: -4.650237 deg/s,
      cmd heading: 170.143857 deg,
      new cmd heading: 174.692786 deg.

2021-02-16T09:14:17.778Z,1613466857.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:18.557Z,1613466858.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:18.967Z,1613466858.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:19.791Z,1613466859.791 [Micromodem](INFO): Nmea in: $SNTTA,0.007291,,,,091420.03*40

2021-02-16T09:14:19.816Z,1613466859.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.980000 m, bearing: 145.281812 deg, deltaT: 4.435737 s, approachRate: 0.121739 m/s, LOS rate: 15.608843 deg/s, posRepo size: 4
2021-02-16T09:14:19.817Z,1613466859.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.608843 deg/s. Setting heading cmd to target bearing of 145.281812deg and heading rate command to 0 deg/s.
2021-02-16T09:14:22.240Z,1613466862.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:23.032Z,1613466863.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:23.413Z,1613466863.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:24.244Z,1613466864.244 [Micromodem](INFO): Nmea in: $SNTTA,0.009352,,,,091424.50*42

2021-02-16T09:14:24.268Z,1613466864.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 157.661366 deg, deltaT: 4.436815 s, approachRate: 0.703208 m/s, LOS rate: 2.790189 deg/s, posRepo size: 4
2021-02-16T09:14:24.270Z,1613466864.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 157.661366 deg,
      approachRate: 0.703208 m/s,
      LOS rate: 2.790189 deg/s,
      cmd update: 8.370568 deg/s,
      cmd heading: 145.281812 deg,
      new cmd heading: 145.281812 deg.

2021-02-16T09:14:26.693Z,1613466866.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:27.450Z,1613466867.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:27.850Z,1613466867.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:28.676Z,1613466868.676 [Micromodem](INFO): Nmea in: $SNTTA,0.010351,,,,091428.92*4B

2021-02-16T09:14:28.710Z,1613466868.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 176.220916 deg, deltaT: 4.442744 s, approachRate: 0.324124 m/s, LOS rate: 4.177497 deg/s, posRepo size: 4
2021-02-16T09:14:28.713Z,1613466868.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.540001 m,
      bearing: 176.220916 deg,
      approachRate: 0.324124 m/s,
      LOS rate: 4.177497 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.470645 deg,
      new cmd heading: 186.023809 deg.

2021-02-16T09:14:31.106Z,1613466871.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:31.892Z,1613466871.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:32.294Z,1613466872.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:33.124Z,1613466873.124 [Micromodem](INFO): Nmea in: $SNTTA,0.010564,,,0.049202,091433.36*5C

2021-02-16T09:14:33.183Z,1613466873.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.779997 m, bearing: 179.689491 deg, deltaT: 4.441023 s, approachRate: 0.054041 m/s, LOS rate: 0.781031 deg/s, posRepo size: 4
2021-02-16T09:14:33.186Z,1613466873.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.779997 m,
      bearing: 179.689491 deg,
      approachRate: 0.054041 m/s,
      LOS rate: 0.781031 deg/s,
      cmd update: 2.343092 deg/s,
      cmd heading: 235.762358 deg,
      new cmd heading: 241.187427 deg.

2021-02-16T09:14:35.570Z,1613466875.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:36.337Z,1613466876.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:36.740Z,1613466876.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:37.568Z,1613466877.568 [Micromodem](INFO): Nmea in: $SNTTA,0.011209,,,,091437.81*4A

2021-02-16T09:14:37.617Z,1613466877.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 222.840440 deg, deltaT: 4.471827 s, approachRate: 0.214678 m/s, LOS rate: 9.649512 deg/s, posRepo size: 4
2021-02-16T09:14:37.619Z,1613466877.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 222.840440 deg,
      approachRate: 0.214678 m/s,
      LOS rate: 9.649512 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.214184 deg,
      new cmd heading: 247.222133 deg.

2021-02-16T09:14:40.043Z,1613466880.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:40.794Z,1613466880.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:41.184Z,1613466881.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:42.035Z,1613466882.035 [Micromodem](INFO): Nmea in: $SNTTA,0.012065,,,,091442.27*4F

2021-02-16T09:14:42.060Z,1613466882.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 174.658783 deg, deltaT: 4.433823 s, approachRate: 0.473632 m/s, LOS rate: -10.866843 deg/s, posRepo size: 4
2021-02-16T09:14:42.062Z,1613466882.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 174.658783 deg,
      approachRate: 0.473632 m/s,
      LOS rate: -10.866843 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 299.521161 deg,
      new cmd heading: 304.685854 deg.

2021-02-16T09:14:44.456Z,1613466884.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:45.233Z,1613466885.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:45.636Z,1613466885.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:46.468Z,1613466886.468 [Micromodem](INFO): Nmea in: $SNTTA,0.011712,,,,091446.70*4D

2021-02-16T09:14:46.510Z,1613466886.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.520002 m, bearing: 196.909381 deg, deltaT: 4.460603 s, approachRate: -0.295924 m/s, LOS rate: 4.988249 deg/s, posRepo size: 4
2021-02-16T09:14:46.525Z,1613466886.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.520002 m,
      bearing: 196.909381 deg,
      approachRate: -0.295924 m/s,
      LOS rate: 4.988249 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 246.009680 deg,
      new cmd heading: 241.049480 deg.

2021-02-16T09:14:48.064Z,1613466888.064 [PowerOnly](INFO): Powering down loadControl
2021-02-16T09:14:48.909Z,1613466888.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:49.669Z,1613466889.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:50.076Z,1613466890.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:50.903Z,1613466890.903 [Micromodem](INFO): Nmea in: $SNTTA,0.011507,,,,091451.14*4F

2021-02-16T09:14:50.928Z,1613466890.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 212.871561 deg, deltaT: 4.451017 s, approachRate: -0.080881 m/s, LOS rate: 3.586187 deg/s, posRepo size: 4
2021-02-16T09:14:50.930Z,1613466890.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 212.871561 deg,
      approachRate: -0.080881 m/s,
      LOS rate: 3.586187 deg/s,
      cmd update: 10.758561 deg/s,
      cmd heading: 299.422017 deg,
      new cmd heading: 304.078869 deg.

2021-02-16T09:14:53.335Z,1613466893.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:54.114Z,1613466894.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:54.545Z,1613466894.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:55.340Z,1613466895.340 [Micromodem](INFO): Nmea in: $SNTTA,0.011092,,,,091455.58*4A

2021-02-16T09:14:55.365Z,1613466895.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.499996 m, bearing: 308.993879 deg, deltaT: 4.391733 s, approachRate: -0.150283 m/s, LOS rate: 21.887104 deg/s, posRepo size: 4
2021-02-16T09:14:55.365Z,1613466895.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.887104 deg/s. Setting heading cmd to target bearing of 308.993879deg and heading rate command to 0 deg/s.
2021-02-16T09:14:57.771Z,1613466897.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:14:58.553Z,1613466898.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:14:58.963Z,1613466898.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:14:59.791Z,1613466899.791 [Micromodem](INFO): Nmea in: $SNTTA,0.010495,0.018037,,,091500.02*55

2021-02-16T09:14:59.816Z,1613466899.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 338.286347 deg, deltaT: 4.625645 s, approachRate: -0.194567 m/s, LOS rate: 6.332624 deg/s, posRepo size: 4
2021-02-16T09:14:59.817Z,1613466899.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 338.286347 deg,
      approachRate: -0.194567 m/s,
      LOS rate: 6.332624 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 308.993879 deg,
      new cmd heading: 308.993879 deg.

2021-02-16T09:15:02.230Z,1613466902.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:03.036Z,1613466903.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:03.403Z,1613466903.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:04.238Z,1613466904.238 [Micromodem](INFO): Nmea in: $SNTTA,0.009708,,,,091504.51*4B

2021-02-16T09:15:04.272Z,1613466904.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 357.572233 deg, deltaT: 4.279051 s, approachRate: -0.280436 m/s, LOS rate: 4.507048 deg/s, posRepo size: 4
2021-02-16T09:15:04.274Z,1613466904.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 357.572233 deg,
      approachRate: -0.280436 m/s,
      LOS rate: 4.507048 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.059936 deg,
      new cmd heading: 6.239568 deg.

2021-02-16T09:15:06.670Z,1613466906.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:07.446Z,1613466907.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:07.863Z,1613466907.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:08.679Z,1613466908.679 [Micromodem](INFO): Nmea in: $SNTTA,0.008854,,,,091508.92*4F

2021-02-16T09:15:08.705Z,1613466908.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 16.498766 deg, deltaT: 4.449637 s, approachRate: -0.283169 m/s, LOS rate: 4.253499 deg/s, posRepo size: 4
2021-02-16T09:15:08.706Z,1613466908.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 16.498766 deg,
      approachRate: -0.283169 m/s,
      LOS rate: 4.253499 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 54.455486 deg,
      new cmd heading: 59.436698 deg.

2021-02-16T09:15:11.122Z,1613466911.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:11.889Z,1613466911.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:12.290Z,1613466912.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:13.116Z,1613466913.116 [Micromodem](INFO): Nmea in: $SNTTA,0.007966,,,,091513.36*44

2021-02-16T09:15:13.165Z,1613466913.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 32.059450 deg, deltaT: 4.460613 s, approachRate: -0.309375 m/s, LOS rate: 3.488463 deg/s, posRepo size: 4
2021-02-16T09:15:13.168Z,1613466913.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 32.059450 deg,
      approachRate: -0.309375 m/s,
      LOS rate: 3.488463 deg/s,
      cmd update: 10.465390 deg/s,
      cmd heading: 107.934603 deg,
      new cmd heading: 112.915827 deg.

2021-02-16T09:15:15.591Z,1613466915.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:16.333Z,1613466916.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:16.739Z,1613466916.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:17.584Z,1613466917.584 [Micromodem](INFO): Nmea in: $SNTTA,0.007085,,,,091517.81*48

2021-02-16T09:15:17.628Z,1613466917.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 43.789801 deg, deltaT: 4.420270 s, approachRate: -0.298624 m/s, LOS rate: 2.653763 deg/s, posRepo size: 4
2021-02-16T09:15:17.630Z,1613466917.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 43.789801 deg,
      approachRate: -0.298624 m/s,
      LOS rate: 2.653763 deg/s,
      cmd update: 7.961291 deg/s,
      cmd heading: 154.232714 deg,
      new cmd heading: 159.019772 deg.

2021-02-16T09:15:20.027Z,1613466920.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:20.778Z,1613466920.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:21.185Z,1613466921.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:22.028Z,1613466922.028 [Micromodem](INFO): Nmea in: $SNTTA,0.006011,,,,091522.25*4C

2021-02-16T09:15:22.073Z,1613466922.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 64.346597 deg, deltaT: 4.439140 s, approachRate: -0.364935 m/s, LOS rate: 4.630806 deg/s, posRepo size: 4
2021-02-16T09:15:22.079Z,1613466922.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 64.346597 deg,
      approachRate: -0.364935 m/s,
      LOS rate: 4.630806 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.577111 deg,
      new cmd heading: 193.266381 deg.

2021-02-16T09:15:24.427Z,1613466924.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:25.225Z,1613466925.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:25.638Z,1613466925.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:26.452Z,1613466926.452 [Micromodem](INFO): Nmea in: $SNTTA,0.005364,,,,091526.70*4A

2021-02-16T09:15:26.492Z,1613466926.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.859998 m, bearing: 80.898277 deg, deltaT: 4.467454 s, approachRate: -0.214888 m/s, LOS rate: 3.704947 deg/s, posRepo size: 4
2021-02-16T09:15:26.494Z,1613466926.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.859998 m,
      bearing: 80.898277 deg,
      approachRate: -0.214888 m/s,
      LOS rate: 3.704947 deg/s,
      cmd update: 11.114840 deg/s,
      cmd heading: 243.186344 deg,
      new cmd heading: 248.170340 deg.

2021-02-16T09:15:28.905Z,1613466928.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:29.681Z,1613466929.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:30.075Z,1613466930.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:30.904Z,1613466930.904 [Micromodem](INFO): Nmea in: $SNTTA,0.004775,,,,091531.15*4A

2021-02-16T09:15:30.948Z,1613466930.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 90.176413 deg, deltaT: 4.474087 s, approachRate: -0.160927 m/s, LOS rate: 2.073750 deg/s, posRepo size: 4
2021-02-16T09:15:30.950Z,1613466930.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 90.176413 deg,
      approachRate: -0.160927 m/s,
      LOS rate: 2.073750 deg/s,
      cmd update: 6.221249 deg/s,
      cmd heading: 292.870180 deg,
      new cmd heading: 297.321018 deg.

2021-02-16T09:15:33.332Z,1613466933.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:34.109Z,1613466934.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:34.543Z,1613466934.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:35.340Z,1613466935.340 [Micromodem](INFO): Nmea in: $SNTTA,0.005386,,0.049389,,091535.58*5F

2021-02-16T09:15:35.380Z,1613466935.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 34.959142 deg, deltaT: 4.396475 s, approachRate: 0.232005 m/s, LOS rate: -12.559441 deg/s, posRepo size: 4
2021-02-16T09:15:35.380Z,1613466935.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.559441 deg/s. Setting heading cmd to target bearing of 34.959142deg and heading rate command to 0 deg/s.
2021-02-16T09:15:37.787Z,1613466937.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:38.553Z,1613466938.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:38.957Z,1613466938.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:39.789Z,1613466939.789 [Micromodem](INFO): Nmea in: $SNTTA,0.007359,,,,091540.03*42

2021-02-16T09:15:39.828Z,1613466939.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 6.743632 deg, deltaT: 4.455695 s, approachRate: 0.875283 m/s, LOS rate: -6.332460 deg/s, posRepo size: 4
2021-02-16T09:15:39.830Z,1613466939.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 6.743632 deg,
      approachRate: 0.875283 m/s,
      LOS rate: -6.332460 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 34.959142 deg,
      new cmd heading: 34.959142 deg.

2021-02-16T09:15:42.242Z,1613466942.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:43.013Z,1613466943.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:43.402Z,1613466943.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:43.812Z,1613466943.812 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:15:44.240Z,1613466944.240 [Micromodem](INFO): Nmea in: $SNTTA,0.009249,0.024305,,,091544.48*59

2021-02-16T09:15:44.294Z,1613466944.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 357.370715 deg, deltaT: 4.422304 s, approachRate: 0.407028 m/s, LOS rate: -2.119466 deg/s, posRepo size: 4
2021-02-16T09:15:44.300Z,1613466944.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 357.370715 deg,
      approachRate: 0.407028 m/s,
      LOS rate: -2.119466 deg/s,
      cmd update: -6.358397 deg/s,
      cmd heading: 341.651840 deg,
      new cmd heading: 336.030751 deg.

2021-02-16T09:15:46.663Z,1613466946.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:47.442Z,1613466947.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:47.861Z,1613466947.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:48.672Z,1613466948.672 [Micromodem](INFO): Nmea in: $SNTTA,0.011897,,0.048077,,091548.91*5D

2021-02-16T09:15:48.729Z,1613466948.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.919998 m, bearing: 28.995973 deg, deltaT: 4.492068 s, approachRate: 0.681200 m/s, LOS rate: 7.040247 deg/s, posRepo size: 4
2021-02-16T09:15:48.729Z,1613466948.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.92 m. Rolling out.
2021-02-16T09:15:48.730Z,1613466948.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T09:15:51.114Z,1613466951.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:51.909Z,1613466951.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:52.292Z,1613466952.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:53.117Z,1613466953.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,091553.38*5E

2021-02-16T09:15:53.646Z,1613466953.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:55.564Z,1613466955.564 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:15:56.354Z,1613466956.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:15:57.142Z,1613466957.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:15:57.557Z,1613466957.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:15:58.368Z,1613466958.368 [Micromodem](INFO): Nmea in: $SNTTA,0.015982,,,,091558.61*40

2021-02-16T09:15:58.408Z,1613466958.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 317.833455 deg, deltaT: 9.640323 s, approachRate: 0.740639 m/s, LOS rate: -7.381758 deg/s, posRepo size: 4
2021-02-16T09:16:00.787Z,1613466960.787 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:16:00.802Z,1613466960.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:01.580Z,1613466961.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:02.031Z,1613466962.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:02.828Z,1613466962.828 [Micromodem](INFO): Nmea in: $SNTTA,0.018272,,0.083129,,091603.05*59

2021-02-16T09:16:02.861Z,1613466962.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.600000 m, bearing: 269.197891 deg, deltaT: 4.452228 s, approachRate: 0.795108 m/s, LOS rate: -10.923871 deg/s, posRepo size: 4
2021-02-16T09:16:05.260Z,1613466965.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:06.041Z,1613466966.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:06.430Z,1613466966.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:07.264Z,1613466967.264 [Micromodem](INFO): Nmea in: $SNTTA,0.020655,,,,091607.51*49

2021-02-16T09:16:07.310Z,1613466967.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 263.723030 deg, deltaT: 4.466099 s, approachRate: 0.792637 m/s, LOS rate: -1.225871 deg/s, posRepo size: 4
2021-02-16T09:16:09.698Z,1613466969.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:10.470Z,1613466970.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:10.874Z,1613466970.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:10.891Z,1613466970.891 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:16:11.704Z,1613466971.704 [Micromodem](INFO): Nmea in: $SNTTA,0.022768,,,,091611.95*4B

2021-02-16T09:16:11.745Z,1613466971.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.320000 m, bearing: 265.221409 deg, deltaT: 4.443162 s, approachRate: 0.715707 m/s, LOS rate: 0.337233 deg/s, posRepo size: 4
2021-02-16T09:16:14.140Z,1613466974.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:14.917Z,1613466974.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:15.317Z,1613466975.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:16.148Z,1613466976.148 [Micromodem](INFO): Nmea in: $SNTTA,0.025115,,,,091616.39*41

2021-02-16T09:16:16.172Z,1613466976.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 269.388589 deg, deltaT: 4.426450 s, approachRate: 0.799737 m/s, LOS rate: 0.941427 deg/s, posRepo size: 4
2021-02-16T09:16:18.597Z,1613466978.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:19.357Z,1613466979.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:19.762Z,1613466979.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:20.588Z,1613466980.588 [Micromodem](INFO): Nmea in: $SNTTA,0.027359,,,,091620.83*4D

2021-02-16T09:16:20.593Z,1613466980.593 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:16:20.610Z,1613466980.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.520000 m, bearing: 283.071644 deg, deltaT: 4.570313 s, approachRate: 0.800821 m/s, LOS rate: 2.993899 deg/s, posRepo size: 4
2021-02-16T09:16:23.062Z,1613466983.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:23.802Z,1613466983.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:24.221Z,1613466984.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:25.056Z,1613466985.056 [Micromodem](INFO): Nmea in: $SNTTA,0.029711,,,,091625.27*40

2021-02-16T09:16:25.081Z,1613466985.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 270.601413 deg, deltaT: 4.348275 s, approachRate: 0.731325 m/s, LOS rate: -2.867857 deg/s, posRepo size: 4
2021-02-16T09:16:27.473Z,1613466987.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:28.253Z,1613466988.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:28.661Z,1613466988.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:29.503Z,1613466989.503 [Micromodem](INFO): Nmea in: $SNTTA,0.031971,,,,091629.72*4D

2021-02-16T09:16:29.565Z,1613466989.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.419998 m, bearing: 289.345883 deg, deltaT: 4.447725 s, approachRate: 0.836382 m/s, LOS rate: 4.214395 deg/s, posRepo size: 4
2021-02-16T09:16:30.703Z,1613466990.703 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:16:31.912Z,1613466991.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:32.688Z,1613466992.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:33.099Z,1613466993.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:33.924Z,1613466993.924 [Micromodem](INFO): Nmea in: $SNTTA,0.034230,,,,091634.16*48

2021-02-16T09:16:33.949Z,1613466993.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.539997 m, bearing: 271.296753 deg, deltaT: 4.451458 s, approachRate: 0.700894 m/s, LOS rate: -4.054656 deg/s, posRepo size: 4
2021-02-16T09:16:35.596Z,1613466995.596 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:16:36.358Z,1613466996.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:37.138Z,1613466997.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:37.552Z,1613466997.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:38.368Z,1613466998.368 [Micromodem](INFO): Nmea in: $SNTTA,0.036486,,0.068810,,091638.61*54

2021-02-16T09:16:38.408Z,1613466998.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 276.662440 deg, deltaT: 4.419958 s, approachRate: 0.760189 m/s, LOS rate: 1.213968 deg/s, posRepo size: 4
2021-02-16T09:16:40.784Z,1613467000.784 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T09:16:40.800Z,1613467000.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:41.581Z,1613467001.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:41.987Z,1613467001.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:42.808Z,1613467002.808 [Micromodem](INFO): Nmea in: $SNTTA,0.038991,,,,091643.05*46

2021-02-16T09:16:42.856Z,1613467002.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.620003 m, bearing: 285.887786 deg, deltaT: 4.453219 s, approachRate: 0.835351 m/s, LOS rate: 2.071613 deg/s, posRepo size: 4
2021-02-16T09:16:45.253Z,1613467005.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:45.638Z,1613467005.638 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T09:16:46.037Z,1613467006.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:46.426Z,1613467006.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:47.260Z,1613467007.260 [Micromodem](INFO): Nmea in: $SNTTA,0.041310,,,,091647.51*4E

2021-02-16T09:16:47.297Z,1613467007.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.100002 m, bearing: 296.471382 deg, deltaT: 4.442195 s, approachRate: 0.783396 m/s, LOS rate: 2.382515 deg/s, posRepo size: 4
2021-02-16T09:16:49.689Z,1613467009.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:50.464Z,1613467010.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:50.872Z,1613467010.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:50.890Z,1613467010.890 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T09:16:51.692Z,1613467011.692 [Micromodem](INFO): Nmea in: $SNTTA,0.043690,,,,091651.94*4F

2021-02-16T09:16:51.734Z,1613467011.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 297.582272 deg, deltaT: 4.433867 s, approachRate: 0.811933 m/s, LOS rate: 0.250546 deg/s, posRepo size: 4
2021-02-16T09:16:54.130Z,1613467014.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:54.925Z,1613467014.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:55.319Z,1613467015.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:16:55.740Z,1613467015.740 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:16:56.149Z,1613467016.149 [Micromodem](INFO): Nmea in: $SNTTA,0.046181,,0.074130,,091656.40*5C

2021-02-16T09:16:56.184Z,1613467016.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 299.819404 deg, deltaT: 4.440508 s, approachRate: 0.851252 m/s, LOS rate: 0.503801 deg/s, posRepo size: 4
2021-02-16T09:16:58.582Z,1613467018.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:16:59.357Z,1613467019.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:16:59.759Z,1613467019.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:00.596Z,1613467020.596 [Micromodem](INFO): Nmea in: $SNTTA,0.048571,,,,091700.83*4B

2021-02-16T09:17:00.616Z,1613467020.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:17:00.629Z,1613467020.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 295.250145 deg, deltaT: 4.473747 s, approachRate: 0.791283 m/s, LOS rate: -1.021350 deg/s, posRepo size: 4
2021-02-16T09:17:03.050Z,1613467023.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:03.815Z,1613467023.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:04.213Z,1613467024.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:05.052Z,1613467025.052 [Micromodem](INFO): Nmea in: $SNTTA,0.050797,,,,091705.29*4D

2021-02-16T09:17:05.092Z,1613467025.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 293.952135 deg, deltaT: 4.407284 s, approachRate: 0.748761 m/s, LOS rate: -0.294515 deg/s, posRepo size: 4
2021-02-16T09:17:07.453Z,1613467027.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:08.242Z,1613467028.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:08.645Z,1613467028.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:09.472Z,1613467029.472 [Micromodem](INFO): Nmea in: $SNTTA,0.053142,,,,091709.71*41

2021-02-16T09:17:09.492Z,1613467029.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 310.346475 deg, deltaT: 4.436672 s, approachRate: 0.838467 m/s, LOS rate: 3.695188 deg/s, posRepo size: 4
2021-02-16T09:17:11.918Z,1613467031.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:12.686Z,1613467032.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:13.093Z,1613467033.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:13.916Z,1613467033.916 [Micromodem](INFO): Nmea in: $SNTTA,0.055387,,,,091714.16*41

2021-02-16T09:17:13.955Z,1613467033.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.279999 m, bearing: 287.134568 deg, deltaT: 4.482209 s, approachRate: 0.722857 m/s, LOS rate: -5.178675 deg/s, posRepo size: 4
2021-02-16T09:17:16.352Z,1613467036.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:17.128Z,1613467037.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:17.550Z,1613467037.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:18.365Z,1613467038.365 [Micromodem](INFO): Nmea in: $SNTTA,0.057789,,,,091718.60*44

2021-02-16T09:17:18.414Z,1613467038.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 290.723532 deg, deltaT: 4.396679 s, approachRate: 0.818801 m/s, LOS rate: 0.816290 deg/s, posRepo size: 4
2021-02-16T09:17:20.797Z,1613467040.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:21.574Z,1613467041.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:21.992Z,1613467041.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:22.804Z,1613467042.804 [Micromodem](INFO): Nmea in: $SNTTA,0.060058,,,,091723.04*41

2021-02-16T09:17:22.843Z,1613467042.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 298.013065 deg, deltaT: 4.472996 s, approachRate: 0.751175 m/s, LOS rate: 1.629676 deg/s, posRepo size: 4
2021-02-16T09:17:25.245Z,1613467045.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:26.037Z,1613467046.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:26.427Z,1613467046.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:27.260Z,1613467047.260 [Micromodem](INFO): Nmea in: $SNTTA,0.062550,,,,091727.51*4A

2021-02-16T09:17:27.306Z,1613467047.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 296.947146 deg, deltaT: 4.464192 s, approachRate: 0.846736 m/s, LOS rate: -0.238771 deg/s, posRepo size: 4
2021-02-16T09:17:29.693Z,1613467049.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:30.466Z,1613467050.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:30.883Z,1613467050.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:31.696Z,1613467051.696 [Micromodem](INFO): Nmea in: $SNTTA,0.064908,,0.089216,,091731.94*59

2021-02-16T09:17:31.750Z,1613467051.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.559998 m, bearing: 298.363017 deg, deltaT: 4.409142 s, approachRate: 0.802877 m/s, LOS rate: 0.321122 deg/s, posRepo size: 4
2021-02-16T09:17:34.145Z,1613467054.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:34.571Z,1613467054.571 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:17:34.910Z,1613467054.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:35.351Z,1613467055.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:36.136Z,1613467056.136 [Micromodem](INFO): Nmea in: $SNTTA,0.067359,,,,091736.38*4F

2021-02-16T09:17:36.184Z,1613467056.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 303.554616 deg, deltaT: 4.498692 s, approachRate: 0.813569 m/s, LOS rate: 1.154024 deg/s, posRepo size: 4
2021-02-16T09:17:38.582Z,1613467058.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:39.361Z,1613467059.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:39.753Z,1613467059.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:40.625Z,1613467060.625 [Micromodem](INFO): Nmea in: $SNTTA,0.069764,,,,091740.83*4A

2021-02-16T09:17:40.671Z,1613467060.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 301.153313 deg, deltaT: 4.403671 s, approachRate: 0.844750 m/s, LOS rate: -0.545296 deg/s, posRepo size: 4
2021-02-16T09:17:43.047Z,1613467063.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:43.802Z,1613467063.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:44.217Z,1613467064.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:45.044Z,1613467065.044 [Micromodem](INFO): Nmea in: $SNTTA,0.072119,,,,091745.27*47

2021-02-16T09:17:45.069Z,1613467065.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.420006 m, bearing: 299.753015 deg, deltaT: 4.445114 s, approachRate: 0.782885 m/s, LOS rate: -0.315020 deg/s, posRepo size: 4
2021-02-16T09:17:47.454Z,1613467067.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:48.241Z,1613467068.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:48.644Z,1613467068.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:49.475Z,1613467069.475 [Micromodem](INFO): Nmea in: $SNTTA,0.074661,,,,091749.71*46

2021-02-16T09:17:49.508Z,1613467069.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.140007 m, bearing: 301.251750 deg, deltaT: 4.452351 s, approachRate: 0.835514 m/s, LOS rate: 0.336616 deg/s, posRepo size: 4
2021-02-16T09:17:51.905Z,1613467071.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:52.680Z,1613467072.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:53.091Z,1613467073.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:53.911Z,1613467073.911 [Micromodem](INFO): Nmea in: $SNTTA,0.076988,,,,091754.15*42

2021-02-16T09:17:53.936Z,1613467073.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 299.953549 deg, deltaT: 4.468795 s, approachRate: 0.778732 m/s, LOS rate: -0.290503 deg/s, posRepo size: 4
2021-02-16T09:17:56.362Z,1613467076.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:17:57.124Z,1613467077.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:17:57.564Z,1613467077.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:17:58.360Z,1613467078.360 [Micromodem](INFO): Nmea in: $SNTTA,0.079507,,0.091013,,091758.60*5C

2021-02-16T09:17:58.385Z,1613467078.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 302.420614 deg, deltaT: 4.381583 s, approachRate: 0.876395 m/s, LOS rate: 0.563053 deg/s, posRepo size: 4
2021-02-16T09:18:00.805Z,1613467080.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:01.573Z,1613467081.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:01.974Z,1613467081.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:02.800Z,1613467082.800 [Micromodem](INFO): Nmea in: $SNTTA,0.081929,,,,091803.04*4C

2021-02-16T09:18:02.846Z,1613467082.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.000000 m, bearing: 308.403614 deg, deltaT: 4.482857 s, approachRate: 0.789675 m/s, LOS rate: 1.334640 deg/s, posRepo size: 4
2021-02-16T09:18:05.245Z,1613467085.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:06.044Z,1613467086.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:06.418Z,1613467086.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:07.260Z,1613467087.260 [Micromodem](INFO): Nmea in: $SNTTA,0.084636,,,,091807.52*4F

2021-02-16T09:18:07.298Z,1613467087.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.140007 m, bearing: 312.562789 deg, deltaT: 4.447747 s, approachRate: 0.930810 m/s, LOS rate: 0.935120 deg/s, posRepo size: 4
2021-02-16T09:18:09.692Z,1613467089.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:10.463Z,1613467090.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:10.862Z,1613467090.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:11.692Z,1613467091.692 [Micromodem](INFO): Nmea in: $SNTTA,0.087029,,,,091811.93*4E

2021-02-16T09:18:11.733Z,1613467091.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.740005 m, bearing: 307.566615 deg, deltaT: 4.431344 s, approachRate: 0.812394 m/s, LOS rate: -1.127463 deg/s, posRepo size: 4
2021-02-16T09:18:14.128Z,1613467094.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:14.900Z,1613467094.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:15.305Z,1613467095.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:16.129Z,1613467096.129 [Micromodem](INFO): Nmea in: $SNTTA,0.089385,,,,091816.37*4C

2021-02-16T09:18:16.173Z,1613467096.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.279999 m, bearing: 305.513788 deg, deltaT: 4.445541 s, approachRate: 0.796302 m/s, LOS rate: -0.461772 deg/s, posRepo size: 4
2021-02-16T09:18:18.577Z,1613467098.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:19.344Z,1613467099.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:19.750Z,1613467099.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:20.592Z,1613467100.592 [Micromodem](INFO): Nmea in: $SNTTA,0.091800,,,,091820.81*4B

2021-02-16T09:18:20.644Z,1613467100.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.820007 m, bearing: 311.196533 deg, deltaT: 4.474318 s, approachRate: 0.791184 m/s, LOS rate: 1.270081 deg/s, posRepo size: 4
2021-02-16T09:18:23.054Z,1613467103.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:23.794Z,1613467103.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:24.201Z,1613467104.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:25.040Z,1613467105.040 [Micromodem](INFO): Nmea in: $SNTTA,0.094090,,,,091825.26*47

2021-02-16T09:18:25.081Z,1613467105.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.239990 m, bearing: 311.367588 deg, deltaT: 4.428263 s, approachRate: 0.772308 m/s, LOS rate: 0.038628 deg/s, posRepo size: 4
2021-02-16T09:18:27.441Z,1613467107.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:28.232Z,1613467108.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:28.650Z,1613467108.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:29.488Z,1613467109.488 [Micromodem](INFO): Nmea in: $SNTTA,0.096217,,,,091829.70*47

2021-02-16T09:18:29.523Z,1613467109.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.480011 m, bearing: 307.035855 deg, deltaT: 4.429628 s, approachRate: 0.731443 m/s, LOS rate: -0.977900 deg/s, posRepo size: 4
2021-02-16T09:18:31.906Z,1613467111.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:32.678Z,1613467112.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:33.099Z,1613467113.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:33.904Z,1613467113.904 [Micromodem](INFO): Nmea in: $SNTTA,0.098559,,,,091834.15*4B

2021-02-16T09:18:33.949Z,1613467113.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 311.966022 deg, deltaT: 4.466369 s, approachRate: 0.792589 m/s, LOS rate: 1.103842 deg/s, posRepo size: 4
2021-02-16T09:18:36.344Z,1613467116.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:37.125Z,1613467117.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:37.563Z,1613467117.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:38.352Z,1613467118.352 [Micromodem](INFO): Nmea in: $SNTTA,0.100920,,,,091838.60*47

2021-02-16T09:18:38.404Z,1613467118.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 315.153835 deg, deltaT: 4.396127 s, approachRate: 0.805253 m/s, LOS rate: 0.725141 deg/s, posRepo size: 4
2021-02-16T09:18:38.405Z,1613467118.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.56 m. Resuming terminal guidance.
2021-02-16T09:18:38.405Z,1613467118.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T09:18:40.800Z,1613467120.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:41.586Z,1613467121.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:41.595Z,1613467121.595 [CTD_Seabird](ERROR): Failed to parse device response: .60
2021-02-16T09:18:41.969Z,1613467121.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:42.824Z,1613467122.824 [Micromodem](INFO): Nmea in: $SNTTA,0.103423,,,,091843.06*46

2021-02-16T09:18:42.849Z,1613467122.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 312.471893 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T09:18:42.849Z,1613467122.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 312.471893deg and heading rate command to 0 deg/s.
2021-02-16T09:18:45.242Z,1613467125.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:46.037Z,1613467126.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:46.414Z,1613467126.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:47.268Z,1613467127.268 [Micromodem](INFO): Nmea in: $SNTTA,0.105801,,,,091847.51*4A

2021-02-16T09:18:47.293Z,1613467127.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 310.675854 deg, deltaT: 4.446524 s, approachRate: 0.000000 m/s, LOS rate: -0.403920 deg/s, posRepo size: 2
2021-02-16T09:18:47.294Z,1613467127.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 310.675854 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.403920 deg/s,
      cmd update: -1.211759 deg/s,
      cmd heading: 312.471893 deg,
      new cmd heading: 312.471893 deg.

2021-02-16T09:18:49.682Z,1613467129.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:50.452Z,1613467130.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:50.857Z,1613467130.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:51.688Z,1613467131.688 [Micromodem](INFO): Nmea in: $SNTTA,0.108046,,,,091851.92*44

2021-02-16T09:18:51.728Z,1613467131.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.239990 m, bearing: 305.468490 deg, deltaT: 4.428206 s, approachRate: 1.571741 m/s, LOS rate: -1.175953 deg/s, posRepo size: 3
2021-02-16T09:18:51.729Z,1613467131.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.239990 m,
      bearing: 305.468490 deg,
      approachRate: 1.571741 m/s,
      LOS rate: -1.175953 deg/s,
      cmd update: -3.527860 deg/s,
      cmd heading: 307.101170 deg,
      new cmd heading: 306.589152 deg.

2021-02-16T09:18:54.126Z,1613467134.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:54.902Z,1613467134.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:55.302Z,1613467135.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:18:56.128Z,1613467136.128 [Micromodem](INFO): Nmea in: $SNTTA,0.110454,,,,091856.37*42

2021-02-16T09:18:56.166Z,1613467136.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 281.748281 deg, deltaT: 4.457517 s, approachRate: 0.646101 m/s, LOS rate: -5.321395 deg/s, posRepo size: 4
2021-02-16T09:18:56.168Z,1613467136.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.119995 m,
      bearing: 281.748281 deg,
      approachRate: 0.646101 m/s,
      LOS rate: -5.321395 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.389933 deg,
      new cmd heading: 289.952884 deg.

2021-02-16T09:18:58.579Z,1613467138.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:18:59.342Z,1613467139.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:18:59.746Z,1613467139.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:00.568Z,1613467140.568 [Micromodem](INFO): Nmea in: $SNTTA,0.112841,,,,091900.81*47

2021-02-16T09:19:00.645Z,1613467140.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 246.990596 deg, deltaT: 4.453646 s, approachRate: 0.000000 m/s, LOS rate: -7.804322 deg/s, posRepo size: 4
2021-02-16T09:19:00.651Z,1613467140.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.119995 m,
      bearing: 246.990596 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.804322 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 237.951567 deg,
      new cmd heading: 232.750815 deg.

2021-02-16T09:19:02.995Z,1613467142.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:03.786Z,1613467143.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:04.206Z,1613467144.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:05.041Z,1613467145.041 [Micromodem](INFO): Nmea in: $SNTTA,0.114624,,0.117405,,091905.26*5C

2021-02-16T09:19:05.076Z,1613467145.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.839996 m, bearing: 262.971026 deg, deltaT: 4.429835 s, approachRate: 1.516987 m/s, LOS rate: 3.607455 deg/s, posRepo size: 4
2021-02-16T09:19:05.078Z,1613467145.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.839996 m,
      bearing: 262.971026 deg,
      approachRate: 1.516987 m/s,
      LOS rate: 3.607455 deg/s,
      cmd update: 10.822365 deg/s,
      cmd heading: 184.742438 deg,
      new cmd heading: 179.581670 deg.

2021-02-16T09:19:07.451Z,1613467147.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:08.230Z,1613467148.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:08.640Z,1613467148.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:09.460Z,1613467149.460 [Micromodem](INFO): Nmea in: $SNTTA,0.116093,,,,091909.70*43

2021-02-16T09:19:09.495Z,1613467149.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.839996 m, bearing: 234.994298 deg, deltaT: 4.476162 s, approachRate: 0.000000 m/s, LOS rate: -6.250160 deg/s, posRepo size: 4
2021-02-16T09:19:09.502Z,1613467149.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.839996 m,
      bearing: 234.994298 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.250160 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 233.185344 deg,
      new cmd heading: 237.217736 deg.

2021-02-16T09:19:11.903Z,1613467151.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:12.673Z,1613467152.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:13.078Z,1613467153.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:13.929Z,1613467153.929 [Micromodem](INFO): Nmea in: $SNTTA,0.117181,,,,091914.14*4E

2021-02-16T09:19:13.955Z,1613467153.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.839996 m, bearing: 188.210603 deg, deltaT: 4.420939 s, approachRate: 0.000000 m/s, LOS rate: -10.582298 deg/s, posRepo size: 4
2021-02-16T09:19:13.957Z,1613467153.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.839996 m,
      bearing: 188.210603 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.582298 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 180.136079 deg,
      new cmd heading: 175.189523 deg.

2021-02-16T09:19:16.361Z,1613467156.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:17.127Z,1613467157.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:17.549Z,1613467157.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:18.352Z,1613467158.352 [Micromodem](INFO): Nmea in: $SNTTA,0.117549,,,,091918.60*41

2021-02-16T09:19:18.405Z,1613467158.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.839996 m, bearing: 181.989817 deg, deltaT: 4.407850 s, approachRate: 0.000000 m/s, LOS rate: -1.411297 deg/s, posRepo size: 4
2021-02-16T09:19:18.406Z,1613467158.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.839996 m,
      bearing: 181.989817 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.411297 deg/s,
      cmd update: -4.233891 deg/s,
      cmd heading: 127.250974 deg,
      new cmd heading: 121.792438 deg.

2021-02-16T09:19:20.796Z,1613467160.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:21.569Z,1613467161.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:21.966Z,1613467161.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:22.800Z,1613467162.800 [Micromodem](INFO): Nmea in: $SNTTA,0.117753,,,,091923.04*42

2021-02-16T09:19:22.853Z,1613467162.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.839996 m, bearing: 196.402636 deg, deltaT: 4.493831 s, approachRate: 0.000000 m/s, LOS rate: 3.207246 deg/s, posRepo size: 4
2021-02-16T09:19:22.859Z,1613467162.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.839996 m,
      bearing: 196.402636 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.207246 deg/s,
      cmd update: 9.621737 deg/s,
      cmd heading: 108.236708 deg,
      new cmd heading: 106.489699 deg.

2021-02-16T09:19:25.240Z,1613467165.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:26.033Z,1613467166.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:26.410Z,1613467166.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:27.241Z,1613467167.241 [Micromodem](INFO): Nmea in: $SNTTA,0.116985,,,,091927.51*42

2021-02-16T09:19:27.674Z,1613467167.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 115.608642 deg, deltaT: 4.845081 s, approachRate: 0.718257 m/s, LOS rate: -16.675468 deg/s, posRepo size: 4
2021-02-16T09:19:27.675Z,1613467167.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.675468 deg/s. Setting heading cmd to target bearing of 115.608642deg and heading rate command to 0 deg/s.
2021-02-16T09:19:30.074Z,1613467170.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:30.860Z,1613467170.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:31.258Z,1613467171.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:32.092Z,1613467172.092 [Micromodem](INFO): Nmea in: $SNTTA,0.115791,,,,091932.33*4A

2021-02-16T09:19:32.116Z,1613467172.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 120.708198 deg, deltaT: 4.407478 s, approachRate: 0.000000 m/s, LOS rate: 1.157024 deg/s, posRepo size: 4
2021-02-16T09:19:32.118Z,1613467172.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.320007 m,
      bearing: 120.708198 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.157024 deg/s,
      cmd update: 3.471071 deg/s,
      cmd heading: 115.608642 deg,
      new cmd heading: 115.608642 deg.

2021-02-16T09:19:34.553Z,1613467174.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:35.297Z,1613467175.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:35.714Z,1613467175.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:36.552Z,1613467176.552 [Micromodem](INFO): Nmea in: $SNTTA,0.114367,,,,091936.77*42

2021-02-16T09:19:36.577Z,1613467176.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 123.479261 deg, deltaT: 4.483916 s, approachRate: 0.000000 m/s, LOS rate: 0.618001 deg/s, posRepo size: 4
2021-02-16T09:19:36.600Z,1613467176.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.320007 m,
      bearing: 123.479261 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.618001 deg/s,
      cmd update: 1.854001 deg/s,
      cmd heading: 131.142170 deg,
      new cmd heading: 132.553584 deg.

2021-02-16T09:19:38.949Z,1613467178.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:39.741Z,1613467179.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:40.146Z,1613467180.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:40.996Z,1613467180.996 [Micromodem](INFO): Nmea in: $SNTTA,0.112315,,,,091941.21*42

2021-02-16T09:19:41.034Z,1613467181.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.300003 m, bearing: 125.648215 deg, deltaT: 4.416682 s, approachRate: -1.589429 m/s, LOS rate: 0.491082 deg/s, posRepo size: 4
2021-02-16T09:19:41.036Z,1613467181.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.300003 m,
      bearing: 125.648215 deg,
      approachRate: -1.589429 m/s,
      LOS rate: 0.491082 deg/s,
      cmd update: 1.473247 deg/s,
      cmd heading: 139.349041 deg,
      new cmd heading: 140.158693 deg.

2021-02-16T09:19:43.400Z,1613467183.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:44.203Z,1613467184.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:44.595Z,1613467184.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:45.442Z,1613467185.442 [Micromodem](INFO): Nmea in: $SNTTA,0.110418,,,,091945.67*4C

2021-02-16T09:19:45.466Z,1613467185.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 124.798963 deg, deltaT: 4.491552 s, approachRate: -0.641205 m/s, LOS rate: -0.189078 deg/s, posRepo size: 4
2021-02-16T09:19:45.469Z,1613467185.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 124.798963 deg,
      approachRate: -0.641205 m/s,
      LOS rate: -0.189078 deg/s,
      cmd update: -0.567233 deg/s,
      cmd heading: 145.960425 deg,
      new cmd heading: 146.515949 deg.

2021-02-16T09:19:47.878Z,1613467187.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:48.634Z,1613467188.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:49.046Z,1613467189.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:49.861Z,1613467189.861 [Micromodem](INFO): Nmea in: $SNTTA,0.108592,,,,091950.11*43

2021-02-16T09:19:49.940Z,1613467189.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.539993 m, bearing: 122.909637 deg, deltaT: 4.394355 s, approachRate: -0.655387 m/s, LOS rate: -0.429944 deg/s, posRepo size: 4
2021-02-16T09:19:49.942Z,1613467189.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.539993 m,
      bearing: 122.909637 deg,
      approachRate: -0.655387 m/s,
      LOS rate: -0.429944 deg/s,
      cmd update: -1.289832 deg/s,
      cmd heading: 143.468583 deg,
      new cmd heading: 143.209739 deg.

2021-02-16T09:19:52.304Z,1613467192.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:53.073Z,1613467193.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:53.481Z,1613467193.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:54.304Z,1613467194.304 [Micromodem](INFO): Nmea in: $SNTTA,0.106928,,,,091954.54*45

2021-02-16T09:19:54.328Z,1613467194.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.960007 m, bearing: 122.168780 deg, deltaT: 4.452807 s, approachRate: -0.579407 m/s, LOS rate: -0.166380 deg/s, posRepo size: 4
2021-02-16T09:19:54.330Z,1613467194.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.960007 m,
      bearing: 122.168780 deg,
      approachRate: -0.579407 m/s,
      LOS rate: -0.166380 deg/s,
      cmd update: -0.499139 deg/s,
      cmd heading: 137.744285 deg,
      new cmd heading: 137.212439 deg.

2021-02-16T09:19:56.738Z,1613467196.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:19:57.544Z,1613467197.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:19:57.926Z,1613467197.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:19:58.776Z,1613467198.776 [Micromodem](INFO): Nmea in: $SNTTA,0.104635,,,,091959.01*49

2021-02-16T09:19:58.810Z,1613467198.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 123.704862 deg, deltaT: 4.457845 s, approachRate: -0.713351 m/s, LOS rate: 0.344580 deg/s, posRepo size: 4
2021-02-16T09:19:58.812Z,1613467198.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.779999 m,
      bearing: 123.704862 deg,
      approachRate: -0.713351 m/s,
      LOS rate: 0.344580 deg/s,
      cmd update: 1.033739 deg/s,
      cmd heading: 135.510938 deg,
      new cmd heading: 135.301493 deg.

2021-02-16T09:20:01.210Z,1613467201.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:01.967Z,1613467201.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:02.366Z,1613467202.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:03.213Z,1613467203.213 [Micromodem](INFO): Nmea in: $SNTTA,0.102686,,,,092003.44*43

2021-02-16T09:20:03.252Z,1613467203.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.840012 m, bearing: 123.416478 deg, deltaT: 4.406992 s, approachRate: -0.667119 m/s, LOS rate: -0.065438 deg/s, posRepo size: 4
2021-02-16T09:20:03.254Z,1613467203.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.840012 m,
      bearing: 123.416478 deg,
      approachRate: -0.667119 m/s,
      LOS rate: -0.065438 deg/s,
      cmd update: -0.196314 deg/s,
      cmd heading: 140.070572 deg,
      new cmd heading: 140.536831 deg.

2021-02-16T09:20:05.643Z,1613467205.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:06.405Z,1613467206.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:06.810Z,1613467206.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:07.632Z,1613467207.632 [Micromodem](INFO): Nmea in: $SNTTA,0.100696,,,,092007.88*44

2021-02-16T09:20:07.677Z,1613467207.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.839996 m, bearing: 122.630446 deg, deltaT: 4.465848 s, approachRate: -0.671768 m/s, LOS rate: -0.176010 deg/s, posRepo size: 4
2021-02-16T09:20:07.679Z,1613467207.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.839996 m,
      bearing: 122.630446 deg,
      approachRate: -0.671768 m/s,
      LOS rate: -0.176010 deg/s,
      cmd update: -0.528029 deg/s,
      cmd heading: 139.195389 deg,
      new cmd heading: 139.113369 deg.

2021-02-16T09:20:10.094Z,1613467210.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:10.848Z,1613467210.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:11.271Z,1613467211.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:12.076Z,1613467212.076 [Micromodem](INFO): Nmea in: $SNTTA,0.098644,,,,092012.32*4E

2021-02-16T09:20:12.128Z,1613467212.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 122.164572 deg, deltaT: 4.446574 s, approachRate: -0.688170 m/s, LOS rate: -0.104771 deg/s, posRepo size: 4
2021-02-16T09:20:12.130Z,1613467212.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.779999 m,
      bearing: 122.164572 deg,
      approachRate: -0.688170 m/s,
      LOS rate: -0.104771 deg/s,
      cmd update: -0.314314 deg/s,
      cmd heading: 136.845590 deg,
      new cmd heading: 136.624754 deg.

2021-02-16T09:20:14.556Z,1613467214.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:15.297Z,1613467215.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:15.743Z,1613467215.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:16.554Z,1613467216.554 [Micromodem](INFO): Nmea in: $SNTTA,0.096758,,,,092016.77*49

2021-02-16T09:20:16.579Z,1613467216.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 122.426305 deg, deltaT: 4.430255 s, approachRate: -0.636534 m/s, LOS rate: 0.059079 deg/s, posRepo size: 4
2021-02-16T09:20:16.581Z,1613467216.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 122.426305 deg,
      approachRate: -0.636534 m/s,
      LOS rate: 0.059079 deg/s,
      cmd update: 0.177236 deg/s,
      cmd heading: 135.456800 deg,
      new cmd heading: 135.315005 deg.

2021-02-16T09:20:18.952Z,1613467218.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:19.736Z,1613467219.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:20.159Z,1613467220.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:20.968Z,1613467220.968 [Micromodem](INFO): Nmea in: $SNTTA,0.094794,,,,092021.21*4C

2021-02-16T09:20:21.040Z,1613467221.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 122.393288 deg, deltaT: 4.434890 s, approachRate: -0.662922 m/s, LOS rate: -0.007445 deg/s, posRepo size: 4
2021-02-16T09:20:21.042Z,1613467221.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 122.393288 deg,
      approachRate: -0.662922 m/s,
      LOS rate: -0.007445 deg/s,
      cmd update: -0.022335 deg/s,
      cmd heading: 136.245645 deg,
      new cmd heading: 136.326347 deg.

2021-02-16T09:20:23.406Z,1613467223.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:24.186Z,1613467224.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:24.599Z,1613467224.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:25.423Z,1613467225.423 [Micromodem](INFO): Nmea in: $SNTTA,0.092804,,,,092025.66*4B

2021-02-16T09:20:25.442Z,1613467225.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 122.612865 deg, deltaT: 4.508524 s, approachRate: -0.665406 m/s, LOS rate: 0.048703 deg/s, posRepo size: 4
2021-02-16T09:20:25.445Z,1613467225.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.020004 m,
      bearing: 122.612865 deg,
      approachRate: -0.665406 m/s,
      LOS rate: 0.048703 deg/s,
      cmd update: 0.146108 deg/s,
      cmd heading: 136.145044 deg,
      new cmd heading: 136.137019 deg.

2021-02-16T09:20:27.841Z,1613467227.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:28.624Z,1613467228.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:29.062Z,1613467229.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:29.852Z,1613467229.852 [Micromodem](INFO): Nmea in: $SNTTA,0.090768,,,,092030.09*41

2021-02-16T09:20:29.877Z,1613467229.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.960007 m, bearing: 122.083648 deg, deltaT: 4.359695 s, approachRate: -0.701883 m/s, LOS rate: -0.121388 deg/s, posRepo size: 4
2021-02-16T09:20:29.879Z,1613467229.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.960007 m,
      bearing: 122.083648 deg,
      approachRate: -0.701883 m/s,
      LOS rate: -0.121388 deg/s,
      cmd update: -0.364165 deg/s,
      cmd heading: 136.782628 deg,
      new cmd heading: 136.845502 deg.

2021-02-16T09:20:32.286Z,1613467232.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:33.100Z,1613467233.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:33.483Z,1613467233.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:34.324Z,1613467234.324 [Micromodem](INFO): Nmea in: $SNTTA,0.088702,,,,092034.57*4B

2021-02-16T09:20:34.357Z,1613467234.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.960007 m, bearing: 121.699245 deg, deltaT: 4.461749 s, approachRate: -0.672382 m/s, LOS rate: -0.086155 deg/s, posRepo size: 4
2021-02-16T09:20:34.358Z,1613467234.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.960007 m,
      bearing: 121.699245 deg,
      approachRate: -0.672382 m/s,
      LOS rate: -0.086155 deg/s,
      cmd update: -0.258466 deg/s,
      cmd heading: 135.157808 deg,
      new cmd heading: 134.994644 deg.

2021-02-16T09:20:36.746Z,1613467236.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:37.543Z,1613467237.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:37.924Z,1613467237.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:38.760Z,1613467238.760 [Micromodem](INFO): Nmea in: $SNTTA,0.086582,,,,092039.01*41

2021-02-16T09:20:38.797Z,1613467238.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.720001 m, bearing: 121.797627 deg, deltaT: 4.463307 s, approachRate: -0.725920 m/s, LOS rate: 0.022042 deg/s, posRepo size: 4
2021-02-16T09:20:38.799Z,1613467238.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.720001 m,
      bearing: 121.797627 deg,
      approachRate: -0.725920 m/s,
      LOS rate: 0.022042 deg/s,
      cmd update: 0.066127 deg/s,
      cmd heading: 134.009404 deg,
      new cmd heading: 133.894371 deg.

2021-02-16T09:20:41.193Z,1613467241.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:41.966Z,1613467241.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:42.180Z,1613467242.180 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-02-16T09:20:42.180Z,1613467242.180 [ThrusterServo] Communications Fault, FailCount= 1
2021-02-16T09:20:42.180Z,1613467242.180 [ThrusterServo](ERROR): Communications Fault
2021-02-16T09:20:42.185Z,1613467242.185 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-02-16T09:20:42.367Z,1613467242.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:42.488Z,1613467242.488 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T09:20:42.488Z,1613467242.488 [ThrusterServo](INFO): Powering down
2021-02-16T09:20:43.193Z,1613467243.193 [Micromodem](INFO): Nmea in: $SNTTA,0.084540,,,,092043.44*41

2021-02-16T09:20:43.225Z,1613467243.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 121.961251 deg, deltaT: 4.423385 s, approachRate: -0.691777 m/s, LOS rate: 0.036991 deg/s, posRepo size: 4
2021-02-16T09:20:43.226Z,1613467243.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.660004 m,
      bearing: 121.961251 deg,
      approachRate: -0.691777 m/s,
      LOS rate: 0.036991 deg/s,
      cmd update: 0.110972 deg/s,
      cmd heading: 134.303255 deg,
      new cmd heading: 134.331635 deg.

2021-02-16T09:20:43.324Z,1613467243.324 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:20:43.444Z,1613467243.444 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T09:20:43.448Z,1613467243.448 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-02-16T09:20:43.448Z,1613467243.448 [ThrusterServo] No Fault, FailCount= 1
2021-02-16T09:20:45.638Z,1613467245.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:46.405Z,1613467246.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:46.806Z,1613467246.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:47.632Z,1613467247.632 [Micromodem](INFO): Nmea in: $SNTTA,0.082706,,,0.085211,092047.88*52

2021-02-16T09:20:47.671Z,1613467247.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 121.470844 deg, deltaT: 4.459115 s, approachRate: -0.632412 m/s, LOS rate: -0.109979 deg/s, posRepo size: 4
2021-02-16T09:20:47.673Z,1613467247.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.840004 m,
      bearing: 121.470844 deg,
      approachRate: -0.632412 m/s,
      LOS rate: -0.109979 deg/s,
      cmd update: -0.329936 deg/s,
      cmd heading: 134.798089 deg,
      new cmd heading: 134.844281 deg.

2021-02-16T09:20:50.085Z,1613467250.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:50.861Z,1613467250.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:51.250Z,1613467251.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:52.084Z,1613467252.084 [Micromodem](INFO): Nmea in: $SNTTA,0.081441,,,,092052.33*44

2021-02-16T09:20:52.133Z,1613467252.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 121.376546 deg, deltaT: 4.423023 s, approachRate: -0.434094 m/s, LOS rate: -0.021320 deg/s, posRepo size: 4
2021-02-16T09:20:52.134Z,1613467252.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.919998 m,
      bearing: 121.376546 deg,
      approachRate: -0.434094 m/s,
      LOS rate: -0.021320 deg/s,
      cmd update: -0.063959 deg/s,
      cmd heading: 133.338759 deg,
      new cmd heading: 133.188613 deg.

2021-02-16T09:20:54.544Z,1613467254.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:55.290Z,1613467255.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:20:55.709Z,1613467255.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:20:56.543Z,1613467256.543 [Micromodem](INFO): Nmea in: $SNTTA,0.079736,,,,092056.76*45

2021-02-16T09:20:56.568Z,1613467256.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 121.483780 deg, deltaT: 4.481442 s, approachRate: -0.562318 m/s, LOS rate: 0.023928 deg/s, posRepo size: 4
2021-02-16T09:20:56.570Z,1613467256.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.400002 m,
      bearing: 121.483780 deg,
      approachRate: -0.562318 m/s,
      LOS rate: 0.023928 deg/s,
      cmd update: 0.071785 deg/s,
      cmd heading: 133.052895 deg,
      new cmd heading: 133.025948 deg.

2021-02-16T09:20:58.960Z,1613467258.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:20:59.738Z,1613467259.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:00.144Z,1613467260.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:00.977Z,1613467260.977 [Micromodem](INFO): Nmea in: $SNTTA,0.077888,,,,092101.21*40

2021-02-16T09:21:01.051Z,1613467261.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 121.208947 deg, deltaT: 4.427150 s, approachRate: -0.623425 m/s, LOS rate: -0.062079 deg/s, posRepo size: 4
2021-02-16T09:21:01.057Z,1613467261.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 121.208947 deg,
      approachRate: -0.623425 m/s,
      LOS rate: -0.062079 deg/s,
      cmd update: -0.186237 deg/s,
      cmd heading: 133.371554 deg,
      new cmd heading: 133.404896 deg.

2021-02-16T09:21:03.414Z,1613467263.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:04.188Z,1613467264.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:04.587Z,1613467264.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:05.412Z,1613467265.412 [Micromodem](INFO): Nmea in: $SNTTA,0.075588,,,,092105.66*48

2021-02-16T09:21:05.460Z,1613467265.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 120.653051 deg, deltaT: 4.463158 s, approachRate: -0.766275 m/s, LOS rate: -0.124552 deg/s, posRepo size: 4
2021-02-16T09:21:05.462Z,1613467265.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.220001 m,
      bearing: 120.653051 deg,
      approachRate: -0.766275 m/s,
      LOS rate: -0.124552 deg/s,
      cmd update: -0.373656 deg/s,
      cmd heading: 132.541137 deg,
      new cmd heading: 132.464648 deg.

2021-02-16T09:21:07.856Z,1613467267.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:08.626Z,1613467268.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:09.049Z,1613467269.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:09.852Z,1613467269.852 [Micromodem](INFO): Nmea in: $SNTTA,0.073568,,,,092110.10*45

2021-02-16T09:21:09.897Z,1613467269.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 121.003413 deg, deltaT: 4.439887 s, approachRate: -0.689206 m/s, LOS rate: 0.078912 deg/s, posRepo size: 4
2021-02-16T09:21:09.900Z,1613467269.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.160004 m,
      bearing: 121.003413 deg,
      approachRate: -0.689206 m/s,
      LOS rate: 0.078912 deg/s,
      cmd update: 0.236737 deg/s,
      cmd heading: 130.882041 deg,
      new cmd heading: 130.728031 deg.

2021-02-16T09:21:12.305Z,1613467272.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:13.069Z,1613467273.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:13.471Z,1613467273.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:14.304Z,1613467274.304 [Micromodem](INFO): Nmea in: $SNTTA,0.071427,,,,092114.54*49

2021-02-16T09:21:14.356Z,1613467274.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 120.823396 deg, deltaT: 4.404920 s, approachRate: -0.721920 m/s, LOS rate: -0.040867 deg/s, posRepo size: 4
2021-02-16T09:21:14.358Z,1613467274.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 120.823396 deg,
      approachRate: -0.721920 m/s,
      LOS rate: -0.040867 deg/s,
      cmd update: -0.122601 deg/s,
      cmd heading: 131.925786 deg,
      new cmd heading: 132.034092 deg.

2021-02-16T09:21:16.729Z,1613467276.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:17.538Z,1613467277.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:17.919Z,1613467277.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:18.752Z,1613467278.752 [Micromodem](INFO): Nmea in: $SNTTA,0.069346,,,,092119.01*4D

2021-02-16T09:21:18.797Z,1613467278.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 120.966543 deg, deltaT: 4.447138 s, approachRate: -0.715067 m/s, LOS rate: 0.032189 deg/s, posRepo size: 4
2021-02-16T09:21:18.803Z,1613467278.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.800003 m,
      bearing: 120.966543 deg,
      approachRate: -0.715067 m/s,
      LOS rate: 0.032189 deg/s,
      cmd update: 0.096566 deg/s,
      cmd heading: 131.380556 deg,
      new cmd heading: 131.324682 deg.

2021-02-16T09:21:21.170Z,1613467281.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:21.948Z,1613467281.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:22.354Z,1613467282.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:23.181Z,1613467283.181 [Micromodem](INFO): Nmea in: $SNTTA,0.067221,,,,092123.42*4D

2021-02-16T09:21:23.272Z,1613467283.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.680000 m, bearing: 121.059051 deg, deltaT: 4.438991 s, approachRate: -0.702863 m/s, LOS rate: 0.020840 deg/s, posRepo size: 4
2021-02-16T09:21:23.274Z,1613467283.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 121.059051 deg,
      approachRate: -0.702863 m/s,
      LOS rate: 0.020840 deg/s,
      cmd update: 0.062520 deg/s,
      cmd heading: 131.809177 deg,
      new cmd heading: 131.855094 deg.

2021-02-16T09:21:25.621Z,1613467285.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:26.401Z,1613467286.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:26.797Z,1613467286.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:27.624Z,1613467287.624 [Micromodem](INFO): Nmea in: $SNTTA,0.065195,,,,092127.87*4E

2021-02-16T09:21:27.663Z,1613467287.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.620003 m, bearing: 120.137878 deg, deltaT: 4.465267 s, approachRate: -0.685289 m/s, LOS rate: -0.206298 deg/s, posRepo size: 4
2021-02-16T09:21:27.665Z,1613467287.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.620003 m,
      bearing: 120.137878 deg,
      approachRate: -0.685289 m/s,
      LOS rate: -0.206298 deg/s,
      cmd update: -0.618893 deg/s,
      cmd heading: 132.088367 deg,
      new cmd heading: 132.114451 deg.

2021-02-16T09:21:30.105Z,1613467290.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:30.841Z,1613467290.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:31.252Z,1613467291.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:32.072Z,1613467292.072 [Micromodem](INFO): Nmea in: $SNTTA,0.063092,,,,092132.31*47

2021-02-16T09:21:32.110Z,1613467292.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 119.640271 deg, deltaT: 4.464349 s, approachRate: -0.712312 m/s, LOS rate: -0.111462 deg/s, posRepo size: 4
2021-02-16T09:21:32.112Z,1613467292.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 119.640271 deg,
      approachRate: -0.712312 m/s,
      LOS rate: -0.111462 deg/s,
      cmd update: -0.334387 deg/s,
      cmd heading: 129.332104 deg,
      new cmd heading: 129.077569 deg.

2021-02-16T09:21:34.538Z,1613467294.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:35.291Z,1613467295.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:35.686Z,1613467295.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:36.543Z,1613467296.543 [Micromodem](INFO): Nmea in: $SNTTA,0.061112,,,,092136.76*4B

2021-02-16T09:21:36.569Z,1613467296.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 119.980305 deg, deltaT: 4.402939 s, approachRate: -0.667733 m/s, LOS rate: 0.077229 deg/s, posRepo size: 4
2021-02-16T09:21:36.570Z,1613467296.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.500008 m,
      bearing: 119.980305 deg,
      approachRate: -0.667733 m/s,
      LOS rate: 0.077229 deg/s,
      cmd update: 0.231687 deg/s,
      cmd heading: 127.856206 deg,
      new cmd heading: 127.703838 deg.

2021-02-16T09:21:38.932Z,1613467298.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:39.724Z,1613467299.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:40.138Z,1613467300.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:40.952Z,1613467300.952 [Micromodem](INFO): Nmea in: $SNTTA,0.059028,,,,092141.19*41

2021-02-16T09:21:40.989Z,1613467300.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.320000 m, bearing: 119.653371 deg, deltaT: 4.463429 s, approachRate: -0.712458 m/s, LOS rate: -0.073247 deg/s, posRepo size: 4
2021-02-16T09:21:40.991Z,1613467300.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.320000 m,
      bearing: 119.653371 deg,
      approachRate: -0.712458 m/s,
      LOS rate: -0.073247 deg/s,
      cmd update: -0.219742 deg/s,
      cmd heading: 128.890263 deg,
      new cmd heading: 128.985910 deg.

2021-02-16T09:21:43.418Z,1613467303.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:44.169Z,1613467304.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:44.579Z,1613467304.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:45.408Z,1613467305.408 [Micromodem](INFO): Nmea in: $SNTTA,0.057124,,0.058286,,092145.64*53

2021-02-16T09:21:45.452Z,1613467305.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.500008 m, bearing: 120.093454 deg, deltaT: 4.460598 s, approachRate: -0.632200 m/s, LOS rate: 0.098660 deg/s, posRepo size: 4
2021-02-16T09:21:45.454Z,1613467305.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.500008 m,
      bearing: 120.093454 deg,
      approachRate: -0.632200 m/s,
      LOS rate: 0.098660 deg/s,
      cmd update: 0.295980 deg/s,
      cmd heading: 127.910942 deg,
      new cmd heading: 127.818858 deg.

2021-02-16T09:21:47.849Z,1613467307.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:48.614Z,1613467308.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:49.059Z,1613467309.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:49.840Z,1613467309.840 [Micromodem](INFO): Nmea in: $SNTTA,0.055205,,,,092150.08*40

2021-02-16T09:21:49.886Z,1613467309.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.620003 m, bearing: 119.881718 deg, deltaT: 4.572521 s, approachRate: -0.629851 m/s, LOS rate: -0.046306 deg/s, posRepo size: 4
2021-02-16T09:21:49.888Z,1613467309.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.620003 m,
      bearing: 119.881718 deg,
      approachRate: -0.629851 m/s,
      LOS rate: -0.046306 deg/s,
      cmd update: -0.138918 deg/s,
      cmd heading: 129.251098 deg,
      new cmd heading: 129.347522 deg.

2021-02-16T09:21:52.274Z,1613467312.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:53.061Z,1613467313.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:53.462Z,1613467313.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:54.288Z,1613467314.288 [Micromodem](INFO): Nmea in: $SNTTA,0.053324,,,,092154.53*4E

2021-02-16T09:21:54.336Z,1613467314.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 119.081712 deg, deltaT: 4.279109 s, approachRate: -0.659017 m/s, LOS rate: -0.186956 deg/s, posRepo size: 4
2021-02-16T09:21:54.338Z,1613467314.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.799995 m,
      bearing: 119.081712 deg,
      approachRate: -0.659017 m/s,
      LOS rate: -0.186956 deg/s,
      cmd update: -0.560869 deg/s,
      cmd heading: 128.649872 deg,
      new cmd heading: 128.591078 deg.

2021-02-16T09:21:56.722Z,1613467316.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:21:57.513Z,1613467317.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:21:57.906Z,1613467317.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:21:58.736Z,1613467318.736 [Micromodem](INFO): Nmea in: $SNTTA,0.051205,,,,092158.98*45

2021-02-16T09:21:58.762Z,1613467318.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 118.655781 deg, deltaT: 4.450231 s, approachRate: -0.714568 m/s, LOS rate: -0.095710 deg/s, posRepo size: 4
2021-02-16T09:21:58.764Z,1613467318.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 118.655781 deg,
      approachRate: -0.714568 m/s,
      LOS rate: -0.095710 deg/s,
      cmd update: -0.287129 deg/s,
      cmd heading: 126.153935 deg,
      new cmd heading: 125.916736 deg.

2021-02-16T09:22:01.229Z,1613467321.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:01.950Z,1613467321.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:02.367Z,1613467322.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:03.191Z,1613467323.191 [Micromodem](INFO): Nmea in: $SNTTA,0.049254,,0.056416,,092203.42*5C

2021-02-16T09:22:03.225Z,1613467323.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 119.966003 deg, deltaT: 4.461943 s, approachRate: -0.645458 m/s, LOS rate: 0.293644 deg/s, posRepo size: 4
2021-02-16T09:22:03.227Z,1613467323.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 119.966003 deg,
      approachRate: -0.645458 m/s,
      LOS rate: 0.293644 deg/s,
      cmd update: 0.880931 deg/s,
      cmd heading: 124.873917 deg,
      new cmd heading: 124.750868 deg.

2021-02-16T09:22:05.626Z,1613467325.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:06.410Z,1613467326.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:06.812Z,1613467326.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:07.632Z,1613467327.632 [Micromodem](INFO): Nmea in: $SNTTA,0.047227,,,,092207.88*4A

2021-02-16T09:22:07.678Z,1613467327.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 119.189192 deg, deltaT: 4.446445 s, approachRate: -0.688190 m/s, LOS rate: -0.174704 deg/s, posRepo size: 4
2021-02-16T09:22:07.680Z,1613467327.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.680008 m,
      bearing: 119.189192 deg,
      approachRate: -0.688190 m/s,
      LOS rate: -0.174704 deg/s,
      cmd update: -0.524112 deg/s,
      cmd heading: 128.794510 deg,
      new cmd heading: 129.174230 deg.

2021-02-16T09:22:10.079Z,1613467330.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:10.846Z,1613467330.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:11.243Z,1613467331.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:12.072Z,1613467332.072 [Micromodem](INFO): Nmea in: $SNTTA,0.045026,,,0.058781,092212.32*53

2021-02-16T09:22:12.118Z,1613467332.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.380005 m, bearing: 118.565308 deg, deltaT: 4.437825 s, approachRate: -0.743608 m/s, LOS rate: -0.140583 deg/s, posRepo size: 4
2021-02-16T09:22:12.120Z,1613467332.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 118.565308 deg,
      approachRate: -0.743608 m/s,
      LOS rate: -0.140583 deg/s,
      cmd update: -0.421749 deg/s,
      cmd heading: 126.470677 deg,
      new cmd heading: 126.241572 deg.

2021-02-16T09:22:14.554Z,1613467334.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:15.282Z,1613467335.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:15.307Z,1613467335.307 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:22:15.692Z,1613467335.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:16.536Z,1613467336.536 [Micromodem](INFO): Nmea in: $SNTTA,0.043178,,,,092216.75*45

2021-02-16T09:22:16.590Z,1613467336.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.559998 m, bearing: 117.831582 deg, deltaT: 4.454778 s, approachRate: -0.633030 m/s, LOS rate: -0.164705 deg/s, posRepo size: 4
2021-02-16T09:22:16.596Z,1613467336.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.559998 m,
      bearing: 117.831582 deg,
      approachRate: -0.633030 m/s,
      LOS rate: -0.164705 deg/s,
      cmd update: -0.494116 deg/s,
      cmd heading: 124.591930 deg,
      new cmd heading: 124.400383 deg.

2021-02-16T09:22:18.947Z,1613467338.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:19.729Z,1613467339.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:20.130Z,1613467340.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:20.956Z,1613467340.956 [Micromodem](INFO): Nmea in: $SNTTA,0.040812,,,,092221.20*47

2021-02-16T09:22:21.086Z,1613467341.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 118.473169 deg, deltaT: 4.443757 s, approachRate: -0.796623 m/s, LOS rate: 0.144379 deg/s, posRepo size: 4
2021-02-16T09:22:21.116Z,1613467341.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 118.473169 deg,
      approachRate: -0.796623 m/s,
      LOS rate: 0.144379 deg/s,
      cmd update: 0.433138 deg/s,
      cmd heading: 122.394168 deg,
      new cmd heading: 122.145909 deg.

2021-02-16T09:22:23.384Z,1613467343.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:24.168Z,1613467344.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:24.588Z,1613467344.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:25.396Z,1613467345.396 [Micromodem](INFO): Nmea in: $SNTTA,0.038825,,,,092225.64*48

2021-02-16T09:22:25.434Z,1613467345.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 118.621494 deg, deltaT: 4.455632 s, approachRate: -0.659837 m/s, LOS rate: 0.033289 deg/s, posRepo size: 4
2021-02-16T09:22:25.436Z,1613467345.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.080006 m,
      bearing: 118.621494 deg,
      approachRate: -0.659837 m/s,
      LOS rate: 0.033289 deg/s,
      cmd update: 0.099868 deg/s,
      cmd heading: 124.322325 deg,
      new cmd heading: 124.495207 deg.

2021-02-16T09:22:27.830Z,1613467347.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:28.618Z,1613467348.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:29.046Z,1613467349.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:29.844Z,1613467349.844 [Micromodem](INFO): Nmea in: $SNTTA,0.036638,,,,092230.09*4B

2021-02-16T09:22:29.888Z,1613467349.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 118.919946 deg, deltaT: 4.394919 s, approachRate: -0.750870 m/s, LOS rate: 0.067908 deg/s, posRepo size: 4
2021-02-16T09:22:29.890Z,1613467349.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.779995 m,
      bearing: 118.919946 deg,
      approachRate: -0.750870 m/s,
      LOS rate: 0.067908 deg/s,
      cmd update: 0.203725 deg/s,
      cmd heading: 124.761637 deg,
      new cmd heading: 124.806915 deg.

2021-02-16T09:22:32.290Z,1613467352.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:33.056Z,1613467353.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:33.461Z,1613467353.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:34.292Z,1613467354.292 [Micromodem](INFO): Nmea in: $SNTTA,0.034400,,,,092234.53*4B

2021-02-16T09:22:34.330Z,1613467354.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 118.522620 deg, deltaT: 4.478139 s, approachRate: -0.763709 m/s, LOS rate: -0.088726 deg/s, posRepo size: 4
2021-02-16T09:22:34.332Z,1613467354.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 118.522620 deg,
      approachRate: -0.763709 m/s,
      LOS rate: -0.088726 deg/s,
      cmd update: -0.266177 deg/s,
      cmd heading: 125.673094 deg,
      new cmd heading: 125.759053 deg.

2021-02-16T09:22:36.730Z,1613467356.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:37.532Z,1613467357.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:37.906Z,1613467357.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:38.746Z,1613467358.746 [Micromodem](INFO): Nmea in: $SNTTA,0.032373,,,,092239.00*45

2021-02-16T09:22:38.790Z,1613467358.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 117.653096 deg, deltaT: 4.445390 s, approachRate: -0.755840 m/s, LOS rate: -0.195601 deg/s, posRepo size: 4
2021-02-16T09:22:38.792Z,1613467358.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 117.653096 deg,
      approachRate: -0.755840 m/s,
      LOS rate: -0.195601 deg/s,
      cmd update: -0.586804 deg/s,
      cmd heading: 124.489805 deg,
      new cmd heading: 124.373530 deg.

2021-02-16T09:22:41.193Z,1613467361.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:41.962Z,1613467361.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:42.356Z,1613467362.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:43.185Z,1613467363.185 [Micromodem](INFO): Nmea in: $SNTTA,0.030133,,,,092243.43*4B

2021-02-16T09:22:43.236Z,1613467363.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 117.997665 deg, deltaT: 4.443815 s, approachRate: -0.675095 m/s, LOS rate: 0.077539 deg/s, posRepo size: 4
2021-02-16T09:22:43.238Z,1613467363.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.000000 m,
      bearing: 117.997665 deg,
      approachRate: -0.675095 m/s,
      LOS rate: 0.077539 deg/s,
      cmd update: 0.232617 deg/s,
      cmd heading: 121.879770 deg,
      new cmd heading: 121.624772 deg.

2021-02-16T09:22:45.634Z,1613467365.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:46.389Z,1613467366.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:46.799Z,1613467366.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:47.624Z,1613467367.624 [Micromodem](INFO): Nmea in: $SNTTA,0.029805,0.052192,,,092247.86*51

2021-02-16T09:22:47.668Z,1613467367.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.820000 m, bearing: 118.067429 deg, deltaT: 4.453524 s, approachRate: -0.714041 m/s, LOS rate: 0.015665 deg/s, posRepo size: 4
2021-02-16T09:22:47.669Z,1613467367.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.820000 m,
      bearing: 118.067429 deg,
      approachRate: -0.714041 m/s,
      LOS rate: 0.015665 deg/s,
      cmd update: 0.046994 deg/s,
      cmd heading: 122.914805 deg,
      new cmd heading: 123.011694 deg.

2021-02-16T09:22:50.072Z,1613467370.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:50.864Z,1613467370.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:51.246Z,1613467371.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:52.080Z,1613467372.080 [Micromodem](INFO): Nmea in: $SNTTA,0.025870,,,,092252.33*46

2021-02-16T09:22:52.125Z,1613467372.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 118.539285 deg, deltaT: 4.437339 s, approachRate: -0.730168 m/s, LOS rate: 0.106338 deg/s, posRepo size: 4
2021-02-16T09:22:52.125Z,1613467372.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m.
2021-02-16T09:22:52.131Z,1613467372.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.579998 m,
      bearing: 118.539285 deg,
      approachRate: -0.730168 m/s,
      LOS rate: 0.106338 deg/s,
      cmd update: 0.319013 deg/s,
      cmd heading: 123.123138 deg,
      new cmd heading: 123.143846 deg.

2021-02-16T09:22:52.461Z,1613467372.461 [PowerOnly](INFO): Powering up loadControl
2021-02-16T09:22:54.487Z,1613467374.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:55.288Z,1613467375.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:22:55.681Z,1613467375.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:22:56.544Z,1613467376.544 [Micromodem](INFO): Nmea in: $SNTTA,0.023715,,,,092256.76*49

2021-02-16T09:22:56.578Z,1613467376.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 118.458498 deg, deltaT: 4.415249 s, approachRate: -0.733820 m/s, LOS rate: -0.018297 deg/s, posRepo size: 4
2021-02-16T09:22:56.579Z,1613467376.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.34 m.
2021-02-16T09:22:56.579Z,1613467376.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.34 m.
2021-02-16T09:22:56.580Z,1613467376.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T09:22:56.581Z,1613467376.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 118.458498 deg,
      approachRate: -0.733820 m/s,
      LOS rate: -0.018297 deg/s,
      cmd update: -0.054892 deg/s,
      cmd heading: 124.534288 deg,
      new cmd heading: 124.684493 deg.

2021-02-16T09:22:58.928Z,1613467378.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:22:59.728Z,1613467379.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:00.128Z,1613467380.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:00.959Z,1613467380.959 [Micromodem](INFO): Nmea in: $SNTTA,0.021753,,,,092301.20*49

2021-02-16T09:23:00.982Z,1613467380.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 117.285727 deg, deltaT: 4.464723 s, approachRate: -0.658496 m/s, LOS rate: -0.262675 deg/s, posRepo size: 4
2021-02-16T09:23:00.984Z,1613467380.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.399998 m,
      bearing: 117.285727 deg,
      approachRate: -0.658496 m/s,
      LOS rate: -0.262675 deg/s,
      cmd update: -0.788025 deg/s,
      cmd heading: 124.289229 deg,
      new cmd heading: 124.266693 deg.

2021-02-16T09:23:03.382Z,1613467383.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:04.164Z,1613467384.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:04.570Z,1613467384.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:05.392Z,1613467385.392 [Micromodem](INFO): Nmea in: $SNTTA,0.019751,,,,092305.64*44

2021-02-16T09:23:05.433Z,1613467385.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.399998 m, bearing: 117.596938 deg, deltaT: 4.480568 s, approachRate: -0.669558 m/s, LOS rate: 0.069458 deg/s, posRepo size: 4
2021-02-16T09:23:05.435Z,1613467385.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.399998 m,
      bearing: 117.596938 deg,
      approachRate: -0.669558 m/s,
      LOS rate: 0.069458 deg/s,
      cmd update: 0.208374 deg/s,
      cmd heading: 120.761295 deg,
      new cmd heading: 120.458758 deg.

2021-02-16T09:23:07.850Z,1613467387.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:08.258Z,1613467388.258 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T09:23:08.258Z,1613467388.258 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T09:23:08.258Z,1613467388.258 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T09:23:08.258Z,1613467388.258 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:23:08.258Z,1613467388.258 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T09:23:08.618Z,1613467388.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:09.036Z,1613467389.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:09.145Z,1613467389.145 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60400000005D000004004A0000000000000000151D80030C5669BF92F9E583010E2BBF38F086F44AB6DD85B00614B44F7F3B0A5B62B7236B0E71D478C7
2021-02-16T09:23:09.146Z,1613467389.146 [Micromodem](INFO): Outgoing frame #2, 27 bytes: 9ECAF4601DC39B75AA4D37CA3A3B1EB0B494E1C7CA581909ABC9E0
2021-02-16T09:23:09.146Z,1613467389.146 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T09:23:09.417Z,1613467389.417 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T09:23:09.840Z,1613467389.840 [Micromodem](INFO): Nmea in: $CADRQ,092310,1,10,0,64,1*7F

2021-02-16T09:23:09.841Z,1613467389.841 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60400000005D000004004A0000000000000000151D80030C5669BF92F9E583010E2BBF38F086F44AB6DD85B00614B44F7F3B0A5B62B7236B0E71D478C7*34

2021-02-16T09:23:09.976Z,1613467389.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 118.479098 deg, deltaT: 4.422955 s, approachRate: -0.637582 m/s, LOS rate: 0.199450 deg/s, posRepo size: 4
2021-02-16T09:23:09.978Z,1613467389.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 118.479098 deg,
      approachRate: -0.637582 m/s,
      LOS rate: 0.199450 deg/s,
      cmd update: 0.598351 deg/s,
      cmd heading: 121.683414 deg,
      new cmd heading: 121.787157 deg.

2021-02-16T09:23:10.240Z,1613467390.240 [Micromodem](INFO): Nmea in: $SNTTA,0.017863,,,,092310.09*4B

2021-02-16T09:23:10.241Z,1613467390.241 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.017863,,,,092310.09*4B

2021-02-16T09:23:11.448Z,1613467391.448 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T09:23:11.852Z,1613467391.852 [Micromodem](INFO): Nmea in: $CADRQ,092311,1,10,0,64,2*7D

2021-02-16T09:23:11.852Z,1613467391.852 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,9ECAF4601DC39B75AA4D37CA3A3B1EB0B494E1C7CA581909ABC9E0*35

2021-02-16T09:23:12.250Z,1613467392.250 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,27*4E

2021-02-16T09:23:12.277Z,1613467392.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:12.671Z,1613467392.671 [Micromodem](INFO): Nmea in: $CATXP,91*7A

2021-02-16T09:23:13.052Z,1613467393.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:14.782Z,1613467394.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:15.089Z,1613467395.089 [Micromodem](INFO): Nmea in: $CATXF,91*6C

2021-02-16T09:23:15.089Z,1613467395.089 [Micromodem](ERROR): Response from modem unexpected: $CATXF,91*6C

2021-02-16T09:23:15.483Z,1613467395.483 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,092313.320373,3,0,200,4000,14500,1,1,10,1,2,2,3,91*43

2021-02-16T09:23:15.483Z,1613467395.483 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,092313.320373,3,0,200,4000,14500,1,1,10,1,2,2,3,91*43

2021-02-16T09:23:17.534Z,1613467397.534 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T09:23:17.614Z,1613467397.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:17.900Z,1613467397.900 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T09:23:17.901Z,1613467397.901 [Micromodem](INFO): Sent 83 bytes from file Logs/20210216T042015/Courier0064.lzma.parts
2021-02-16T09:23:17.901Z,1613467397.901 [Micromodem](INFO): Packets left to send: 0
2021-02-16T09:23:18.307Z,1613467398.307 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216092317.972203,06,8614,39,0270,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,17.6,3.00,10,0.00,-01,1.47,37,14500,4000*75

2021-02-16T09:23:18.308Z,1613467398.308 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216092317.972203,06,8614,39,0270,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,17.6,3.00,10,0.00,-01,1.47,37,14500,4000*75

2021-02-16T09:23:18.397Z,1613467398.397 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T09:23:18.397Z,1613467398.397 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T09:23:18.397Z,1613467398.397 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T09:23:18.397Z,1613467398.397 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:23:18.398Z,1613467398.398 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T09:23:20.349Z,1613467400.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:23.204Z,1613467403.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:24.365Z,1613467404.365 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:24.770Z,1613467404.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:25.592Z,1613467405.592 [Micromodem](INFO): Nmea in: $SNTTA,0.010921,,,,092325.83*4F

2021-02-16T09:23:25.641Z,1613467405.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 110.805667 deg, deltaT: 15.801456 s, approachRate: -0.668293 m/s, LOS rate: -0.485615 deg/s, posRepo size: 4
2021-02-16T09:23:25.647Z,1613467405.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 110.805667 deg,
      approachRate: -0.668293 m/s,
      LOS rate: -0.485615 deg/s,
      cmd update: -1.456846 deg/s,
      cmd heading: 131.139208 deg,
      new cmd heading: 131.356946 deg.

2021-02-16T09:23:28.064Z,1613467408.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:28.808Z,1613467408.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:29.220Z,1613467409.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:30.056Z,1613467410.056 [Micromodem](INFO): Nmea in: $SNTTA,0.024940,,,,092330.28*4A

2021-02-16T09:23:30.114Z,1613467410.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 107.724453 deg, deltaT: 4.369905 s, approachRate: -0.755165 m/s, LOS rate: -0.705099 deg/s, posRepo size: 4
2021-02-16T09:23:30.120Z,1613467410.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 107.724453 deg,
      approachRate: -0.755165 m/s,
      LOS rate: -0.705099 deg/s,
      cmd update: -2.115296 deg/s,
      cmd heading: 124.773000 deg,
      new cmd heading: 124.092331 deg.

2021-02-16T09:23:32.459Z,1613467412.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:33.254Z,1613467413.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:33.662Z,1613467413.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:34.484Z,1613467414.484 [Micromodem](INFO): Nmea in: $SNTTA,0.006893,,,,092334.72*4E

2021-02-16T09:23:34.556Z,1613467414.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 108.905263 deg, deltaT: 4.470569 s, approachRate: -0.577108 m/s, LOS rate: 0.264130 deg/s, posRepo size: 4
2021-02-16T09:23:34.558Z,1613467414.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 108.905263 deg,
      approachRate: -0.577108 m/s,
      LOS rate: 0.264130 deg/s,
      cmd update: 0.792389 deg/s,
      cmd heading: 115.325070 deg,
      new cmd heading: 114.397762 deg.

2021-02-16T09:23:36.928Z,1613467416.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:37.697Z,1613467417.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:38.107Z,1613467418.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:38.933Z,1613467418.933 [Micromodem](INFO): Nmea in: $SNTTA,0.005409,0.019034,,,092339.17*5D

2021-02-16T09:23:38.974Z,1613467418.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 106.368421 deg, deltaT: 4.453240 s, approachRate: -0.498514 m/s, LOS rate: -0.569662 deg/s, posRepo size: 4
2021-02-16T09:23:38.976Z,1613467418.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 106.368421 deg,
      approachRate: -0.498514 m/s,
      LOS rate: -0.569662 deg/s,
      cmd update: -1.708986 deg/s,
      cmd heading: 118.856992 deg,
      new cmd heading: 119.176061 deg.

2021-02-16T09:23:41.371Z,1613467421.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:42.142Z,1613467422.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:42.567Z,1613467422.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:43.372Z,1613467423.372 [Micromodem](INFO): Nmea in: $SNTTA,0.005428,,,,092343.61*43

2021-02-16T09:23:43.422Z,1613467423.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 99.449801 deg, deltaT: 4.392291 s, approachRate: -0.478110 m/s, LOS rate: -1.575173 deg/s, posRepo size: 4
2021-02-16T09:23:43.436Z,1613467423.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 99.449801 deg,
      approachRate: -0.478110 m/s,
      LOS rate: -1.575173 deg/s,
      cmd update: -4.725520 deg/s,
      cmd heading: 111.350758 deg,
      new cmd heading: 110.566010 deg.

2021-02-16T09:23:45.815Z,1613467425.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:46.589Z,1613467426.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:46.994Z,1613467426.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:47.824Z,1613467427.824 [Micromodem](INFO): Nmea in: $SNTTA,0.003322,,,,092348.06*42

2021-02-16T09:23:47.847Z,1613467427.847 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T09:23:47.847Z,1613467427.847 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:23:47.847Z,1613467427.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T09:23:47.847Z,1613467427.847 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:23:47.848Z,1613467427.848 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T09:23:47.848Z,1613467427.848 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.740000 m 
2021-02-16T09:23:47.848Z,1613467427.848 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T09:23:47.848Z,1613467427.848 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T09:23:47.848Z,1613467427.848 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T09:23:47.850Z,1613467427.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 91.544684 deg, deltaT: 4.495578 s, approachRate: -0.240236 m/s, LOS rate: -1.758421 deg/s, posRepo size: 4
2021-02-16T09:23:47.881Z,1613467427.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 91.544684 deg,
      approachRate: -0.240236 m/s,
      LOS rate: -1.758421 deg/s,
      cmd update: -5.275262 deg/s,
      cmd heading: 90.108709 deg,
      new cmd heading: 88.255057 deg.

2021-02-16T09:23:48.252Z,1613467428.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T092348: (41.552319, -70.708603)
2021-02-16T09:23:48.252Z,1613467428.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T09:23:48.252Z,1613467428.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T09:23:48.252Z,1613467428.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:23:48.252Z,1613467428.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T09:23:48.253Z,1613467428.253 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:23:48.253Z,1613467428.253 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T09:23:48.253Z,1613467428.253 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T09:23:48.253Z,1613467428.253 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:23:50.256Z,1613467430.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:51.040Z,1613467431.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:51.442Z,1613467431.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:51.837Z,1613467431.837 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T09:23:52.264Z,1613467432.264 [Micromodem](INFO): Nmea in: $SNTTA,0.003612,,,,092352.51*4D

2021-02-16T09:23:52.305Z,1613467432.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 87.003551 deg, deltaT: 4.430939 s, approachRate: 0.148952 m/s, LOS rate: -1.024869 deg/s, posRepo size: 4
2021-02-16T09:23:52.307Z,1613467432.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 87.003551 deg,
      approachRate: 0.148952 m/s,
      LOS rate: -1.024869 deg/s,
      cmd update: -3.074608 deg/s,
      cmd heading: 66.752655 deg,
      new cmd heading: 64.541645 deg.

2021-02-16T09:23:54.700Z,1613467434.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:55.472Z,1613467435.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:23:55.925Z,1613467435.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:23:56.704Z,1613467436.704 [Micromodem](INFO): Nmea in: $SNTTA,0.005847,,,,092356.94*48

2021-02-16T09:23:56.729Z,1613467436.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.759999 m, bearing: 61.116328 deg, deltaT: 4.419779 s, approachRate: 0.760219 m/s, LOS rate: -5.857131 deg/s, posRepo size: 4
2021-02-16T09:23:56.731Z,1613467436.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.759999 m,
      bearing: 61.116328 deg,
      approachRate: 0.760219 m/s,
      LOS rate: -5.857131 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 53.151282 deg,
      new cmd heading: 51.862151 deg.

2021-02-16T09:23:59.147Z,1613467439.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:23:59.929Z,1613467439.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:00.335Z,1613467440.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:01.157Z,1613467441.157 [Micromodem](INFO): Nmea in: $SNTTA,0.006772,0.043984,,,092401.40*52

2021-02-16T09:24:01.231Z,1613467441.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 42.728318 deg, deltaT: 4.462929 s, approachRate: 19.991356 m/s, LOS rate: -4.120166 deg/s, posRepo size: 4
2021-02-16T09:24:01.233Z,1613467441.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 42.728318 deg,
      approachRate: 19.991356 m/s,
      LOS rate: -4.120166 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 359.646208 deg,
      new cmd heading: 354.139564 deg.

2021-02-16T09:24:03.607Z,1613467443.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:04.374Z,1613467444.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:04.765Z,1613467444.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:05.612Z,1613467445.612 [Micromodem](INFO): Nmea in: $SNTTA,0.007024,,,,092405.85*46

2021-02-16T09:24:05.648Z,1613467445.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.680000 m, bearing: 74.792395 deg, deltaT: 4.460455 s, approachRate: -19.571995 m/s, LOS rate: 7.188521 deg/s, posRepo size: 4
2021-02-16T09:24:05.649Z,1613467445.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.680000 m,
      bearing: 74.792395 deg,
      approachRate: -19.571995 m/s,
      LOS rate: 7.188521 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.118479 deg,
      new cmd heading: 301.097967 deg.

2021-02-16T09:24:08.064Z,1613467448.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:08.813Z,1613467448.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:09.231Z,1613467449.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:10.072Z,1613467450.072 [Micromodem](INFO): Nmea in: $SNTTA,0.008590,,,,092410.28*40

2021-02-16T09:24:10.102Z,1613467450.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 52.817593 deg, deltaT: 4.445302 s, approachRate: 0.526398 m/s, LOS rate: -4.943377 deg/s, posRepo size: 4
2021-02-16T09:24:10.128Z,1613467450.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 52.817593 deg,
      approachRate: 0.526398 m/s,
      LOS rate: -4.943377 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 359.484365 deg,
      new cmd heading: 4.598009 deg.

2021-02-16T09:24:12.455Z,1613467452.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:13.253Z,1613467453.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:13.654Z,1613467453.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:14.500Z,1613467454.500 [Micromodem](INFO): Nmea in: $SNTTA,0.009965,,,,092414.72*4C

2021-02-16T09:24:14.578Z,1613467454.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 342.528523 deg, deltaT: 4.422678 s, approachRate: 0.678322 m/s, LOS rate: -15.892872 deg/s, posRepo size: 4
2021-02-16T09:24:14.578Z,1613467454.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.892872 deg/s. Setting heading cmd to target bearing of 342.528523deg and heading rate command to 0 deg/s.
2021-02-16T09:24:16.915Z,1613467456.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:17.692Z,1613467457.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:18.105Z,1613467458.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:18.920Z,1613467458.920 [Micromodem](INFO): Nmea in: $SNTTA,0.011164,,,,092419.16*43

2021-02-16T09:24:18.966Z,1613467458.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.800003 m, bearing: 343.042344 deg, deltaT: 4.480151 s, approachRate: 0.174102 m/s, LOS rate: 0.114688 deg/s, posRepo size: 4
2021-02-16T09:24:18.968Z,1613467458.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 343.042344 deg,
      approachRate: 0.174102 m/s,
      LOS rate: 0.114688 deg/s,
      cmd update: 0.344065 deg/s,
      cmd heading: 342.528523 deg,
      new cmd heading: 342.528523 deg.

2021-02-16T09:24:21.377Z,1613467461.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:22.137Z,1613467462.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:22.564Z,1613467462.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:23.372Z,1613467463.372 [Micromodem](INFO): Nmea in: $SNTTA,0.012308,,,,092423.61*41

2021-02-16T09:24:23.425Z,1613467463.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.540001 m, bearing: 305.058050 deg, deltaT: 4.382422 s, approachRate: 0.397040 m/s, LOS rate: -8.667420 deg/s, posRepo size: 4
2021-02-16T09:24:23.432Z,1613467463.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.540001 m,
      bearing: 305.058050 deg,
      approachRate: 0.397040 m/s,
      LOS rate: -8.667420 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 344.037711 deg,
      new cmd heading: 344.194582 deg.

2021-02-16T09:24:25.803Z,1613467465.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:26.580Z,1613467466.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:27.010Z,1613467467.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:27.035Z,1613467467.035 [PowerOnly](INFO): Powering down loadControl
2021-02-16T09:24:27.828Z,1613467467.828 [Micromodem](INFO): Nmea in: $SNTTA,0.013545,,,,092428.05*46

2021-02-16T09:24:27.853Z,1613467467.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 340.824828 deg, deltaT: 4.454786 s, approachRate: 0.430997 m/s, LOS rate: 8.028843 deg/s, posRepo size: 4
2021-02-16T09:24:27.855Z,1613467467.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.459999 m,
      bearing: 340.824828 deg,
      approachRate: 0.430997 m/s,
      LOS rate: 8.028843 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.772169 deg,
      new cmd heading: 285.365497 deg.

2021-02-16T09:24:30.262Z,1613467470.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:31.049Z,1613467471.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:31.430Z,1613467471.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:32.268Z,1613467472.268 [Micromodem](INFO): Nmea in: $SNTTA,0.015098,,,,092432.52*4C

2021-02-16T09:24:32.312Z,1613467472.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 348.891090 deg, deltaT: 4.454052 s, approachRate: 0.525364 m/s, LOS rate: 1.810994 deg/s, posRepo size: 4
2021-02-16T09:24:32.313Z,1613467472.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 348.891090 deg,
      approachRate: 0.525364 m/s,
      LOS rate: 1.810994 deg/s,
      cmd update: 5.432983 deg/s,
      cmd heading: 344.219115 deg,
      new cmd heading: 349.683291 deg.

2021-02-16T09:24:34.695Z,1613467474.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:35.473Z,1613467475.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:35.879Z,1613467475.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:36.703Z,1613467476.703 [Micromodem](INFO): Nmea in: $SNTTA,0.016517,,,,092436.94*43

2021-02-16T09:24:36.728Z,1613467476.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 304.952018 deg, deltaT: 4.434967 s, approachRate: 0.446452 m/s, LOS rate: -9.907418 deg/s, posRepo size: 4
2021-02-16T09:24:36.728Z,1613467476.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.78 m. Rolling out.
2021-02-16T09:24:36.728Z,1613467476.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T09:24:39.141Z,1613467479.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:39.912Z,1613467479.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:40.318Z,1613467480.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:41.148Z,1613467481.148 [Micromodem](INFO): Nmea in: $SNTTA,0.018169,,,,092441.38*46

2021-02-16T09:24:41.203Z,1613467481.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 337.377631 deg, deltaT: 4.457047 s, approachRate: 0.578859 m/s, LOS rate: 7.275133 deg/s, posRepo size: 4
2021-02-16T09:24:43.604Z,1613467483.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:44.356Z,1613467484.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:44.779Z,1613467484.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:45.584Z,1613467485.584 [Micromodem](INFO): Nmea in: $SNTTA,0.020187,,,,092445.82*48

2021-02-16T09:24:45.637Z,1613467485.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 323.327276 deg, deltaT: 4.473709 s, approachRate: 0.683996 m/s, LOS rate: -3.140650 deg/s, posRepo size: 4
2021-02-16T09:24:48.060Z,1613467488.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:48.817Z,1613467488.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:49.216Z,1613467489.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:50.056Z,1613467490.056 [Micromodem](INFO): Nmea in: $SNTTA,0.033215,,,,092450.29*47

2021-02-16T09:24:50.100Z,1613467490.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.680000 m, bearing: 15.583536 deg, deltaT: 4.408533 s, approachRate: 3.688303 m/s, LOS rate: 11.853436 deg/s, posRepo size: 4
2021-02-16T09:24:52.460Z,1613467492.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:53.261Z,1613467493.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:53.652Z,1613467493.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:54.484Z,1613467494.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,092454.73*54

2021-02-16T09:24:54.548Z,1613467494.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.719997 m, bearing: 15.518502 deg, deltaT: 4.435467 s, approachRate: -0.216438 m/s, LOS rate: -0.014662 deg/s, posRepo size: 4
2021-02-16T09:24:56.909Z,1613467496.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:24:57.702Z,1613467497.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:24:58.098Z,1613467498.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:24:58.928Z,1613467498.928 [Micromodem](INFO): Nmea in: $SNTTA,0.026741,,,,092459.17*43

2021-02-16T09:24:58.980Z,1613467498.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.259998 m, bearing: 11.814470 deg, deltaT: 4.488425 s, approachRate: -1.216462 m/s, LOS rate: -0.825241 deg/s, posRepo size: 4
2021-02-16T09:25:01.349Z,1613467501.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:02.132Z,1613467502.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:02.553Z,1613467502.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:03.355Z,1613467503.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,092503.60*55

2021-02-16T09:25:04.210Z,1613467504.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:05.768Z,1613467505.768 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:25:07.037Z,1613467507.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:07.788Z,1613467507.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:08.205Z,1613467508.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:09.049Z,1613467509.049 [Micromodem](INFO): Nmea in: $SNTTA,0.031857,,,,092509.26*4B

2021-02-16T09:25:09.096Z,1613467509.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 25.589930 deg, deltaT: 10.063048 s, approachRate: 0.757226 m/s, LOS rate: 1.368915 deg/s, posRepo size: 4
2021-02-16T09:25:11.439Z,1613467511.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:12.242Z,1613467512.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:12.640Z,1613467512.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:13.472Z,1613467513.472 [Micromodem](INFO): Nmea in: $SNTTA,0.034221,,0.046872,,092513.71*5D

2021-02-16T09:25:13.497Z,1613467513.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.420002 m, bearing: 23.183308 deg, deltaT: 4.439214 s, approachRate: 0.797439 m/s, LOS rate: -0.542128 deg/s, posRepo size: 4
2021-02-16T09:25:15.899Z,1613467515.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:16.681Z,1613467516.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:17.083Z,1613467517.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:17.915Z,1613467517.915 [Micromodem](INFO): Nmea in: $SNTTA,0.036551,,,,092518.15*47

2021-02-16T09:25:17.939Z,1613467517.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 13.603509 deg, deltaT: 4.486396 s, approachRate: 0.869295 m/s, LOS rate: -2.135299 deg/s, posRepo size: 4
2021-02-16T09:25:20.342Z,1613467520.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:21.120Z,1613467521.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:21.551Z,1613467521.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:22.348Z,1613467522.348 [Micromodem](INFO): Nmea in: $SNTTA,0.038868,,,,092522.59*4F

2021-02-16T09:25:22.388Z,1613467522.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 24.867568 deg, deltaT: 4.394829 s, approachRate: 0.737229 m/s, LOS rate: 2.563025 deg/s, posRepo size: 4
2021-02-16T09:25:24.783Z,1613467524.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:25.570Z,1613467525.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:26.043Z,1613467526.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:26.796Z,1613467526.796 [Micromodem](INFO): Nmea in: $SNTTA,0.041121,,,,092527.04*48

2021-02-16T09:25:26.839Z,1613467526.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 23.418767 deg, deltaT: 4.457390 s, approachRate: 0.740344 m/s, LOS rate: -0.325033 deg/s, posRepo size: 4
2021-02-16T09:25:29.254Z,1613467529.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:30.045Z,1613467530.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:30.419Z,1613467530.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:31.262Z,1613467531.262 [Micromodem](INFO): Nmea in: $SNTTA,0.043493,,,,092531.51*41

2021-02-16T09:25:31.332Z,1613467531.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 23.705686 deg, deltaT: 4.446609 s, approachRate: 0.782618 m/s, LOS rate: 0.064525 deg/s, posRepo size: 4
2021-02-16T09:25:33.672Z,1613467533.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:34.460Z,1613467534.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:34.863Z,1613467534.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:35.696Z,1613467535.696 [Micromodem](INFO): Nmea in: $SNTTA,0.045709,,,,092535.93*4D

2021-02-16T09:25:35.721Z,1613467535.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 19.983680 deg, deltaT: 4.427218 s, approachRate: 0.813153 m/s, LOS rate: -0.840710 deg/s, posRepo size: 4
2021-02-16T09:25:38.118Z,1613467538.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:38.896Z,1613467538.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:39.307Z,1613467539.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:40.124Z,1613467540.124 [Micromodem](INFO): Nmea in: $SNTTA,0.047956,,,,092540.36*46

2021-02-16T09:25:40.148Z,1613467540.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.120010 m, bearing: 21.573357 deg, deltaT: 4.465506 s, approachRate: 0.712127 m/s, LOS rate: 0.355990 deg/s, posRepo size: 4
2021-02-16T09:25:42.581Z,1613467542.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:43.349Z,1613467543.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:43.751Z,1613467543.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:44.576Z,1613467544.576 [Micromodem](INFO): Nmea in: $SNTTA,0.050218,,,,092544.82*4A

2021-02-16T09:25:44.621Z,1613467544.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.479996 m, bearing: 22.011509 deg, deltaT: 4.464892 s, approachRate: 0.752535 m/s, LOS rate: 0.098133 deg/s, posRepo size: 4
2021-02-16T09:25:47.035Z,1613467547.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:47.793Z,1613467547.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:48.195Z,1613467548.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:49.046Z,1613467549.046 [Micromodem](INFO): Nmea in: $SNTTA,0.052562,,,,092549.26*41

2021-02-16T09:25:49.077Z,1613467549.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 21.419277 deg, deltaT: 4.402330 s, approachRate: 0.885895 m/s, LOS rate: -0.134527 deg/s, posRepo size: 4
2021-02-16T09:25:51.471Z,1613467551.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:52.231Z,1613467552.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:52.633Z,1613467552.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:53.460Z,1613467553.460 [Micromodem](INFO): Nmea in: $SNTTA,0.054841,,,,092553.70*43

2021-02-16T09:25:53.539Z,1613467553.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.380005 m, bearing: 35.844126 deg, deltaT: 4.476138 s, approachRate: 0.670222 m/s, LOS rate: 3.222610 deg/s, posRepo size: 4
2021-02-16T09:25:55.913Z,1613467555.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:25:56.673Z,1613467556.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:25:57.078Z,1613467557.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:25:57.908Z,1613467557.908 [Micromodem](INFO): Nmea in: $SNTTA,0.057156,,,,092558.14*46

2021-02-16T09:25:57.946Z,1613467557.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 29.643725 deg, deltaT: 4.444576 s, approachRate: 0.850473 m/s, LOS rate: -1.395049 deg/s, posRepo size: 4
2021-02-16T09:26:00.332Z,1613467560.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:01.135Z,1613467561.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:01.545Z,1613467561.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:02.356Z,1613467562.356 [Micromodem](INFO): Nmea in: $SNTTA,0.059306,,,,092602.61*41

2021-02-16T09:26:02.385Z,1613467562.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 30.521305 deg, deltaT: 4.400918 s, approachRate: 0.681678 m/s, LOS rate: 0.199408 deg/s, posRepo size: 4
2021-02-16T09:26:04.782Z,1613467564.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:05.562Z,1613467565.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:05.979Z,1613467565.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:06.050Z,1613467566.050 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:26:06.792Z,1613467566.792 [Micromodem](INFO): Nmea in: $SNTTA,0.061511,,,,092607.03*4B

2021-02-16T09:26:06.832Z,1613467566.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 32.866682 deg, deltaT: 4.459201 s, approachRate: 0.726587 m/s, LOS rate: 0.525964 deg/s, posRepo size: 4
2021-02-16T09:26:09.233Z,1613467569.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:10.038Z,1613467570.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:10.410Z,1613467570.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:11.252Z,1613467571.252 [Micromodem](INFO): Nmea in: $SNTTA,0.063832,,,,092611.51*45

2021-02-16T09:26:11.298Z,1613467571.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 26.709079 deg, deltaT: 4.443421 s, approachRate: 0.796684 m/s, LOS rate: -1.385780 deg/s, posRepo size: 4
2021-02-16T09:26:13.698Z,1613467573.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:14.449Z,1613467574.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:14.854Z,1613467574.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:15.680Z,1613467575.680 [Micromodem](INFO): Nmea in: $SNTTA,0.065984,,,,092615.92*44

2021-02-16T09:26:15.705Z,1613467575.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 12.856056 deg, deltaT: 4.466832 s, approachRate: 0.765645 m/s, LOS rate: -3.101308 deg/s, posRepo size: 4
2021-02-16T09:26:18.111Z,1613467578.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:18.892Z,1613467578.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:19.300Z,1613467579.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:20.113Z,1613467580.113 [Micromodem](INFO): Nmea in: $SNTTA,0.068348,,0.069504,,092620.36*5B

2021-02-16T09:26:20.928Z,1613467580.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:21.323Z,1613467581.323 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:26:22.557Z,1613467582.557 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:26:23.773Z,1613467583.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:24.564Z,1613467584.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:24.953Z,1613467584.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:25.791Z,1613467585.791 [Micromodem](INFO): Nmea in: $SNTTA,0.071382,,,,092626.03*45

2021-02-16T09:26:25.816Z,1613467585.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 23.698636 deg, deltaT: 10.113005 s, approachRate: 0.777216 m/s, LOS rate: 1.072142 deg/s, posRepo size: 4
2021-02-16T09:26:27.407Z,1613467587.407 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:26:28.250Z,1613467588.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:28.999Z,1613467588.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:29.399Z,1613467589.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:30.231Z,1613467590.231 [Micromodem](INFO): Nmea in: $SNTTA,0.073745,,,,092630.47*4F

2021-02-16T09:26:30.255Z,1613467590.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.760002 m, bearing: 26.358933 deg, deltaT: 4.419842 s, approachRate: 0.800934 m/s, LOS rate: 0.601899 deg/s, posRepo size: 4
2021-02-16T09:26:31.083Z,1613467591.083 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:26:32.655Z,1613467592.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:33.436Z,1613467593.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:33.865Z,1613467593.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:34.668Z,1613467594.668 [Micromodem](INFO): Nmea in: $SNTTA,0.076028,,,,092634.90*48

2021-02-16T09:26:34.719Z,1613467594.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.180008 m, bearing: 36.259340 deg, deltaT: 4.425166 s, approachRate: 0.772854 m/s, LOS rate: 2.237296 deg/s, posRepo size: 4
2021-02-16T09:26:36.303Z,1613467596.303 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:26:37.116Z,1613467597.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:37.880Z,1613467597.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:38.285Z,1613467598.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:39.111Z,1613467599.111 [Micromodem](INFO): Nmea in: $SNTTA,0.078351,,,,092639.35*49

2021-02-16T09:26:39.166Z,1613467599.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 25.846223 deg, deltaT: 4.465735 s, approachRate: 0.779266 m/s, LOS rate: -2.331781 deg/s, posRepo size: 4
2021-02-16T09:26:41.141Z,1613467601.141 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:26:41.569Z,1613467601.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:42.333Z,1613467602.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:42.730Z,1613467602.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:43.580Z,1613467603.580 [Micromodem](INFO): Nmea in: $SNTTA,0.080612,,,,092643.80*4F

2021-02-16T09:26:43.609Z,1613467603.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 22.918469 deg, deltaT: 4.442691 s, approachRate: 0.756297 m/s, LOS rate: -0.659005 deg/s, posRepo size: 4
2021-02-16T09:26:45.983Z,1613467605.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:46.388Z,1613467606.388 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:26:46.770Z,1613467606.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:47.188Z,1613467607.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:48.015Z,1613467608.015 [Micromodem](INFO): Nmea in: $SNTTA,0.082863,,,,092648.24*40

2021-02-16T09:26:48.072Z,1613467608.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.440002 m, bearing: 25.829373 deg, deltaT: 4.472314 s, approachRate: 0.764706 m/s, LOS rate: 0.650872 deg/s, posRepo size: 4
2021-02-16T09:26:50.432Z,1613467610.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:51.218Z,1613467611.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:51.633Z,1613467611.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:52.430Z,1613467612.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,092652.69*5B

2021-02-16T09:26:53.268Z,1613467613.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:54.858Z,1613467614.858 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:26:56.139Z,1613467616.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:26:56.868Z,1613467616.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:26:57.275Z,1613467617.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:26:58.096Z,1613467618.096 [Micromodem](INFO): Nmea in: $SNTTA,0.088705,,,,092658.34*45

2021-02-16T09:26:58.134Z,1613467618.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.419998 m, bearing: 24.109091 deg, deltaT: 10.080764 s, approachRate: 0.791606 m/s, LOS rate: -0.170650 deg/s, posRepo size: 4
2021-02-16T09:27:00.572Z,1613467620.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:01.318Z,1613467621.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:01.724Z,1613467621.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:02.560Z,1613467622.560 [Micromodem](INFO): Nmea in: $SNTTA,0.090696,,,,092702.79*40

2021-02-16T09:27:02.609Z,1613467622.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.899994 m, bearing: 24.258144 deg, deltaT: 4.418680 s, approachRate: 0.787565 m/s, LOS rate: 0.033733 deg/s, posRepo size: 4
2021-02-16T09:27:04.963Z,1613467624.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:05.773Z,1613467625.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:06.162Z,1613467626.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:07.003Z,1613467627.003 [Micromodem](INFO): Nmea in: $SNTTA,0.092624,,,,092707.24*46

2021-02-16T09:27:07.072Z,1613467627.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.139999 m, bearing: 32.420053 deg, deltaT: 4.463023 s, approachRate: 0.725967 m/s, LOS rate: 1.828785 deg/s, posRepo size: 4
2021-02-16T09:27:09.425Z,1613467629.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:10.212Z,1613467630.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:10.618Z,1613467630.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:11.441Z,1613467631.441 [Micromodem](INFO): Nmea in: $SNTTA,0.094924,,,,092711.68*40

2021-02-16T09:27:12.305Z,1613467632.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:13.834Z,1613467633.834 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:27:15.078Z,1613467635.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:15.858Z,1613467635.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:16.271Z,1613467636.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:17.073Z,1613467637.073 [Micromodem](INFO): Nmea in: $SNTTA,0.097950,,,,092717.33*48

2021-02-16T09:27:17.902Z,1613467637.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:19.514Z,1613467639.514 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:27:20.739Z,1613467640.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:21.546Z,1613467641.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:21.923Z,1613467641.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:22.323Z,1613467642.323 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EEB,0,63,E4
0,186,80,80,A9,FF
2021-02-16T09:27:22.753Z,1613467642.753 [Micromodem](INFO): Nmea in: $SNTTA,0.100777,,,,092723.01*4A

2021-02-16T09:27:23.578Z,1613467643.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:26.385Z,1613467646.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:29.234Z,1613467649.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:30.033Z,1613467650.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:30.421Z,1613467650.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:31.237Z,1613467651.237 [Micromodem](INFO): Nmea in: $SNTTA,0.105130,,,,092731.50*4D

2021-02-16T09:27:31.660Z,1613467651.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.519989 m, bearing: 13.217597 deg, deltaT: 24.681218 s, approachRate: 0.785212 m/s, LOS rate: -0.778019 deg/s, posRepo size: 4
2021-02-16T09:27:31.660Z,1613467651.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 158.52 m. Resuming terminal guidance.
2021-02-16T09:27:31.661Z,1613467651.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T09:27:34.088Z,1613467654.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:34.850Z,1613467654.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:35.269Z,1613467655.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:36.115Z,1613467656.115 [Micromodem](INFO): Nmea in: $SNTTA,0.108437,,,,092736.32*41

2021-02-16T09:27:36.139Z,1613467656.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.360001 m, bearing: 24.369884 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T09:27:36.140Z,1613467656.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 24.369884deg and heading rate command to 0 deg/s.
2021-02-16T09:27:38.556Z,1613467658.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:39.289Z,1613467659.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:39.693Z,1613467659.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:40.532Z,1613467660.532 [Micromodem](INFO): Nmea in: $SNTTA,0.109902,,,,092740.76*4A

2021-02-16T09:27:41.344Z,1613467661.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:42.924Z,1613467662.924 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:27:44.163Z,1613467664.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:44.964Z,1613467664.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:45.350Z,1613467665.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:46.174Z,1613467666.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,092746.43*57

2021-02-16T09:27:46.607Z,1613467666.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 6.904157 deg, deltaT: 10.524049 s, approachRate: 0.638538 m/s, LOS rate: -1.659601 deg/s, posRepo size: 2
2021-02-16T09:27:46.609Z,1613467666.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 6.904157 deg,
      approachRate: 0.638538 m/s,
      LOS rate: -1.659601 deg/s,
      cmd update: -4.978804 deg/s,
      cmd heading: 24.369884 deg,
      new cmd heading: 24.369884 deg.

2021-02-16T09:27:49.049Z,1613467669.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:49.796Z,1613467669.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:50.211Z,1613467670.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:51.044Z,1613467671.044 [Micromodem](INFO): Nmea in: $SNTTA,0.114807,,,,092751.26*47

2021-02-16T09:27:51.115Z,1613467671.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 11.912298 deg, deltaT: 4.404982 s, approachRate: 0.000000 m/s, LOS rate: 1.136927 deg/s, posRepo size: 3
2021-02-16T09:27:51.117Z,1613467671.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 11.912298 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.136927 deg/s,
      cmd update: 3.410780 deg/s,
      cmd heading: 2.405396 deg,
      new cmd heading: 0.045552 deg.

2021-02-16T09:27:53.233Z,1613467673.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:53.837Z,1613467673.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:54.243Z,1613467674.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:55.064Z,1613467675.064 [Micromodem](INFO): Nmea in: $SNTTA,0.116913,,,,092755.31*43

2021-02-16T09:27:55.088Z,1613467675.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 8.191378 deg, deltaT: 4.066465 s, approachRate: 0.000000 m/s, LOS rate: -0.915026 deg/s, posRepo size: 4
2021-02-16T09:27:55.090Z,1613467675.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 8.191378 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.915026 deg/s,
      cmd update: -2.745077 deg/s,
      cmd heading: 16.265805 deg,
      new cmd heading: 17.585613 deg.

2021-02-16T09:27:57.509Z,1613467677.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:27:58.279Z,1613467678.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:27:58.686Z,1613467678.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:27:59.536Z,1613467679.536 [Micromodem](INFO): Nmea in: $SNTTA,0.119084,,,,092759.75*47

2021-02-16T09:27:59.569Z,1613467679.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 9.196469 deg, deltaT: 4.432233 s, approachRate: 0.000000 m/s, LOS rate: 0.226769 deg/s, posRepo size: 4
2021-02-16T09:27:59.571Z,1613467679.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 9.196469 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.226769 deg/s,
      cmd update: 0.680306 deg/s,
      cmd heading: 4.099908 deg,
      new cmd heading: 2.900831 deg.

2021-02-16T09:28:01.941Z,1613467681.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:02.720Z,1613467682.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:03.138Z,1613467683.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:03.969Z,1613467683.969 [Micromodem](INFO): Nmea in: $SNTTA,0.121277,,,,092804.19*4F

2021-02-16T09:28:04.023Z,1613467684.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.520004 m, bearing: 17.884406 deg, deltaT: 4.443106 s, approachRate: 3.024911 m/s, LOS rate: 1.955375 deg/s, posRepo size: 4
2021-02-16T09:28:04.036Z,1613467684.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 17.884406 deg,
      approachRate: 3.024911 m/s,
      LOS rate: 1.955375 deg/s,
      cmd update: 5.866124 deg/s,
      cmd heading: 7.125598 deg,
      new cmd heading: 7.421250 deg.

2021-02-16T09:28:06.391Z,1613467686.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:07.187Z,1613467687.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:07.575Z,1613467687.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:08.401Z,1613467688.401 [Micromodem](INFO): Nmea in: $SNTTA,0.123511,,,,092808.66*4E

2021-02-16T09:28:08.840Z,1613467688.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.939987 m, bearing: 26.036837 deg, deltaT: 4.844442 s, approachRate: 0.705960 m/s, LOS rate: 1.682842 deg/s, posRepo size: 4
2021-02-16T09:28:08.842Z,1613467688.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.939987 m,
      bearing: 26.036837 deg,
      approachRate: 0.705960 m/s,
      LOS rate: 1.682842 deg/s,
      cmd update: 5.048526 deg/s,
      cmd heading: 35.545221 deg,
      new cmd heading: 37.983528 deg.

2021-02-16T09:28:11.242Z,1613467691.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:12.048Z,1613467692.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:12.427Z,1613467692.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:13.249Z,1613467693.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,092813.52*58

2021-02-16T09:28:13.678Z,1613467693.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 74.479866 deg, deltaT: 4.872372 s, approachRate: 0.615717 m/s, LOS rate: 9.942391 deg/s, posRepo size: 4
2021-02-16T09:28:13.680Z,1613467693.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.939987 m,
      bearing: 74.479866 deg,
      approachRate: 0.615717 m/s,
      LOS rate: 9.942391 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 60.123252 deg,
      new cmd heading: 62.068126 deg.

2021-02-16T09:28:16.136Z,1613467696.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:16.860Z,1613467696.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:17.277Z,1613467697.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:18.081Z,1613467698.081 [Micromodem](INFO): Nmea in: $SNTTA,0.127875,,,,092818.33*44

2021-02-16T09:28:18.545Z,1613467698.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.119995 m, bearing: 59.845878 deg, deltaT: 4.839108 s, approachRate: 0.657148 m/s, LOS rate: -3.024109 deg/s, posRepo size: 4
2021-02-16T09:28:18.546Z,1613467698.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.119995 m,
      bearing: 59.845878 deg,
      approachRate: 0.657148 m/s,
      LOS rate: -3.024109 deg/s,
      cmd update: -9.072325 deg/s,
      cmd heading: 118.134529 deg,
      new cmd heading: 123.141817 deg.

2021-02-16T09:28:20.941Z,1613467700.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:21.713Z,1613467701.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:22.124Z,1613467702.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:22.944Z,1613467702.944 [Micromodem](INFO): Nmea in: $SNTTA,0.129488,,,,092823.18*45

2021-02-16T09:28:22.983Z,1613467702.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.119995 m, bearing: 59.632660 deg, deltaT: 4.442691 s, approachRate: 0.000000 m/s, LOS rate: -0.047993 deg/s, posRepo size: 4
2021-02-16T09:28:22.985Z,1613467702.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.119995 m,
      bearing: 59.632660 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.047993 deg/s,
      cmd update: -0.143979 deg/s,
      cmd heading: 77.758273 deg,
      new cmd heading: 74.087438 deg.

2021-02-16T09:28:25.380Z,1613467705.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:26.172Z,1613467706.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:26.571Z,1613467706.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:27.388Z,1613467707.388 [Micromodem](INFO): Nmea in: $SNTTA,0.130747,,,,092827.64*42

2021-02-16T09:28:27.806Z,1613467707.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.139999 m, bearing: 123.410139 deg, deltaT: 4.857254 s, approachRate: 0.827629 m/s, LOS rate: 13.130357 deg/s, posRepo size: 4
2021-02-16T09:28:27.807Z,1613467707.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.130357 deg/s. Setting heading cmd to target bearing of 123.410139deg and heading rate command to 0 deg/s.
2021-02-16T09:28:30.237Z,1613467710.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:31.016Z,1613467711.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:31.417Z,1613467711.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:32.228Z,1613467712.228 [Micromodem](INFO): Nmea in: $SNTTA,0.131637,,,,092832.49*4E

2021-02-16T09:28:32.656Z,1613467712.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.519989 m, bearing: 131.326574 deg, deltaT: 4.834730 s, approachRate: 0.285433 m/s, LOS rate: 1.637410 deg/s, posRepo size: 4
2021-02-16T09:28:32.658Z,1613467712.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.519989 m,
      bearing: 131.326574 deg,
      approachRate: 0.285433 m/s,
      LOS rate: 1.637410 deg/s,
      cmd update: 4.912230 deg/s,
      cmd heading: 123.410139 deg,
      new cmd heading: 123.410139 deg.

2021-02-16T09:28:35.096Z,1613467715.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:35.850Z,1613467715.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:36.256Z,1613467716.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:37.071Z,1613467717.071 [Micromodem](INFO): Nmea in: $SNTTA,0.132383,,,,092837.32*4E

2021-02-16T09:28:37.538Z,1613467717.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 63.953069 deg, deltaT: 4.851987 s, approachRate: 0.222590 m/s, LOS rate: -13.885756 deg/s, posRepo size: 4
2021-02-16T09:28:37.539Z,1613467717.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.885756 deg/s. Setting heading cmd to target bearing of 63.953069deg and heading rate command to 0 deg/s.
2021-02-16T09:28:39.921Z,1613467719.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:40.701Z,1613467720.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:41.102Z,1613467721.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:41.920Z,1613467721.920 [Micromodem](INFO): Nmea in: $SNTTA,0.132319,,0.135082,,092842.17*5B

2021-02-16T09:28:42.358Z,1613467722.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.360001 m, bearing: 173.257365 deg, deltaT: 4.811965 s, approachRate: -0.049874 m/s, LOS rate: 22.715105 deg/s, posRepo size: 4
2021-02-16T09:28:42.379Z,1613467722.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.715105 deg/s. Setting heading cmd to target bearing of 173.257365deg and heading rate command to 0 deg/s.
2021-02-16T09:28:44.782Z,1613467724.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:45.552Z,1613467725.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:45.950Z,1613467725.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:46.770Z,1613467726.770 [Micromodem](INFO): Nmea in: $SNTTA,0.131604,,,,092847.02*43

2021-02-16T09:28:47.230Z,1613467727.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.219986 m, bearing: 171.531117 deg, deltaT: 4.888114 s, approachRate: -0.233222 m/s, LOS rate: -0.353152 deg/s, posRepo size: 4
2021-02-16T09:28:47.236Z,1613467727.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.219986 m,
      bearing: 171.531117 deg,
      approachRate: -0.233222 m/s,
      LOS rate: -0.353152 deg/s,
      cmd update: -1.059457 deg/s,
      cmd heading: 173.257365 deg,
      new cmd heading: 173.257365 deg.

2021-02-16T09:28:49.626Z,1613467729.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:50.396Z,1613467730.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:50.807Z,1613467730.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:51.624Z,1613467731.624 [Micromodem](INFO): Nmea in: $SNTTA,0.131088,,,,092851.86*4A

2021-02-16T09:28:52.091Z,1613467732.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.619980 m, bearing: 84.300264 deg, deltaT: 4.864607 s, approachRate: -0.123341 m/s, LOS rate: -17.931736 deg/s, posRepo size: 4
2021-02-16T09:28:52.091Z,1613467732.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.931736 deg/s. Setting heading cmd to target bearing of 84.300264deg and heading rate command to 0 deg/s.
2021-02-16T09:28:54.461Z,1613467734.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:28:55.262Z,1613467735.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:28:55.669Z,1613467735.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:28:56.478Z,1613467736.478 [Micromodem](INFO): Nmea in: $SNTTA,0.130630,,,,092856.73*43

2021-02-16T09:28:56.913Z,1613467736.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.779999 m, bearing: 188.988903 deg, deltaT: 4.838861 s, approachRate: -0.173591 m/s, LOS rate: 21.634976 deg/s, posRepo size: 4
2021-02-16T09:28:56.915Z,1613467736.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.634976 deg/s. Setting heading cmd to target bearing of 188.988903deg and heading rate command to 0 deg/s.
2021-02-16T09:28:59.325Z,1613467739.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:00.095Z,1613467740.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:00.531Z,1613467740.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:01.316Z,1613467741.316 [Micromodem](INFO): Nmea in: $SNTTA,0.129724,,,,092901.56*4B

2021-02-16T09:29:01.748Z,1613467741.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.459991 m, bearing: 134.894679 deg, deltaT: 4.833888 s, approachRate: -0.273074 m/s, LOS rate: -11.190624 deg/s, posRepo size: 4
2021-02-16T09:29:01.750Z,1613467741.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.459991 m,
      bearing: 134.894679 deg,
      approachRate: -0.273074 m/s,
      LOS rate: -11.190624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 188.988903 deg,
      new cmd heading: 188.988903 deg.

2021-02-16T09:29:04.156Z,1613467744.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:04.951Z,1613467744.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:05.346Z,1613467745.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:06.194Z,1613467746.194 [Micromodem](INFO): Nmea in: $SNTTA,0.128894,,,,092906.42*4C

2021-02-16T09:29:06.600Z,1613467746.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.319992 m, bearing: 157.605809 deg, deltaT: 4.900702 s, approachRate: -0.232620 m/s, LOS rate: 4.634261 deg/s, posRepo size: 4
2021-02-16T09:29:06.602Z,1613467746.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.319992 m,
      bearing: 157.605809 deg,
      approachRate: -0.232620 m/s,
      LOS rate: 4.634261 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 130.080745 deg,
      new cmd heading: 125.971225 deg.

2021-02-16T09:29:09.056Z,1613467749.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:09.794Z,1613467749.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:10.202Z,1613467750.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:11.049Z,1613467751.049 [Micromodem](INFO): Nmea in: $SNTTA,0.127802,,,,092911.26*48

2021-02-16T09:29:11.438Z,1613467751.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 200.759914 deg, deltaT: 4.812425 s, approachRate: -0.374032 m/s, LOS rate: 8.967226 deg/s, posRepo size: 4
2021-02-16T09:29:11.440Z,1613467751.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.519989 m,
      bearing: 200.759914 deg,
      approachRate: -0.374032 m/s,
      LOS rate: 8.967226 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 187.877727 deg,
      new cmd heading: 192.256407 deg.

2021-02-16T09:29:13.867Z,1613467753.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:14.638Z,1613467754.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:15.057Z,1613467755.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:15.856Z,1613467755.856 [Micromodem](INFO): Nmea in: $SNTTA,0.126402,,,,092916.11*46

2021-02-16T09:29:16.299Z,1613467756.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.479980 m, bearing: 188.948509 deg, deltaT: 4.834826 s, approachRate: -0.421940 m/s, LOS rate: -2.442984 deg/s, posRepo size: 4
2021-02-16T09:29:16.313Z,1613467756.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.479980 m,
      bearing: 188.948509 deg,
      approachRate: -0.421940 m/s,
      LOS rate: -2.442984 deg/s,
      cmd update: -7.328953 deg/s,
      cmd heading: 245.556749 deg,
      new cmd heading: 250.578797 deg.

2021-02-16T09:29:18.706Z,1613467758.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:19.510Z,1613467759.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:19.890Z,1613467759.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:20.720Z,1613467760.720 [Micromodem](INFO): Nmea in: $SNTTA,0.124639,,,,092920.98*4A

2021-02-16T09:29:21.170Z,1613467761.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 190.419377 deg, deltaT: 4.839111 s, approachRate: -0.570348 m/s, LOS rate: 0.303954 deg/s, posRepo size: 4
2021-02-16T09:29:21.189Z,1613467761.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.720001 m,
      bearing: 190.419377 deg,
      approachRate: -0.570348 m/s,
      LOS rate: 0.303954 deg/s,
      cmd update: 0.911862 deg/s,
      cmd heading: 209.884504 deg,
      new cmd heading: 206.847136 deg.

2021-02-16T09:29:23.581Z,1613467763.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:24.339Z,1613467764.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:24.738Z,1613467764.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:25.565Z,1613467765.565 [Micromodem](INFO): Nmea in: $SNTTA,0.122505,,,,092925.81*4D

2021-02-16T09:29:25.994Z,1613467765.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 189.002181 deg, deltaT: 4.879132 s, approachRate: -0.651757 m/s, LOS rate: -0.290461 deg/s, posRepo size: 4
2021-02-16T09:29:26.019Z,1613467766.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 189.002181 deg,
      approachRate: -0.651757 m/s,
      LOS rate: -0.290461 deg/s,
      cmd update: -0.871382 deg/s,
      cmd heading: 214.326263 deg,
      new cmd heading: 214.667771 deg.

2021-02-16T09:29:28.402Z,1613467768.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:29.202Z,1613467769.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:29.586Z,1613467769.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:30.414Z,1613467770.414 [Micromodem](INFO): Nmea in: $SNTTA,0.120201,,,,092930.67*40

2021-02-16T09:29:30.872Z,1613467770.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.060013 m, bearing: 187.183192 deg, deltaT: 4.836942 s, approachRate: -0.719459 m/s, LOS rate: -0.376062 deg/s, posRepo size: 4
2021-02-16T09:29:30.879Z,1613467770.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.060013 m,
      bearing: 187.183192 deg,
      approachRate: -0.719459 m/s,
      LOS rate: -0.376062 deg/s,
      cmd update: -1.128185 deg/s,
      cmd heading: 210.105247 deg,
      new cmd heading: 209.767067 deg.

2021-02-16T09:29:33.266Z,1613467773.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:34.066Z,1613467774.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:34.441Z,1613467774.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:35.274Z,1613467775.274 [Micromodem](INFO): Nmea in: $SNTTA,0.118173,,,,092935.54*48

2021-02-16T09:29:35.695Z,1613467775.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 184.245555 deg, deltaT: 4.838806 s, approachRate: -0.657189 m/s, LOS rate: -0.607100 deg/s, posRepo size: 4
2021-02-16T09:29:35.697Z,1613467775.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.880005 m,
      bearing: 184.245555 deg,
      approachRate: -0.657189 m/s,
      LOS rate: -0.607100 deg/s,
      cmd update: -1.821299 deg/s,
      cmd heading: 204.645068 deg,
      new cmd heading: 204.202479 deg.

2021-02-16T09:29:38.108Z,1613467778.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:38.885Z,1613467778.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:39.287Z,1613467779.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:40.108Z,1613467780.108 [Micromodem](INFO): Nmea in: $SNTTA,0.116006,,,,092940.35*40

2021-02-16T09:29:40.160Z,1613467780.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 182.637865 deg, deltaT: 4.449245 s, approachRate: 0.000000 m/s, LOS rate: -0.361340 deg/s, posRepo size: 4
2021-02-16T09:29:40.162Z,1613467780.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.880005 m,
      bearing: 182.637865 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.361340 deg/s,
      cmd update: -1.084020 deg/s,
      cmd heading: 196.549186 deg,
      new cmd heading: 195.805160 deg.

2021-02-16T09:29:42.599Z,1613467782.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:43.322Z,1613467783.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:43.726Z,1613467783.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:44.560Z,1613467784.560 [Micromodem](INFO): Nmea in: $SNTTA,0.113884,,,,092944.79*4B

2021-02-16T09:29:44.605Z,1613467784.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.880005 m, bearing: 183.969670 deg, deltaT: 4.435812 s, approachRate: 0.000000 m/s, LOS rate: 0.300239 deg/s, posRepo size: 4
2021-02-16T09:29:44.611Z,1613467784.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.880005 m,
      bearing: 183.969670 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.300239 deg/s,
      cmd update: 0.900718 deg/s,
      cmd heading: 191.742772 deg,
      new cmd heading: 191.283070 deg.

2021-02-16T09:29:46.972Z,1613467786.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:47.764Z,1613467787.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:48.177Z,1613467788.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:49.008Z,1613467789.008 [Micromodem](INFO): Nmea in: $SNTTA,0.111826,,,,092949.23*43

2021-02-16T09:29:49.060Z,1613467789.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.459991 m, bearing: 184.344046 deg, deltaT: 4.433519 s, approachRate: -2.124726 m/s, LOS rate: 0.084442 deg/s, posRepo size: 4
2021-02-16T09:29:49.062Z,1613467789.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.459991 m,
      bearing: 184.344046 deg,
      approachRate: -2.124726 m/s,
      LOS rate: 0.084442 deg/s,
      cmd update: 0.253327 deg/s,
      cmd heading: 195.741500 deg,
      new cmd heading: 196.136887 deg.

2021-02-16T09:29:51.445Z,1613467791.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:52.215Z,1613467792.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:52.616Z,1613467792.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:53.444Z,1613467793.444 [Micromodem](INFO): Nmea in: $SNTTA,0.109699,,,,092953.69*45

2021-02-16T09:29:53.459Z,1613467793.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 184.141217 deg, deltaT: 4.474319 s, approachRate: -0.697308 m/s, LOS rate: -0.045332 deg/s, posRepo size: 4
2021-02-16T09:29:53.461Z,1613467793.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 184.141217 deg,
      approachRate: -0.697308 m/s,
      LOS rate: -0.045332 deg/s,
      cmd update: -0.135996 deg/s,
      cmd heading: 196.873494 deg,
      new cmd heading: 196.967137 deg.

2021-02-16T09:29:55.870Z,1613467795.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:29:56.652Z,1613467796.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:29:57.058Z,1613467797.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:29:57.880Z,1613467797.880 [Micromodem](INFO): Nmea in: $SNTTA,0.107474,,,,092958.12*4D

2021-02-16T09:29:57.932Z,1613467797.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.039993 m, bearing: 183.403215 deg, deltaT: 4.438799 s, approachRate: -0.743448 m/s, LOS rate: -0.166262 deg/s, posRepo size: 4
2021-02-16T09:29:57.934Z,1613467797.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 183.403215 deg,
      approachRate: -0.743448 m/s,
      LOS rate: -0.166262 deg/s,
      cmd update: -0.498785 deg/s,
      cmd heading: 196.271936 deg,
      new cmd heading: 196.214853 deg.

2021-02-16T09:30:00.348Z,1613467800.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:01.097Z,1613467801.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:01.519Z,1613467801.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:02.328Z,1613467802.328 [Micromodem](INFO): Nmea in: $SNTTA,0.105577,,,,093002.57*4B

2021-02-16T09:30:02.357Z,1613467802.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 183.807999 deg, deltaT: 4.438853 s, approachRate: -0.716403 m/s, LOS rate: 0.091191 deg/s, posRepo size: 4
2021-02-16T09:30:02.359Z,1613467802.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 183.807999 deg,
      approachRate: -0.716403 m/s,
      LOS rate: 0.091191 deg/s,
      cmd update: 0.273574 deg/s,
      cmd heading: 194.049319 deg,
      new cmd heading: 193.855722 deg.

2021-02-16T09:30:04.780Z,1613467804.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:05.550Z,1613467805.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:05.967Z,1613467805.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:06.776Z,1613467806.776 [Micromodem](INFO): Nmea in: $SNTTA,0.103377,,,,093007.02*4E

2021-02-16T09:30:06.821Z,1613467806.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 183.317838 deg, deltaT: 4.435594 s, approachRate: -0.662817 m/s, LOS rate: -0.110506 deg/s, posRepo size: 4
2021-02-16T09:30:06.822Z,1613467806.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 183.317838 deg,
      approachRate: -0.662817 m/s,
      LOS rate: -0.110506 deg/s,
      cmd update: -0.331519 deg/s,
      cmd heading: 195.261636 deg,
      new cmd heading: 195.376703 deg.

2021-02-16T09:30:09.226Z,1613467809.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:10.000Z,1613467810.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:10.390Z,1613467810.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:11.284Z,1613467811.284 [Micromodem](INFO): Nmea in: $SNTTA,0.101345,,,,093011.47*4B

2021-02-16T09:30:11.330Z,1613467811.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 183.370936 deg, deltaT: 4.439262 s, approachRate: -0.702818 m/s, LOS rate: 0.011961 deg/s, posRepo size: 4
2021-02-16T09:30:11.332Z,1613467811.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.800003 m,
      bearing: 183.370936 deg,
      approachRate: -0.702818 m/s,
      LOS rate: 0.011961 deg/s,
      cmd update: 0.035883 deg/s,
      cmd heading: 193.788508 deg,
      new cmd heading: 193.627226 deg.

2021-02-16T09:30:13.661Z,1613467813.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:14.434Z,1613467814.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:14.834Z,1613467814.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:15.672Z,1613467815.672 [Micromodem](INFO): Nmea in: $SNTTA,0.099183,,,,093015.90*4D

2021-02-16T09:30:15.721Z,1613467815.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 182.934118 deg, deltaT: 4.419228 s, approachRate: -0.733161 m/s, LOS rate: -0.098845 deg/s, posRepo size: 4
2021-02-16T09:30:15.723Z,1613467815.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.559998 m,
      bearing: 182.934118 deg,
      approachRate: -0.733161 m/s,
      LOS rate: -0.098845 deg/s,
      cmd update: -0.296535 deg/s,
      cmd heading: 193.947227 deg,
      new cmd heading: 193.963510 deg.

2021-02-16T09:30:18.108Z,1613467818.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:18.885Z,1613467818.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:19.278Z,1613467819.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:20.112Z,1613467820.112 [Micromodem](INFO): Nmea in: $SNTTA,0.097191,,,,093020.36*4A

2021-02-16T09:30:20.158Z,1613467820.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.619995 m, bearing: 182.429326 deg, deltaT: 4.465427 s, approachRate: -0.658392 m/s, LOS rate: -0.113044 deg/s, posRepo size: 4
2021-02-16T09:30:20.160Z,1613467820.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.619995 m,
      bearing: 182.429326 deg,
      approachRate: -0.658392 m/s,
      LOS rate: -0.113044 deg/s,
      cmd update: -0.339134 deg/s,
      cmd heading: 192.623144 deg,
      new cmd heading: 192.496983 deg.

2021-02-16T09:30:22.575Z,1613467822.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:23.324Z,1613467823.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:23.737Z,1613467823.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:24.564Z,1613467824.564 [Micromodem](INFO): Nmea in: $SNTTA,0.094816,,,,093024.79*40

2021-02-16T09:30:24.605Z,1613467824.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 182.854532 deg, deltaT: 4.477249 s, approachRate: -0.804063 m/s, LOS rate: 0.094971 deg/s, posRepo size: 4
2021-02-16T09:30:24.606Z,1613467824.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 182.854532 deg,
      approachRate: -0.804063 m/s,
      LOS rate: 0.094971 deg/s,
      cmd update: 0.284912 deg/s,
      cmd heading: 191.118823 deg,
      new cmd heading: 190.970729 deg.

2021-02-16T09:30:26.973Z,1613467826.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:27.765Z,1613467827.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:28.177Z,1613467828.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:28.999Z,1613467828.999 [Micromodem](INFO): Nmea in: $SNTTA,0.092716,,,,093029.24*4C

2021-02-16T09:30:29.061Z,1613467829.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 183.311964 deg, deltaT: 4.397901 s, approachRate: -0.709428 m/s, LOS rate: 0.104011 deg/s, posRepo size: 4
2021-02-16T09:30:29.068Z,1613467829.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 183.311964 deg,
      approachRate: -0.709428 m/s,
      LOS rate: 0.104011 deg/s,
      cmd update: 0.312034 deg/s,
      cmd heading: 192.383717 deg,
      new cmd heading: 192.513064 deg.

2021-02-16T09:30:31.436Z,1613467831.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:32.213Z,1613467832.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:32.622Z,1613467832.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:33.460Z,1613467833.460 [Micromodem](INFO): Nmea in: $SNTTA,0.090575,,,,093033.68*4A

2021-02-16T09:30:33.489Z,1613467833.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.720001 m, bearing: 182.462520 deg, deltaT: 4.457478 s, approachRate: -0.713410 m/s, LOS rate: -0.190566 deg/s, posRepo size: 4
2021-02-16T09:30:33.491Z,1613467833.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.720001 m,
      bearing: 182.462520 deg,
      approachRate: -0.713410 m/s,
      LOS rate: -0.190566 deg/s,
      cmd update: -0.571698 deg/s,
      cmd heading: 193.774553 deg,
      new cmd heading: 193.906920 deg.

2021-02-16T09:30:35.889Z,1613467835.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:36.660Z,1613467836.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:37.054Z,1613467837.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:37.896Z,1613467837.896 [Micromodem](INFO): Nmea in: $SNTTA,0.088380,,,,093038.13*48

2021-02-16T09:30:37.934Z,1613467837.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.419998 m, bearing: 181.797779 deg, deltaT: 4.434808 s, approachRate: -0.744114 m/s, LOS rate: -0.149892 deg/s, posRepo size: 4
2021-02-16T09:30:37.936Z,1613467837.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.419998 m,
      bearing: 181.797779 deg,
      approachRate: -0.744114 m/s,
      LOS rate: -0.149892 deg/s,
      cmd update: -0.449675 deg/s,
      cmd heading: 191.243222 deg,
      new cmd heading: 190.990821 deg.

2021-02-16T09:30:40.341Z,1613467840.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:41.103Z,1613467841.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:41.511Z,1613467841.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:42.332Z,1613467842.332 [Micromodem](INFO): Nmea in: $SNTTA,0.086254,,,,093042.57*43

2021-02-16T09:30:42.377Z,1613467842.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.240005 m, bearing: 181.298315 deg, deltaT: 4.427661 s, approachRate: -0.718211 m/s, LOS rate: -0.112805 deg/s, posRepo size: 4
2021-02-16T09:30:42.378Z,1613467842.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.240005 m,
      bearing: 181.298315 deg,
      approachRate: -0.718211 m/s,
      LOS rate: -0.112805 deg/s,
      cmd update: -0.338416 deg/s,
      cmd heading: 189.249036 deg,
      new cmd heading: 189.047018 deg.

2021-02-16T09:30:44.783Z,1613467844.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:45.550Z,1613467845.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:45.942Z,1613467845.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:46.772Z,1613467846.772 [Micromodem](INFO): Nmea in: $SNTTA,0.084254,,,,093047.02*44

2021-02-16T09:30:46.817Z,1613467846.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.239998 m, bearing: 181.948590 deg, deltaT: 4.474692 s, approachRate: -0.670439 m/s, LOS rate: 0.145323 deg/s, posRepo size: 4
2021-02-16T09:30:46.819Z,1613467846.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.239998 m,
      bearing: 181.948590 deg,
      approachRate: -0.670439 m/s,
      LOS rate: 0.145323 deg/s,
      cmd update: 0.435969 deg/s,
      cmd heading: 187.736091 deg,
      new cmd heading: 187.594132 deg.

2021-02-16T09:30:49.223Z,1613467849.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:49.985Z,1613467849.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:50.394Z,1613467850.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:51.224Z,1613467851.224 [Micromodem](INFO): Nmea in: $SNTTA,0.082058,,,,093051.45*48

2021-02-16T09:30:51.280Z,1613467851.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 181.578926 deg, deltaT: 4.437677 s, approachRate: -0.757153 m/s, LOS rate: -0.083301 deg/s, posRepo size: 4
2021-02-16T09:30:51.282Z,1613467851.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.879997 m,
      bearing: 181.578926 deg,
      approachRate: -0.757153 m/s,
      LOS rate: -0.083301 deg/s,
      cmd update: -0.249903 deg/s,
      cmd heading: 189.670729 deg,
      new cmd heading: 189.864367 deg.

2021-02-16T09:30:53.657Z,1613467853.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:54.424Z,1613467854.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:54.833Z,1613467854.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:30:55.677Z,1613467855.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093055.89*55

2021-02-16T09:30:55.720Z,1613467855.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 180.825065 deg, deltaT: 4.418442 s, approachRate: -0.678971 m/s, LOS rate: -0.170617 deg/s, posRepo size: 4
2021-02-16T09:30:55.722Z,1613467855.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.880005 m,
      bearing: 180.825065 deg,
      approachRate: -0.678971 m/s,
      LOS rate: -0.170617 deg/s,
      cmd update: -0.511851 deg/s,
      cmd heading: 188.565469 deg,
      new cmd heading: 188.450144 deg.

2021-02-16T09:30:58.106Z,1613467858.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:30:58.882Z,1613467858.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:30:59.291Z,1613467859.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:00.108Z,1613467860.108 [Micromodem](INFO): Nmea in: $SNTTA,0.077891,,,,093100.35*4D

2021-02-16T09:31:00.132Z,1613467860.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 180.955603 deg, deltaT: 4.448662 s, approachRate: -0.728308 m/s, LOS rate: 0.029343 deg/s, posRepo size: 4
2021-02-16T09:31:00.134Z,1613467860.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 180.955603 deg,
      approachRate: -0.728308 m/s,
      LOS rate: 0.029343 deg/s,
      cmd update: 0.088030 deg/s,
      cmd heading: 186.288410 deg,
      new cmd heading: 186.070801 deg.

2021-02-16T09:31:02.584Z,1613467862.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:03.319Z,1613467863.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:03.718Z,1613467863.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:04.564Z,1613467864.564 [Micromodem](INFO): Nmea in: $SNTTA,0.075794,,,,093104.79*49

2021-02-16T09:31:04.604Z,1613467864.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 181.343613 deg, deltaT: 4.477721 s, approachRate: -0.696784 m/s, LOS rate: 0.086653 deg/s, posRepo size: 4
2021-02-16T09:31:04.606Z,1613467864.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.520004 m,
      bearing: 181.343613 deg,
      approachRate: -0.696784 m/s,
      LOS rate: 0.086653 deg/s,
      cmd update: 0.259960 deg/s,
      cmd heading: 186.681555 deg,
      new cmd heading: 186.719540 deg.

2021-02-16T09:31:06.965Z,1613467866.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:07.761Z,1613467867.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:08.167Z,1613467868.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:08.996Z,1613467868.996 [Micromodem](INFO): Nmea in: $SNTTA,0.073531,,,,093109.23*40

2021-02-16T09:31:09.059Z,1613467869.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 181.138037 deg, deltaT: 4.424832 s, approachRate: -0.759351 m/s, LOS rate: -0.046459 deg/s, posRepo size: 4
2021-02-16T09:31:09.061Z,1613467869.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.160004 m,
      bearing: 181.138037 deg,
      approachRate: -0.759351 m/s,
      LOS rate: -0.046459 deg/s,
      cmd update: -0.139378 deg/s,
      cmd heading: 187.834083 deg,
      new cmd heading: 187.946671 deg.

2021-02-16T09:31:11.413Z,1613467871.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:12.221Z,1613467872.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:12.625Z,1613467872.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:13.444Z,1613467873.444 [Micromodem](INFO): Nmea in: $SNTTA,0.071438,,,,093113.69*4F

2021-02-16T09:31:13.489Z,1613467873.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 180.850828 deg, deltaT: 4.466963 s, approachRate: -0.711893 m/s, LOS rate: -0.064296 deg/s, posRepo size: 4
2021-02-16T09:31:13.490Z,1613467873.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 180.850828 deg,
      approachRate: -0.711893 m/s,
      LOS rate: -0.064296 deg/s,
      cmd update: -0.192889 deg/s,
      cmd heading: 187.211059 deg,
      new cmd heading: 187.153605 deg.

2021-02-16T09:31:15.885Z,1613467875.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:16.644Z,1613467876.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:17.062Z,1613467877.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:17.888Z,1613467877.888 [Micromodem](INFO): Nmea in: $SNTTA,0.069382,,,,093118.11*44

2021-02-16T09:31:17.977Z,1613467877.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.919998 m, bearing: 180.328373 deg, deltaT: 4.411361 s, approachRate: -0.693665 m/s, LOS rate: -0.118434 deg/s, posRepo size: 4
2021-02-16T09:31:17.980Z,1613467877.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 180.328373 deg,
      approachRate: -0.693665 m/s,
      LOS rate: -0.118434 deg/s,
      cmd update: -0.355302 deg/s,
      cmd heading: 186.360166 deg,
      new cmd heading: 186.268466 deg.

2021-02-16T09:31:20.312Z,1613467880.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:21.092Z,1613467881.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:21.524Z,1613467881.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:22.324Z,1613467882.324 [Micromodem](INFO): Nmea in: $SNTTA,0.067118,,,,093122.56*41

2021-02-16T09:31:22.348Z,1613467882.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.500000 m, bearing: 179.507043 deg, deltaT: 4.438962 s, approachRate: -0.770450 m/s, LOS rate: -0.185028 deg/s, posRepo size: 4
2021-02-16T09:31:22.350Z,1613467882.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.500000 m,
      bearing: 179.507043 deg,
      approachRate: -0.770450 m/s,
      LOS rate: -0.185028 deg/s,
      cmd update: -0.555083 deg/s,
      cmd heading: 184.783033 deg,
      new cmd heading: 184.633398 deg.

2021-02-16T09:31:24.777Z,1613467884.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:25.552Z,1613467885.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:25.938Z,1613467885.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:26.796Z,1613467886.796 [Micromodem](INFO): Nmea in: $SNTTA,0.065059,,,,093127.02*43

2021-02-16T09:31:26.829Z,1613467886.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 179.752916 deg, deltaT: 4.471437 s, approachRate: -0.697761 m/s, LOS rate: 0.054988 deg/s, posRepo size: 4
2021-02-16T09:31:26.831Z,1613467886.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.380005 m,
      bearing: 179.752916 deg,
      approachRate: -0.697761 m/s,
      LOS rate: 0.054988 deg/s,
      cmd update: 0.164963 deg/s,
      cmd heading: 182.307412 deg,
      new cmd heading: 182.061833 deg.

2021-02-16T09:31:29.223Z,1613467889.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:29.992Z,1613467889.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:30.391Z,1613467890.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:31.220Z,1613467891.220 [Micromodem](INFO): Nmea in: $SNTTA,0.063065,,,,093131.46*4D

2021-02-16T09:31:31.290Z,1613467891.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 179.737371 deg, deltaT: 4.432587 s, approachRate: -0.663272 m/s, LOS rate: -0.003507 deg/s, posRepo size: 4
2021-02-16T09:31:31.292Z,1613467891.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 179.737371 deg,
      approachRate: -0.663272 m/s,
      LOS rate: -0.003507 deg/s,
      cmd update: -0.010521 deg/s,
      cmd heading: 183.037901 deg,
      new cmd heading: 183.116352 deg.

2021-02-16T09:31:33.643Z,1613467893.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:34.424Z,1613467894.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:34.830Z,1613467894.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:35.660Z,1613467895.660 [Micromodem](INFO): Nmea in: $SNTTA,0.060870,,,,093135.89*45

2021-02-16T09:31:35.684Z,1613467895.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.139999 m, bearing: 179.964365 deg, deltaT: 4.462643 s, approachRate: -0.739471 m/s, LOS rate: 0.050865 deg/s, posRepo size: 4
2021-02-16T09:31:35.686Z,1613467895.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.139999 m,
      bearing: 179.964365 deg,
      approachRate: -0.739471 m/s,
      LOS rate: 0.050865 deg/s,
      cmd update: 0.152596 deg/s,
      cmd heading: 182.990780 deg,
      new cmd heading: 182.986665 deg.

2021-02-16T09:31:38.122Z,1613467898.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:38.868Z,1613467898.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:39.279Z,1613467899.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:40.112Z,1613467900.112 [Micromodem](INFO): Nmea in: $SNTTA,0.058563,,,,093140.34*45

2021-02-16T09:31:40.146Z,1613467900.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.659996 m, bearing: 179.866598 deg, deltaT: 4.427357 s, approachRate: -0.786023 m/s, LOS rate: -0.022083 deg/s, posRepo size: 4
2021-02-16T09:31:40.148Z,1613467900.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 179.866598 deg,
      approachRate: -0.786023 m/s,
      LOS rate: -0.022083 deg/s,
      cmd update: -0.066248 deg/s,
      cmd heading: 183.665767 deg,
      new cmd heading: 183.731198 deg.

2021-02-16T09:31:42.571Z,1613467902.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:43.312Z,1613467903.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:43.718Z,1613467903.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:44.568Z,1613467904.568 [Micromodem](INFO): Nmea in: $SNTTA,0.056454,,,,093144.78*42

2021-02-16T09:31:44.593Z,1613467904.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 179.413784 deg, deltaT: 4.452284 s, approachRate: -0.714239 m/s, LOS rate: -0.101704 deg/s, posRepo size: 4
2021-02-16T09:31:44.595Z,1613467904.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.480003 m,
      bearing: 179.413784 deg,
      approachRate: -0.714239 m/s,
      LOS rate: -0.101704 deg/s,
      cmd update: -0.305111 deg/s,
      cmd heading: 183.370818 deg,
      new cmd heading: 183.342711 deg.

2021-02-16T09:31:47.008Z,1613467907.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:47.761Z,1613467907.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:48.175Z,1613467908.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:48.992Z,1613467908.992 [Micromodem](INFO): Nmea in: $SNTTA,0.054344,,,,093149.23*45

2021-02-16T09:31:49.059Z,1613467909.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 178.444074 deg, deltaT: 4.431599 s, approachRate: -0.704034 m/s, LOS rate: -0.218817 deg/s, posRepo size: 4
2021-02-16T09:31:49.061Z,1613467909.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.360008 m,
      bearing: 178.444074 deg,
      approachRate: -0.704034 m/s,
      LOS rate: -0.218817 deg/s,
      cmd update: -0.656451 deg/s,
      cmd heading: 182.017483 deg,
      new cmd heading: 181.879992 deg.

2021-02-16T09:31:51.428Z,1613467911.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:52.219Z,1613467912.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:52.610Z,1613467912.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:53.440Z,1613467913.440 [Micromodem](INFO): Nmea in: $SNTTA,0.052337,,,,093153.69*42

2021-02-16T09:31:53.474Z,1613467913.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 178.849665 deg, deltaT: 4.461761 s, approachRate: -0.685829 m/s, LOS rate: 0.090904 deg/s, posRepo size: 4
2021-02-16T09:31:53.476Z,1613467913.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 178.849665 deg,
      approachRate: -0.685829 m/s,
      LOS rate: 0.090904 deg/s,
      cmd update: 0.272711 deg/s,
      cmd heading: 179.088500 deg,
      new cmd heading: 178.820661 deg.

2021-02-16T09:31:55.877Z,1613467915.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:31:56.648Z,1613467916.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:31:57.054Z,1613467917.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:31:57.880Z,1613467917.880 [Micromodem](INFO): Nmea in: $SNTTA,0.050092,,,,093158.12*4B

2021-02-16T09:31:57.925Z,1613467917.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 179.473889 deg, deltaT: 4.403967 s, approachRate: -0.762949 m/s, LOS rate: 0.141741 deg/s, posRepo size: 4
2021-02-16T09:31:57.931Z,1613467917.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 179.473889 deg,
      approachRate: -0.762949 m/s,
      LOS rate: 0.141741 deg/s,
      cmd update: 0.425224 deg/s,
      cmd heading: 180.289508 deg,
      new cmd heading: 180.413511 deg.

2021-02-16T09:32:00.329Z,1613467920.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:01.104Z,1613467921.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:01.532Z,1613467921.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:02.332Z,1613467922.332 [Micromodem](INFO): Nmea in: $SNTTA,0.048039,,0.062615,,093202.57*56

2021-02-16T09:32:02.381Z,1613467922.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 179.096016 deg, deltaT: 4.444399 s, approachRate: -0.688506 m/s, LOS rate: -0.085022 deg/s, posRepo size: 4
2021-02-16T09:32:02.382Z,1613467922.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.880005 m,
      bearing: 179.096016 deg,
      approachRate: -0.688506 m/s,
      LOS rate: -0.085022 deg/s,
      cmd update: -0.255067 deg/s,
      cmd heading: 182.179372 deg,
      new cmd heading: 182.377512 deg.

2021-02-16T09:32:04.773Z,1613467924.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:05.565Z,1613467925.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:05.947Z,1613467925.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:06.784Z,1613467926.784 [Micromodem](INFO): Nmea in: $SNTTA,0.045891,,,,093207.03*4D

2021-02-16T09:32:06.830Z,1613467926.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 177.784333 deg, deltaT: 4.481006 s, approachRate: -0.723053 m/s, LOS rate: -0.292721 deg/s, posRepo size: 4
2021-02-16T09:32:06.832Z,1613467926.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.639999 m,
      bearing: 177.784333 deg,
      approachRate: -0.723053 m/s,
      LOS rate: -0.292721 deg/s,
      cmd update: -0.878162 deg/s,
      cmd heading: 181.037135 deg,
      new cmd heading: 180.925616 deg.

2021-02-16T09:32:09.219Z,1613467929.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:10.025Z,1613467930.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:10.388Z,1613467930.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:11.226Z,1613467931.226 [Micromodem](INFO): Nmea in: $SNTTA,0.043754,,,,093211.49*44

2021-02-16T09:32:11.265Z,1613467931.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.460007 m, bearing: 178.081569 deg, deltaT: 4.430043 s, approachRate: -0.717824 m/s, LOS rate: 0.067096 deg/s, posRepo size: 4
2021-02-16T09:32:11.288Z,1613467931.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.460007 m,
      bearing: 178.081569 deg,
      approachRate: -0.717824 m/s,
      LOS rate: 0.067096 deg/s,
      cmd update: 0.201287 deg/s,
      cmd heading: 177.144318 deg,
      new cmd heading: 176.758263 deg.

2021-02-16T09:32:13.647Z,1613467933.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:14.424Z,1613467934.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:14.835Z,1613467934.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:15.656Z,1613467935.656 [Micromodem](INFO): Nmea in: $SNTTA,0.041594,,,,093215.89*40

2021-02-16T09:32:15.705Z,1613467935.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 179.021089 deg, deltaT: 4.430963 s, approachRate: -0.744760 m/s, LOS rate: 0.212035 deg/s, posRepo size: 4
2021-02-16T09:32:15.707Z,1613467935.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.160004 m,
      bearing: 179.021089 deg,
      approachRate: -0.744760 m/s,
      LOS rate: 0.212035 deg/s,
      cmd update: 0.636105 deg/s,
      cmd heading: 178.036215 deg,
      new cmd heading: 178.126386 deg.

2021-02-16T09:32:18.094Z,1613467938.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:18.873Z,1613467938.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:19.274Z,1613467939.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:20.104Z,1613467940.104 [Micromodem](INFO): Nmea in: $SNTTA,0.039561,,,,093220.34*45

2021-02-16T09:32:20.142Z,1613467940.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 178.559272 deg, deltaT: 4.476796 s, approachRate: -0.670124 m/s, LOS rate: -0.103158 deg/s, posRepo size: 4
2021-02-16T09:32:20.144Z,1613467940.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 178.559272 deg,
      approachRate: -0.670124 m/s,
      LOS rate: -0.103158 deg/s,
      cmd update: -0.309473 deg/s,
      cmd heading: 180.881366 deg,
      new cmd heading: 181.143951 deg.

2021-02-16T09:32:22.570Z,1613467942.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:23.320Z,1613467943.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:23.718Z,1613467943.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:24.556Z,1613467944.556 [Micromodem](INFO): Nmea in: $SNTTA,0.037327,,,,093224.79*42

2021-02-16T09:32:24.598Z,1613467944.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.799995 m, bearing: 178.064111 deg, deltaT: 4.439503 s, approachRate: -0.756842 m/s, LOS rate: -0.111535 deg/s, posRepo size: 4
2021-02-16T09:32:24.600Z,1613467944.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.799995 m,
      bearing: 178.064111 deg,
      approachRate: -0.756842 m/s,
      LOS rate: -0.111535 deg/s,
      cmd update: -0.334606 deg/s,
      cmd heading: 179.507456 deg,
      new cmd heading: 179.374788 deg.

2021-02-16T09:32:26.964Z,1613467946.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:27.761Z,1613467947.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:28.180Z,1613467948.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:29.012Z,1613467949.012 [Micromodem](INFO): Nmea in: $SNTTA,0.035030,,,,093229.23*47

2021-02-16T09:32:29.062Z,1613467949.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.380001 m, bearing: 178.674511 deg, deltaT: 4.443015 s, approachRate: -0.769746 m/s, LOS rate: 0.137384 deg/s, posRepo size: 4
2021-02-16T09:32:29.064Z,1613467949.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.380001 m,
      bearing: 178.674511 deg,
      approachRate: -0.769746 m/s,
      LOS rate: 0.137384 deg/s,
      cmd update: 0.412153 deg/s,
      cmd heading: 178.022188 deg,
      new cmd heading: 177.870346 deg.

2021-02-16T09:32:31.422Z,1613467951.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:32.216Z,1613467952.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:32.606Z,1613467952.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:33.444Z,1613467953.444 [Micromodem](INFO): Nmea in: $SNTTA,0.032851,,,,093233.68*4B

2021-02-16T09:32:33.475Z,1613467953.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 178.356511 deg, deltaT: 4.454298 s, approachRate: -0.740858 m/s, LOS rate: -0.071392 deg/s, posRepo size: 4
2021-02-16T09:32:33.478Z,1613467953.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 178.356511 deg,
      approachRate: -0.740858 m/s,
      LOS rate: -0.071392 deg/s,
      cmd update: -0.214175 deg/s,
      cmd heading: 179.861395 deg,
      new cmd heading: 180.028153 deg.

2021-02-16T09:32:35.869Z,1613467955.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:36.654Z,1613467956.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:37.073Z,1613467957.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:37.884Z,1613467957.884 [Micromodem](INFO): Nmea in: $SNTTA,0.030926,,,,093238.12*4E

2021-02-16T09:32:37.923Z,1613467957.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.139999 m, bearing: 177.636281 deg, deltaT: 4.466346 s, approachRate: -0.658256 m/s, LOS rate: -0.161257 deg/s, posRepo size: 4
2021-02-16T09:32:37.925Z,1613467957.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.139999 m,
      bearing: 177.636281 deg,
      approachRate: -0.658256 m/s,
      LOS rate: -0.161257 deg/s,
      cmd update: -0.483771 deg/s,
      cmd heading: 178.910207 deg,
      new cmd heading: 178.822087 deg.

2021-02-16T09:32:40.328Z,1613467960.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:41.102Z,1613467961.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:41.530Z,1613467961.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:42.328Z,1613467962.328 [Micromodem](INFO): Nmea in: $SNTTA,0.028852,,,,093242.57*49

2021-02-16T09:32:42.352Z,1613467962.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.019997 m, bearing: 177.831215 deg, deltaT: 4.381402 s, approachRate: -0.712101 m/s, LOS rate: 0.044491 deg/s, posRepo size: 4
2021-02-16T09:32:42.354Z,1613467962.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.019997 m,
      bearing: 177.831215 deg,
      approachRate: -0.712101 m/s,
      LOS rate: 0.044491 deg/s,
      cmd update: 0.133473 deg/s,
      cmd heading: 176.778437 deg,
      new cmd heading: 176.568571 deg.

2021-02-16T09:32:44.762Z,1613467964.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:45.549Z,1613467965.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:45.954Z,1613467965.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:46.776Z,1613467966.776 [Micromodem](INFO): Nmea in: $SNTTA,0.026847,,,,093247.02*46

2021-02-16T09:32:46.815Z,1613467966.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.080002 m, bearing: 177.159124 deg, deltaT: 4.478022 s, approachRate: -0.656539 m/s, LOS rate: -0.150086 deg/s, posRepo size: 4
2021-02-16T09:32:46.817Z,1613467966.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.080002 m,
      bearing: 177.159124 deg,
      approachRate: -0.656539 m/s,
      LOS rate: -0.150086 deg/s,
      cmd update: -0.450260 deg/s,
      cmd heading: 177.376107 deg,
      new cmd heading: 177.431986 deg.

2021-02-16T09:32:49.240Z,1613467969.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:49.988Z,1613467969.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:50.407Z,1613467970.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:51.228Z,1613467971.228 [Micromodem](INFO): Nmea in: $SNTTA,0.024744,,,,093251.46*4F

2021-02-16T09:32:51.277Z,1613467971.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 177.352979 deg, deltaT: 4.444304 s, approachRate: -0.715523 m/s, LOS rate: 0.043619 deg/s, posRepo size: 4
2021-02-16T09:32:51.278Z,1613467971.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.90 m.
2021-02-16T09:32:51.279Z,1613467971.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.900002 m,
      bearing: 177.352979 deg,
      approachRate: -0.715523 m/s,
      LOS rate: 0.043619 deg/s,
      cmd update: 0.130856 deg/s,
      cmd heading: 175.376718 deg,
      new cmd heading: 175.178318 deg.

2021-02-16T09:32:51.616Z,1613467971.616 [PowerOnly](INFO): Powering up loadControl
2021-02-16T09:32:53.670Z,1613467973.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:54.440Z,1613467974.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:54.838Z,1613467974.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:32:55.664Z,1613467975.664 [Micromodem](INFO): Nmea in: $SNTTA,0.022770,,,,093255.91*40

2021-02-16T09:32:55.689Z,1613467975.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.959999 m, bearing: 178.656015 deg, deltaT: 4.421802 s, approachRate: -0.664888 m/s, LOS rate: 0.294684 deg/s, posRepo size: 4
2021-02-16T09:32:55.690Z,1613467975.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.96 m.
2021-02-16T09:32:55.690Z,1613467975.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.96 m.
2021-02-16T09:32:55.690Z,1613467975.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T09:32:55.712Z,1613467975.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.959999 m,
      bearing: 178.656015 deg,
      approachRate: -0.664888 m/s,
      LOS rate: 0.294684 deg/s,
      cmd update: 0.884053 deg/s,
      cmd heading: 175.955839 deg,
      new cmd heading: 176.011757 deg.

2021-02-16T09:32:58.104Z,1613467978.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:32:58.885Z,1613467978.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:32:59.278Z,1613467979.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:00.112Z,1613467980.112 [Micromodem](INFO): Nmea in: $SNTTA,0.020712,,,,093300.35*49

2021-02-16T09:33:00.166Z,1613467980.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 177.382390 deg, deltaT: 4.480253 s, approachRate: -0.682997 m/s, LOS rate: -0.284275 deg/s, posRepo size: 4
2021-02-16T09:33:00.172Z,1613467980.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.900002 m,
      bearing: 177.382390 deg,
      approachRate: -0.682997 m/s,
      LOS rate: -0.284275 deg/s,
      cmd update: -0.852826 deg/s,
      cmd heading: 179.916719 deg,
      new cmd heading: 180.291304 deg.

2021-02-16T09:33:02.591Z,1613467982.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:03.322Z,1613467983.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:03.734Z,1613467983.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:04.563Z,1613467984.563 [Micromodem](INFO): Nmea in: $SNTTA,0.018652,,,,093304.79*4B

2021-02-16T09:33:04.589Z,1613467984.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.779999 m, bearing: 176.260476 deg, deltaT: 4.432944 s, approachRate: -0.703822 m/s, LOS rate: -0.253085 deg/s, posRepo size: 4
2021-02-16T09:33:04.590Z,1613467984.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.779999 m,
      bearing: 176.260476 deg,
      approachRate: -0.703822 m/s,
      LOS rate: -0.253085 deg/s,
      cmd update: -0.759256 deg/s,
      cmd heading: 176.136181 deg,
      new cmd heading: 175.783888 deg.

2021-02-16T09:33:06.988Z,1613467986.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:07.766Z,1613467987.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:08.198Z,1613467988.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:09.021Z,1613467989.021 [Micromodem](INFO): Nmea in: $SNTTA,0.016453,,0.067078,,093309.23*54

2021-02-16T09:33:09.066Z,1613467989.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 177.931592 deg, deltaT: 4.439741 s, approachRate: -0.743286 m/s, LOS rate: 0.376399 deg/s, posRepo size: 4
2021-02-16T09:33:09.072Z,1613467989.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.480000 m,
      bearing: 177.931592 deg,
      approachRate: -0.743286 m/s,
      LOS rate: 0.376399 deg/s,
      cmd update: 1.129198 deg/s,
      cmd heading: 172.765281 deg,
      new cmd heading: 172.422729 deg.

2021-02-16T09:33:11.449Z,1613467991.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:12.226Z,1613467992.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:12.614Z,1613467992.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:13.448Z,1613467993.448 [Micromodem](INFO): Nmea in: $SNTTA,0.014406,,,,093313.70*4B

2021-02-16T09:33:13.504Z,1613467993.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.420002 m, bearing: 179.061810 deg, deltaT: 4.457177 s, approachRate: -0.686533 m/s, LOS rate: 0.253573 deg/s, posRepo size: 4
2021-02-16T09:33:13.531Z,1613467993.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 179.061810 deg,
      approachRate: -0.686533 m/s,
      LOS rate: 0.253573 deg/s,
      cmd update: 0.760718 deg/s,
      cmd heading: 177.798325 deg,
      new cmd heading: 178.281218 deg.

2021-02-16T09:33:15.891Z,1613467995.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:16.663Z,1613467996.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:17.069Z,1613467997.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:17.888Z,1613467997.888 [Micromodem](INFO): Nmea in: $SNTTA,0.012351,,,,093318.13*46

2021-02-16T09:33:17.930Z,1613467997.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 175.925087 deg, deltaT: 4.457165 s, approachRate: -0.699997 m/s, LOS rate: -0.703749 deg/s, posRepo size: 4
2021-02-16T09:33:17.932Z,1613467997.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 175.925087 deg,
      approachRate: -0.699997 m/s,
      LOS rate: -0.703749 deg/s,
      cmd update: -2.111246 deg/s,
      cmd heading: 181.168776 deg,
      new cmd heading: 181.493399 deg.

2021-02-16T09:33:20.318Z,1613468000.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:21.096Z,1613468001.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:21.524Z,1613468001.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:22.324Z,1613468002.324 [Micromodem](INFO): Nmea in: $SNTTA,0.010312,,,,093322.56*4B

2021-02-16T09:33:22.366Z,1613468002.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.299999 m, bearing: 175.345996 deg, deltaT: 4.424488 s, approachRate: -0.678045 m/s, LOS rate: -0.130883 deg/s, posRepo size: 4
2021-02-16T09:33:22.371Z,1613468002.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.299999 m,
      bearing: 175.345996 deg,
      approachRate: -0.678045 m/s,
      LOS rate: -0.130883 deg/s,
      cmd update: -0.392649 deg/s,
      cmd heading: 171.794466 deg,
      new cmd heading: 170.905912 deg.

2021-02-16T09:33:24.758Z,1613468004.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:25.552Z,1613468005.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:25.946Z,1613468005.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:26.787Z,1613468006.787 [Micromodem](INFO): Nmea in: $SNTTA,0.008427,,,,093327.02*47

2021-02-16T09:33:26.812Z,1613468006.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 177.408358 deg, deltaT: 4.450612 s, approachRate: -0.647102 m/s, LOS rate: 0.463388 deg/s, posRepo size: 4
2021-02-16T09:33:26.814Z,1613468006.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 177.408358 deg,
      approachRate: -0.647102 m/s,
      LOS rate: 0.463388 deg/s,
      cmd update: 1.390165 deg/s,
      cmd heading: 170.042666 deg,
      new cmd heading: 169.882739 deg.

2021-02-16T09:33:29.227Z,1613468009.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:29.990Z,1613468009.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:30.390Z,1613468010.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:31.220Z,1613468011.220 [Micromodem](INFO): Nmea in: $SNTTA,0.006419,,,,093331.46*43

2021-02-16T09:33:31.266Z,1613468011.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 177.604589 deg, deltaT: 4.431748 s, approachRate: -0.690473 m/s, LOS rate: 0.044279 deg/s, posRepo size: 4
2021-02-16T09:33:31.268Z,1613468011.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 177.604589 deg,
      approachRate: -0.690473 m/s,
      LOS rate: 0.044279 deg/s,
      cmd update: 0.132836 deg/s,
      cmd heading: 176.191979 deg,
      new cmd heading: 176.800724 deg.

2021-02-16T09:33:33.677Z,1613468013.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:34.433Z,1613468014.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:34.834Z,1613468014.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:35.660Z,1613468015.660 [Micromodem](INFO): Nmea in: $SNTTA,0.004549,,,,093335.90*4A

2021-02-16T09:33:35.717Z,1613468015.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 175.837551 deg, deltaT: 4.423511 s, approachRate: -0.637502 m/s, LOS rate: -0.399465 deg/s, posRepo size: 4
2021-02-16T09:33:35.719Z,1613468015.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 175.837551 deg,
      approachRate: -0.637502 m/s,
      LOS rate: -0.399465 deg/s,
      cmd update: -1.198395 deg/s,
      cmd heading: 176.780684 deg,
      new cmd heading: 176.841197 deg.

2021-02-16T09:33:38.090Z,1613468018.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:38.872Z,1613468018.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:39.278Z,1613468019.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:40.108Z,1613468020.108 [Micromodem](INFO): Nmea in: $SNTTA,0.003115,,,,093340.34*4C

2021-02-16T09:33:40.130Z,1613468020.130 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T09:33:40.130Z,1613468020.130 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:33:40.131Z,1613468020.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T09:33:40.131Z,1613468020.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:33:40.131Z,1613468020.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T09:33:40.131Z,1613468020.131 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T09:33:40.132Z,1613468020.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T09:33:40.132Z,1613468020.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T09:33:40.132Z,1613468020.132 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T09:33:40.134Z,1613468020.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 189.798854 deg, deltaT: 4.450806 s, approachRate: -0.471825 m/s, LOS rate: 3.136803 deg/s, posRepo size: 4
2021-02-16T09:33:40.152Z,1613468020.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 189.798854 deg,
      approachRate: -0.471825 m/s,
      LOS rate: 3.136803 deg/s,
      cmd update: 9.410409 deg/s,
      cmd heading: 171.447158 deg,
      new cmd heading: 170.939691 deg.

2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T093340: (41.552319, -70.708603)
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T09:33:40.560Z,1613468020.560 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:33:42.564Z,1613468022.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:43.330Z,1613468023.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:43.722Z,1613468023.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:44.560Z,1613468024.560 [Micromodem](INFO): Nmea in: $SNTTA,0.002692,,,,093344.80*4E

2021-02-16T09:33:44.634Z,1613468024.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 183.635237 deg, deltaT: 4.452590 s, approachRate: -0.121278 m/s, LOS rate: -1.384277 deg/s, posRepo size: 4
2021-02-16T09:33:44.640Z,1613468024.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 183.635237 deg,
      approachRate: -0.121278 m/s,
      LOS rate: -1.384277 deg/s,
      cmd update: -4.152831 deg/s,
      cmd heading: 213.199309 deg,
      new cmd heading: 217.776617 deg.

2021-02-16T09:33:46.990Z,1613468026.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:47.781Z,1613468027.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:48.185Z,1613468028.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:49.020Z,1613468029.020 [Micromodem](INFO): Nmea in: $SNTTA,0.005121,,,,093349.25*44

2021-02-16T09:33:49.073Z,1613468029.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 193.649851 deg, deltaT: 4.446791 s, approachRate: 0.863544 m/s, LOS rate: 2.252099 deg/s, posRepo size: 4
2021-02-16T09:33:49.074Z,1613468029.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 193.649851 deg,
      approachRate: 0.863544 m/s,
      LOS rate: 2.252099 deg/s,
      cmd update: 6.756298 deg/s,
      cmd heading: 194.665542 deg,
      new cmd heading: 192.745373 deg.

2021-02-16T09:33:51.447Z,1613468031.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:52.221Z,1613468032.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:52.616Z,1613468032.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:53.444Z,1613468033.444 [Micromodem](INFO): Nmea in: $SNTTA,0.007595,,,,093353.69*4E

2021-02-16T09:33:53.466Z,1613468033.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 190.984643 deg, deltaT: 4.466217 s, approachRate: 0.832919 m/s, LOS rate: -0.596748 deg/s, posRepo size: 4
2021-02-16T09:33:53.492Z,1613468033.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 190.984643 deg,
      approachRate: 0.832919 m/s,
      LOS rate: -0.596748 deg/s,
      cmd update: -1.790245 deg/s,
      cmd heading: 224.838343 deg,
      new cmd heading: 227.472900 deg.

2021-02-16T09:33:55.910Z,1613468035.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:33:56.648Z,1613468036.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:33:57.056Z,1613468037.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:33:57.884Z,1613468037.884 [Micromodem](INFO): Nmea in: $SNTTA,0.008763,,,,093358.12*4D

2021-02-16T09:33:57.942Z,1613468037.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 218.265703 deg, deltaT: 4.394200 s, approachRate: 0.600793 m/s, LOS rate: 6.208425 deg/s, posRepo size: 4
2021-02-16T09:33:57.948Z,1613468037.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 218.265703 deg,
      approachRate: 0.600793 m/s,
      LOS rate: 6.208425 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.971471 deg,
      new cmd heading: 216.126484 deg.

2021-02-16T09:34:00.316Z,1613468040.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:01.100Z,1613468041.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:01.537Z,1613468041.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:02.324Z,1613468042.324 [Micromodem](INFO): Nmea in: $SNTTA,0.010769,,0.028733,,093402.57*54

2021-02-16T09:34:03.157Z,1613468043.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:05.964Z,1613468045.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:08.799Z,1613468048.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:09.576Z,1613468049.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:09.983Z,1613468049.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:10.812Z,1613468050.812 [Micromodem](INFO): Nmea in: $SNTTA,0.012978,,,,093411.04*4F

2021-02-16T09:34:10.851Z,1613468050.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 280.162503 deg, deltaT: 12.961607 s, approachRate: 0.425873 m/s, LOS rate: 4.775395 deg/s, posRepo size: 4
2021-02-16T09:34:10.852Z,1613468050.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.62 m. Rolling out.
2021-02-16T09:34:10.852Z,1613468050.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T09:34:13.250Z,1613468053.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:14.055Z,1613468054.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:14.439Z,1613468054.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:15.276Z,1613468055.276 [Micromodem](INFO): Nmea in: $SNTTA,0.014443,,,,093415.52*4B

2021-02-16T09:34:15.313Z,1613468055.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 299.173050 deg, deltaT: 4.436371 s, approachRate: 0.473360 m/s, LOS rate: 4.285157 deg/s, posRepo size: 4
2021-02-16T09:34:17.683Z,1613468057.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:18.468Z,1613468058.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:18.870Z,1613468058.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:19.696Z,1613468059.696 [Micromodem](INFO): Nmea in: $SNTTA,0.015750,,,,093419.94*4D

2021-02-16T09:34:19.727Z,1613468059.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.700001 m, bearing: 302.217566 deg, deltaT: 4.436432 s, approachRate: 0.446305 m/s, LOS rate: 0.686253 deg/s, posRepo size: 4
2021-02-16T09:34:22.131Z,1613468062.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:22.908Z,1613468062.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:23.319Z,1613468063.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:24.147Z,1613468064.147 [Micromodem](INFO): Nmea in: $SNTTA,0.016766,,0.038785,,093424.38*5C

2021-02-16T09:34:24.171Z,1613468064.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 314.708479 deg, deltaT: 4.452824 s, approachRate: 0.323390 m/s, LOS rate: 2.805167 deg/s, posRepo size: 4
2021-02-16T09:34:26.152Z,1613468066.152 [PowerOnly](INFO): Powering down loadControl
2021-02-16T09:34:26.587Z,1613468066.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:27.361Z,1613468067.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:27.764Z,1613468067.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:28.584Z,1613468068.584 [Micromodem](INFO): Nmea in: $SNTTA,0.017631,,,,093428.83*4D

2021-02-16T09:34:28.629Z,1613468068.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 9.928798 deg, deltaT: 4.470956 s, approachRate: 0.268399 m/s, LOS rate: 12.350898 deg/s, posRepo size: 4
2021-02-16T09:34:31.061Z,1613468071.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:31.801Z,1613468071.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:32.209Z,1613468072.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:33.056Z,1613468073.056 [Micromodem](INFO): Nmea in: $SNTTA,0.018148,,,,093433.27*4F

2021-02-16T09:34:33.081Z,1613468073.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 316.731745 deg, deltaT: 4.420896 s, approachRate: 0.203578 m/s, LOS rate: -12.033093 deg/s, posRepo size: 4
2021-02-16T09:34:35.470Z,1613468075.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:36.258Z,1613468076.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:36.650Z,1613468076.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:37.511Z,1613468077.511 [Micromodem](INFO): Nmea in: $SNTTA,0.018319,0.036170,,,093437.73*51

2021-02-16T09:34:37.549Z,1613468077.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 332.727830 deg, deltaT: 4.447328 s, approachRate: 0.040475 m/s, LOS rate: 3.596785 deg/s, posRepo size: 4
2021-02-16T09:34:39.920Z,1613468079.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:40.689Z,1613468080.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:41.105Z,1613468081.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:41.940Z,1613468081.940 [Micromodem](INFO): Nmea in: $SNTTA,0.017910,,,,093442.16*41

2021-02-16T09:34:41.962Z,1613468081.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.700003 m, bearing: 77.702144 deg, deltaT: 4.465219 s, approachRate: -0.161246 m/s, LOS rate: 23.509332 deg/s, posRepo size: 4
2021-02-16T09:34:44.362Z,1613468084.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:45.134Z,1613468085.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:45.557Z,1613468085.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:46.360Z,1613468086.360 [Micromodem](INFO): Nmea in: $SNTTA,0.017467,,,,093446.60*49

2021-02-16T09:34:46.384Z,1613468086.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 82.952224 deg, deltaT: 4.388269 s, approachRate: -0.150402 m/s, LOS rate: 1.196390 deg/s, posRepo size: 4
2021-02-16T09:34:48.809Z,1613468088.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:49.573Z,1613468089.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:49.992Z,1613468089.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:50.800Z,1613468090.800 [Micromodem](INFO): Nmea in: $SNTTA,0.017217,,,,093451.04*4C

2021-02-16T09:34:50.845Z,1613468090.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 354.518346 deg, deltaT: 4.470935 s, approachRate: -0.053680 m/s, LOS rate: -19.779724 deg/s, posRepo size: 4
2021-02-16T09:34:53.254Z,1613468093.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:54.053Z,1613468094.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:54.457Z,1613468094.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:55.273Z,1613468095.273 [Micromodem](INFO): Nmea in: $SNTTA,0.017126,,,,093455.52*4A

2021-02-16T09:34:55.319Z,1613468095.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 341.136831 deg, deltaT: 4.441301 s, approachRate: -0.040528 m/s, LOS rate: -3.012972 deg/s, posRepo size: 4
2021-02-16T09:34:57.700Z,1613468097.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:34:58.466Z,1613468098.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:34:58.868Z,1613468098.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:34:59.696Z,1613468099.696 [Micromodem](INFO): Nmea in: $SNTTA,0.017575,,0.028312,,093459.93*5D

2021-02-16T09:34:59.721Z,1613468099.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 81.981757 deg, deltaT: 4.462121 s, approachRate: 0.161359 m/s, LOS rate: 22.600220 deg/s, posRepo size: 4
2021-02-16T09:35:02.121Z,1613468102.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:02.904Z,1613468102.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:03.319Z,1613468103.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:04.132Z,1613468104.132 [Micromodem](INFO): Nmea in: $SNTTA,0.018169,,,,093504.37*48

2021-02-16T09:35:04.170Z,1613468104.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 72.105918 deg, deltaT: 4.445530 s, approachRate: 0.202450 m/s, LOS rate: -2.221521 deg/s, posRepo size: 4
2021-02-16T09:35:06.581Z,1613468106.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:07.348Z,1613468107.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:07.759Z,1613468107.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:08.587Z,1613468108.587 [Micromodem](INFO): Nmea in: $SNTTA,0.019353,,0.048127,,093508.82*56

2021-02-16T09:35:08.612Z,1613468108.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 84.280546 deg, deltaT: 4.451905 s, approachRate: 0.390844 m/s, LOS rate: 2.734701 deg/s, posRepo size: 4
2021-02-16T09:35:11.054Z,1613468111.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:11.794Z,1613468111.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:12.212Z,1613468112.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:13.060Z,1613468113.060 [Micromodem](INFO): Nmea in: $SNTTA,0.019921,,,,093513.26*4B

2021-02-16T09:35:13.103Z,1613468113.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 69.108230 deg, deltaT: 4.419948 s, approachRate: 0.217197 m/s, LOS rate: -3.432691 deg/s, posRepo size: 4
2021-02-16T09:35:15.451Z,1613468115.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:16.236Z,1613468116.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:16.643Z,1613468116.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:17.457Z,1613468117.457 [Micromodem](INFO): Nmea in: $SNTTA,0.021156,,,,093517.70*4F

2021-02-16T09:35:18.282Z,1613468118.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:19.872Z,1613468119.872 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:35:21.113Z,1613468121.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:21.907Z,1613468121.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:22.302Z,1613468122.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:23.132Z,1613468123.132 [Micromodem](INFO): Nmea in: $SNTTA,0.022935,,,,093523.37*45

2021-02-16T09:35:23.181Z,1613468123.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 31.747532 deg, deltaT: 10.110321 s, approachRate: 0.439155 m/s, LOS rate: -3.695303 deg/s, posRepo size: 4
2021-02-16T09:35:25.579Z,1613468125.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:26.352Z,1613468126.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:26.746Z,1613468126.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:27.576Z,1613468127.576 [Micromodem](INFO): Nmea in: $SNTTA,0.024485,,,,093527.82*4F

2021-02-16T09:35:27.625Z,1613468127.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 12.065389 deg, deltaT: 4.419146 s, approachRate: 0.529514 m/s, LOS rate: -4.453834 deg/s, posRepo size: 4
2021-02-16T09:35:30.041Z,1613468130.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:30.809Z,1613468130.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:31.209Z,1613468131.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:32.043Z,1613468132.043 [Micromodem](INFO): Nmea in: $SNTTA,0.026024,,,,093532.28*46

2021-02-16T09:35:32.067Z,1613468132.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.060001 m, bearing: 27.826505 deg, deltaT: 4.471794 s, approachRate: 0.523281 m/s, LOS rate: 3.524562 deg/s, posRepo size: 4
2021-02-16T09:35:34.450Z,1613468134.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:35.230Z,1613468135.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:35.635Z,1613468135.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:36.485Z,1613468136.485 [Micromodem](INFO): Nmea in: $SNTTA,0.028194,,,,093536.70*4B

2021-02-16T09:35:36.550Z,1613468136.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 25.960784 deg, deltaT: 4.430367 s, approachRate: 0.731316 m/s, LOS rate: -0.421121 deg/s, posRepo size: 4
2021-02-16T09:35:38.926Z,1613468138.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:39.672Z,1613468139.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:40.075Z,1613468140.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:40.900Z,1613468140.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093541.14*51

2021-02-16T09:35:40.953Z,1613468140.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.579998 m, bearing: 46.280894 deg, deltaT: 4.426053 s, approachRate: 0.515131 m/s, LOS rate: 4.591023 deg/s, posRepo size: 4
2021-02-16T09:35:43.349Z,1613468143.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:44.119Z,1613468144.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:44.546Z,1613468144.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:45.352Z,1613468145.352 [Micromodem](INFO): Nmea in: $SNTTA,0.031988,,,,093545.59*49

2021-02-16T09:35:45.389Z,1613468145.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 44.802646 deg, deltaT: 4.438476 s, approachRate: 0.702945 m/s, LOS rate: -0.333053 deg/s, posRepo size: 4
2021-02-16T09:35:47.781Z,1613468147.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:48.558Z,1613468148.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:48.576Z,1613468148.576 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:35:48.964Z,1613468148.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:49.788Z,1613468149.788 [Micromodem](INFO): Nmea in: $SNTTA,0.034006,,,,093550.03*48

2021-02-16T09:35:49.833Z,1613468149.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 18.022591 deg, deltaT: 4.481492 s, approachRate: 0.749748 m/s, LOS rate: -5.975701 deg/s, posRepo size: 4
2021-02-16T09:35:52.236Z,1613468152.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:53.017Z,1613468153.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:53.415Z,1613468153.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:54.240Z,1613468154.240 [Micromodem](INFO): Nmea in: $SNTTA,0.037926,,,,093554.49*4A

2021-02-16T09:35:54.265Z,1613468154.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.939995 m, bearing: 21.967717 deg, deltaT: 4.429844 s, approachRate: 0.650136 m/s, LOS rate: 0.890579 deg/s, posRepo size: 4
2021-02-16T09:35:56.667Z,1613468156.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:35:57.444Z,1613468157.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:35:57.851Z,1613468157.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:35:58.672Z,1613468158.672 [Micromodem](INFO): Nmea in: $SNTTA,0.037697,,,,093558.91*46

2021-02-16T09:35:58.711Z,1613468158.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.400005 m, bearing: 9.595687 deg, deltaT: 4.454646 s, approachRate: 0.552235 m/s, LOS rate: -2.777332 deg/s, posRepo size: 4
2021-02-16T09:36:01.117Z,1613468161.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:01.888Z,1613468161.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:02.294Z,1613468162.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:03.125Z,1613468163.125 [Micromodem](INFO): Nmea in: $SNTTA,0.039766,,,,093603.35*44

2021-02-16T09:36:03.170Z,1613468163.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 15.798463 deg, deltaT: 4.415962 s, approachRate: 0.720113 m/s, LOS rate: 1.404626 deg/s, posRepo size: 4
2021-02-16T09:36:05.580Z,1613468165.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:06.345Z,1613468166.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:06.738Z,1613468166.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:07.576Z,1613468167.576 [Micromodem](INFO): Nmea in: $SNTTA,0.042138,,,,093607.81*4E

2021-02-16T09:36:07.601Z,1613468167.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 12.697006 deg, deltaT: 4.478134 s, approachRate: 0.710118 m/s, LOS rate: -0.692578 deg/s, posRepo size: 4
2021-02-16T09:36:09.994Z,1613468169.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:10.777Z,1613468170.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:11.189Z,1613468171.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:11.616Z,1613468171.616 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:36:12.023Z,1613468172.023 [Micromodem](INFO): Nmea in: $SNTTA,0.043740,,,,093612.25*4C

2021-02-16T09:36:12.063Z,1613468172.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 8.666509 deg, deltaT: 4.430744 s, approachRate: 0.663546 m/s, LOS rate: -0.909666 deg/s, posRepo size: 4
2021-02-16T09:36:14.434Z,1613468174.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:15.225Z,1613468175.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:15.626Z,1613468175.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:16.468Z,1613468176.468 [Micromodem](INFO): Nmea in: $SNTTA,0.045929,,,,093616.69*47

2021-02-16T09:36:16.559Z,1613468176.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 3.464818 deg, deltaT: 4.454368 s, approachRate: 0.740847 m/s, LOS rate: -1.167773 deg/s, posRepo size: 4
2021-02-16T09:36:18.902Z,1613468178.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:19.664Z,1613468179.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:20.080Z,1613468180.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:20.904Z,1613468180.904 [Micromodem](INFO): Nmea in: $SNTTA,0.048159,,,,093621.13*4C

2021-02-16T09:36:20.929Z,1613468180.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 0.711447 deg, deltaT: 4.454518 s, approachRate: 0.767758 m/s, LOS rate: -0.618107 deg/s, posRepo size: 4
2021-02-16T09:36:23.344Z,1613468183.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:24.113Z,1613468184.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:24.559Z,1613468184.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:25.344Z,1613468185.344 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093625.58*58

2021-02-16T09:36:25.401Z,1613468185.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 1.151622 deg, deltaT: 4.392260 s, approachRate: 0.710341 m/s, LOS rate: 0.100216 deg/s, posRepo size: 4
2021-02-16T09:36:26.575Z,1613468186.575 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:36:27.789Z,1613468187.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:28.562Z,1613468188.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:28.958Z,1613468188.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:29.788Z,1613468189.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093630.03*52

2021-02-16T09:36:29.826Z,1613468189.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.840004 m, bearing: 2.795383 deg, deltaT: 4.473539 s, approachRate: 0.737672 m/s, LOS rate: 0.367441 deg/s, posRepo size: 4
2021-02-16T09:36:31.814Z,1613468191.814 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T09:36:32.241Z,1613468192.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:33.018Z,1613468193.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:33.421Z,1613468193.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:34.240Z,1613468194.240 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093634.49*58

2021-02-16T09:36:34.294Z,1613468194.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 359.548179 deg, deltaT: 4.465086 s, approachRate: 0.752505 m/s, LOS rate: -0.727242 deg/s, posRepo size: 4
2021-02-16T09:36:36.641Z,1613468196.641 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:36:36.656Z,1613468196.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:37.440Z,1613468197.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:37.846Z,1613468197.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:38.672Z,1613468198.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093638.91*51

2021-02-16T09:36:38.697Z,1613468198.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 1.212045 deg, deltaT: 4.436540 s, approachRate: 0.770871 m/s, LOS rate: 0.375040 deg/s, posRepo size: 4
2021-02-16T09:36:41.123Z,1613468201.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:41.885Z,1613468201.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:41.902Z,1613468201.902 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:36:42.294Z,1613468202.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:43.124Z,1613468203.124 [Micromodem](INFO): Nmea in: $SNTTA,0.059418,,,,093643.35*4C

2021-02-16T09:36:43.166Z,1613468203.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 3.153044 deg, deltaT: 4.441362 s, approachRate: 0.702488 m/s, LOS rate: 0.437028 deg/s, posRepo size: 4
2021-02-16T09:36:45.570Z,1613468205.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:46.334Z,1613468206.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:46.734Z,1613468206.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:46.752Z,1613468206.752 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T09:36:47.564Z,1613468207.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093647.80*59

2021-02-16T09:36:47.612Z,1613468207.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 1.945800 deg, deltaT: 4.418941 s, approachRate: 0.746784 m/s, LOS rate: -0.273198 deg/s, posRepo size: 4
2021-02-16T09:36:49.992Z,1613468209.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:50.779Z,1613468210.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:51.197Z,1613468211.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:51.592Z,1613468211.592 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:36:52.024Z,1613468212.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093652.25*52

2021-02-16T09:36:52.084Z,1613468212.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 2.393206 deg, deltaT: 4.470154 s, approachRate: 0.738230 m/s, LOS rate: 0.100087 deg/s, posRepo size: 4
2021-02-16T09:36:54.448Z,1613468214.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:55.222Z,1613468215.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:36:55.628Z,1613468215.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:36:56.444Z,1613468216.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093656.69*5E

2021-02-16T09:36:56.476Z,1613468216.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 4.780751 deg, deltaT: 4.442523 s, approachRate: 0.702304 m/s, LOS rate: 0.537430 deg/s, posRepo size: 4
2021-02-16T09:36:58.882Z,1613468218.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:36:59.665Z,1613468219.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:00.068Z,1613468220.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:00.888Z,1613468220.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093701.13*50

2021-02-16T09:37:00.928Z,1613468220.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 71.364986 deg, deltaT: 4.456223 s, approachRate: 0.754002 m/s, LOS rate: 14.941855 deg/s, posRepo size: 4
2021-02-16T09:37:01.703Z,1613468221.703 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T09:37:03.321Z,1613468223.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:04.104Z,1613468224.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:04.540Z,1613468224.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:05.332Z,1613468225.332 [Micromodem](INFO): Nmea in: $SNTTA,0.070232,,,,093705.57*4E

2021-02-16T09:37:05.378Z,1613468225.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 10.322181 deg, deltaT: 4.391329 s, approachRate: 0.778807 m/s, LOS rate: -13.900759 deg/s, posRepo size: 4
2021-02-16T09:37:06.589Z,1613468226.589 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:37:07.798Z,1613468227.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:08.553Z,1613468228.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:08.953Z,1613468228.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:09.780Z,1613468229.780 [Micromodem](INFO): Nmea in: $SNTTA,0.072242,,,,093710.02*4F

2021-02-16T09:37:09.825Z,1613468229.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 14.466621 deg, deltaT: 4.453613 s, approachRate: 0.740970 m/s, LOS rate: 0.930579 deg/s, posRepo size: 4
2021-02-16T09:37:11.808Z,1613468231.808 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:37:12.245Z,1613468232.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:13.011Z,1613468233.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:13.403Z,1613468233.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:14.236Z,1613468234.236 [Micromodem](INFO): Nmea in: $SNTTA,0.097587,,,,093714.48*40

2021-02-16T09:37:14.290Z,1613468234.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.020004 m, bearing: 70.527454 deg, deltaT: 4.453832 s, approachRate: 0.781350 m/s, LOS rate: 12.587101 deg/s, posRepo size: 4
2021-02-16T09:37:16.639Z,1613468236.639 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:37:16.654Z,1613468236.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:17.436Z,1613468237.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:17.859Z,1613468237.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:18.672Z,1613468238.672 [Micromodem](INFO): Nmea in: $SNTTA,0.077055,,,,093718.90*4D

2021-02-16T09:37:18.697Z,1613468238.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 65.197004 deg, deltaT: 4.448863 s, approachRate: 0.755249 m/s, LOS rate: -1.198160 deg/s, posRepo size: 4
2021-02-16T09:37:21.125Z,1613468241.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:21.897Z,1613468241.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:22.291Z,1613468242.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:23.116Z,1613468243.116 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093723.36*57

2021-02-16T09:37:23.159Z,1613468243.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.680000 m, bearing: 66.330112 deg, deltaT: 4.461600 s, approachRate: 0.739644 m/s, LOS rate: 0.253969 deg/s, posRepo size: 4
2021-02-16T09:37:25.602Z,1613468245.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:26.331Z,1613468246.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:26.742Z,1613468246.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:27.560Z,1613468247.560 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093727.80*5E

2021-02-16T09:37:27.601Z,1613468247.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 13.472425 deg, deltaT: 4.428849 s, approachRate: 0.758664 m/s, LOS rate: -11.934858 deg/s, posRepo size: 4
2021-02-16T09:37:29.997Z,1613468249.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:30.769Z,1613468250.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:31.188Z,1613468251.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:32.003Z,1613468252.003 [Micromodem](INFO): Nmea in: $SNTTA,0.083572,,,,093732.24*41

2021-02-16T09:37:32.074Z,1613468252.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.520004 m, bearing: 11.217560 deg, deltaT: 4.449736 s, approachRate: 0.782068 m/s, LOS rate: -0.506741 deg/s, posRepo size: 4
2021-02-16T09:37:34.437Z,1613468254.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:35.219Z,1613468255.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:35.639Z,1613468255.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:36.448Z,1613468256.448 [Micromodem](INFO): Nmea in: $SNTTA,0.085856,,,,093736.69*41

2021-02-16T09:37:36.523Z,1613468256.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 11.812585 deg, deltaT: 4.462875 s, approachRate: 0.779765 m/s, LOS rate: 0.133328 deg/s, posRepo size: 4
2021-02-16T09:37:38.873Z,1613468258.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:39.664Z,1613468259.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:40.062Z,1613468260.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:40.897Z,1613468260.897 [Micromodem](INFO): Nmea in: $SNTTA,0.088230,,,,093741.13*4B

2021-02-16T09:37:40.937Z,1613468260.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 14.297843 deg, deltaT: 4.398287 s, approachRate: 0.791216 m/s, LOS rate: 0.565051 deg/s, posRepo size: 4
2021-02-16T09:37:43.345Z,1613468263.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:44.105Z,1613468264.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:44.546Z,1613468264.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:45.332Z,1613468265.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093745.57*50

2021-02-16T09:37:45.375Z,1613468265.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.840012 m, bearing: 70.242342 deg, deltaT: 4.460154 s, approachRate: 0.753341 m/s, LOS rate: 12.543176 deg/s, posRepo size: 4
2021-02-16T09:37:47.770Z,1613468267.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:48.550Z,1613468268.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:48.958Z,1613468268.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:49.776Z,1613468269.776 [Micromodem](INFO): Nmea in: $SNTTA,0.093169,,,,093750.02*4E

2021-02-16T09:37:49.814Z,1613468269.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 12.444633 deg, deltaT: 4.467404 s, approachRate: 0.752111 m/s, LOS rate: -12.937650 deg/s, posRepo size: 4
2021-02-16T09:37:52.218Z,1613468272.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:52.992Z,1613468272.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:53.396Z,1613468273.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:54.228Z,1613468274.228 [Micromodem](INFO): Nmea in: $SNTTA,0.094861,,,,093754.46*4C

2021-02-16T09:37:54.277Z,1613468274.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 10.805698 deg, deltaT: 4.429099 s, approachRate: 0.745073 m/s, LOS rate: -0.370038 deg/s, posRepo size: 4
2021-02-16T09:37:56.662Z,1613468276.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:37:57.439Z,1613468277.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:37:57.838Z,1613468277.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:37:58.673Z,1613468278.673 [Micromodem](INFO): Nmea in: $SNTTA,0.097046,,,,093758.91*44

2021-02-16T09:37:58.732Z,1613468278.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 67.766419 deg, deltaT: 4.435349 s, approachRate: 0.730496 m/s, LOS rate: 12.842444 deg/s, posRepo size: 4
2021-02-16T09:38:01.112Z,1613468281.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:01.886Z,1613468281.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:02.282Z,1613468282.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:03.116Z,1613468283.116 [Micromodem](INFO): Nmea in: $SNTTA,0.099229,,,,093803.35*4E

2021-02-16T09:38:03.152Z,1613468283.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.979996 m, bearing: 65.015922 deg, deltaT: 4.463530 s, approachRate: 0.725881 m/s, LOS rate: -0.616216 deg/s, posRepo size: 4
2021-02-16T09:38:05.569Z,1613468285.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:06.329Z,1613468286.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:06.739Z,1613468286.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:07.568Z,1613468287.568 [Micromodem](INFO): Nmea in: $SNTTA,0.101440,,,,093807.80*4D

2021-02-16T09:38:07.608Z,1613468287.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.279999 m, bearing: 62.614755 deg, deltaT: 4.450711 s, approachRate: 0.741455 m/s, LOS rate: -0.539502 deg/s, posRepo size: 4
2021-02-16T09:38:07.609Z,1613468287.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.28 m. Resuming terminal guidance.
2021-02-16T09:38:07.609Z,1613468287.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T09:38:10.018Z,1613468290.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:10.772Z,1613468290.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:11.185Z,1613468291.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:12.020Z,1613468292.020 [Micromodem](INFO): Nmea in: $SNTTA,0.103763,,,,093812.24*47

2021-02-16T09:38:12.071Z,1613468292.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 54.493486 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T09:38:12.072Z,1613468292.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 54.493486deg and heading rate command to 0 deg/s.
2021-02-16T09:38:14.424Z,1613468294.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:15.221Z,1613468295.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:15.632Z,1613468295.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:16.464Z,1613468296.464 [Micromodem](INFO): Nmea in: $SNTTA,0.105969,,,,093816.69*48

2021-02-16T09:38:16.486Z,1613468296.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.120010 m, bearing: 13.283547 deg, deltaT: 4.439610 s, approachRate: 0.756827 m/s, LOS rate: -9.282333 deg/s, posRepo size: 2
2021-02-16T09:38:16.488Z,1613468296.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.120010 m,
      bearing: 13.283547 deg,
      approachRate: 0.756827 m/s,
      LOS rate: -9.282333 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 54.493486 deg,
      new cmd heading: 54.493486 deg.

2021-02-16T09:38:18.893Z,1613468298.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:19.660Z,1613468299.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:20.068Z,1613468300.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:20.897Z,1613468300.897 [Micromodem](INFO): Nmea in: $SNTTA,0.107936,,,,093821.13*49

2021-02-16T09:38:20.959Z,1613468300.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 41.843918 deg, deltaT: 4.462321 s, approachRate: 0.658847 m/s, LOS rate: 6.400340 deg/s, posRepo size: 3
2021-02-16T09:38:20.961Z,1613468300.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 41.843918 deg,
      approachRate: 0.658847 m/s,
      LOS rate: 6.400340 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.391613 deg,
      new cmd heading: 355.929381 deg.

2021-02-16T09:38:23.338Z,1613468303.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:24.112Z,1613468304.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:24.549Z,1613468304.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:25.336Z,1613468305.336 [Micromodem](INFO): Nmea in: $SNTTA,0.110007,,,,093825.58*4F

2021-02-16T09:38:25.375Z,1613468305.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 31.621665 deg, deltaT: 4.420760 s, approachRate: 0.000000 m/s, LOS rate: -2.312329 deg/s, posRepo size: 4
2021-02-16T09:38:25.377Z,1613468305.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 31.621665 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.312329 deg/s,
      cmd update: -6.936988 deg/s,
      cmd heading: 54.838463 deg,
      new cmd heading: 59.896259 deg.

2021-02-16T09:38:27.786Z,1613468307.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:28.564Z,1613468308.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:28.954Z,1613468308.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:29.788Z,1613468309.788 [Micromodem](INFO): Nmea in: $SNTTA,0.111987,,,,093830.03*45

2021-02-16T09:38:29.834Z,1613468309.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 21.321445 deg, deltaT: 4.466489 s, approachRate: 0.000000 m/s, LOS rate: -2.306111 deg/s, posRepo size: 4
2021-02-16T09:38:29.836Z,1613468309.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.059998 m,
      bearing: 21.321445 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.306111 deg/s,
      cmd update: -6.918334 deg/s,
      cmd heading: 23.856863 deg,
      new cmd heading: 20.980580 deg.

2021-02-16T09:38:32.238Z,1613468312.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:33.026Z,1613468313.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:33.415Z,1613468313.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:34.234Z,1613468314.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,093834.49*56

2021-02-16T09:38:34.676Z,1613468314.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 9.389781 deg, deltaT: 4.833665 s, approachRate: 1.911594 m/s, LOS rate: -2.468451 deg/s, posRepo size: 4
2021-02-16T09:38:34.678Z,1613468314.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.300003 m,
      bearing: 9.389781 deg,
      approachRate: 1.911594 m/s,
      LOS rate: -2.468451 deg/s,
      cmd update: -7.405352 deg/s,
      cmd heading: 350.386309 deg,
      new cmd heading: 347.502560 deg.

2021-02-16T09:38:37.089Z,1613468317.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:37.848Z,1613468317.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:38.246Z,1613468318.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:39.080Z,1613468319.080 [Micromodem](INFO): Nmea in: $SNTTA,0.116419,,,,093839.31*40

2021-02-16T09:38:39.118Z,1613468319.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 30.624939 deg, deltaT: 4.450420 s, approachRate: 0.000000 m/s, LOS rate: 4.771495 deg/s, posRepo size: 4
2021-02-16T09:38:39.120Z,1613468319.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.300003 m,
      bearing: 30.624939 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.771495 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.492269 deg,
      new cmd heading: 314.391404 deg.

2021-02-16T09:38:41.536Z,1613468321.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:42.292Z,1613468322.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:42.690Z,1613468322.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:43.560Z,1613468323.560 [Micromodem](INFO): Nmea in: $SNTTA,0.118626,,,,093843.76*4E

2021-02-16T09:38:43.609Z,1613468323.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 322.717286 deg, deltaT: 4.471290 s, approachRate: 0.000000 m/s, LOS rate: -15.187484 deg/s, posRepo size: 4
2021-02-16T09:38:43.610Z,1613468323.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.187484 deg/s. Setting heading cmd to target bearing of 322.717286deg and heading rate command to 0 deg/s.
2021-02-16T09:38:45.940Z,1613468325.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:46.734Z,1613468326.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:47.151Z,1613468327.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:47.963Z,1613468327.963 [Micromodem](INFO): Nmea in: $SNTTA,0.120684,,,,093848.20*45

2021-02-16T09:38:47.986Z,1613468327.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.300003 m, bearing: 345.756743 deg, deltaT: 4.428954 s, approachRate: 0.000000 m/s, LOS rate: 5.202009 deg/s, posRepo size: 4
2021-02-16T09:38:47.988Z,1613468327.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.300003 m,
      bearing: 345.756743 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.202009 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 322.717286 deg,
      new cmd heading: 322.717286 deg.

2021-02-16T09:38:50.390Z,1613468330.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:51.172Z,1613468331.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:51.578Z,1613468331.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:52.389Z,1613468332.389 [Micromodem](INFO): Nmea in: $SNTTA,0.122848,,,,093852.64*42

2021-02-16T09:38:53.239Z,1613468333.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:54.828Z,1613468334.828 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:38:56.083Z,1613468336.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:38:56.845Z,1613468336.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:38:57.247Z,1613468337.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:38:58.062Z,1613468338.062 [Micromodem](INFO): Nmea in: $SNTTA,0.125318,,,,093858.31*41

2021-02-16T09:38:58.492Z,1613468338.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.160004 m, bearing: 357.345689 deg, deltaT: 10.476642 s, approachRate: 1.609294 m/s, LOS rate: 1.106170 deg/s, posRepo size: 4
2021-02-16T09:38:58.494Z,1613468338.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.160004 m,
      bearing: 357.345689 deg,
      approachRate: 1.609294 m/s,
      LOS rate: 1.106170 deg/s,
      cmd update: 3.318510 deg/s,
      cmd heading: 88.741241 deg,
      new cmd heading: 93.622302 deg.

2021-02-16T09:39:00.909Z,1613468340.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:01.686Z,1613468341.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:02.093Z,1613468342.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:02.902Z,1613468342.902 [Micromodem](INFO): Nmea in: $SNTTA,0.127552,,,,093903.15*42

2021-02-16T09:39:03.366Z,1613468343.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 318.530571 deg, deltaT: 4.870431 s, approachRate: 0.689874 m/s, LOS rate: -7.969545 deg/s, posRepo size: 4
2021-02-16T09:39:03.368Z,1613468343.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.519989 m,
      bearing: 318.530571 deg,
      approachRate: 0.689874 m/s,
      LOS rate: -7.969545 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 104.890244 deg,
      new cmd heading: 106.264717 deg.

2021-02-16T09:39:05.761Z,1613468345.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:06.573Z,1613468346.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:06.951Z,1613468346.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:07.782Z,1613468347.782 [Micromodem](INFO): Nmea in: $SNTTA,0.129943,,,,093908.04*4B

2021-02-16T09:39:08.229Z,1613468348.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.059982 m, bearing: 50.617425 deg, deltaT: 4.851132 s, approachRate: 0.729725 m/s, LOS rate: 18.982552 deg/s, posRepo size: 4
2021-02-16T09:39:08.230Z,1613468348.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.982552 deg/s. Setting heading cmd to target bearing of 50.617425deg and heading rate command to 0 deg/s.
2021-02-16T09:39:10.614Z,1613468350.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:11.385Z,1613468351.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:11.798Z,1613468351.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:12.598Z,1613468352.598 [Micromodem](INFO): Nmea in: $SNTTA,0.132309,,,,093912.85*47

2021-02-16T09:39:13.061Z,1613468353.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.419983 m, bearing: 23.169988 deg, deltaT: 4.840127 s, approachRate: 0.694197 m/s, LOS rate: -5.670809 deg/s, posRepo size: 4
2021-02-16T09:39:13.062Z,1613468353.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.419983 m,
      bearing: 23.169988 deg,
      approachRate: 0.694197 m/s,
      LOS rate: -5.670809 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 50.617425 deg,
      new cmd heading: 50.617425 deg.

2021-02-16T09:39:15.453Z,1613468355.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:16.229Z,1613468356.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:16.630Z,1613468356.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:17.450Z,1613468357.450 [Micromodem](INFO): Nmea in: $SNTTA,0.134203,,,,093917.69*4D

2021-02-16T09:39:17.876Z,1613468357.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.299988 m, bearing: 65.858310 deg, deltaT: 4.818301 s, approachRate: 0.597722 m/s, LOS rate: 8.859621 deg/s, posRepo size: 4
2021-02-16T09:39:17.878Z,1613468357.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.299988 m,
      bearing: 65.858310 deg,
      approachRate: 0.597722 m/s,
      LOS rate: 8.859621 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 352.748239 deg,
      new cmd heading: 347.820199 deg.

2021-02-16T09:39:20.326Z,1613468360.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:21.073Z,1613468361.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:21.486Z,1613468361.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:22.292Z,1613468362.292 [Micromodem](INFO): Nmea in: $SNTTA,0.135952,,,,093922.54*4B

2021-02-16T09:39:22.755Z,1613468362.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.999985 m, bearing: 83.473326 deg, deltaT: 4.875135 s, approachRate: 0.553830 m/s, LOS rate: 3.613237 deg/s, posRepo size: 4
2021-02-16T09:39:22.757Z,1613468362.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.999985 m,
      bearing: 83.473326 deg,
      approachRate: 0.553830 m/s,
      LOS rate: 3.613237 deg/s,
      cmd update: 10.839710 deg/s,
      cmd heading: 50.958717 deg,
      new cmd heading: 56.031285 deg.

2021-02-16T09:39:25.154Z,1613468365.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:25.922Z,1613468365.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:26.326Z,1613468366.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:27.140Z,1613468367.140 [Micromodem](INFO): Nmea in: $SNTTA,0.137956,,,,093927.39*43

2021-02-16T09:39:27.584Z,1613468367.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.000000 m, bearing: 15.098429 deg, deltaT: 4.823518 s, approachRate: 0.621956 m/s, LOS rate: -14.175317 deg/s, posRepo size: 4
2021-02-16T09:39:27.585Z,1613468367.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.175317 deg/s. Setting heading cmd to target bearing of 15.098429deg and heading rate command to 0 deg/s.
2021-02-16T09:39:29.981Z,1613468369.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:30.784Z,1613468370.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:31.180Z,1613468371.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:32.016Z,1613468372.016 [Micromodem](INFO): Nmea in: $SNTTA,0.140258,,,,093932.25*4F

2021-02-16T09:39:32.429Z,1613468372.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.599991 m, bearing: 54.075537 deg, deltaT: 4.906108 s, approachRate: 0.733777 m/s, LOS rate: 7.944609 deg/s, posRepo size: 4
2021-02-16T09:39:32.431Z,1613468372.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.599991 m,
      bearing: 54.075537 deg,
      approachRate: 0.733777 m/s,
      LOS rate: 7.944609 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.098429 deg,
      new cmd heading: 15.098429 deg.

2021-02-16T09:39:34.866Z,1613468374.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:35.616Z,1613468375.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:36.051Z,1613468376.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:36.834Z,1613468376.834 [Micromodem](INFO): Nmea in: $SNTTA,0.141840,,,,093937.08*47

2021-02-16T09:39:37.293Z,1613468377.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.819992 m, bearing: 56.578944 deg, deltaT: 4.814708 s, approachRate: 0.461087 m/s, LOS rate: 0.519950 deg/s, posRepo size: 4
2021-02-16T09:39:37.294Z,1613468377.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.819992 m,
      bearing: 56.578944 deg,
      approachRate: 0.461087 m/s,
      LOS rate: 0.519950 deg/s,
      cmd update: 1.559850 deg/s,
      cmd heading: 72.808303 deg,
      new cmd heading: 77.871007 deg.

2021-02-16T09:39:39.704Z,1613468379.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:40.465Z,1613468380.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:40.880Z,1613468380.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:41.731Z,1613468381.731 [Micromodem](INFO): Nmea in: $SNTTA,0.143430,,,,093941.93*4D

2021-02-16T09:39:42.130Z,1613468382.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.219986 m, bearing: 66.382759 deg, deltaT: 4.902654 s, approachRate: 0.489530 m/s, LOS rate: 1.999695 deg/s, posRepo size: 4
2021-02-16T09:39:42.132Z,1613468382.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.219986 m,
      bearing: 66.382759 deg,
      approachRate: 0.489530 m/s,
      LOS rate: 1.999695 deg/s,
      cmd update: 5.999086 deg/s,
      cmd heading: 80.470964 deg,
      new cmd heading: 81.012218 deg.

2021-02-16T09:39:44.569Z,1613468384.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:45.313Z,1613468385.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:45.729Z,1613468385.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:46.546Z,1613468386.546 [Micromodem](INFO): Nmea in: $SNTTA,0.145471,,,,093946.78*4C

2021-02-16T09:39:46.959Z,1613468386.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.279984 m, bearing: 70.624340 deg, deltaT: 4.803011 s, approachRate: 0.637100 m/s, LOS rate: 0.883109 deg/s, posRepo size: 4
2021-02-16T09:39:46.961Z,1613468386.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.279984 m,
      bearing: 70.624340 deg,
      approachRate: 0.637100 m/s,
      LOS rate: 0.883109 deg/s,
      cmd update: 2.649327 deg/s,
      cmd heading: 109.307581 deg,
      new cmd heading: 111.517518 deg.

2021-02-16T09:39:49.386Z,1613468389.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:50.160Z,1613468390.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:50.566Z,1613468390.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:51.382Z,1613468391.382 [Micromodem](INFO): Nmea in: $SNTTA,0.146784,,,,093951.63*4A

2021-02-16T09:39:51.852Z,1613468391.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.139984 m, bearing: 140.297522 deg, deltaT: 4.843724 s, approachRate: 0.384002 m/s, LOS rate: 14.384218 deg/s, posRepo size: 4
2021-02-16T09:39:51.852Z,1613468391.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.384218 deg/s. Setting heading cmd to target bearing of 140.297522deg and heading rate command to 0 deg/s.
2021-02-16T09:39:54.249Z,1613468394.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:55.032Z,1613468395.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:39:55.419Z,1613468395.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:39:56.243Z,1613468396.243 [Micromodem](INFO): Nmea in: $SNTTA,0.147382,,,,093956.50*4E

2021-02-16T09:39:56.660Z,1613468396.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.099991 m, bearing: 120.157644 deg, deltaT: 4.867825 s, approachRate: 0.197215 m/s, LOS rate: -4.137347 deg/s, posRepo size: 4
2021-02-16T09:39:56.662Z,1613468396.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.099991 m,
      bearing: 120.157644 deg,
      approachRate: 0.197215 m/s,
      LOS rate: -4.137347 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 140.297522 deg,
      new cmd heading: 140.297522 deg.

2021-02-16T09:39:59.104Z,1613468399.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:39:59.858Z,1613468399.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:00.279Z,1613468400.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:01.083Z,1613468401.083 [Micromodem](INFO): Nmea in: $SNTTA,0.147243,,,,094001.33*4B

2021-02-16T09:40:01.545Z,1613468401.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.739990 m, bearing: 165.450732 deg, deltaT: 4.833011 s, approachRate: -0.074488 m/s, LOS rate: 9.371609 deg/s, posRepo size: 4
2021-02-16T09:40:01.551Z,1613468401.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.739990 m,
      bearing: 165.450732 deg,
      approachRate: -0.074488 m/s,
      LOS rate: 9.371609 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 82.220101 deg,
      new cmd heading: 77.244301 deg.

2021-02-16T09:40:03.942Z,1613468403.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:04.705Z,1613468404.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:05.116Z,1613468405.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:05.928Z,1613468405.928 [Micromodem](INFO): Nmea in: $SNTTA,0.146794,,,,094006.17*44

2021-02-16T09:40:06.376Z,1613468406.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.139984 m, bearing: 86.392064 deg, deltaT: 4.850892 s, approachRate: -0.123690 m/s, LOS rate: -16.297759 deg/s, posRepo size: 4
2021-02-16T09:40:06.376Z,1613468406.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.297759 deg/s. Setting heading cmd to target bearing of 86.392064deg and heading rate command to 0 deg/s.
2021-02-16T09:40:08.780Z,1613468408.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:09.561Z,1613468409.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:09.958Z,1613468409.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:10.775Z,1613468410.775 [Micromodem](INFO): Nmea in: $SNTTA,0.146615,,,,094011.03*4F

2021-02-16T09:40:11.244Z,1613468411.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.899994 m, bearing: 67.912154 deg, deltaT: 4.838202 s, approachRate: -0.049603 m/s, LOS rate: -3.819582 deg/s, posRepo size: 4
2021-02-16T09:40:11.246Z,1613468411.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.899994 m,
      bearing: 67.912154 deg,
      approachRate: -0.049603 m/s,
      LOS rate: -3.819582 deg/s,
      cmd update: -11.458747 deg/s,
      cmd heading: 86.392064 deg,
      new cmd heading: 86.392064 deg.

2021-02-16T09:40:13.634Z,1613468413.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:14.417Z,1613468414.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:14.806Z,1613468414.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:15.631Z,1613468415.631 [Micromodem](INFO): Nmea in: $SNTTA,0.146708,,,,094015.88*45

2021-02-16T09:40:16.080Z,1613468416.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.079987 m, bearing: 154.351265 deg, deltaT: 4.831242 s, approachRate: 0.037256 m/s, LOS rate: 17.891696 deg/s, posRepo size: 4
2021-02-16T09:40:16.080Z,1613468416.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.891696 deg/s. Setting heading cmd to target bearing of 154.351265deg and heading rate command to 0 deg/s.
2021-02-16T09:40:18.457Z,1613468418.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:19.253Z,1613468419.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:19.666Z,1613468419.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:20.491Z,1613468420.491 [Micromodem](INFO): Nmea in: $SNTTA,0.147438,,,,094020.72*47

2021-02-16T09:40:20.924Z,1613468420.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.160004 m, bearing: 119.437701 deg, deltaT: 4.901592 s, approachRate: 0.220340 m/s, LOS rate: -7.122903 deg/s, posRepo size: 4
2021-02-16T09:40:20.926Z,1613468420.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.160004 m,
      bearing: 119.437701 deg,
      approachRate: 0.220340 m/s,
      LOS rate: -7.122903 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 154.351265 deg,
      new cmd heading: 154.351265 deg.

2021-02-16T09:40:23.334Z,1613468423.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:24.108Z,1613468424.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:24.517Z,1613468424.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:25.324Z,1613468425.324 [Micromodem](INFO): Nmea in: $SNTTA,0.148972,,,,094025.57*49

2021-02-16T09:40:25.755Z,1613468425.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.499985 m, bearing: 76.322856 deg, deltaT: 4.790559 s, approachRate: 0.488457 m/s, LOS rate: -8.999961 deg/s, posRepo size: 4
2021-02-16T09:40:25.757Z,1613468425.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.499985 m,
      bearing: 76.322856 deg,
      approachRate: 0.488457 m/s,
      LOS rate: -8.999961 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 96.814071 deg,
      new cmd heading: 91.921539 deg.

2021-02-16T09:40:28.171Z,1613468428.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:28.944Z,1613468428.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:29.355Z,1613468429.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:30.167Z,1613468430.167 [Micromodem](INFO): Nmea in: $SNTTA,0.150640,,,,094030.41*4D

2021-02-16T09:40:30.612Z,1613468430.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.019989 m, bearing: 75.182570 deg, deltaT: 4.955965 s, approachRate: 0.508479 m/s, LOS rate: -0.230084 deg/s, posRepo size: 4
2021-02-16T09:40:30.614Z,1613468430.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.019989 m,
      bearing: 75.182570 deg,
      approachRate: 0.508479 m/s,
      LOS rate: -0.230084 deg/s,
      cmd update: -0.690251 deg/s,
      cmd heading: 37.391738 deg,
      new cmd heading: 33.638354 deg.

2021-02-16T09:40:33.050Z,1613468433.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:33.792Z,1613468433.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:34.213Z,1613468434.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:35.063Z,1613468435.063 [Micromodem](INFO): Nmea in: $SNTTA,0.151965,,,,094035.26*40

2021-02-16T09:40:35.461Z,1613468435.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.000000 m, bearing: 117.927519 deg, deltaT: 4.812039 s, approachRate: 0.411470 m/s, LOS rate: 8.882918 deg/s, posRepo size: 4
2021-02-16T09:40:35.468Z,1613468435.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.000000 m,
      bearing: 117.927519 deg,
      approachRate: 0.411470 m/s,
      LOS rate: 8.882918 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 34.070297 deg,
      new cmd heading: 33.828432 deg.

2021-02-16T09:40:37.863Z,1613468437.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:38.640Z,1613468438.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:39.073Z,1613468439.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:39.871Z,1613468439.871 [Micromodem](INFO): Nmea in: $SNTTA,0.153555,,,,094040.11*4B

2021-02-16T09:40:40.327Z,1613468440.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.339996 m, bearing: 73.161995 deg, deltaT: 4.805181 s, approachRate: 0.486974 m/s, LOS rate: -9.316095 deg/s, posRepo size: 4
2021-02-16T09:40:40.329Z,1613468440.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.339996 m,
      bearing: 73.161995 deg,
      approachRate: 0.486974 m/s,
      LOS rate: -9.316095 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 91.734931 deg,
      new cmd heading: 96.663439 deg.

2021-02-16T09:40:42.708Z,1613468442.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:43.492Z,1613468443.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:43.905Z,1613468443.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:44.709Z,1613468444.709 [Micromodem](INFO): Nmea in: $SNTTA,0.155427,,,,094044.96*42

2021-02-16T09:40:45.174Z,1613468445.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 233.579987 m, bearing: 78.259823 deg, deltaT: 4.847011 s, approachRate: 0.668451 m/s, LOS rate: 1.051747 deg/s, posRepo size: 4
2021-02-16T09:40:45.176Z,1613468445.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.579987 m,
      bearing: 78.259823 deg,
      approachRate: 0.668451 m/s,
      LOS rate: 1.051747 deg/s,
      cmd update: 3.155240 deg/s,
      cmd heading: 33.522797 deg,
      new cmd heading: 28.645229 deg.

2021-02-16T09:40:47.590Z,1613468447.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:48.336Z,1613468448.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:48.758Z,1613468448.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:49.567Z,1613468449.567 [Micromodem](INFO): Nmea in: $SNTTA,0.157226,,,,094049.80*4D

2021-02-16T09:40:50.041Z,1613468450.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.859985 m, bearing: 81.897233 deg, deltaT: 4.860924 s, approachRate: 0.469046 m/s, LOS rate: 0.748296 deg/s, posRepo size: 4
2021-02-16T09:40:50.047Z,1613468450.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.859985 m,
      bearing: 81.897233 deg,
      approachRate: 0.469046 m/s,
      LOS rate: 0.748296 deg/s,
      cmd update: 2.244888 deg/s,
      cmd heading: 48.847464 deg,
      new cmd heading: 50.144608 deg.

2021-02-16T09:40:52.413Z,1613468452.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:53.190Z,1613468453.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:53.604Z,1613468453.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:54.408Z,1613468454.408 [Micromodem](INFO): Nmea in: $SNTTA,0.159296,,,,094054.66*4C

2021-02-16T09:40:54.849Z,1613468454.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.979996 m, bearing: 46.641552 deg, deltaT: 4.826571 s, approachRate: 0.646424 m/s, LOS rate: -7.304499 deg/s, posRepo size: 4
2021-02-16T09:40:54.851Z,1613468454.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.979996 m,
      bearing: 46.641552 deg,
      approachRate: 0.646424 m/s,
      LOS rate: -7.304499 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.691610 deg,
      new cmd heading: 60.575710 deg.

2021-02-16T09:40:57.253Z,1613468457.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:40:58.045Z,1613468458.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:40:58.439Z,1613468458.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:40:59.264Z,1613468459.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094059.51*5B

2021-02-16T09:40:59.694Z,1613468459.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.039993 m, bearing: 52.653184 deg, deltaT: 4.833397 s, approachRate: 0.633095 m/s, LOS rate: 1.243770 deg/s, posRepo size: 4
2021-02-16T09:40:59.696Z,1613468459.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.039993 m,
      bearing: 52.653184 deg,
      approachRate: 0.633095 m/s,
      LOS rate: 1.243770 deg/s,
      cmd update: 3.731308 deg/s,
      cmd heading: 1.690388 deg,
      new cmd heading: 356.824064 deg.

2021-02-16T09:41:02.118Z,1613468462.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:02.880Z,1613468462.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:03.296Z,1613468463.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:04.098Z,1613468464.098 [Micromodem](INFO): Nmea in: $SNTTA,0.163477,,,,094104.35*4E

2021-02-16T09:41:04.573Z,1613468464.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.399994 m, bearing: 75.004206 deg, deltaT: 4.882130 s, approachRate: 0.688224 m/s, LOS rate: 4.578129 deg/s, posRepo size: 4
2021-02-16T09:41:04.574Z,1613468464.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.399994 m,
      bearing: 75.004206 deg,
      approachRate: 0.688224 m/s,
      LOS rate: 4.578129 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 19.884852 deg,
      new cmd heading: 21.407782 deg.

2021-02-16T09:41:06.940Z,1613468466.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:07.734Z,1613468467.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:08.138Z,1613468468.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:08.955Z,1613468468.955 [Micromodem](INFO): Nmea in: $SNTTA,0.165769,,,,094109.20*4D

2021-02-16T09:41:09.402Z,1613468469.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.239975 m, bearing: 28.915657 deg, deltaT: 4.822972 s, approachRate: 0.796186 m/s, LOS rate: -9.556048 deg/s, posRepo size: 4
2021-02-16T09:41:09.420Z,1613468469.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.239975 m,
      bearing: 28.915657 deg,
      approachRate: 0.796186 m/s,
      LOS rate: -9.556048 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.541819 deg,
      new cmd heading: 82.728843 deg.

2021-02-16T09:41:11.860Z,1613468471.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:12.580Z,1613468472.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:12.996Z,1613468472.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:13.172Z,1613468473.172 [CTD_Seabird](ERROR): Failed to parse device response: .14
2021-02-16T09:41:13.799Z,1613468473.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094114.05*52

2021-02-16T09:41:14.258Z,1613468474.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.119980 m, bearing: 88.251747 deg, deltaT: 4.858133 s, approachRate: 0.592821 m/s, LOS rate: 12.213765 deg/s, posRepo size: 4
2021-02-16T09:41:14.259Z,1613468474.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.213765 deg/s. Setting heading cmd to target bearing of 88.251747deg and heading rate command to 0 deg/s.
2021-02-16T09:41:16.669Z,1613468476.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:17.433Z,1613468477.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:17.847Z,1613468477.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:18.648Z,1613468478.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094118.90*52

2021-02-16T09:41:19.096Z,1613468479.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 255.419998 m, bearing: 34.409475 deg, deltaT: 4.821341 s, approachRate: 0.684461 m/s, LOS rate: -11.167489 deg/s, posRepo size: 4
2021-02-16T09:41:19.098Z,1613468479.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.419998 m,
      bearing: 34.409475 deg,
      approachRate: 0.684461 m/s,
      LOS rate: -11.167489 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 88.251747 deg,
      new cmd heading: 88.251747 deg.

2021-02-16T09:41:21.540Z,1613468481.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:22.283Z,1613468482.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:22.681Z,1613468482.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:23.540Z,1613468483.540 [Micromodem](INFO): Nmea in: $SNTTA,0.172412,,,,094123.75*4C

2021-02-16T09:41:23.957Z,1613468483.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 258.600006 m, bearing: 43.596558 deg, deltaT: 4.891927 s, approachRate: 0.650052 m/s, LOS rate: 1.878009 deg/s, posRepo size: 4
2021-02-16T09:41:23.963Z,1613468483.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.600006 m,
      bearing: 43.596558 deg,
      approachRate: 0.650052 m/s,
      LOS rate: 1.878009 deg/s,
      cmd update: 5.634027 deg/s,
      cmd heading: 29.548454 deg,
      new cmd heading: 24.839246 deg.

2021-02-16T09:41:26.366Z,1613468486.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:27.132Z,1613468487.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:27.555Z,1613468487.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:28.351Z,1613468488.351 [Micromodem](INFO): Nmea in: $SNTTA,0.174391,,,,094128.60*49

2021-02-16T09:41:28.781Z,1613468488.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 261.660004 m, bearing: 88.268645 deg, deltaT: 4.837846 s, approachRate: 0.632512 m/s, LOS rate: 9.233880 deg/s, posRepo size: 4
2021-02-16T09:41:28.783Z,1613468488.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.660004 m,
      bearing: 88.268645 deg,
      approachRate: 0.632512 m/s,
      LOS rate: 9.233880 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 56.782077 deg,
      new cmd heading: 58.934529 deg.

2021-02-16T09:41:31.201Z,1613468491.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:31.977Z,1613468491.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:32.395Z,1613468492.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:33.198Z,1613468493.198 [Micromodem](INFO): Nmea in: $SNTTA,0.176426,,,,094133.44*4C

2021-02-16T09:41:33.648Z,1613468493.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 264.720001 m, bearing: 35.410846 deg, deltaT: 4.868266 s, approachRate: 0.628560 m/s, LOS rate: -10.857624 deg/s, posRepo size: 4
2021-02-16T09:41:33.650Z,1613468493.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.720001 m,
      bearing: 35.410846 deg,
      approachRate: 0.628560 m/s,
      LOS rate: -10.857624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.011995 deg,
      new cmd heading: 119.778935 deg.

2021-02-16T09:41:36.073Z,1613468496.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:36.832Z,1613468496.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:37.229Z,1613468497.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:38.052Z,1613468498.052 [Micromodem](INFO): Nmea in: $SNTTA,0.178497,,,,094138.30*40

2021-02-16T09:41:38.482Z,1613468498.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 268.019989 m, bearing: 65.056363 deg, deltaT: 4.859169 s, approachRate: 0.679126 m/s, LOS rate: 6.100944 deg/s, posRepo size: 4
2021-02-16T09:41:38.502Z,1613468498.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.019989 m,
      bearing: 65.056363 deg,
      approachRate: 0.679126 m/s,
      LOS rate: 6.100944 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 56.514814 deg,
      new cmd heading: 52.292470 deg.

2021-02-16T09:41:40.906Z,1613468500.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:41.677Z,1613468501.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:42.074Z,1613468502.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:42.894Z,1613468502.894 [Micromodem](INFO): Nmea in: $SNTTA,0.180306,,,,094143.14*42

2021-02-16T09:41:43.332Z,1613468503.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.479980 m, bearing: 68.345673 deg, deltaT: 4.788461 s, approachRate: 0.513733 m/s, LOS rate: 0.686924 deg/s, posRepo size: 4
2021-02-16T09:41:43.333Z,1613468503.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.479980 m,
      bearing: 68.345673 deg,
      approachRate: 0.513733 m/s,
      LOS rate: 0.686924 deg/s,
      cmd update: 2.060773 deg/s,
      cmd heading: 114.024576 deg,
      new cmd heading: 118.980612 deg.

2021-02-16T09:41:45.741Z,1613468505.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:46.548Z,1613468506.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:46.929Z,1613468506.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:47.753Z,1613468507.753 [Micromodem](INFO): Nmea in: $SNTTA,0.181854,,,,094148.01*40

2021-02-16T09:41:48.177Z,1613468508.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 272.820007 m, bearing: 78.017235 deg, deltaT: 4.858707 s, approachRate: 0.481615 m/s, LOS rate: 1.990563 deg/s, posRepo size: 4
2021-02-16T09:41:48.178Z,1613468508.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 272.820007 m,
      bearing: 78.017235 deg,
      approachRate: 0.481615 m/s,
      LOS rate: 1.990563 deg/s,
      cmd update: 5.971688 deg/s,
      cmd heading: 124.037716 deg,
      new cmd heading: 124.860487 deg.

2021-02-16T09:41:50.603Z,1613468510.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:51.389Z,1613468511.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:51.770Z,1613468511.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:52.598Z,1613468512.598 [Micromodem](INFO): Nmea in: $SNTTA,0.183083,,,,094152.86*44

2021-02-16T09:41:53.060Z,1613468513.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.679993 m, bearing: 159.194880 deg, deltaT: 4.870167 s, approachRate: 0.381914 m/s, LOS rate: 16.668349 deg/s, posRepo size: 4
2021-02-16T09:41:53.061Z,1613468513.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.668349 deg/s. Setting heading cmd to target bearing of 159.194880deg and heading rate command to 0 deg/s.
2021-02-16T09:41:55.439Z,1613468515.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:41:56.221Z,1613468516.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:41:56.618Z,1613468516.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:41:57.448Z,1613468517.448 [Micromodem](INFO): Nmea in: $SNTTA,0.183541,,,,094157.69*4B

2021-02-16T09:41:57.896Z,1613468517.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.339996 m, bearing: 135.536689 deg, deltaT: 4.837063 s, approachRate: 0.136447 m/s, LOS rate: -4.891024 deg/s, posRepo size: 4
2021-02-16T09:41:57.898Z,1613468517.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.339996 m,
      bearing: 135.536689 deg,
      approachRate: 0.136447 m/s,
      LOS rate: -4.891024 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.194880 deg,
      new cmd heading: 159.194880 deg.

2021-02-16T09:42:00.292Z,1613468520.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:01.061Z,1613468521.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:01.471Z,1613468521.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:02.281Z,1613468522.281 [Micromodem](INFO): Nmea in: $SNTTA,0.183375,,,0.185918,094202.53*52

2021-02-16T09:42:02.726Z,1613468522.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.919983 m, bearing: 185.629529 deg, deltaT: 4.839231 s, approachRate: -0.086793 m/s, LOS rate: 10.351405 deg/s, posRepo size: 4
2021-02-16T09:42:02.728Z,1613468522.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.919983 m,
      bearing: 185.629529 deg,
      approachRate: -0.086793 m/s,
      LOS rate: 10.351405 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.997602 deg,
      new cmd heading: 96.176950 deg.

2021-02-16T09:42:05.145Z,1613468525.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:05.920Z,1613468525.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:06.313Z,1613468526.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:07.155Z,1613468527.155 [Micromodem](INFO): Nmea in: $SNTTA,0.182799,,,,094207.39*4E

2021-02-16T09:42:07.590Z,1613468527.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.140015 m, bearing: 100.803313 deg, deltaT: 4.856009 s, approachRate: -0.160619 m/s, LOS rate: -17.468299 deg/s, posRepo size: 4
2021-02-16T09:42:07.591Z,1613468527.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.468299 deg/s. Setting heading cmd to target bearing of 100.803313deg and heading rate command to 0 deg/s.
2021-02-16T09:42:09.964Z,1613468529.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:10.773Z,1613468530.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:11.174Z,1613468531.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:11.989Z,1613468531.989 [Micromodem](INFO): Nmea in: $SNTTA,0.182595,,,,094212.24*48

2021-02-16T09:42:12.443Z,1613468532.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.899994 m, bearing: 89.178570 deg, deltaT: 4.890661 s, approachRate: -0.049077 m/s, LOS rate: -2.376927 deg/s, posRepo size: 4
2021-02-16T09:42:12.445Z,1613468532.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.899994 m,
      bearing: 89.178570 deg,
      approachRate: -0.049077 m/s,
      LOS rate: -2.376927 deg/s,
      cmd update: -7.130780 deg/s,
      cmd heading: 100.803313 deg,
      new cmd heading: 100.803313 deg.

2021-02-16T09:42:14.844Z,1613468534.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:15.609Z,1613468535.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:16.046Z,1613468536.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:16.853Z,1613468536.853 [Micromodem](INFO): Nmea in: $SNTTA,0.182389,,,,094217.08*48

2021-02-16T09:42:17.264Z,1613468537.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 273.539978 m, bearing: 85.107190 deg, deltaT: 4.839453 s, approachRate: -0.074392 m/s, LOS rate: -0.841289 deg/s, posRepo size: 4
2021-02-16T09:42:17.266Z,1613468537.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.539978 m,
      bearing: 85.107190 deg,
      approachRate: -0.074392 m/s,
      LOS rate: -0.841289 deg/s,
      cmd update: -2.523868 deg/s,
      cmd heading: 66.294373 deg,
      new cmd heading: 63.743414 deg.

2021-02-16T09:42:19.683Z,1613468539.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:20.458Z,1613468540.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:20.863Z,1613468540.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:21.680Z,1613468541.680 [Micromodem](INFO): Nmea in: $SNTTA,0.182765,,,,094221.92*48

2021-02-16T09:42:22.120Z,1613468542.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.199982 m, bearing: 151.337171 deg, deltaT: 4.814582 s, approachRate: 0.137084 m/s, LOS rate: 13.756123 deg/s, posRepo size: 4
2021-02-16T09:42:22.121Z,1613468542.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.756123 deg/s. Setting heading cmd to target bearing of 151.337171deg and heading rate command to 0 deg/s.
2021-02-16T09:42:24.571Z,1613468544.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:25.301Z,1613468545.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:25.717Z,1613468545.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:26.575Z,1613468546.575 [Micromodem](INFO): Nmea in: $SNTTA,0.183835,,,,094226.77*4F

2021-02-16T09:42:26.958Z,1613468546.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 275.759979 m, bearing: 121.167720 deg, deltaT: 4.895113 s, approachRate: 0.318685 m/s, LOS rate: -6.163178 deg/s, posRepo size: 4
2021-02-16T09:42:26.960Z,1613468546.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.759979 m,
      bearing: 121.167720 deg,
      approachRate: 0.318685 m/s,
      LOS rate: -6.163178 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 151.337171 deg,
      new cmd heading: 151.337171 deg.

2021-02-16T09:42:29.392Z,1613468549.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:30.148Z,1613468550.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:30.563Z,1613468550.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:31.381Z,1613468551.381 [Micromodem](INFO): Nmea in: $SNTTA,0.185402,,,,094231.62*43

2021-02-16T09:42:31.829Z,1613468551.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 278.159973 m, bearing: 77.479077 deg, deltaT: 4.784963 s, approachRate: 0.501570 m/s, LOS rate: -9.130403 deg/s, posRepo size: 4
2021-02-16T09:42:31.867Z,1613468551.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.159973 m,
      bearing: 77.479077 deg,
      approachRate: 0.501570 m/s,
      LOS rate: -9.130403 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 93.676701 deg,
      new cmd heading: 88.691517 deg.

2021-02-16T09:42:34.240Z,1613468554.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:35.009Z,1613468555.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:35.407Z,1613468555.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:36.225Z,1613468556.225 [Micromodem](INFO): Nmea in: $SNTTA,0.186692,,,,094236.47*4B

2021-02-16T09:42:36.653Z,1613468556.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 280.019989 m, bearing: 145.378336 deg, deltaT: 4.844042 s, approachRate: 0.383980 m/s, LOS rate: 14.017066 deg/s, posRepo size: 4
2021-02-16T09:42:36.653Z,1613468556.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.017066 deg/s. Setting heading cmd to target bearing of 145.378336deg and heading rate command to 0 deg/s.
2021-02-16T09:42:39.095Z,1613468559.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:39.844Z,1613468559.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:40.251Z,1613468560.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:41.067Z,1613468561.067 [Micromodem](INFO): Nmea in: $SNTTA,0.187770,,,,094241.31*46

2021-02-16T09:42:41.532Z,1613468561.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.699982 m, bearing: 128.799623 deg, deltaT: 4.861765 s, approachRate: 0.345552 m/s, LOS rate: -3.410020 deg/s, posRepo size: 4
2021-02-16T09:42:41.553Z,1613468561.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.699982 m,
      bearing: 128.799623 deg,
      approachRate: 0.345552 m/s,
      LOS rate: -3.410020 deg/s,
      cmd update: -10.230058 deg/s,
      cmd heading: 145.378336 deg,
      new cmd heading: 145.378336 deg.

2021-02-16T09:42:43.925Z,1613468563.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:44.697Z,1613468564.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:45.110Z,1613468565.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:45.919Z,1613468565.919 [Micromodem](INFO): Nmea in: $SNTTA,0.189372,,,,094246.16*4C

2021-02-16T09:42:46.352Z,1613468566.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.099976 m, bearing: 92.113837 deg, deltaT: 4.864065 s, approachRate: 0.493413 m/s, LOS rate: -7.542207 deg/s, posRepo size: 4
2021-02-16T09:42:46.353Z,1613468566.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.099976 m,
      bearing: 92.113837 deg,
      approachRate: 0.493413 m/s,
      LOS rate: -7.542207 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 95.660488 deg,
      new cmd heading: 91.763398 deg.

2021-02-16T09:42:48.763Z,1613468568.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:49.549Z,1613468569.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:49.958Z,1613468569.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:50.763Z,1613468570.763 [Micromodem](INFO): Nmea in: $SNTTA,0.190913,,,,094251.01*49

2021-02-16T09:42:51.199Z,1613468571.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 286.439972 m, bearing: 95.161030 deg, deltaT: 4.836604 s, approachRate: 0.483810 m/s, LOS rate: 0.630027 deg/s, posRepo size: 4
2021-02-16T09:42:51.202Z,1613468571.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.439972 m,
      bearing: 95.161030 deg,
      approachRate: 0.483810 m/s,
      LOS rate: 0.630027 deg/s,
      cmd update: 1.890082 deg/s,
      cmd heading: 37.620398 deg,
      new cmd heading: 32.931134 deg.

2021-02-16T09:42:53.643Z,1613468573.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:54.400Z,1613468574.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:54.794Z,1613468574.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:42:55.618Z,1613468575.618 [Micromodem](INFO): Nmea in: $SNTTA,0.192157,,,,094255.87*49

2021-02-16T09:42:56.072Z,1613468576.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 288.239990 m, bearing: 109.004772 deg, deltaT: 4.867451 s, approachRate: 0.369807 m/s, LOS rate: 2.844146 deg/s, posRepo size: 4
2021-02-16T09:42:56.073Z,1613468576.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.239990 m,
      bearing: 109.004772 deg,
      approachRate: 0.369807 m/s,
      LOS rate: 2.844146 deg/s,
      cmd update: 8.532438 deg/s,
      cmd heading: 46.820304 deg,
      new cmd heading: 47.570616 deg.

2021-02-16T09:42:58.444Z,1613468578.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:42:59.236Z,1613468579.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:42:59.659Z,1613468579.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:00.459Z,1613468580.459 [Micromodem](INFO): Nmea in: $SNTTA,0.193932,,,,094300.70*4A

2021-02-16T09:43:00.904Z,1613468580.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.880005 m, bearing: 65.896354 deg, deltaT: 4.858194 s, approachRate: 0.543415 m/s, LOS rate: -8.873342 deg/s, posRepo size: 4
2021-02-16T09:43:00.910Z,1613468580.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.880005 m,
      bearing: 65.896354 deg,
      approachRate: 0.543415 m/s,
      LOS rate: -8.873342 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 88.045051 deg,
      new cmd heading: 91.432062 deg.

2021-02-16T09:43:03.322Z,1613468583.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:04.109Z,1613468584.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:04.512Z,1613468584.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C03D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:04.513Z,1613468584.513 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C03D30,2107E320,37BCD1E0,4000,4000,0*6B
 expected 7C
2021-02-16T09:43:04.514Z,1613468584.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:04.528Z,1613468584.528 [Micromodem](INFO): Nmea in: $CATXP,400*46

2021-02-16T09:43:04.529Z,1613468584.529 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46

2021-02-16T09:43:04.903Z,1613468584.903 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T09:43:04.904Z,1613468584.904 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T09:43:04.906Z,1613468584.906 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,094305.579511,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77

2021-02-16T09:43:04.906Z,1613468584.906 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,094305.579511,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77

2021-02-16T09:43:05.321Z,1613468585.321 [Micromodem](INFO): Nmea in: $CAERR,094305,NI  ,29,Busy completing a previous request*70

2021-02-16T09:43:05.321Z,1613468585.321 [Micromodem](ERROR): Got error from modem: $CAERR,094305,NI  ,29,Busy completing a previous request*70

2021-02-16T09:43:05.322Z,1613468585.322 [Micromodem](INFO): Nmea in: $SNTTA,0.195798,,,,094305.57*42

2021-02-16T09:43:05.322Z,1613468585.322 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.195798,,,,094305.57*42

2021-02-16T09:43:05.756Z,1613468585.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 294.000000 m, bearing: 86.646994 deg, deltaT: 4.808166 s, approachRate: 0.648895 m/s, LOS rate: 4.315708 deg/s, posRepo size: 4
2021-02-16T09:43:05.758Z,1613468585.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.000000 m,
      bearing: 86.646994 deg,
      approachRate: 0.648895 m/s,
      LOS rate: 4.315708 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 29.978621 deg,
      new cmd heading: 25.051937 deg.

2021-02-16T09:43:08.184Z,1613468588.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:10.989Z,1613468590.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:13.814Z,1613468593.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:15.805Z,1613468595.805 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:16.220Z,1613468596.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:16.663Z,1613468596.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:17.049Z,1613468597.049 [Micromodem](INFO): Nmea in: $SNTTA,0.200281,,,,094317.27*44

2021-02-16T09:43:17.421Z,1613468597.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:17.831Z,1613468597.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:18.641Z,1613468598.641 [Micromodem](INFO): Nmea in: $SNTTA,0.201092,,,,094318.89*4E

2021-02-16T09:43:19.084Z,1613468599.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.799988 m, bearing: 78.518291 deg, deltaT: 13.321047 s, approachRate: 0.585539 m/s, LOS rate: -0.610215 deg/s, posRepo size: 4
2021-02-16T09:43:19.085Z,1613468599.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.799988 m,
      bearing: 78.518291 deg,
      approachRate: 0.585539 m/s,
      LOS rate: -0.610215 deg/s,
      cmd update: -1.830645 deg/s,
      cmd heading: 189.830950 deg,
      new cmd heading: 194.839066 deg.

2021-02-16T09:43:21.504Z,1613468601.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:22.270Z,1613468602.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:22.679Z,1613468602.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:23.492Z,1613468603.492 [Micromodem](INFO): Nmea in: $SNTTA,0.202508,,,,094323.74*41

2021-02-16T09:43:23.920Z,1613468603.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.779999 m, bearing: 94.283535 deg, deltaT: 4.886647 s, approachRate: 0.405188 m/s, LOS rate: 3.226189 deg/s, posRepo size: 4
2021-02-16T09:43:23.922Z,1613468603.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 303.779999 m,
      bearing: 94.283535 deg,
      approachRate: 0.405188 m/s,
      LOS rate: 3.226189 deg/s,
      cmd update: 9.678566 deg/s,
      cmd heading: 180.892731 deg,
      new cmd heading: 180.211746 deg.

2021-02-16T09:43:26.334Z,1613468606.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:27.116Z,1613468607.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:27.551Z,1613468607.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:28.341Z,1613468608.341 [Micromodem](INFO): Nmea in: $SNTTA,0.203573,,,,094328.58*49

2021-02-16T09:43:28.796Z,1613468608.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.339996 m, bearing: 168.395882 deg, deltaT: 4.838232 s, approachRate: 0.322431 m/s, LOS rate: 15.318064 deg/s, posRepo size: 4
2021-02-16T09:43:28.797Z,1613468608.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.318064 deg/s. Setting heading cmd to target bearing of 168.395882deg and heading rate command to 0 deg/s.
2021-02-16T09:43:31.204Z,1613468611.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:31.969Z,1613468611.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:32.377Z,1613468612.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:33.186Z,1613468613.186 [Micromodem](INFO): Nmea in: $SNTTA,0.203956,,,,094333.43*42

2021-02-16T09:43:33.662Z,1613468613.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.820007 m, bearing: 93.406341 deg, deltaT: 4.863378 s, approachRate: 0.098699 m/s, LOS rate: -15.419229 deg/s, posRepo size: 4
2021-02-16T09:43:33.667Z,1613468613.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.419229 deg/s. Setting heading cmd to target bearing of 93.406341deg and heading rate command to 0 deg/s.
2021-02-16T09:43:36.080Z,1613468616.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:36.828Z,1613468616.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:37.229Z,1613468617.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:38.056Z,1613468618.056 [Micromodem](INFO): Nmea in: $SNTTA,0.203705,,,,094338.29*4D

2021-02-16T09:43:38.474Z,1613468618.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 305.459991 m, bearing: 202.858271 deg, deltaT: 4.850035 s, approachRate: -0.074230 m/s, LOS rate: 22.567246 deg/s, posRepo size: 4
2021-02-16T09:43:38.475Z,1613468618.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.567246 deg/s. Setting heading cmd to target bearing of 202.858271deg and heading rate command to 0 deg/s.
2021-02-16T09:43:40.896Z,1613468620.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:41.664Z,1613468621.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:42.078Z,1613468622.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:42.884Z,1613468622.884 [Micromodem](INFO): Nmea in: $SNTTA,0.202789,,,,094343.13*4D

2021-02-16T09:43:43.340Z,1613468623.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 304.139984 m, bearing: 177.478286 deg, deltaT: 4.832345 s, approachRate: -0.273161 m/s, LOS rate: -5.252106 deg/s, posRepo size: 4
2021-02-16T09:43:43.342Z,1613468623.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 304.139984 m,
      bearing: 177.478286 deg,
      approachRate: -0.273161 m/s,
      LOS rate: -5.252106 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 202.858271 deg,
      new cmd heading: 202.858271 deg.

2021-02-16T09:43:45.754Z,1613468625.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:46.542Z,1613468626.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:46.933Z,1613468626.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:47.751Z,1613468627.751 [Micromodem](INFO): Nmea in: $SNTTA,0.202398,,,,094348.01*41

2021-02-16T09:43:48.178Z,1613468628.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 303.539978 m, bearing: 110.238440 deg, deltaT: 4.839154 s, approachRate: -0.123990 m/s, LOS rate: -13.894959 deg/s, posRepo size: 4
2021-02-16T09:43:48.179Z,1613468628.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.894959 deg/s. Setting heading cmd to target bearing of 110.238440deg and heading rate command to 0 deg/s.
2021-02-16T09:43:50.614Z,1613468630.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:51.361Z,1613468631.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:51.766Z,1613468631.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:52.583Z,1613468632.583 [Micromodem](INFO): Nmea in: $SNTTA,0.201775,,,,094352.83*44

2021-02-16T09:43:53.052Z,1613468633.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 302.639984 m, bearing: 167.623320 deg, deltaT: 4.856211 s, approachRate: -0.185328 m/s, LOS rate: 11.816801 deg/s, posRepo size: 4
2021-02-16T09:43:53.053Z,1613468633.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.816801 deg/s. Setting heading cmd to target bearing of 167.623320deg and heading rate command to 0 deg/s.
2021-02-16T09:43:55.431Z,1613468635.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:43:56.223Z,1613468636.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:43:56.614Z,1613468636.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:43:57.455Z,1613468637.455 [Micromodem](INFO): Nmea in: $SNTTA,0.200943,,,,094357.69*4F

2021-02-16T09:43:57.863Z,1613468637.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 301.319977 m, bearing: 174.719176 deg, deltaT: 4.880673 s, approachRate: -0.270456 m/s, LOS rate: 1.453868 deg/s, posRepo size: 4
2021-02-16T09:43:57.865Z,1613468637.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.319977 m,
      bearing: 174.719176 deg,
      approachRate: -0.270456 m/s,
      LOS rate: 1.453868 deg/s,
      cmd update: 4.361605 deg/s,
      cmd heading: 167.623320 deg,
      new cmd heading: 167.623320 deg.

2021-02-16T09:44:00.293Z,1613468640.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:01.067Z,1613468641.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:01.462Z,1613468641.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:02.286Z,1613468642.286 [Micromodem](INFO): Nmea in: $SNTTA,0.200633,,,,094402.53*49

2021-02-16T09:44:02.717Z,1613468642.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 300.899994 m, bearing: 104.704635 deg, deltaT: 4.817013 s, approachRate: -0.087187 m/s, LOS rate: -14.534846 deg/s, posRepo size: 4
2021-02-16T09:44:02.717Z,1613468642.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.534846 deg/s. Setting heading cmd to target bearing of 104.704635deg and heading rate command to 0 deg/s.
2021-02-16T09:44:05.136Z,1613468645.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:05.919Z,1613468645.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:06.330Z,1613468646.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:07.132Z,1613468647.132 [Micromodem](INFO): Nmea in: $SNTTA,0.200054,,,,094407.39*47

2021-02-16T09:44:07.604Z,1613468647.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 299.940002 m, bearing: 157.685094 deg, deltaT: 4.846828 s, approachRate: -0.198066 m/s, LOS rate: 10.930955 deg/s, posRepo size: 4
2021-02-16T09:44:07.606Z,1613468647.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.940002 m,
      bearing: 157.685094 deg,
      approachRate: -0.198066 m/s,
      LOS rate: 10.930955 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.704635 deg,
      new cmd heading: 104.704635 deg.

2021-02-16T09:44:09.965Z,1613468649.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:10.760Z,1613468650.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:11.166Z,1613468651.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:12.028Z,1613468652.028 [Micromodem](INFO): Nmea in: $SNTTA,0.198948,,,,094412.23*4E

2021-02-16T09:44:12.432Z,1613468652.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 298.259979 m, bearing: 162.661447 deg, deltaT: 4.896724 s, approachRate: -0.343091 m/s, LOS rate: 1.016262 deg/s, posRepo size: 4
2021-02-16T09:44:12.434Z,1613468652.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.259979 m,
      bearing: 162.661447 deg,
      approachRate: -0.343091 m/s,
      LOS rate: 1.016262 deg/s,
      cmd update: 3.048785 deg/s,
      cmd heading: 163.710509 deg,
      new cmd heading: 168.021389 deg.

2021-02-16T09:44:14.846Z,1613468654.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:15.608Z,1613468655.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:16.069Z,1613468656.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:16.831Z,1613468656.831 [Micromodem](INFO): Nmea in: $SNTTA,0.198026,,,,094417.07*4C

2021-02-16T09:44:17.274Z,1613468657.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 296.880005 m, bearing: 186.024833 deg, deltaT: 4.801490 s, approachRate: -0.287405 m/s, LOS rate: 4.865862 deg/s, posRepo size: 4
2021-02-16T09:44:17.276Z,1613468657.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.880005 m,
      bearing: 186.024833 deg,
      approachRate: -0.287405 m/s,
      LOS rate: 4.865862 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 178.349132 deg,
      new cmd heading: 179.567615 deg.

2021-02-16T09:44:19.683Z,1613468659.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:20.458Z,1613468660.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:20.867Z,1613468660.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:21.676Z,1613468661.676 [Micromodem](INFO): Nmea in: $SNTTA,0.197274,,,,094421.92*4F

2021-02-16T09:44:22.124Z,1613468662.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 295.739990 m, bearing: 163.568482 deg, deltaT: 4.849583 s, approachRate: -0.235075 m/s, LOS rate: -4.630574 deg/s, posRepo size: 4
2021-02-16T09:44:22.126Z,1613468662.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.739990 m,
      bearing: 163.568482 deg,
      approachRate: -0.235075 m/s,
      LOS rate: -4.630574 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 236.530904 deg,
      new cmd heading: 241.341249 deg.

2021-02-16T09:44:24.572Z,1613468664.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:25.304Z,1613468665.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:25.715Z,1613468665.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:26.545Z,1613468666.545 [Micromodem](INFO): Nmea in: $SNTTA,0.195938,,,,094426.77*42

2021-02-16T09:44:26.982Z,1613468666.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 293.699982 m, bearing: 215.751387 deg, deltaT: 4.845401 s, approachRate: -0.421020 m/s, LOS rate: 10.769574 deg/s, posRepo size: 4
2021-02-16T09:44:26.985Z,1613468666.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 293.699982 m,
      bearing: 215.751387 deg,
      approachRate: -0.421020 m/s,
      LOS rate: 10.769574 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 178.372771 deg,
      new cmd heading: 173.461783 deg.

2021-02-16T09:44:29.385Z,1613468669.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:30.157Z,1613468670.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:30.558Z,1613468670.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:31.373Z,1613468671.373 [Micromodem](INFO): Nmea in: $SNTTA,0.194103,,,,094431.62*41

2021-02-16T09:44:31.804Z,1613468671.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 290.940002 m, bearing: 212.731665 deg, deltaT: 4.851441 s, approachRate: -0.568899 m/s, LOS rate: -0.622438 deg/s, posRepo size: 4
2021-02-16T09:44:31.806Z,1613468671.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 290.940002 m,
      bearing: 212.731665 deg,
      approachRate: -0.568899 m/s,
      LOS rate: -0.622438 deg/s,
      cmd update: -1.867315 deg/s,
      cmd heading: 236.302149 deg,
      new cmd heading: 241.185885 deg.

2021-02-16T09:44:34.230Z,1613468674.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:35.004Z,1613468675.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:35.427Z,1613468675.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:36.232Z,1613468676.232 [Micromodem](INFO): Nmea in: $SNTTA,0.191948,,,,094436.47*43

2021-02-16T09:44:36.670Z,1613468676.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 287.700012 m, bearing: 213.653358 deg, deltaT: 4.835104 s, approachRate: -0.670097 m/s, LOS rate: 0.190625 deg/s, posRepo size: 4
2021-02-16T09:44:36.672Z,1613468676.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.700012 m,
      bearing: 213.653358 deg,
      approachRate: -0.670097 m/s,
      LOS rate: 0.190625 deg/s,
      cmd update: 0.571876 deg/s,
      cmd heading: 227.229029 deg,
      new cmd heading: 226.455273 deg.

2021-02-16T09:44:39.084Z,1613468679.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:39.852Z,1613468679.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:40.259Z,1613468680.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:41.079Z,1613468681.079 [Micromodem](INFO): Nmea in: $SNTTA,0.189636,,,,094441.32*4E

2021-02-16T09:44:41.554Z,1613468681.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 284.279999 m, bearing: 213.413017 deg, deltaT: 4.889591 s, approachRate: -0.699448 m/s, LOS rate: -0.049154 deg/s, posRepo size: 4
2021-02-16T09:44:41.560Z,1613468681.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.279999 m,
      bearing: 213.413017 deg,
      approachRate: -0.699448 m/s,
      LOS rate: -0.049154 deg/s,
      cmd update: -0.147461 deg/s,
      cmd heading: 230.023103 deg,
      new cmd heading: 230.258760 deg.

2021-02-16T09:44:43.930Z,1613468683.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:44.709Z,1613468684.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:45.112Z,1613468685.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:45.929Z,1613468685.929 [Micromodem](INFO): Nmea in: $SNTTA,0.187533,,,,094446.18*49

2021-02-16T09:44:46.367Z,1613468686.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 281.100006 m, bearing: 210.759940 deg, deltaT: 4.797382 s, approachRate: -0.662860 m/s, LOS rate: -0.553026 deg/s, posRepo size: 4
2021-02-16T09:44:46.369Z,1613468686.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.100006 m,
      bearing: 210.759940 deg,
      approachRate: -0.662860 m/s,
      LOS rate: -0.553026 deg/s,
      cmd update: -1.659079 deg/s,
      cmd heading: 229.315095 deg,
      new cmd heading: 229.252604 deg.

2021-02-16T09:44:48.779Z,1613468688.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:49.552Z,1613468689.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:49.964Z,1613468689.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:50.775Z,1613468690.775 [Micromodem](INFO): Nmea in: $SNTTA,0.185274,,,,094451.02*42

2021-02-16T09:44:51.222Z,1613468691.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 277.679993 m, bearing: 210.022976 deg, deltaT: 4.875561 s, approachRate: -0.701460 m/s, LOS rate: -0.151155 deg/s, posRepo size: 4
2021-02-16T09:44:51.224Z,1613468691.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.679993 m,
      bearing: 210.022976 deg,
      approachRate: -0.701460 m/s,
      LOS rate: -0.151155 deg/s,
      cmd update: -0.453464 deg/s,
      cmd heading: 221.226181 deg,
      new cmd heading: 220.556899 deg.

2021-02-16T09:44:53.613Z,1613468693.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:54.400Z,1613468694.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:54.801Z,1613468694.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:44:55.631Z,1613468695.631 [Micromodem](INFO): Nmea in: $SNTTA,0.182948,,,,094455.87*48

2021-02-16T09:44:56.104Z,1613468696.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 274.199982 m, bearing: 211.066601 deg, deltaT: 4.860959 s, approachRate: -0.715910 m/s, LOS rate: 0.214695 deg/s, posRepo size: 4
2021-02-16T09:44:56.105Z,1613468696.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.199982 m,
      bearing: 211.066601 deg,
      approachRate: -0.715910 m/s,
      LOS rate: 0.214695 deg/s,
      cmd update: 0.644086 deg/s,
      cmd heading: 219.032795 deg,
      new cmd heading: 218.831565 deg.

2021-02-16T09:44:58.492Z,1613468698.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:44:59.249Z,1613468699.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:44:59.661Z,1613468699.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:00.465Z,1613468700.465 [Micromodem](INFO): Nmea in: $SNTTA,0.180611,,,,094500.71*41

2021-02-16T09:45:00.899Z,1613468700.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 270.719971 m, bearing: 211.642700 deg, deltaT: 4.821585 s, approachRate: -0.721757 m/s, LOS rate: 0.119483 deg/s, posRepo size: 4
2021-02-16T09:45:00.901Z,1613468700.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.719971 m,
      bearing: 211.642700 deg,
      approachRate: -0.721757 m/s,
      LOS rate: 0.119483 deg/s,
      cmd update: 0.358450 deg/s,
      cmd heading: 222.142997 deg,
      new cmd heading: 222.409775 deg.

2021-02-16T09:45:03.324Z,1613468703.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:04.101Z,1613468704.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:04.513Z,1613468704.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:05.319Z,1613468705.319 [Micromodem](INFO): Nmea in: $SNTTA,0.178316,,,,094505.57*45

2021-02-16T09:45:05.758Z,1613468705.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 267.299988 m, bearing: 212.020601 deg, deltaT: 4.841909 s, approachRate: -0.706329 m/s, LOS rate: 0.078048 deg/s, posRepo size: 4
2021-02-16T09:45:05.760Z,1613468705.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.299988 m,
      bearing: 212.020601 deg,
      approachRate: -0.706329 m/s,
      LOS rate: 0.078048 deg/s,
      cmd update: 0.234144 deg/s,
      cmd heading: 223.884589 deg,
      new cmd heading: 224.033409 deg.

2021-02-16T09:45:08.162Z,1613468708.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:08.944Z,1613468708.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:09.355Z,1613468709.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:10.170Z,1613468710.170 [Micromodem](INFO): Nmea in: $SNTTA,0.175908,,,,094510.41*4E

2021-02-16T09:45:10.597Z,1613468710.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 263.699982 m, bearing: 210.723343 deg, deltaT: 4.885082 s, approachRate: -0.736939 m/s, LOS rate: -0.265555 deg/s, posRepo size: 4
2021-02-16T09:45:10.598Z,1613468710.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.699982 m,
      bearing: 210.723343 deg,
      approachRate: -0.736939 m/s,
      LOS rate: -0.265555 deg/s,
      cmd update: -0.796665 deg/s,
      cmd heading: 225.026167 deg,
      new cmd heading: 225.114623 deg.

2021-02-16T09:45:13.013Z,1613468713.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:13.792Z,1613468713.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:14.217Z,1613468714.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:15.024Z,1613468715.024 [Micromodem](INFO): Nmea in: $SNTTA,0.173636,,,,094515.26*4E

2021-02-16T09:45:15.450Z,1613468715.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 260.279999 m, bearing: 210.332206 deg, deltaT: 4.874866 s, approachRate: -0.701554 m/s, LOS rate: -0.080236 deg/s, posRepo size: 4
2021-02-16T09:45:15.468Z,1613468715.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.279999 m,
      bearing: 210.332206 deg,
      approachRate: -0.701554 m/s,
      LOS rate: -0.080236 deg/s,
      cmd update: -0.240707 deg/s,
      cmd heading: 221.138140 deg,
      new cmd heading: 220.858318 deg.

2021-02-16T09:45:17.881Z,1613468717.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:18.646Z,1613468718.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:19.065Z,1613468719.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:19.867Z,1613468719.867 [Micromodem](INFO): Nmea in: $SNTTA,0.171197,,,,094520.11*42

2021-02-16T09:45:20.325Z,1613468720.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 256.619995 m, bearing: 210.152749 deg, deltaT: 4.821314 s, approachRate: -0.759130 m/s, LOS rate: -0.037221 deg/s, posRepo size: 4
2021-02-16T09:45:20.326Z,1613468720.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.619995 m,
      bearing: 210.152749 deg,
      approachRate: -0.759130 m/s,
      LOS rate: -0.037221 deg/s,
      cmd update: -0.111664 deg/s,
      cmd heading: 219.978698 deg,
      new cmd heading: 219.880335 deg.

2021-02-16T09:45:22.711Z,1613468722.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:23.492Z,1613468723.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:23.904Z,1613468723.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:24.708Z,1613468724.708 [Micromodem](INFO): Nmea in: $SNTTA,0.168723,,,,094524.96*48

2021-02-16T09:45:25.168Z,1613468725.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.899994 m, bearing: 210.879400 deg, deltaT: 4.828301 s, approachRate: -0.770458 m/s, LOS rate: 0.150498 deg/s, posRepo size: 4
2021-02-16T09:45:25.170Z,1613468725.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.899994 m,
      bearing: 210.879400 deg,
      approachRate: -0.770458 m/s,
      LOS rate: 0.150498 deg/s,
      cmd update: 0.451494 deg/s,
      cmd heading: 219.438622 deg,
      new cmd heading: 219.392712 deg.

2021-02-16T09:45:27.573Z,1613468727.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:28.341Z,1613468728.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:28.749Z,1613468728.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:29.563Z,1613468729.563 [Micromodem](INFO): Nmea in: $SNTTA,0.166338,,,,094529.81*43

2021-02-16T09:45:29.982Z,1613468729.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.300003 m, bearing: 210.590278 deg, deltaT: 4.858741 s, approachRate: -0.740931 m/s, LOS rate: -0.059506 deg/s, posRepo size: 4
2021-02-16T09:45:29.984Z,1613468729.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.300003 m,
      bearing: 210.590278 deg,
      approachRate: -0.740931 m/s,
      LOS rate: -0.059506 deg/s,
      cmd update: -0.178517 deg/s,
      cmd heading: 221.632321 deg,
      new cmd heading: 221.799894 deg.

2021-02-16T09:45:32.412Z,1613468732.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:33.190Z,1613468733.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:33.595Z,1613468733.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:34.408Z,1613468734.408 [Micromodem](INFO): Nmea in: $SNTTA,0.164029,,,,094534.66*47

2021-02-16T09:45:34.848Z,1613468734.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 245.880005 m, bearing: 210.814649 deg, deltaT: 4.820724 s, approachRate: -0.709437 m/s, LOS rate: 0.046543 deg/s, posRepo size: 4
2021-02-16T09:45:34.850Z,1613468734.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.880005 m,
      bearing: 210.814649 deg,
      approachRate: -0.709437 m/s,
      LOS rate: 0.046543 deg/s,
      cmd update: 0.139629 deg/s,
      cmd heading: 220.771784 deg,
      new cmd heading: 220.697488 deg.

2021-02-16T09:45:37.242Z,1613468737.242 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:45:37.256Z,1613468737.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:38.054Z,1613468738.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:38.455Z,1613468738.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:39.260Z,1613468739.260 [Micromodem](INFO): Nmea in: $SNTTA,0.161831,,,,094539.52*49

2021-02-16T09:45:39.704Z,1613468739.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 242.160004 m, bearing: 210.105949 deg, deltaT: 4.871191 s, approachRate: -0.763674 m/s, LOS rate: -0.145488 deg/s, posRepo size: 4
2021-02-16T09:45:39.706Z,1613468739.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.160004 m,
      bearing: 210.105949 deg,
      approachRate: -0.763674 m/s,
      LOS rate: -0.145488 deg/s,
      cmd update: -0.436464 deg/s,
      cmd heading: 221.451949 deg,
      new cmd heading: 221.507997 deg.

2021-02-16T09:45:42.121Z,1613468742.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:42.885Z,1613468742.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:43.301Z,1613468743.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:44.134Z,1613468744.134 [Micromodem](INFO): Nmea in: $SNTTA,0.159272,,,,094544.35*44

2021-02-16T09:45:44.572Z,1613468744.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 238.679993 m, bearing: 210.053479 deg, deltaT: 4.854621 s, approachRate: -0.716845 m/s, LOS rate: -0.010808 deg/s, posRepo size: 4
2021-02-16T09:45:44.574Z,1613468744.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.679993 m,
      bearing: 210.053479 deg,
      approachRate: -0.716845 m/s,
      LOS rate: -0.010808 deg/s,
      cmd update: -0.032424 deg/s,
      cmd heading: 219.332901 deg,
      new cmd heading: 219.152075 deg.

2021-02-16T09:45:46.939Z,1613468746.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:47.737Z,1613468747.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:48.145Z,1613468748.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:48.953Z,1613468748.953 [Micromodem](INFO): Nmea in: $SNTTA,0.157020,,,,094549.20*46

2021-02-16T09:45:49.422Z,1613468749.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 235.319992 m, bearing: 210.153897 deg, deltaT: 4.835492 s, approachRate: -0.694862 m/s, LOS rate: 0.020767 deg/s, posRepo size: 4
2021-02-16T09:45:49.424Z,1613468749.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.319992 m,
      bearing: 210.153897 deg,
      approachRate: -0.694862 m/s,
      LOS rate: 0.020767 deg/s,
      cmd update: 0.062300 deg/s,
      cmd heading: 219.176930 deg,
      new cmd heading: 219.162225 deg.

2021-02-16T09:45:51.822Z,1613468751.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:52.586Z,1613468752.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:52.997Z,1613468752.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:53.827Z,1613468753.827 [Micromodem](INFO): Nmea in: $SNTTA,0.154650,,,,094554.05*4F

2021-02-16T09:45:54.257Z,1613468754.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.779984 m, bearing: 210.337820 deg, deltaT: 4.858705 s, approachRate: -0.728591 m/s, LOS rate: 0.037854 deg/s, posRepo size: 4
2021-02-16T09:45:54.258Z,1613468754.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.779984 m,
      bearing: 210.337820 deg,
      approachRate: -0.728591 m/s,
      LOS rate: 0.037854 deg/s,
      cmd update: 0.113563 deg/s,
      cmd heading: 219.481184 deg,
      new cmd heading: 219.506393 deg.

2021-02-16T09:45:54.684Z,1613468754.684 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T09:45:54.684Z,1613468754.684 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T09:45:54.684Z,1613468754.684 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T09:45:54.684Z,1613468754.684 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T09:45:54.685Z,1613468754.685 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T09:45:54.685Z,1613468754.685 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T09:45:54.685Z,1613468754.685 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T09:45:54.686Z,1613468754.686 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T09:45:54.686Z,1613468754.686 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T09:45:54.686Z,1613468754.686 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T09:45:54.692Z,1613468754.692 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613463355.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T09:45:54.692Z,1613468754.692 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T09:45:56.664Z,1613468756.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:45:57.439Z,1613468757.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:45:57.844Z,1613468757.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:45:58.656Z,1613468758.656 [Micromodem](INFO): Nmea in: $SNTTA,0.152390,,,,094558.90*40

2021-02-16T09:45:59.090Z,1613468759.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.359985 m, bearing: 209.900429 deg, deltaT: 4.828097 s, approachRate: -0.708353 m/s, LOS rate: -0.090593 deg/s, posRepo size: 4
2021-02-16T09:45:59.092Z,1613468759.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.359985 m,
      bearing: 209.900429 deg,
      approachRate: -0.708353 m/s,
      LOS rate: -0.090593 deg/s,
      cmd update: -0.271779 deg/s,
      cmd heading: 220.029456 deg,
      new cmd heading: 220.076023 deg.

2021-02-16T09:46:01.547Z,1613468761.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:02.281Z,1613468762.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:02.686Z,1613468762.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:03.507Z,1613468763.507 [Micromodem](INFO): Nmea in: $SNTTA,0.150066,,,,094603.75*4E

2021-02-16T09:46:03.932Z,1613468763.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.879974 m, bearing: 208.746004 deg, deltaT: 4.878987 s, approachRate: -0.713265 m/s, LOS rate: -0.236612 deg/s, posRepo size: 4
2021-02-16T09:46:03.933Z,1613468763.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.879974 m,
      bearing: 208.746004 deg,
      approachRate: -0.713265 m/s,
      LOS rate: -0.236612 deg/s,
      cmd update: -0.709835 deg/s,
      cmd heading: 218.704452 deg,
      new cmd heading: 218.602225 deg.

2021-02-16T09:46:06.348Z,1613468766.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:07.133Z,1613468767.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:07.185Z,1613468767.185 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:46:07.557Z,1613468767.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:08.382Z,1613468768.382 [Micromodem](INFO): Nmea in: $SNTTA,0.147902,,,,094608.60*4C

2021-02-16T09:46:08.780Z,1613468768.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.639984 m, bearing: 207.468430 deg, deltaT: 4.882766 s, approachRate: -0.663556 m/s, LOS rate: -0.261649 deg/s, posRepo size: 4
2021-02-16T09:46:08.782Z,1613468768.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.639984 m,
      bearing: 207.468430 deg,
      approachRate: -0.663556 m/s,
      LOS rate: -0.261649 deg/s,
      cmd update: -0.784948 deg/s,
      cmd heading: 215.253663 deg,
      new cmd heading: 214.996012 deg.

2021-02-16T09:46:11.259Z,1613468771.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:11.976Z,1613468771.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:12.396Z,1613468772.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:13.205Z,1613468773.205 [Micromodem](INFO): Nmea in: $SNTTA,0.145601,,,,094613.45*4F

2021-02-16T09:46:13.652Z,1613468773.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.219986 m, bearing: 206.347733 deg, deltaT: 4.806262 s, approachRate: -0.711571 m/s, LOS rate: -0.233174 deg/s, posRepo size: 4
2021-02-16T09:46:13.653Z,1613468773.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.219986 m,
      bearing: 206.347733 deg,
      approachRate: -0.711571 m/s,
      LOS rate: -0.233174 deg/s,
      cmd update: -0.699523 deg/s,
      cmd heading: 211.467491 deg,
      new cmd heading: 211.144568 deg.

2021-02-16T09:46:16.065Z,1613468776.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:16.841Z,1613468776.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:17.237Z,1613468777.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:17.257Z,1613468777.257 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:46:18.056Z,1613468778.056 [Micromodem](INFO): Nmea in: $SNTTA,0.143459,,,,094618.31*4E

2021-02-16T09:46:18.470Z,1613468778.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.039978 m, bearing: 208.473465 deg, deltaT: 4.864117 s, approachRate: -0.653769 m/s, LOS rate: 0.437023 deg/s, posRepo size: 4
2021-02-16T09:46:18.472Z,1613468778.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.039978 m,
      bearing: 208.473465 deg,
      approachRate: -0.653769 m/s,
      LOS rate: 0.437023 deg/s,
      cmd update: 1.311070 deg/s,
      cmd heading: 208.061931 deg,
      new cmd heading: 207.809012 deg.

2021-02-16T09:46:20.913Z,1613468780.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:21.673Z,1613468781.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:22.093Z,1613468782.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:22.188Z,1613468782.188 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T09:46:22.188Z,1613468782.188 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T09:46:22.188Z,1613468782.188 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T09:46:22.283Z,1613468782.283 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T09:46:22.548Z,1613468782.548 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T09:46:22.891Z,1613468782.891 [Micromodem](INFO): Nmea in: $SNTTA,0.141283,,,,094623.14*42

2021-02-16T09:46:23.326Z,1613468783.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.739990 m, bearing: 211.685922 deg, deltaT: 4.826421 s, approachRate: -0.683734 m/s, LOS rate: 0.665598 deg/s, posRepo size: 4
2021-02-16T09:46:23.328Z,1613468783.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.739990 m,
      bearing: 211.685922 deg,
      approachRate: -0.683734 m/s,
      LOS rate: 0.665598 deg/s,
      cmd update: 1.996794 deg/s,
      cmd heading: 214.363088 deg,
      new cmd heading: 214.902505 deg.

2021-02-16T09:46:23.536Z,1613468783.536 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T09:46:23.536Z,1613468783.536 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T09:46:25.763Z,1613468785.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:26.148Z,1613468786.148 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T09:46:26.573Z,1613468786.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T09:46:26.684Z,1613468786.684 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T09:46:26.685Z,1613468786.685 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T09:46:26.844Z,1613468786.844 [Radio_Surface](INFO): Powering up
2021-02-16T09:46:26.943Z,1613468786.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:27.753Z,1613468787.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094628.04*5B

2021-02-16T09:46:28.636Z,1613468788.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:30.154Z,1613468790.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:46:31.404Z,1613468791.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:32.139Z,1613468792.139 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T09:46:32.182Z,1613468792.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:32.582Z,1613468792.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:33.397Z,1613468793.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094633.65*56

2021-02-16T09:46:33.877Z,1613468793.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.339996 m, bearing: 208.553269 deg, deltaT: 10.472625 s, approachRate: -0.515629 m/s, LOS rate: -0.299128 deg/s, posRepo size: 4
2021-02-16T09:46:33.879Z,1613468793.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.339996 m,
      bearing: 208.553269 deg,
      approachRate: -0.515629 m/s,
      LOS rate: -0.299128 deg/s,
      cmd update: -0.897383 deg/s,
      cmd heading: 235.324260 deg,
      new cmd heading: 236.252408 deg.

2021-02-16T09:46:36.256Z,1613468796.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:37.084Z,1613468797.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:37.429Z,1613468797.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:38.656Z,1613468798.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094638.55*5E

2021-02-16T09:46:38.710Z,1613468798.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.839996 m, bearing: 201.102312 deg, deltaT: 4.881411 s, approachRate: -0.307288 m/s, LOS rate: -1.526394 deg/s, posRepo size: 4
2021-02-16T09:46:38.716Z,1613468798.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.839996 m,
      bearing: 201.102312 deg,
      approachRate: -0.307288 m/s,
      LOS rate: -1.526394 deg/s,
      cmd update: -4.579183 deg/s,
      cmd heading: 230.943876 deg,
      new cmd heading: 230.569723 deg.

2021-02-16T09:46:41.079Z,1613468801.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:41.881Z,1613468801.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:42.279Z,1613468802.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:43.092Z,1613468803.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094643.35*54

2021-02-16T09:46:43.564Z,1613468803.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.639984 m, bearing: 200.913990 deg, deltaT: 4.813495 s, approachRate: -0.249302 m/s, LOS rate: -0.039124 deg/s, posRepo size: 4
2021-02-16T09:46:43.565Z,1613468803.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.639984 m,
      bearing: 200.913990 deg,
      approachRate: -0.249302 m/s,
      LOS rate: -0.039124 deg/s,
      cmd update: -0.117371 deg/s,
      cmd heading: 208.901060 deg,
      new cmd heading: 206.837360 deg.

2021-02-16T09:46:43.615Z,1613468803.615 [BuoyancyServo](FAULT): Overload Error
2021-02-16T09:46:43.616Z,1613468803.616 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T09:46:43.616Z,1613468803.616 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T09:46:43.683Z,1613468803.683 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T09:46:45.605Z,1613468805.605 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T09:46:45.605Z,1613468805.605 [BuoyancyServo](INFO): Powering down
2021-02-16T09:46:45.984Z,1613468805.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:46.415Z,1613468806.415 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T09:46:46.415Z,1613468806.415 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T09:46:46.727Z,1613468806.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:46.867Z,1613468806.867 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:46:46.876Z,1613468806.876 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T09:46:47.126Z,1613468807.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:47.942Z,1613468807.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094648.19*51

2021-02-16T09:46:48.378Z,1613468808.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.679977 m, bearing: 197.695523 deg, deltaT: 4.849346 s, approachRate: -0.197966 m/s, LOS rate: -0.663691 deg/s, posRepo size: 4
2021-02-16T09:46:48.380Z,1613468808.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.679977 m,
      bearing: 197.695523 deg,
      approachRate: -0.197966 m/s,
      LOS rate: -0.663691 deg/s,
      cmd update: -1.991073 deg/s,
      cmd heading: 208.331855 deg,
      new cmd heading: 208.282416 deg.

2021-02-16T09:46:50.836Z,1613468810.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:51.608Z,1613468811.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:51.980Z,1613468811.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:52.816Z,1613468812.816 [Micromodem](INFO): Nmea in: $SNTTA,0.134802,,,,094653.07*46

2021-02-16T09:46:53.241Z,1613468813.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.080002 m, bearing: 204.887206 deg, deltaT: 4.917738 s, approachRate: -0.122002 m/s, LOS rate: 1.462397 deg/s, posRepo size: 4
2021-02-16T09:46:53.243Z,1613468813.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 204.887206 deg,
      approachRate: -0.122002 m/s,
      LOS rate: 1.462397 deg/s,
      cmd update: 4.387190 deg/s,
      cmd heading: 198.548737 deg,
      new cmd heading: 197.809794 deg.

2021-02-16T09:46:54.417Z,1613468814.417 [NAL9602](INFO): SBD MO Status=0, MOMSN=13407, MT Status=0, MTMSN=0
2021-02-16T09:46:54.418Z,1613468814.418 [NAL9602](INFO): No messages in MT queue
2021-02-16T09:46:55.655Z,1613468815.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:46:56.420Z,1613468816.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:46:56.831Z,1613468816.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:46:57.644Z,1613468817.644 [Micromodem](INFO): Nmea in: $SNTTA,0.134014,,,,094657.88*4A

2021-02-16T09:46:58.495Z,1613468818.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:00.056Z,1613468820.056 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:47:01.315Z,1613468821.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:02.082Z,1613468822.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:02.261Z,1613468822.261 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:47:02.492Z,1613468822.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:03.299Z,1613468823.299 [Micromodem](INFO): Nmea in: $SNTTA,0.134476,,,,094703.55*4A

2021-02-16T09:47:03.784Z,1613468823.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.599991 m, bearing: 234.876654 deg, deltaT: 10.448242 s, approachRate: -0.045942 m/s, LOS rate: 2.870286 deg/s, posRepo size: 4
2021-02-16T09:47:03.786Z,1613468823.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.599991 m,
      bearing: 234.876654 deg,
      approachRate: -0.045942 m/s,
      LOS rate: 2.870286 deg/s,
      cmd update: 8.610860 deg/s,
      cmd heading: 244.404762 deg,
      new cmd heading: 246.410419 deg.

2021-02-16T09:47:04.211Z,1613468824.211 [BuoyancyServo](FAULT): Overload Error
2021-02-16T09:47:04.211Z,1613468824.211 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T09:47:04.211Z,1613468824.211 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T09:47:04.315Z,1613468824.315 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T09:47:06.156Z,1613468826.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:06.164Z,1613468826.164 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T09:47:06.164Z,1613468826.164 [BuoyancyServo](INFO): Powering down
2021-02-16T09:47:06.630Z,1613468826.630 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2021-02-16T09:47:06.926Z,1613468826.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:07.163Z,1613468827.163 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T09:47:07.163Z,1613468827.163 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T09:47:07.329Z,1613468827.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:07.407Z,1613468827.407 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:47:07.415Z,1613468827.415 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T09:47:08.142Z,1613468828.142 [Micromodem](INFO): Nmea in: $SNTTA,0.134597,,,,094708.39*45

2021-02-16T09:47:08.970Z,1613468828.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:10.590Z,1613468830.590 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:47:11.844Z,1613468831.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:12.595Z,1613468832.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:12.987Z,1613468832.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:13.807Z,1613468833.807 [Micromodem](INFO): Nmea in: $SNTTA,0.134075,,,,094714.06*4D

2021-02-16T09:47:14.249Z,1613468834.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.939987 m, bearing: 217.403637 deg, deltaT: 10.566783 s, approachRate: -0.062460 m/s, LOS rate: -1.653580 deg/s, posRepo size: 4
2021-02-16T09:47:14.251Z,1613468834.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.939987 m,
      bearing: 217.403637 deg,
      approachRate: -0.062460 m/s,
      LOS rate: -1.653580 deg/s,
      cmd update: -4.960739 deg/s,
      cmd heading: 335.392891 deg,
      new cmd heading: 338.493196 deg.

2021-02-16T09:47:16.687Z,1613468836.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:17.428Z,1613468837.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:17.834Z,1613468837.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:18.649Z,1613468838.649 [Micromodem](INFO): Nmea in: $SNTTA,0.134644,,,,094718.89*42

2021-02-16T09:47:19.093Z,1613468839.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 300.318910 deg, deltaT: 4.793998 s, approachRate: 0.200252 m/s, LOS rate: 17.295642 deg/s, posRepo size: 4
2021-02-16T09:47:19.094Z,1613468839.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.295642 deg/s. Setting heading cmd to target bearing of 300.318910deg and heading rate command to 0 deg/s.
2021-02-16T09:47:21.482Z,1613468841.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:22.295Z,1613468842.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:22.682Z,1613468842.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:23.511Z,1613468843.511 [Micromodem](INFO): Nmea in: $SNTTA,0.133851,,,,094723.76*47

2021-02-16T09:47:23.945Z,1613468843.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 233.684732 deg, deltaT: 4.878721 s, approachRate: -0.245965 m/s, LOS rate: -13.658124 deg/s, posRepo size: 4
2021-02-16T09:47:23.945Z,1613468843.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.658124 deg/s. Setting heading cmd to target bearing of 233.684732deg and heading rate command to 0 deg/s.
2021-02-16T09:47:25.615Z,1613468845.615 [BuoyancyServo](FAULT): Overload Error
2021-02-16T09:47:25.615Z,1613468845.615 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T09:47:25.615Z,1613468845.615 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T09:47:25.723Z,1613468845.723 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T09:47:26.336Z,1613468846.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:27.129Z,1613468847.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:27.581Z,1613468847.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:27.647Z,1613468847.647 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T09:47:27.647Z,1613468847.647 [BuoyancyServo](INFO): Powering down
2021-02-16T09:47:28.349Z,1613468848.349 [Micromodem](INFO): Nmea in: $SNTTA,0.133829,,,,094728.59*4E

2021-02-16T09:47:28.455Z,1613468848.455 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T09:47:28.455Z,1613468848.455 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T09:47:28.829Z,1613468848.829 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:47:28.839Z,1613468848.839 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T09:47:29.164Z,1613468849.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:30.764Z,1613468850.764 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:47:32.020Z,1613468852.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:32.786Z,1613468852.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:33.215Z,1613468853.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:34.008Z,1613468854.008 [Micromodem](INFO): Nmea in: $SNTTA,0.133746,,,,094734.25*4E

2021-02-16T09:47:34.460Z,1613468854.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 200.672843 deg, deltaT: 10.507960 s, approachRate: -0.017129 m/s, LOS rate: -3.141608 deg/s, posRepo size: 4
2021-02-16T09:47:34.462Z,1613468854.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 200.672843 deg,
      approachRate: -0.017129 m/s,
      LOS rate: -3.141608 deg/s,
      cmd update: -9.424824 deg/s,
      cmd heading: 233.684732 deg,
      new cmd heading: 233.684732 deg.

2021-02-16T09:47:36.877Z,1613468856.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:37.401Z,1613468857.401 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:47:37.634Z,1613468857.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:38.034Z,1613468858.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:38.855Z,1613468858.855 [Micromodem](INFO): Nmea in: $SNTTA,0.133812,,,,094739.10*4B

2021-02-16T09:47:39.283Z,1613468859.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.579987 m, bearing: 198.593706 deg, deltaT: 4.848715 s, approachRate: 0.012371 m/s, LOS rate: -0.428802 deg/s, posRepo size: 4
2021-02-16T09:47:39.285Z,1613468859.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.579987 m,
      bearing: 198.593706 deg,
      approachRate: 0.012371 m/s,
      LOS rate: -0.428802 deg/s,
      cmd update: -1.286405 deg/s,
      cmd heading: 188.024742 deg,
      new cmd heading: 184.553362 deg.

2021-02-16T09:47:41.742Z,1613468861.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:42.476Z,1613468862.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:42.888Z,1613468862.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:43.694Z,1613468863.694 [Micromodem](INFO): Nmea in: $SNTTA,0.133597,,,,094743.94*4A

2021-02-16T09:47:44.122Z,1613468864.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.339981 m, bearing: 196.623770 deg, deltaT: 4.879549 s, approachRate: -0.049186 m/s, LOS rate: -0.403713 deg/s, posRepo size: 4
2021-02-16T09:47:44.124Z,1613468864.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 196.623770 deg,
      approachRate: -0.049186 m/s,
      LOS rate: -0.403713 deg/s,
      cmd update: -1.211138 deg/s,
      cmd heading: 181.744123 deg,
      new cmd heading: 181.325849 deg.

2021-02-16T09:47:46.223Z,1613468866.223 [BuoyancyServo](FAULT): Overload Error
2021-02-16T09:47:46.223Z,1613468866.223 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T09:47:46.223Z,1613468866.223 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T09:47:46.327Z,1613468866.327 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T09:47:46.614Z,1613468866.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:47.335Z,1613468867.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:47.730Z,1613468867.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:48.177Z,1613468868.177 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T09:47:48.177Z,1613468868.177 [BuoyancyServo](INFO): Powering down
2021-02-16T09:47:48.594Z,1613468868.594 [Micromodem](INFO): Nmea in: $SNTTA,0.133484,,,,094748.80*47

2021-02-16T09:47:48.986Z,1613468868.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.099991 m, bearing: 201.209750 deg, deltaT: 4.871449 s, approachRate: -0.049265 m/s, LOS rate: 0.941400 deg/s, posRepo size: 4
2021-02-16T09:47:48.988Z,1613468868.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.099991 m,
      bearing: 201.209750 deg,
      approachRate: -0.049265 m/s,
      LOS rate: 0.941400 deg/s,
      cmd update: 2.824199 deg/s,
      cmd heading: 175.842563 deg,
      new cmd heading: 175.459314 deg.

2021-02-16T09:47:49.088Z,1613468869.088 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T09:47:49.088Z,1613468869.088 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T09:47:49.408Z,1613468869.408 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:47:49.409Z,1613468869.409 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T09:47:51.392Z,1613468871.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:52.177Z,1613468872.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:52.582Z,1613468872.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:53.391Z,1613468873.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094753.64*50

2021-02-16T09:47:53.850Z,1613468873.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.739990 m, bearing: 204.605693 deg, deltaT: 4.758860 s, approachRate: -0.075649 m/s, LOS rate: 0.713604 deg/s, posRepo size: 4
2021-02-16T09:47:53.852Z,1613468873.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.739990 m,
      bearing: 204.605693 deg,
      approachRate: -0.075649 m/s,
      LOS rate: 0.713604 deg/s,
      cmd update: 2.140813 deg/s,
      cmd heading: 189.270448 deg,
      new cmd heading: 190.472495 deg.

2021-02-16T09:47:56.262Z,1613468876.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:47:57.020Z,1613468877.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:47:57.426Z,1613468877.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:47:58.236Z,1613468878.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094758.48*55

2021-02-16T09:47:59.060Z,1613468879.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:00.654Z,1613468880.654 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:48:01.964Z,1613468881.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:02.694Z,1613468882.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:03.083Z,1613468883.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:03.919Z,1613468883.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094804.16*58

2021-02-16T09:48:04.354Z,1613468884.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.279984 m, bearing: 201.709229 deg, deltaT: 10.594265 s, approachRate: 0.050970 m/s, LOS rate: -0.273399 deg/s, posRepo size: 4
2021-02-16T09:48:04.356Z,1613468884.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.279984 m,
      bearing: 201.709229 deg,
      approachRate: 0.050970 m/s,
      LOS rate: -0.273399 deg/s,
      cmd update: -0.820198 deg/s,
      cmd heading: 211.951327 deg,
      new cmd heading: 212.667086 deg.

2021-02-16T09:48:05.631Z,1613468885.631 [BuoyancyServo](FAULT): Overload Error
2021-02-16T09:48:05.631Z,1613468885.631 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T09:48:05.631Z,1613468885.631 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T09:48:05.703Z,1613468885.703 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T09:48:06.768Z,1613468886.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:07.541Z,1613468887.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:07.710Z,1613468887.710 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T09:48:07.710Z,1613468887.710 [BuoyancyServo](INFO): Powering down
2021-02-16T09:48:07.952Z,1613468887.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:08.439Z,1613468888.439 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T09:48:08.439Z,1613468888.439 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T09:48:08.755Z,1613468888.755 [Micromodem](INFO): Nmea in: $SNTTA,0.133223,,,,094809.01*4F

2021-02-16T09:48:08.850Z,1613468888.850 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T09:48:08.855Z,1613468888.855 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T09:48:09.200Z,1613468889.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.559998 m, bearing: 200.611535 deg, deltaT: 4.801728 s, approachRate: -0.149943 m/s, LOS rate: -0.228604 deg/s, posRepo size: 4
2021-02-16T09:48:09.202Z,1613468889.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 200.611535 deg,
      approachRate: -0.149943 m/s,
      LOS rate: -0.228604 deg/s,
      cmd update: -0.685811 deg/s,
      cmd heading: 208.009474 deg,
      new cmd heading: 207.702356 deg.

2021-02-16T09:48:11.663Z,1613468891.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:12.378Z,1613468892.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:12.545Z,1613468892.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:48:12.790Z,1613468892.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:13.623Z,1613468893.623 [Micromodem](INFO): Nmea in: $SNTTA,0.133200,,,,094813.84*48

2021-02-16T09:48:14.056Z,1613468894.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.719986 m, bearing: 200.284588 deg, deltaT: 4.861552 s, approachRate: -0.172787 m/s, LOS rate: -0.067252 deg/s, posRepo size: 4
2021-02-16T09:48:14.058Z,1613468894.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.719986 m,
      bearing: 200.284588 deg,
      approachRate: -0.172787 m/s,
      LOS rate: -0.067252 deg/s,
      cmd update: -0.201755 deg/s,
      cmd heading: 204.689333 deg,
      new cmd heading: 204.421480 deg.

2021-02-16T09:48:16.463Z,1613468896.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:17.226Z,1613468897.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:17.627Z,1613468897.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:18.441Z,1613468898.441 [Micromodem](INFO): Nmea in: $SNTTA,0.133331,,,,094818.69*43

2021-02-16T09:48:18.903Z,1613468898.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.799988 m, bearing: 202.137017 deg, deltaT: 4.794357 s, approachRate: 0.225265 m/s, LOS rate: 0.386377 deg/s, posRepo size: 4
2021-02-16T09:48:18.905Z,1613468898.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.799988 m,
      bearing: 202.137017 deg,
      approachRate: 0.225265 m/s,
      LOS rate: 0.386377 deg/s,
      cmd update: 1.159131 deg/s,
      cmd heading: 203.717943 deg,
      new cmd heading: 203.632747 deg.

2021-02-16T09:48:21.284Z,1613468901.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:22.079Z,1613468902.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:22.493Z,1613468902.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:23.298Z,1613468903.298 [Micromodem](INFO): Nmea in: $SNTTA,0.133551,,,,094823.55*44

2021-02-16T09:48:23.736Z,1613468903.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.860001 m, bearing: 219.511761 deg, deltaT: 4.832142 s, approachRate: 0.012420 m/s, LOS rate: 3.595661 deg/s, posRepo size: 4
2021-02-16T09:48:23.758Z,1613468903.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.860001 m,
      bearing: 219.511761 deg,
      approachRate: 0.012420 m/s,
      LOS rate: 3.595661 deg/s,
      cmd update: 10.786983 deg/s,
      cmd heading: 209.319079 deg,
      new cmd heading: 209.804501 deg.

2021-02-16T09:48:26.012Z,1613468906.012 [CTD_Seabird](ERROR): Failed to parse device response: .53
2021-02-16T09:48:26.154Z,1613468906.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:26.916Z,1613468906.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:27.339Z,1613468907.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:28.132Z,1613468908.132 [Micromodem](INFO): Nmea in: $SNTTA,0.133445,,,,094828.38*40

2021-02-16T09:48:28.975Z,1613468908.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:30.593Z,1613468910.593 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:48:31.829Z,1613468911.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:32.591Z,1613468912.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:32.979Z,1613468912.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:33.802Z,1613468913.802 [Micromodem](INFO): Nmea in: $SNTTA,0.133748,,,,094834.06*4E

2021-02-16T09:48:34.242Z,1613468914.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.579987 m, bearing: 161.451151 deg, deltaT: 10.566010 s, approachRate: 0.068142 m/s, LOS rate: -5.495037 deg/s, posRepo size: 4
2021-02-16T09:48:34.244Z,1613468914.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.579987 m,
      bearing: 161.451151 deg,
      approachRate: 0.068142 m/s,
      LOS rate: -5.495037 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 323.248633 deg,
      new cmd heading: 327.213043 deg.

2021-02-16T09:48:36.655Z,1613468916.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:37.425Z,1613468917.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:37.842Z,1613468917.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:38.638Z,1613468918.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094838.89*51

2021-02-16T09:48:39.078Z,1613468919.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 187.625215 deg, deltaT: 4.823447 s, approachRate: 0.024881 m/s, LOS rate: 5.426423 deg/s, posRepo size: 4
2021-02-16T09:48:39.080Z,1613468919.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.699997 m,
      bearing: 187.625215 deg,
      approachRate: 0.024881 m/s,
      LOS rate: 5.426423 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 265.367423 deg,
      new cmd heading: 260.799851 deg.

2021-02-16T09:48:41.475Z,1613468921.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:42.273Z,1613468922.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:42.680Z,1613468922.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:43.502Z,1613468923.502 [Micromodem](INFO): Nmea in: $SNTTA,0.133873,,,,094843.74*4C

2021-02-16T09:48:43.947Z,1613468923.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.759995 m, bearing: 124.726781 deg, deltaT: 4.876185 s, approachRate: 0.012304 m/s, LOS rate: -12.899108 deg/s, posRepo size: 4
2021-02-16T09:48:43.948Z,1613468923.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.899108 deg/s. Setting heading cmd to target bearing of 124.726781deg and heading rate command to 0 deg/s.
2021-02-16T09:48:46.349Z,1613468926.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:47.123Z,1613468927.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:47.541Z,1613468927.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:47.691Z,1613468927.691 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:48:48.341Z,1613468928.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094848.59*5B

2021-02-16T09:48:49.180Z,1613468929.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:50.752Z,1613468930.752 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:48:51.685Z,1613468931.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:52.377Z,1613468932.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:52.774Z,1613468932.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:53.590Z,1613468933.590 [Micromodem](INFO): Nmea in: $SNTTA,0.134096,,,,094853.84*46

2021-02-16T09:48:54.056Z,1613468934.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.119995 m, bearing: 175.599628 deg, deltaT: 10.061054 s, approachRate: 0.035782 m/s, LOS rate: 5.056413 deg/s, posRepo size: 4
2021-02-16T09:48:54.058Z,1613468934.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.119995 m,
      bearing: 175.599628 deg,
      approachRate: 0.035782 m/s,
      LOS rate: 5.056413 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 124.726781 deg,
      new cmd heading: 124.726781 deg.

2021-02-16T09:48:56.428Z,1613468936.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:48:57.232Z,1613468937.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:48:57.622Z,1613468937.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:48:58.450Z,1613468938.450 [Micromodem](INFO): Nmea in: $SNTTA,0.134072,,,,094858.73*4F

2021-02-16T09:48:58.466Z,1613468938.466 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,094859.00,A,4133.23609,N,07042.46521,W,1.011,127.20,160221,,,A*7A
2021-02-16T09:48:58.473Z,1613468938.473 [NAL9602](INFO): GPS fix at 20210216T094859: (41.553935, -70.707753)
2021-02-16T09:48:58.497Z,1613468938.497 [UniversalFixResidualReporter](INFO): Fix residual: 6.6 %DT, over the last 563.1 m. Residual distance 37.3 m at bearing 133.9 degrees. Fix at (41.5539, -70.7078) with 193.1 m made good.
2021-02-16T09:48:58.517Z,1613468938.517 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T09:48:58.517Z,1613468938.517 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T09:48:59.265Z,1613468939.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:00.868Z,1613468940.868 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:02.116Z,1613468942.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:02.886Z,1613468942.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:03.301Z,1613468943.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:04.111Z,1613468944.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094904.35*58

2021-02-16T09:49:04.573Z,1613468944.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.119995 m, bearing: 118.318862 deg, deltaT: 10.494827 s, approachRate: 0.000000 m/s, LOS rate: -5.458000 deg/s, posRepo size: 4
2021-02-16T09:49:04.579Z,1613468944.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.119995 m,
      bearing: 118.318862 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.458000 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 250.665357 deg,
      new cmd heading: 255.938530 deg.

2021-02-16T09:49:06.944Z,1613468946.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:07.732Z,1613468947.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:08.139Z,1613468948.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:10.251Z,1613468950.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:10.431Z,1613468950.431 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094909.20*51

2021-02-16T09:49:11.235Z,1613468951.235 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:12.907Z,1613468952.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:13.656Z,1613468953.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:14.061Z,1613468954.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:14.875Z,1613468954.875 [Micromodem](INFO): Nmea in: $SNTTA,0.133851,,,,094915.12*4E

2021-02-16T09:49:15.319Z,1613468955.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 160.372405 deg, deltaT: 10.806227 s, approachRate: -0.038866 m/s, LOS rate: 3.891603 deg/s, posRepo size: 4
2021-02-16T09:49:15.321Z,1613468955.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.699997 m,
      bearing: 160.372405 deg,
      approachRate: -0.038866 m/s,
      LOS rate: 3.891603 deg/s,
      cmd update: 11.674808 deg/s,
      cmd heading: 121.353835 deg,
      new cmd heading: 116.450082 deg.

2021-02-16T09:49:17.746Z,1613468957.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:18.511Z,1613468958.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:18.913Z,1613468958.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:19.727Z,1613468959.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094919.98*53

2021-02-16T09:49:20.613Z,1613468960.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:22.142Z,1613468962.142 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:22.573Z,1613468962.573 [NAL9602](INFO): SBD MO Status=1, MOMSN=13408, MT Status=0, MTMSN=0
2021-02-16T09:49:22.629Z,1613468962.629 [NAL9602](INFO): Sent 97 bytes from file Logs/20210216T042015/Courier0067.lzma
2021-02-16T09:49:22.629Z,1613468962.629 [NAL9602](INFO): Packets left to send: 0
2021-02-16T09:49:22.839Z,1613468962.839 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:49:23.132Z,1613468963.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:25.596Z,1613468965.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:25.708Z,1613468965.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:25.971Z,1613468965.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:26.795Z,1613468966.795 [Micromodem](INFO): Nmea in: $SNTTA,0.138324,,,,094927.06*48

2021-02-16T09:49:28.423Z,1613468968.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:29.205Z,1613468969.205 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:31.246Z,1613468971.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:32.028Z,1613468972.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:32.441Z,1613468972.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:33.245Z,1613468973.245 [Micromodem](INFO): Nmea in: $SNTTA,0.134141,,,,094933.49*4B

2021-02-16T09:49:34.094Z,1613468974.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:35.668Z,1613468975.668 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:36.937Z,1613468976.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:37.686Z,1613468977.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:38.095Z,1613468978.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:38.900Z,1613468978.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094939.15*54

2021-02-16T09:49:39.746Z,1613468979.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:41.321Z,1613468981.321 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:49:42.603Z,1613468982.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:43.344Z,1613468983.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:43.781Z,1613468983.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:44.571Z,1613468984.571 [Micromodem](INFO): Nmea in: $SNTTA,0.134592,,,,094944.81*45

2021-02-16T09:49:45.011Z,1613468985.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.959991 m, bearing: 153.075918 deg, deltaT: 29.655116 s, approachRate: 0.042488 m/s, LOS rate: -0.246045 deg/s, posRepo size: 4
2021-02-16T09:49:45.013Z,1613468985.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.959991 m,
      bearing: 153.075918 deg,
      approachRate: 0.042488 m/s,
      LOS rate: -0.246045 deg/s,
      cmd update: -0.738134 deg/s,
      cmd heading: 107.924415 deg,
      new cmd heading: 112.779547 deg.

2021-02-16T09:49:46.187Z,1613468986.187 [NAL9602](INFO): SBD MO Status=1, MOMSN=13409, MT Status=0, MTMSN=0
2021-02-16T09:49:46.243Z,1613468986.243 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0059.lzma
2021-02-16T09:49:46.243Z,1613468986.243 [NAL9602](INFO): Packets left to send: 3
2021-02-16T09:49:49.501Z,1613468989.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:50.042Z,1613468990.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:50.451Z,1613468990.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:51.263Z,1613468991.263 [Micromodem](INFO): Nmea in: $SNTTA,0.134684,,,,094951.51*48

2021-02-16T09:49:51.720Z,1613468991.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.080002 m, bearing: 156.356103 deg, deltaT: 6.709866 s, approachRate: 0.017886 m/s, LOS rate: 0.488860 deg/s, posRepo size: 4
2021-02-16T09:49:51.722Z,1613468991.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.080002 m,
      bearing: 156.356103 deg,
      approachRate: 0.017886 m/s,
      LOS rate: 0.488860 deg/s,
      cmd update: 1.466580 deg/s,
      cmd heading: 102.974549 deg,
      new cmd heading: 102.665506 deg.

2021-02-16T09:49:51.975Z,1613468991.975 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003290
2021-02-16T09:49:52.122Z,1613468992.122 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T09:49:52.122Z,1613468992.122 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T09:49:52.122Z,1613468992.122 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T09:49:52.122Z,1613468992.122 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:49:52.122Z,1613468992.122 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T09:49:54.134Z,1613468994.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:54.895Z,1613468994.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:55.298Z,1613468995.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:49:55.992Z,1613468995.992 [DataOverHttps](INFO): Sending 577 bytes from file Logs/20210216T042015/Express0059.lzma
2021-02-16T09:49:56.115Z,1613468996.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,094956.37*5D

2021-02-16T09:49:56.608Z,1613468996.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.139984 m, bearing: 164.374554 deg, deltaT: 4.833450 s, approachRate: 0.012410 m/s, LOS rate: 1.658950 deg/s, posRepo size: 4
2021-02-16T09:49:56.610Z,1613468996.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.139984 m,
      bearing: 164.374554 deg,
      approachRate: 0.012410 m/s,
      LOS rate: 1.658950 deg/s,
      cmd update: 4.976849 deg/s,
      cmd heading: 110.069021 deg,
      new cmd heading: 110.749667 deg.

2021-02-16T09:49:56.993Z,1613468996.993 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0059.lzma.bak
2021-02-16T09:49:56.993Z,1613468996.993 [DataOverHttps](INFO): SBD MOMSN=81692
2021-02-16T09:49:58.641Z,1613468998.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:49:59.342Z,1613468999.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:49:59.744Z,1613468999.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:00.597Z,1613469000.597 [Micromodem](INFO): Nmea in: $SNTTA,0.134902,,,,095000.81*48

2021-02-16T09:50:01.002Z,1613469001.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.380005 m, bearing: 165.943708 deg, deltaT: 4.538934 s, approachRate: 0.052880 m/s, LOS rate: 0.345710 deg/s, posRepo size: 4
2021-02-16T09:50:01.011Z,1613469001.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.380005 m,
      bearing: 165.943708 deg,
      approachRate: 0.052880 m/s,
      LOS rate: 0.345710 deg/s,
      cmd update: 1.037129 deg/s,
      cmd heading: 132.638057 deg,
      new cmd heading: 134.273888 deg.

2021-02-16T09:50:03.373Z,1613469003.373 [NAL9602](INFO): SBD MO Status=2, MOMSN=13410, MT Status=2, MTMSN=0
2021-02-16T09:50:03.373Z,1613469003.373 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T09:50:03.412Z,1613469003.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:04.187Z,1613469004.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:04.586Z,1613469004.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:05.403Z,1613469005.403 [Micromodem](INFO): Nmea in: $SNTTA,0.135036,,,,095005.65*48

2021-02-16T09:50:05.838Z,1613469005.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.499985 m, bearing: 177.300728 deg, deltaT: 4.738892 s, approachRate: 0.025318 m/s, LOS rate: 2.396556 deg/s, posRepo size: 4
2021-02-16T09:50:05.841Z,1613469005.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.499985 m,
      bearing: 177.300728 deg,
      approachRate: 0.025318 m/s,
      LOS rate: 2.396556 deg/s,
      cmd update: 7.189668 deg/s,
      cmd heading: 137.557439 deg,
      new cmd heading: 137.994337 deg.

2021-02-16T09:50:08.239Z,1613469008.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:09.045Z,1613469009.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:09.434Z,1613469009.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:10.255Z,1613469010.255 [Micromodem](INFO): Nmea in: $SNTTA,0.135096,,,,095010.51*41

2021-02-16T09:50:10.690Z,1613469010.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.619995 m, bearing: 179.808282 deg, deltaT: 4.852428 s, approachRate: 0.024732 m/s, LOS rate: 0.516763 deg/s, posRepo size: 4
2021-02-16T09:50:10.692Z,1613469010.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.619995 m,
      bearing: 179.808282 deg,
      approachRate: 0.024732 m/s,
      LOS rate: 0.516763 deg/s,
      cmd update: 1.550288 deg/s,
      cmd heading: 172.443312 deg,
      new cmd heading: 175.468479 deg.

2021-02-16T09:50:13.093Z,1613469013.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:13.876Z,1613469013.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:14.287Z,1613469014.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:15.097Z,1613469015.097 [Micromodem](INFO): Nmea in: $SNTTA,0.135246,,,,095015.34*48

2021-02-16T09:50:15.977Z,1613469015.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:17.541Z,1613469017.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:50:18.779Z,1613469018.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:19.591Z,1613469019.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:19.943Z,1613469019.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:21.171Z,1613469021.171 [Micromodem](INFO): Nmea in: $SNTTA,0.135352,,,,095021.06*4A

2021-02-16T09:50:21.194Z,1613469021.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.979996 m, bearing: 175.703994 deg, deltaT: 10.563100 s, approachRate: 0.034081 m/s, LOS rate: -0.388550 deg/s, posRepo size: 4
2021-02-16T09:50:21.197Z,1613469021.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.979996 m,
      bearing: 175.703994 deg,
      approachRate: 0.034081 m/s,
      LOS rate: -0.388550 deg/s,
      cmd update: -1.165649 deg/s,
      cmd heading: 188.819101 deg,
      new cmd heading: 189.379527 deg.

2021-02-16T09:50:23.632Z,1613469023.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:24.385Z,1613469024.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:24.787Z,1613469024.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:25.609Z,1613469025.609 [Micromodem](INFO): Nmea in: $SNTTA,0.135482,,,,095025.85*4F

2021-02-16T09:50:26.054Z,1613469026.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.279999 m, bearing: 106.591966 deg, deltaT: 4.804195 s, approachRate: 0.062446 m/s, LOS rate: -14.385767 deg/s, posRepo size: 4
2021-02-16T09:50:26.055Z,1613469026.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.385767 deg/s. Setting heading cmd to target bearing of 106.591966deg and heading rate command to 0 deg/s.
2021-02-16T09:50:28.119Z,1613469028.119 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T09:50:28.448Z,1613469028.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:29.232Z,1613469029.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:29.646Z,1613469029.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:30.446Z,1613469030.446 [Micromodem](INFO): Nmea in: $SNTTA,0.135642,,,,095030.70*4F

2021-02-16T09:50:31.291Z,1613469031.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:32.864Z,1613469032.864 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:50:34.081Z,1613469034.081 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T09:50:34.140Z,1613469034.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:34.893Z,1613469034.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:35.294Z,1613469035.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:36.106Z,1613469036.106 [Micromodem](INFO): Nmea in: $SNTTA,0.135691,,,,095036.36*45

2021-02-16T09:50:36.618Z,1613469036.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.519989 m, bearing: 173.220428 deg, deltaT: 10.537364 s, approachRate: 0.022775 m/s, LOS rate: 6.323067 deg/s, posRepo size: 4
2021-02-16T09:50:36.625Z,1613469036.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.519989 m,
      bearing: 173.220428 deg,
      approachRate: 0.022775 m/s,
      LOS rate: 6.323067 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 106.591966 deg,
      new cmd heading: 106.591966 deg.

2021-02-16T09:50:37.159Z,1613469037.159 [DataOverHttps](INFO): Sending 208 bytes from file Logs/20210216T042015/Express0062.lzma
2021-02-16T09:50:38.162Z,1613469038.162 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0062.lzma.bak
2021-02-16T09:50:38.162Z,1613469038.162 [DataOverHttps](INFO): SBD MOMSN=81695
2021-02-16T09:50:38.938Z,1613469038.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:39.734Z,1613469039.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:40.150Z,1613469040.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:40.949Z,1613469040.949 [Micromodem](INFO): Nmea in: $SNTTA,0.135646,,,,095041.20*48

2021-02-16T09:50:41.796Z,1613469041.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:43.372Z,1613469043.372 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:50:44.615Z,1613469044.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:45.390Z,1613469045.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:45.806Z,1613469045.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:46.239Z,1613469046.239 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,A0,80,63,E4
1,18A,80,80,37,FF
2021-02-16T09:50:46.621Z,1613469046.621 [Micromodem](INFO): Nmea in: $SNTTA,0.135916,,0.160852,,095046.86*5F

2021-02-16T09:50:47.201Z,1613469047.201 [DataOverHttps](INFO): Sending 202 bytes from file Logs/20210216T042015/Express0065.lzma
2021-02-16T09:50:47.439Z,1613469047.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:48.202Z,1613469048.202 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0065.lzma.bak
2021-02-16T09:50:48.202Z,1613469048.202 [DataOverHttps](INFO): SBD MOMSN=81697
2021-02-16T09:50:50.272Z,1613469050.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:53.099Z,1613469053.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:53.894Z,1613469053.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:54.301Z,1613469054.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:55.115Z,1613469055.115 [Micromodem](INFO): Nmea in: $SNTTA,0.136261,,,,095055.36*48

2021-02-16T09:50:55.581Z,1613469055.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.419998 m, bearing: 168.344396 deg, deltaT: 19.001818 s, approachRate: 0.047364 m/s, LOS rate: -0.256609 deg/s, posRepo size: 4
2021-02-16T09:50:55.582Z,1613469055.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.419998 m,
      bearing: 168.344396 deg,
      approachRate: 0.047364 m/s,
      LOS rate: -0.256609 deg/s,
      cmd update: -0.769826 deg/s,
      cmd heading: 335.093703 deg,
      new cmd heading: 340.004499 deg.

2021-02-16T09:50:57.242Z,1613469057.242 [DataOverHttps](INFO): Sending 1793 bytes from file Logs/20210216T042015/Express0068.lzma
2021-02-16T09:50:57.957Z,1613469057.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:50:58.241Z,1613469058.241 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0068.lzma.bak
2021-02-16T09:50:58.241Z,1613469058.241 [DataOverHttps](INFO): SBD MOMSN=81700
2021-02-16T09:50:58.737Z,1613469058.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:50:59.149Z,1613469059.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:50:59.648Z,1613469059.648 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T09:50:59.648Z,1613469059.648 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T09:50:59.648Z,1613469059.648 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T09:50:59.648Z,1613469059.648 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:50:59.649Z,1613469059.649 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T09:50:59.649Z,1613469059.649 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T09:50:59.649Z,1613469059.649 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T09:50:59.957Z,1613469059.957 [Micromodem](INFO): Nmea in: $SNTTA,0.136485,,,,095100.20*42

2021-02-16T09:51:00.795Z,1613469060.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:01.610Z,1613469061.610 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,095102.00,A,4133.24164,N,07042.47849,W,0.486,355.33,160221,,,A*7B
2021-02-16T09:51:01.613Z,1613469061.613 [NAL9602](INFO): GPS fix at 20210216T095102: (41.554027, -70.707975)
2021-02-16T09:51:01.708Z,1613469061.708 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T09:51:01.709Z,1613469061.709 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T09:51:01.709Z,1613469061.709 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T09:51:01.709Z,1613469061.709 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T09:51:01.709Z,1613469061.709 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T09:51:01.709Z,1613469061.709 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T09:51:02.380Z,1613469062.380 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:51:02.395Z,1613469062.395 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T09:51:02.395Z,1613469062.395 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T09:51:02.395Z,1613469062.395 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T09:51:02.395Z,1613469062.395 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T09:51:02.395Z,1613469062.395 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T09:51:02.396Z,1613469062.396 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T09:51:02.396Z,1613469062.396 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T09:51:02.811Z,1613469062.811 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm.
2021-02-16T09:51:03.662Z,1613469063.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:04.409Z,1613469064.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:04.836Z,1613469064.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:05.641Z,1613469065.641 [Micromodem](INFO): Nmea in: $SNTTA,0.136909,,,,095105.88*4C

2021-02-16T09:51:06.077Z,1613469066.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.139999 m, bearing: 139.124164 deg, deltaT: 10.491102 s, approachRate: 0.068630 m/s, LOS rate: -2.785240 deg/s, posRepo size: 4
2021-02-16T09:51:06.078Z,1613469066.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.139999 m,
      bearing: 139.124164 deg,
      approachRate: 0.068630 m/s,
      LOS rate: -2.785240 deg/s,
      cmd update: -8.355719 deg/s,
      cmd heading: 327.014870 deg,
      new cmd heading: 326.699264 deg.

2021-02-16T09:51:08.594Z,1613469068.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:09.272Z,1613469069.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:09.693Z,1613469069.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:10.495Z,1613469070.495 [Micromodem](INFO): Nmea in: $SNTTA,0.137140,,,,095110.74*4F

2021-02-16T09:51:10.933Z,1613469070.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.679993 m, bearing: 121.841327 deg, deltaT: 4.948301 s, approachRate: 0.109127 m/s, LOS rate: -3.492681 deg/s, posRepo size: 4
2021-02-16T09:51:10.935Z,1613469070.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.679993 m,
      bearing: 121.841327 deg,
      approachRate: 0.109127 m/s,
      LOS rate: -3.492681 deg/s,
      cmd update: -10.478043 deg/s,
      cmd heading: 285.799160 deg,
      new cmd heading: 283.000645 deg.

2021-02-16T09:51:13.330Z,1613469073.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:14.120Z,1613469074.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:14.549Z,1613469074.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:15.336Z,1613469075.336 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095115.58*5A

2021-02-16T09:51:15.810Z,1613469075.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.759979 m, bearing: 124.589563 deg, deltaT: 4.756548 s, approachRate: 0.227053 m/s, LOS rate: 0.577779 deg/s, posRepo size: 4
2021-02-16T09:51:15.817Z,1613469075.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.759979 m,
      bearing: 124.589563 deg,
      approachRate: 0.227053 m/s,
      LOS rate: 0.577779 deg/s,
      cmd update: 1.733338 deg/s,
      cmd heading: 236.004534 deg,
      new cmd heading: 231.200687 deg.

2021-02-16T09:51:18.198Z,1613469078.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:18.968Z,1613469078.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:19.374Z,1613469079.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:20.205Z,1613469080.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095120.43*56

2021-02-16T09:51:20.670Z,1613469080.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.960007 m, bearing: 134.289934 deg, deltaT: 4.879389 s, approachRate: 0.245938 m/s, LOS rate: 1.988030 deg/s, posRepo size: 4
2021-02-16T09:51:20.673Z,1613469080.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.960007 m,
      bearing: 134.289934 deg,
      approachRate: 0.245938 m/s,
      LOS rate: 1.988030 deg/s,
      cmd update: 5.964090 deg/s,
      cmd heading: 244.490042 deg,
      new cmd heading: 245.225018 deg.

2021-02-16T09:51:23.024Z,1613469083.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:23.831Z,1613469083.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:24.228Z,1613469084.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:25.045Z,1613469085.045 [Micromodem](INFO): Nmea in: $SNTTA,0.139571,,,,095125.30*41

2021-02-16T09:51:25.462Z,1613469085.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.339996 m, bearing: 177.378210 deg, deltaT: 4.847735 s, approachRate: 0.284667 m/s, LOS rate: 8.888332 deg/s, posRepo size: 4
2021-02-16T09:51:25.464Z,1613469085.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.339996 m,
      bearing: 177.378210 deg,
      approachRate: 0.284667 m/s,
      LOS rate: 8.888332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 273.402726 deg,
      new cmd heading: 275.600523 deg.

2021-02-16T09:51:27.921Z,1613469087.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:28.677Z,1613469088.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:29.082Z,1613469089.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:29.911Z,1613469089.911 [Micromodem](INFO): Nmea in: $SNTTA,0.139018,,,,095130.14*49

2021-02-16T09:51:30.322Z,1613469090.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.439987 m, bearing: 162.500787 deg, deltaT: 4.883187 s, approachRate: -0.184308 m/s, LOS rate: -3.046662 deg/s, posRepo size: 4
2021-02-16T09:51:30.324Z,1613469090.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.439987 m,
      bearing: 162.500787 deg,
      approachRate: -0.184308 m/s,
      LOS rate: -3.046662 deg/s,
      cmd update: -9.139988 deg/s,
      cmd heading: 331.811432 deg,
      new cmd heading: 336.146516 deg.

2021-02-16T09:51:32.848Z,1613469092.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:33.568Z,1613469093.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:33.935Z,1613469093.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:34.781Z,1613469094.781 [Micromodem](INFO): Nmea in: $SNTTA,0.138936,,,,095135.03*4E

2021-02-16T09:51:34.815Z,1613469094.815 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T09:51:35.682Z,1613469095.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:37.170Z,1613469097.170 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:51:38.390Z,1613469098.390 [NAL9602](INFO): SBD MO Status=1, MOMSN=13410, MT Status=0, MTMSN=0
2021-02-16T09:51:38.391Z,1613469098.391 [NAL9602](INFO): No messages in MT queue
2021-02-16T09:51:38.462Z,1613469098.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:39.208Z,1613469099.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:39.673Z,1613469099.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:40.444Z,1613469100.444 [Micromodem](INFO): Nmea in: $SNTTA,0.139086,,,,095140.67*4D

2021-02-16T09:51:40.922Z,1613469100.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.619980 m, bearing: 158.107528 deg, deltaT: 10.485606 s, approachRate: 0.017166 m/s, LOS rate: -0.418980 deg/s, posRepo size: 4
2021-02-16T09:51:40.930Z,1613469100.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.619980 m,
      bearing: 158.107528 deg,
      approachRate: 0.017166 m/s,
      LOS rate: -0.418980 deg/s,
      cmd update: -1.256940 deg/s,
      cmd heading: 235.792774 deg,
      new cmd heading: 231.626859 deg.

2021-02-16T09:51:42.991Z,1613469102.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:43.682Z,1613469103.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:44.075Z,1613469104.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:44.912Z,1613469104.912 [Micromodem](INFO): Nmea in: $SNTTA,0.139332,,,,095145.15*41

2021-02-16T09:51:45.762Z,1613469105.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:46.918Z,1613469106.918 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:51:47.317Z,1613469107.317 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:51:48.640Z,1613469108.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:49.324Z,1613469109.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:49.757Z,1613469109.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:50.614Z,1613469110.614 [Micromodem](INFO): Nmea in: $SNTTA,0.138804,,,,095150.79*40

2021-02-16T09:51:51.413Z,1613469111.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:52.606Z,1613469112.606 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:51:54.260Z,1613469114.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:55.038Z,1613469115.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:51:55.431Z,1613469115.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:51:56.288Z,1613469116.288 [Micromodem](INFO): Nmea in: $SNTTA,0.137789,,,,095156.50*48

2021-02-16T09:51:56.792Z,1613469116.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:51:58.666Z,1613469118.666 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:51:59.493Z,1613469119.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:00.284Z,1613469120.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:00.695Z,1613469120.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:01.532Z,1613469121.532 [Micromodem](INFO): Nmea in: $SNTTA,0.136578,,,,095201.75*43

2021-02-16T09:52:01.980Z,1613469121.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.719986 m, bearing: 199.187605 deg, deltaT: 21.141259 s, approachRate: -0.184473 m/s, LOS rate: 1.943124 deg/s, posRepo size: 4
2021-02-16T09:52:01.982Z,1613469121.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.719986 m,
      bearing: 199.187605 deg,
      approachRate: -0.184473 m/s,
      LOS rate: 1.943124 deg/s,
      cmd update: 5.829371 deg/s,
      cmd heading: 209.220849 deg,
      new cmd heading: 208.756856 deg.

2021-02-16T09:52:04.364Z,1613469124.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:05.132Z,1613469125.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:05.571Z,1613469125.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:06.367Z,1613469126.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095206.60*50

2021-02-16T09:52:06.788Z,1613469126.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.199982 m, bearing: 200.133395 deg, deltaT: 4.773674 s, approachRate: -0.527896 m/s, LOS rate: 0.198126 deg/s, posRepo size: 4
2021-02-16T09:52:06.790Z,1613469126.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.199982 m,
      bearing: 200.133395 deg,
      approachRate: -0.527896 m/s,
      LOS rate: 0.198126 deg/s,
      cmd update: 0.594379 deg/s,
      cmd heading: 237.054997 deg,
      new cmd heading: 239.427370 deg.

2021-02-16T09:52:09.174Z,1613469129.174 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T09:52:09.195Z,1613469129.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:09.984Z,1613469129.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:10.386Z,1613469130.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:11.209Z,1613469131.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095211.45*51

2021-02-16T09:52:11.690Z,1613469131.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.860001 m, bearing: 200.455534 deg, deltaT: 4.846908 s, approachRate: -0.482778 m/s, LOS rate: 0.066463 deg/s, posRepo size: 4
2021-02-16T09:52:11.693Z,1613469131.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.860001 m,
      bearing: 200.455534 deg,
      approachRate: -0.482778 m/s,
      LOS rate: 0.066463 deg/s,
      cmd update: 0.199388 deg/s,
      cmd heading: 239.935699 deg,
      new cmd heading: 240.210208 deg.

2021-02-16T09:52:14.054Z,1613469134.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:14.832Z,1613469134.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:15.241Z,1613469135.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:16.055Z,1613469136.055 [Micromodem](INFO): Nmea in: $SNTTA,0.131773,,,,095216.30*4A

2021-02-16T09:52:16.478Z,1613469136.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.459976 m, bearing: 206.660023 deg, deltaT: 4.870801 s, approachRate: -0.492737 m/s, LOS rate: 1.273813 deg/s, posRepo size: 4
2021-02-16T09:52:16.496Z,1613469136.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 206.660023 deg,
      approachRate: -0.492737 m/s,
      LOS rate: 1.273813 deg/s,
      cmd update: 3.821439 deg/s,
      cmd heading: 240.906942 deg,
      new cmd heading: 240.982520 deg.

2021-02-16T09:52:18.921Z,1613469138.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:19.686Z,1613469139.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:20.086Z,1613469140.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:20.919Z,1613469140.919 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095221.15*57

2021-02-16T09:52:21.326Z,1613469141.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.399979 m, bearing: 200.315733 deg, deltaT: 4.875048 s, approachRate: -0.627686 m/s, LOS rate: -1.301380 deg/s, posRepo size: 4
2021-02-16T09:52:21.328Z,1613469141.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.399979 m,
      bearing: 200.315733 deg,
      approachRate: -0.627686 m/s,
      LOS rate: -1.301380 deg/s,
      cmd update: -3.904140 deg/s,
      cmd heading: 259.536636 deg,
      new cmd heading: 260.882466 deg.

2021-02-16T09:52:23.756Z,1613469143.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:24.563Z,1613469144.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:24.934Z,1613469144.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:25.768Z,1613469145.768 [Micromodem](INFO): Nmea in: $SNTTA,0.128727,,,,095226.03*40

2021-02-16T09:52:26.193Z,1613469146.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.779999 m, bearing: 195.777196 deg, deltaT: 4.861376 s, approachRate: -0.333235 m/s, LOS rate: -0.933591 deg/s, posRepo size: 4
2021-02-16T09:52:26.195Z,1613469146.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.779999 m,
      bearing: 195.777196 deg,
      approachRate: -0.333235 m/s,
      LOS rate: -0.933591 deg/s,
      cmd update: -2.800773 deg/s,
      cmd heading: 240.573510 deg,
      new cmd heading: 239.167098 deg.

2021-02-16T09:52:28.636Z,1613469148.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:29.381Z,1613469149.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:29.782Z,1613469149.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:30.612Z,1613469150.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095230.85*5E

2021-02-16T09:52:30.665Z,1613469150.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.779999 m, bearing: 206.434135 deg, deltaT: 4.391421 s, approachRate: 0.000000 m/s, LOS rate: 2.426763 deg/s, posRepo size: 4
2021-02-16T09:52:30.688Z,1613469150.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.779999 m,
      bearing: 206.434135 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.426763 deg/s,
      cmd update: 7.280290 deg/s,
      cmd heading: 228.266170 deg,
      new cmd heading: 227.046038 deg.

2021-02-16T09:52:33.027Z,1613469153.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:33.820Z,1613469153.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:34.231Z,1613469154.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:35.062Z,1613469155.062 [Micromodem](INFO): Nmea in: $SNTTA,0.125778,,,,095235.29*4D

2021-02-16T09:52:35.468Z,1613469155.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 196.096097 deg, deltaT: 4.863151 s, approachRate: -0.900652 m/s, LOS rate: -2.125790 deg/s, posRepo size: 4
2021-02-16T09:52:35.469Z,1613469155.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.399994 m,
      bearing: 196.096097 deg,
      approachRate: -0.900652 m/s,
      LOS rate: -2.125790 deg/s,
      cmd update: -6.377370 deg/s,
      cmd heading: 263.681105 deg,
      new cmd heading: 266.425745 deg.

2021-02-16T09:52:37.907Z,1613469157.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:38.669Z,1613469158.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:39.074Z,1613469159.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:39.888Z,1613469159.888 [Micromodem](INFO): Nmea in: $SNTTA,0.124267,,,,095240.13*4C

2021-02-16T09:52:40.314Z,1613469160.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.059998 m, bearing: 197.301380 deg, deltaT: 4.855877 s, approachRate: -0.481890 m/s, LOS rate: 0.248211 deg/s, posRepo size: 4
2021-02-16T09:52:40.316Z,1613469160.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.059998 m,
      bearing: 197.301380 deg,
      approachRate: -0.481890 m/s,
      LOS rate: 0.248211 deg/s,
      cmd update: 0.744633 deg/s,
      cmd heading: 232.866754 deg,
      new cmd heading: 230.365161 deg.

2021-02-16T09:52:42.783Z,1613469162.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:43.547Z,1613469163.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:43.939Z,1613469163.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:44.766Z,1613469164.766 [Micromodem](INFO): Nmea in: $SNTTA,0.122813,,,,095245.01*45

2021-02-16T09:52:45.179Z,1613469165.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 192.629394 deg, deltaT: 4.881843 s, approachRate: -0.430164 m/s, LOS rate: -0.957013 deg/s, posRepo size: 4
2021-02-16T09:52:45.181Z,1613469165.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 192.629394 deg,
      approachRate: -0.430164 m/s,
      LOS rate: -0.957013 deg/s,
      cmd update: -2.871038 deg/s,
      cmd heading: 236.519202 deg,
      new cmd heading: 236.781153 deg.

2021-02-16T09:52:47.646Z,1613469167.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:48.369Z,1613469168.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:48.770Z,1613469168.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:49.640Z,1613469169.640 [Micromodem](INFO): Nmea in: $SNTTA,0.121298,,,,095249.83*49

2021-02-16T09:52:50.010Z,1613469170.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 186.938576 deg, deltaT: 4.878628 s, approachRate: -0.467347 m/s, LOS rate: -1.166479 deg/s, posRepo size: 4
2021-02-16T09:52:50.012Z,1613469170.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 186.938576 deg,
      approachRate: -0.467347 m/s,
      LOS rate: -1.166479 deg/s,
      cmd update: -3.499437 deg/s,
      cmd heading: 222.521542 deg,
      new cmd heading: 221.638089 deg.

2021-02-16T09:52:52.444Z,1613469172.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:53.227Z,1613469173.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:53.642Z,1613469173.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:54.441Z,1613469174.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095254.69*5E

2021-02-16T09:52:54.889Z,1613469174.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.040009 m, bearing: 195.314382 deg, deltaT: 4.778984 s, approachRate: -0.552415 m/s, LOS rate: 1.752633 deg/s, posRepo size: 4
2021-02-16T09:52:54.891Z,1613469174.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.040009 m,
      bearing: 195.314382 deg,
      approachRate: -0.552415 m/s,
      LOS rate: 1.752633 deg/s,
      cmd update: 5.257900 deg/s,
      cmd heading: 205.798371 deg,
      new cmd heading: 204.371087 deg.

2021-02-16T09:52:57.294Z,1613469177.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:52:58.065Z,1613469178.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:52:58.466Z,1613469178.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:52:59.300Z,1613469179.300 [Micromodem](INFO): Nmea in: $SNTTA,0.117810,,,,095259.53*4A

2021-02-16T09:52:59.322Z,1613469179.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.040009 m, bearing: 194.442891 deg, deltaT: 4.445525 s, approachRate: 0.000000 m/s, LOS rate: -0.196038 deg/s, posRepo size: 4
2021-02-16T09:52:59.324Z,1613469179.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.040009 m,
      bearing: 194.442891 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.196038 deg/s,
      cmd update: -0.588114 deg/s,
      cmd heading: 229.108623 deg,
      new cmd heading: 231.251233 deg.

2021-02-16T09:53:01.756Z,1613469181.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:02.531Z,1613469182.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:02.931Z,1613469182.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:03.740Z,1613469183.740 [Micromodem](INFO): Nmea in: $SNTTA,0.116552,,,,095304.00*4F

2021-02-16T09:53:04.158Z,1613469184.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.599991 m, bearing: 193.745528 deg, deltaT: 4.876376 s, approachRate: -0.910516 m/s, LOS rate: -0.143008 deg/s, posRepo size: 4
2021-02-16T09:53:04.160Z,1613469184.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.599991 m,
      bearing: 193.745528 deg,
      approachRate: -0.910516 m/s,
      LOS rate: -0.143008 deg/s,
      cmd update: -0.429025 deg/s,
      cmd heading: 226.250167 deg,
      new cmd heading: 226.024669 deg.

2021-02-16T09:53:06.605Z,1613469186.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:07.374Z,1613469187.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:07.758Z,1613469187.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:08.604Z,1613469188.604 [Micromodem](INFO): Nmea in: $SNTTA,0.115180,,,,095308.84*47

2021-02-16T09:53:09.023Z,1613469189.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.500000 m, bearing: 198.907430 deg, deltaT: 4.830956 s, approachRate: -0.434695 m/s, LOS rate: 1.068505 deg/s, posRepo size: 4
2021-02-16T09:53:09.025Z,1613469189.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.500000 m,
      bearing: 198.907430 deg,
      approachRate: -0.434695 m/s,
      LOS rate: 1.068505 deg/s,
      cmd update: 3.205516 deg/s,
      cmd heading: 224.163689 deg,
      new cmd heading: 223.998724 deg.

2021-02-16T09:53:11.423Z,1613469191.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:12.212Z,1613469192.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:12.623Z,1613469192.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:13.440Z,1613469193.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095313.68*5D

2021-02-16T09:53:13.496Z,1613469193.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.500000 m, bearing: 197.001685 deg, deltaT: 4.395096 s, approachRate: 0.000000 m/s, LOS rate: -0.433607 deg/s, posRepo size: 4
2021-02-16T09:53:13.498Z,1613469193.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.500000 m,
      bearing: 197.001685 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.433607 deg/s,
      cmd update: -1.300822 deg/s,
      cmd heading: 238.247016 deg,
      new cmd heading: 239.650583 deg.

2021-02-16T09:53:15.881Z,1613469195.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:16.650Z,1613469196.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:17.055Z,1613469197.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:17.876Z,1613469197.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095318.12*5B

2021-02-16T09:53:17.934Z,1613469197.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.500000 m, bearing: 192.564794 deg, deltaT: 4.441385 s, approachRate: 0.000000 m/s, LOS rate: -0.998988 deg/s, posRepo size: 4
2021-02-16T09:53:17.940Z,1613469197.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.500000 m,
      bearing: 192.564794 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.998988 deg/s,
      cmd update: -2.996964 deg/s,
      cmd heading: 232.468834 deg,
      new cmd heading: 231.869854 deg.

2021-02-16T09:53:20.315Z,1613469200.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:21.089Z,1613469201.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:21.494Z,1613469201.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:22.315Z,1613469202.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095322.55*51

2021-02-16T09:53:23.123Z,1613469203.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:24.736Z,1613469204.736 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:53:25.984Z,1613469205.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:26.746Z,1613469206.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:27.162Z,1613469207.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:27.972Z,1613469207.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095328.21*58

2021-02-16T09:53:28.012Z,1613469208.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.599991 m, bearing: 195.913526 deg, deltaT: 10.180588 s, approachRate: -0.972440 m/s, LOS rate: 0.328933 deg/s, posRepo size: 4
2021-02-16T09:53:28.014Z,1613469208.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.599991 m,
      bearing: 195.913526 deg,
      approachRate: -0.972440 m/s,
      LOS rate: 0.328933 deg/s,
      cmd update: 0.986799 deg/s,
      cmd heading: 201.954746 deg,
      new cmd heading: 200.886711 deg.

2021-02-16T09:53:28.805Z,1613469208.805 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T09:53:30.416Z,1613469210.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:31.195Z,1613469211.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:31.603Z,1613469211.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:32.424Z,1613469212.424 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095332.66*50

2021-02-16T09:53:32.505Z,1613469212.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.440002 m, bearing: 199.326913 deg, deltaT: 4.447546 s, approachRate: -0.485658 m/s, LOS rate: 0.767477 deg/s, posRepo size: 4
2021-02-16T09:53:32.517Z,1613469212.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.440002 m,
      bearing: 199.326913 deg,
      approachRate: -0.485658 m/s,
      LOS rate: 0.767477 deg/s,
      cmd update: 2.302429 deg/s,
      cmd heading: 206.335509 deg,
      new cmd heading: 206.722611 deg.

2021-02-16T09:53:34.913Z,1613469214.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:35.637Z,1613469215.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:36.038Z,1613469216.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:36.881Z,1613469216.881 [Micromodem](INFO): Nmea in: $SNTTA,0.105707,,,,095337.10*4E

2021-02-16T09:53:36.972Z,1613469216.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 197.577306 deg, deltaT: 4.410113 s, approachRate: -0.476180 m/s, LOS rate: -0.396726 deg/s, posRepo size: 4
2021-02-16T09:53:36.974Z,1613469216.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 197.577306 deg,
      approachRate: -0.476180 m/s,
      LOS rate: -0.396726 deg/s,
      cmd update: -1.190179 deg/s,
      cmd heading: 216.464646 deg,
      new cmd heading: 217.565072 deg.

2021-02-16T09:53:39.292Z,1613469219.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:40.077Z,1613469220.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:40.484Z,1613469220.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:41.305Z,1613469221.305 [Micromodem](INFO): Nmea in: $SNTTA,0.104432,,,,095341.54*4B

2021-02-16T09:53:41.353Z,1613469221.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 194.558102 deg, deltaT: 4.491225 s, approachRate: -0.681328 m/s, LOS rate: -0.672245 deg/s, posRepo size: 4
2021-02-16T09:53:41.359Z,1613469221.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 194.558102 deg,
      approachRate: -0.681328 m/s,
      LOS rate: -0.672245 deg/s,
      cmd update: -2.016735 deg/s,
      cmd heading: 211.116170 deg,
      new cmd heading: 210.681364 deg.

2021-02-16T09:53:43.814Z,1613469223.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:44.546Z,1613469224.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:44.936Z,1613469224.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:45.773Z,1613469225.773 [Micromodem](INFO): Nmea in: $SNTTA,0.102407,,,,095346.01*4C

2021-02-16T09:53:45.833Z,1613469225.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 194.263680 deg, deltaT: 4.410694 s, approachRate: -0.421702 m/s, LOS rate: -0.066752 deg/s, posRepo size: 4
2021-02-16T09:53:45.840Z,1613469225.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.419998 m,
      bearing: 194.263680 deg,
      approachRate: -0.421702 m/s,
      LOS rate: -0.066752 deg/s,
      cmd update: -0.200256 deg/s,
      cmd heading: 202.204527 deg,
      new cmd heading: 201.344091 deg.

2021-02-16T09:53:48.180Z,1613469228.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:48.965Z,1613469228.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:49.370Z,1613469229.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:50.197Z,1613469230.197 [Micromodem](INFO): Nmea in: $SNTTA,0.101089,,,,095350.43*4C

2021-02-16T09:53:50.250Z,1613469230.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.640015 m, bearing: 196.680638 deg, deltaT: 4.464842 s, approachRate: -0.174695 m/s, LOS rate: 0.541331 deg/s, posRepo size: 4
2021-02-16T09:53:50.256Z,1613469230.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.640015 m,
      bearing: 196.680638 deg,
      approachRate: -0.174695 m/s,
      LOS rate: 0.541331 deg/s,
      cmd update: 1.623993 deg/s,
      cmd heading: 201.310415 deg,
      new cmd heading: 201.234602 deg.

2021-02-16T09:53:52.721Z,1613469232.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:53.410Z,1613469233.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:53.842Z,1613469233.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:54.653Z,1613469234.653 [Micromodem](INFO): Nmea in: $SNTTA,0.099923,,,,095354.87*49

2021-02-16T09:53:54.768Z,1613469234.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.339996 m, bearing: 195.459401 deg, deltaT: 4.457421 s, approachRate: -0.740342 m/s, LOS rate: -0.273979 deg/s, posRepo size: 4
2021-02-16T09:53:54.770Z,1613469234.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.339996 m,
      bearing: 195.459401 deg,
      approachRate: -0.740342 m/s,
      LOS rate: -0.273979 deg/s,
      cmd update: -0.821936 deg/s,
      cmd heading: 208.536371 deg,
      new cmd heading: 209.241908 deg.

2021-02-16T09:53:57.134Z,1613469237.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:53:57.853Z,1613469237.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:53:58.259Z,1613469238.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:53:59.112Z,1613469239.112 [Micromodem](INFO): Nmea in: $SNTTA,0.098242,,,,095359.32*47

2021-02-16T09:53:59.134Z,1613469239.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.059998 m, bearing: 195.872367 deg, deltaT: 4.373068 s, approachRate: -0.521373 m/s, LOS rate: 0.094434 deg/s, posRepo size: 4
2021-02-16T09:53:59.137Z,1613469239.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.059998 m,
      bearing: 195.872367 deg,
      approachRate: -0.521373 m/s,
      LOS rate: 0.094434 deg/s,
      cmd update: 0.283302 deg/s,
      cmd heading: 204.928753 deg,
      new cmd heading: 204.580426 deg.

2021-02-16T09:54:01.528Z,1613469241.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:02.302Z,1613469242.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:02.703Z,1613469242.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:03.560Z,1613469243.560 [Micromodem](INFO): Nmea in: $SNTTA,0.096787,,,,095403.77*4C

2021-02-16T09:54:03.596Z,1613469243.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 196.580740 deg, deltaT: 4.413005 s, approachRate: -0.475868 m/s, LOS rate: 0.160519 deg/s, posRepo size: 4
2021-02-16T09:54:03.598Z,1613469243.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 196.580740 deg,
      approachRate: -0.475868 m/s,
      LOS rate: 0.160519 deg/s,
      cmd update: 0.481558 deg/s,
      cmd heading: 206.178965 deg,
      new cmd heading: 206.312792 deg.

2021-02-16T09:54:05.999Z,1613469245.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:06.746Z,1613469246.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:07.146Z,1613469247.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:07.986Z,1613469247.986 [Micromodem](INFO): Nmea in: $SNTTA,0.096345,,,,095408.25*4A

2021-02-16T09:54:08.006Z,1613469248.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.360001 m, bearing: 194.494910 deg, deltaT: 4.541249 s, approachRate: -0.132120 m/s, LOS rate: -0.459308 deg/s, posRepo size: 4
2021-02-16T09:54:08.028Z,1613469248.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.360001 m,
      bearing: 194.494910 deg,
      approachRate: -0.132120 m/s,
      LOS rate: -0.459308 deg/s,
      cmd update: -1.377923 deg/s,
      cmd heading: 208.363880 deg,
      new cmd heading: 208.530324 deg.

2021-02-16T09:54:10.399Z,1613469250.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:11.190Z,1613469251.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:11.604Z,1613469251.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:12.440Z,1613469252.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095412.65*56

2021-02-16T09:54:12.474Z,1613469252.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.300003 m, bearing: 194.021482 deg, deltaT: 4.345917 s, approachRate: -0.704109 m/s, LOS rate: -0.108936 deg/s, posRepo size: 4
2021-02-16T09:54:12.480Z,1613469252.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.300003 m,
      bearing: 194.021482 deg,
      approachRate: -0.704109 m/s,
      LOS rate: -0.108936 deg/s,
      cmd update: -0.326809 deg/s,
      cmd heading: 202.369917 deg,
      new cmd heading: 201.733350 deg.

2021-02-16T09:54:14.862Z,1613469254.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:15.633Z,1613469255.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:16.045Z,1613469256.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:16.860Z,1613469256.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095417.10*51

2021-02-16T09:54:16.948Z,1613469256.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.699997 m, bearing: 193.858240 deg, deltaT: 4.461210 s, approachRate: -0.134494 m/s, LOS rate: -0.036591 deg/s, posRepo size: 4
2021-02-16T09:54:16.950Z,1613469256.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.699997 m,
      bearing: 193.858240 deg,
      approachRate: -0.134494 m/s,
      LOS rate: -0.036591 deg/s,
      cmd update: -0.109774 deg/s,
      cmd heading: 200.913801 deg,
      new cmd heading: 200.757957 deg.

2021-02-16T09:54:19.288Z,1613469259.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:20.095Z,1613469260.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:20.481Z,1613469260.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:21.320Z,1613469261.320 [Micromodem](INFO): Nmea in: $SNTTA,0.091893,,,,095421.56*42

2021-02-16T09:54:21.348Z,1613469261.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 196.177363 deg, deltaT: 4.462338 s, approachRate: -0.685739 m/s, LOS rate: 0.519710 deg/s, posRepo size: 4
2021-02-16T09:54:21.352Z,1613469261.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.639999 m,
      bearing: 196.177363 deg,
      approachRate: -0.685739 m/s,
      LOS rate: 0.519710 deg/s,
      cmd update: 1.559130 deg/s,
      cmd heading: 200.423356 deg,
      new cmd heading: 200.377933 deg.

2021-02-16T09:54:23.757Z,1613469263.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:24.536Z,1613469264.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:24.922Z,1613469264.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:25.752Z,1613469265.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095426.00*52

2021-02-16T09:54:25.792Z,1613469265.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.840012 m, bearing: 198.159607 deg, deltaT: 4.434759 s, approachRate: -0.405882 m/s, LOS rate: 0.446979 deg/s, posRepo size: 4
2021-02-16T09:54:25.794Z,1613469265.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.840012 m,
      bearing: 198.159607 deg,
      approachRate: -0.405882 m/s,
      LOS rate: 0.446979 deg/s,
      cmd update: 1.340937 deg/s,
      cmd heading: 207.331475 deg,
      new cmd heading: 207.997438 deg.

2021-02-16T09:54:28.178Z,1613469268.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:28.960Z,1613469268.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:29.367Z,1613469269.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:30.189Z,1613469270.189 [Micromodem](INFO): Nmea in: $SNTTA,0.089246,,,,095430.42*4C

2021-02-16T09:54:30.232Z,1613469270.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.619995 m, bearing: 196.461089 deg, deltaT: 4.493777 s, approachRate: -0.494020 m/s, LOS rate: -0.377971 deg/s, posRepo size: 4
2021-02-16T09:54:30.234Z,1613469270.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.619995 m,
      bearing: 196.461089 deg,
      approachRate: -0.494020 m/s,
      LOS rate: -0.377971 deg/s,
      cmd update: -1.133913 deg/s,
      cmd heading: 213.357602 deg,
      new cmd heading: 213.858966 deg.

2021-02-16T09:54:32.676Z,1613469272.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:33.406Z,1613469273.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:33.817Z,1613469273.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:34.637Z,1613469274.637 [Micromodem](INFO): Nmea in: $SNTTA,0.087822,,,,095434.87*47

2021-02-16T09:54:34.690Z,1613469274.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 193.329256 deg, deltaT: 4.384541 s, approachRate: -0.478953 m/s, LOS rate: -0.714290 deg/s, posRepo size: 4
2021-02-16T09:54:34.696Z,1613469274.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 193.329256 deg,
      approachRate: -0.478953 m/s,
      LOS rate: -0.714290 deg/s,
      cmd update: -2.142869 deg/s,
      cmd heading: 208.381601 deg,
      new cmd heading: 207.878671 deg.

2021-02-16T09:54:37.070Z,1613469277.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:37.857Z,1613469277.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:38.265Z,1613469278.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:39.084Z,1613469279.084 [Micromodem](INFO): Nmea in: $SNTTA,0.086460,,,,095439.32*4F

2021-02-16T09:54:39.118Z,1613469279.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.479996 m, bearing: 196.236963 deg, deltaT: 4.482554 s, approachRate: -0.455100 m/s, LOS rate: 0.648672 deg/s, posRepo size: 4
2021-02-16T09:54:39.120Z,1613469279.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.479996 m,
      bearing: 196.236963 deg,
      approachRate: -0.455100 m/s,
      LOS rate: 0.648672 deg/s,
      cmd update: 1.946016 deg/s,
      cmd heading: 198.792676 deg,
      new cmd heading: 197.942913 deg.

2021-02-16T09:54:41.592Z,1613469281.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:42.298Z,1613469282.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:42.719Z,1613469282.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:43.531Z,1613469283.531 [Micromodem](INFO): Nmea in: $SNTTA,0.084815,,,,095443.76*4E

2021-02-16T09:54:43.612Z,1613469283.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.900002 m, bearing: 199.010990 deg, deltaT: 4.388746 s, approachRate: -0.587866 m/s, LOS rate: 0.632077 deg/s, posRepo size: 4
2021-02-16T09:54:43.620Z,1613469283.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.900002 m,
      bearing: 199.010990 deg,
      approachRate: -0.587866 m/s,
      LOS rate: 0.632077 deg/s,
      cmd update: 1.896232 deg/s,
      cmd heading: 207.348740 deg,
      new cmd heading: 208.297880 deg.

2021-02-16T09:54:45.979Z,1613469285.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:46.740Z,1613469286.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:47.151Z,1613469287.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:47.968Z,1613469287.968 [Micromodem](INFO): Nmea in: $SNTTA,0.083427,,,,095448.20*4C

2021-02-16T09:54:47.990Z,1613469287.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.800003 m, bearing: 197.957952 deg, deltaT: 4.540537 s, approachRate: -0.462500 m/s, LOS rate: -0.231919 deg/s, posRepo size: 4
2021-02-16T09:54:47.992Z,1613469287.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.800003 m,
      bearing: 197.957952 deg,
      approachRate: -0.462500 m/s,
      LOS rate: -0.231919 deg/s,
      cmd update: -0.695758 deg/s,
      cmd heading: 215.958605 deg,
      new cmd heading: 216.586785 deg.

2021-02-16T09:54:50.397Z,1613469290.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:51.209Z,1613469291.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:51.621Z,1613469291.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:52.430Z,1613469292.430 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095452.67*50

2021-02-16T09:54:52.474Z,1613469292.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 195.321417 deg, deltaT: 4.356168 s, approachRate: -0.482076 m/s, LOS rate: -0.605242 deg/s, posRepo size: 4
2021-02-16T09:54:52.476Z,1613469292.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.699997 m,
      bearing: 195.321417 deg,
      approachRate: -0.482076 m/s,
      LOS rate: -0.605242 deg/s,
      cmd update: -1.815725 deg/s,
      cmd heading: 212.927749 deg,
      new cmd heading: 212.608288 deg.

2021-02-16T09:54:54.869Z,1613469294.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:54:55.628Z,1613469295.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:54:56.035Z,1613469296.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:54:56.864Z,1613469296.864 [Micromodem](INFO): Nmea in: $SNTTA,0.081178,,,,095457.09*44

2021-02-16T09:54:56.922Z,1613469296.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.480003 m, bearing: 193.636041 deg, deltaT: 4.440717 s, approachRate: -0.499918 m/s, LOS rate: -0.379528 deg/s, posRepo size: 4
2021-02-16T09:54:56.936Z,1613469296.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.480003 m,
      bearing: 193.636041 deg,
      approachRate: -0.499918 m/s,
      LOS rate: -0.379528 deg/s,
      cmd update: -1.138584 deg/s,
      cmd heading: 204.864993 deg,
      new cmd heading: 204.075997 deg.

2021-02-16T09:54:59.296Z,1613469299.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:00.073Z,1613469300.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:00.478Z,1613469300.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:01.305Z,1613469301.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095501.54*57

2021-02-16T09:55:01.341Z,1613469301.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.320007 m, bearing: 192.696931 deg, deltaT: 4.482314 s, approachRate: -0.481893 m/s, LOS rate: -0.209515 deg/s, posRepo size: 4
2021-02-16T09:55:01.342Z,1613469301.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 192.696931 deg,
      approachRate: -0.481893 m/s,
      LOS rate: -0.209515 deg/s,
      cmd update: -0.628544 deg/s,
      cmd heading: 199.761606 deg,
      new cmd heading: 199.303062 deg.

2021-02-16T09:55:03.796Z,1613469303.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:04.531Z,1613469304.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:04.927Z,1613469304.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:05.756Z,1613469305.756 [Micromodem](INFO): Nmea in: $SNTTA,0.077672,,,,095505.99*4F

2021-02-16T09:55:05.804Z,1613469305.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 192.946970 deg, deltaT: 4.406023 s, approachRate: -0.463005 m/s, LOS rate: 0.056749 deg/s, posRepo size: 4
2021-02-16T09:55:05.806Z,1613469305.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.279999 m,
      bearing: 192.946970 deg,
      approachRate: -0.463005 m/s,
      LOS rate: 0.056749 deg/s,
      cmd update: 0.170248 deg/s,
      cmd heading: 196.992310 deg,
      new cmd heading: 196.702994 deg.

2021-02-16T09:55:08.169Z,1613469308.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:08.965Z,1613469308.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:09.377Z,1613469309.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:10.193Z,1613469310.193 [Micromodem](INFO): Nmea in: $SNTTA,0.076255,,,,095510.43*4C

2021-02-16T09:55:10.234Z,1613469310.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 199.805723 deg, deltaT: 4.507408 s, approachRate: -0.479210 m/s, LOS rate: 1.521662 deg/s, posRepo size: 4
2021-02-16T09:55:10.236Z,1613469310.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.120003 m,
      bearing: 199.805723 deg,
      approachRate: -0.479210 m/s,
      LOS rate: 1.521662 deg/s,
      cmd update: 4.564987 deg/s,
      cmd heading: 197.759080 deg,
      new cmd heading: 197.824830 deg.

2021-02-16T09:55:12.675Z,1613469312.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:13.404Z,1613469313.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:13.839Z,1613469313.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:14.632Z,1613469314.632 [Micromodem](INFO): Nmea in: $SNTTA,0.075271,,,,095514.87*45

2021-02-16T09:55:14.671Z,1613469314.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.680000 m, bearing: 199.595408 deg, deltaT: 4.394463 s, approachRate: -0.327686 m/s, LOS rate: -0.047859 deg/s, posRepo size: 4
2021-02-16T09:55:14.673Z,1613469314.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.680000 m,
      bearing: 199.595408 deg,
      approachRate: -0.327686 m/s,
      LOS rate: -0.047859 deg/s,
      cmd update: -0.143577 deg/s,
      cmd heading: 217.838046 deg,
      new cmd heading: 219.777020 deg.

2021-02-16T09:55:17.087Z,1613469317.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:17.873Z,1613469317.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:18.267Z,1613469318.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:19.088Z,1613469319.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095519.34*58

2021-02-16T09:55:19.122Z,1613469319.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 193.617258 deg, deltaT: 4.482105 s, approachRate: -0.361436 m/s, LOS rate: -1.333782 deg/s, posRepo size: 4
2021-02-16T09:55:19.124Z,1613469319.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 193.617258 deg,
      approachRate: -0.361436 m/s,
      LOS rate: -1.333782 deg/s,
      cmd update: -4.001346 deg/s,
      cmd heading: 217.195155 deg,
      new cmd heading: 217.137936 deg.

2021-02-16T09:55:21.521Z,1613469321.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:22.292Z,1613469322.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:22.703Z,1613469322.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:23.532Z,1613469323.532 [Micromodem](INFO): Nmea in: $SNTTA,0.083118,,,,095523.76*4A

2021-02-16T09:55:23.588Z,1613469323.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.200005 m, bearing: 198.639468 deg, deltaT: 4.391324 s, approachRate: -0.423563 m/s, LOS rate: 1.143667 deg/s, posRepo size: 4
2021-02-16T09:55:23.590Z,1613469323.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.200005 m,
      bearing: 198.639468 deg,
      approachRate: -0.423563 m/s,
      LOS rate: 1.143667 deg/s,
      cmd update: 3.431000 deg/s,
      cmd heading: 199.606113 deg,
      new cmd heading: 197.729922 deg.

2021-02-16T09:55:26.031Z,1613469326.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:26.736Z,1613469326.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:27.151Z,1613469327.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:27.968Z,1613469327.968 [Micromodem](INFO): Nmea in: $SNTTA,0.071509,,,,095528.20*4B

2021-02-16T09:55:27.990Z,1613469327.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 199.469336 deg, deltaT: 4.541445 s, approachRate: -0.475620 m/s, LOS rate: 0.182732 deg/s, posRepo size: 4
2021-02-16T09:55:27.992Z,1613469327.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.040001 m,
      bearing: 199.469336 deg,
      approachRate: -0.475620 m/s,
      LOS rate: 0.182732 deg/s,
      cmd update: 0.548196 deg/s,
      cmd heading: 215.174135 deg,
      new cmd heading: 216.317032 deg.

2021-02-16T09:55:30.444Z,1613469330.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:31.215Z,1613469331.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:31.613Z,1613469331.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:32.436Z,1613469332.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095532.68*58

2021-02-16T09:55:32.537Z,1613469332.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.700005 m, bearing: 197.866919 deg, deltaT: 4.355963 s, approachRate: -0.537194 m/s, LOS rate: -0.367867 deg/s, posRepo size: 4
2021-02-16T09:55:32.549Z,1613469332.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.700005 m,
      bearing: 197.866919 deg,
      approachRate: -0.537194 m/s,
      LOS rate: -0.367867 deg/s,
      cmd update: -1.103602 deg/s,
      cmd heading: 217.564059 deg,
      new cmd heading: 217.844804 deg.

2021-02-16T09:55:34.589Z,1613469334.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:35.229Z,1613469335.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:35.643Z,1613469335.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:36.459Z,1613469336.459 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095536.69*5D

2021-02-16T09:55:36.484Z,1613469336.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.840004 m, bearing: 197.576773 deg, deltaT: 4.085235 s, approachRate: -0.455298 m/s, LOS rate: -0.071023 deg/s, posRepo size: 4
2021-02-16T09:55:36.485Z,1613469336.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.840004 m,
      bearing: 197.576773 deg,
      approachRate: -0.455298 m/s,
      LOS rate: -0.071023 deg/s,
      cmd update: -0.213070 deg/s,
      cmd heading: 213.082032 deg,
      new cmd heading: 212.639616 deg.

2021-02-16T09:55:38.968Z,1613469338.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:39.679Z,1613469339.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:40.074Z,1613469340.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:40.912Z,1613469340.912 [Micromodem](INFO): Nmea in: $SNTTA,0.067407,,,,095541.14*4B

2021-02-16T09:55:41.011Z,1613469341.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 198.075254 deg, deltaT: 4.399572 s, approachRate: -0.450045 m/s, LOS rate: 0.113302 deg/s, posRepo size: 4
2021-02-16T09:55:41.013Z,1613469341.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.860001 m,
      bearing: 198.075254 deg,
      approachRate: -0.450045 m/s,
      LOS rate: 0.113302 deg/s,
      cmd update: 0.339906 deg/s,
      cmd heading: 212.140845 deg,
      new cmd heading: 212.030909 deg.

2021-02-16T09:55:43.016Z,1613469343.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:43.721Z,1613469343.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:44.127Z,1613469344.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:44.956Z,1613469344.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095545.18*5F

2021-02-16T09:55:45.029Z,1613469345.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 197.226835 deg, deltaT: 4.125330 s, approachRate: -0.465415 m/s, LOS rate: -0.205661 deg/s, posRepo size: 4
2021-02-16T09:55:45.040Z,1613469345.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.940010 m,
      bearing: 197.226835 deg,
      approachRate: -0.465415 m/s,
      LOS rate: -0.205661 deg/s,
      cmd update: -0.616982 deg/s,
      cmd heading: 213.545291 deg,
      new cmd heading: 213.682030 deg.

2021-02-16T09:55:47.384Z,1613469347.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:47.788Z,1613469347.788 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:55:48.164Z,1613469348.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:48.611Z,1613469348.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:49.401Z,1613469349.401 [Micromodem](INFO): Nmea in: $SNTTA,0.064769,,,,095549.63*4B

2021-02-16T09:55:49.734Z,1613469349.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 198.063164 deg, deltaT: 4.378561 s, approachRate: -0.452206 m/s, LOS rate: 0.191006 deg/s, posRepo size: 4
2021-02-16T09:55:49.745Z,1613469349.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 198.063164 deg,
      approachRate: -0.452206 m/s,
      LOS rate: 0.191006 deg/s,
      cmd update: 0.573017 deg/s,
      cmd heading: 210.846313 deg,
      new cmd heading: 210.394064 deg.

2021-02-16T09:55:51.705Z,1613469351.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:52.344Z,1613469352.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:52.765Z,1613469352.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:53.589Z,1613469353.589 [Micromodem](INFO): Nmea in: $SNTTA,0.063504,,,,095553.81*42

2021-02-16T09:55:53.805Z,1613469353.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 198.429795 deg, deltaT: 4.191765 s, approachRate: -0.458041 m/s, LOS rate: 0.087465 deg/s, posRepo size: 4
2021-02-16T09:55:53.807Z,1613469353.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 198.429795 deg,
      approachRate: -0.458041 m/s,
      LOS rate: 0.087465 deg/s,
      cmd update: 0.262394 deg/s,
      cmd heading: 213.235308 deg,
      new cmd heading: 213.598728 deg.

2021-02-16T09:55:56.022Z,1613469356.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:55:56.790Z,1613469356.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:55:57.198Z,1613469357.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:55:58.028Z,1613469358.028 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095558.25*5D

2021-02-16T09:55:58.050Z,1613469358.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 199.812103 deg, deltaT: 4.465760 s, approachRate: -0.523986 m/s, LOS rate: 0.309535 deg/s, posRepo size: 4
2021-02-16T09:55:58.068Z,1613469358.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.700005 m,
      bearing: 199.812103 deg,
      approachRate: -0.523986 m/s,
      LOS rate: 0.309535 deg/s,
      cmd update: 0.928604 deg/s,
      cmd heading: 214.414112 deg,
      new cmd heading: 214.515683 deg.

2021-02-16T09:56:00.441Z,1613469360.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:01.238Z,1613469361.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:01.638Z,1613469361.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:02.464Z,1613469362.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095602.70*51

2021-02-16T09:56:02.568Z,1613469362.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 198.417050 deg, deltaT: 4.426025 s, approachRate: -0.501577 m/s, LOS rate: -0.315193 deg/s, posRepo size: 4
2021-02-16T09:56:02.570Z,1613469362.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.480011 m,
      bearing: 198.417050 deg,
      approachRate: -0.501577 m/s,
      LOS rate: -0.315193 deg/s,
      cmd update: -0.945579 deg/s,
      cmd heading: 218.520453 deg,
      new cmd heading: 218.964314 deg.

2021-02-16T09:56:04.928Z,1613469364.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:05.676Z,1613469365.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:06.087Z,1613469366.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:06.920Z,1613469366.920 [Micromodem](INFO): Nmea in: $SNTTA,0.059172,,,0.065797,095607.14*54

2021-02-16T09:56:06.988Z,1613469366.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 195.779436 deg, deltaT: 4.426663 s, approachRate: -0.528616 m/s, LOS rate: -0.595847 deg/s, posRepo size: 4
2021-02-16T09:56:06.990Z,1613469366.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 195.779436 deg,
      approachRate: -0.528616 m/s,
      LOS rate: -0.595847 deg/s,
      cmd update: -1.787541 deg/s,
      cmd heading: 214.330908 deg,
      new cmd heading: 213.884556 deg.

2021-02-16T09:56:09.329Z,1613469369.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:10.121Z,1613469370.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:10.569Z,1613469370.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:11.364Z,1613469371.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095611.58*59

2021-02-16T09:56:11.394Z,1613469371.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 195.315092 deg, deltaT: 4.455093 s, approachRate: -0.565646 m/s, LOS rate: -0.104228 deg/s, posRepo size: 4
2021-02-16T09:56:11.396Z,1613469371.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.620003 m,
      bearing: 195.315092 deg,
      approachRate: -0.565646 m/s,
      LOS rate: -0.104228 deg/s,
      cmd update: -0.312683 deg/s,
      cmd heading: 206.367533 deg,
      new cmd heading: 205.610694 deg.

2021-02-16T09:56:13.807Z,1613469373.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:14.577Z,1613469374.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:14.979Z,1613469374.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:15.803Z,1613469375.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095616.04*57

2021-02-16T09:56:15.840Z,1613469375.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 199.033816 deg, deltaT: 4.447537 s, approachRate: -0.458681 m/s, LOS rate: 0.836131 deg/s, posRepo size: 4
2021-02-16T09:56:15.842Z,1613469375.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.580002 m,
      bearing: 199.033816 deg,
      approachRate: -0.458681 m/s,
      LOS rate: 0.836131 deg/s,
      cmd update: 2.508393 deg/s,
      cmd heading: 204.978098 deg,
      new cmd heading: 204.845421 deg.

2021-02-16T09:56:17.833Z,1613469377.833 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T09:56:18.230Z,1613469378.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:19.035Z,1613469379.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:19.418Z,1613469379.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:20.260Z,1613469380.260 [Micromodem](INFO): Nmea in: $SNTTA,0.054459,,,,095620.50*44

2021-02-16T09:56:20.282Z,1613469380.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 199.397811 deg, deltaT: 4.445261 s, approachRate: -0.485912 m/s, LOS rate: 0.081884 deg/s, posRepo size: 4
2021-02-16T09:56:20.304Z,1613469380.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.419998 m,
      bearing: 199.397811 deg,
      approachRate: -0.485912 m/s,
      LOS rate: 0.081884 deg/s,
      cmd update: 0.245651 deg/s,
      cmd heading: 216.138797 deg,
      new cmd heading: 217.188507 deg.

2021-02-16T09:56:22.689Z,1613469382.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:23.456Z,1613469383.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:23.862Z,1613469383.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:24.673Z,1613469384.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095624.92*59

2021-02-16T09:56:25.490Z,1613469385.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:27.090Z,1613469387.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:56:27.951Z,1613469387.951 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T09:56:27.951Z,1613469387.951 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T09:56:27.951Z,1613469387.951 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T09:56:28.079Z,1613469388.079 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T09:56:28.379Z,1613469388.379 [RDI_Pathfinder](INFO): Powering down
2021-02-16T09:56:28.400Z,1613469388.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:29.112Z,1613469389.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:29.324Z,1613469389.324 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T09:56:29.324Z,1613469389.324 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T09:56:29.518Z,1613469389.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:30.340Z,1613469390.340 [Micromodem](INFO): Nmea in: $SNTTA,0.051551,,,,095630.58*41

2021-02-16T09:56:30.362Z,1613469390.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.160004 m, bearing: 192.259156 deg, deltaT: 10.109607 s, approachRate: -0.421381 m/s, LOS rate: -0.706126 deg/s, posRepo size: 4
2021-02-16T09:56:30.364Z,1613469390.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 192.259156 deg,
      approachRate: -0.421381 m/s,
      LOS rate: -0.706126 deg/s,
      cmd update: -2.118377 deg/s,
      cmd heading: 218.621258 deg,
      new cmd heading: 218.717748 deg.

2021-02-16T09:56:32.821Z,1613469392.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:33.556Z,1613469393.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:33.962Z,1613469393.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:34.796Z,1613469394.796 [Micromodem](INFO): Nmea in: $SNTTA,0.050386,,,,095635.02*46

2021-02-16T09:56:34.821Z,1613469394.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 194.582595 deg, deltaT: 4.405678 s, approachRate: -0.422183 m/s, LOS rate: 0.527374 deg/s, posRepo size: 4
2021-02-16T09:56:34.822Z,1613469394.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 194.582595 deg,
      approachRate: -0.422183 m/s,
      LOS rate: 0.527374 deg/s,
      cmd update: 1.582121 deg/s,
      cmd heading: 209.280032 deg,
      new cmd heading: 208.344695 deg.

2021-02-16T09:56:37.254Z,1613469397.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:37.000Z,1613469398.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:38.406Z,1613469398.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:39.252Z,1613469399.252 [Micromodem](INFO): Nmea in: $SNTTA,0.049165,,,,095639.47*4C

2021-02-16T09:56:39.286Z,1613469399.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 200.746076 deg, deltaT: 4.452572 s, approachRate: -0.485112 m/s, LOS rate: 1.384252 deg/s, posRepo size: 4
2021-02-16T09:56:39.288Z,1613469399.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 200.746076 deg,
      approachRate: -0.485112 m/s,
      LOS rate: 1.384252 deg/s,
      cmd update: 4.152755 deg/s,
      cmd heading: 216.324583 deg,
      new cmd heading: 217.043351 deg.

2021-02-16T09:56:41.673Z,1613469401.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:42.445Z,1613469402.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:42.867Z,1613469402.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:43.684Z,1613469403.684 [Micromodem](INFO): Nmea in: $SNTTA,0.047808,,,,095643.91*46

2021-02-16T09:56:43.751Z,1613469403.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.339996 m, bearing: 198.819553 deg, deltaT: 4.441211 s, approachRate: -0.405297 m/s, LOS rate: -0.433783 deg/s, posRepo size: 4
2021-02-16T09:56:43.753Z,1613469403.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.339996 m,
      bearing: 198.819553 deg,
      approachRate: -0.405297 m/s,
      LOS rate: -0.433783 deg/s,
      cmd update: -1.301350 deg/s,
      cmd heading: 234.767970 deg,
      new cmd heading: 236.737174 deg.

2021-02-16T09:56:46.105Z,1613469406.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:46.904Z,1613469406.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:47.299Z,1613469407.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:48.132Z,1613469408.132 [Micromodem](INFO): Nmea in: $SNTTA,0.046605,,0.051955,,095648.37*50

2021-02-16T09:56:48.154Z,1613469408.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 197.574574 deg, deltaT: 4.464129 s, approachRate: -0.362892 m/s, LOS rate: -0.278885 deg/s, posRepo size: 4
2021-02-16T09:56:48.156Z,1613469408.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 197.574574 deg,
      approachRate: -0.362892 m/s,
      LOS rate: -0.278885 deg/s,
      cmd update: -0.836656 deg/s,
      cmd heading: 228.958606 deg,
      new cmd heading: 228.415554 deg.

2021-02-16T09:56:50.608Z,1613469410.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:51.347Z,1613469411.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:51.738Z,1613469411.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:52.628Z,1613469412.628 [Micromodem](INFO): Nmea in: $SNTTA,0.045440,,,,095652.81*45

2021-02-16T09:56:52.682Z,1613469412.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.860001 m, bearing: 199.614915 deg, deltaT: 4.422772 s, approachRate: -0.420551 m/s, LOS rate: 0.461326 deg/s, posRepo size: 4
2021-02-16T09:56:52.684Z,1613469412.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.860001 m,
      bearing: 199.614915 deg,
      approachRate: -0.420551 m/s,
      LOS rate: 0.461326 deg/s,
      cmd update: 1.383979 deg/s,
      cmd heading: 225.258285 deg,
      new cmd heading: 224.821542 deg.

2021-02-16T09:56:55.024Z,1613469415.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:56:55.793Z,1613469415.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:56:56.189Z,1613469416.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:56:57.016Z,1613469417.016 [Micromodem](INFO): Nmea in: $SNTTA,0.044171,,,,095657.26*4B

2021-02-16T09:56:57.060Z,1613469417.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.060005 m, bearing: 200.016899 deg, deltaT: 4.455337 s, approachRate: -0.404009 m/s, LOS rate: 0.090225 deg/s, posRepo size: 4
2021-02-16T09:56:57.062Z,1613469417.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 200.016899 deg,
      approachRate: -0.404009 m/s,
      LOS rate: 0.090225 deg/s,
      cmd update: 0.270676 deg/s,
      cmd heading: 231.424340 deg,
      new cmd heading: 232.012599 deg.

2021-02-16T09:56:57.814Z,1613469417.814 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:56:59.529Z,1613469419.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:00.227Z,1613469420.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:00.625Z,1613469420.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:01.472Z,1613469421.472 [Micromodem](INFO): Nmea in: $SNTTA,0.043104,,,,095701.69*47

2021-02-16T09:57:01.512Z,1613469421.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 205.743671 deg, deltaT: 4.426647 s, approachRate: -0.365966 m/s, LOS rate: 1.293704 deg/s, posRepo size: 4
2021-02-16T09:57:01.514Z,1613469421.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 205.743671 deg,
      approachRate: -0.365966 m/s,
      LOS rate: 1.293704 deg/s,
      cmd update: 3.881113 deg/s,
      cmd heading: 232.622538 deg,
      new cmd heading: 232.749850 deg.

2021-02-16T09:57:03.550Z,1613469423.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:04.260Z,1613469424.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:04.667Z,1613469424.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:05.488Z,1613469425.488 [Micromodem](INFO): Nmea in: $SNTTA,0.042213,,,,095705.72*4D

2021-02-16T09:57:05.513Z,1613469425.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.180004 m, bearing: 197.401073 deg, deltaT: 4.050189 s, approachRate: -0.311096 m/s, LOS rate: -2.059805 deg/s, posRepo size: 4
2021-02-16T09:57:05.515Z,1613469425.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 197.401073 deg,
      approachRate: -0.311096 m/s,
      LOS rate: -2.059805 deg/s,
      cmd update: -6.179414 deg/s,
      cmd heading: 248.341779 deg,
      new cmd heading: 249.975882 deg.

2021-02-16T09:57:07.927Z,1613469427.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:08.710Z,1613469428.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:09.109Z,1613469429.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:09.940Z,1613469429.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095710.17*52

2021-02-16T09:57:09.980Z,1613469429.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 204.455197 deg, deltaT: 4.505677 s, approachRate: -0.346232 m/s, LOS rate: 1.565608 deg/s, posRepo size: 4
2021-02-16T09:57:09.981Z,1613469429.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.619995 m,
      bearing: 204.455197 deg,
      approachRate: -0.346232 m/s,
      LOS rate: 1.565608 deg/s,
      cmd update: 4.696824 deg/s,
      cmd heading: 220.524085 deg,
      new cmd heading: 218.139331 deg.

2021-02-16T09:57:12.382Z,1613469432.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:13.153Z,1613469433.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:13.566Z,1613469433.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:14.407Z,1613469434.407 [Micromodem](INFO): Nmea in: $SNTTA,0.040031,,,,095714.62*4C

2021-02-16T09:57:14.459Z,1613469434.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.820000 m, bearing: 205.551838 deg, deltaT: 4.402173 s, approachRate: -0.408888 m/s, LOS rate: 0.249114 deg/s, posRepo size: 4
2021-02-16T09:57:14.465Z,1613469434.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.820000 m,
      bearing: 205.551838 deg,
      approachRate: -0.408888 m/s,
      LOS rate: 0.249114 deg/s,
      cmd update: 0.747341 deg/s,
      cmd heading: 241.199739 deg,
      new cmd heading: 243.374349 deg.

2021-02-16T09:57:16.816Z,1613469436.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:17.631Z,1613469437.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:17.998Z,1613469437.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:18.837Z,1613469438.837 [Micromodem](INFO): Nmea in: $SNTTA,0.049600,,,,095719.10*49

2021-02-16T09:57:18.874Z,1613469438.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 207.899456 deg, deltaT: 4.483746 s, approachRate: -0.481738 m/s, LOS rate: 0.523584 deg/s, posRepo size: 4
2021-02-16T09:57:18.876Z,1613469438.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.660007 m,
      bearing: 207.899456 deg,
      approachRate: -0.481738 m/s,
      LOS rate: 0.523584 deg/s,
      cmd update: 1.570752 deg/s,
      cmd heading: 244.547697 deg,
      new cmd heading: 244.845353 deg.

2021-02-16T09:57:21.248Z,1613469441.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:22.036Z,1613469442.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:22.451Z,1613469442.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:23.272Z,1613469443.272 [Micromodem](INFO): Nmea in: $SNTTA,0.040346,,,,095723.50*4A

2021-02-16T09:57:23.294Z,1613469443.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 201.097694 deg, deltaT: 4.389515 s, approachRate: -0.464747 m/s, LOS rate: -1.549548 deg/s, posRepo size: 4
2021-02-16T09:57:23.296Z,1613469443.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 201.097694 deg,
      approachRate: -0.464747 m/s,
      LOS rate: -1.549548 deg/s,
      cmd update: -4.648643 deg/s,
      cmd heading: 251.455161 deg,
      new cmd heading: 252.116870 deg.

2021-02-16T09:57:25.697Z,1613469445.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:26.480Z,1613469446.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:26.899Z,1613469446.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:27.697Z,1613469447.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095727.95*5C

2021-02-16T09:57:28.535Z,1613469448.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:30.122Z,1613469450.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:57:31.365Z,1613469451.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:32.168Z,1613469452.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:32.635Z,1613469452.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:33.408Z,1613469453.408 [Micromodem](INFO): Nmea in: $SNTTA,0.034489,,,,095733.63*4C

2021-02-16T09:57:33.494Z,1613469453.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 208.876365 deg, deltaT: 10.140192 s, approachRate: -0.461529 m/s, LOS rate: 0.767113 deg/s, posRepo size: 4
2021-02-16T09:57:33.504Z,1613469453.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 208.876365 deg,
      approachRate: -0.461529 m/s,
      LOS rate: 0.767113 deg/s,
      cmd update: 2.301338 deg/s,
      cmd heading: 204.317679 deg,
      new cmd heading: 202.080474 deg.

2021-02-16T09:57:35.817Z,1613469455.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:36.614Z,1613469456.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:37.006Z,1613469457.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:37.849Z,1613469457.849 [Micromodem](INFO): Nmea in: $SNTTA,0.032958,,,,095738.08*4D

2021-02-16T09:57:37.857Z,1613469457.857 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:57:37.874Z,1613469457.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 207.991869 deg, deltaT: 4.527814 s, approachRate: -0.516807 m/s, LOS rate: -0.195347 deg/s, posRepo size: 4
2021-02-16T09:57:37.876Z,1613469457.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 207.991869 deg,
      approachRate: -0.516807 m/s,
      LOS rate: -0.195347 deg/s,
      cmd update: -0.586042 deg/s,
      cmd heading: 214.726467 deg,
      new cmd heading: 215.505433 deg.

2021-02-16T09:57:40.305Z,1613469460.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:41.088Z,1613469461.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:41.494Z,1613469461.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:42.316Z,1613469462.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095742.55*53

2021-02-16T09:57:42.334Z,1613469462.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 199.876334 deg, deltaT: 4.429133 s, approachRate: -0.501225 m/s, LOS rate: -1.832308 deg/s, posRepo size: 4
2021-02-16T09:57:42.336Z,1613469462.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.380001 m,
      bearing: 199.876334 deg,
      approachRate: -0.501225 m/s,
      LOS rate: -1.832308 deg/s,
      cmd update: -5.496923 deg/s,
      cmd heading: 212.132610 deg,
      new cmd heading: 211.914448 deg.

2021-02-16T09:57:44.836Z,1613469464.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:45.534Z,1613469465.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:45.996Z,1613469465.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:46.767Z,1613469466.767 [Micromodem](INFO): Nmea in: $SNTTA,0.029720,,,,095747.00*46

2021-02-16T09:57:46.805Z,1613469466.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 206.023490 deg, deltaT: 4.482104 s, approachRate: -0.455144 m/s, LOS rate: 1.371489 deg/s, posRepo size: 4
2021-02-16T09:57:46.807Z,1613469466.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.339996 m,
      bearing: 206.023490 deg,
      approachRate: -0.455144 m/s,
      LOS rate: 1.371489 deg/s,
      cmd update: 4.114467 deg/s,
      cmd heading: 187.804964 deg,
      new cmd heading: 185.510927 deg.

2021-02-16T09:57:47.660Z,1613469467.660 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T09:57:49.203Z,1613469469.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:49.977Z,1613469469.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:50.391Z,1613469470.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:51.218Z,1613469471.218 [Micromodem](INFO): Nmea in: $SNTTA,0.028722,,,,095751.44*42

2021-02-16T09:57:51.303Z,1613469471.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 207.098439 deg, deltaT: 4.405758 s, approachRate: -0.313226 m/s, LOS rate: 0.243987 deg/s, posRepo size: 4
2021-02-16T09:57:51.309Z,1613469471.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 207.098439 deg,
      approachRate: -0.313226 m/s,
      LOS rate: 0.243987 deg/s,
      cmd update: 0.731962 deg/s,
      cmd heading: 206.164555 deg,
      new cmd heading: 208.014576 deg.

2021-02-16T09:57:53.403Z,1613469473.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:54.094Z,1613469474.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:54.512Z,1613469474.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:55.335Z,1613469475.335 [Micromodem](INFO): Nmea in: $SNTTA,0.028076,,,,095755.56*43

2021-02-16T09:57:55.366Z,1613469475.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.000000 m, bearing: 222.525842 deg, deltaT: 4.187709 s, approachRate: -0.229242 m/s, LOS rate: 3.683972 deg/s, posRepo size: 4
2021-02-16T09:57:55.437Z,1613469475.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.000000 m,
      bearing: 222.525842 deg,
      approachRate: -0.229242 m/s,
      LOS rate: 3.683972 deg/s,
      cmd update: 11.051917 deg/s,
      cmd heading: 209.229758 deg,
      new cmd heading: 209.470192 deg.

2021-02-16T09:57:57.748Z,1613469477.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:57:58.512Z,1613469478.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:57:58.920Z,1613469478.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:57:59.752Z,1613469479.752 [Micromodem](INFO): Nmea in: $SNTTA,0.027364,,,,095759.98*42

2021-02-16T09:57:59.794Z,1613469479.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.859997 m, bearing: 226.286230 deg, deltaT: 4.295585 s, approachRate: -0.265390 m/s, LOS rate: 0.875408 deg/s, posRepo size: 4
2021-02-16T09:57:59.812Z,1613469479.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 226.286230 deg,
      approachRate: -0.265390 m/s,
      LOS rate: 0.875408 deg/s,
      cmd update: 2.626223 deg/s,
      cmd heading: 256.794469 deg,
      new cmd heading: 261.797970 deg.

2021-02-16T09:58:02.185Z,1613469482.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:02.957Z,1613469482.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:03.369Z,1613469483.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:03.800Z,1613469483.800 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T09:58:04.184Z,1613469484.184 [Micromodem](INFO): Nmea in: $SNTTA,0.026359,,,,095804.42*4D

2021-02-16T09:58:04.229Z,1613469484.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 217.690423 deg, deltaT: 4.471359 s, approachRate: -0.335468 m/s, LOS rate: -1.922415 deg/s, posRepo size: 4
2021-02-16T09:58:04.229Z,1613469484.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.36 m.
2021-02-16T09:58:04.231Z,1613469484.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.360001 m,
      bearing: 217.690423 deg,
      approachRate: -0.335468 m/s,
      LOS rate: -1.922415 deg/s,
      cmd update: -5.767244 deg/s,
      cmd heading: 268.537052 deg,
      new cmd heading: 269.630404 deg.

2021-02-16T09:58:04.593Z,1613469484.593 [PowerOnly](INFO): Powering up loadControl
2021-02-16T09:58:06.673Z,1613469486.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:07.438Z,1613469487.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:07.809Z,1613469487.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:08.660Z,1613469488.660 [Micromodem](INFO): Nmea in: $SNTTA,0.025413,,,,095808.90*44

2021-02-16T09:58:08.717Z,1613469488.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 212.149268 deg, deltaT: 4.426100 s, approachRate: -0.311787 m/s, LOS rate: -1.251927 deg/s, posRepo size: 4
2021-02-16T09:58:08.718Z,1613469488.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2021-02-16T09:58:08.718Z,1613469488.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 37.98 m.
2021-02-16T09:58:08.718Z,1613469488.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T09:58:08.720Z,1613469488.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 212.149268 deg,
      approachRate: -0.311787 m/s,
      LOS rate: -1.251927 deg/s,
      cmd update: -3.755781 deg/s,
      cmd heading: 243.010467 deg,
      new cmd heading: 240.250004 deg.

2021-02-16T09:58:11.068Z,1613469491.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:11.854Z,1613469491.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:12.250Z,1613469492.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:13.080Z,1613469493.080 [Micromodem](INFO): Nmea in: $SNTTA,0.024492,,,,095813.32*4E

2021-02-16T09:58:13.114Z,1613469493.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 214.878024 deg, deltaT: 4.478698 s, approachRate: -0.334919 m/s, LOS rate: 0.609274 deg/s, posRepo size: 4
2021-02-16T09:58:13.116Z,1613469493.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.480000 m,
      bearing: 214.878024 deg,
      approachRate: -0.334919 m/s,
      LOS rate: 0.609274 deg/s,
      cmd update: 1.827823 deg/s,
      cmd heading: 226.204498 deg,
      new cmd heading: 224.699504 deg.

2021-02-16T09:58:15.506Z,1613469495.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:16.289Z,1613469496.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:16.719Z,1613469496.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:17.523Z,1613469497.523 [Micromodem](INFO): Nmea in: $SNTTA,0.023116,,,,095817.75*47

2021-02-16T09:58:17.548Z,1613469497.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 212.233840 deg, deltaT: 4.420372 s, approachRate: -0.475074 m/s, LOS rate: -0.598182 deg/s, posRepo size: 4
2021-02-16T09:58:17.550Z,1613469497.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.379997 m,
      bearing: 212.233840 deg,
      approachRate: -0.475074 m/s,
      LOS rate: -0.598182 deg/s,
      cmd update: -1.794544 deg/s,
      cmd heading: 234.291260 deg,
      new cmd heading: 235.041779 deg.

2021-02-16T09:58:19.681Z,1613469499.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:20.349Z,1613469500.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:20.763Z,1613469500.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:21.588Z,1613469501.588 [Micromodem](INFO): Nmea in: $SNTTA,0.021790,,,,095821.81*43

2021-02-16T09:58:21.664Z,1613469501.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.520000 m, bearing: 206.320959 deg, deltaT: 4.029114 s, approachRate: -0.461639 m/s, LOS rate: -1.467539 deg/s, posRepo size: 4
2021-02-16T09:58:21.665Z,1613469501.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.520000 m,
      bearing: 206.320959 deg,
      approachRate: -0.461639 m/s,
      LOS rate: -1.467539 deg/s,
      cmd update: -4.402617 deg/s,
      cmd heading: 227.089324 deg,
      new cmd heading: 226.169731 deg.

2021-02-16T09:58:24.001Z,1613469504.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:24.797Z,1613469504.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:25.190Z,1613469505.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:26.020Z,1613469506.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.039994,095826.26*4A

2021-02-16T09:58:26.045Z,1613469506.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.239998 m, bearing: 218.035703 deg, deltaT: 4.460971 s, approachRate: -0.511100 m/s, LOS rate: 2.626053 deg/s, posRepo size: 4
2021-02-16T09:58:26.046Z,1613469506.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.239998 m,
      bearing: 218.035703 deg,
      approachRate: -0.511100 m/s,
      LOS rate: 2.626053 deg/s,
      cmd update: 7.878158 deg/s,
      cmd heading: 207.379016 deg,
      new cmd heading: 205.543477 deg.

2021-02-16T09:58:28.474Z,1613469508.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:29.228Z,1613469509.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:29.626Z,1613469509.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:30.473Z,1613469510.473 [Micromodem](INFO): Nmea in: $SNTTA,0.019046,,,,095830.69*42

2021-02-16T09:58:30.518Z,1613469510.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.379997 m, bearing: 220.552983 deg, deltaT: 4.412389 s, approachRate: -0.421540 m/s, LOS rate: 0.570503 deg/s, posRepo size: 4
2021-02-16T09:58:30.521Z,1613469510.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 220.552983 deg,
      approachRate: -0.421540 m/s,
      LOS rate: 0.570503 deg/s,
      cmd update: 1.711508 deg/s,
      cmd heading: 242.138709 deg,
      new cmd heading: 245.902523 deg.

2021-02-16T09:58:32.964Z,1613469512.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:33.695Z,1613469513.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:34.087Z,1613469514.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:34.912Z,1613469514.912 [Micromodem](INFO): Nmea in: $SNTTA,0.017644,,,,095835.16*45

2021-02-16T09:58:34.957Z,1613469514.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 218.444258 deg, deltaT: 4.459832 s, approachRate: -0.470869 m/s, LOS rate: -0.472826 deg/s, posRepo size: 4
2021-02-16T09:58:34.961Z,1613469514.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 218.444258 deg,
      approachRate: -0.470869 m/s,
      LOS rate: -0.472826 deg/s,
      cmd update: -1.418479 deg/s,
      cmd heading: 249.771863 deg,
      new cmd heading: 250.553579 deg.

2021-02-16T09:58:37.325Z,1613469517.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:38.104Z,1613469518.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:38.527Z,1613469518.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:39.332Z,1613469519.332 [Micromodem](INFO): Nmea in: $SNTTA,0.016333,,,,095839.57*48

2021-02-16T09:58:39.348Z,1613469519.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 211.477437 deg, deltaT: 4.472962 s, approachRate: -0.456075 m/s, LOS rate: -1.557541 deg/s, posRepo size: 4
2021-02-16T09:58:39.349Z,1613469519.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.239998 m,
      bearing: 211.477437 deg,
      approachRate: -0.456075 m/s,
      LOS rate: -1.557541 deg/s,
      cmd update: -4.672622 deg/s,
      cmd heading: 243.452250 deg,
      new cmd heading: 242.895818 deg.

2021-02-16T09:58:41.797Z,1613469521.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:42.549Z,1613469522.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:42.956Z,1613469522.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:43.797Z,1613469523.797 [Micromodem](INFO): Nmea in: $SNTTA,0.014744,0.025088,0.050276,,095844.01*46

2021-02-16T09:58:43.859Z,1613469523.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 216.883040 deg, deltaT: 4.409791 s, approachRate: -0.544243 m/s, LOS rate: 1.225818 deg/s, posRepo size: 4
2021-02-16T09:58:43.861Z,1613469523.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 216.883040 deg,
      approachRate: -0.544243 m/s,
      LOS rate: 1.225818 deg/s,
      cmd update: 3.677455 deg/s,
      cmd heading: 222.764001 deg,
      new cmd heading: 220.556341 deg.

2021-02-16T09:58:46.305Z,1613469526.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:47.015Z,1613469527.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:47.441Z,1613469527.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:48.236Z,1613469528.236 [Micromodem](INFO): Nmea in: $SNTTA,0.013341,,,,095848.48*40

2021-02-16T09:58:48.258Z,1613469528.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 218.937384 deg, deltaT: 4.493545 s, approachRate: -0.480689 m/s, LOS rate: 0.457177 deg/s, posRepo size: 4
2021-02-16T09:58:48.280Z,1613469528.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 218.937384 deg,
      approachRate: -0.480689 m/s,
      LOS rate: 0.457177 deg/s,
      cmd update: 1.371530 deg/s,
      cmd heading: 239.289438 deg,
      new cmd heading: 240.694365 deg.

2021-02-16T09:58:50.675Z,1613469530.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:51.446Z,1613469531.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:51.856Z,1613469531.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:52.685Z,1613469532.685 [Micromodem](INFO): Nmea in: $SNTTA,0.011793,,,,095852.91*46

2021-02-16T09:58:53.498Z,1613469533.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:55.072Z,1613469535.072 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T09:58:56.320Z,1613469536.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:58:57.094Z,1613469537.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:58:57.507Z,1613469537.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:58:58.413Z,1613469538.413 [Micromodem](INFO): Nmea in: $SNTTA,0.009976,,0.020563,,095858.56*57

2021-02-16T09:58:58.475Z,1613469538.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 221.287242 deg, deltaT: 10.070718 s, approachRate: -0.512377 m/s, LOS rate: 0.233336 deg/s, posRepo size: 4
2021-02-16T09:58:58.477Z,1613469538.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 221.287242 deg,
      approachRate: -0.512377 m/s,
      LOS rate: 0.233336 deg/s,
      cmd update: 0.700007 deg/s,
      cmd heading: 253.078709 deg,
      new cmd heading: 253.798415 deg.

2021-02-16T09:59:00.455Z,1613469540.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:01.157Z,1613469541.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:01.573Z,1613469541.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:02.381Z,1613469542.381 [Micromodem](INFO): Nmea in: $SNTTA,0.008532,,,,095902.62*4F

2021-02-16T09:59:02.456Z,1613469542.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 215.308914 deg, deltaT: 4.029392 s, approachRate: -0.491389 m/s, LOS rate: -1.483680 deg/s, posRepo size: 4
2021-02-16T09:59:02.458Z,1613469542.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 215.308914 deg,
      approachRate: -0.491389 m/s,
      LOS rate: -1.483680 deg/s,
      cmd update: -4.451040 deg/s,
      cmd heading: 255.908284 deg,
      new cmd heading: 256.246890 deg.

2021-02-16T09:59:04.816Z,1613469544.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:05.576Z,1613469545.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:05.989Z,1613469545.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:06.808Z,1613469546.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,095907.04*58

2021-02-16T09:59:06.853Z,1613469546.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.260000 m, bearing: 206.720224 deg, deltaT: 4.474181 s, approachRate: -0.509591 m/s, LOS rate: -1.919612 deg/s, posRepo size: 4
2021-02-16T09:59:06.854Z,1613469546.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 206.720224 deg,
      approachRate: -0.509591 m/s,
      LOS rate: -1.919612 deg/s,
      cmd update: -5.758835 deg/s,
      cmd heading: 235.993705 deg,
      new cmd heading: 234.186689 deg.

2021-02-16T09:59:09.238Z,1613469549.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:10.021Z,1613469550.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:10.444Z,1613469550.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:11.248Z,1613469551.248 [Micromodem](INFO): Nmea in: $SNTTA,0.005462,,,,095911.48*4C

2021-02-16T09:59:11.280Z,1613469551.280 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (1 active estimators).
2021-02-16T09:59:11.286Z,1613469551.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 214.113480 deg, deltaT: 4.439008 s, approachRate: -0.527145 m/s, LOS rate: 1.665520 deg/s, posRepo size: 4
2021-02-16T09:59:11.288Z,1613469551.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 214.113480 deg,
      approachRate: -0.527145 m/s,
      LOS rate: 1.665520 deg/s,
      cmd update: 4.996560 deg/s,
      cmd heading: 210.429857 deg,
      new cmd heading: 208.122045 deg.

2021-02-16T09:59:13.722Z,1613469553.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:14.487Z,1613469554.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:14.891Z,1613469554.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:15.716Z,1613469555.716 [Micromodem](INFO): Nmea in: $SNTTA,0.004161,,0.019405,,095915.95*58

2021-02-16T09:59:15.742Z,1613469555.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 206.264732 deg, deltaT: 4.418754 s, approachRate: -0.420933 m/s, LOS rate: -1.776236 deg/s, posRepo size: 4
2021-02-16T09:59:15.764Z,1613469555.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 206.264732 deg,
      approachRate: -0.420933 m/s,
      LOS rate: -1.776236 deg/s,
      cmd update: -5.328707 deg/s,
      cmd heading: 232.528233 deg,
      new cmd heading: 234.692243 deg.

2021-02-16T09:59:18.146Z,1613469558.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:18.929Z,1613469558.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:19.322Z,1613469559.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:20.151Z,1613469560.151 [Micromodem](INFO): Nmea in: $SNTTA,0.002902,,,,095920.39*44

2021-02-16T09:59:20.165Z,1613469560.165 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T09:59:20.165Z,1613469560.165 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:59:20.165Z,1613469560.165 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T09:59:20.165Z,1613469560.165 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:59:20.165Z,1613469560.165 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T09:59:20.166Z,1613469560.166 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-02-16T09:59:20.166Z,1613469560.166 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T09:59:20.166Z,1613469560.166 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T09:59:20.166Z,1613469560.166 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T09:59:20.168Z,1613469560.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 182.127336 deg, deltaT: 4.460872 s, approachRate: -0.443859 m/s, LOS rate: -5.410914 deg/s, posRepo size: 4
2021-02-16T09:59:20.170Z,1613469560.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 182.127336 deg,
      approachRate: -0.443859 m/s,
      LOS rate: -5.410914 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 208.757491 deg,
      new cmd heading: 206.633091 deg.

2021-02-16T09:59:20.615Z,1613469560.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T095920: (41.552319, -70.708603)
2021-02-16T09:59:20.615Z,1613469560.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T09:59:20.615Z,1613469560.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T09:59:20.615Z,1613469560.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:59:20.616Z,1613469560.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T09:59:20.616Z,1613469560.616 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T09:59:20.616Z,1613469560.616 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T09:59:20.616Z,1613469560.616 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T09:59:20.616Z,1613469560.616 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T09:59:22.622Z,1613469562.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:23.353Z,1613469563.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:23.775Z,1613469563.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:24.584Z,1613469564.584 [Micromodem](INFO): Nmea in: $SNTTA,0.002644,,,,095924.82*4D

2021-02-16T09:59:24.625Z,1613469564.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 202.551951 deg, deltaT: 4.429817 s, approachRate: -0.027089 m/s, LOS rate: 4.610713 deg/s, posRepo size: 4
2021-02-16T09:59:24.626Z,1613469564.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 202.551951 deg,
      approachRate: -0.027089 m/s,
      LOS rate: 4.610713 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.675598 deg,
      new cmd heading: 150.492833 deg.

2021-02-16T09:59:27.029Z,1613469567.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:27.865Z,1613469567.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:28.300Z,1613469568.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:29.120Z,1613469569.120 [Micromodem](INFO): Nmea in: $SNTTA,0.003549,,,,095929.33*45

2021-02-16T09:59:29.155Z,1613469569.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 187.157360 deg, deltaT: 4.587793 s, approachRate: 0.287720 m/s, LOS rate: -3.355555 deg/s, posRepo size: 4
2021-02-16T09:59:29.157Z,1613469569.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 187.157360 deg,
      approachRate: 0.287720 m/s,
      LOS rate: -3.355555 deg/s,
      cmd update: -10.066664 deg/s,
      cmd heading: 210.730687 deg,
      new cmd heading: 215.218231 deg.

2021-02-16T09:59:31.533Z,1613469571.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:32.309Z,1613469572.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:32.714Z,1613469572.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:33.548Z,1613469573.548 [Micromodem](INFO): Nmea in: $SNTTA,0.004482,,,,095933.77*4F

2021-02-16T09:59:33.626Z,1613469573.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.660000 m, bearing: 171.326279 deg, deltaT: 4.349561 s, approachRate: 0.317274 m/s, LOS rate: -3.639696 deg/s, posRepo size: 4
2021-02-16T09:59:33.632Z,1613469573.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.660000 m,
      bearing: 171.326279 deg,
      approachRate: 0.317274 m/s,
      LOS rate: -3.639696 deg/s,
      cmd update: -10.919089 deg/s,
      cmd heading: 166.889711 deg,
      new cmd heading: 161.951157 deg.

2021-02-16T09:59:35.976Z,1613469575.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:36.753Z,1613469576.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:37.158Z,1613469577.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:37.988Z,1613469577.988 [Micromodem](INFO): Nmea in: $SNTTA,0.005478,,,,095938.22*40

2021-02-16T09:59:38.034Z,1613469578.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.279999 m, bearing: 166.464824 deg, deltaT: 4.529195 s, approachRate: 0.357679 m/s, LOS rate: -1.073360 deg/s, posRepo size: 4
2021-02-16T09:59:38.042Z,1613469578.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 166.464824 deg,
      approachRate: 0.357679 m/s,
      LOS rate: -1.073360 deg/s,
      cmd update: -3.220079 deg/s,
      cmd heading: 117.471739 deg,
      new cmd heading: 113.404662 deg.

2021-02-16T09:59:39.217Z,1613469579.217 [PowerOnly](INFO): Powering down loadControl
2021-02-16T09:59:40.477Z,1613469580.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:40.539Z,1613469580.539 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.241592
2021-02-16T09:59:40.836Z,1613469580.836 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T09:59:40.836Z,1613469580.836 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T09:59:40.836Z,1613469580.836 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T09:59:40.836Z,1613469580.836 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:59:40.836Z,1613469580.836 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T09:59:41.202Z,1613469581.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:41.696Z,1613469581.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:41.753Z,1613469581.753 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60460000005D00000400610000000000000000151D80030C5669BF92F9E55AE8A33A93CF5CF478B356F4E67697399533C384DC520B357822D5F7ED72B6
2021-02-16T09:59:41.754Z,1613469581.754 [Micromodem](INFO): Outgoing frame #2, 36 bytes: 6E92D4B82EDBB47BDD8CB71B61FBE67C71B96B7850842C8A87DE101AE800D85B8847E58E
2021-02-16T09:59:41.754Z,1613469581.754 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T09:59:42.013Z,1613469582.013 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T09:59:42.452Z,1613469582.452 [Micromodem](INFO): Nmea in: $CADRQ,095943,1,10,0,64,1*74

2021-02-16T09:59:42.453Z,1613469582.453 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60460000005D00000400610000000000000000151D80030C5669BF92F9E55AE8A33A93CF5CF478B356F4E67697399533C384DC520B357822D5F7ED72B6*49

2021-02-16T09:59:42.637Z,1613469582.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.800002 m, bearing: 166.740204 deg, deltaT: 4.411985 s, approachRate: 1.251138 m/s, LOS rate: 0.062416 deg/s, posRepo size: 4
2021-02-16T09:59:42.637Z,1613469582.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.80 m. Rolling out.
2021-02-16T09:59:42.638Z,1613469582.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T09:59:42.865Z,1613469582.865 [Micromodem](INFO): Nmea in: $SNTTA,0.007875,,,,095942.66*4E

2021-02-16T09:59:42.865Z,1613469582.865 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.007875,,,,095942.66*4E

2021-02-16T09:59:44.048Z,1613469584.048 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T09:59:44.456Z,1613469584.456 [Micromodem](INFO): Nmea in: $CADRQ,095943,1,10,0,64,2*77

2021-02-16T09:59:44.457Z,1613469584.457 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6E92D4B82EDBB47BDD8CB71B61FBE67C71B96B7850842C8A87DE101AE800D85B8847E58E*30

2021-02-16T09:59:44.840Z,1613469584.840 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E

2021-02-16T09:59:44.881Z,1613469584.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:45.248Z,1613469585.248 [Micromodem](INFO): Nmea in: $CATXP,100*43

2021-02-16T09:59:45.653Z,1613469585.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:47.673Z,1613469587.673 [Micromodem](INFO): Nmea in: $CATXF,100*55

2021-02-16T09:59:47.673Z,1613469587.673 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55

2021-02-16T09:59:47.776Z,1613469587.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:48.073Z,1613469588.073 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,095945.927349,3,0,200,4000,14500,1,1,10,1,2,2,3,100*70

2021-02-16T09:59:48.073Z,1613469588.073 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,095945.927349,3,0,200,4000,14500,1,1,10,1,2,2,3,100*70

2021-02-16T09:59:50.133Z,1613469590.133 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T09:59:50.500Z,1613469590.500 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T09:59:50.501Z,1613469590.501 [Micromodem](INFO): Sent 92 bytes from file Logs/20210216T042015/Courier0070.lzma.parts
2021-02-16T09:59:50.501Z,1613469590.501 [Micromodem](INFO): Packets left to send: 0
2021-02-16T09:59:50.626Z,1613469590.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:50.906Z,1613469590.906 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216095950.567862,06,3059,34,0092,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,20.9,3.00,06,0.00,-01,-1.07,35,14500,4000*5D

2021-02-16T09:59:50.906Z,1613469590.906 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216095950.567862,06,3059,34,0092,0150,07,00,00,00,02,1,010,001,0,4,1,0,150,20.9,3.00,06,0.00,-01,-1.07,35,14500,4000*5D

2021-02-16T09:59:50.992Z,1613469590.992 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T09:59:50.992Z,1613469590.992 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T09:59:50.992Z,1613469590.992 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T09:59:50.993Z,1613469590.993 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T09:59:50.993Z,1613469590.993 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T09:59:53.484Z,1613469593.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:56.192Z,1613469596.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T09:59:56.961Z,1613469596.961 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T09:59:57.401Z,1613469597.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T09:59:58.193Z,1613469598.193 [Micromodem](INFO): Nmea in: $SNTTA,0.012617,,,,095958.42*4D

2021-02-16T09:59:58.237Z,1613469598.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 144.316679 deg, deltaT: 15.737787 s, approachRate: 0.327873 m/s, LOS rate: -1.424821 deg/s, posRepo size: 4
2021-02-16T10:00:00.682Z,1613469600.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:01.409Z,1613469601.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:01.810Z,1613469601.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:02.661Z,1613469602.661 [Micromodem](INFO): Nmea in: $SNTTA,0.013405,,,,100002.87*4F

2021-02-16T10:00:02.755Z,1613469602.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.600000 m, bearing: 150.822680 deg, deltaT: 4.445877 s, approachRate: 0.593808 m/s, LOS rate: 1.463379 deg/s, posRepo size: 4
2021-02-16T10:00:05.136Z,1613469605.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:05.873Z,1613469605.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:06.283Z,1613469606.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:07.100Z,1613469607.100 [Micromodem](INFO): Nmea in: $SNTTA,0.013449,,0.087479,,100007.34*51

2021-02-16T10:00:07.137Z,1613469607.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 66.967464 deg, deltaT: 4.447460 s, approachRate: -0.310290 m/s, LOS rate: -18.854631 deg/s, posRepo size: 4
2021-02-16T10:00:09.732Z,1613469609.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:10.305Z,1613469610.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:10.705Z,1613469610.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:11.540Z,1613469611.540 [Micromodem](INFO): Nmea in: $SNTTA,0.014455,0.041785,,,100011.77*51

2021-02-16T10:00:11.569Z,1613469611.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.720001 m, bearing: 117.640651 deg, deltaT: 4.434513 s, approachRate: 0.338257 m/s, LOS rate: 11.427001 deg/s, posRepo size: 4
2021-02-16T10:00:11.612Z,1613469611.612 [Radio_Surface](INFO): Powering down
2021-02-16T10:00:13.971Z,1613469613.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:14.733Z,1613469614.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:15.138Z,1613469615.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:15.964Z,1613469615.964 [Micromodem](INFO): Nmea in: $SNTTA,0.015576,,,,100016.20*44

2021-02-16T10:00:16.001Z,1613469616.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 120.724550 deg, deltaT: 4.480451 s, approachRate: 0.401744 m/s, LOS rate: 0.688301 deg/s, posRepo size: 4
2021-02-16T10:00:16.679Z,1613469616.679 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T10:00:17.683Z,1613469617.683 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T10:00:18.445Z,1613469618.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:19.184Z,1613469619.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:19.642Z,1613469619.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:20.424Z,1613469620.424 [Micromodem](INFO): Nmea in: $SNTTA,0.017080,,,,100020.65*4E

2021-02-16T10:00:20.450Z,1613469620.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.740000 m, bearing: 121.212881 deg, deltaT: 4.395883 s, approachRate: 0.505019 m/s, LOS rate: 0.111088 deg/s, posRepo size: 4
2021-02-16T10:00:22.882Z,1613469622.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:23.638Z,1613469623.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:24.026Z,1613469624.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:24.048Z,1613469624.048 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T10:00:24.881Z,1613469624.881 [Micromodem](INFO): Nmea in: $SNTTA,0.018576,,0.033919,,100025.10*55

2021-02-16T10:00:24.904Z,1613469624.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 52.851819 deg, deltaT: 4.448865 s, approachRate: 0.525976 m/s, LOS rate: -15.365955 deg/s, posRepo size: 4
2021-02-16T10:00:27.288Z,1613469627.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:28.066Z,1613469628.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:28.481Z,1613469628.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:29.296Z,1613469629.296 [Micromodem](INFO): Nmea in: $SNTTA,0.020309,,,0.022828,100029.53*58

2021-02-16T10:00:29.333Z,1613469629.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.600000 m, bearing: 57.106549 deg, deltaT: 4.456469 s, approachRate: 0.565471 m/s, LOS rate: 0.954731 deg/s, posRepo size: 4
2021-02-16T10:00:31.750Z,1613469631.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:32.517Z,1613469632.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:32.944Z,1613469632.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:33.760Z,1613469633.760 [Micromodem](INFO): Nmea in: $SNTTA,0.022319,,,,100033.98*4B

2021-02-16T10:00:33.819Z,1613469633.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 59.805669 deg, deltaT: 4.437476 s, approachRate: 0.676060 m/s, LOS rate: 0.608256 deg/s, posRepo size: 4
2021-02-16T10:00:36.186Z,1613469636.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:36.976Z,1613469636.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:37.373Z,1613469637.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:38.197Z,1613469638.197 [Micromodem](INFO): Nmea in: $SNTTA,0.024214,,,,100038.44*4B

2021-02-16T10:00:38.250Z,1613469638.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 64.558272 deg, deltaT: 4.465038 s, approachRate: 0.631573 m/s, LOS rate: 1.064404 deg/s, posRepo size: 4
2021-02-16T10:00:40.659Z,1613469640.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:41.413Z,1613469641.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:41.802Z,1613469641.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:42.640Z,1613469642.640 [Micromodem](INFO): Nmea in: $SNTTA,0.026088,,,,100042.88*43

2021-02-16T10:00:42.692Z,1613469642.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 66.098131 deg, deltaT: 4.404399 s, approachRate: 0.653892 m/s, LOS rate: 0.349618 deg/s, posRepo size: 4
2021-02-16T10:00:45.048Z,1613469645.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:45.848Z,1613469645.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:46.283Z,1613469646.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:47.076Z,1613469647.076 [Micromodem](INFO): Nmea in: $SNTTA,0.027888,,,,100047.31*4D

2021-02-16T10:00:47.098Z,1613469647.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.940002 m, bearing: 71.149357 deg, deltaT: 4.488724 s, approachRate: 0.588141 m/s, LOS rate: 1.125314 deg/s, posRepo size: 4
2021-02-16T10:00:49.644Z,1613469649.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:50.284Z,1613469650.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:50.690Z,1613469650.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:51.524Z,1613469651.524 [Micromodem](INFO): Nmea in: $SNTTA,0.029993,0.047467,,,100051.75*57

2021-02-16T10:00:51.549Z,1613469651.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 75.460859 deg, deltaT: 4.385581 s, approachRate: 0.725103 m/s, LOS rate: 0.983109 deg/s, posRepo size: 4
2021-02-16T10:00:53.617Z,1613469653.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:54.338Z,1613469654.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:54.730Z,1613469654.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:00:55.571Z,1613469655.571 [Micromodem](INFO): Nmea in: $SNTTA,0.031763,,,,100055.80*49

2021-02-16T10:00:55.641Z,1613469655.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 75.008338 deg, deltaT: 4.056735 s, approachRate: 0.650769 m/s, LOS rate: -0.111548 deg/s, posRepo size: 4
2021-02-16T10:00:57.987Z,1613469657.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:00:58.833Z,1613469658.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:00:59.184Z,1613469659.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:00.026Z,1613469660.026 [Micromodem](INFO): Nmea in: $SNTTA,0.033793,,,,100100.30*4E

2021-02-16T10:01:00.074Z,1613469660.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.879997 m, bearing: 78.795453 deg, deltaT: 4.489384 s, approachRate: 0.694973 m/s, LOS rate: 0.843571 deg/s, posRepo size: 4
2021-02-16T10:01:02.472Z,1613469662.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:03.231Z,1613469663.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:03.629Z,1613469663.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:04.452Z,1613469664.452 [Micromodem](INFO): Nmea in: $SNTTA,0.035834,,,,100104.69*42

2021-02-16T10:01:04.505Z,1613469664.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 98.346944 deg, deltaT: 4.382398 s, approachRate: 0.684558 m/s, LOS rate: 4.461368 deg/s, posRepo size: 4
2021-02-16T10:01:06.897Z,1613469666.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:07.658Z,1613469667.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:08.062Z,1613469668.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:08.893Z,1613469668.893 [Micromodem](INFO): Nmea in: $SNTTA,0.037784,,,,100109.12*45

2021-02-16T10:01:08.922Z,1613469668.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 95.553452 deg, deltaT: 4.459161 s, approachRate: 0.659317 m/s, LOS rate: -0.626462 deg/s, posRepo size: 4
2021-02-16T10:01:11.314Z,1613469671.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:12.101Z,1613469672.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:12.600Z,1613469672.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:13.353Z,1613469673.353 [Micromodem](INFO): Nmea in: $SNTTA,0.039717,,0.047055,,100113.56*57

2021-02-16T10:01:13.427Z,1613469673.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 83.861923 deg, deltaT: 4.443102 s, approachRate: 0.661699 m/s, LOS rate: -2.631389 deg/s, posRepo size: 4
2021-02-16T10:01:15.866Z,1613469675.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:16.573Z,1613469676.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:16.968Z,1613469676.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:17.808Z,1613469677.808 [Micromodem](INFO): Nmea in: $SNTTA,0.041861,,,,100118.04*47

2021-02-16T10:01:17.858Z,1613469677.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.940002 m, bearing: 90.062362 deg, deltaT: 4.479164 s, approachRate: 0.709955 m/s, LOS rate: 1.384285 deg/s, posRepo size: 4
2021-02-16T10:01:20.200Z,1613469680.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:20.990Z,1613469680.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:21.433Z,1613469681.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:22.232Z,1613469682.232 [Micromodem](INFO): Nmea in: $SNTTA,0.043836,,,,100122.45*4B

2021-02-16T10:01:22.270Z,1613469682.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.940010 m, bearing: 97.258526 deg, deltaT: 4.435698 s, approachRate: 0.676333 m/s, LOS rate: 1.622330 deg/s, posRepo size: 4
2021-02-16T10:01:24.680Z,1613469684.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:25.448Z,1613469685.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:25.861Z,1613469685.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:26.684Z,1613469686.684 [Micromodem](INFO): Nmea in: $SNTTA,0.045844,,,,100126.91*45

2021-02-16T10:01:26.754Z,1613469686.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.940002 m, bearing: 94.706679 deg, deltaT: 4.491579 s, approachRate: 0.667915 m/s, LOS rate: -0.568140 deg/s, posRepo size: 4
2021-02-16T10:01:29.100Z,1613469689.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:29.925Z,1613469689.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:30.311Z,1613469690.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:31.130Z,1613469691.130 [Micromodem](INFO): Nmea in: $SNTTA,0.047925,,,,100131.39*45

2021-02-16T10:01:31.150Z,1613469691.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.060005 m, bearing: 90.827466 deg, deltaT: 4.436285 s, approachRate: 0.703292 m/s, LOS rate: -0.874428 deg/s, posRepo size: 4
2021-02-16T10:01:33.547Z,1613469693.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:34.329Z,1613469694.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:34.739Z,1613469694.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:35.580Z,1613469695.580 [Micromodem](INFO): Nmea in: $SNTTA,0.050063,,,,100135.79*48

2021-02-16T10:01:35.645Z,1613469695.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.239998 m, bearing: 90.700862 deg, deltaT: 4.372843 s, approachRate: 0.727214 m/s, LOS rate: -0.028952 deg/s, posRepo size: 4
2021-02-16T10:01:37.991Z,1613469697.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:38.773Z,1613469698.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:39.191Z,1613469699.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:40.028Z,1613469700.028 [Micromodem](INFO): Nmea in: $SNTTA,0.052365,,,,100140.23*42

2021-02-16T10:01:40.050Z,1613469700.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 88.778410 deg, deltaT: 4.606995 s, approachRate: 0.755375 m/s, LOS rate: -0.417290 deg/s, posRepo size: 4
2021-02-16T10:01:42.483Z,1613469702.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:43.244Z,1613469703.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:43.666Z,1613469703.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:44.473Z,1613469704.473 [Micromodem](INFO): Nmea in: $SNTTA,0.054604,,,,100144.71*45

2021-02-16T10:01:44.540Z,1613469704.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 88.976512 deg, deltaT: 4.325053 s, approachRate: 0.762995 m/s, LOS rate: 0.045804 deg/s, posRepo size: 4
2021-02-16T10:01:46.902Z,1613469706.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:47.694Z,1613469707.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:48.068Z,1613469708.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:48.908Z,1613469708.908 [Micromodem](INFO): Nmea in: $SNTTA,0.056720,,,,100149.16*4C

2021-02-16T10:01:48.932Z,1613469708.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.260002 m, bearing: 83.444394 deg, deltaT: 4.418337 s, approachRate: 0.733307 m/s, LOS rate: -1.252082 deg/s, posRepo size: 4
2021-02-16T10:01:51.312Z,1613469711.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:52.104Z,1613469712.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:52.619Z,1613469712.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:53.348Z,1613469713.348 [Micromodem](INFO): Nmea in: $SNTTA,0.058897,,,,100153.57*4F

2021-02-16T10:01:53.374Z,1613469713.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 91.844516 deg, deltaT: 4.458256 s, approachRate: 0.726741 m/s, LOS rate: 1.884172 deg/s, posRepo size: 4
2021-02-16T10:01:55.782Z,1613469715.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:01:56.626Z,1613469716.626 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:01:56.976Z,1613469716.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:01:57.854Z,1613469717.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.860001 m, bearing: 103.784977 deg, deltaT: 4.484587 s, approachRate: 0.749233 m/s, LOS rate: 2.662555 deg/s, posRepo size: 4
2021-02-16T10:01:58.176Z,1613469718.176 [Micromodem](INFO): Nmea in: $SNTTA,0.061091,,,,100158.09*4B

2021-02-16T10:02:00.209Z,1613469720.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:01.011Z,1613469721.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:01.439Z,1613469721.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:02.236Z,1613469722.236 [Micromodem](INFO): Nmea in: $SNTTA,0.063142,,,,100202.47*40

2021-02-16T10:02:02.258Z,1613469722.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 102.132051 deg, deltaT: 4.383422 s, approachRate: 0.698084 m/s, LOS rate: -0.377086 deg/s, posRepo size: 4
2021-02-16T10:02:04.670Z,1613469724.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:05.500Z,1613469725.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:05.849Z,1613469725.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:06.695Z,1613469726.695 [Micromodem](INFO): Nmea in: $SNTTA,0.065368,,,,100206.96*44

2021-02-16T10:02:06.772Z,1613469726.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 103.844755 deg, deltaT: 4.466541 s, approachRate: 0.752262 m/s, LOS rate: 0.383452 deg/s, posRepo size: 4
2021-02-16T10:02:09.088Z,1613469729.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:09.965Z,1613469729.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:10.293Z,1613469730.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:11.186Z,1613469731.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 104.813235 deg, deltaT: 4.479097 s, approachRate: 0.669776 m/s, LOS rate: 0.216222 deg/s, posRepo size: 4
2021-02-16T10:02:11.508Z,1613469731.508 [Micromodem](INFO): Nmea in: $SNTTA,0.067407,,,,100211.43*46

2021-02-16T10:02:13.543Z,1613469733.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:14.324Z,1613469734.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:14.747Z,1613469734.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:15.568Z,1613469735.568 [Micromodem](INFO): Nmea in: $SNTTA,0.069336,,,,100215.79*40

2021-02-16T10:02:15.646Z,1613469735.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 100.732340 deg, deltaT: 4.373422 s, approachRate: 0.658523 m/s, LOS rate: -0.933112 deg/s, posRepo size: 4
2021-02-16T10:02:17.669Z,1613469737.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:18.391Z,1613469738.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:18.792Z,1613469738.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:19.644Z,1613469739.644 [Micromodem](INFO): Nmea in: $SNTTA,0.071258,,,,100219.85*4F

2021-02-16T10:02:19.706Z,1613469739.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 101.104708 deg, deltaT: 4.120869 s, approachRate: 0.698883 m/s, LOS rate: 0.090362 deg/s, posRepo size: 4
2021-02-16T10:02:20.460Z,1613469740.460 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:02:22.023Z,1613469742.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:22.833Z,1613469742.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:23.286Z,1613469743.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:24.064Z,1613469744.064 [Micromodem](INFO): Nmea in: $SNTTA,0.073588,,,,100224.29*4F

2021-02-16T10:02:24.086Z,1613469744.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 114.175020 deg, deltaT: 4.463697 s, approachRate: 0.793065 m/s, LOS rate: 2.928136 deg/s, posRepo size: 4
2021-02-16T10:02:26.471Z,1613469746.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:27.252Z,1613469747.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:27.673Z,1613469747.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:28.480Z,1613469748.480 [Micromodem](INFO): Nmea in: $SNTTA,0.075572,,,,100228.72*4E

2021-02-16T10:02:28.522Z,1613469748.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.520004 m, bearing: 105.817286 deg, deltaT: 4.361887 s, approachRate: 0.674021 m/s, LOS rate: -1.916082 deg/s, posRepo size: 4
2021-02-16T10:02:30.920Z,1613469750.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:31.697Z,1613469751.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:32.115Z,1613469752.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:32.932Z,1613469752.932 [Micromodem](INFO): Nmea in: $SNTTA,0.077728,,,,100233.16*49

2021-02-16T10:02:32.000Z,1613469753.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 104.342293 deg, deltaT: 4.571095 s, approachRate: 0.721928 m/s, LOS rate: -0.322678 deg/s, posRepo size: 4
2021-02-16T10:02:35.409Z,1613469755.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:36.148Z,1613469756.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:36.648Z,1613469756.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:37.420Z,1613469757.420 [Micromodem](INFO): Nmea in: $SNTTA,0.080082,,,,100237.61*42

2021-02-16T10:02:37.481Z,1613469757.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.360008 m, bearing: 110.260201 deg, deltaT: 4.342353 s, approachRate: 0.815226 m/s, LOS rate: 1.362834 deg/s, posRepo size: 4
2021-02-16T10:02:39.826Z,1613469759.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:40.637Z,1613469760.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:41.015Z,1613469761.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:41.848Z,1613469761.848 [Micromodem](INFO): Nmea in: $SNTTA,0.082231,,,,100242.10*4E

2021-02-16T10:02:41.892Z,1613469761.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 111.219297 deg, deltaT: 4.441048 s, approachRate: 0.716046 m/s, LOS rate: 0.215961 deg/s, posRepo size: 4
2021-02-16T10:02:44.257Z,1613469764.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:45.048Z,1613469765.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:45.456Z,1613469765.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:46.288Z,1613469766.288 [Micromodem](INFO): Nmea in: $SNTTA,0.084312,,,,100246.51*49

2021-02-16T10:02:46.344Z,1613469766.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.660004 m, bearing: 107.515012 deg, deltaT: 4.540279 s, approachRate: 0.687183 m/s, LOS rate: -0.815872 deg/s, posRepo size: 4
2021-02-16T10:02:48.728Z,1613469768.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:49.492Z,1613469769.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:49.967Z,1613469769.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:50.748Z,1613469770.748 [Micromodem](INFO): Nmea in: $SNTTA,0.086400,,,,100250.96*43

2021-02-16T10:02:50.807Z,1613469770.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 101.511692 deg, deltaT: 4.379284 s, approachRate: 0.712444 m/s, LOS rate: -1.370845 deg/s, posRepo size: 4
2021-02-16T10:02:53.168Z,1613469773.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:53.939Z,1613469773.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:54.343Z,1613469774.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:55.168Z,1613469775.168 [Micromodem](INFO): Nmea in: $SNTTA,0.088562,,,,100255.40*46

2021-02-16T10:02:55.216Z,1613469775.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.020004 m, bearing: 121.875560 deg, deltaT: 4.428839 s, approachRate: 0.731570 m/s, LOS rate: 4.598015 deg/s, posRepo size: 4
2021-02-16T10:02:57.666Z,1613469777.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:02:58.411Z,1613469778.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:02:58.795Z,1613469778.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:02:59.697Z,1613469779.697 [Micromodem](INFO): Nmea in: $SNTTA,0.090863,,,,100259.87*44

2021-02-16T10:02:59.778Z,1613469779.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.440002 m, bearing: 108.155000 deg, deltaT: 4.443970 s, approachRate: 0.769582 m/s, LOS rate: -3.087455 deg/s, posRepo size: 4
2021-02-16T10:03:02.047Z,1613469782.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:02.865Z,1613469782.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:03.298Z,1613469783.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:04.086Z,1613469784.086 [Micromodem](INFO): Nmea in: $SNTTA,0.093122,,,,100304.33*4D

2021-02-16T10:03:04.106Z,1613469784.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.860001 m, bearing: 114.279877 deg, deltaT: 4.481798 s, approachRate: 0.763086 m/s, LOS rate: 1.366611 deg/s, posRepo size: 4
2021-02-16T10:03:06.505Z,1613469786.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:07.269Z,1613469787.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:07.674Z,1613469787.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:08.500Z,1613469788.500 [Micromodem](INFO): Nmea in: $SNTTA,0.095351,,,,100308.73*45

2021-02-16T10:03:08.545Z,1613469788.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 108.037419 deg, deltaT: 4.397031 s, approachRate: 0.750507 m/s, LOS rate: -1.419698 deg/s, posRepo size: 4
2021-02-16T10:03:10.943Z,1613469790.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:11.717Z,1613469791.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:12.120Z,1613469792.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:13.012Z,1613469793.012 [Micromodem](INFO): Nmea in: $SNTTA,0.097579,,,,100313.18*4C

2021-02-16T10:03:13.042Z,1613469793.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.520004 m, bearing: 107.172799 deg, deltaT: 4.446085 s, approachRate: 0.755721 m/s, LOS rate: -0.194468 deg/s, posRepo size: 4
2021-02-16T10:03:15.427Z,1613469795.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:16.157Z,1613469796.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:16.568Z,1613469796.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:17.440Z,1613469797.440 [Micromodem](INFO): Nmea in: $SNTTA,0.099906,,,,100317.62*4F

2021-02-16T10:03:17.465Z,1613469797.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 116.449125 deg, deltaT: 4.481847 s, approachRate: 0.776465 m/s, LOS rate: 2.069755 deg/s, posRepo size: 4
2021-02-16T10:03:17.466Z,1613469797.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.00 m. Resuming terminal guidance.
2021-02-16T10:03:17.466Z,1613469797.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:03:19.826Z,1613469799.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:20.620Z,1613469800.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:21.015Z,1613469801.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:21.843Z,1613469801.843 [Micromodem](INFO): Nmea in: $SNTTA,0.102124,,,,100322.08*4E

2021-02-16T10:03:21.876Z,1613469801.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 118.743249 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:03:21.876Z,1613469801.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 118.743249deg and heading rate command to 0 deg/s.
2021-02-16T10:03:24.254Z,1613469804.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:25.044Z,1613469805.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:25.458Z,1613469805.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:26.352Z,1613469806.352 [Micromodem](INFO): Nmea in: $SNTTA,0.104531,,,,100326.51*40

2021-02-16T10:03:26.420Z,1613469806.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.619995 m, bearing: 123.785772 deg, deltaT: 4.452157 s, approachRate: 0.970311 m/s, LOS rate: 1.132602 deg/s, posRepo size: 2
2021-02-16T10:03:26.422Z,1613469806.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.619995 m,
      bearing: 123.785772 deg,
      approachRate: 0.970311 m/s,
      LOS rate: 1.132602 deg/s,
      cmd update: 3.397807 deg/s,
      cmd heading: 118.743249 deg,
      new cmd heading: 118.743249 deg.

2021-02-16T10:03:28.720Z,1613469808.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:29.489Z,1613469809.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:29.895Z,1613469809.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:30.736Z,1613469810.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100330.95*53

2021-02-16T10:03:30.785Z,1613469810.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 169.334801 deg, deltaT: 4.534937 s, approachRate: 0.476306 m/s, LOS rate: 10.044027 deg/s, posRepo size: 3
2021-02-16T10:03:30.791Z,1613469810.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 169.334801 deg,
      approachRate: 0.476306 m/s,
      LOS rate: 10.044027 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.147531 deg,
      new cmd heading: 135.327756 deg.

2021-02-16T10:03:33.159Z,1613469813.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:33.944Z,1613469813.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:34.343Z,1613469814.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:35.168Z,1613469815.168 [Micromodem](INFO): Nmea in: $SNTTA,0.108662,,,,100335.41*4A

2021-02-16T10:03:35.217Z,1613469815.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.140015 m, bearing: 138.923766 deg, deltaT: 4.377857 s, approachRate: 3.508566 m/s, LOS rate: -6.946557 deg/s, posRepo size: 4
2021-02-16T10:03:35.224Z,1613469815.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.140015 m,
      bearing: 138.923766 deg,
      approachRate: 3.508566 m/s,
      LOS rate: -6.946557 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 186.653100 deg,
      new cmd heading: 191.197788 deg.

2021-02-16T10:03:37.659Z,1613469817.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:38.406Z,1613469818.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:38.782Z,1613469818.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:39.624Z,1613469819.624 [Micromodem](INFO): Nmea in: $SNTTA,0.110120,,,,100339.87*44

2021-02-16T10:03:40.116Z,1613469820.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.180008 m, bearing: 158.133209 deg, deltaT: 4.860160 s, approachRate: -2.049317 m/s, LOS rate: 3.952430 deg/s, posRepo size: 4
2021-02-16T10:03:40.118Z,1613469820.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.180008 m,
      bearing: 158.133209 deg,
      approachRate: -2.049317 m/s,
      LOS rate: 3.952430 deg/s,
      cmd update: 11.857290 deg/s,
      cmd heading: 128.282207 deg,
      new cmd heading: 123.021443 deg.

2021-02-16T10:03:42.449Z,1613469822.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:43.230Z,1613469823.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:43.635Z,1613469823.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:44.464Z,1613469824.464 [Micromodem](INFO): Nmea in: $SNTTA,0.111489,,,,100344.69*49

2021-02-16T10:03:44.526Z,1613469824.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.279999 m, bearing: 195.169350 deg, deltaT: 4.449933 s, approachRate: 0.471915 m/s, LOS rate: 8.322854 deg/s, posRepo size: 4
2021-02-16T10:03:44.532Z,1613469824.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.279999 m,
      bearing: 195.169350 deg,
      approachRate: 0.471915 m/s,
      LOS rate: 8.322854 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 181.049153 deg,
      new cmd heading: 185.777793 deg.

2021-02-16T10:03:46.886Z,1613469826.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:47.668Z,1613469827.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:48.079Z,1613469828.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:48.920Z,1613469828.920 [Micromodem](INFO): Nmea in: $SNTTA,0.112577,,,,100349.13*4A

2021-02-16T10:03:48.950Z,1613469828.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.960007 m, bearing: 154.321171 deg, deltaT: 4.404987 s, approachRate: 0.381388 m/s, LOS rate: -9.273167 deg/s, posRepo size: 4
2021-02-16T10:03:48.952Z,1613469828.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.960007 m,
      bearing: 154.321171 deg,
      approachRate: 0.381388 m/s,
      LOS rate: -9.273167 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 233.908638 deg,
      new cmd heading: 238.919334 deg.

2021-02-16T10:03:51.325Z,1613469831.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:52.113Z,1613469832.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:52.527Z,1613469832.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:53.444Z,1613469833.444 [Micromodem](INFO): Nmea in: $SNTTA,0.113934,,,,100353.58*44

2021-02-16T10:03:53.482Z,1613469833.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.940002 m, bearing: 154.351552 deg, deltaT: 4.436481 s, approachRate: 0.446299 m/s, LOS rate: 0.006848 deg/s, posRepo size: 4
2021-02-16T10:03:53.485Z,1613469833.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.940002 m,
      bearing: 154.351552 deg,
      approachRate: 0.446299 m/s,
      LOS rate: 0.006848 deg/s,
      cmd update: 0.020544 deg/s,
      cmd heading: 180.670468 deg,
      new cmd heading: 174.511336 deg.

2021-02-16T10:03:55.785Z,1613469835.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:03:56.593Z,1613469836.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:03:56.971Z,1613469836.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:03:57.820Z,1613469837.820 [Micromodem](INFO): Nmea in: $SNTTA,0.114718,,,,100358.06*43

2021-02-16T10:03:57.870Z,1613469837.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 228.614368 deg, deltaT: 4.523542 s, approachRate: 0.252011 m/s, LOS rate: 16.416962 deg/s, posRepo size: 4
2021-02-16T10:03:57.875Z,1613469837.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.416962 deg/s. Setting heading cmd to target bearing of 228.614368deg and heading rate command to 0 deg/s.
2021-02-16T10:04:00.245Z,1613469840.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:01.037Z,1613469841.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:01.421Z,1613469841.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:02.241Z,1613469842.241 [Micromodem](INFO): Nmea in: $SNTTA,0.115286,,,,100402.50*4B

2021-02-16T10:04:02.672Z,1613469842.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.919998 m, bearing: 245.287256 deg, deltaT: 4.789783 s, approachRate: 0.175376 m/s, LOS rate: 3.480928 deg/s, posRepo size: 4
2021-02-16T10:04:02.674Z,1613469842.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.919998 m,
      bearing: 245.287256 deg,
      approachRate: 0.175376 m/s,
      LOS rate: 3.480928 deg/s,
      cmd update: 10.442783 deg/s,
      cmd heading: 228.614368 deg,
      new cmd heading: 228.614368 deg.

2021-02-16T10:04:05.072Z,1613469845.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:05.848Z,1613469845.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:06.254Z,1613469846.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:07.080Z,1613469847.080 [Micromodem](INFO): Nmea in: $SNTTA,0.115241,,,,100407.31*42

2021-02-16T10:04:07.122Z,1613469847.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.919998 m, bearing: 170.433833 deg, deltaT: 4.446755 s, approachRate: 0.000000 m/s, LOS rate: -16.833269 deg/s, posRepo size: 4
2021-02-16T10:04:07.122Z,1613469847.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.833269 deg/s. Setting heading cmd to target bearing of 170.433833deg and heading rate command to 0 deg/s.
2021-02-16T10:04:09.517Z,1613469849.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:10.357Z,1613469850.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:10.700Z,1613469850.700 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T10:04:10.702Z,1613469850.702 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T10:04:10.708Z,1613469850.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:11.533Z,1613469851.533 [Micromodem](INFO): Nmea in: $SNTTA,0.114735,,,0.117235,100411.82*57

2021-02-16T10:04:11.968Z,1613469851.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.960007 m, bearing: 219.745982 deg, deltaT: 4.903634 s, approachRate: -0.195771 m/s, LOS rate: 10.056245 deg/s, posRepo size: 4
2021-02-16T10:04:11.969Z,1613469851.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 219.745982 deg,
      approachRate: -0.195771 m/s,
      LOS rate: 10.056245 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 170.433833 deg,
      new cmd heading: 170.433833 deg.

2021-02-16T10:04:14.361Z,1613469854.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:15.144Z,1613469855.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:15.555Z,1613469855.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:16.379Z,1613469856.379 [Micromodem](INFO): Nmea in: $SNTTA,0.113590,,,,100416.61*4A

2021-02-16T10:04:16.436Z,1613469856.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.039993 m, bearing: 278.766521 deg, deltaT: 4.364305 s, approachRate: -0.439936 m/s, LOS rate: 13.523468 deg/s, posRepo size: 4
2021-02-16T10:04:16.436Z,1613469856.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.523468 deg/s. Setting heading cmd to target bearing of 278.766521deg and heading rate command to 0 deg/s.
2021-02-16T10:04:18.821Z,1613469858.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:19.612Z,1613469859.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:19.995Z,1613469859.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:20.848Z,1613469860.848 [Micromodem](INFO): Nmea in: $SNTTA,0.112073,,,,100421.07*47

2021-02-16T10:04:20.879Z,1613469860.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.039993 m, bearing: 288.589071 deg, deltaT: 4.466553 s, approachRate: 0.000000 m/s, LOS rate: 2.199134 deg/s, posRepo size: 4
2021-02-16T10:04:20.881Z,1613469860.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.039993 m,
      bearing: 288.589071 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.199134 deg/s,
      cmd update: 6.597403 deg/s,
      cmd heading: 278.766521 deg,
      new cmd heading: 278.766521 deg.

2021-02-16T10:04:23.246Z,1613469863.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:24.032Z,1613469864.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:24.438Z,1613469864.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:25.281Z,1613469865.281 [Micromodem](INFO): Nmea in: $SNTTA,0.110890,,0.126910,,100425.49*5D

2021-02-16T10:04:25.302Z,1613469865.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.200012 m, bearing: 289.019318 deg, deltaT: 4.432937 s, approachRate: -0.866239 m/s, LOS rate: 0.097057 deg/s, posRepo size: 4
2021-02-16T10:04:25.304Z,1613469865.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.200012 m,
      bearing: 289.019318 deg,
      approachRate: -0.866239 m/s,
      LOS rate: 0.097057 deg/s,
      cmd update: 0.291171 deg/s,
      cmd heading: 308.012458 deg,
      new cmd heading: 310.689030 deg.

2021-02-16T10:04:27.748Z,1613469867.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:28.477Z,1613469868.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:28.890Z,1613469868.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:29.708Z,1613469869.708 [Micromodem](INFO): Nmea in: $SNTTA,0.109483,,,,100429.94*44

2021-02-16T10:04:29.763Z,1613469869.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.099991 m, bearing: 277.260628 deg, deltaT: 4.428936 s, approachRate: -0.474159 m/s, LOS rate: -2.654969 deg/s, posRepo size: 4
2021-02-16T10:04:29.765Z,1613469869.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.099991 m,
      bearing: 277.260628 deg,
      approachRate: -0.474159 m/s,
      LOS rate: -2.654969 deg/s,
      cmd update: -7.964908 deg/s,
      cmd heading: 309.300863 deg,
      new cmd heading: 309.429302 deg.

2021-02-16T10:04:32.128Z,1613469872.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:32.956Z,1613469872.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:33.328Z,1613469873.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:34.171Z,1613469874.171 [Micromodem](INFO): Nmea in: $SNTTA,0.107805,,,,100434.42*4F

2021-02-16T10:04:34.646Z,1613469874.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.520004 m, bearing: 282.689099 deg, deltaT: 4.861934 s, approachRate: -0.530650 m/s, LOS rate: 1.116525 deg/s, posRepo size: 4
2021-02-16T10:04:34.648Z,1613469874.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.520004 m,
      bearing: 282.689099 deg,
      approachRate: -0.530650 m/s,
      LOS rate: 1.116525 deg/s,
      cmd update: 3.349575 deg/s,
      cmd heading: 270.557574 deg,
      new cmd heading: 266.889400 deg.

2021-02-16T10:04:36.995Z,1613469876.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:37.777Z,1613469877.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:38.174Z,1613469878.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:39.008Z,1613469879.008 [Micromodem](INFO): Nmea in: $SNTTA,0.105654,,,,100439.24*4A

2021-02-16T10:04:39.045Z,1613469879.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 281.596678 deg, deltaT: 4.454165 s, approachRate: -0.740877 m/s, LOS rate: -0.245258 deg/s, posRepo size: 4
2021-02-16T10:04:39.047Z,1613469879.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 281.596678 deg,
      approachRate: -0.740877 m/s,
      LOS rate: -0.245258 deg/s,
      cmd update: -0.735775 deg/s,
      cmd heading: 285.482770 deg,
      new cmd heading: 286.835915 deg.

2021-02-16T10:04:41.457Z,1613469881.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:42.227Z,1613469882.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:42.628Z,1613469882.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:43.459Z,1613469883.459 [Micromodem](INFO): Nmea in: $SNTTA,0.103570,,,,100443.69*4D

2021-02-16T10:04:43.484Z,1613469883.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.159988 m, bearing: 282.381713 deg, deltaT: 4.426348 s, approachRate: -0.691321 m/s, LOS rate: 0.177355 deg/s, posRepo size: 4
2021-02-16T10:04:43.486Z,1613469883.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.159988 m,
      bearing: 282.381713 deg,
      approachRate: -0.691321 m/s,
      LOS rate: 0.177355 deg/s,
      cmd update: 0.532065 deg/s,
      cmd heading: 282.226060 deg,
      new cmd heading: 281.920096 deg.

2021-02-16T10:04:45.901Z,1613469885.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:46.658Z,1613469886.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:47.062Z,1613469887.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:47.892Z,1613469887.892 [Micromodem](INFO): Nmea in: $SNTTA,0.101330,,,,100448.12*4A

2021-02-16T10:04:47.974Z,1613469887.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 282.201860 deg, deltaT: 4.457497 s, approachRate: -0.753783 m/s, LOS rate: -0.040348 deg/s, posRepo size: 4
2021-02-16T10:04:47.976Z,1613469887.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.800003 m,
      bearing: 282.201860 deg,
      approachRate: -0.753783 m/s,
      LOS rate: -0.040348 deg/s,
      cmd update: -0.121045 deg/s,
      cmd heading: 284.595602 deg,
      new cmd heading: 284.836344 deg.

2021-02-16T10:04:50.317Z,1613469890.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:51.100Z,1613469891.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:51.511Z,1613469891.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:52.339Z,1613469892.339 [Micromodem](INFO): Nmea in: $SNTTA,0.099178,,,,100452.56*4F

2021-02-16T10:04:52.362Z,1613469892.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.559998 m, bearing: 281.734594 deg, deltaT: 4.422147 s, approachRate: -0.732677 m/s, LOS rate: -0.105665 deg/s, posRepo size: 4
2021-02-16T10:04:52.364Z,1613469892.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.559998 m,
      bearing: 281.734594 deg,
      approachRate: -0.732677 m/s,
      LOS rate: -0.105665 deg/s,
      cmd update: -0.316996 deg/s,
      cmd heading: 284.059821 deg,
      new cmd heading: 284.009646 deg.

2021-02-16T10:04:54.778Z,1613469894.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:55.549Z,1613469895.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:04:55.955Z,1613469895.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:04:56.776Z,1613469896.776 [Micromodem](INFO): Nmea in: $SNTTA,0.097048,,,,100457.01*44

2021-02-16T10:04:56.810Z,1613469896.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 281.491384 deg, deltaT: 4.470792 s, approachRate: -0.711282 m/s, LOS rate: -0.054400 deg/s, posRepo size: 4
2021-02-16T10:04:56.812Z,1613469896.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 281.491384 deg,
      approachRate: -0.711282 m/s,
      LOS rate: -0.054400 deg/s,
      cmd update: -0.163199 deg/s,
      cmd heading: 282.649094 deg,
      new cmd heading: 282.518445 deg.

2021-02-16T10:04:59.220Z,1613469899.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:04:59.989Z,1613469899.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:00.439Z,1613469900.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:01.221Z,1613469901.221 [Micromodem](INFO): Nmea in: $SNTTA,0.094659,,,,100501.45*43

2021-02-16T10:05:01.258Z,1613469901.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 282.273250 deg, deltaT: 4.423181 s, approachRate: -0.800327 m/s, LOS rate: 0.176765 deg/s, posRepo size: 4
2021-02-16T10:05:01.260Z,1613469901.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 282.273250 deg,
      approachRate: -0.800327 m/s,
      LOS rate: 0.176765 deg/s,
      cmd update: 0.530296 deg/s,
      cmd heading: 281.923894 deg,
      new cmd heading: 281.855876 deg.

2021-02-16T10:05:03.673Z,1613469903.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:04.517Z,1613469904.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:04.946Z,1613469904.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:05.765Z,1613469905.765 [Micromodem](INFO): Nmea in: $SNTTA,0.092167,,,0.094668,100505.98*50

2021-02-16T10:05:05.813Z,1613469905.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 282.849472 deg, deltaT: 4.579876 s, approachRate: -0.825353 m/s, LOS rate: 0.125816 deg/s, posRepo size: 4
2021-02-16T10:05:05.815Z,1613469905.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.059998 m,
      bearing: 282.849472 deg,
      approachRate: -0.825353 m/s,
      LOS rate: 0.125816 deg/s,
      cmd update: 0.377448 deg/s,
      cmd heading: 284.347649 deg,
      new cmd heading: 284.560415 deg.

2021-02-16T10:05:08.196Z,1613469908.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:08.980Z,1613469908.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:09.417Z,1613469909.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:10.213Z,1613469910.213 [Micromodem](INFO): Nmea in: $SNTTA,0.090070,,,,100510.44*4B

2021-02-16T10:05:10.249Z,1613469910.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.940002 m, bearing: 282.049438 deg, deltaT: 4.415249 s, approachRate: -0.706641 m/s, LOS rate: -0.181198 deg/s, posRepo size: 4
2021-02-16T10:05:10.250Z,1613469910.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 282.049438 deg,
      approachRate: -0.706641 m/s,
      LOS rate: -0.181198 deg/s,
      cmd update: -0.543594 deg/s,
      cmd heading: 286.016112 deg,
      new cmd heading: 286.173228 deg.

2021-02-16T10:05:12.666Z,1613469912.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:13.434Z,1613469913.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:13.830Z,1613469913.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:14.660Z,1613469914.660 [Micromodem](INFO): Nmea in: $SNTTA,0.087868,,,,100514.90*41

2021-02-16T10:05:14.716Z,1613469914.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.639999 m, bearing: 282.187107 deg, deltaT: 4.419077 s, approachRate: -0.746763 m/s, LOS rate: 0.031153 deg/s, posRepo size: 4
2021-02-16T10:05:14.717Z,1613469914.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.639999 m,
      bearing: 282.187107 deg,
      approachRate: -0.746763 m/s,
      LOS rate: 0.031153 deg/s,
      cmd update: 0.093460 deg/s,
      cmd heading: 283.611769 deg,
      new cmd heading: 283.361871 deg.

2021-02-16T10:05:17.113Z,1613469917.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:17.868Z,1613469917.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:18.274Z,1613469918.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:19.101Z,1613469919.101 [Micromodem](INFO): Nmea in: $SNTTA,0.085617,,0.086760,,100519.33*50

2021-02-16T10:05:19.122Z,1613469919.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 282.033455 deg, deltaT: 4.455172 s, approachRate: -0.767647 m/s, LOS rate: -0.034488 deg/s, posRepo size: 4
2021-02-16T10:05:19.124Z,1613469919.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.220001 m,
      bearing: 282.033455 deg,
      approachRate: -0.767647 m/s,
      LOS rate: -0.034488 deg/s,
      cmd update: -0.103465 deg/s,
      cmd heading: 284.028167 deg,
      new cmd heading: 284.066604 deg.

2021-02-16T10:05:21.551Z,1613469921.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:22.312Z,1613469922.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:22.719Z,1613469922.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:23.560Z,1613469923.560 [Micromodem](INFO): Nmea in: $SNTTA,0.083356,,,,100523.77*4E

2021-02-16T10:05:23.639Z,1613469923.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.860001 m, bearing: 281.905649 deg, deltaT: 4.443800 s, approachRate: -0.756110 m/s, LOS rate: -0.028761 deg/s, posRepo size: 4
2021-02-16T10:05:23.641Z,1613469923.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.860001 m,
      bearing: 281.905649 deg,
      approachRate: -0.756110 m/s,
      LOS rate: -0.028761 deg/s,
      cmd update: -0.086282 deg/s,
      cmd heading: 283.568389 deg,
      new cmd heading: 283.518681 deg.

2021-02-16T10:05:25.665Z,1613469925.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:26.363Z,1613469926.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:26.757Z,1613469926.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:27.611Z,1613469927.611 [Micromodem](INFO): Nmea in: $SNTTA,0.081491,,,,100527.83*4F

2021-02-16T10:05:27.662Z,1613469927.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 282.007910 deg, deltaT: 4.020229 s, approachRate: -0.701451 m/s, LOS rate: 0.025437 deg/s, posRepo size: 4
2021-02-16T10:05:27.664Z,1613469927.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 282.007910 deg,
      approachRate: -0.701451 m/s,
      LOS rate: 0.025437 deg/s,
      cmd update: 0.076310 deg/s,
      cmd heading: 283.221534 deg,
      new cmd heading: 283.179444 deg.

2021-02-16T10:05:30.022Z,1613469930.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:30.796Z,1613469930.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:31.245Z,1613469931.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:32.033Z,1613469932.033 [Micromodem](INFO): Nmea in: $SNTTA,0.079210,,,,100532.26*4C

2021-02-16T10:05:32.066Z,1613469932.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 282.088343 deg, deltaT: 4.517304 s, approachRate: -0.757090 m/s, LOS rate: 0.017805 deg/s, posRepo size: 4
2021-02-16T10:05:32.068Z,1613469932.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 282.088343 deg,
      approachRate: -0.757090 m/s,
      LOS rate: 0.017805 deg/s,
      cmd update: 0.053416 deg/s,
      cmd heading: 283.564670 deg,
      new cmd heading: 283.594829 deg.

2021-02-16T10:05:34.481Z,1613469934.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:35.243Z,1613469935.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:35.654Z,1613469935.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:36.472Z,1613469936.472 [Micromodem](INFO): Nmea in: $SNTTA,0.077099,,,,100536.70*46

2021-02-16T10:05:36.518Z,1613469936.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.440010 m, bearing: 281.940729 deg, deltaT: 4.390026 s, approachRate: -0.724368 m/s, LOS rate: -0.033625 deg/s, posRepo size: 4
2021-02-16T10:05:36.520Z,1613469936.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.440010 m,
      bearing: 281.940729 deg,
      approachRate: -0.724368 m/s,
      LOS rate: -0.033625 deg/s,
      cmd update: -0.100875 deg/s,
      cmd heading: 283.800068 deg,
      new cmd heading: 283.823539 deg.

2021-02-16T10:05:38.906Z,1613469938.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:39.684Z,1613469939.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:40.089Z,1613469940.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:40.916Z,1613469940.916 [Micromodem](INFO): Nmea in: $SNTTA,0.075062,,,,100541.15*43

2021-02-16T10:05:40.960Z,1613469940.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 281.474773 deg, deltaT: 4.454089 s, approachRate: -0.673540 m/s, LOS rate: -0.104613 deg/s, posRepo size: 4
2021-02-16T10:05:40.962Z,1613469940.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 281.474773 deg,
      approachRate: -0.673540 m/s,
      LOS rate: -0.104613 deg/s,
      cmd update: -0.313839 deg/s,
      cmd heading: 283.352407 deg,
      new cmd heading: 283.309631 deg.

2021-02-16T10:05:43.355Z,1613469943.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:44.129Z,1613469944.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:44.549Z,1613469944.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:45.360Z,1613469945.360 [Micromodem](INFO): Nmea in: $SNTTA,0.072743,,,,100545.59*4C

2021-02-16T10:05:45.435Z,1613469945.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.900002 m, bearing: 281.432535 deg, deltaT: 4.434206 s, approachRate: -0.798339 m/s, LOS rate: -0.009525 deg/s, posRepo size: 4
2021-02-16T10:05:45.437Z,1613469945.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.900002 m,
      bearing: 281.432535 deg,
      approachRate: -0.798339 m/s,
      LOS rate: -0.009525 deg/s,
      cmd update: -0.028576 deg/s,
      cmd heading: 281.960659 deg,
      new cmd heading: 281.808701 deg.

2021-02-16T10:05:47.806Z,1613469947.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:48.588Z,1613469948.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:48.978Z,1613469948.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:49.812Z,1613469949.812 [Micromodem](INFO): Nmea in: $SNTTA,0.070641,,,,100550.05*40

2021-02-16T10:05:49.865Z,1613469949.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 281.620393 deg, deltaT: 4.474986 s, approachRate: -0.697209 m/s, LOS rate: 0.041979 deg/s, posRepo size: 4
2021-02-16T10:05:49.866Z,1613469949.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.779999 m,
      bearing: 281.620393 deg,
      approachRate: -0.697209 m/s,
      LOS rate: 0.041979 deg/s,
      cmd update: 0.125938 deg/s,
      cmd heading: 281.832207 deg,
      new cmd heading: 281.820229 deg.

2021-02-16T10:05:52.247Z,1613469952.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:53.024Z,1613469953.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:53.425Z,1613469953.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:54.252Z,1613469954.252 [Micromodem](INFO): Nmea in: $SNTTA,0.068505,,,,100554.49*46

2021-02-16T10:05:54.274Z,1613469954.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 281.213969 deg, deltaT: 4.427848 s, approachRate: -0.718180 m/s, LOS rate: -0.091788 deg/s, posRepo size: 4
2021-02-16T10:05:54.296Z,1613469954.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 281.213969 deg,
      approachRate: -0.718180 m/s,
      LOS rate: -0.091788 deg/s,
      cmd update: -0.275364 deg/s,
      cmd heading: 282.389839 deg,
      new cmd heading: 282.440353 deg.

2021-02-16T10:05:56.700Z,1613469956.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:05:57.474Z,1613469957.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:05:57.867Z,1613469957.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:05:58.699Z,1613469958.699 [Micromodem](INFO): Nmea in: $SNTTA,0.066374,,,,100558.93*43

2021-02-16T10:05:58.733Z,1613469958.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 281.248421 deg, deltaT: 4.435037 s, approachRate: -0.730546 m/s, LOS rate: 0.007768 deg/s, posRepo size: 4
2021-02-16T10:05:58.735Z,1613469958.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 281.248421 deg,
      approachRate: -0.730546 m/s,
      LOS rate: 0.007768 deg/s,
      cmd update: 0.023304 deg/s,
      cmd heading: 281.169688 deg,
      new cmd heading: 281.051600 deg.

2021-02-16T10:06:01.117Z,1613469961.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:01.904Z,1613469961.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:02.310Z,1613469962.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:03.141Z,1613469963.141 [Micromodem](INFO): Nmea in: $SNTTA,0.064275,,,,100603.37*42

2021-02-16T10:06:03.179Z,1613469963.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 281.439666 deg, deltaT: 4.477996 s, approachRate: -0.696741 m/s, LOS rate: 0.042708 deg/s, posRepo size: 4
2021-02-16T10:06:03.181Z,1613469963.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 281.439666 deg,
      approachRate: -0.696741 m/s,
      LOS rate: 0.042708 deg/s,
      cmd update: 0.128123 deg/s,
      cmd heading: 281.274042 deg,
      new cmd heading: 281.283284 deg.

2021-02-16T10:06:05.630Z,1613469965.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:06.354Z,1613469966.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:06.775Z,1613469966.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:07.628Z,1613469967.628 [Micromodem](INFO): Nmea in: $SNTTA,0.062211,,,,100607.82*4C

2021-02-16T10:06:07.693Z,1613469967.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 281.188916 deg, deltaT: 4.389023 s, approachRate: -0.710865 m/s, LOS rate: -0.057131 deg/s, posRepo size: 4
2021-02-16T10:06:07.694Z,1613469967.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.120003 m,
      bearing: 281.188916 deg,
      approachRate: -0.710865 m/s,
      LOS rate: -0.057131 deg/s,
      cmd update: -0.171393 deg/s,
      cmd heading: 281.836891 deg,
      new cmd heading: 281.902409 deg.

2021-02-16T10:06:09.681Z,1613469969.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:10.414Z,1613469970.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:10.793Z,1613469970.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:11.664Z,1613469971.664 [Micromodem](INFO): Nmea in: $SNTTA,0.060075,,,,100611.88*43

2021-02-16T10:06:11.719Z,1613469971.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 280.682335 deg, deltaT: 4.065622 s, approachRate: -0.782168 m/s, LOS rate: -0.124601 deg/s, posRepo size: 4
2021-02-16T10:06:11.721Z,1613469971.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.940002 m,
      bearing: 280.682335 deg,
      approachRate: -0.782168 m/s,
      LOS rate: -0.124601 deg/s,
      cmd update: -0.373804 deg/s,
      cmd heading: 281.140756 deg,
      new cmd heading: 281.058213 deg.

2021-02-16T10:06:14.053Z,1613469974.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:14.850Z,1613469974.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:15.245Z,1613469975.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:16.075Z,1613469976.075 [Micromodem](INFO): Nmea in: $SNTTA,0.057953,,,,100616.31*4F

2021-02-16T10:06:16.094Z,1613469976.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 280.725693 deg, deltaT: 4.450258 s, approachRate: -0.714564 m/s, LOS rate: 0.009743 deg/s, posRepo size: 4
2021-02-16T10:06:16.096Z,1613469976.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.760010 m,
      bearing: 280.725693 deg,
      approachRate: -0.714564 m/s,
      LOS rate: 0.009743 deg/s,
      cmd update: 0.029228 deg/s,
      cmd heading: 279.475726 deg,
      new cmd heading: 279.325087 deg.

2021-02-16T10:06:17.683Z,1613469977.683 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:06:18.512Z,1613469978.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:19.278Z,1613469979.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:19.694Z,1613469979.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:20.508Z,1613469980.508 [Micromodem](INFO): Nmea in: $SNTTA,0.055685,,,,100620.74*4D

2021-02-16T10:06:20.547Z,1613469980.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 281.068186 deg, deltaT: 4.438683 s, approachRate: -0.770500 m/s, LOS rate: 0.077161 deg/s, posRepo size: 4
2021-02-16T10:06:20.549Z,1613469980.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.340004 m,
      bearing: 281.068186 deg,
      approachRate: -0.770500 m/s,
      LOS rate: 0.077161 deg/s,
      cmd update: 0.231483 deg/s,
      cmd heading: 279.605345 deg,
      new cmd heading: 279.617652 deg.

2021-02-16T10:06:22.944Z,1613469982.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:23.720Z,1613469983.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:24.126Z,1613469984.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:24.948Z,1613469984.948 [Micromodem](INFO): Nmea in: $SNTTA,0.053421,,,,100625.18*48

2021-02-16T10:06:24.993Z,1613469984.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 280.882213 deg, deltaT: 4.494168 s, approachRate: -0.747637 m/s, LOS rate: -0.041381 deg/s, posRepo size: 4
2021-02-16T10:06:24.994Z,1613469984.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.979996 m,
      bearing: 280.882213 deg,
      approachRate: -0.747637 m/s,
      LOS rate: -0.041381 deg/s,
      cmd update: -0.124142 deg/s,
      cmd heading: 280.638123 deg,
      new cmd heading: 280.731898 deg.

2021-02-16T10:06:27.426Z,1613469987.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:28.169Z,1613469988.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:28.604Z,1613469988.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:29.428Z,1613469989.428 [Micromodem](INFO): Nmea in: $SNTTA,0.051160,,,,100629.63*4A

2021-02-16T10:06:29.480Z,1613469989.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.560005 m, bearing: 280.425847 deg, deltaT: 4.378059 s, approachRate: -0.781166 m/s, LOS rate: -0.104239 deg/s, posRepo size: 4
2021-02-16T10:06:29.482Z,1613469989.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.560005 m,
      bearing: 280.425847 deg,
      approachRate: -0.781166 m/s,
      LOS rate: -0.104239 deg/s,
      cmd update: -0.312718 deg/s,
      cmd heading: 280.092059 deg,
      new cmd heading: 280.033789 deg.

2021-02-16T10:06:31.824Z,1613469991.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:32.621Z,1613469992.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:33.060Z,1613469993.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:33.885Z,1613469993.885 [Micromodem](INFO): Nmea in: $SNTTA,0.048909,,,,100634.08*44

2021-02-16T10:06:33.910Z,1613469993.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 280.683509 deg, deltaT: 4.483769 s, approachRate: -0.762751 m/s, LOS rate: 0.057466 deg/s, posRepo size: 4
2021-02-16T10:06:33.912Z,1613469993.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 280.683509 deg,
      approachRate: -0.762751 m/s,
      LOS rate: 0.057466 deg/s,
      cmd update: 0.172397 deg/s,
      cmd heading: 278.684914 deg,
      new cmd heading: 278.552346 deg.

2021-02-16T10:06:36.309Z,1613469996.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:37.096Z,1613469997.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:37.503Z,1613469997.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:38.351Z,1613469998.351 [Micromodem](INFO): Nmea in: $SNTTA,0.046707,,,,100638.56*4D

2021-02-16T10:06:38.426Z,1613469998.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.840004 m, bearing: 280.095293 deg, deltaT: 4.474541 s, approachRate: -0.737507 m/s, LOS rate: -0.131458 deg/s, posRepo size: 4
2021-02-16T10:06:38.432Z,1613469998.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.840004 m,
      bearing: 280.095293 deg,
      approachRate: -0.737507 m/s,
      LOS rate: -0.131458 deg/s,
      cmd update: -0.394375 deg/s,
      cmd heading: 279.455624 deg,
      new cmd heading: 279.536532 deg.

2021-02-16T10:06:40.796Z,1613470000.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:41.561Z,1613470001.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:41.947Z,1613470001.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:42.780Z,1613470002.780 [Micromodem](INFO): Nmea in: $SNTTA,0.044543,,,,100643.03*41

2021-02-16T10:06:42.814Z,1613470002.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.660004 m, bearing: 280.441584 deg, deltaT: 4.465981 s, approachRate: -0.712050 m/s, LOS rate: 0.077540 deg/s, posRepo size: 4
2021-02-16T10:06:42.816Z,1613470002.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.660004 m,
      bearing: 280.441584 deg,
      approachRate: -0.712050 m/s,
      LOS rate: 0.077540 deg/s,
      cmd update: 0.232619 deg/s,
      cmd heading: 277.692777 deg,
      new cmd heading: 277.539842 deg.

2021-02-16T10:06:45.226Z,1613470005.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:45.986Z,1613470005.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:46.416Z,1613470006.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:47.223Z,1613470007.223 [Micromodem](INFO): Nmea in: $SNTTA,0.042392,,,,100647.45*4B

2021-02-16T10:06:47.242Z,1613470007.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 281.335765 deg, deltaT: 4.405087 s, approachRate: -0.735513 m/s, LOS rate: 0.202988 deg/s, posRepo size: 4
2021-02-16T10:06:47.244Z,1613470007.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.420006 m,
      bearing: 281.335765 deg,
      approachRate: -0.735513 m/s,
      LOS rate: 0.202988 deg/s,
      cmd update: 0.608965 deg/s,
      cmd heading: 278.717488 deg,
      new cmd heading: 278.812979 deg.

2021-02-16T10:06:49.662Z,1613470009.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:50.428Z,1613470010.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:50.859Z,1613470010.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:51.667Z,1613470011.667 [Micromodem](INFO): Nmea in: $SNTTA,0.040176,,,,100651.89*46

2021-02-16T10:06:51.702Z,1613470011.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.060001 m, bearing: 280.525186 deg, deltaT: 4.436193 s, approachRate: -0.757407 m/s, LOS rate: -0.182720 deg/s, posRepo size: 4
2021-02-16T10:06:51.704Z,1613470011.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.060001 m,
      bearing: 280.525186 deg,
      approachRate: -0.757407 m/s,
      LOS rate: -0.182720 deg/s,
      cmd update: -0.548159 deg/s,
      cmd heading: 281.418968 deg,
      new cmd heading: 281.683130 deg.

2021-02-16T10:06:54.089Z,1613470014.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:54.872Z,1613470014.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:55.295Z,1613470015.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:06:56.121Z,1613470016.121 [Micromodem](INFO): Nmea in: $SNTTA,0.037706,,,,100656.33*41

2021-02-16T10:06:56.148Z,1613470016.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 279.748402 deg, deltaT: 4.458558 s, approachRate: -0.834351 m/s, LOS rate: -0.174223 deg/s, posRepo size: 4
2021-02-16T10:06:56.150Z,1613470016.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.340000 m,
      bearing: 279.748402 deg,
      approachRate: -0.834351 m/s,
      LOS rate: -0.174223 deg/s,
      cmd update: -0.522669 deg/s,
      cmd heading: 278.974998 deg,
      new cmd heading: 278.744239 deg.

2021-02-16T10:06:58.539Z,1613470018.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:06:59.325Z,1613470019.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:06:59.718Z,1613470019.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:00.548Z,1613470020.548 [Micromodem](INFO): Nmea in: $SNTTA,0.035477,,,,100700.79*4A

2021-02-16T10:07:00.632Z,1613470020.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 280.182638 deg, deltaT: 4.424138 s, approachRate: -0.745908 m/s, LOS rate: 0.098152 deg/s, posRepo size: 4
2021-02-16T10:07:00.634Z,1613470020.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.040001 m,
      bearing: 280.182638 deg,
      approachRate: -0.745908 m/s,
      LOS rate: 0.098152 deg/s,
      cmd update: 0.294455 deg/s,
      cmd heading: 276.670963 deg,
      new cmd heading: 276.413194 deg.

2021-02-16T10:07:02.980Z,1613470022.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:03.756Z,1613470023.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:04.162Z,1613470024.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:04.988Z,1613470024.988 [Micromodem](INFO): Nmea in: $SNTTA,0.033286,,,,100705.22*4F

2021-02-16T10:07:05.010Z,1613470025.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.740002 m, bearing: 280.342355 deg, deltaT: 4.523370 s, approachRate: -0.729544 m/s, LOS rate: 0.035309 deg/s, posRepo size: 4
2021-02-16T10:07:05.012Z,1613470025.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.740002 m,
      bearing: 280.342355 deg,
      approachRate: -0.729544 m/s,
      LOS rate: 0.035309 deg/s,
      cmd update: 0.105928 deg/s,
      cmd heading: 278.006425 deg,
      new cmd heading: 278.106656 deg.

2021-02-16T10:07:07.445Z,1613470027.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:08.215Z,1613470028.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:08.629Z,1613470028.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:09.449Z,1613470029.449 [Micromodem](INFO): Nmea in: $SNTTA,0.030968,,,,100709.68*45

2021-02-16T10:07:09.478Z,1613470029.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 280.090540 deg, deltaT: 4.359713 s, approachRate: -0.798218 m/s, LOS rate: -0.057760 deg/s, posRepo size: 4
2021-02-16T10:07:09.500Z,1613470029.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.259998 m,
      bearing: 280.090540 deg,
      approachRate: -0.798218 m/s,
      LOS rate: -0.057760 deg/s,
      cmd update: -0.173279 deg/s,
      cmd heading: 278.468664 deg,
      new cmd heading: 278.515738 deg.

2021-02-16T10:07:11.881Z,1613470031.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:12.661Z,1613470032.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:13.110Z,1613470033.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:13.887Z,1613470033.887 [Micromodem](INFO): Nmea in: $SNTTA,0.028653,,,,100714.12*4A

2021-02-16T10:07:13.911Z,1613470033.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.719997 m, bearing: 280.386943 deg, deltaT: 4.455652 s, approachRate: -0.794497 m/s, LOS rate: 0.066523 deg/s, posRepo size: 4
2021-02-16T10:07:13.913Z,1613470033.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.719997 m,
      bearing: 280.386943 deg,
      approachRate: -0.794497 m/s,
      LOS rate: 0.066523 deg/s,
      cmd update: 0.199569 deg/s,
      cmd heading: 277.696594 deg,
      new cmd heading: 277.623550 deg.

2021-02-16T10:07:16.309Z,1613470036.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:17.089Z,1613470037.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:17.494Z,1613470037.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:18.320Z,1613470038.320 [Micromodem](INFO): Nmea in: $SNTTA,0.026455,,,,100718.55*4F

2021-02-16T10:07:18.370Z,1613470038.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 280.541441 deg, deltaT: 4.458580 s, approachRate: -0.726687 m/s, LOS rate: 0.034652 deg/s, posRepo size: 4
2021-02-16T10:07:18.377Z,1613470038.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m.
2021-02-16T10:07:18.392Z,1613470038.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.480003 m,
      bearing: 280.541441 deg,
      approachRate: -0.726687 m/s,
      LOS rate: 0.034652 deg/s,
      cmd update: 0.103956 deg/s,
      cmd heading: 278.585949 deg,
      new cmd heading: 278.669306 deg.

2021-02-16T10:07:18.717Z,1613470038.717 [PowerOnly](INFO): Powering up loadControl
2021-02-16T10:07:20.761Z,1613470040.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:21.537Z,1613470041.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:21.937Z,1613470041.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:22.764Z,1613470042.764 [Micromodem](INFO): Nmea in: $SNTTA,0.023965,,,,100723.00*4C

2021-02-16T10:07:22.799Z,1613470042.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 281.263993 deg, deltaT: 4.412880 s, approachRate: -0.856585 m/s, LOS rate: 0.163737 deg/s, posRepo size: 4
2021-02-16T10:07:22.799Z,1613470042.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-02-16T10:07:22.800Z,1613470042.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.70 m.
2021-02-16T10:07:22.800Z,1613470042.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T10:07:22.802Z,1613470042.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 281.263993 deg,
      approachRate: -0.856585 m/s,
      LOS rate: 0.163737 deg/s,
      cmd update: 0.491211 deg/s,
      cmd heading: 279.044926 deg,
      new cmd heading: 279.090437 deg.

2021-02-16T10:07:25.191Z,1613470045.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:25.976Z,1613470045.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:26.412Z,1613470046.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:27.211Z,1613470047.211 [Micromodem](INFO): Nmea in: $SNTTA,0.022275,,,,100727.44*43

2021-02-16T10:07:27.235Z,1613470047.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 281.852565 deg, deltaT: 4.462008 s, approachRate: -0.685789 m/s, LOS rate: 0.131907 deg/s, posRepo size: 4
2021-02-16T10:07:27.237Z,1613470047.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 281.852565 deg,
      approachRate: -0.685789 m/s,
      LOS rate: 0.131907 deg/s,
      cmd update: 0.395722 deg/s,
      cmd heading: 281.236529 deg,
      new cmd heading: 281.439197 deg.

2021-02-16T10:07:29.662Z,1613470049.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:30.430Z,1613470050.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:30.826Z,1613470050.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:31.656Z,1613470051.656 [Micromodem](INFO): Nmea in: $SNTTA,0.019485,,,,100731.89*44

2021-02-16T10:07:31.712Z,1613470051.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 280.900600 deg, deltaT: 4.423315 s, approachRate: -0.827434 m/s, LOS rate: -0.215215 deg/s, posRepo size: 4
2021-02-16T10:07:31.713Z,1613470051.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.979998 m,
      bearing: 280.900600 deg,
      approachRate: -0.827434 m/s,
      LOS rate: -0.215215 deg/s,
      cmd update: -0.645646 deg/s,
      cmd heading: 282.987072 deg,
      new cmd heading: 283.171265 deg.

2021-02-16T10:07:34.072Z,1613470054.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:34.881Z,1613470054.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:35.275Z,1613470055.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:36.108Z,1613470056.108 [Micromodem](INFO): Nmea in: $SNTTA,0.017054,,,,100736.34*43

2021-02-16T10:07:36.130Z,1613470056.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.320000 m, bearing: 280.220532 deg, deltaT: 4.467167 s, approachRate: -0.819311 m/s, LOS rate: -0.152237 deg/s, posRepo size: 4
2021-02-16T10:07:36.132Z,1613470056.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.320000 m,
      bearing: 280.220532 deg,
      approachRate: -0.819311 m/s,
      LOS rate: -0.152237 deg/s,
      cmd update: -0.456711 deg/s,
      cmd heading: 280.102892 deg,
      new cmd heading: 279.833483 deg.

2021-02-16T10:07:38.582Z,1613470058.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:39.326Z,1613470059.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:39.732Z,1613470059.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:40.548Z,1613470060.548 [Micromodem](INFO): Nmea in: $SNTTA,0.014760,,,,100740.79*48

2021-02-16T10:07:40.630Z,1613470060.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 280.432486 deg, deltaT: 4.423527 s, approachRate: -0.773139 m/s, LOS rate: 0.047915 deg/s, posRepo size: 4
2021-02-16T10:07:40.637Z,1613470060.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 280.432486 deg,
      approachRate: -0.773139 m/s,
      LOS rate: 0.047915 deg/s,
      cmd update: 0.143746 deg/s,
      cmd heading: 278.082646 deg,
      new cmd heading: 277.857702 deg.

2021-02-16T10:07:42.963Z,1613470062.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:43.752Z,1613470063.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:44.158Z,1613470064.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:45.008Z,1613470065.008 [Micromodem](INFO): Nmea in: $SNTTA,0.012452,,,,100745.22*47

2021-02-16T10:07:45.043Z,1613470065.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 279.236547 deg, deltaT: 4.503563 s, approachRate: -0.759399 m/s, LOS rate: -0.265554 deg/s, posRepo size: 4
2021-02-16T10:07:45.045Z,1613470065.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.479998 m,
      bearing: 279.236547 deg,
      approachRate: -0.759399 m/s,
      LOS rate: -0.265554 deg/s,
      cmd update: -0.796662 deg/s,
      cmd heading: 278.728851 deg,
      new cmd heading: 278.787914 deg.

2021-02-16T10:07:47.440Z,1613470067.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:48.207Z,1613470068.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:48.624Z,1613470068.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:49.496Z,1613470069.496 [Micromodem](INFO): Nmea in: $SNTTA,0.010048,,0.028461,,100749.67*50

2021-02-16T10:07:49.546Z,1613470069.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 279.156798 deg, deltaT: 4.381927 s, approachRate: -0.821556 m/s, LOS rate: -0.018200 deg/s, posRepo size: 4
2021-02-16T10:07:49.552Z,1613470069.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 279.156798 deg,
      approachRate: -0.821556 m/s,
      LOS rate: -0.018200 deg/s,
      cmd update: -0.054599 deg/s,
      cmd heading: 275.231424 deg,
      new cmd heading: 274.814419 deg.

2021-02-16T10:07:51.862Z,1613470071.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:52.645Z,1613470072.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:53.051Z,1613470073.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:53.879Z,1613470073.879 [Micromodem](INFO): Nmea in: $SNTTA,0.007733,,,,100754.11*47

2021-02-16T10:07:53.903Z,1613470073.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 280.320335 deg, deltaT: 4.465456 s, approachRate: -0.792753 m/s, LOS rate: 0.260564 deg/s, posRepo size: 4
2021-02-16T10:07:53.905Z,1613470073.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 280.320335 deg,
      approachRate: -0.792753 m/s,
      LOS rate: 0.260564 deg/s,
      cmd update: 0.781692 deg/s,
      cmd heading: 274.987620 deg,
      new cmd heading: 274.964931 deg.

2021-02-16T10:07:56.297Z,1613470076.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:07:57.091Z,1613470077.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:07:57.490Z,1613470077.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:07:58.320Z,1613470078.320 [Micromodem](INFO): Nmea in: $SNTTA,0.005649,,,,100758.55*45

2021-02-16T10:07:58.362Z,1613470078.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 279.391593 deg, deltaT: 4.448691 s, approachRate: -0.701330 m/s, LOS rate: -0.208767 deg/s, posRepo size: 4
2021-02-16T10:07:58.364Z,1613470078.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 279.391593 deg,
      approachRate: -0.701330 m/s,
      LOS rate: -0.208767 deg/s,
      cmd update: -0.626302 deg/s,
      cmd heading: 278.463065 deg,
      new cmd heading: 278.798148 deg.

2021-02-16T10:08:00.795Z,1613470080.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:01.533Z,1613470081.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:01.939Z,1613470081.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:02.760Z,1613470082.760 [Micromodem](INFO): Nmea in: $SNTTA,0.003998,,,,100802.99*40

2021-02-16T10:08:02.818Z,1613470082.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 275.873881 deg, deltaT: 4.423288 s, approachRate: -0.569712 m/s, LOS rate: -0.795271 deg/s, posRepo size: 4
2021-02-16T10:08:02.824Z,1613470082.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 275.873881 deg,
      approachRate: -0.569712 m/s,
      LOS rate: -0.795271 deg/s,
      cmd update: -2.385812 deg/s,
      cmd heading: 275.691027 deg,
      new cmd heading: 275.403654 deg.

2021-02-16T10:08:05.202Z,1613470085.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:05.977Z,1613470085.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:06.408Z,1613470086.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:06.794Z,1613470086.794 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T10:08:07.209Z,1613470087.209 [Micromodem](INFO): Nmea in: $SNTTA,0.002585,,,,100807.44*44

2021-02-16T10:08:07.245Z,1613470087.245 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T10:08:07.245Z,1613470087.245 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:08:07.245Z,1613470087.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T10:08:07.245Z,1613470087.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:08:07.245Z,1613470087.245 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T10:08:07.246Z,1613470087.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.779998 m 
2021-02-16T10:08:07.246Z,1613470087.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T10:08:07.246Z,1613470087.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T10:08:07.246Z,1613470087.246 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T10:08:07.249Z,1613470087.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 301.543918 deg, deltaT: 4.474266 s, approachRate: -0.429121 m/s, LOS rate: 5.737262 deg/s, posRepo size: 4
2021-02-16T10:08:07.250Z,1613470087.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 301.543918 deg,
      approachRate: -0.429121 m/s,
      LOS rate: 5.737262 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 265.025923 deg,
      new cmd heading: 264.026909 deg.

2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T100807: (41.552319, -70.708603)
2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T10:08:07.675Z,1613470087.675 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:08:07.676Z,1613470087.676 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T10:08:07.676Z,1613470087.676 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T10:08:07.676Z,1613470087.676 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:08:09.677Z,1613470089.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:10.431Z,1613470090.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:10.822Z,1613470090.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:11.656Z,1613470091.656 [Micromodem](INFO): Nmea in: $SNTTA,0.002883,,,,100811.89*49

2021-02-16T10:08:11.711Z,1613470091.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 251.620126 deg, deltaT: 4.414229 s, approachRate: 0.122332 m/s, LOS rate: -11.309742 deg/s, posRepo size: 4
2021-02-16T10:08:11.713Z,1613470091.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 251.620126 deg,
      approachRate: 0.122332 m/s,
      LOS rate: -11.309742 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 318.042332 deg,
      new cmd heading: 323.597240 deg.

2021-02-16T10:08:14.073Z,1613470094.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:14.877Z,1613470094.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:15.271Z,1613470095.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:16.105Z,1613470096.105 [Micromodem](INFO): Nmea in: $SNTTA,0.004695,,,0.027950,100816.34*50

2021-02-16T10:08:16.120Z,1613470096.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 274.983853 deg, deltaT: 4.468937 s, approachRate: 0.617597 m/s, LOS rate: 5.228028 deg/s, posRepo size: 4
2021-02-16T10:08:16.121Z,1613470096.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 274.983853 deg,
      approachRate: 0.617597 m/s,
      LOS rate: 5.228028 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 264.412254 deg,
      new cmd heading: 259.583910 deg.

2021-02-16T10:08:18.532Z,1613470098.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:19.309Z,1613470099.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:19.710Z,1613470099.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:20.544Z,1613470100.544 [Micromodem](INFO): Nmea in: $SNTTA,0.007632,,,,100820.77*4B

2021-02-16T10:08:20.629Z,1613470100.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 286.183451 deg, deltaT: 4.444079 s, approachRate: 0.972080 m/s, LOS rate: 2.520117 deg/s, posRepo size: 4
2021-02-16T10:08:20.631Z,1613470100.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 286.183451 deg,
      approachRate: 0.972080 m/s,
      LOS rate: 2.520117 deg/s,
      cmd update: 7.560350 deg/s,
      cmd heading: 317.692880 deg,
      new cmd heading: 323.351924 deg.

2021-02-16T10:08:22.973Z,1613470102.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:23.748Z,1613470103.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:24.167Z,1613470104.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:24.976Z,1613470104.976 [Micromodem](INFO): Nmea in: $SNTTA,0.013805,,,,100825.21*42

2021-02-16T10:08:25.014Z,1613470105.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 284.603218 deg, deltaT: 4.482592 s, approachRate: 1.847146 m/s, LOS rate: -0.352527 deg/s, posRepo size: 4
2021-02-16T10:08:25.016Z,1613470105.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 284.603218 deg,
      approachRate: 1.847146 m/s,
      LOS rate: -0.352527 deg/s,
      cmd update: -1.057580 deg/s,
      cmd heading: 351.610508 deg,
      new cmd heading: 354.412865 deg.

2021-02-16T10:08:27.454Z,1613470107.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:28.210Z,1613470108.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:28.618Z,1613470108.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:29.469Z,1613470109.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,100829.67*5D

2021-02-16T10:08:30.238Z,1613470110.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:31.832Z,1613470111.832 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:08:33.061Z,1613470113.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:33.848Z,1613470113.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:34.271Z,1613470114.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:35.080Z,1613470115.080 [Micromodem](INFO): Nmea in: $SNTTA,0.014691,,,,100835.31*46

2021-02-16T10:08:35.126Z,1613470115.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 12.864578 deg, deltaT: 10.111941 s, approachRate: 0.213609 m/s, LOS rate: 8.728429 deg/s, posRepo size: 4
2021-02-16T10:08:35.126Z,1613470115.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.84 m. Rolling out.
2021-02-16T10:08:35.127Z,1613470115.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T10:08:37.523Z,1613470117.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:38.298Z,1613470118.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:38.697Z,1613470118.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:39.528Z,1613470119.528 [Micromodem](INFO): Nmea in: $SNTTA,0.015592,,,0.023954,100839.76*5F

2021-02-16T10:08:39.596Z,1613470119.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 30.771559 deg, deltaT: 4.359939 s, approachRate: 0.371564 m/s, LOS rate: 4.107163 deg/s, posRepo size: 4
2021-02-16T10:08:41.953Z,1613470121.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:42.736Z,1613470122.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:43.176Z,1613470123.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:43.980Z,1613470123.980 [Micromodem](INFO): Nmea in: $SNTTA,0.017315,,,,100844.20*4A

2021-02-16T10:08:44.022Z,1613470124.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.099998 m, bearing: 4.817428 deg, deltaT: 4.499370 s, approachRate: 0.586749 m/s, LOS rate: -5.768392 deg/s, posRepo size: 4
2021-02-16T10:08:46.440Z,1613470126.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:47.182Z,1613470127.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:47.616Z,1613470127.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:48.444Z,1613470128.444 [Micromodem](INFO): Nmea in: $SNTTA,0.019101,,,,100848.64*4F

2021-02-16T10:08:48.500Z,1613470128.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 10.472331 deg, deltaT: 4.399257 s, approachRate: 0.600102 m/s, LOS rate: 1.285422 deg/s, posRepo size: 4
2021-02-16T10:08:50.850Z,1613470130.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:51.628Z,1613470131.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:52.030Z,1613470132.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:52.856Z,1613470132.856 [Micromodem](INFO): Nmea in: $SNTTA,0.023580,,,,100853.09*4A

2021-02-16T10:08:52.885Z,1613470132.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 343.183237 deg, deltaT: 4.453050 s, approachRate: 0.781487 m/s, LOS rate: -6.128178 deg/s, posRepo size: 4
2021-02-16T10:08:53.277Z,1613470133.277 [PowerOnly](INFO): Powering down loadControl
2021-02-16T10:08:55.285Z,1613470135.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:08:56.072Z,1613470136.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:08:56.484Z,1613470136.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:08:57.308Z,1613470137.308 [Micromodem](INFO): Nmea in: $SNTTA,0.022793,,,,100857.53*40

2021-02-16T10:08:57.336Z,1613470137.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.379997 m, bearing: 337.928172 deg, deltaT: 4.448282 s, approachRate: 0.485580 m/s, LOS rate: -1.181370 deg/s, posRepo size: 4
2021-02-16T10:08:59.761Z,1613470139.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:00.512Z,1613470140.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:00.923Z,1613470140.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:01.740Z,1613470141.740 [Micromodem](INFO): Nmea in: $SNTTA,0.025213,,,,100901.97*40

2021-02-16T10:09:01.794Z,1613470141.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 333.863472 deg, deltaT: 4.440540 s, approachRate: 0.797201 m/s, LOS rate: -0.915362 deg/s, posRepo size: 4
2021-02-16T10:09:04.172Z,1613470144.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:04.962Z,1613470144.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:05.383Z,1613470145.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:06.205Z,1613470146.205 [Micromodem](INFO): Nmea in: $SNTTA,0.027538,,,,100906.42*43

2021-02-16T10:09:06.226Z,1613470146.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 337.832276 deg, deltaT: 4.450089 s, approachRate: 0.768524 m/s, LOS rate: 0.891848 deg/s, posRepo size: 4
2021-02-16T10:09:08.681Z,1613470148.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:09.421Z,1613470149.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:09.806Z,1613470149.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:10.651Z,1613470150.651 [Micromodem](INFO): Nmea in: $SNTTA,0.030031,,,,100910.88*48

2021-02-16T10:09:10.685Z,1613470150.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 329.303118 deg, deltaT: 4.445717 s, approachRate: 0.850256 m/s, LOS rate: -1.918511 deg/s, posRepo size: 4
2021-02-16T10:09:13.070Z,1613470153.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:13.846Z,1613470153.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:14.263Z,1613470154.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:15.072Z,1613470155.072 [Micromodem](INFO): Nmea in: $SNTTA,0.032544,,,,100915.31*4A

2021-02-16T10:09:15.114Z,1613470155.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 26.879578 deg, deltaT: 4.470273 s, approachRate: 0.778475 m/s, LOS rate: 12.879854 deg/s, posRepo size: 4
2021-02-16T10:09:17.518Z,1613470157.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:18.294Z,1613470158.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:18.694Z,1613470158.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:19.520Z,1613470159.520 [Micromodem](INFO): Nmea in: $SNTTA,0.038953,,,,100919.75*46

2021-02-16T10:09:19.545Z,1613470159.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 29.970542 deg, deltaT: 4.387794 s, approachRate: 0.847807 m/s, LOS rate: 0.704446 deg/s, posRepo size: 4
2021-02-16T10:09:21.949Z,1613470161.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:22.743Z,1613470162.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:23.180Z,1613470163.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:23.968Z,1613470163.968 [Micromodem](INFO): Nmea in: $SNTTA,0.053055,,,,100924.20*4A

2021-02-16T10:09:24.017Z,1613470164.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.799995 m, bearing: 33.052320 deg, deltaT: 4.513515 s, approachRate: 0.771018 m/s, LOS rate: 0.682789 deg/s, posRepo size: 4
2021-02-16T10:09:26.437Z,1613470166.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:27.176Z,1613470167.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:27.609Z,1613470167.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:28.436Z,1613470168.436 [Micromodem](INFO): Nmea in: $SNTTA,0.039796,,,,100928.64*42

2021-02-16T10:09:28.484Z,1613470168.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 35.487802 deg, deltaT: 4.402510 s, approachRate: 0.831346 m/s, LOS rate: 0.553203 deg/s, posRepo size: 4
2021-02-16T10:09:30.838Z,1613470170.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:31.625Z,1613470171.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:32.040Z,1613470172.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:32.852Z,1613470172.852 [Micromodem](INFO): Nmea in: $SNTTA,0.042153,,,,100933.09*40

2021-02-16T10:09:32.892Z,1613470172.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 41.105178 deg, deltaT: 4.448428 s, approachRate: 0.795787 m/s, LOS rate: 1.262778 deg/s, posRepo size: 4
2021-02-16T10:09:35.279Z,1613470175.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:36.064Z,1613470176.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:36.475Z,1613470176.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:37.303Z,1613470177.303 [Micromodem](INFO): Nmea in: $SNTTA,0.044374,,,,100937.52*4B

2021-02-16T10:09:37.322Z,1613470177.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.779999 m, bearing: 337.923473 deg, deltaT: 4.432975 s, approachRate: 0.852699 m/s, LOS rate: -14.252663 deg/s, posRepo size: 4
2021-02-16T10:09:39.751Z,1613470179.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:40.513Z,1613470180.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:40.914Z,1613470180.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:41.744Z,1613470181.744 [Micromodem](INFO): Nmea in: $SNTTA,0.046558,,,,100941.98*46

2021-02-16T10:09:41.796Z,1613470181.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 28.326509 deg, deltaT: 4.422860 s, approachRate: 0.718992 m/s, LOS rate: 11.396030 deg/s, posRepo size: 4
2021-02-16T10:09:44.158Z,1613470184.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:44.958Z,1613470184.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:45.361Z,1613470185.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:46.184Z,1613470186.184 [Micromodem](INFO): Nmea in: $SNTTA,0.056333,,,,100946.42*4C

2021-02-16T10:09:46.235Z,1613470186.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 36.906808 deg, deltaT: 4.497073 s, approachRate: 0.867231 m/s, LOS rate: 1.907974 deg/s, posRepo size: 4
2021-02-16T10:09:48.653Z,1613470188.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:49.416Z,1613470189.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:49.817Z,1613470189.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:50.640Z,1613470190.640 [Micromodem](INFO): Nmea in: $SNTTA,0.051484,,,,100950.88*41

2021-02-16T10:09:50.689Z,1613470190.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 340.411055 deg, deltaT: 4.420781 s, approachRate: 0.800764 m/s, LOS rate: -12.779589 deg/s, posRepo size: 4
2021-02-16T10:09:53.062Z,1613470193.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:53.845Z,1613470193.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:54.257Z,1613470194.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:55.072Z,1613470195.072 [Micromodem](INFO): Nmea in: $SNTTA,0.053869,,,,100955.31*4B

2021-02-16T10:09:55.108Z,1613470195.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 31.949132 deg, deltaT: 4.453247 s, approachRate: 0.808400 m/s, LOS rate: 11.573148 deg/s, posRepo size: 4
2021-02-16T10:09:57.510Z,1613470197.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:09:58.290Z,1613470198.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:09:58.708Z,1613470198.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:09:59.538Z,1613470199.538 [Micromodem](INFO): Nmea in: $SNTTA,0.056366,,,,100959.75*46

2021-02-16T10:09:59.625Z,1613470199.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 25.670673 deg, deltaT: 4.407157 s, approachRate: 0.857694 m/s, LOS rate: -1.424605 deg/s, posRepo size: 4
2021-02-16T10:10:01.618Z,1613470201.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:02.334Z,1613470202.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:02.738Z,1613470202.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:03.568Z,1613470203.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101003.80*55

2021-02-16T10:10:03.650Z,1613470203.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.019997 m, bearing: 20.736850 deg, deltaT: 4.042239 s, approachRate: 0.801535 m/s, LOS rate: -1.220567 deg/s, posRepo size: 4
2021-02-16T10:10:05.974Z,1613470205.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:06.769Z,1613470206.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:07.181Z,1613470207.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:08.015Z,1613470208.015 [Micromodem](INFO): Nmea in: $SNTTA,0.060992,,,,101008.23*4D

2021-02-16T10:10:08.038Z,1613470208.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 26.761970 deg, deltaT: 4.511701 s, approachRate: 0.811226 m/s, LOS rate: 1.335443 deg/s, posRepo size: 4
2021-02-16T10:10:10.444Z,1613470210.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:11.220Z,1613470211.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:11.629Z,1613470211.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:12.444Z,1613470212.444 [Micromodem](INFO): Nmea in: $SNTTA,0.063507,,,,101012.68*4A

2021-02-16T10:10:12.483Z,1613470212.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 28.067173 deg, deltaT: 4.387627 s, approachRate: 0.861512 m/s, LOS rate: 0.297474 deg/s, posRepo size: 4
2021-02-16T10:10:14.874Z,1613470214.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:15.661Z,1613470215.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:16.068Z,1613470216.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:16.888Z,1613470216.888 [Micromodem](INFO): Nmea in: $SNTTA,0.065938,,,,101017.12*44

2021-02-16T10:10:16.935Z,1613470216.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 18.117376 deg, deltaT: 4.485079 s, approachRate: 0.802663 m/s, LOS rate: -2.218422 deg/s, posRepo size: 4
2021-02-16T10:10:19.316Z,1613470219.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:20.100Z,1613470220.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:20.514Z,1613470220.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:21.328Z,1613470221.328 [Micromodem](INFO): Nmea in: $SNTTA,0.068015,,,,101021.56*4A

2021-02-16T10:10:21.380Z,1613470221.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 25.186975 deg, deltaT: 4.414273 s, approachRate: 0.706799 m/s, LOS rate: 1.601532 deg/s, posRepo size: 4
2021-02-16T10:10:23.785Z,1613470223.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:24.561Z,1613470224.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:24.966Z,1613470224.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:25.780Z,1613470225.780 [Micromodem](INFO): Nmea in: $SNTTA,0.070168,,,,101026.02*4E

2021-02-16T10:10:25.829Z,1613470225.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.480003 m, bearing: 20.373974 deg, deltaT: 4.461922 s, approachRate: 0.739591 m/s, LOS rate: -1.078683 deg/s, posRepo size: 4
2021-02-16T10:10:28.216Z,1613470228.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:28.988Z,1613470228.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:29.417Z,1613470229.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:30.233Z,1613470230.233 [Micromodem](INFO): Nmea in: $SNTTA,0.072589,,,,101030.45*43

2021-02-16T10:10:30.260Z,1613470230.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 16.362546 deg, deltaT: 4.429318 s, approachRate: 0.799220 m/s, LOS rate: -0.905654 deg/s, posRepo size: 4
2021-02-16T10:10:32.683Z,1613470232.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:33.440Z,1613470233.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:33.840Z,1613470233.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:34.684Z,1613470234.684 [Micromodem](INFO): Nmea in: $SNTTA,0.075067,,,,101034.90*4D

2021-02-16T10:10:34.744Z,1613470234.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 14.746254 deg, deltaT: 4.444029 s, approachRate: 0.837079 m/s, LOS rate: -0.363700 deg/s, posRepo size: 4
2021-02-16T10:10:37.101Z,1613470237.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:37.881Z,1613470237.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:38.295Z,1613470238.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:39.108Z,1613470239.108 [Micromodem](INFO): Nmea in: $SNTTA,0.077454,,,,101039.34*48

2021-02-16T10:10:39.145Z,1613470239.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 23.249983 deg, deltaT: 4.493633 s, approachRate: 0.801133 m/s, LOS rate: 1.892395 deg/s, posRepo size: 4
2021-02-16T10:10:41.538Z,1613470241.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:42.320Z,1613470242.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:42.751Z,1613470242.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:43.554Z,1613470243.554 [Micromodem](INFO): Nmea in: $SNTTA,0.079821,,,,101043.78*4D

2021-02-16T10:10:43.635Z,1613470243.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 16.680075 deg, deltaT: 4.371649 s, approachRate: 0.823488 m/s, LOS rate: -1.502844 deg/s, posRepo size: 4
2021-02-16T10:10:46.004Z,1613470246.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:46.765Z,1613470246.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:47.170Z,1613470247.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:47.982Z,1613470247.982 [Micromodem](INFO): Nmea in: $SNTTA,0.082332,,,,101048.23*45

2021-02-16T10:10:48.820Z,1613470248.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:50.422Z,1613470250.422 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:10:51.675Z,1613470251.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:52.422Z,1613470252.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:52.825Z,1613470252.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:53.648Z,1613470253.648 [Micromodem](INFO): Nmea in: $SNTTA,0.085353,,,,101053.88*4E

2021-02-16T10:10:53.701Z,1613470253.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 358.314319 deg, deltaT: 10.126951 s, approachRate: 0.894642 m/s, LOS rate: -1.813554 deg/s, posRepo size: 4
2021-02-16T10:10:56.084Z,1613470256.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:10:56.870Z,1613470256.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:10:57.270Z,1613470257.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:10:58.100Z,1613470258.100 [Micromodem](INFO): Nmea in: $SNTTA,0.087506,,0.095638,,101058.33*5E

2021-02-16T10:10:58.142Z,1613470258.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.300003 m, bearing: 359.823900 deg, deltaT: 4.458549 s, approachRate: 0.740152 m/s, LOS rate: 0.338581 deg/s, posRepo size: 4
2021-02-16T10:11:00.541Z,1613470260.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:01.314Z,1613470261.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:01.736Z,1613470261.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:02.527Z,1613470262.527 [Micromodem](INFO): Nmea in: $SNTTA,0.090032,,,,101102.77*4B

2021-02-16T10:11:03.345Z,1613470263.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:04.948Z,1613470264.948 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:11:06.171Z,1613470266.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:06.964Z,1613470266.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:07.417Z,1613470267.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:08.201Z,1613470268.201 [Micromodem](INFO): Nmea in: $SNTTA,0.092736,,,,101108.43*47

2021-02-16T10:11:08.230Z,1613470268.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.100006 m, bearing: 352.446804 deg, deltaT: 10.068006 s, approachRate: 0.774732 m/s, LOS rate: -0.732727 deg/s, posRepo size: 4
2021-02-16T10:11:10.664Z,1613470270.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:11.425Z,1613470271.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:11.826Z,1613470271.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:12.659Z,1613470272.659 [Micromodem](INFO): Nmea in: $SNTTA,0.095268,,,,101112.89*43

2021-02-16T10:11:13.452Z,1613470273.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:15.042Z,1613470275.042 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:11:16.279Z,1613470276.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:17.069Z,1613470277.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:17.470Z,1613470277.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:18.297Z,1613470278.297 [Micromodem](INFO): Nmea in: $SNTTA,0.098405,,,,101118.53*4E

2021-02-16T10:11:19.124Z,1613470279.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:20.698Z,1613470280.698 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:11:21.988Z,1613470281.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:22.720Z,1613470282.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:23.132Z,1613470283.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:23.948Z,1613470283.948 [Micromodem](INFO): Nmea in: $SNTTA,0.101308,,,,101124.18*45

2021-02-16T10:11:24.001Z,1613470284.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 359.460562 deg, deltaT: 15.817448 s, approachRate: 0.807968 m/s, LOS rate: 0.443419 deg/s, posRepo size: 4
2021-02-16T10:11:24.001Z,1613470284.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.88 m. Resuming terminal guidance.
2021-02-16T10:11:24.001Z,1613470284.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:11:26.430Z,1613470286.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:26.805Z,1613470286.805 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:11:27.170Z,1613470287.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:27.604Z,1613470287.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:28.424Z,1613470288.424 [Micromodem](INFO): Nmea in: $SNTTA,0.103759,,,,101128.63*47

2021-02-16T10:11:28.466Z,1613470288.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 9.639407 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:11:28.467Z,1613470288.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 9.639407deg and heading rate command to 0 deg/s.
2021-02-16T10:11:30.840Z,1613470290.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:31.625Z,1613470291.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:32.014Z,1613470292.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:32.864Z,1613470292.864 [Micromodem](INFO): Nmea in: $SNTTA,0.106182,,,,101133.09*44

2021-02-16T10:11:32.892Z,1613470292.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 15.008311 deg, deltaT: 4.491190 s, approachRate: 0.000000 m/s, LOS rate: 1.195430 deg/s, posRepo size: 2
2021-02-16T10:11:32.894Z,1613470292.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 15.008311 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.195430 deg/s,
      cmd update: 3.586291 deg/s,
      cmd heading: 9.639407 deg,
      new cmd heading: 9.639407 deg.

2021-02-16T10:11:35.259Z,1613470295.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:36.063Z,1613470296.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:36.457Z,1613470296.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:37.288Z,1613470297.288 [Micromodem](INFO): Nmea in: $SNTTA,0.108587,,,,101137.52*41

2021-02-16T10:11:37.334Z,1613470297.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 353.123102 deg, deltaT: 4.439021 s, approachRate: 0.000000 m/s, LOS rate: -4.930186 deg/s, posRepo size: 3
2021-02-16T10:11:37.336Z,1613470297.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 353.123102 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.930186 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.544072 deg,
      new cmd heading: 27.043446 deg.

2021-02-16T10:11:39.764Z,1613470299.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:40.507Z,1613470300.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:40.912Z,1613470300.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:41.732Z,1613470301.732 [Micromodem](INFO): Nmea in: $SNTTA,0.110520,,,,101141.97*4D

2021-02-16T10:11:41.803Z,1613470301.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 35.439854 deg, deltaT: 4.430484 s, approachRate: 0.000000 m/s, LOS rate: 9.551272 deg/s, posRepo size: 4
2021-02-16T10:11:41.805Z,1613470301.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 35.439854 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.551272 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.575110 deg,
      new cmd heading: 326.949989 deg.

2021-02-16T10:11:44.153Z,1613470304.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:44.965Z,1613470304.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:45.360Z,1613470305.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:46.193Z,1613470306.193 [Micromodem](INFO): Nmea in: $SNTTA,0.112263,,,,101146.43*41

2021-02-16T10:11:46.221Z,1613470306.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.759995 m, bearing: 27.786420 deg, deltaT: 4.457288 s, approachRate: 0.000000 m/s, LOS rate: -1.717061 deg/s, posRepo size: 4
2021-02-16T10:11:46.223Z,1613470306.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.759995 m,
      bearing: 27.786420 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.717061 deg/s,
      cmd update: -5.151182 deg/s,
      cmd heading: 26.357540 deg,
      new cmd heading: 31.246808 deg.

2021-02-16T10:11:48.661Z,1613470308.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:49.412Z,1613470309.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:49.796Z,1613470309.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:50.621Z,1613470310.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101150.87*55

2021-02-16T10:11:51.038Z,1613470311.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.899994 m, bearing: 351.092842 deg, deltaT: 4.875263 s, approachRate: 3.310591 m/s, LOS rate: -7.526480 deg/s, posRepo size: 4
2021-02-16T10:11:51.040Z,1613470311.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 351.092842 deg,
      approachRate: 3.310591 m/s,
      LOS rate: -7.526480 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 1.285604 deg,
      new cmd heading: 359.435954 deg.

2021-02-16T10:11:53.451Z,1613470313.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:54.235Z,1613470314.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:54.644Z,1613470314.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:55.464Z,1613470315.464 [Micromodem](INFO): Nmea in: $SNTTA,0.117005,,,,101155.70*44

2021-02-16T10:11:55.505Z,1613470315.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.899994 m, bearing: 352.061090 deg, deltaT: 4.422751 s, approachRate: 0.000000 m/s, LOS rate: 0.218924 deg/s, posRepo size: 4
2021-02-16T10:11:55.507Z,1613470315.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 352.061090 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.218924 deg/s,
      cmd update: 0.656773 deg/s,
      cmd heading: 308.235186 deg,
      new cmd heading: 303.371370 deg.

2021-02-16T10:11:57.916Z,1613470317.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:11:58.677Z,1613470318.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:11:59.082Z,1613470319.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:11:59.904Z,1613470319.904 [Micromodem](INFO): Nmea in: $SNTTA,0.119204,,,,101200.14*48

2021-02-16T10:11:59.942Z,1613470319.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.899994 m, bearing: 27.269079 deg, deltaT: 4.426406 s, approachRate: 0.000000 m/s, LOS rate: 7.954084 deg/s, posRepo size: 4
2021-02-16T10:11:59.944Z,1613470319.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 27.269079 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.954084 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 311.148449 deg,
      new cmd heading: 311.415087 deg.

2021-02-16T10:12:02.328Z,1613470322.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:03.141Z,1613470323.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:03.545Z,1613470323.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:04.354Z,1613470324.354 [Micromodem](INFO): Nmea in: $SNTTA,0.121533,,,,101204.60*47

2021-02-16T10:12:04.801Z,1613470324.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.460007 m, bearing: 316.739586 deg, deltaT: 4.893281 s, approachRate: 2.158064 m/s, LOS rate: -14.413535 deg/s, posRepo size: 4
2021-02-16T10:12:04.802Z,1613470324.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.413535 deg/s. Setting heading cmd to target bearing of 316.739586deg and heading rate command to 0 deg/s.
2021-02-16T10:12:07.187Z,1613470327.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:07.973Z,1613470327.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:08.408Z,1613470328.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:09.236Z,1613470329.236 [Micromodem](INFO): Nmea in: $SNTTA,0.124108,,,,101209.43*42

2021-02-16T10:12:09.662Z,1613470329.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 333.529448 deg, deltaT: 4.821012 s, approachRate: 0.796516 m/s, LOS rate: 3.482643 deg/s, posRepo size: 4
2021-02-16T10:12:09.664Z,1613470329.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 333.529448 deg,
      approachRate: 0.796516 m/s,
      LOS rate: 3.482643 deg/s,
      cmd update: 10.447928 deg/s,
      cmd heading: 316.739586 deg,
      new cmd heading: 316.739586 deg.

2021-02-16T10:12:12.064Z,1613470332.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:12.821Z,1613470332.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:13.236Z,1613470333.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:14.048Z,1613470334.048 [Micromodem](INFO): Nmea in: $SNTTA,0.127315,,,,101214.28*4E

2021-02-16T10:12:14.090Z,1613470334.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.300018 m, bearing: 9.115124 deg, deltaT: 4.459688 s, approachRate: 0.000000 m/s, LOS rate: 7.979411 deg/s, posRepo size: 4
2021-02-16T10:12:14.096Z,1613470334.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.300018 m,
      bearing: 9.115124 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.979411 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 3.128866 deg,
      new cmd heading: 7.297694 deg.

2021-02-16T10:12:16.493Z,1613470336.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:17.261Z,1613470337.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:17.671Z,1613470337.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:18.481Z,1613470338.481 [Micromodem](INFO): Nmea in: $SNTTA,0.128892,,,,101218.72*46

2021-02-16T10:12:18.918Z,1613470338.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.499985 m, bearing: 329.144904 deg, deltaT: 4.800876 s, approachRate: 1.499719 m/s, LOS rate: -8.325612 deg/s, posRepo size: 4
2021-02-16T10:12:18.920Z,1613470338.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.499985 m,
      bearing: 329.144904 deg,
      approachRate: 1.499719 m/s,
      LOS rate: -8.325612 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.972791 deg,
      new cmd heading: 65.853359 deg.

2021-02-16T10:12:21.318Z,1613470341.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:22.126Z,1613470342.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:22.521Z,1613470342.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:23.360Z,1613470343.360 [Micromodem](INFO): Nmea in: $SNTTA,0.131787,,,,101223.59*44

2021-02-16T10:12:23.785Z,1613470343.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.279984 m, bearing: 8.923052 deg, deltaT: 4.905116 s, approachRate: 0.770624 m/s, LOS rate: 8.109520 deg/s, posRepo size: 4
2021-02-16T10:12:23.788Z,1613470343.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.279984 m,
      bearing: 8.923052 deg,
      approachRate: 0.770624 m/s,
      LOS rate: 8.109520 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 2.357421 deg,
      new cmd heading: 357.678645 deg.

2021-02-16T10:12:26.185Z,1613470346.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:26.958Z,1613470346.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:27.388Z,1613470347.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:28.175Z,1613470348.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101228.42*50

2021-02-16T10:12:28.649Z,1613470348.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.880005 m, bearing: 350.741361 deg, deltaT: 4.782022 s, approachRate: 0.752824 m/s, LOS rate: -3.802091 deg/s, posRepo size: 4
2021-02-16T10:12:28.651Z,1613470348.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.880005 m,
      bearing: 350.741361 deg,
      approachRate: 0.752824 m/s,
      LOS rate: -3.802091 deg/s,
      cmd update: -11.406272 deg/s,
      cmd heading: 59.952503 deg,
      new cmd heading: 65.396567 deg.

2021-02-16T10:12:31.013Z,1613470351.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:31.810Z,1613470351.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:32.221Z,1613470352.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:33.025Z,1613470353.025 [Micromodem](INFO): Nmea in: $SNTTA,0.136163,,,,101233.27*47

2021-02-16T10:12:33.480Z,1613470353.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.539978 m, bearing: 41.064508 deg, deltaT: 4.868754 s, approachRate: 0.751727 m/s, LOS rate: 10.335942 deg/s, posRepo size: 4
2021-02-16T10:12:33.482Z,1613470353.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.539978 m,
      bearing: 41.064508 deg,
      approachRate: 0.751727 m/s,
      LOS rate: 10.335942 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 4.428084 deg,
      new cmd heading: 359.718549 deg.

2021-02-16T10:12:35.899Z,1613470355.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:36.671Z,1613470356.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:37.059Z,1613470357.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:37.881Z,1613470357.881 [Micromodem](INFO): Nmea in: $SNTTA,0.138037,,,,101238.13*45

2021-02-16T10:12:38.340Z,1613470358.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.119995 m, bearing: 47.075720 deg, deltaT: 4.839044 s, approachRate: 0.533167 m/s, LOS rate: 1.242231 deg/s, posRepo size: 4
2021-02-16T10:12:38.354Z,1613470358.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.119995 m,
      bearing: 47.075720 deg,
      approachRate: 0.533167 m/s,
      LOS rate: 1.242231 deg/s,
      cmd update: 3.726694 deg/s,
      cmd heading: 62.544590 deg,
      new cmd heading: 67.597586 deg.

2021-02-16T10:12:40.745Z,1613470360.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:41.501Z,1613470361.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:41.923Z,1613470361.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:42.718Z,1613470362.718 [Micromodem](INFO): Nmea in: $SNTTA,0.140085,,,,101242.96*43

2021-02-16T10:12:43.157Z,1613470363.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.119980 m, bearing: 67.415238 deg, deltaT: 4.897453 s, approachRate: 0.612560 m/s, LOS rate: 4.153081 deg/s, posRepo size: 4
2021-02-16T10:12:43.159Z,1613470363.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.119980 m,
      bearing: 67.415238 deg,
      approachRate: 0.612560 m/s,
      LOS rate: 4.153081 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 80.795998 deg,
      new cmd heading: 82.113820 deg.

2021-02-16T10:12:45.588Z,1613470365.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:46.354Z,1613470366.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:46.759Z,1613470366.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:47.575Z,1613470367.575 [Micromodem](INFO): Nmea in: $SNTTA,0.141896,,,,101247.82*48

2021-02-16T10:12:47.994Z,1613470367.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.299988 m, bearing: 56.161883 deg, deltaT: 4.866809 s, approachRate: 0.653407 m/s, LOS rate: -2.312266 deg/s, posRepo size: 4
2021-02-16T10:12:47.996Z,1613470367.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.299988 m,
      bearing: 56.161883 deg,
      approachRate: 0.653407 m/s,
      LOS rate: -2.312266 deg/s,
      cmd update: -6.936796 deg/s,
      cmd heading: 139.192655 deg,
      new cmd heading: 143.084003 deg.

2021-02-16T10:12:50.455Z,1613470370.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:51.217Z,1613470371.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:51.619Z,1613470371.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:52.435Z,1613470372.435 [Micromodem](INFO): Nmea in: $SNTTA,0.143471,,,,101252.68*4F

2021-02-16T10:12:52.868Z,1613470372.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.219986 m, bearing: 97.236847 deg, deltaT: 4.818359 s, approachRate: 0.398476 m/s, LOS rate: 8.524679 deg/s, posRepo size: 4
2021-02-16T10:12:52.869Z,1613470372.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.219986 m,
      bearing: 97.236847 deg,
      approachRate: 0.398476 m/s,
      LOS rate: 8.524679 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 105.793568 deg,
      new cmd heading: 103.139203 deg.

2021-02-16T10:12:55.272Z,1613470375.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:12:56.050Z,1613470376.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:12:56.451Z,1613470376.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:12:57.272Z,1613470377.272 [Micromodem](INFO): Nmea in: $SNTTA,0.144585,,,,101257.51*4D

2021-02-16T10:12:57.729Z,1613470377.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.839996 m, bearing: 135.720763 deg, deltaT: 4.797997 s, approachRate: 0.337643 m/s, LOS rate: 8.020829 deg/s, posRepo size: 4
2021-02-16T10:12:57.735Z,1613470377.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.839996 m,
      bearing: 135.720763 deg,
      approachRate: 0.337643 m/s,
      LOS rate: 8.020829 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 163.417222 deg,
      new cmd heading: 168.724486 deg.

2021-02-16T10:13:00.117Z,1613470380.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:00.898Z,1613470380.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:01.311Z,1613470381.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:02.113Z,1613470382.113 [Micromodem](INFO): Nmea in: $SNTTA,0.145088,,,,101302.36*44

2021-02-16T10:13:02.576Z,1613470382.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.619995 m, bearing: 62.798166 deg, deltaT: 4.841688 s, approachRate: 0.161101 m/s, LOS rate: -15.061399 deg/s, posRepo size: 4
2021-02-16T10:13:02.578Z,1613470382.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.061399 deg/s. Setting heading cmd to target bearing of 62.798166deg and heading rate command to 0 deg/s.
2021-02-16T10:13:04.635Z,1613470384.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:05.338Z,1613470385.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:05.742Z,1613470385.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:06.575Z,1613470386.575 [Micromodem](INFO): Nmea in: $SNTTA,0.144740,,,,101306.80*4F

2021-02-16T10:13:07.001Z,1613470387.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.959991 m, bearing: 167.413892 deg, deltaT: 4.530565 s, approachRate: -0.145678 m/s, LOS rate: 23.091099 deg/s, posRepo size: 4
2021-02-16T10:13:07.002Z,1613470387.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.091099 deg/s. Setting heading cmd to target bearing of 167.413892deg and heading rate command to 0 deg/s.
2021-02-16T10:13:09.457Z,1613470389.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:10.190Z,1613470390.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:10.621Z,1613470390.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:11.421Z,1613470391.421 [Micromodem](INFO): Nmea in: $SNTTA,0.143904,,,,101311.65*4B

2021-02-16T10:13:11.840Z,1613470391.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.639999 m, bearing: 171.758589 deg, deltaT: 4.805784 s, approachRate: -0.274667 m/s, LOS rate: 0.904056 deg/s, posRepo size: 4
2021-02-16T10:13:11.841Z,1613470391.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 171.758589 deg,
      approachRate: -0.274667 m/s,
      LOS rate: 0.904056 deg/s,
      cmd update: 2.712167 deg/s,
      cmd heading: 167.413892 deg,
      new cmd heading: 167.413892 deg.

2021-02-16T10:13:14.246Z,1613470394.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:15.037Z,1613470395.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:15.438Z,1613470395.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:16.252Z,1613470396.252 [Micromodem](INFO): Nmea in: $SNTTA,0.142598,,,,101316.50*42

2021-02-16T10:13:16.740Z,1613470396.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.720001 m, bearing: 168.033596 deg, deltaT: 4.801820 s, approachRate: -0.399848 m/s, LOS rate: -0.775746 deg/s, posRepo size: 4
2021-02-16T10:13:16.742Z,1613470396.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.720001 m,
      bearing: 168.033596 deg,
      approachRate: -0.399848 m/s,
      LOS rate: -0.775746 deg/s,
      cmd update: -2.327239 deg/s,
      cmd heading: 180.437539 deg,
      new cmd heading: 181.710296 deg.

2021-02-16T10:13:19.089Z,1613470399.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:19.903Z,1613470399.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:20.287Z,1613470400.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:21.117Z,1613470401.117 [Micromodem](INFO): Nmea in: $SNTTA,0.140894,,,,101321.36*45

2021-02-16T10:13:21.552Z,1613470401.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.139984 m, bearing: 167.701963 deg, deltaT: 4.864638 s, approachRate: -0.530362 m/s, LOS rate: -0.068172 deg/s, posRepo size: 4
2021-02-16T10:13:21.560Z,1613470401.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.139984 m,
      bearing: 167.701963 deg,
      approachRate: -0.530362 m/s,
      LOS rate: -0.068172 deg/s,
      cmd update: -0.204517 deg/s,
      cmd heading: 169.116320 deg,
      new cmd heading: 168.146252 deg.

2021-02-16T10:13:23.540Z,1613470403.540 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:13:23.970Z,1613470403.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:24.733Z,1613470404.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:25.135Z,1613470405.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:25.950Z,1613470405.950 [Micromodem](INFO): Nmea in: $SNTTA,0.138824,,,,101326.19*4B

2021-02-16T10:13:26.430Z,1613470406.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 165.264268 deg, deltaT: 4.848467 s, approachRate: -0.643501 m/s, LOS rate: -0.502776 deg/s, posRepo size: 4
2021-02-16T10:13:26.436Z,1613470406.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.019989 m,
      bearing: 165.264268 deg,
      approachRate: -0.643501 m/s,
      LOS rate: -0.502776 deg/s,
      cmd update: -1.508329 deg/s,
      cmd heading: 168.124727 deg,
      new cmd heading: 168.032537 deg.

2021-02-16T10:13:28.488Z,1613470408.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:29.181Z,1613470409.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:29.608Z,1613470409.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:30.443Z,1613470410.443 [Micromodem](INFO): Nmea in: $SNTTA,0.136892,,,,101330.64*45

2021-02-16T10:13:30.833Z,1613470410.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.139999 m, bearing: 166.010712 deg, deltaT: 4.500573 s, approachRate: -0.639916 m/s, LOS rate: 0.165855 deg/s, posRepo size: 4
2021-02-16T10:13:30.835Z,1613470410.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.139999 m,
      bearing: 166.010712 deg,
      approachRate: -0.639916 m/s,
      LOS rate: 0.165855 deg/s,
      cmd update: 0.497566 deg/s,
      cmd heading: 161.339180 deg,
      new cmd heading: 160.803624 deg.

2021-02-16T10:13:33.263Z,1613470413.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:33.660Z,1613470413.660 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T10:13:34.025Z,1613470414.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:34.430Z,1613470414.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:35.241Z,1613470415.241 [Micromodem](INFO): Nmea in: $SNTTA,0.134818,,,,101335.49*4F

2021-02-16T10:13:35.705Z,1613470415.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.019989 m, bearing: 166.726598 deg, deltaT: 4.776046 s, approachRate: -0.653262 m/s, LOS rate: 0.149891 deg/s, posRepo size: 4
2021-02-16T10:13:35.711Z,1613470415.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.019989 m,
      bearing: 166.726598 deg,
      approachRate: -0.653262 m/s,
      LOS rate: 0.149891 deg/s,
      cmd update: 0.449673 deg/s,
      cmd heading: 163.716343 deg,
      new cmd heading: 163.939890 deg.

2021-02-16T10:13:38.080Z,1613470418.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:38.868Z,1613470418.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:39.274Z,1613470419.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:40.099Z,1613470420.099 [Micromodem](INFO): Nmea in: $SNTTA,0.132466,,,,101340.38*48

2021-02-16T10:13:40.525Z,1613470420.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.479980 m, bearing: 167.912838 deg, deltaT: 4.893476 s, approachRate: -0.723414 m/s, LOS rate: 0.242413 deg/s, posRepo size: 4
2021-02-16T10:13:40.526Z,1613470420.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.479980 m,
      bearing: 167.912838 deg,
      approachRate: -0.723414 m/s,
      LOS rate: 0.242413 deg/s,
      cmd update: 0.727238 deg/s,
      cmd heading: 165.906144 deg,
      new cmd heading: 166.085581 deg.

2021-02-16T10:13:42.952Z,1613470422.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:43.721Z,1613470423.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:44.122Z,1613470424.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:45.353Z,1613470425.353 [Micromodem](INFO): Nmea in: $SNTTA,0.130250,,,,101345.23*46

2021-02-16T10:13:45.421Z,1613470425.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.119995 m, bearing: 167.157214 deg, deltaT: 4.852642 s, approachRate: -0.692403 m/s, LOS rate: -0.155714 deg/s, posRepo size: 4
2021-02-16T10:13:45.423Z,1613470425.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.119995 m,
      bearing: 167.157214 deg,
      approachRate: -0.692403 m/s,
      LOS rate: -0.155714 deg/s,
      cmd update: -0.467142 deg/s,
      cmd heading: 169.449715 deg,
      new cmd heading: 169.756980 deg.

2021-02-16T10:13:47.832Z,1613470427.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:48.580Z,1613470428.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:48.981Z,1613470428.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:49.792Z,1613470429.792 [Micromodem](INFO): Nmea in: $SNTTA,0.128079,,,,101350.04*47

2021-02-16T10:13:50.227Z,1613470430.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.939987 m, bearing: 167.429452 deg, deltaT: 4.814358 s, approachRate: -0.660526 m/s, LOS rate: 0.056547 deg/s, posRepo size: 4
2021-02-16T10:13:50.229Z,1613470430.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.939987 m,
      bearing: 167.429452 deg,
      approachRate: -0.660526 m/s,
      LOS rate: 0.056547 deg/s,
      cmd update: 0.169641 deg/s,
      cmd heading: 167.198851 deg,
      new cmd heading: 167.007244 deg.

2021-02-16T10:13:52.670Z,1613470432.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:53.438Z,1613470433.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:53.824Z,1613470433.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:54.648Z,1613470434.648 [Micromodem](INFO): Nmea in: $SNTTA,0.125974,,,,101354.90*47

2021-02-16T10:13:55.066Z,1613470435.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.759995 m, bearing: 167.362325 deg, deltaT: 4.896149 s, approachRate: -0.649489 m/s, LOS rate: -0.013710 deg/s, posRepo size: 4
2021-02-16T10:13:55.068Z,1613470435.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.759995 m,
      bearing: 167.362325 deg,
      approachRate: -0.649489 m/s,
      LOS rate: -0.013710 deg/s,
      cmd update: -0.041131 deg/s,
      cmd heading: 168.024135 deg,
      new cmd heading: 168.089274 deg.

2021-02-16T10:13:57.478Z,1613470437.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:13:58.265Z,1613470438.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:13:58.666Z,1613470438.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:13:58.696Z,1613470438.696 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:13:59.484Z,1613470439.484 [Micromodem](INFO): Nmea in: $SNTTA,0.123813,,,,101359.73*41

2021-02-16T10:13:59.949Z,1613470439.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.460007 m, bearing: 166.852615 deg, deltaT: 4.826330 s, approachRate: -0.683747 m/s, LOS rate: -0.105610 deg/s, posRepo size: 4
2021-02-16T10:13:59.951Z,1613470439.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.460007 m,
      bearing: 166.852615 deg,
      approachRate: -0.683747 m/s,
      LOS rate: -0.105610 deg/s,
      cmd update: -0.316831 deg/s,
      cmd heading: 167.824679 deg,
      new cmd heading: 167.807492 deg.

2021-02-16T10:14:02.338Z,1613470442.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:03.114Z,1613470443.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:03.528Z,1613470443.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:04.329Z,1613470444.329 [Micromodem](INFO): Nmea in: $SNTTA,0.121479,,,,101404.57*4A

2021-02-16T10:14:04.773Z,1613470444.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 167.329198 deg, deltaT: 4.805955 s, approachRate: -0.711620 m/s, LOS rate: 0.099165 deg/s, posRepo size: 4
2021-02-16T10:14:04.774Z,1613470444.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 167.329198 deg,
      approachRate: -0.711620 m/s,
      LOS rate: 0.099165 deg/s,
      cmd update: 0.297495 deg/s,
      cmd heading: 166.299768 deg,
      new cmd heading: 166.163980 deg.

2021-02-16T10:14:07.165Z,1613470447.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:07.956Z,1613470447.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:08.393Z,1613470448.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:09.184Z,1613470449.184 [Micromodem](INFO): Nmea in: $SNTTA,0.119328,,,,101409.42*4B

2021-02-16T10:14:09.205Z,1613470449.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 167.845547 deg, deltaT: 4.456255 s, approachRate: 0.000000 m/s, LOS rate: 0.115871 deg/s, posRepo size: 4
2021-02-16T10:14:09.208Z,1613470449.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 167.845547 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.115871 deg/s,
      cmd update: 0.347612 deg/s,
      cmd heading: 167.625323 deg,
      new cmd heading: 167.745606 deg.

2021-02-16T10:14:11.665Z,1613470451.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:12.418Z,1613470452.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:12.811Z,1613470452.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:13.644Z,1613470453.644 [Micromodem](INFO): Nmea in: $SNTTA,0.117345,,,,101413.88*43

2021-02-16T10:14:13.707Z,1613470453.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 169.552794 deg, deltaT: 4.437797 s, approachRate: 0.000000 m/s, LOS rate: 0.384706 deg/s, posRepo size: 4
2021-02-16T10:14:13.713Z,1613470453.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 169.552794 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.384706 deg/s,
      cmd update: 1.154118 deg/s,
      cmd heading: 169.168057 deg,
      new cmd heading: 169.331031 deg.

2021-02-16T10:14:16.068Z,1613470456.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:16.849Z,1613470456.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:17.252Z,1613470457.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:18.083Z,1613470458.083 [Micromodem](INFO): Nmea in: $SNTTA,0.115316,,,,101418.31*4E

2021-02-16T10:14:18.102Z,1613470458.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 167.865491 deg, deltaT: 4.488400 s, approachRate: 0.000000 m/s, LOS rate: -0.375925 deg/s, posRepo size: 4
2021-02-16T10:14:18.104Z,1613470458.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 167.865491 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.375925 deg/s,
      cmd update: -1.127776 deg/s,
      cmd heading: 174.331389 deg,
      new cmd heading: 174.782313 deg.

2021-02-16T10:14:20.521Z,1613470460.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:21.294Z,1613470461.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:21.696Z,1613470461.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:22.520Z,1613470462.520 [Micromodem](INFO): Nmea in: $SNTTA,0.113471,,,,101422.75*47

2021-02-16T10:14:22.565Z,1613470462.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 166.711653 deg, deltaT: 4.393150 s, approachRate: 0.000000 m/s, LOS rate: -0.262645 deg/s, posRepo size: 4
2021-02-16T10:14:22.567Z,1613470462.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 166.711653 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.262645 deg/s,
      cmd update: -0.787934 deg/s,
      cmd heading: 169.360409 deg,
      new cmd heading: 168.857514 deg.

2021-02-16T10:14:24.629Z,1613470464.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:25.328Z,1613470465.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:25.739Z,1613470465.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:26.556Z,1613470466.556 [Micromodem](INFO): Nmea in: $SNTTA,0.111707,,,,101426.79*4F

2021-02-16T10:14:26.642Z,1613470466.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 167.004559 deg, deltaT: 4.040384 s, approachRate: -3.638267 m/s, LOS rate: 0.072495 deg/s, posRepo size: 4
2021-02-16T10:14:26.646Z,1613470466.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 167.004559 deg,
      approachRate: -3.638267 m/s,
      LOS rate: 0.072495 deg/s,
      cmd update: 0.217484 deg/s,
      cmd heading: 166.176906 deg,
      new cmd heading: 165.797298 deg.

2021-02-16T10:14:28.669Z,1613470468.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:29.397Z,1613470469.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:29.774Z,1613470469.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:30.628Z,1613470470.628 [Micromodem](INFO): Nmea in: $SNTTA,0.109850,,,,101430.86*4C

2021-02-16T10:14:30.708Z,1613470470.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 167.461458 deg, deltaT: 4.073016 s, approachRate: 0.000000 m/s, LOS rate: 0.112177 deg/s, posRepo size: 4
2021-02-16T10:14:30.709Z,1613470470.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 167.461458 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.112177 deg/s,
      cmd update: 0.336531 deg/s,
      cmd heading: 167.059253 deg,
      new cmd heading: 167.165079 deg.

2021-02-16T10:14:33.042Z,1613470473.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:33.831Z,1613470473.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:34.226Z,1613470474.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:35.056Z,1613470475.056 [Micromodem](INFO): Nmea in: $SNTTA,0.107982,,,,101435.29*4C

2021-02-16T10:14:35.078Z,1613470475.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 167.873236 deg, deltaT: 4.475945 s, approachRate: 0.000000 m/s, LOS rate: 0.091998 deg/s, posRepo size: 4
2021-02-16T10:14:35.102Z,1613470475.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 167.873236 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.091998 deg/s,
      cmd update: 0.275994 deg/s,
      cmd heading: 168.570042 deg,
      new cmd heading: 168.695229 deg.

2021-02-16T10:14:37.502Z,1613470477.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:38.264Z,1613470478.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:38.662Z,1613470478.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:39.492Z,1613470479.492 [Micromodem](INFO): Nmea in: $SNTTA,0.106087,,,,101439.72*43

2021-02-16T10:14:39.517Z,1613470479.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.879990 m, bearing: 168.402904 deg, deltaT: 4.379918 s, approachRate: -1.931545 m/s, LOS rate: 0.120931 deg/s, posRepo size: 4
2021-02-16T10:14:39.539Z,1613470479.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.879990 m,
      bearing: 168.402904 deg,
      approachRate: -1.931545 m/s,
      LOS rate: 0.120931 deg/s,
      cmd update: 0.362793 deg/s,
      cmd heading: 169.779789 deg,
      new cmd heading: 169.897841 deg.

2021-02-16T10:14:41.934Z,1613470481.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:42.714Z,1613470482.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:43.106Z,1613470483.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:43.936Z,1613470483.936 [Micromodem](INFO): Nmea in: $SNTTA,0.104156,,,,101444.17*45

2021-02-16T10:14:43.982Z,1613470483.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.999985 m, bearing: 167.951961 deg, deltaT: 4.469543 s, approachRate: -0.644362 m/s, LOS rate: -0.100892 deg/s, posRepo size: 4
2021-02-16T10:14:43.984Z,1613470483.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.999985 m,
      bearing: 167.951961 deg,
      approachRate: -0.644362 m/s,
      LOS rate: -0.100892 deg/s,
      cmd update: -0.302677 deg/s,
      cmd heading: 171.401560 deg,
      new cmd heading: 171.554656 deg.

2021-02-16T10:14:46.398Z,1613470486.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:47.145Z,1613470487.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:47.558Z,1613470487.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:48.396Z,1613470488.396 [Micromodem](INFO): Nmea in: $SNTTA,0.102063,,,,101448.61*49

2021-02-16T10:14:48.473Z,1613470488.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 167.656651 deg, deltaT: 4.434410 s, approachRate: -0.703584 m/s, LOS rate: -0.066595 deg/s, posRepo size: 4
2021-02-16T10:14:48.479Z,1613470488.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.880005 m,
      bearing: 167.656651 deg,
      approachRate: -0.703584 m/s,
      LOS rate: -0.066595 deg/s,
      cmd update: -0.199785 deg/s,
      cmd heading: 170.059360 deg,
      new cmd heading: 169.914399 deg.

2021-02-16T10:14:50.810Z,1613470490.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:51.618Z,1613470491.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:51.994Z,1613470491.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:52.836Z,1613470492.836 [Micromodem](INFO): Nmea in: $SNTTA,0.100124,,,,101453.08*4C

2021-02-16T10:14:52.884Z,1613470492.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 167.495144 deg, deltaT: 4.477087 s, approachRate: -0.643277 m/s, LOS rate: -0.036074 deg/s, posRepo size: 4
2021-02-16T10:14:52.886Z,1613470492.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.000000 m,
      bearing: 167.495144 deg,
      approachRate: -0.643277 m/s,
      LOS rate: -0.036074 deg/s,
      cmd update: -0.108222 deg/s,
      cmd heading: 169.165707 deg,
      new cmd heading: 169.083260 deg.

2021-02-16T10:14:53.652Z,1613470493.652 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:14:55.280Z,1613470495.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:14:56.034Z,1613470496.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:14:56.437Z,1613470496.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:14:57.260Z,1613470497.260 [Micromodem](INFO): Nmea in: $SNTTA,0.098033,,,,101457.49*4A

2021-02-16T10:14:57.302Z,1613470497.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 167.364715 deg, deltaT: 4.422432 s, approachRate: -0.705493 m/s, LOS rate: -0.029493 deg/s, posRepo size: 4
2021-02-16T10:14:57.308Z,1613470497.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.880005 m,
      bearing: 167.364715 deg,
      approachRate: -0.705493 m/s,
      LOS rate: -0.029493 deg/s,
      cmd update: -0.088478 deg/s,
      cmd heading: 168.687099 deg,
      new cmd heading: 168.642430 deg.

2021-02-16T10:14:59.718Z,1613470499.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:00.477Z,1613470500.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:00.899Z,1613470500.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:01.724Z,1613470501.724 [Micromodem](INFO): Nmea in: $SNTTA,0.095835,,,,101501.94*4B

2021-02-16T10:15:01.762Z,1613470501.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 167.830821 deg, deltaT: 4.426672 s, approachRate: -0.759035 m/s, LOS rate: 0.105295 deg/s, posRepo size: 4
2021-02-16T10:15:01.765Z,1613470501.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 167.830821 deg,
      approachRate: -0.759035 m/s,
      LOS rate: 0.105295 deg/s,
      cmd update: 0.315885 deg/s,
      cmd heading: 168.295103 deg,
      new cmd heading: 168.255960 deg.

2021-02-16T10:15:04.140Z,1613470504.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:04.937Z,1613470504.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:05.331Z,1613470505.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:06.160Z,1613470506.160 [Micromodem](INFO): Nmea in: $SNTTA,0.093704,,,,101506.40*4E

2021-02-16T10:15:06.184Z,1613470506.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.340012 m, bearing: 167.867171 deg, deltaT: 4.495919 s, approachRate: -0.707307 m/s, LOS rate: 0.008085 deg/s, posRepo size: 4
2021-02-16T10:15:06.185Z,1613470506.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.340012 m,
      bearing: 167.867171 deg,
      approachRate: -0.707307 m/s,
      LOS rate: 0.008085 deg/s,
      cmd update: 0.024256 deg/s,
      cmd heading: 169.712785 deg,
      new cmd heading: 169.831374 deg.

2021-02-16T10:15:08.640Z,1613470508.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:09.380Z,1613470509.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:09.791Z,1613470509.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:10.624Z,1613470510.624 [Micromodem](INFO): Nmea in: $SNTTA,0.091763,,,,101510.84*42

2021-02-16T10:15:10.639Z,1613470510.639 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:15:10.678Z,1613470510.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 167.667798 deg, deltaT: 4.389163 s, approachRate: -0.656163 m/s, LOS rate: -0.045424 deg/s, posRepo size: 4
2021-02-16T10:15:10.681Z,1613470510.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.460007 m,
      bearing: 167.667798 deg,
      approachRate: -0.656163 m/s,
      LOS rate: -0.045424 deg/s,
      cmd update: -0.136272 deg/s,
      cmd heading: 169.819387 deg,
      new cmd heading: 169.830924 deg.

2021-02-16T10:15:13.017Z,1613470513.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:13.812Z,1613470513.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:14.222Z,1613470514.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:15.044Z,1613470515.044 [Micromodem](INFO): Nmea in: $SNTTA,0.089569,,,,101515.27*4F

2021-02-16T10:15:15.068Z,1613470515.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.160004 m, bearing: 168.639734 deg, deltaT: 4.493207 s, approachRate: -0.734443 m/s, LOS rate: 0.216312 deg/s, posRepo size: 4
2021-02-16T10:15:15.070Z,1613470515.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.160004 m,
      bearing: 168.639734 deg,
      approachRate: -0.734443 m/s,
      LOS rate: 0.216312 deg/s,
      cmd update: 0.648937 deg/s,
      cmd heading: 169.207308 deg,
      new cmd heading: 169.156402 deg.

2021-02-16T10:15:17.474Z,1613470517.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:18.257Z,1613470518.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:18.669Z,1613470518.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:19.484Z,1613470519.484 [Micromodem](INFO): Nmea in: $SNTTA,0.087755,,,,101519.72*40

2021-02-16T10:15:19.522Z,1613470519.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.399994 m, bearing: 169.596971 deg, deltaT: 4.389251 s, approachRate: -0.628811 m/s, LOS rate: 0.218087 deg/s, posRepo size: 4
2021-02-16T10:15:19.524Z,1613470519.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.399994 m,
      bearing: 169.596971 deg,
      approachRate: -0.628811 m/s,
      LOS rate: 0.218087 deg/s,
      cmd update: 0.654260 deg/s,
      cmd heading: 172.050233 deg,
      new cmd heading: 172.340360 deg.

2021-02-16T10:15:21.922Z,1613470521.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:22.702Z,1613470522.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:23.102Z,1613470523.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:23.944Z,1613470523.944 [Micromodem](INFO): Nmea in: $SNTTA,0.085838,,,,101524.16*4A

2021-02-16T10:15:23.980Z,1613470523.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.580002 m, bearing: 168.381211 deg, deltaT: 4.470522 s, approachRate: -0.630797 m/s, LOS rate: -0.271950 deg/s, posRepo size: 4
2021-02-16T10:15:23.982Z,1613470523.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.580002 m,
      bearing: 168.381211 deg,
      approachRate: -0.630797 m/s,
      LOS rate: -0.271950 deg/s,
      cmd update: -0.815851 deg/s,
      cmd heading: 174.983185 deg,
      new cmd heading: 175.259017 deg.

2021-02-16T10:15:26.376Z,1613470526.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:27.147Z,1613470527.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:27.551Z,1613470527.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:28.380Z,1613470528.380 [Micromodem](INFO): Nmea in: $SNTTA,0.083834,,,,101528.61*4C

2021-02-16T10:15:28.431Z,1613470528.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.520004 m, bearing: 166.893009 deg, deltaT: 4.409656 s, approachRate: -0.693931 m/s, LOS rate: -0.337487 deg/s, posRepo size: 4
2021-02-16T10:15:28.433Z,1613470528.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.520004 m,
      bearing: 166.893009 deg,
      approachRate: -0.693931 m/s,
      LOS rate: -0.337487 deg/s,
      cmd update: -1.012462 deg/s,
      cmd heading: 171.385537 deg,
      new cmd heading: 171.007637 deg.

2021-02-16T10:15:30.802Z,1613470530.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:31.622Z,1613470531.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:31.990Z,1613470531.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:32.840Z,1613470532.840 [Micromodem](INFO): Nmea in: $SNTTA,0.081987,,,,101533.08*42

2021-02-16T10:15:32.872Z,1613470532.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 167.350727 deg, deltaT: 4.491006 s, approachRate: -0.627923 m/s, LOS rate: 0.101919 deg/s, posRepo size: 4
2021-02-16T10:15:32.874Z,1613470532.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.699997 m,
      bearing: 167.350727 deg,
      approachRate: -0.627923 m/s,
      LOS rate: 0.101919 deg/s,
      cmd update: 0.305757 deg/s,
      cmd heading: 166.839242 deg,
      new cmd heading: 166.419934 deg.

2021-02-16T10:15:35.254Z,1613470535.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:36.034Z,1613470536.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:36.439Z,1613470536.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:37.260Z,1613470537.260 [Micromodem](INFO): Nmea in: $SNTTA,0.079929,,,,101537.50*48

2021-02-16T10:15:37.282Z,1613470537.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.700005 m, bearing: 168.195908 deg, deltaT: 4.433937 s, approachRate: -0.676598 m/s, LOS rate: 0.190616 deg/s, posRepo size: 4
2021-02-16T10:15:37.284Z,1613470537.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 168.195908 deg,
      approachRate: -0.676598 m/s,
      LOS rate: 0.190616 deg/s,
      cmd update: 0.571849 deg/s,
      cmd heading: 168.190272 deg,
      new cmd heading: 168.314226 deg.

2021-02-16T10:15:39.727Z,1613470539.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:40.472Z,1613470540.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:40.886Z,1613470540.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:41.717Z,1613470541.717 [Micromodem](INFO): Nmea in: $SNTTA,0.078035,,0.080797,,101541.94*5B

2021-02-16T10:15:41.775Z,1613470541.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 168.173423 deg, deltaT: 4.403056 s, approachRate: -0.654091 m/s, LOS rate: -0.005107 deg/s, posRepo size: 4
2021-02-16T10:15:41.781Z,1613470541.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 168.173423 deg,
      approachRate: -0.654091 m/s,
      LOS rate: -0.005107 deg/s,
      cmd update: -0.015320 deg/s,
      cmd heading: 170.717165 deg,
      new cmd heading: 170.988854 deg.

2021-02-16T10:15:44.128Z,1613470544.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:44.921Z,1613470544.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:45.331Z,1613470545.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:46.157Z,1613470546.157 [Micromodem](INFO): Nmea in: $SNTTA,0.075986,,,,101546.38*49

2021-02-16T10:15:46.219Z,1613470546.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.760002 m, bearing: 168.266560 deg, deltaT: 4.481088 s, approachRate: -0.682871 m/s, LOS rate: 0.020784 deg/s, posRepo size: 4
2021-02-16T10:15:46.222Z,1613470546.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 168.266560 deg,
      approachRate: -0.682871 m/s,
      LOS rate: 0.020784 deg/s,
      cmd update: 0.062353 deg/s,
      cmd heading: 170.648761 deg,
      new cmd heading: 170.641809 deg.

2021-02-16T10:15:48.623Z,1613470548.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:49.388Z,1613470549.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:49.766Z,1613470549.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:50.626Z,1613470550.626 [Micromodem](INFO): Nmea in: $SNTTA,0.074213,,,,101550.85*4E

2021-02-16T10:15:50.661Z,1613470550.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 168.371253 deg, deltaT: 4.420685 s, approachRate: -0.597194 m/s, LOS rate: 0.023683 deg/s, posRepo size: 4
2021-02-16T10:15:50.662Z,1613470550.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.119995 m,
      bearing: 168.371253 deg,
      approachRate: -0.597194 m/s,
      LOS rate: 0.023683 deg/s,
      cmd update: 0.071048 deg/s,
      cmd heading: 170.925267 deg,
      new cmd heading: 170.954280 deg.

2021-02-16T10:15:53.018Z,1613470553.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:53.804Z,1613470553.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:54.220Z,1613470554.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:55.040Z,1613470555.040 [Micromodem](INFO): Nmea in: $SNTTA,0.072373,,,,101555.26*43

2021-02-16T10:15:55.067Z,1613470555.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 169.194509 deg, deltaT: 4.511441 s, approachRate: -0.611777 m/s, LOS rate: 0.182482 deg/s, posRepo size: 4
2021-02-16T10:15:55.069Z,1613470555.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.360001 m,
      bearing: 169.194509 deg,
      approachRate: -0.611777 m/s,
      LOS rate: 0.182482 deg/s,
      cmd update: 0.547446 deg/s,
      cmd heading: 171.245684 deg,
      new cmd heading: 171.271394 deg.

2021-02-16T10:15:57.467Z,1613470557.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:15:58.253Z,1613470558.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:15:58.663Z,1613470558.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:15:59.561Z,1613470559.561 [Micromodem](INFO): Nmea in: $SNTTA,0.070357,,,0.072857,101559.71*58

2021-02-16T10:15:59.652Z,1613470559.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.360001 m, bearing: 168.256956 deg, deltaT: 4.372874 s, approachRate: -0.686048 m/s, LOS rate: -0.214402 deg/s, posRepo size: 4
2021-02-16T10:15:59.654Z,1613470559.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.360001 m,
      bearing: 168.256956 deg,
      approachRate: -0.686048 m/s,
      LOS rate: -0.214402 deg/s,
      cmd update: -0.643206 deg/s,
      cmd heading: 173.641779 deg,
      new cmd heading: 173.951645 deg.

2021-02-16T10:16:01.922Z,1613470561.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:02.694Z,1613470562.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:03.117Z,1613470563.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:03.924Z,1613470563.924 [Micromodem](INFO): Nmea in: $SNTTA,0.068307,,,,101604.15*4C

2021-02-16T10:16:03.973Z,1613470563.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 168.731190 deg, deltaT: 4.485044 s, approachRate: -0.695644 m/s, LOS rate: 0.105737 deg/s, posRepo size: 4
2021-02-16T10:16:03.975Z,1613470563.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.240005 m,
      bearing: 168.731190 deg,
      approachRate: -0.695644 m/s,
      LOS rate: 0.105737 deg/s,
      cmd update: 0.317210 deg/s,
      cmd heading: 170.756966 deg,
      new cmd heading: 170.495965 deg.

2021-02-16T10:16:06.380Z,1613470566.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:07.141Z,1613470567.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:07.547Z,1613470567.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:08.376Z,1613470568.376 [Micromodem](INFO): Nmea in: $SNTTA,0.066374,,,,101608.60*48

2021-02-16T10:16:08.453Z,1613470568.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 168.546570 deg, deltaT: 4.416731 s, approachRate: -0.652065 m/s, LOS rate: -0.041800 deg/s, posRepo size: 4
2021-02-16T10:16:08.459Z,1613470568.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 168.546570 deg,
      approachRate: -0.652065 m/s,
      LOS rate: -0.041800 deg/s,
      cmd update: -0.125400 deg/s,
      cmd heading: 172.152926 deg,
      new cmd heading: 172.306940 deg.

2021-02-16T10:16:10.806Z,1613470570.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:11.624Z,1613470571.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:11.000Z,1613470572.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:12.836Z,1613470572.836 [Micromodem](INFO): Nmea in: $SNTTA,0.064478,,,,101613.08*45

2021-02-16T10:16:12.889Z,1613470572.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.540001 m, bearing: 168.525506 deg, deltaT: 4.454934 s, approachRate: -0.633008 m/s, LOS rate: -0.004728 deg/s, posRepo size: 4
2021-02-16T10:16:12.891Z,1613470572.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.540001 m,
      bearing: 168.525506 deg,
      approachRate: -0.633008 m/s,
      LOS rate: -0.004728 deg/s,
      cmd update: -0.014185 deg/s,
      cmd heading: 171.592271 deg,
      new cmd heading: 171.535792 deg.

2021-02-16T10:16:15.241Z,1613470575.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:16.026Z,1613470576.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:16.430Z,1613470576.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:17.264Z,1613470577.264 [Micromodem](INFO): Nmea in: $SNTTA,0.062379,,,,101617.49*44

2021-02-16T10:16:17.286Z,1613470577.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 169.307699 deg, deltaT: 4.457417 s, approachRate: -0.713416 m/s, LOS rate: 0.175481 deg/s, posRepo size: 4
2021-02-16T10:16:17.288Z,1613470577.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.360008 m,
      bearing: 169.307699 deg,
      approachRate: -0.713416 m/s,
      LOS rate: 0.175481 deg/s,
      cmd update: 0.526444 deg/s,
      cmd heading: 171.529356 deg,
      new cmd heading: 171.523509 deg.

2021-02-16T10:16:19.706Z,1613470579.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:20.473Z,1613470580.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:20.873Z,1613470580.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:21.700Z,1613470581.700 [Micromodem](INFO): Nmea in: $SNTTA,0.060341,,,,101621.93*4F

2021-02-16T10:16:21.764Z,1613470581.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 169.698003 deg, deltaT: 4.402163 s, approachRate: -0.708743 m/s, LOS rate: 0.088662 deg/s, posRepo size: 4
2021-02-16T10:16:21.765Z,1613470581.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.240005 m,
      bearing: 169.698003 deg,
      approachRate: -0.708743 m/s,
      LOS rate: 0.088662 deg/s,
      cmd update: 0.265986 deg/s,
      cmd heading: 173.858474 deg,
      new cmd heading: 174.103362 deg.

2021-02-16T10:16:24.122Z,1613470584.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:24.912Z,1613470584.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:25.318Z,1613470585.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:26.180Z,1613470586.180 [Micromodem](INFO): Nmea in: $SNTTA,0.058349,,,,101626.41*44

2021-02-16T10:16:26.221Z,1613470586.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 168.131609 deg, deltaT: 4.486905 s, approachRate: -0.655241 m/s, LOS rate: -0.349104 deg/s, posRepo size: 4
2021-02-16T10:16:26.223Z,1613470586.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.300003 m,
      bearing: 168.131609 deg,
      approachRate: -0.655241 m/s,
      LOS rate: -0.349104 deg/s,
      cmd update: -1.047311 deg/s,
      cmd heading: 175.050875 deg,
      new cmd heading: 175.167392 deg.

2021-02-16T10:16:28.654Z,1613470588.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:29.392Z,1613470589.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:29.770Z,1613470589.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:30.630Z,1613470590.630 [Micromodem](INFO): Nmea in: $SNTTA,0.056464,,,,101630.85*4D

2021-02-16T10:16:30.697Z,1613470590.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 168.234840 deg, deltaT: 4.411514 s, approachRate: -0.639236 m/s, LOS rate: 0.023400 deg/s, posRepo size: 4
2021-02-16T10:16:30.704Z,1613470590.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.480003 m,
      bearing: 168.234840 deg,
      approachRate: -0.639236 m/s,
      LOS rate: 0.023400 deg/s,
      cmd update: 0.070201 deg/s,
      cmd heading: 170.429003 deg,
      new cmd heading: 169.903195 deg.

2021-02-16T10:16:33.037Z,1613470593.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:33.815Z,1613470593.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:34.221Z,1613470594.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:35.040Z,1613470595.040 [Micromodem](INFO): Nmea in: $SNTTA,0.054591,,,,101635.28*46

2021-02-16T10:16:35.082Z,1613470595.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.720001 m, bearing: 168.793645 deg, deltaT: 4.481480 s, approachRate: -0.615868 m/s, LOS rate: 0.124692 deg/s, posRepo size: 4
2021-02-16T10:16:35.084Z,1613470595.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.720001 m,
      bearing: 168.793645 deg,
      approachRate: -0.615868 m/s,
      LOS rate: 0.124692 deg/s,
      cmd update: 0.374076 deg/s,
      cmd heading: 170.743751 deg,
      new cmd heading: 170.772125 deg.

2021-02-16T10:16:37.477Z,1613470597.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:38.257Z,1613470598.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:38.675Z,1613470598.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:39.501Z,1613470599.501 [Micromodem](INFO): Nmea in: $SNTTA,0.052787,,0.053930,,101639.72*54

2021-02-16T10:16:39.533Z,1613470599.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 169.074503 deg, deltaT: 4.396202 s, approachRate: -0.627815 m/s, LOS rate: 0.063886 deg/s, posRepo size: 4
2021-02-16T10:16:39.535Z,1613470599.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 169.074503 deg,
      approachRate: -0.627815 m/s,
      LOS rate: 0.063886 deg/s,
      cmd update: 0.191659 deg/s,
      cmd heading: 172.388409 deg,
      new cmd heading: 172.559980 deg.

2021-02-16T10:16:41.918Z,1613470601.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:42.714Z,1613470602.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:43.107Z,1613470603.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:43.952Z,1613470603.952 [Micromodem](INFO): Nmea in: $SNTTA,0.050800,,,,101644.17*4D

2021-02-16T10:16:43.985Z,1613470603.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 167.427416 deg, deltaT: 4.491927 s, approachRate: -0.654506 m/s, LOS rate: -0.366677 deg/s, posRepo size: 4
2021-02-16T10:16:43.986Z,1613470603.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 167.427416 deg,
      approachRate: -0.654506 m/s,
      LOS rate: -0.366677 deg/s,
      cmd update: -1.100031 deg/s,
      cmd heading: 173.241980 deg,
      new cmd heading: 173.329498 deg.

2021-02-16T10:16:46.364Z,1613470606.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:47.145Z,1613470607.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:47.551Z,1613470607.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:48.380Z,1613470608.380 [Micromodem](INFO): Nmea in: $SNTTA,0.048915,,,,101648.60*4D

2021-02-16T10:16:48.433Z,1613470608.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.199997 m, bearing: 168.751913 deg, deltaT: 4.401380 s, approachRate: -0.640710 m/s, LOS rate: 0.300928 deg/s, posRepo size: 4
2021-02-16T10:16:48.440Z,1613470608.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.199997 m,
      bearing: 168.751913 deg,
      approachRate: -0.640710 m/s,
      LOS rate: 0.300928 deg/s,
      cmd update: 0.902783 deg/s,
      cmd heading: 168.358183 deg,
      new cmd heading: 167.845771 deg.

2021-02-16T10:16:50.850Z,1613470610.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:51.612Z,1613470611.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:51.000Z,1613470612.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:52.832Z,1613470612.832 [Micromodem](INFO): Nmea in: $SNTTA,0.046763,,,,101653.07*47

2021-02-16T10:16:52.874Z,1613470612.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 169.921719 deg, deltaT: 4.488163 s, approachRate: -0.721898 m/s, LOS rate: 0.260643 deg/s, posRepo size: 4
2021-02-16T10:16:52.876Z,1613470612.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.959999 m,
      bearing: 169.921719 deg,
      approachRate: -0.721898 m/s,
      LOS rate: 0.260643 deg/s,
      cmd update: 0.781928 deg/s,
      cmd heading: 172.410028 deg,
      new cmd heading: 172.787660 deg.

2021-02-16T10:16:55.248Z,1613470615.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:16:56.028Z,1613470616.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:16:56.445Z,1613470616.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:16:57.260Z,1613470617.260 [Micromodem](INFO): Nmea in: $SNTTA,0.044712,,,,101657.49*4D

2021-02-16T10:16:57.302Z,1613470617.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 169.287823 deg, deltaT: 4.427827 s, approachRate: -0.704633 m/s, LOS rate: -0.143162 deg/s, posRepo size: 4
2021-02-16T10:16:57.304Z,1613470617.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.840004 m,
      bearing: 169.287823 deg,
      approachRate: -0.704633 m/s,
      LOS rate: -0.143162 deg/s,
      cmd update: -0.429486 deg/s,
      cmd heading: 175.869144 deg,
      new cmd heading: 176.199032 deg.

2021-02-16T10:16:59.716Z,1613470619.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:00.472Z,1613470620.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:00.878Z,1613470620.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:01.704Z,1613470621.704 [Micromodem](INFO): Nmea in: $SNTTA,0.042807,,,,101701.93*45

2021-02-16T10:17:01.752Z,1613470621.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 168.022148 deg, deltaT: 4.426693 s, approachRate: -0.637044 m/s, LOS rate: -0.285919 deg/s, posRepo size: 4
2021-02-16T10:17:01.754Z,1613470621.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.020004 m,
      bearing: 168.022148 deg,
      approachRate: -0.637044 m/s,
      LOS rate: -0.285919 deg/s,
      cmd update: -0.857757 deg/s,
      cmd heading: 173.973091 deg,
      new cmd heading: 173.776564 deg.

2021-02-16T10:17:04.137Z,1613470624.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:04.916Z,1613470624.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:05.329Z,1613470625.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:06.144Z,1613470626.144 [Micromodem](INFO): Nmea in: $SNTTA,0.040840,,,,101706.38*42

2021-02-16T10:17:06.178Z,1613470626.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.080002 m, bearing: 167.813882 deg, deltaT: 4.461136 s, approachRate: -0.659025 m/s, LOS rate: -0.046685 deg/s, posRepo size: 4
2021-02-16T10:17:06.180Z,1613470626.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.080002 m,
      bearing: 167.813882 deg,
      approachRate: -0.659025 m/s,
      LOS rate: -0.046685 deg/s,
      cmd update: -0.140054 deg/s,
      cmd heading: 170.132790 deg,
      new cmd heading: 169.783843 deg.

2021-02-16T10:17:08.653Z,1613470628.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:09.366Z,1613470629.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:09.765Z,1613470629.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:10.615Z,1613470630.615 [Micromodem](INFO): Nmea in: $SNTTA,0.038551,,,,101710.83*47

2021-02-16T10:17:10.664Z,1613470630.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.600002 m, bearing: 169.473700 deg, deltaT: 4.417748 s, approachRate: -0.787732 m/s, LOS rate: 0.375716 deg/s, posRepo size: 4
2021-02-16T10:17:10.666Z,1613470630.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 169.473700 deg,
      approachRate: -0.787732 m/s,
      LOS rate: 0.375716 deg/s,
      cmd update: 1.127147 deg/s,
      cmd heading: 169.514292 deg,
      new cmd heading: 169.447608 deg.

2021-02-16T10:17:13.012Z,1613470633.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:13.809Z,1613470633.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:14.220Z,1613470634.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:15.043Z,1613470635.043 [Micromodem](INFO): Nmea in: $SNTTA,0.036691,,,,101715.27*4D

2021-02-16T10:17:15.062Z,1613470635.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 169.671844 deg, deltaT: 4.472242 s, approachRate: -0.630558 m/s, LOS rate: 0.044305 deg/s, posRepo size: 4
2021-02-16T10:17:15.064Z,1613470635.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.779995 m,
      bearing: 169.671844 deg,
      approachRate: -0.630558 m/s,
      LOS rate: 0.044305 deg/s,
      cmd update: 0.132916 deg/s,
      cmd heading: 174.556953 deg,
      new cmd heading: 175.008768 deg.

2021-02-16T10:17:17.474Z,1613470637.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:18.253Z,1613470638.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:18.664Z,1613470638.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:19.484Z,1613470639.484 [Micromodem](INFO): Nmea in: $SNTTA,0.034731,,,,101719.71*4B

2021-02-16T10:17:19.523Z,1613470639.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 168.785558 deg, deltaT: 4.429128 s, approachRate: -0.650241 m/s, LOS rate: -0.200104 deg/s, posRepo size: 4
2021-02-16T10:17:19.525Z,1613470639.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.899994 m,
      bearing: 168.785558 deg,
      approachRate: -0.650241 m/s,
      LOS rate: -0.200104 deg/s,
      cmd update: -0.600311 deg/s,
      cmd heading: 175.145115 deg,
      new cmd heading: 175.203087 deg.

2021-02-16T10:17:21.910Z,1613470641.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:22.694Z,1613470642.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:23.098Z,1613470643.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:23.936Z,1613470643.936 [Micromodem](INFO): Nmea in: $SNTTA,0.032988,,,,101724.16*4E

2021-02-16T10:17:23.941Z,1613470643.941 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:17:23.958Z,1613470643.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 168.819627 deg, deltaT: 4.445701 s, approachRate: -0.580335 m/s, LOS rate: 0.007663 deg/s, posRepo size: 4
2021-02-16T10:17:23.960Z,1613470643.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 168.819627 deg,
      approachRate: -0.580335 m/s,
      LOS rate: 0.007663 deg/s,
      cmd update: 0.022990 deg/s,
      cmd heading: 172.473909 deg,
      new cmd heading: 172.220536 deg.

2021-02-16T10:17:26.358Z,1613470646.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:27.138Z,1613470647.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:27.548Z,1613470647.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:28.388Z,1613470648.388 [Micromodem](INFO): Nmea in: $SNTTA,0.031099,,,,101728.60*49

2021-02-16T10:17:28.432Z,1613470648.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.439999 m, bearing: 168.966968 deg, deltaT: 4.432996 s, approachRate: -0.649674 m/s, LOS rate: 0.033237 deg/s, posRepo size: 4
2021-02-16T10:17:28.434Z,1613470648.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 168.966968 deg,
      approachRate: -0.649674 m/s,
      LOS rate: 0.033237 deg/s,
      cmd update: 0.099712 deg/s,
      cmd heading: 172.575825 deg,
      new cmd heading: 172.586457 deg.

2021-02-16T10:17:28.787Z,1613470648.787 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:17:30.797Z,1613470650.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:31.618Z,1613470651.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:31.986Z,1613470651.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:32.828Z,1613470652.828 [Micromodem](INFO): Nmea in: $SNTTA,0.029283,,,,101733.08*4D

2021-02-16T10:17:32.870Z,1613470652.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.739998 m, bearing: 168.390063 deg, deltaT: 4.505010 s, approachRate: -0.599333 m/s, LOS rate: -0.128059 deg/s, posRepo size: 4
2021-02-16T10:17:32.872Z,1613470652.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.739998 m,
      bearing: 168.390063 deg,
      approachRate: -0.599333 m/s,
      LOS rate: -0.128059 deg/s,
      cmd update: -0.384176 deg/s,
      cmd heading: 173.024628 deg,
      new cmd heading: 173.064511 deg.

2021-02-16T10:17:34.830Z,1613470654.830 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:17:35.254Z,1613470655.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:36.034Z,1613470656.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:36.438Z,1613470656.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:37.276Z,1613470657.276 [Micromodem](INFO): Nmea in: $SNTTA,0.027549,,,,101737.49*43

2021-02-16T10:17:37.306Z,1613470657.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 168.024266 deg, deltaT: 4.381073 s, approachRate: -0.588897 m/s, LOS rate: -0.083495 deg/s, posRepo size: 4
2021-02-16T10:17:37.308Z,1613470657.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.159996 m,
      bearing: 168.024266 deg,
      approachRate: -0.588897 m/s,
      LOS rate: -0.083495 deg/s,
      cmd update: -0.250485 deg/s,
      cmd heading: 171.340052 deg,
      new cmd heading: 171.166765 deg.

2021-02-16T10:17:38.870Z,1613470658.870 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:17:39.721Z,1613470659.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:40.473Z,1613470660.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:40.876Z,1613470660.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:41.713Z,1613470661.713 [Micromodem](INFO): Nmea in: $SNTTA,0.025394,,,,101741.93*41

2021-02-16T10:17:41.781Z,1613470661.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.859997 m, bearing: 168.648190 deg, deltaT: 4.459050 s, approachRate: -0.740068 m/s, LOS rate: 0.139923 deg/s, posRepo size: 4
2021-02-16T10:17:41.781Z,1613470661.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m.
2021-02-16T10:17:41.783Z,1613470661.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.859997 m,
      bearing: 168.648190 deg,
      approachRate: -0.740068 m/s,
      LOS rate: 0.139923 deg/s,
      cmd update: 0.419769 deg/s,
      cmd heading: 170.224088 deg,
      new cmd heading: 170.106238 deg.

2021-02-16T10:17:42.097Z,1613470662.097 [PowerOnly](INFO): Powering up loadControl
2021-02-16T10:17:44.135Z,1613470664.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:44.919Z,1613470664.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:45.320Z,1613470665.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:46.151Z,1613470666.151 [Micromodem](INFO): Nmea in: $SNTTA,0.023493,,,,101746.38*41

2021-02-16T10:17:46.170Z,1613470666.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 169.353065 deg, deltaT: 4.457147 s, approachRate: -0.632691 m/s, LOS rate: 0.158145 deg/s, posRepo size: 4
2021-02-16T10:17:46.172Z,1613470666.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m.
2021-02-16T10:17:46.173Z,1613470666.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m.
2021-02-16T10:17:46.173Z,1613470666.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T10:17:46.181Z,1613470666.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.040001 m,
      bearing: 169.353065 deg,
      approachRate: -0.632691 m/s,
      LOS rate: 0.158145 deg/s,
      cmd update: 0.474435 deg/s,
      cmd heading: 172.096747 deg,
      new cmd heading: 172.264183 deg.

2021-02-16T10:17:48.628Z,1613470668.628 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:17:48.642Z,1613470668.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:49.362Z,1613470669.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:49.762Z,1613470669.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:50.600Z,1613470670.600 [Micromodem](INFO): Nmea in: $SNTTA,0.021611,,,,101750.82*4D

2021-02-16T10:17:50.662Z,1613470670.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.220001 m, bearing: 169.028891 deg, deltaT: 4.447513 s, approachRate: -0.634062 m/s, LOS rate: -0.072889 deg/s, posRepo size: 4
2021-02-16T10:17:50.664Z,1613470670.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.220001 m,
      bearing: 169.028891 deg,
      approachRate: -0.634062 m/s,
      LOS rate: -0.072889 deg/s,
      cmd update: -0.218667 deg/s,
      cmd heading: 174.203927 deg,
      new cmd heading: 174.416769 deg.

2021-02-16T10:17:53.009Z,1613470673.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:53.800Z,1613470673.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:54.213Z,1613470674.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:55.032Z,1613470675.032 [Micromodem](INFO): Nmea in: $SNTTA,0.019701,,,,101755.26*4D

2021-02-16T10:17:55.081Z,1613470675.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 168.253200 deg, deltaT: 4.459763 s, approachRate: -0.645774 m/s, LOS rate: -0.173931 deg/s, posRepo size: 4
2021-02-16T10:17:55.083Z,1613470675.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.340000 m,
      bearing: 168.253200 deg,
      approachRate: -0.645774 m/s,
      LOS rate: -0.173931 deg/s,
      cmd update: -0.521793 deg/s,
      cmd heading: 173.227407 deg,
      new cmd heading: 173.139453 deg.

2021-02-16T10:17:57.488Z,1613470677.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:17:58.244Z,1613470678.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:17:58.671Z,1613470678.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:17:59.480Z,1613470679.480 [Micromodem](INFO): Nmea in: $SNTTA,0.017672,,,,101759.71*48

2021-02-16T10:17:59.538Z,1613470679.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 168.362428 deg, deltaT: 4.413710 s, approachRate: -0.693294 m/s, LOS rate: 0.024748 deg/s, posRepo size: 4
2021-02-16T10:17:59.544Z,1613470679.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 168.362428 deg,
      approachRate: -0.693294 m/s,
      LOS rate: 0.024748 deg/s,
      cmd update: 0.074243 deg/s,
      cmd heading: 170.924321 deg,
      new cmd heading: 170.691730 deg.

2021-02-16T10:18:01.912Z,1613470681.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:02.694Z,1613470682.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:03.101Z,1613470683.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:03.920Z,1613470683.920 [Micromodem](INFO): Nmea in: $SNTTA,0.015714,,,,101804.15*4E

2021-02-16T10:18:03.930Z,1613470683.930 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T10:18:03.988Z,1613470683.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 170.096340 deg, deltaT: 4.461945 s, approachRate: -0.645459 m/s, LOS rate: 0.388600 deg/s, posRepo size: 4
2021-02-16T10:18:03.991Z,1613470683.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 170.096340 deg,
      approachRate: -0.645459 m/s,
      LOS rate: 0.388600 deg/s,
      cmd update: 1.165800 deg/s,
      cmd heading: 171.255286 deg,
      new cmd heading: 171.287676 deg.

2021-02-16T10:18:06.366Z,1613470686.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:07.158Z,1613470687.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:07.560Z,1613470687.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:08.396Z,1613470688.396 [Micromodem](INFO): Nmea in: $SNTTA,0.013836,,,,101808.62*4B

2021-02-16T10:18:08.448Z,1613470688.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 169.762917 deg, deltaT: 4.420177 s, approachRate: -0.651559 m/s, LOS rate: -0.075432 deg/s, posRepo size: 4
2021-02-16T10:18:08.450Z,1613470688.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 169.762917 deg,
      approachRate: -0.651559 m/s,
      LOS rate: -0.075432 deg/s,
      cmd update: -0.226296 deg/s,
      cmd heading: 176.389812 deg,
      new cmd heading: 176.959807 deg.

2021-02-16T10:18:08.774Z,1613470688.774 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:18:10.804Z,1613470690.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:11.592Z,1613470691.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:11.000Z,1613470692.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:12.823Z,1613470692.823 [Micromodem](INFO): Nmea in: $SNTTA,0.011760,,,0.030603,101813.05*56

2021-02-16T10:18:12.848Z,1613470692.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 168.802251 deg, deltaT: 4.498225 s, approachRate: -0.680268 m/s, LOS rate: -0.213566 deg/s, posRepo size: 4
2021-02-16T10:18:12.849Z,1613470692.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 168.802251 deg,
      approachRate: -0.680268 m/s,
      LOS rate: -0.213566 deg/s,
      cmd update: -0.640697 deg/s,
      cmd heading: 175.372679 deg,
      new cmd heading: 175.282645 deg.

2021-02-16T10:18:15.254Z,1613470695.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:16.026Z,1613470696.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:16.426Z,1613470696.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:17.252Z,1613470697.252 [Micromodem](INFO): Nmea in: $SNTTA,0.009861,,,,101817.49*45

2021-02-16T10:18:17.290Z,1613470697.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 169.835249 deg, deltaT: 4.407910 s, approachRate: -0.680595 m/s, LOS rate: 0.234351 deg/s, posRepo size: 4
2021-02-16T10:18:17.292Z,1613470697.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 169.835249 deg,
      approachRate: -0.680595 m/s,
      LOS rate: 0.234351 deg/s,
      cmd update: 0.703053 deg/s,
      cmd heading: 172.533536 deg,
      new cmd heading: 172.271533 deg.

2021-02-16T10:18:19.701Z,1613470699.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:20.464Z,1613470700.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:20.875Z,1613470700.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:21.692Z,1613470701.692 [Micromodem](INFO): Nmea in: $SNTTA,0.008040,,,,101821.92*4C

2021-02-16T10:18:21.742Z,1613470701.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 168.780381 deg, deltaT: 4.426335 s, approachRate: -0.623540 m/s, LOS rate: -0.238316 deg/s, posRepo size: 4
2021-02-16T10:18:21.744Z,1613470701.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 168.780381 deg,
      approachRate: -0.623540 m/s,
      LOS rate: -0.238316 deg/s,
      cmd update: -0.714949 deg/s,
      cmd heading: 175.642503 deg,
      new cmd heading: 175.951131 deg.

2021-02-16T10:18:23.734Z,1613470703.734 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:18:24.154Z,1613470704.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:24.914Z,1613470704.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:25.314Z,1613470705.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:26.140Z,1613470706.140 [Micromodem](INFO): Nmea in: $SNTTA,0.006314,,,,101826.37*48

2021-02-16T10:18:26.178Z,1613470706.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 163.494115 deg, deltaT: 4.474064 s, approachRate: -0.576657 m/s, LOS rate: -1.181536 deg/s, posRepo size: 4
2021-02-16T10:18:26.180Z,1613470706.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 163.494115 deg,
      approachRate: -0.576657 m/s,
      LOS rate: -1.181536 deg/s,
      cmd update: -3.544607 deg/s,
      cmd heading: 172.440760 deg,
      new cmd heading: 172.157254 deg.

2021-02-16T10:18:28.655Z,1613470708.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:29.356Z,1613470709.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:29.775Z,1613470709.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:30.609Z,1613470710.609 [Micromodem](INFO): Nmea in: $SNTTA,0.004491,,,,101830.82*49

2021-02-16T10:18:30.682Z,1613470710.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 164.583899 deg, deltaT: 4.426476 s, approachRate: -0.623521 m/s, LOS rate: 0.246197 deg/s, posRepo size: 4
2021-02-16T10:18:30.688Z,1613470710.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 164.583899 deg,
      approachRate: -0.623521 m/s,
      LOS rate: 0.246197 deg/s,
      cmd update: 0.738590 deg/s,
      cmd heading: 156.793844 deg,
      new cmd heading: 155.070538 deg.

2021-02-16T10:18:33.021Z,1613470713.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:33.815Z,1613470713.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:33.856Z,1613470713.856 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:18:34.213Z,1613470714.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:35.040Z,1613470715.040 [Micromodem](INFO): Nmea in: $SNTTA,0.003072,,,,101835.28*42

2021-02-16T10:18:35.060Z,1613470715.060 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T10:18:35.060Z,1613470715.060 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:18:35.060Z,1613470715.060 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T10:18:35.061Z,1613470715.061 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T10:18:35.064Z,1613470715.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 177.432837 deg, deltaT: 4.506517 s, approachRate: -0.452678 m/s, LOS rate: 2.851191 deg/s, posRepo size: 4
2021-02-16T10:18:35.065Z,1613470715.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 177.432837 deg,
      approachRate: -0.452678 m/s,
      LOS rate: 2.851191 deg/s,
      cmd update: 8.553571 deg/s,
      cmd heading: 160.123042 deg,
      new cmd heading: 160.389304 deg.

2021-02-16T10:18:35.462Z,1613470715.462 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T101835: (41.552319, -70.708603)
2021-02-16T10:18:35.462Z,1613470715.462 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T10:18:35.462Z,1613470715.462 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T10:18:35.462Z,1613470715.462 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:18:35.463Z,1613470715.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T10:18:35.463Z,1613470715.463 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:18:35.463Z,1613470715.463 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T10:18:35.463Z,1613470715.463 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T10:18:35.463Z,1613470715.463 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:18:37.462Z,1613470717.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:38.241Z,1613470718.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:38.679Z,1613470718.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:39.468Z,1613470719.468 [Micromodem](INFO): Nmea in: $SNTTA,0.002520,,,,101839.70*40

2021-02-16T10:18:39.510Z,1613470719.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 155.406570 deg, deltaT: 4.364469 s, approachRate: -0.123727 m/s, LOS rate: -5.046723 deg/s, posRepo size: 4
2021-02-16T10:18:39.512Z,1613470719.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 155.406570 deg,
      approachRate: -0.123727 m/s,
      LOS rate: -5.046723 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.550425 deg,
      new cmd heading: 201.236586 deg.

2021-02-16T10:18:41.906Z,1613470721.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:42.689Z,1613470722.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:43.094Z,1613470723.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:43.924Z,1613470723.924 [Micromodem](INFO): Nmea in: $SNTTA,0.002684,,,,101844.15*44

2021-02-16T10:18:43.954Z,1613470723.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 178.398544 deg, deltaT: 4.443016 s, approachRate: 0.067522 m/s, LOS rate: 5.174857 deg/s, posRepo size: 4
2021-02-16T10:18:43.976Z,1613470723.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 178.398544 deg,
      approachRate: 0.067522 m/s,
      LOS rate: 5.174857 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 144.233680 deg,
      new cmd heading: 139.046512 deg.

2021-02-16T10:18:46.358Z,1613470726.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:47.132Z,1613470727.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:47.537Z,1613470727.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:48.360Z,1613470728.360 [Micromodem](INFO): Nmea in: $SNTTA,0.002719,,,,101848.59*45

2021-02-16T10:18:48.428Z,1613470728.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 192.901358 deg, deltaT: 4.462987 s, approachRate: -0.013444 m/s, LOS rate: 3.249576 deg/s, posRepo size: 4
2021-02-16T10:18:48.430Z,1613470728.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 192.901358 deg,
      approachRate: -0.013444 m/s,
      LOS rate: 3.249576 deg/s,
      cmd update: 9.748727 deg/s,
      cmd heading: 197.740422 deg,
      new cmd heading: 203.113110 deg.

2021-02-16T10:18:50.793Z,1613470730.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:51.604Z,1613470731.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:51.987Z,1613470731.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:52.824Z,1613470732.824 [Micromodem](INFO): Nmea in: $SNTTA,0.004821,,,,101853.06*47

2021-02-16T10:18:52.854Z,1613470732.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 189.146407 deg, deltaT: 4.452881 s, approachRate: 0.673721 m/s, LOS rate: -0.843263 deg/s, posRepo size: 4
2021-02-16T10:18:52.856Z,1613470732.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 189.146407 deg,
      approachRate: 0.673721 m/s,
      LOS rate: -0.843263 deg/s,
      cmd update: -2.529790 deg/s,
      cmd heading: 241.190138 deg,
      new cmd heading: 245.251965 deg.

2021-02-16T10:18:55.254Z,1613470735.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:18:56.026Z,1613470736.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:18:56.443Z,1613470736.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:18:57.252Z,1613470737.252 [Micromodem](INFO): Nmea in: $SNTTA,0.004286,,,,101857.48*4E

2021-02-16T10:18:57.274Z,1613470737.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 196.629904 deg, deltaT: 4.414863 s, approachRate: -0.108724 m/s, LOS rate: 1.695069 deg/s, posRepo size: 4
2021-02-16T10:18:57.276Z,1613470737.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 196.629904 deg,
      approachRate: -0.108724 m/s,
      LOS rate: 1.695069 deg/s,
      cmd update: 5.085206 deg/s,
      cmd heading: 230.022517 deg,
      new cmd heading: 228.954948 deg.

2021-02-16T10:18:59.701Z,1613470739.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:00.469Z,1613470740.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:00.877Z,1613470740.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:01.696Z,1613470741.696 [Micromodem](INFO): Nmea in: $SNTTA,0.033181,,,,101901.93*4A

2021-02-16T10:19:01.769Z,1613470741.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.160001 m, bearing: 219.536705 deg, deltaT: 4.450442 s, approachRate: 0.364009 m/s, LOS rate: 5.147085 deg/s, posRepo size: 4
2021-02-16T10:19:01.776Z,1613470741.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.160001 m,
      bearing: 219.536705 deg,
      approachRate: 0.364009 m/s,
      LOS rate: 5.147085 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.635357 deg,
      new cmd heading: 255.028837 deg.

2021-02-16T10:19:04.126Z,1613470744.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:04.909Z,1613470744.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:05.325Z,1613470745.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:06.142Z,1613470746.142 [Micromodem](INFO): Nmea in: $SNTTA,0.008051,,,,101906.37*47

2021-02-16T10:19:06.178Z,1613470746.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.480003 m, bearing: 259.381106 deg, deltaT: 4.501414 s, approachRate: 22.952787 m/s, LOS rate: 8.851530 deg/s, posRepo size: 4
2021-02-16T10:19:06.180Z,1613470746.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.480003 m,
      bearing: 259.381106 deg,
      approachRate: 22.952787 m/s,
      LOS rate: 8.851530 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.602490 deg,
      new cmd heading: 311.189911 deg.

2021-02-16T10:19:08.630Z,1613470748.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:09.358Z,1613470749.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:09.757Z,1613470749.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:10.573Z,1613470750.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101910.82*5C

2021-02-16T10:19:11.434Z,1613470751.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:12.988Z,1613470752.988 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:19:14.229Z,1613470754.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:15.015Z,1613470755.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:15.423Z,1613470755.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:16.244Z,1613470756.244 [Micromodem](INFO): Nmea in: $SNTTA,0.010421,,,,101916.47*4B

2021-02-16T10:19:16.273Z,1613470756.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 284.230536 deg, deltaT: 10.059188 s, approachRate: -9.519655 m/s, LOS rate: 2.470322 deg/s, posRepo size: 4
2021-02-16T10:19:16.274Z,1613470756.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.719999 m,
      bearing: 284.230536 deg,
      approachRate: -9.519655 m/s,
      LOS rate: 2.470322 deg/s,
      cmd update: 7.410965 deg/s,
      cmd heading: 67.411150 deg,
      new cmd heading: 72.322654 deg.

2021-02-16T10:19:16.645Z,1613470756.645 [PowerOnly](INFO): Powering down loadControl
2021-02-16T10:19:18.722Z,1613470758.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:19.452Z,1613470759.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:19.865Z,1613470759.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:20.680Z,1613470760.680 [Micromodem](INFO): Nmea in: $SNTTA,0.011726,,,,101920.91*40

2021-02-16T10:19:20.729Z,1613470760.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 315.037886 deg, deltaT: 4.444000 s, approachRate: 0.432043 m/s, LOS rate: 6.932347 deg/s, posRepo size: 4
2021-02-16T10:19:20.731Z,1613470760.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.639997 m,
      bearing: 315.037886 deg,
      approachRate: 0.432043 m/s,
      LOS rate: 6.932347 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 100.329294 deg,
      new cmd heading: 103.468564 deg.

2021-02-16T10:19:23.109Z,1613470763.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:23.902Z,1613470763.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:24.302Z,1613470764.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:25.132Z,1613470765.132 [Micromodem](INFO): Nmea in: $SNTTA,0.012971,,,0.019951,101925.36*5C

2021-02-16T10:19:25.171Z,1613470765.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 293.897275 deg, deltaT: 4.455715 s, approachRate: 0.471305 m/s, LOS rate: -4.744605 deg/s, posRepo size: 4
2021-02-16T10:19:25.173Z,1613470765.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 293.897275 deg,
      approachRate: 0.471305 m/s,
      LOS rate: -4.744605 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 153.823807 deg,
      new cmd heading: 158.713615 deg.

2021-02-16T10:19:27.572Z,1613470767.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:28.340Z,1613470768.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:28.750Z,1613470768.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:29.572Z,1613470769.572 [Micromodem](INFO): Nmea in: $SNTTA,0.014444,,0.036030,,101929.80*53

2021-02-16T10:19:29.663Z,1613470769.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 248.097797 deg, deltaT: 4.404542 s, approachRate: 0.476781 m/s, LOS rate: -10.398238 deg/s, posRepo size: 4
2021-02-16T10:19:29.665Z,1613470769.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.840002 m,
      bearing: 248.097797 deg,
      approachRate: 0.476781 m/s,
      LOS rate: -10.398238 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 100.969290 deg,
      new cmd heading: 95.077914 deg.

2021-02-16T10:19:32.004Z,1613470772.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:32.784Z,1613470772.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:33.191Z,1613470773.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:34.012Z,1613470774.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101934.24*56

2021-02-16T10:19:34.065Z,1613470774.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 258.783491 deg, deltaT: 4.491744 s, approachRate: 0.614460 m/s, LOS rate: 2.378963 deg/s, posRepo size: 4
2021-02-16T10:19:34.065Z,1613470774.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.60 m. Rolling out.
2021-02-16T10:19:34.066Z,1613470774.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T10:19:36.468Z,1613470776.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:37.265Z,1613470777.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:37.640Z,1613470777.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:38.473Z,1613470778.473 [Micromodem](INFO): Nmea in: $SNTTA,0.018336,,,,101938.73*49

2021-02-16T10:19:38.522Z,1613470778.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.659998 m, bearing: 211.852141 deg, deltaT: 4.396176 s, approachRate: 0.696059 m/s, LOS rate: -10.675493 deg/s, posRepo size: 4
2021-02-16T10:19:40.895Z,1613470780.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:41.678Z,1613470781.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:42.087Z,1613470782.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:42.916Z,1613470782.916 [Micromodem](INFO): Nmea in: $SNTTA,0.020224,,,,101943.14*4D

2021-02-16T10:19:42.940Z,1613470782.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.480000 m, bearing: 235.135027 deg, deltaT: 4.470306 s, approachRate: 0.630830 m/s, LOS rate: 5.208343 deg/s, posRepo size: 4
2021-02-16T10:19:45.324Z,1613470785.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:46.121Z,1613470786.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:46.522Z,1613470786.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:47.334Z,1613470787.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,101947.58*59

2021-02-16T10:19:48.170Z,1613470788.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:49.752Z,1613470789.752 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:19:50.000Z,1613470791.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:51.772Z,1613470791.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:52.185Z,1613470792.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:53.008Z,1613470793.008 [Micromodem](INFO): Nmea in: $SNTTA,0.024484,,,,101953.23*40

2021-02-16T10:19:53.039Z,1613470793.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.779999 m, bearing: 317.672044 deg, deltaT: 10.140066 s, approachRate: 0.621298 m/s, LOS rate: 8.139693 deg/s, posRepo size: 4
2021-02-16T10:19:55.448Z,1613470795.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:19:56.227Z,1613470796.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:19:56.633Z,1613470796.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:19:57.460Z,1613470797.460 [Micromodem](INFO): Nmea in: $SNTTA,0.026163,,,,101957.69*44

2021-02-16T10:19:57.485Z,1613470797.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 344.870595 deg, deltaT: 4.385402 s, approachRate: 0.588316 m/s, LOS rate: 6.202066 deg/s, posRepo size: 4
2021-02-16T10:19:59.902Z,1613470799.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:00.662Z,1613470800.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:01.067Z,1613470801.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:01.896Z,1613470801.896 [Micromodem](INFO): Nmea in: $SNTTA,0.027414,,,,102002.12*46

2021-02-16T10:20:01.921Z,1613470801.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 320.747323 deg, deltaT: 4.446936 s, approachRate: 0.391280 m/s, LOS rate: -5.424695 deg/s, posRepo size: 4
2021-02-16T10:20:04.316Z,1613470804.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:05.106Z,1613470805.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:05.515Z,1613470805.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:06.332Z,1613470806.332 [Micromodem](INFO): Nmea in: $SNTTA,0.028308,,,,102006.57*46

2021-02-16T10:20:06.382Z,1613470806.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 347.668185 deg, deltaT: 4.452884 s, approachRate: 0.309913 m/s, LOS rate: 6.045714 deg/s, posRepo size: 4
2021-02-16T10:20:08.804Z,1613470808.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:09.553Z,1613470809.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:09.959Z,1613470809.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:10.785Z,1613470810.785 [Micromodem](INFO): Nmea in: $SNTTA,0.029059,0.048797,0.052614,,102011.01*44

2021-02-16T10:20:10.843Z,1613470810.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 39.428800 deg, deltaT: 4.471853 s, approachRate: 0.241509 m/s, LOS rate: 11.574757 deg/s, posRepo size: 4
2021-02-16T10:20:13.211Z,1613470813.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:13.992Z,1613470813.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:14.426Z,1613470814.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:15.232Z,1613470815.232 [Micromodem](INFO): Nmea in: $SNTTA,0.029321,,,,102015.45*4D

2021-02-16T10:20:15.254Z,1613470815.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.039997 m, bearing: 333.649140 deg, deltaT: 4.427507 s, approachRate: 0.108413 m/s, LOS rate: -14.857041 deg/s, posRepo size: 4
2021-02-16T10:20:17.684Z,1613470817.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:18.445Z,1613470818.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:18.843Z,1613470818.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:19.677Z,1613470819.677 [Micromodem](INFO): Nmea in: $SNTTA,0.029117,,,,102019.91*4F

2021-02-16T10:20:19.733Z,1613470819.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 62.567962 deg, deltaT: 4.413096 s, approachRate: -0.108767 m/s, LOS rate: 20.148850 deg/s, posRepo size: 4
2021-02-16T10:20:22.117Z,1613470822.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:22.889Z,1613470822.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:23.286Z,1613470823.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:24.138Z,1613470824.138 [Micromodem](INFO): Nmea in: $SNTTA,0.028407,0.046663,,,102024.35*55

2021-02-16T10:20:24.158Z,1613470824.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 101.340377 deg, deltaT: 4.516644 s, approachRate: -0.252400 m/s, LOS rate: 8.584341 deg/s, posRepo size: 4
2021-02-16T10:20:26.567Z,1613470826.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:27.334Z,1613470827.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:27.744Z,1613470827.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:28.571Z,1613470828.571 [Micromodem](INFO): Nmea in: $SNTTA,0.027508,,,,102028.79*4F

2021-02-16T10:20:28.639Z,1613470828.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 116.331809 deg, deltaT: 4.405079 s, approachRate: -0.299654 m/s, LOS rate: 3.403215 deg/s, posRepo size: 4
2021-02-16T10:20:30.986Z,1613470830.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:31.782Z,1613470831.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:32.187Z,1613470832.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:33.011Z,1613470833.011 [Micromodem](INFO): Nmea in: $SNTTA,0.026344,,,,102033.24*42

2021-02-16T10:20:33.030Z,1613470833.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 118.266570 deg, deltaT: 4.491039 s, approachRate: -0.387438 m/s, LOS rate: 0.430805 deg/s, posRepo size: 4
2021-02-16T10:20:35.447Z,1613470835.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:36.227Z,1613470836.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:36.655Z,1613470836.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:37.452Z,1613470837.452 [Micromodem](INFO): Nmea in: $SNTTA,0.025408,,,,102037.69*43

2021-02-16T10:20:37.491Z,1613470837.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 119.805507 deg, deltaT: 4.387331 s, approachRate: -0.314542 m/s, LOS rate: 0.350768 deg/s, posRepo size: 4
2021-02-16T10:20:39.636Z,1613470839.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:40.266Z,1613470840.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:40.667Z,1613470840.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:41.499Z,1613470841.499 [Micromodem](INFO): Nmea in: $SNTTA,0.024635,,,,102041.73*44

2021-02-16T10:20:41.524Z,1613470841.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 81.774105 deg, deltaT: 4.035665 s, approachRate: 2.467996 m/s, LOS rate: -9.423825 deg/s, posRepo size: 4
2021-02-16T10:20:43.934Z,1613470843.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:44.722Z,1613470844.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:45.120Z,1613470845.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:45.959Z,1613470845.959 [Micromodem](INFO): Nmea in: $SNTTA,0.024041,,,,102046.18*4B

2021-02-16T10:20:45.982Z,1613470845.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 119.519541 deg, deltaT: 4.460369 s, approachRate: -2.690362 m/s, LOS rate: 8.462402 deg/s, posRepo size: 4
2021-02-16T10:20:48.411Z,1613470848.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:49.165Z,1613470849.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:49.566Z,1613470849.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:50.413Z,1613470850.413 [Micromodem](INFO): Nmea in: $SNTTA,0.023596,,,,102050.62*49

2021-02-16T10:20:50.457Z,1613470850.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 27.631301 deg, deltaT: 4.416632 s, approachRate: -0.135850 m/s, LOS rate: -20.805048 deg/s, posRepo size: 4
2021-02-16T10:20:52.814Z,1613470852.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:53.620Z,1613470853.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:54.004Z,1613470854.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:54.840Z,1613470854.840 [Micromodem](INFO): Nmea in: $SNTTA,0.023451,,,,102055.08*4A

2021-02-16T10:20:54.864Z,1613470854.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.159996 m, bearing: 23.346746 deg, deltaT: 4.465729 s, approachRate: -0.040308 m/s, LOS rate: -0.959430 deg/s, posRepo size: 4
2021-02-16T10:20:57.253Z,1613470857.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:20:58.036Z,1613470858.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:20:58.459Z,1613470858.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:20:59.264Z,1613470859.264 [Micromodem](INFO): Nmea in: $SNTTA,0.023581,,,,102059.49*4F

2021-02-16T10:20:59.299Z,1613470859.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 15.717966 deg, deltaT: 4.471075 s, approachRate: 0.040260 m/s, LOS rate: -1.706252 deg/s, posRepo size: 4
2021-02-16T10:21:01.708Z,1613470861.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:02.485Z,1613470862.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:02.886Z,1613470862.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:03.712Z,1613470863.712 [Micromodem](INFO): Nmea in: $SNTTA,0.024133,,,,102103.95*4A

2021-02-16T10:21:03.801Z,1613470863.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.180000 m, bearing: 116.648320 deg, deltaT: 4.389054 s, approachRate: 0.191385 m/s, LOS rate: 22.995925 deg/s, posRepo size: 4
2021-02-16T10:21:06.147Z,1613470866.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:06.924Z,1613470866.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:07.335Z,1613470867.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:08.152Z,1613470868.152 [Micromodem](INFO): Nmea in: $SNTTA,0.024581,,,,102108.38*4B

2021-02-16T10:21:08.188Z,1613470868.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 111.676004 deg, deltaT: 4.481072 s, approachRate: 0.160676 m/s, LOS rate: -1.109626 deg/s, posRepo size: 4
2021-02-16T10:21:10.650Z,1613470870.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:11.381Z,1613470871.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:11.779Z,1613470871.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:12.629Z,1613470872.629 [Micromodem](INFO): Nmea in: $SNTTA,0.025289,,,,102112.84*49

2021-02-16T10:21:12.714Z,1613470872.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 106.770699 deg, deltaT: 4.411783 s, approachRate: 0.231199 m/s, LOS rate: -1.111865 deg/s, posRepo size: 4
2021-02-16T10:21:15.019Z,1613470875.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:15.828Z,1613470875.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:16.226Z,1613470876.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:17.052Z,1613470877.052 [Micromodem](INFO): Nmea in: $SNTTA,0.026379,,0.035305,,102117.29*58

2021-02-16T10:21:17.092Z,1613470877.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 104.893988 deg, deltaT: 4.490065 s, approachRate: 0.360796 m/s, LOS rate: -0.417970 deg/s, posRepo size: 4
2021-02-16T10:21:19.499Z,1613470879.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:20.262Z,1613470880.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:20.662Z,1613470880.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:21.493Z,1613470881.493 [Micromodem](INFO): Nmea in: $SNTTA,0.027462,,,,102121.72*41

2021-02-16T10:21:21.545Z,1613470881.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 102.607323 deg, deltaT: 4.392850 s, approachRate: 0.382440 m/s, LOS rate: -0.520543 deg/s, posRepo size: 4
2021-02-16T10:21:23.938Z,1613470883.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:24.711Z,1613470884.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:25.111Z,1613470885.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:25.936Z,1613470885.936 [Micromodem](INFO): Nmea in: $SNTTA,0.028797,,,,102126.17*43

2021-02-16T10:21:25.984Z,1613470885.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 102.985210 deg, deltaT: 4.475807 s, approachRate: 0.455783 m/s, LOS rate: 0.084429 deg/s, posRepo size: 4
2021-02-16T10:21:28.378Z,1613470888.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:29.146Z,1613470889.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:29.563Z,1613470889.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:30.407Z,1613470890.407 [Micromodem](INFO): Nmea in: $SNTTA,0.030260,,,,102130.60*40

2021-02-16T10:21:30.449Z,1613470890.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 85.374127 deg, deltaT: 4.446261 s, approachRate: 0.485801 m/s, LOS rate: -3.960875 deg/s, posRepo size: 4
2021-02-16T10:21:32.837Z,1613470892.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:33.617Z,1613470893.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:33.871Z,1613470893.871 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T10:21:33.999Z,1613470893.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:34.390Z,1613470894.390 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:34.840Z,1613470894.840 [Micromodem](INFO): Nmea in: $SNTTA,0.031923,,0.033079,,102135.08*56

2021-02-16T10:21:34.888Z,1613470894.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 45.530639 deg, deltaT: 4.485346 s, approachRate: 0.561831 m/s, LOS rate: -8.883036 deg/s, posRepo size: 4
2021-02-16T10:21:35.396Z,1613470895.396 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:36.389Z,1613470896.389 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:37.264Z,1613470897.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:37.392Z,1613470897.392 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:38.032Z,1613470898.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:38.396Z,1613470898.396 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:38.439Z,1613470898.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:39.280Z,1613470899.280 [Micromodem](INFO): Nmea in: $SNTTA,0.033654,,,,102139.49*42

2021-02-16T10:21:39.313Z,1613470899.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 70.898176 deg, deltaT: 4.380656 s, approachRate: 0.588952 m/s, LOS rate: 5.790808 deg/s, posRepo size: 4
2021-02-16T10:21:39.401Z,1613470899.401 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:40.407Z,1613470900.407 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:41.408Z,1613470901.408 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:41.728Z,1613470901.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:42.409Z,1613470902.409 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:42.487Z,1613470902.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:42.882Z,1613470902.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:43.413Z,1613470903.413 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:43.712Z,1613470903.712 [Micromodem](INFO): Nmea in: $SNTTA,0.035448,,,,102143.95*47

2021-02-16T10:21:43.775Z,1613470903.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.220001 m, bearing: 69.417542 deg, deltaT: 4.431816 s, approachRate: 0.609231 m/s, LOS rate: -0.334092 deg/s, posRepo size: 4
2021-02-16T10:21:44.417Z,1613470904.417 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T10:21:44.662Z,1613470904.662 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.123095
CHAN A1 (24V): 0.217684
CHAN A2 (12V): 0.083355
CHAN A3 (5V): 0.022297
CHAN B0 (3.3V): 0.005582
CHAN B1 (3.15aV): 0.003941
CHAN B2 (3.15bV): 0.004394
CHAN B3 (GND): 0.001413
OPEN: 0.006118
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T10:21:46.128Z,1613470906.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:46.920Z,1613470906.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:47.326Z,1613470907.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:48.152Z,1613470908.152 [Micromodem](INFO): Nmea in: $SNTTA,0.037360,,,,102148.38*44

2021-02-16T10:21:48.174Z,1613470908.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.039997 m, bearing: 66.731269 deg, deltaT: 4.488872 s, approachRate: 0.628219 m/s, LOS rate: -0.598429 deg/s, posRepo size: 4
2021-02-16T10:21:50.596Z,1613470910.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:51.374Z,1613470911.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:51.771Z,1613470911.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:52.625Z,1613470912.625 [Micromodem](INFO): Nmea in: $SNTTA,0.039419,,,,102152.83*48

2021-02-16T10:21:52.672Z,1613470912.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 70.283398 deg, deltaT: 4.439687 s, approachRate: 0.716268 m/s, LOS rate: 0.800085 deg/s, posRepo size: 4
2021-02-16T10:21:55.015Z,1613470915.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:21:55.830Z,1613470915.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:21:56.222Z,1613470916.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:21:57.052Z,1613470917.052 [Micromodem](INFO): Nmea in: $SNTTA,0.041574,,,,102157.29*48

2021-02-16T10:21:57.086Z,1613470917.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.580006 m, bearing: 80.250666 deg, deltaT: 4.456963 s, approachRate: 0.753878 m/s, LOS rate: 2.236336 deg/s, posRepo size: 4
2021-02-16T10:21:59.498Z,1613470919.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:00.274Z,1613470920.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:00.663Z,1613470920.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:01.492Z,1613470921.492 [Micromodem](INFO): Nmea in: $SNTTA,0.043647,,,,102201.73*46

2021-02-16T10:22:01.547Z,1613470921.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 69.270788 deg, deltaT: 4.390716 s, approachRate: 0.737919 m/s, LOS rate: -2.500703 deg/s, posRepo size: 4
2021-02-16T10:22:03.935Z,1613470923.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:04.701Z,1613470924.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:05.103Z,1613470925.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:05.928Z,1613470925.928 [Micromodem](INFO): Nmea in: $SNTTA,0.045673,,,,102206.16*43

2021-02-16T10:22:05.966Z,1613470925.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 77.537762 deg, deltaT: 4.486717 s, approachRate: 0.655268 m/s, LOS rate: 1.842544 deg/s, posRepo size: 4
2021-02-16T10:22:08.361Z,1613470928.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:09.140Z,1613470929.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:09.551Z,1613470929.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:10.388Z,1613470930.388 [Micromodem](INFO): Nmea in: $SNTTA,0.047511,,,,102210.60*40

2021-02-16T10:22:10.431Z,1613470930.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 49.719034 deg, deltaT: 4.405323 s, approachRate: 0.612896 m/s, LOS rate: -6.314799 deg/s, posRepo size: 4
2021-02-16T10:22:12.806Z,1613470932.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:13.615Z,1613470933.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:14.001Z,1613470934.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:14.840Z,1613470934.840 [Micromodem](INFO): Nmea in: $SNTTA,0.049692,,,,102215.08*4D

2021-02-16T10:22:14.865Z,1613470934.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.700005 m, bearing: 54.942346 deg, deltaT: 4.474972 s, approachRate: 0.724026 m/s, LOS rate: 1.167228 deg/s, posRepo size: 4
2021-02-16T10:22:17.252Z,1613470937.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:18.028Z,1613470938.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:18.442Z,1613470938.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:19.256Z,1613470939.256 [Micromodem](INFO): Nmea in: $SNTTA,0.051686,,,,102219.49*48

2021-02-16T10:22:19.293Z,1613470939.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.760002 m, bearing: 44.679365 deg, deltaT: 4.447208 s, approachRate: 0.688072 m/s, LOS rate: -2.307736 deg/s, posRepo size: 4
2021-02-16T10:22:21.712Z,1613470941.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:22.480Z,1613470942.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:22.884Z,1613470942.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:23.733Z,1613470943.733 [Micromodem](INFO): Nmea in: $SNTTA,0.053845,,,0.057314,102223.94*58

2021-02-16T10:22:23.767Z,1613470943.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 49.072262 deg, deltaT: 4.406818 s, approachRate: 0.735226 m/s, LOS rate: 0.996841 deg/s, posRepo size: 4
2021-02-16T10:22:26.135Z,1613470946.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:26.934Z,1613470946.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:27.322Z,1613470947.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:28.163Z,1613470948.163 [Micromodem](INFO): Nmea in: $SNTTA,0.056136,,,,102228.40*48

2021-02-16T10:22:28.191Z,1613470948.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.119995 m, bearing: 44.932143 deg, deltaT: 4.486279 s, approachRate: 0.695451 m/s, LOS rate: -0.922840 deg/s, posRepo size: 4
2021-02-16T10:22:30.632Z,1613470950.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:31.381Z,1613470951.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:31.783Z,1613470951.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:32.625Z,1613470952.625 [Micromodem](INFO): Nmea in: $SNTTA,0.058151,,,,102232.84*44

2021-02-16T10:22:32.686Z,1613470952.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 43.124967 deg, deltaT: 4.449855 s, approachRate: 0.755083 m/s, LOS rate: -0.406120 deg/s, posRepo size: 4
2021-02-16T10:22:35.027Z,1613470955.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:35.809Z,1613470955.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:36.227Z,1613470956.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:37.036Z,1613470957.036 [Micromodem](INFO): Nmea in: $SNTTA,0.060312,,,,102237.27*46

2021-02-16T10:22:37.068Z,1613470957.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.720001 m, bearing: 50.210691 deg, deltaT: 4.461423 s, approachRate: 0.726225 m/s, LOS rate: 1.588221 deg/s, posRepo size: 4
2021-02-16T10:22:39.473Z,1613470959.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:40.248Z,1613470960.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:40.686Z,1613470960.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:41.476Z,1613470961.476 [Micromodem](INFO): Nmea in: $SNTTA,0.062402,,,,102241.71*40

2021-02-16T10:22:41.522Z,1613470961.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 44.871539 deg, deltaT: 4.377170 s, approachRate: 0.712788 m/s, LOS rate: -1.219773 deg/s, posRepo size: 4
2021-02-16T10:22:43.924Z,1613470963.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:44.694Z,1613470964.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:45.105Z,1613470965.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:45.940Z,1613470965.940 [Micromodem](INFO): Nmea in: $SNTTA,0.064754,,,,102246.15*43

2021-02-16T10:22:45.995Z,1613470965.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 38.266828 deg, deltaT: 4.466511 s, approachRate: 0.738832 m/s, LOS rate: -1.478718 deg/s, posRepo size: 4
2021-02-16T10:22:48.364Z,1613470968.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:49.146Z,1613470969.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:49.542Z,1613470969.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:50.375Z,1613470970.375 [Micromodem](INFO): Nmea in: $SNTTA,0.066930,,,,102250.60*48

2021-02-16T10:22:50.429Z,1613470970.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 37.765960 deg, deltaT: 4.422219 s, approachRate: 0.746232 m/s, LOS rate: -0.113262 deg/s, posRepo size: 4
2021-02-16T10:22:52.810Z,1613470972.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:53.590Z,1613470973.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:53.986Z,1613470973.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:54.816Z,1613470974.816 [Micromodem](INFO): Nmea in: $SNTTA,0.069326,,,,102255.05*4C

2021-02-16T10:22:54.854Z,1613470974.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.100006 m, bearing: 37.695022 deg, deltaT: 4.515060 s, approachRate: 0.810621 m/s, LOS rate: -0.015711 deg/s, posRepo size: 4
2021-02-16T10:22:57.255Z,1613470977.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:22:58.031Z,1613470978.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:22:58.430Z,1613470978.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:22:59.256Z,1613470979.256 [Micromodem](INFO): Nmea in: $SNTTA,0.071761,,,,102259.49*46

2021-02-16T10:22:59.298Z,1613470979.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.639999 m, bearing: 38.246307 deg, deltaT: 4.440886 s, approachRate: 0.797137 m/s, LOS rate: 0.124139 deg/s, posRepo size: 4
2021-02-16T10:23:01.702Z,1613470981.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:02.469Z,1613470982.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:02.874Z,1613470982.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:03.703Z,1613470983.703 [Micromodem](INFO): Nmea in: $SNTTA,0.074022,,,,102303.93*4A

2021-02-16T10:23:03.771Z,1613470983.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.119995 m, bearing: 36.466049 deg, deltaT: 4.375549 s, approachRate: 0.795328 m/s, LOS rate: -0.406865 deg/s, posRepo size: 4
2021-02-16T10:23:06.134Z,1613470986.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:06.916Z,1613470986.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:07.318Z,1613470987.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:08.144Z,1613470988.144 [Micromodem](INFO): Nmea in: $SNTTA,0.076336,,,,102308.37*4B

2021-02-16T10:23:08.166Z,1613470988.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 34.338896 deg, deltaT: 4.487515 s, approachRate: 0.775487 m/s, LOS rate: -0.474016 deg/s, posRepo size: 4
2021-02-16T10:23:10.619Z,1613470990.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:11.391Z,1613470991.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:11.761Z,1613470991.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:12.618Z,1613470992.618 [Micromodem](INFO): Nmea in: $SNTTA,,,0.087598,,102312.85*45

2021-02-16T10:23:12.670Z,1613470992.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.840004 m, bearing: 36.954226 deg, deltaT: 4.420886 s, approachRate: 0.732884 m/s, LOS rate: 0.591585 deg/s, posRepo size: 4
2021-02-16T10:23:15.018Z,1613470995.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:15.800Z,1613470995.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:16.216Z,1613470996.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:17.039Z,1613470997.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102317.26*5C

2021-02-16T10:23:17.058Z,1613470997.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.439995 m, bearing: 35.560642 deg, deltaT: 4.493611 s, approachRate: 0.801135 m/s, LOS rate: -0.310126 deg/s, posRepo size: 4
2021-02-16T10:23:19.463Z,1613470999.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:20.244Z,1613471000.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:20.649Z,1613471000.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:21.472Z,1613471001.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102321.70*5A

2021-02-16T10:23:21.497Z,1613471001.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.860001 m, bearing: 36.063973 deg, deltaT: 4.379263 s, approachRate: 0.780955 m/s, LOS rate: 0.114935 deg/s, posRepo size: 4
2021-02-16T10:23:23.940Z,1613471003.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:24.688Z,1613471004.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:25.111Z,1613471005.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:25.928Z,1613471005.928 [Micromodem](INFO): Nmea in: $SNTTA,0.085519,,,,102326.15*40

2021-02-16T10:23:25.952Z,1613471005.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 36.835364 deg, deltaT: 4.450773 s, approachRate: 0.795369 m/s, LOS rate: 0.173316 deg/s, posRepo size: 4
2021-02-16T10:23:28.356Z,1613471008.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:29.134Z,1613471009.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:29.538Z,1613471009.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:30.360Z,1613471010.360 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102330.59*51

2021-02-16T10:23:30.419Z,1613471010.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 38.542440 deg, deltaT: 4.483285 s, approachRate: 0.802981 m/s, LOS rate: 0.380765 deg/s, posRepo size: 4
2021-02-16T10:23:32.821Z,1613471012.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:33.600Z,1613471013.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:33.982Z,1613471013.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:34.828Z,1613471014.828 [Micromodem](INFO): Nmea in: $SNTTA,0.090344,,,,102335.06*4A

2021-02-16T10:23:34.878Z,1613471014.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.600006 m, bearing: 38.602132 deg, deltaT: 4.625337 s, approachRate: 0.778323 m/s, LOS rate: 0.012906 deg/s, posRepo size: 4
2021-02-16T10:23:37.237Z,1613471017.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:38.020Z,1613471018.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:38.428Z,1613471018.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:39.256Z,1613471019.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102339.48*58

2021-02-16T10:23:39.293Z,1613471019.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 39.673157 deg, deltaT: 4.301279 s, approachRate: 0.781163 m/s, LOS rate: 0.249001 deg/s, posRepo size: 4
2021-02-16T10:23:41.700Z,1613471021.700 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:42.464Z,1613471022.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:42.870Z,1613471022.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:43.692Z,1613471023.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102343.92*52

2021-02-16T10:23:43.740Z,1613471023.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 46.776325 deg, deltaT: 4.373065 s, approachRate: 0.809499 m/s, LOS rate: 1.624300 deg/s, posRepo size: 4
2021-02-16T10:23:46.127Z,1613471026.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:46.913Z,1613471026.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:47.314Z,1613471027.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:48.140Z,1613471028.140 [Micromodem](INFO): Nmea in: $SNTTA,0.100519,,,,102348.37*44

2021-02-16T10:23:48.178Z,1613471028.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 42.776676 deg, deltaT: 4.468634 s, approachRate: 0.859326 m/s, LOS rate: -0.895050 deg/s, posRepo size: 4
2021-02-16T10:23:50.640Z,1613471030.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:51.356Z,1613471031.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:51.757Z,1613471031.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:52.591Z,1613471032.591 [Micromodem](INFO): Nmea in: $SNTTA,0.099797,,,,102352.82*44

2021-02-16T10:23:52.673Z,1613471032.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.880005 m, bearing: 43.989874 deg, deltaT: 4.428253 s, approachRate: 0.799411 m/s, LOS rate: 0.273968 deg/s, posRepo size: 4
2021-02-16T10:23:55.008Z,1613471035.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:23:55.801Z,1613471035.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:23:56.212Z,1613471036.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:23:57.036Z,1613471037.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102357.26*58

2021-02-16T10:23:57.080Z,1613471037.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 41.617531 deg, deltaT: 4.470360 s, approachRate: 0.805306 m/s, LOS rate: -0.530683 deg/s, posRepo size: 4
2021-02-16T10:23:57.081Z,1613471037.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.48 m. Resuming terminal guidance.
2021-02-16T10:23:57.081Z,1613471037.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:23:59.481Z,1613471039.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:00.249Z,1613471040.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:00.667Z,1613471040.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:01.472Z,1613471041.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102401.71*5E

2021-02-16T10:24:01.517Z,1613471041.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.080002 m, bearing: 35.911991 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:24:01.517Z,1613471041.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 35.911991deg and heading rate command to 0 deg/s.
2021-02-16T10:24:03.956Z,1613471043.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:04.702Z,1613471044.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:05.096Z,1613471045.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:05.940Z,1613471045.940 [Micromodem](INFO): Nmea in: $SNTTA,0.107283,,,,102406.16*49

2021-02-16T10:24:05.964Z,1613471045.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.080002 m, bearing: 41.666876 deg, deltaT: 4.453500 s, approachRate: 0.000000 m/s, LOS rate: 1.292216 deg/s, posRepo size: 2
2021-02-16T10:24:05.966Z,1613471045.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.080002 m,
      bearing: 41.666876 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.292216 deg/s,
      cmd update: 3.876649 deg/s,
      cmd heading: 35.911991 deg,
      new cmd heading: 35.911991 deg.

2021-02-16T10:24:08.354Z,1613471048.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:09.133Z,1613471049.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:09.537Z,1613471049.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:10.372Z,1613471050.372 [Micromodem](INFO): Nmea in: $SNTTA,0.110262,,,,102410.59*4C

2021-02-16T10:24:10.438Z,1613471050.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.720001 m, bearing: 60.148196 deg, deltaT: 4.459544 s, approachRate: 1.937418 m/s, LOS rate: 4.144218 deg/s, posRepo size: 3
2021-02-16T10:24:10.444Z,1613471050.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.720001 m,
      bearing: 60.148196 deg,
      approachRate: 1.937418 m/s,
      LOS rate: 4.144218 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 53.185280 deg,
      new cmd heading: 54.885256 deg.

2021-02-16T10:24:12.805Z,1613471052.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:13.602Z,1613471053.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:13.995Z,1613471053.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:14.804Z,1613471054.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,102415.06*5B

2021-02-16T10:24:15.658Z,1613471055.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:17.217Z,1613471057.217 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:24:18.456Z,1613471058.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:19.247Z,1613471059.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:19.639Z,1613471059.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:20.049Z,1613471060.049 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,EED,0,63,E4
B,186,80,80,43,FF
2021-02-16T10:24:20.463Z,1613471060.463 [Micromodem](INFO): Nmea in: $SNTTA,0.114549,,,,102420.70*4E

2021-02-16T10:24:21.284Z,1613471061.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:24.115Z,1613471064.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:26.945Z,1613471066.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:27.723Z,1613471067.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:28.125Z,1613471068.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:28.958Z,1613471068.958 [Micromodem](INFO): Nmea in: $SNTTA,0.117875,,,,102429.18*48

2021-02-16T10:24:29.376Z,1613471069.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 154.682461 deg, deltaT: 19.003633 s, approachRate: 0.549370 m/s, LOS rate: 4.974536 deg/s, posRepo size: 4
2021-02-16T10:24:29.383Z,1613471069.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 154.682461 deg,
      approachRate: 0.549370 m/s,
      LOS rate: 4.974536 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 281.277027 deg,
      new cmd heading: 285.650343 deg.

2021-02-16T10:24:31.804Z,1613471071.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:32.570Z,1613471072.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:32.970Z,1613471072.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:33.800Z,1613471073.800 [Micromodem](INFO): Nmea in: $SNTTA,0.118311,,,,102434.03*48

2021-02-16T10:24:33.845Z,1613471073.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 87.748608 deg, deltaT: 4.437585 s, approachRate: 0.000000 m/s, LOS rate: -15.083397 deg/s, posRepo size: 4
2021-02-16T10:24:33.846Z,1613471073.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.083397 deg/s. Setting heading cmd to target bearing of 87.748608deg and heading rate command to 0 deg/s.
2021-02-16T10:24:36.245Z,1613471076.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:37.010Z,1613471077.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:37.423Z,1613471077.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:38.235Z,1613471078.235 [Micromodem](INFO): Nmea in: $SNTTA,0.118693,,,,102438.47*4B

2021-02-16T10:24:38.694Z,1613471078.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 181.317166 deg, deltaT: 4.817849 s, approachRate: 0.386061 m/s, LOS rate: 19.421231 deg/s, posRepo size: 4
2021-02-16T10:24:38.694Z,1613471078.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.421231 deg/s. Setting heading cmd to target bearing of 181.317166deg and heading rate command to 0 deg/s.
2021-02-16T10:24:41.093Z,1613471081.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:41.858Z,1613471081.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:42.266Z,1613471082.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:43.076Z,1613471083.076 [Micromodem](INFO): Nmea in: $SNTTA,0.119738,,,,102443.32*44

2021-02-16T10:24:43.532Z,1613471083.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.580002 m, bearing: 138.594551 deg, deltaT: 4.841070 s, approachRate: 0.322242 m/s, LOS rate: -8.825036 deg/s, posRepo size: 4
2021-02-16T10:24:43.534Z,1613471083.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.580002 m,
      bearing: 138.594551 deg,
      approachRate: 0.322242 m/s,
      LOS rate: -8.825036 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 181.317166 deg,
      new cmd heading: 181.317166 deg.

2021-02-16T10:24:45.941Z,1613471085.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:46.704Z,1613471086.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:47.125Z,1613471087.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:47.940Z,1613471087.940 [Micromodem](INFO): Nmea in: $SNTTA,0.121303,,,,102448.16*4E

2021-02-16T10:24:47.978Z,1613471087.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.580002 m, bearing: 105.803305 deg, deltaT: 4.466105 s, approachRate: 0.000000 m/s, LOS rate: -7.342247 deg/s, posRepo size: 4
2021-02-16T10:24:47.980Z,1613471087.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.580002 m,
      bearing: 105.803305 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.342247 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 127.583829 deg,
      new cmd heading: 122.671989 deg.

2021-02-16T10:24:50.414Z,1613471090.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:51.149Z,1613471091.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:51.568Z,1613471091.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:52.375Z,1613471092.375 [Micromodem](INFO): Nmea in: $SNTTA,0.123355,,,,102452.61*44

2021-02-16T10:24:52.833Z,1613471092.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.500000 m, bearing: 104.741661 deg, deltaT: 4.863215 s, approachRate: 1.011676 m/s, LOS rate: -0.218301 deg/s, posRepo size: 4
2021-02-16T10:24:52.835Z,1613471092.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.500000 m,
      bearing: 104.741661 deg,
      approachRate: 1.011676 m/s,
      LOS rate: -0.218301 deg/s,
      cmd update: -0.654902 deg/s,
      cmd heading: 69.314179 deg,
      new cmd heading: 64.412767 deg.

2021-02-16T10:24:55.233Z,1613471095.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:24:55.997Z,1613471095.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:24:56.419Z,1613471096.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:24:57.225Z,1613471097.225 [Micromodem](INFO): Nmea in: $SNTTA,0.124376,,,,102457.46*42

2021-02-16T10:24:57.684Z,1613471097.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.599991 m, bearing: 156.290164 deg, deltaT: 4.839952 s, approachRate: 0.433887 m/s, LOS rate: 10.650623 deg/s, posRepo size: 4
2021-02-16T10:24:57.686Z,1613471097.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.599991 m,
      bearing: 156.290164 deg,
      approachRate: 0.433887 m/s,
      LOS rate: 10.650623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 66.141808 deg,
      new cmd heading: 65.869524 deg.

2021-02-16T10:25:00.051Z,1613471100.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:00.850Z,1613471100.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:01.259Z,1613471101.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:02.065Z,1613471102.065 [Micromodem](INFO): Nmea in: $SNTTA,0.125926,,,,102502.31*4D

2021-02-16T10:25:02.507Z,1613471102.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.939987 m, bearing: 106.435678 deg, deltaT: 4.835925 s, approachRate: 0.483878 m/s, LOS rate: -10.309194 deg/s, posRepo size: 4
2021-02-16T10:25:02.509Z,1613471102.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.939987 m,
      bearing: 106.435678 deg,
      approachRate: 0.483878 m/s,
      LOS rate: -10.309194 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.172370 deg,
      new cmd heading: 128.998386 deg.

2021-02-16T10:25:04.908Z,1613471104.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:05.692Z,1613471105.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:06.115Z,1613471106.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:06.941Z,1613471106.941 [Micromodem](INFO): Nmea in: $SNTTA,0.127826,,,,102507.15*4D

2021-02-16T10:25:07.386Z,1613471107.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.759995 m, bearing: 108.602064 deg, deltaT: 4.866875 s, approachRate: 0.579429 m/s, LOS rate: 0.445129 deg/s, posRepo size: 4
2021-02-16T10:25:07.393Z,1613471107.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.759995 m,
      bearing: 108.602064 deg,
      approachRate: 0.579429 m/s,
      LOS rate: 0.445129 deg/s,
      cmd update: 1.335386 deg/s,
      cmd heading: 65.722097 deg,
      new cmd heading: 60.842836 deg.

2021-02-16T10:25:09.781Z,1613471109.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:10.545Z,1613471110.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:10.946Z,1613471110.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:11.763Z,1613471111.763 [Micromodem](INFO): Nmea in: $SNTTA,0.129511,,,,102512.00*4A

2021-02-16T10:25:12.186Z,1613471112.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.219986 m, bearing: 136.914967 deg, deltaT: 4.845698 s, approachRate: 0.507665 m/s, LOS rate: 5.842895 deg/s, posRepo size: 4
2021-02-16T10:25:12.188Z,1613471112.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.219986 m,
      bearing: 136.914967 deg,
      approachRate: 0.507665 m/s,
      LOS rate: 5.842895 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.192968 deg,
      new cmd heading: 72.680212 deg.

2021-02-16T10:25:14.668Z,1613471114.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:15.432Z,1613471115.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:15.800Z,1613471115.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:16.638Z,1613471116.638 [Micromodem](INFO): Nmea in: $SNTTA,0.131175,,,,102516.89*40

2021-02-16T10:25:17.042Z,1613471117.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.800003 m, bearing: 111.300262 deg, deltaT: 4.883993 s, approachRate: 0.528260 m/s, LOS rate: -5.244624 deg/s, posRepo size: 4
2021-02-16T10:25:17.062Z,1613471117.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.800003 m,
      bearing: 111.300262 deg,
      approachRate: 0.528260 m/s,
      LOS rate: -5.244624 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 130.753461 deg,
      new cmd heading: 134.848653 deg.

2021-02-16T10:25:19.459Z,1613471119.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:20.238Z,1613471120.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:20.643Z,1613471120.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:21.469Z,1613471121.469 [Micromodem](INFO): Nmea in: $SNTTA,0.133072,,,,102521.70*46

2021-02-16T10:25:21.902Z,1613471121.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.619980 m, bearing: 101.937117 deg, deltaT: 4.788652 s, approachRate: 0.588887 m/s, LOS rate: -1.955278 deg/s, posRepo size: 4
2021-02-16T10:25:21.904Z,1613471121.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.619980 m,
      bearing: 101.937117 deg,
      approachRate: 0.588887 m/s,
      LOS rate: -1.955278 deg/s,
      cmd update: -5.865833 deg/s,
      cmd heading: 73.241575 deg,
      new cmd heading: 68.338351 deg.

2021-02-16T10:25:24.297Z,1613471124.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:25.084Z,1613471125.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:25.497Z,1613471125.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:26.307Z,1613471126.307 [Micromodem](INFO): Nmea in: $SNTTA,0.134361,,,,102526.54*41

2021-02-16T10:25:26.761Z,1613471126.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.599991 m, bearing: 159.716461 deg, deltaT: 4.848149 s, approachRate: 0.408406 m/s, LOS rate: 11.917815 deg/s, posRepo size: 4
2021-02-16T10:25:26.762Z,1613471126.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.917815 deg/s. Setting heading cmd to target bearing of 159.716461deg and heading rate command to 0 deg/s.
2021-02-16T10:25:28.747Z,1613471128.747 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:25:29.145Z,1613471129.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:29.932Z,1613471129.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:30.338Z,1613471130.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:31.150Z,1613471131.150 [Micromodem](INFO): Nmea in: $SNTTA,0.135921,,,,102531.39*43

2021-02-16T10:25:31.650Z,1613471131.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.879990 m, bearing: 122.289797 deg, deltaT: 4.849751 s, approachRate: 0.470127 m/s, LOS rate: -7.717234 deg/s, posRepo size: 4
2021-02-16T10:25:31.652Z,1613471131.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.879990 m,
      bearing: 122.289797 deg,
      approachRate: 0.470127 m/s,
      LOS rate: -7.717234 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.716461 deg,
      new cmd heading: 159.716461 deg.

2021-02-16T10:25:34.036Z,1613471134.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:34.785Z,1613471134.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:35.188Z,1613471135.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:36.001Z,1613471136.001 [Micromodem](INFO): Nmea in: $SNTTA,0.138357,,,,102536.24*4E

2021-02-16T10:25:36.463Z,1613471136.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.119995 m, bearing: 78.804865 deg, deltaT: 4.852785 s, approachRate: 0.667659 m/s, LOS rate: -8.960820 deg/s, posRepo size: 4
2021-02-16T10:25:36.465Z,1613471136.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.119995 m,
      bearing: 78.804865 deg,
      approachRate: 0.667659 m/s,
      LOS rate: -8.960820 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 101.509127 deg,
      new cmd heading: 96.438598 deg.

2021-02-16T10:25:38.859Z,1613471138.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:39.632Z,1613471139.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:40.047Z,1613471140.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:40.855Z,1613471140.855 [Micromodem](INFO): Nmea in: $SNTTA,0.140161,,,,102541.09*49

2021-02-16T10:25:41.274Z,1613471141.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 104.064332 deg, deltaT: 4.881293 s, approachRate: 0.663760 m/s, LOS rate: 5.174749 deg/s, posRepo size: 4
2021-02-16T10:25:41.276Z,1613471141.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.360001 m,
      bearing: 104.064332 deg,
      approachRate: 0.663760 m/s,
      LOS rate: 5.174749 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 42.934413 deg,
      new cmd heading: 38.703297 deg.

2021-02-16T10:25:43.717Z,1613471143.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:44.497Z,1613471144.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:44.899Z,1613471144.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:45.706Z,1613471145.706 [Micromodem](INFO): Nmea in: $SNTTA,0.141993,,,,102545.96*4F

2021-02-16T10:25:46.123Z,1613471146.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.999985 m, bearing: 113.071528 deg, deltaT: 4.834826 s, approachRate: 0.546035 m/s, LOS rate: 1.862982 deg/s, posRepo size: 4
2021-02-16T10:25:46.125Z,1613471146.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.999985 m,
      bearing: 113.071528 deg,
      approachRate: 0.546035 m/s,
      LOS rate: 1.862982 deg/s,
      cmd update: 5.588947 deg/s,
      cmd heading: 101.002090 deg,
      new cmd heading: 105.348766 deg.

2021-02-16T10:25:48.551Z,1613471148.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:49.335Z,1613471149.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:49.751Z,1613471149.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:50.550Z,1613471150.550 [Micromodem](INFO): Nmea in: $SNTTA,0.144156,,,,102550.79*4E

2021-02-16T10:25:50.991Z,1613471150.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.300003 m, bearing: 73.387808 deg, deltaT: 4.861450 s, approachRate: 0.678814 m/s, LOS rate: -8.162939 deg/s, posRepo size: 4
2021-02-16T10:25:50.993Z,1613471150.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.300003 m,
      bearing: 73.387808 deg,
      approachRate: 0.678814 m/s,
      LOS rate: -8.162939 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 128.149596 deg,
      new cmd heading: 130.234681 deg.

2021-02-16T10:25:53.430Z,1613471153.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:54.172Z,1613471154.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:54.586Z,1613471154.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:25:55.416Z,1613471155.416 [Micromodem](INFO): Nmea in: $SNTTA,0.146279,,,,102555.63*4C

2021-02-16T10:25:55.842Z,1613471155.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.479996 m, bearing: 116.425260 deg, deltaT: 4.819024 s, approachRate: 0.659883 m/s, LOS rate: 8.930740 deg/s, posRepo size: 4
2021-02-16T10:25:55.844Z,1613471155.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.479996 m,
      bearing: 116.425260 deg,
      approachRate: 0.659883 m/s,
      LOS rate: 8.930740 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 70.274854 deg,
      new cmd heading: 65.459758 deg.

2021-02-16T10:25:58.253Z,1613471158.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:25:59.034Z,1613471159.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:25:59.568Z,1613471159.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:00.246Z,1613471160.246 [Micromodem](INFO): Nmea in: $SNTTA,0.147902,,,,102600.49*41

2021-02-16T10:26:00.701Z,1613471160.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.819977 m, bearing: 129.622538 deg, deltaT: 4.819897 s, approachRate: 0.485484 m/s, LOS rate: 2.738083 deg/s, posRepo size: 4
2021-02-16T10:26:00.707Z,1613471160.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.819977 m,
      bearing: 129.622538 deg,
      approachRate: 0.485484 m/s,
      LOS rate: 2.738083 deg/s,
      cmd update: 8.214249 deg/s,
      cmd heading: 128.114243 deg,
      new cmd heading: 133.403687 deg.

2021-02-16T10:26:03.092Z,1613471163.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:03.869Z,1613471163.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:04.274Z,1613471164.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:05.091Z,1613471165.091 [Micromodem](INFO): Nmea in: $SNTTA,0.149886,,,,102605.33*4A

2021-02-16T10:26:05.536Z,1613471165.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.879974 m, bearing: 115.901985 deg, deltaT: 4.864996 s, approachRate: 0.628983 m/s, LOS rate: -2.820260 deg/s, posRepo size: 4
2021-02-16T10:26:05.538Z,1613471165.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.879974 m,
      bearing: 115.901985 deg,
      approachRate: 0.628983 m/s,
      LOS rate: -2.820260 deg/s,
      cmd update: -8.460779 deg/s,
      cmd heading: 168.076016 deg,
      new cmd heading: 171.410993 deg.

2021-02-16T10:26:07.948Z,1613471167.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:08.721Z,1613471168.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:09.134Z,1613471169.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:09.937Z,1613471169.937 [Micromodem](INFO): Nmea in: $SNTTA,0.151986,,,,102610.18*4F

2021-02-16T10:26:10.413Z,1613471170.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.519989 m, bearing: 138.921185 deg, deltaT: 4.859319 s, approachRate: 0.543289 m/s, LOS rate: 4.737125 deg/s, posRepo size: 4
2021-02-16T10:26:10.415Z,1613471170.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.519989 m,
      bearing: 138.921185 deg,
      approachRate: 0.543289 m/s,
      LOS rate: 4.737125 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.994822 deg,
      new cmd heading: 123.340349 deg.

2021-02-16T10:26:12.806Z,1613471172.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:13.567Z,1613471173.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:13.970Z,1613471173.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:14.793Z,1613471174.793 [Micromodem](INFO): Nmea in: $SNTTA,0.152942,,,,102615.03*4B

2021-02-16T10:26:15.232Z,1613471175.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.439987 m, bearing: 176.554257 deg, deltaT: 4.867421 s, approachRate: 0.394459 m/s, LOS rate: 7.731625 deg/s, posRepo size: 4
2021-02-16T10:26:15.234Z,1613471175.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.439987 m,
      bearing: 176.554257 deg,
      approachRate: 0.394459 m/s,
      LOS rate: 7.731625 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 185.402975 deg,
      new cmd heading: 189.998411 deg.

2021-02-16T10:26:17.699Z,1613471177.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:18.429Z,1613471178.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:18.838Z,1613471178.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:19.650Z,1613471179.650 [Micromodem](INFO): Nmea in: $SNTTA,0.153598,,,,102619.89*4F

2021-02-16T10:26:20.080Z,1613471180.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.339996 m, bearing: 121.060131 deg, deltaT: 4.855776 s, approachRate: 0.185348 m/s, LOS rate: -11.428477 deg/s, posRepo size: 4
2021-02-16T10:26:20.083Z,1613471180.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.339996 m,
      bearing: 121.060131 deg,
      approachRate: 0.185348 m/s,
      LOS rate: -11.428477 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.721128 deg,
      new cmd heading: 248.166204 deg.

2021-02-16T10:26:22.500Z,1613471182.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:23.275Z,1613471183.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:23.680Z,1613471183.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:24.491Z,1613471184.491 [Micromodem](INFO): Nmea in: $SNTTA,0.153566,,,,102624.73*45

2021-02-16T10:26:24.928Z,1613471184.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.160004 m, bearing: 228.721548 deg, deltaT: 4.807306 s, approachRate: -0.037441 m/s, LOS rate: 22.395374 deg/s, posRepo size: 4
2021-02-16T10:26:24.929Z,1613471184.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.395374 deg/s. Setting heading cmd to target bearing of 228.721548deg and heading rate command to 0 deg/s.
2021-02-16T10:26:27.333Z,1613471187.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:28.116Z,1613471188.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:28.543Z,1613471188.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:29.340Z,1613471189.340 [Micromodem](INFO): Nmea in: $SNTTA,0.152676,,,,102629.58*42

2021-02-16T10:26:30.166Z,1613471190.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:33.000Z,1613471193.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:35.818Z,1613471195.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:36.629Z,1613471196.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:37.007Z,1613471197.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:37.841Z,1613471197.841 [Micromodem](INFO): Nmea in: $SNTTA,0.150222,,,,102638.09*41

2021-02-16T10:26:38.264Z,1613471198.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.059998 m, bearing: 228.700224 deg, deltaT: 13.359548 s, approachRate: -0.381750 m/s, LOS rate: -0.001596 deg/s, posRepo size: 4
2021-02-16T10:26:38.266Z,1613471198.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.059998 m,
      bearing: 228.700224 deg,
      approachRate: -0.381750 m/s,
      LOS rate: -0.001596 deg/s,
      cmd update: -0.004788 deg/s,
      cmd heading: 228.721548 deg,
      new cmd heading: 228.721548 deg.

2021-02-16T10:26:40.689Z,1613471200.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:41.453Z,1613471201.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:41.862Z,1613471201.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:42.669Z,1613471202.669 [Micromodem](INFO): Nmea in: $SNTTA,0.148343,,,,102642.91*42

2021-02-16T10:26:43.098Z,1613471203.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 222.299988 m, bearing: 226.859255 deg, deltaT: 4.864073 s, approachRate: -0.567428 m/s, LOS rate: -0.378483 deg/s, posRepo size: 4
2021-02-16T10:26:43.116Z,1613471203.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.299988 m,
      bearing: 226.859255 deg,
      approachRate: -0.567428 m/s,
      LOS rate: -0.378483 deg/s,
      cmd update: -1.135449 deg/s,
      cmd heading: 228.698275 deg,
      new cmd heading: 228.696537 deg.

2021-02-16T10:26:45.542Z,1613471205.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:46.301Z,1613471206.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:46.711Z,1613471206.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:47.523Z,1613471207.523 [Micromodem](INFO): Nmea in: $SNTTA,0.146730,,,,102647.76*40

2021-02-16T10:26:47.970Z,1613471207.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.539993 m, bearing: 223.834834 deg, deltaT: 4.807918 s, approachRate: -0.574052 m/s, LOS rate: -0.629050 deg/s, posRepo size: 4
2021-02-16T10:26:47.977Z,1613471207.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.539993 m,
      bearing: 223.834834 deg,
      approachRate: -0.574052 m/s,
      LOS rate: -0.629050 deg/s,
      cmd update: -1.887150 deg/s,
      cmd heading: 223.234549 deg,
      new cmd heading: 222.753969 deg.

2021-02-16T10:26:50.370Z,1613471210.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:51.148Z,1613471211.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:51.553Z,1613471211.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:52.410Z,1613471212.410 [Micromodem](INFO): Nmea in: $SNTTA,0.144460,,,,102652.61*46

2021-02-16T10:26:52.832Z,1613471212.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.479996 m, bearing: 225.825998 deg, deltaT: 4.886999 s, approachRate: -0.626151 m/s, LOS rate: 0.407441 deg/s, posRepo size: 4
2021-02-16T10:26:52.833Z,1613471212.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.479996 m,
      bearing: 225.825998 deg,
      approachRate: -0.626151 m/s,
      LOS rate: 0.407441 deg/s,
      cmd update: 1.222323 deg/s,
      cmd heading: 214.012041 deg,
      new cmd heading: 213.269761 deg.

2021-02-16T10:26:55.231Z,1613471215.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:26:55.996Z,1613471215.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:26:56.421Z,1613471216.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:26:57.226Z,1613471217.226 [Micromodem](INFO): Nmea in: $SNTTA,0.142339,,,,102657.45*48

2021-02-16T10:26:57.696Z,1613471217.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.299988 m, bearing: 225.530811 deg, deltaT: 4.826797 s, approachRate: -0.658824 m/s, LOS rate: -0.061156 deg/s, posRepo size: 4
2021-02-16T10:26:57.698Z,1613471217.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.299988 m,
      bearing: 225.530811 deg,
      approachRate: -0.658824 m/s,
      LOS rate: -0.061156 deg/s,
      cmd update: -0.183468 deg/s,
      cmd heading: 219.887485 deg,
      new cmd heading: 220.443187 deg.

2021-02-16T10:27:00.075Z,1613471220.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:00.845Z,1613471220.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:01.250Z,1613471221.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:02.063Z,1613471222.063 [Micromodem](INFO): Nmea in: $SNTTA,0.140291,,,,102702.30*4A

2021-02-16T10:27:02.530Z,1613471222.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.299988 m, bearing: 225.732575 deg, deltaT: 4.837383 s, approachRate: -0.620170 m/s, LOS rate: 0.041709 deg/s, posRepo size: 4
2021-02-16T10:27:02.532Z,1613471222.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.299988 m,
      bearing: 225.732575 deg,
      approachRate: -0.620170 m/s,
      LOS rate: 0.041709 deg/s,
      cmd update: 0.125128 deg/s,
      cmd heading: 218.999329 deg,
      new cmd heading: 218.917073 deg.

2021-02-16T10:27:04.910Z,1613471224.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:05.705Z,1613471225.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:06.097Z,1613471226.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:06.923Z,1613471226.923 [Micromodem](INFO): Nmea in: $SNTTA,0.138269,,,,102707.16*43

2021-02-16T10:27:07.346Z,1613471227.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.179993 m, bearing: 225.147692 deg, deltaT: 4.848657 s, approachRate: -0.643476 m/s, LOS rate: -0.120628 deg/s, posRepo size: 4
2021-02-16T10:27:07.352Z,1613471227.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.179993 m,
      bearing: 225.147692 deg,
      approachRate: -0.643476 m/s,
      LOS rate: -0.120628 deg/s,
      cmd update: -0.361883 deg/s,
      cmd heading: 219.608091 deg,
      new cmd heading: 219.658029 deg.

2021-02-16T10:27:09.784Z,1613471229.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:10.558Z,1613471230.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:10.953Z,1613471230.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:11.770Z,1613471231.770 [Micromodem](INFO): Nmea in: $SNTTA,0.136062,,,,102712.02*45

2021-02-16T10:27:12.186Z,1613471232.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.879990 m, bearing: 225.284883 deg, deltaT: 4.884864 s, approachRate: -0.675557 m/s, LOS rate: 0.028085 deg/s, posRepo size: 4
2021-02-16T10:27:12.188Z,1613471232.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.879990 m,
      bearing: 225.284883 deg,
      approachRate: -0.675557 m/s,
      LOS rate: 0.028085 deg/s,
      cmd update: 0.084255 deg/s,
      cmd heading: 217.841785 deg,
      new cmd heading: 217.712117 deg.

2021-02-16T10:27:14.654Z,1613471234.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:15.414Z,1613471235.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:15.794Z,1613471235.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:16.644Z,1613471236.644 [Micromodem](INFO): Nmea in: $SNTTA,0.133932,,,,102716.87*45

2021-02-16T10:27:16.690Z,1613471236.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.759995 m, bearing: 225.649438 deg, deltaT: 4.478416 s, approachRate: -0.696674 m/s, LOS rate: 0.081403 deg/s, posRepo size: 4
2021-02-16T10:27:16.692Z,1613471236.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 225.649438 deg,
      approachRate: -0.696674 m/s,
      LOS rate: 0.081403 deg/s,
      cmd update: 0.244208 deg/s,
      cmd heading: 218.219113 deg,
      new cmd heading: 218.251456 deg.

2021-02-16T10:27:19.041Z,1613471239.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:19.832Z,1613471239.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:20.242Z,1613471240.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:21.050Z,1613471241.050 [Micromodem](INFO): Nmea in: $SNTTA,0.132127,,,,102721.29*48

2021-02-16T10:27:21.500Z,1613471241.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.000000 m, bearing: 225.368744 deg, deltaT: 4.770813 s, approachRate: -0.578517 m/s, LOS rate: -0.058836 deg/s, posRepo size: 4
2021-02-16T10:27:21.501Z,1613471241.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.000000 m,
      bearing: 225.368744 deg,
      approachRate: -0.578517 m/s,
      LOS rate: -0.058836 deg/s,
      cmd update: -0.176507 deg/s,
      cmd heading: 219.384076 deg,
      new cmd heading: 219.487314 deg.

2021-02-16T10:27:23.920Z,1613471243.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:24.685Z,1613471244.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:25.119Z,1613471245.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:25.928Z,1613471245.928 [Micromodem](INFO): Nmea in: $SNTTA,0.129838,,,,102726.14*4C

2021-02-16T10:27:25.977Z,1613471245.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.000000 m, bearing: 225.654314 deg, deltaT: 4.482533 s, approachRate: 0.000000 m/s, LOS rate: 0.063707 deg/s, posRepo size: 4
2021-02-16T10:27:25.982Z,1613471245.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.000000 m,
      bearing: 225.654314 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.063707 deg/s,
      cmd update: 0.191122 deg/s,
      cmd heading: 218.592106 deg,
      new cmd heading: 218.519110 deg.

2021-02-16T10:27:28.361Z,1613471248.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:29.166Z,1613471249.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:29.554Z,1613471249.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:30.418Z,1613471250.418 [Micromodem](INFO): Nmea in: $SNTTA,0.127807,,,,102730.62*48

2021-02-16T10:27:30.826Z,1613471250.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.519989 m, bearing: 226.088469 deg, deltaT: 4.895304 s, approachRate: -1.323720 m/s, LOS rate: 0.088688 deg/s, posRepo size: 4
2021-02-16T10:27:30.828Z,1613471250.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.519989 m,
      bearing: 226.088469 deg,
      approachRate: -1.323720 m/s,
      LOS rate: 0.088688 deg/s,
      cmd update: 0.266064 deg/s,
      cmd heading: 219.527676 deg,
      new cmd heading: 219.597799 deg.

2021-02-16T10:27:33.234Z,1613471253.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:34.014Z,1613471254.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:34.422Z,1613471254.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:35.232Z,1613471255.232 [Micromodem](INFO): Nmea in: $SNTTA,0.125668,,,,102735.47*4F

2021-02-16T10:27:35.700Z,1613471255.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 225.698110 deg, deltaT: 4.787859 s, approachRate: -0.676713 m/s, LOS rate: -0.081531 deg/s, posRepo size: 4
2021-02-16T10:27:35.702Z,1613471255.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 225.698110 deg,
      approachRate: -0.676713 m/s,
      LOS rate: -0.081531 deg/s,
      cmd update: -0.244593 deg/s,
      cmd heading: 220.801467 deg,
      new cmd heading: 220.922267 deg.

2021-02-16T10:27:38.052Z,1613471258.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:38.844Z,1613471258.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:39.264Z,1613471259.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:40.072Z,1613471260.072 [Micromodem](INFO): Nmea in: $SNTTA,0.123507,,,,102740.30*41

2021-02-16T10:27:40.114Z,1613471260.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 227.648252 deg, deltaT: 4.469031 s, approachRate: 0.000000 m/s, LOS rate: 0.436368 deg/s, posRepo size: 4
2021-02-16T10:27:40.116Z,1613471260.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 227.648252 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.436368 deg/s,
      cmd update: 1.309104 deg/s,
      cmd heading: 219.708347 deg,
      new cmd heading: 219.610910 deg.

2021-02-16T10:27:42.523Z,1613471262.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:43.293Z,1613471263.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:43.694Z,1613471263.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:44.520Z,1613471264.520 [Micromodem](INFO): Nmea in: $SNTTA,0.121593,,,,102744.75*4B

2021-02-16T10:27:44.545Z,1613471264.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 225.408865 deg, deltaT: 4.443917 s, approachRate: 0.000000 m/s, LOS rate: -0.503922 deg/s, posRepo size: 4
2021-02-16T10:27:44.547Z,1613471264.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 225.408865 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.503922 deg/s,
      cmd update: -1.511766 deg/s,
      cmd heading: 225.504749 deg,
      new cmd heading: 226.030567 deg.

2021-02-16T10:27:46.948Z,1613471266.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:47.732Z,1613471267.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:48.143Z,1613471268.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:48.960Z,1613471268.960 [Micromodem](INFO): Nmea in: $SNTTA,0.119805,,,,102749.19*45

2021-02-16T10:27:49.007Z,1613471269.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 224.943019 deg, deltaT: 4.470401 s, approachRate: 0.000000 m/s, LOS rate: -0.104207 deg/s, posRepo size: 4
2021-02-16T10:27:49.009Z,1613471269.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 224.943019 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.104207 deg/s,
      cmd update: -0.312620 deg/s,
      cmd heading: 218.769230 deg,
      new cmd heading: 218.151988 deg.

2021-02-16T10:27:51.449Z,1613471271.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:52.182Z,1613471272.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:52.617Z,1613471272.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:53.434Z,1613471273.434 [Micromodem](INFO): Nmea in: $SNTTA,0.117725,,,,102753.64*47

2021-02-16T10:27:53.459Z,1613471273.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.279984 m, bearing: 224.764887 deg, deltaT: 4.413395 s, approachRate: 0.000000 m/s, LOS rate: -0.040362 deg/s, posRepo size: 4
2021-02-16T10:27:53.461Z,1613471273.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.279984 m,
      bearing: 224.764887 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.040362 deg/s,
      cmd update: -0.121085 deg/s,
      cmd heading: 217.380976 deg,
      new cmd heading: 217.249781 deg.

2021-02-16T10:27:55.862Z,1613471275.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:27:56.638Z,1613471276.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:27:57.031Z,1613471277.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:27:57.849Z,1613471277.849 [Micromodem](INFO): Nmea in: $SNTTA,0.115816,,,,102758.10*42

2021-02-16T10:27:58.270Z,1613471278.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.520004 m, bearing: 225.277630 deg, deltaT: 4.845454 s, approachRate: -3.046150 m/s, LOS rate: 0.105819 deg/s, posRepo size: 4
2021-02-16T10:27:58.272Z,1613471278.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.520004 m,
      bearing: 225.277630 deg,
      approachRate: -3.046150 m/s,
      LOS rate: 0.105819 deg/s,
      cmd update: 0.317458 deg/s,
      cmd heading: 216.795729 deg,
      new cmd heading: 216.747567 deg.

2021-02-16T10:28:00.712Z,1613471280.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:01.468Z,1613471281.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:01.884Z,1613471281.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:02.700Z,1613471282.700 [Micromodem](INFO): Nmea in: $SNTTA,0.113652,,,,102802.93*41

2021-02-16T10:28:02.748Z,1613471282.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 225.418195 deg, deltaT: 4.422884 s, approachRate: -0.732555 m/s, LOS rate: 0.031781 deg/s, posRepo size: 4
2021-02-16T10:28:02.750Z,1613471282.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 225.418195 deg,
      approachRate: -0.732555 m/s,
      LOS rate: 0.031781 deg/s,
      cmd update: 0.095344 deg/s,
      cmd heading: 218.204939 deg,
      new cmd heading: 218.343555 deg.

2021-02-16T10:28:05.119Z,1613471285.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:05.914Z,1613471285.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:06.318Z,1613471286.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:07.161Z,1613471287.161 [Micromodem](INFO): Nmea in: $SNTTA,0.111818,,,,102807.37*48

2021-02-16T10:28:07.187Z,1613471287.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 225.329744 deg, deltaT: 4.483799 s, approachRate: -0.642310 m/s, LOS rate: -0.019727 deg/s, posRepo size: 4
2021-02-16T10:28:07.189Z,1613471287.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 225.329744 deg,
      approachRate: -0.642310 m/s,
      LOS rate: -0.019727 deg/s,
      cmd update: -0.059180 deg/s,
      cmd heading: 218.631677 deg,
      new cmd heading: 218.669757 deg.

2021-02-16T10:28:09.634Z,1613471289.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:10.384Z,1613471290.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:10.768Z,1613471290.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:11.620Z,1613471291.620 [Micromodem](INFO): Nmea in: $SNTTA,0.109844,,,,102811.84*47

2021-02-16T10:28:12.002Z,1613471292.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 224.990283 deg, deltaT: 4.879294 s, approachRate: -0.577954 m/s, LOS rate: -0.069572 deg/s, posRepo size: 4
2021-02-16T10:28:12.004Z,1613471292.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 224.990283 deg,
      approachRate: -0.577954 m/s,
      LOS rate: -0.069572 deg/s,
      cmd update: -0.208715 deg/s,
      cmd heading: 218.342432 deg,
      new cmd heading: 218.323050 deg.

2021-02-16T10:28:14.461Z,1613471294.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:15.221Z,1613471295.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:15.642Z,1613471295.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:16.444Z,1613471296.444 [Micromodem](INFO): Nmea in: $SNTTA,0.107677,,,,102816.68*42

2021-02-16T10:28:16.494Z,1613471296.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 225.063653 deg, deltaT: 4.389301 s, approachRate: -0.738160 m/s, LOS rate: 0.016716 deg/s, posRepo size: 4
2021-02-16T10:28:16.496Z,1613471296.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 225.063653 deg,
      approachRate: -0.738160 m/s,
      LOS rate: 0.016716 deg/s,
      cmd update: 0.050147 deg/s,
      cmd heading: 217.431446 deg,
      new cmd heading: 217.336705 deg.

2021-02-16T10:28:18.882Z,1613471298.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:19.665Z,1613471299.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:20.053Z,1613471300.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:20.906Z,1613471300.906 [Micromodem](INFO): Nmea in: $SNTTA,0.105721,,,,102821.12*4B

2021-02-16T10:28:20.960Z,1613471300.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.339996 m, bearing: 225.192881 deg, deltaT: 4.438486 s, approachRate: 0.000000 m/s, LOS rate: 0.029115 deg/s, posRepo size: 4
2021-02-16T10:28:20.967Z,1613471300.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.339996 m,
      bearing: 225.192881 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.029115 deg/s,
      cmd update: 0.087345 deg/s,
      cmd heading: 217.655253 deg,
      new cmd heading: 217.677145 deg.

2021-02-16T10:28:23.310Z,1613471303.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:24.102Z,1613471304.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:24.498Z,1613471304.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:25.332Z,1613471305.332 [Micromodem](INFO): Nmea in: $SNTTA,0.103707,,,,102825.57*4C

2021-02-16T10:28:25.358Z,1613471305.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.340012 m, bearing: 224.567181 deg, deltaT: 4.432165 s, approachRate: -1.353737 m/s, LOS rate: -0.141173 deg/s, posRepo size: 4
2021-02-16T10:28:25.360Z,1613471305.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.340012 m,
      bearing: 224.567181 deg,
      approachRate: -1.353737 m/s,
      LOS rate: -0.141173 deg/s,
      cmd update: -0.423518 deg/s,
      cmd heading: 218.042366 deg,
      new cmd heading: 218.079364 deg.

2021-02-16T10:28:27.804Z,1613471307.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:28.538Z,1613471308.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:28.942Z,1613471308.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:29.776Z,1613471309.776 [Micromodem](INFO): Nmea in: $SNTTA,0.101803,,,,102829.99*4B

2021-02-16T10:28:29.835Z,1613471309.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.520004 m, bearing: 225.106137 deg, deltaT: 4.470635 s, approachRate: -0.630785 m/s, LOS rate: 0.120555 deg/s, posRepo size: 4
2021-02-16T10:28:29.837Z,1613471309.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.520004 m,
      bearing: 225.106137 deg,
      approachRate: -0.630785 m/s,
      LOS rate: 0.120555 deg/s,
      cmd update: 0.361664 deg/s,
      cmd heading: 216.162295 deg,
      new cmd heading: 215.968673 deg.

2021-02-16T10:28:32.193Z,1613471312.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:32.980Z,1613471312.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:33.414Z,1613471313.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:34.225Z,1613471314.225 [Micromodem](INFO): Nmea in: $SNTTA,0.099922,,,,102834.44*45

2021-02-16T10:28:34.260Z,1613471314.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 225.014968 deg, deltaT: 4.426264 s, approachRate: -0.637108 m/s, LOS rate: -0.020597 deg/s, posRepo size: 4
2021-02-16T10:28:34.262Z,1613471314.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.699997 m,
      bearing: 225.014968 deg,
      approachRate: -0.637108 m/s,
      LOS rate: -0.020597 deg/s,
      cmd update: -0.061792 deg/s,
      cmd heading: 217.774487 deg,
      new cmd heading: 217.929593 deg.

2021-02-16T10:28:36.667Z,1613471316.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:37.429Z,1613471317.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:37.835Z,1613471317.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:38.656Z,1613471318.656 [Micromodem](INFO): Nmea in: $SNTTA,0.097941,,,,102838.89*43

2021-02-16T10:28:38.722Z,1613471318.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 225.410764 deg, deltaT: 4.421207 s, approachRate: -0.664974 m/s, LOS rate: 0.089522 deg/s, posRepo size: 4
2021-02-16T10:28:38.729Z,1613471318.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.760010 m,
      bearing: 225.410764 deg,
      approachRate: -0.664974 m/s,
      LOS rate: 0.089522 deg/s,
      cmd update: 0.268566 deg/s,
      cmd heading: 217.501299 deg,
      new cmd heading: 217.472267 deg.

2021-02-16T10:28:41.110Z,1613471321.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:41.876Z,1613471321.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:42.273Z,1613471322.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:43.108Z,1613471323.108 [Micromodem](INFO): Nmea in: $SNTTA,0.095976,,,,102843.34*4F

2021-02-16T10:28:43.154Z,1613471323.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.820007 m, bearing: 225.931115 deg, deltaT: 4.482025 s, approachRate: -0.655954 m/s, LOS rate: 0.116097 deg/s, posRepo size: 4
2021-02-16T10:28:43.161Z,1613471323.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.820007 m,
      bearing: 225.931115 deg,
      approachRate: -0.655954 m/s,
      LOS rate: 0.116097 deg/s,
      cmd update: 0.348292 deg/s,
      cmd heading: 218.704966 deg,
      new cmd heading: 218.817711 deg.

2021-02-16T10:28:45.546Z,1613471325.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:46.317Z,1613471326.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:46.719Z,1613471326.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:47.551Z,1613471327.551 [Micromodem](INFO): Nmea in: $SNTTA,0.094054,,,,102847.78*4B

2021-02-16T10:28:47.580Z,1613471327.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 225.350480 deg, deltaT: 4.415312 s, approachRate: -0.665865 m/s, LOS rate: -0.131505 deg/s, posRepo size: 4
2021-02-16T10:28:47.581Z,1613471327.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.880005 m,
      bearing: 225.350480 deg,
      approachRate: -0.665865 m/s,
      LOS rate: -0.131505 deg/s,
      cmd update: -0.394514 deg/s,
      cmd heading: 220.242984 deg,
      new cmd heading: 220.392439 deg.

2021-02-16T10:28:49.964Z,1613471329.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:50.756Z,1613471330.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:51.172Z,1613471331.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:51.984Z,1613471331.984 [Micromodem](INFO): Nmea in: $SNTTA,0.091980,,,,102852.21*46

2021-02-16T10:28:52.020Z,1613471332.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.820007 m, bearing: 224.450166 deg, deltaT: 4.511057 s, approachRate: -0.678333 m/s, LOS rate: -0.199580 deg/s, posRepo size: 4
2021-02-16T10:28:52.022Z,1613471332.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.820007 m,
      bearing: 224.450166 deg,
      approachRate: -0.678333 m/s,
      LOS rate: -0.199580 deg/s,
      cmd update: -0.598739 deg/s,
      cmd heading: 218.464423 deg,
      new cmd heading: 218.321939 deg.

2021-02-16T10:28:54.441Z,1613471334.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:55.205Z,1613471335.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:28:55.638Z,1613471335.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:28:56.436Z,1613471336.436 [Micromodem](INFO): Nmea in: $SNTTA,0.090100,,,,102856.66*40

2021-02-16T10:28:56.461Z,1613471336.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.940002 m, bearing: 225.017440 deg, deltaT: 4.362804 s, approachRate: -0.660127 m/s, LOS rate: 0.130025 deg/s, posRepo size: 4
2021-02-16T10:28:56.487Z,1613471336.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 225.017440 deg,
      approachRate: -0.660127 m/s,
      LOS rate: 0.130025 deg/s,
      cmd update: 0.390076 deg/s,
      cmd heading: 215.850682 deg,
      new cmd heading: 215.588890 deg.

2021-02-16T10:28:58.862Z,1613471338.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:28:59.644Z,1613471339.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:00.050Z,1613471340.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:00.872Z,1613471340.872 [Micromodem](INFO): Nmea in: $SNTTA,0.088193,,,,102901.10*41

2021-02-16T10:29:00.917Z,1613471340.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.120010 m, bearing: 224.385129 deg, deltaT: 4.469642 s, approachRate: -0.630921 m/s, LOS rate: -0.141468 deg/s, posRepo size: 4
2021-02-16T10:29:00.923Z,1613471340.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.120010 m,
      bearing: 224.385129 deg,
      approachRate: -0.630921 m/s,
      LOS rate: -0.141468 deg/s,
      cmd update: -0.424404 deg/s,
      cmd heading: 217.592708 deg,
      new cmd heading: 217.759395 deg.

2021-02-16T10:29:03.322Z,1613471343.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:04.093Z,1613471344.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:04.543Z,1613471344.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:05.332Z,1613471345.332 [Micromodem](INFO): Nmea in: $SNTTA,0.086254,,,,102905.55*42

2021-02-16T10:29:05.358Z,1613471345.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 225.060430 deg, deltaT: 4.428966 s, approachRate: -0.663812 m/s, LOS rate: 0.152474 deg/s, posRepo size: 4
2021-02-16T10:29:05.385Z,1613471345.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.180008 m,
      bearing: 225.060430 deg,
      approachRate: -0.663812 m/s,
      LOS rate: 0.152474 deg/s,
      cmd update: 0.457421 deg/s,
      cmd heading: 215.711348 deg,
      new cmd heading: 215.527250 deg.

2021-02-16T10:29:07.776Z,1613471347.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:08.550Z,1613471348.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:08.997Z,1613471348.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:09.808Z,1613471349.808 [Micromodem](INFO): Nmea in: $SNTTA,0.084394,,,,102910.01*48

2021-02-16T10:29:09.853Z,1613471349.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 225.220133 deg, deltaT: 4.523550 s, approachRate: -0.623404 m/s, LOS rate: 0.035305 deg/s, posRepo size: 4
2021-02-16T10:29:09.854Z,1613471349.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 225.220133 deg,
      approachRate: -0.623404 m/s,
      LOS rate: 0.035305 deg/s,
      cmd update: 0.105915 deg/s,
      cmd heading: 217.780505 deg,
      new cmd heading: 217.966335 deg.

2021-02-16T10:29:12.245Z,1613471352.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:13.027Z,1613471353.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:13.441Z,1613471353.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:14.260Z,1613471354.260 [Micromodem](INFO): Nmea in: $SNTTA,0.082218,,,,102914.48*42

2021-02-16T10:29:14.294Z,1613471354.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 224.448964 deg, deltaT: 4.426367 s, approachRate: -0.718424 m/s, LOS rate: -0.174222 deg/s, posRepo size: 4
2021-02-16T10:29:14.296Z,1613471354.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.180000 m,
      bearing: 224.448964 deg,
      approachRate: -0.718424 m/s,
      LOS rate: -0.174222 deg/s,
      cmd update: -0.522665 deg/s,
      cmd heading: 218.249331 deg,
      new cmd heading: 218.293958 deg.

2021-02-16T10:29:16.718Z,1613471356.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:17.473Z,1613471357.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:17.879Z,1613471357.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:18.711Z,1613471358.711 [Micromodem](INFO): Nmea in: $SNTTA,0.080335,,,,102918.93*44

2021-02-16T10:29:18.745Z,1613471358.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 223.988049 deg, deltaT: 4.430926 s, approachRate: -0.649976 m/s, LOS rate: -0.104022 deg/s, posRepo size: 4
2021-02-16T10:29:18.747Z,1613471358.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.300003 m,
      bearing: 223.988049 deg,
      approachRate: -0.649976 m/s,
      LOS rate: -0.104022 deg/s,
      cmd update: -0.312067 deg/s,
      cmd heading: 215.933454 deg,
      new cmd heading: 215.702591 deg.

2021-02-16T10:29:21.121Z,1613471361.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:21.918Z,1613471361.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:22.318Z,1613471362.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:23.144Z,1613471363.144 [Micromodem](INFO): Nmea in: $SNTTA,0.078389,,,,102923.38*4D

2021-02-16T10:29:23.182Z,1613471363.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.360001 m, bearing: 224.131292 deg, deltaT: 4.468632 s, approachRate: -0.657920 m/s, LOS rate: 0.032055 deg/s, posRepo size: 4
2021-02-16T10:29:23.184Z,1613471363.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.360001 m,
      bearing: 224.131292 deg,
      approachRate: -0.657920 m/s,
      LOS rate: 0.032055 deg/s,
      cmd update: 0.096165 deg/s,
      cmd heading: 214.539019 deg,
      new cmd heading: 214.411146 deg.

2021-02-16T10:29:25.643Z,1613471365.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:26.360Z,1613471366.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:26.784Z,1613471366.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:27.618Z,1613471367.618 [Micromodem](INFO): Nmea in: $SNTTA,0.076555,,,,102927.82*41

2021-02-16T10:29:27.653Z,1613471367.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 223.955223 deg, deltaT: 4.411870 s, approachRate: -0.625584 m/s, LOS rate: -0.039908 deg/s, posRepo size: 4
2021-02-16T10:29:27.654Z,1613471367.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 223.955223 deg,
      approachRate: -0.625584 m/s,
      LOS rate: -0.039908 deg/s,
      cmd update: -0.119724 deg/s,
      cmd heading: 214.963289 deg,
      new cmd heading: 215.008372 deg.

2021-02-16T10:29:30.019Z,1613471370.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:30.800Z,1613471370.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:31.215Z,1613471371.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:32.028Z,1613471372.028 [Micromodem](INFO): Nmea in: $SNTTA,0.074644,,,,102932.26*4A

2021-02-16T10:29:32.068Z,1613471372.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.779999 m, bearing: 224.755202 deg, deltaT: 4.509011 s, approachRate: -0.625416 m/s, LOS rate: 0.177418 deg/s, posRepo size: 4
2021-02-16T10:29:32.069Z,1613471372.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.779999 m,
      bearing: 224.755202 deg,
      approachRate: -0.625416 m/s,
      LOS rate: 0.177418 deg/s,
      cmd update: 0.532254 deg/s,
      cmd heading: 214.423907 deg,
      new cmd heading: 214.378641 deg.

2021-02-16T10:29:34.483Z,1613471374.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:35.270Z,1613471375.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:35.673Z,1613471375.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:36.505Z,1613471376.505 [Micromodem](INFO): Nmea in: $SNTTA,0.072707,,0.075474,,102936.73*55

2021-02-16T10:29:36.539Z,1613471376.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 224.526500 deg, deltaT: 4.381701 s, approachRate: -0.670971 m/s, LOS rate: -0.052195 deg/s, posRepo size: 4
2021-02-16T10:29:36.541Z,1613471376.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.840004 m,
      bearing: 224.526500 deg,
      approachRate: -0.670971 m/s,
      LOS rate: -0.052195 deg/s,
      cmd update: -0.156584 deg/s,
      cmd heading: 216.758203 deg,
      new cmd heading: 217.005022 deg.

2021-02-16T10:29:38.922Z,1613471378.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:39.713Z,1613471379.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:40.111Z,1613471380.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:40.936Z,1613471380.936 [Micromodem](INFO): Nmea in: $SNTTA,0.070789,,,,102941.17*48

2021-02-16T10:29:40.974Z,1613471380.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.019997 m, bearing: 224.395852 deg, deltaT: 4.471592 s, approachRate: -0.630650 m/s, LOS rate: -0.029217 deg/s, posRepo size: 4
2021-02-16T10:29:40.978Z,1613471380.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.019997 m,
      bearing: 224.395852 deg,
      approachRate: -0.630650 m/s,
      LOS rate: -0.029217 deg/s,
      cmd update: -0.087652 deg/s,
      cmd heading: 216.058045 deg,
      new cmd heading: 215.991449 deg.

2021-02-16T10:29:43.367Z,1613471383.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:44.141Z,1613471384.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:44.546Z,1613471384.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:45.380Z,1613471385.380 [Micromodem](INFO): Nmea in: $SNTTA,0.068736,,,,102945.60*41

2021-02-16T10:29:45.445Z,1613471385.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 224.006053 deg, deltaT: 4.447789 s, approachRate: -0.701471 m/s, LOS rate: -0.087639 deg/s, posRepo size: 4
2021-02-16T10:29:45.447Z,1613471385.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.900002 m,
      bearing: 224.006053 deg,
      approachRate: -0.701471 m/s,
      LOS rate: -0.087639 deg/s,
      cmd update: -0.262916 deg/s,
      cmd heading: 215.668523 deg,
      new cmd heading: 215.628680 deg.

2021-02-16T10:29:47.805Z,1613471387.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:48.619Z,1613471388.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:48.990Z,1613471388.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:29:49.829Z,1613471389.829 [Micromodem](INFO): Nmea in: $SNTTA,0.066810,,,,102950.08*4E

2021-02-16T10:29:49.867Z,1613471389.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 223.750604 deg, deltaT: 4.456826 s, approachRate: -0.646201 m/s, LOS rate: -0.057316 deg/s, posRepo size: 4
2021-02-16T10:29:49.869Z,1613471389.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.019997 m,
      bearing: 223.750604 deg,
      approachRate: -0.646201 m/s,
      LOS rate: -0.057316 deg/s,
      cmd update: -0.171949 deg/s,
      cmd heading: 214.495747 deg,
      new cmd heading: 214.386416 deg.

2021-02-16T10:29:51.080Z,1613471391.080 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T10:29:51.081Z,1613471391.081 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T10:29:51.081Z,1613471391.081 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T10:29:51.081Z,1613471391.081 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T10:29:51.081Z,1613471391.081 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T10:29:51.520Z,1613471391.520 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60490000005D000004003E0000000000000000151D80030C5669BF92F9E577F2BB746457F028299FFF01C53D57625E37E62CF197A4DB3527F27657761F
2021-02-16T10:29:51.520Z,1613471391.520 [Micromodem](INFO): Outgoing frame #2, 17 bytes: BC01C8566457BBAB66C8847311283DAD00
2021-02-16T10:29:51.521Z,1613471391.521 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T10:29:51.868Z,1613471391.868 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T10:29:52.265Z,1613471392.265 [Micromodem](INFO): Nmea in: $CADRQ,102952,1,10,0,64,1*7B

2021-02-16T10:29:52.266Z,1613471392.266 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60490000005D000004003E0000000000000000151D80030C5669BF92F9E577F2BB746457F028299FFF01C53D57625E37E62CF197A4DB3527F27657761F*30

2021-02-16T10:29:52.420Z,1613471392.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:52.674Z,1613471392.674 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T10:29:53.069Z,1613471393.069 [Micromodem](INFO): Nmea in: $CADRQ,102953,1,10,0,64,2*79

2021-02-16T10:29:53.070Z,1613471393.070 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,BC01C8566457BBAB66C8847311283DAD00*39

2021-02-16T10:29:53.477Z,1613471393.477 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T10:29:53.477Z,1613471393.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:29:53.881Z,1613471393.881 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T10:29:53.881Z,1613471393.881 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B

2021-02-16T10:29:55.104Z,1613471395.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:56.300Z,1613471396.300 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T10:29:56.300Z,1613471396.300 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T10:29:56.705Z,1613471396.705 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,102954.514020,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-02-16T10:29:56.705Z,1613471396.705 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,102954.514020,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-02-16T10:29:57.637Z,1613471397.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:29:59.145Z,1613471399.145 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T10:29:59.541Z,1613471399.541 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T10:29:59.542Z,1613471399.542 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0073.lzma.parts
2021-02-16T10:29:59.543Z,1613471399.543 [Micromodem](INFO): Packets left to send: 0
2021-02-16T10:29:59.941Z,1613471399.941 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216102959.238977,06,8992,39,0308,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,20.0,7.00,15,-4.00,-01,1.29,27,14500,4000*5E

2021-02-16T10:29:59.941Z,1613471399.941 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216102959.238977,06,8992,39,0308,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,20.0,7.00,15,-4.00,-01,1.29,27,14500,4000*5E

2021-02-16T10:30:00.024Z,1613471400.024 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T10:30:00.025Z,1613471400.025 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T10:30:00.025Z,1613471400.025 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T10:30:00.025Z,1613471400.025 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T10:30:00.025Z,1613471400.025 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T10:30:00.412Z,1613471400.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:03.198Z,1613471403.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:04.801Z,1613471404.801 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:05.212Z,1613471405.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:06.024Z,1613471406.024 [Micromodem](INFO): Nmea in: $SNTTA,0.059520,,,,103006.26*4B

2021-02-16T10:30:06.065Z,1613471406.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.040009 m, bearing: 225.430230 deg, deltaT: 16.216664 s, approachRate: -0.677081 m/s, LOS rate: 0.103574 deg/s, posRepo size: 4
2021-02-16T10:30:06.066Z,1613471406.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.040009 m,
      bearing: 225.430230 deg,
      approachRate: -0.677081 m/s,
      LOS rate: 0.103574 deg/s,
      cmd update: 0.310722 deg/s,
      cmd heading: 211.707277 deg,
      new cmd heading: 211.639022 deg.

2021-02-16T10:30:08.472Z,1613471408.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:09.282Z,1613471409.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:09.649Z,1613471409.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:10.462Z,1613471410.462 [Micromodem](INFO): Nmea in: $SNTTA,0.057533,,,,103010.74*47

2021-02-16T10:30:10.529Z,1613471410.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 225.267453 deg, deltaT: 4.382190 s, approachRate: -0.657209 m/s, LOS rate: -0.037145 deg/s, posRepo size: 4
2021-02-16T10:30:10.530Z,1613471410.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.159996 m,
      bearing: 225.267453 deg,
      approachRate: -0.657209 m/s,
      LOS rate: -0.037145 deg/s,
      cmd update: -0.111435 deg/s,
      cmd heading: 213.068864 deg,
      new cmd heading: 213.217658 deg.

2021-02-16T10:30:12.900Z,1613471412.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:13.689Z,1613471413.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:14.095Z,1613471414.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:14.916Z,1613471414.916 [Micromodem](INFO): Nmea in: $SNTTA,0.055622,,,,103015.15*44

2021-02-16T10:30:14.940Z,1613471414.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 225.608060 deg, deltaT: 4.474251 s, approachRate: -0.670502 m/s, LOS rate: 0.076126 deg/s, posRepo size: 4
2021-02-16T10:30:14.942Z,1613471414.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.160004 m,
      bearing: 225.608060 deg,
      approachRate: -0.670502 m/s,
      LOS rate: 0.076126 deg/s,
      cmd update: 0.228379 deg/s,
      cmd heading: 212.570276 deg,
      new cmd heading: 212.523934 deg.

2021-02-16T10:30:17.337Z,1613471417.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:18.122Z,1613471418.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:18.533Z,1613471418.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:19.353Z,1613471419.353 [Micromodem](INFO): Nmea in: $SNTTA,0.053640,,,,103019.58*43

2021-02-16T10:30:19.449Z,1613471419.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 225.873932 deg, deltaT: 4.442942 s, approachRate: -0.648220 m/s, LOS rate: 0.059841 deg/s, posRepo size: 4
2021-02-16T10:30:19.459Z,1613471419.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.279999 m,
      bearing: 225.873932 deg,
      approachRate: -0.648220 m/s,
      LOS rate: 0.059841 deg/s,
      cmd update: 0.179524 deg/s,
      cmd heading: 213.584074 deg,
      new cmd heading: 213.695028 deg.

2021-02-16T10:30:21.834Z,1613471421.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:22.560Z,1613471422.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:22.971Z,1613471422.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:23.795Z,1613471423.795 [Micromodem](INFO): Nmea in: $SNTTA,0.051711,,,,103024.02*45

2021-02-16T10:30:23.819Z,1613471423.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.339996 m, bearing: 225.595643 deg, deltaT: 4.473589 s, approachRate: -0.657191 m/s, LOS rate: -0.062207 deg/s, posRepo size: 4
2021-02-16T10:30:23.821Z,1613471423.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.339996 m,
      bearing: 225.595643 deg,
      approachRate: -0.657191 m/s,
      LOS rate: -0.062207 deg/s,
      cmd update: -0.186621 deg/s,
      cmd heading: 214.387894 deg,
      new cmd heading: 214.455760 deg.

2021-02-16T10:30:26.235Z,1613471426.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:27.006Z,1613471427.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:27.425Z,1613471427.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:28.236Z,1613471428.236 [Micromodem](INFO): Nmea in: $SNTTA,0.049870,,,,103028.46*48

2021-02-16T10:30:28.272Z,1613471428.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 225.736140 deg, deltaT: 4.415552 s, approachRate: -0.611474 m/s, LOS rate: 0.031819 deg/s, posRepo size: 4
2021-02-16T10:30:28.274Z,1613471428.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 225.736140 deg,
      approachRate: -0.611474 m/s,
      LOS rate: 0.031819 deg/s,
      cmd update: 0.095456 deg/s,
      cmd heading: 213.564621 deg,
      new cmd heading: 213.486268 deg.

2021-02-16T10:30:30.686Z,1613471430.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:31.448Z,1613471431.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:31.861Z,1613471431.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:32.693Z,1613471432.693 [Micromodem](INFO): Nmea in: $SNTTA,0.047864,,0.057890,,103032.90*5E

2021-02-16T10:30:32.759Z,1613471432.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.640007 m, bearing: 225.705049 deg, deltaT: 4.433974 s, approachRate: -0.676592 m/s, LOS rate: -0.007012 deg/s, posRepo size: 4
2021-02-16T10:30:32.761Z,1613471432.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 225.705049 deg,
      approachRate: -0.676592 m/s,
      LOS rate: -0.007012 deg/s,
      cmd update: -0.021036 deg/s,
      cmd heading: 213.988274 deg,
      new cmd heading: 214.032622 deg.

2021-02-16T10:30:33.488Z,1613471433.488 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T10:30:35.099Z,1613471435.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:35.899Z,1613471435.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:36.298Z,1613471436.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:37.128Z,1613471437.128 [Micromodem](INFO): Nmea in: $SNTTA,0.046020,,0.048776,,103037.36*57

2021-02-16T10:30:37.241Z,1613471437.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 226.272091 deg, deltaT: 4.471970 s, approachRate: -0.630594 m/s, LOS rate: 0.126799 deg/s, posRepo size: 4
2021-02-16T10:30:37.260Z,1613471437.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.820007 m,
      bearing: 226.272091 deg,
      approachRate: -0.630594 m/s,
      LOS rate: 0.126799 deg/s,
      cmd update: 0.380398 deg/s,
      cmd heading: 213.894286 deg,
      new cmd heading: 213.884121 deg.

2021-02-16T10:30:39.566Z,1613471439.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:40.336Z,1613471440.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:40.749Z,1613471440.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:41.573Z,1613471441.573 [Micromodem](INFO): Nmea in: $SNTTA,0.044164,,,,103041.79*4A

2021-02-16T10:30:41.649Z,1613471441.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.060005 m, bearing: 226.832891 deg, deltaT: 4.408283 s, approachRate: -0.626095 m/s, LOS rate: 0.127215 deg/s, posRepo size: 4
2021-02-16T10:30:41.651Z,1613471441.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 226.832891 deg,
      approachRate: -0.626095 m/s,
      LOS rate: 0.127215 deg/s,
      cmd update: 0.381645 deg/s,
      cmd heading: 215.572552 deg,
      new cmd heading: 215.754717 deg.

2021-02-16T10:30:43.996Z,1613471443.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:44.780Z,1613471444.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:45.186Z,1613471445.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:46.012Z,1613471446.012 [Micromodem](INFO): Nmea in: $SNTTA,0.042158,,,,103046.24*4C

2021-02-16T10:30:46.034Z,1613471446.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.059998 m, bearing: 227.006569 deg, deltaT: 4.514969 s, approachRate: -0.664458 m/s, LOS rate: 0.038467 deg/s, posRepo size: 4
2021-02-16T10:30:46.061Z,1613471446.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 227.006569 deg,
      approachRate: -0.664458 m/s,
      LOS rate: 0.038467 deg/s,
      cmd update: 0.115401 deg/s,
      cmd heading: 217.294299 deg,
      new cmd heading: 217.428958 deg.

2021-02-16T10:30:48.449Z,1613471448.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:49.230Z,1613471449.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:49.656Z,1613471449.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:50.464Z,1613471450.464 [Micromodem](INFO): Nmea in: $SNTTA,0.040248,,,,103050.69*42

2021-02-16T10:30:50.489Z,1613471450.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 226.831607 deg, deltaT: 4.381002 s, approachRate: -0.671077 m/s, LOS rate: -0.039937 deg/s, posRepo size: 4
2021-02-16T10:30:50.491Z,1613471450.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 226.831607 deg,
      approachRate: -0.671077 m/s,
      LOS rate: -0.039937 deg/s,
      cmd update: -0.119810 deg/s,
      cmd heading: 217.799872 deg,
      new cmd heading: 217.849143 deg.

2021-02-16T10:30:52.899Z,1613471452.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:53.669Z,1613471453.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:54.074Z,1613471454.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:54.900Z,1613471454.900 [Micromodem](INFO): Nmea in: $SNTTA,0.038247,,,,103055.13*4A

2021-02-16T10:30:54.952Z,1613471454.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.119999 m, bearing: 227.138351 deg, deltaT: 4.458025 s, approachRate: -0.672945 m/s, LOS rate: 0.068807 deg/s, posRepo size: 4
2021-02-16T10:30:54.954Z,1613471454.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.119999 m,
      bearing: 227.138351 deg,
      approachRate: -0.672945 m/s,
      LOS rate: 0.068807 deg/s,
      cmd update: 0.206421 deg/s,
      cmd heading: 217.265752 deg,
      new cmd heading: 217.214545 deg.

2021-02-16T10:30:57.319Z,1613471457.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:30:58.112Z,1613471458.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:30:58.518Z,1613471458.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:30:59.352Z,1613471459.352 [Micromodem](INFO): Nmea in: $SNTTA,0.036272,,,,103059.57*4E

2021-02-16T10:30:59.423Z,1613471459.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 227.096523 deg, deltaT: 4.439697 s, approachRate: -0.648693 m/s, LOS rate: -0.009421 deg/s, posRepo size: 4
2021-02-16T10:30:59.425Z,1613471459.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.239998 m,
      bearing: 227.096523 deg,
      approachRate: -0.648693 m/s,
      LOS rate: -0.009421 deg/s,
      cmd update: -0.028264 deg/s,
      cmd heading: 218.179684 deg,
      new cmd heading: 218.275250 deg.

2021-02-16T10:31:01.795Z,1613471461.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:02.556Z,1613471462.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:02.967Z,1613471462.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:03.784Z,1613471463.784 [Micromodem](INFO): Nmea in: $SNTTA,0.034321,,,,103104.01*41

2021-02-16T10:31:03.858Z,1613471463.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 226.819080 deg, deltaT: 4.468239 s, approachRate: -0.657978 m/s, LOS rate: -0.062092 deg/s, posRepo size: 4
2021-02-16T10:31:03.864Z,1613471463.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 226.819080 deg,
      approachRate: -0.657978 m/s,
      LOS rate: -0.062092 deg/s,
      cmd update: -0.186276 deg/s,
      cmd heading: 218.053174 deg,
      new cmd heading: 218.040901 deg.

2021-02-16T10:31:06.235Z,1613471466.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:07.005Z,1613471467.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:07.421Z,1613471467.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:08.236Z,1613471468.236 [Micromodem](INFO): Nmea in: $SNTTA,0.032504,,,,103108.46*49

2021-02-16T10:31:08.273Z,1613471468.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.540005 m, bearing: 227.487387 deg, deltaT: 4.427186 s, approachRate: -0.623419 m/s, LOS rate: 0.150955 deg/s, posRepo size: 4
2021-02-16T10:31:08.275Z,1613471468.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.540005 m,
      bearing: 227.487387 deg,
      approachRate: -0.623419 m/s,
      LOS rate: 0.150955 deg/s,
      cmd update: 0.452866 deg/s,
      cmd heading: 217.227678 deg,
      new cmd heading: 217.149861 deg.

2021-02-16T10:31:10.681Z,1613471470.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:11.462Z,1613471471.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:11.877Z,1613471471.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:12.689Z,1613471472.689 [Micromodem](INFO): Nmea in: $SNTTA,0.030634,,0.045122,,103112.92*57

2021-02-16T10:31:12.738Z,1613471472.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 226.406646 deg, deltaT: 4.412277 s, approachRate: -0.625528 m/s, LOS rate: -0.244939 deg/s, posRepo size: 4
2021-02-16T10:31:12.740Z,1613471472.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.780003 m,
      bearing: 226.406646 deg,
      approachRate: -0.625528 m/s,
      LOS rate: -0.244939 deg/s,
      cmd update: -0.734818 deg/s,
      cmd heading: 219.227686 deg,
      new cmd heading: 219.438665 deg.

2021-02-16T10:31:15.114Z,1613471475.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:15.910Z,1613471475.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:16.294Z,1613471476.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:17.128Z,1613471477.128 [Micromodem](INFO): Nmea in: $SNTTA,0.028646,,,,103117.37*4F

2021-02-16T10:31:17.162Z,1613471477.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.780003 m, bearing: 227.498807 deg, deltaT: 4.491902 s, approachRate: -0.667869 m/s, LOS rate: 0.243140 deg/s, posRepo size: 4
2021-02-16T10:31:17.164Z,1613471477.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 227.498807 deg,
      approachRate: -0.667869 m/s,
      LOS rate: 0.243140 deg/s,
      cmd update: 0.729420 deg/s,
      cmd heading: 215.927208 deg,
      new cmd heading: 215.634137 deg.

2021-02-16T10:31:19.551Z,1613471479.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:20.343Z,1613471480.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:20.738Z,1613471480.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:21.570Z,1613471481.570 [Micromodem](INFO): Nmea in: $SNTTA,0.026801,,,,103121.80*45

2021-02-16T10:31:21.647Z,1613471481.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 227.244806 deg, deltaT: 4.426043 s, approachRate: -0.623583 m/s, LOS rate: -0.057388 deg/s, posRepo size: 4
2021-02-16T10:31:21.649Z,1613471481.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.019997 m,
      bearing: 227.244806 deg,
      approachRate: -0.623583 m/s,
      LOS rate: -0.057388 deg/s,
      cmd update: -0.172164 deg/s,
      cmd heading: 219.151928 deg,
      new cmd heading: 219.486290 deg.

2021-02-16T10:31:23.983Z,1613471483.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:24.793Z,1613471484.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:25.188Z,1613471485.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:26.016Z,1613471486.016 [Micromodem](INFO): Nmea in: $SNTTA,0.024828,,,,103126.25*44

2021-02-16T10:31:26.057Z,1613471486.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.019997 m, bearing: 226.626633 deg, deltaT: 4.500501 s, approachRate: -0.666592 m/s, LOS rate: -0.137357 deg/s, posRepo size: 4
2021-02-16T10:31:26.057Z,1613471486.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.02 m.
2021-02-16T10:31:26.059Z,1613471486.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.019997 m,
      bearing: 226.626633 deg,
      approachRate: -0.666592 m/s,
      LOS rate: -0.137357 deg/s,
      cmd update: -0.412070 deg/s,
      cmd heading: 218.376867 deg,
      new cmd heading: 218.313092 deg.

2021-02-16T10:31:26.434Z,1613471486.434 [PowerOnly](INFO): Powering up loadControl
2021-02-16T10:31:28.457Z,1613471488.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:29.230Z,1613471489.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:29.646Z,1613471489.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:30.456Z,1613471490.456 [Micromodem](INFO): Nmea in: $SNTTA,0.022842,,,,103130.69*41

2021-02-16T10:31:30.497Z,1613471490.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.079998 m, bearing: 226.794860 deg, deltaT: 4.373859 s, approachRate: -0.672175 m/s, LOS rate: 0.038462 deg/s, posRepo size: 4
2021-02-16T10:31:30.498Z,1613471490.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.08 m.
2021-02-16T10:31:30.498Z,1613471490.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.08 m.
2021-02-16T10:31:30.498Z,1613471490.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T10:31:30.500Z,1613471490.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.079998 m,
      bearing: 226.794860 deg,
      approachRate: -0.672175 m/s,
      LOS rate: 0.038462 deg/s,
      cmd update: 0.115386 deg/s,
      cmd heading: 216.579551 deg,
      new cmd heading: 216.394354 deg.

2021-02-16T10:31:32.891Z,1613471492.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:33.669Z,1613471493.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:34.070Z,1613471494.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:34.898Z,1613471494.898 [Micromodem](INFO): Nmea in: $SNTTA,0.020904,,,,103135.13*48

2021-02-16T10:31:34.980Z,1613471494.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 228.608631 deg, deltaT: 4.459677 s, approachRate: -0.659241 m/s, LOS rate: 0.406704 deg/s, posRepo size: 4
2021-02-16T10:31:34.982Z,1613471494.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 228.608631 deg,
      approachRate: -0.659241 m/s,
      LOS rate: 0.406704 deg/s,
      cmd update: 1.220113 deg/s,
      cmd heading: 217.095524 deg,
      new cmd heading: 217.148131 deg.

2021-02-16T10:31:37.335Z,1613471497.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:38.116Z,1613471498.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:38.519Z,1613471498.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:39.384Z,1613471499.384 [Micromodem](INFO): Nmea in: $SNTTA,0.018955,,,,103139.57*4B

2021-02-16T10:31:39.431Z,1613471499.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 227.651885 deg, deltaT: 4.436586 s, approachRate: -0.662671 m/s, LOS rate: -0.215649 deg/s, posRepo size: 4
2021-02-16T10:31:39.433Z,1613471499.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 227.651885 deg,
      approachRate: -0.662671 m/s,
      LOS rate: -0.215649 deg/s,
      cmd update: -0.646947 deg/s,
      cmd heading: 222.494280 deg,
      new cmd heading: 223.082668 deg.

2021-02-16T10:31:41.804Z,1613471501.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:42.552Z,1613471502.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:42.979Z,1613471502.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:43.784Z,1613471503.784 [Micromodem](INFO): Nmea in: $SNTTA,0.016820,,,0.052813,103144.01*5C

2021-02-16T10:31:43.839Z,1613471503.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 227.124636 deg, deltaT: 4.476482 s, approachRate: -0.710379 m/s, LOS rate: -0.117782 deg/s, posRepo size: 4
2021-02-16T10:31:43.841Z,1613471503.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.020000 m,
      bearing: 227.124636 deg,
      approachRate: -0.710379 m/s,
      LOS rate: -0.117782 deg/s,
      cmd update: -0.353346 deg/s,
      cmd heading: 219.594783 deg,
      new cmd heading: 219.340853 deg.

2021-02-16T10:31:46.233Z,1613471506.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:47.001Z,1613471507.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:47.418Z,1613471507.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:48.236Z,1613471508.236 [Micromodem](INFO): Nmea in: $SNTTA,0.014962,,,,103148.46*45

2021-02-16T10:31:48.282Z,1613471508.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.199999 m, bearing: 227.140700 deg, deltaT: 4.396834 s, approachRate: -0.641371 m/s, LOS rate: 0.003654 deg/s, posRepo size: 4
2021-02-16T10:31:48.290Z,1613471508.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.199999 m,
      bearing: 227.140700 deg,
      approachRate: -0.641371 m/s,
      LOS rate: 0.003654 deg/s,
      cmd update: 0.010961 deg/s,
      cmd heading: 218.037418 deg,
      new cmd heading: 217.878949 deg.

2021-02-16T10:31:50.690Z,1613471510.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:51.441Z,1613471511.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:51.852Z,1613471511.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:52.672Z,1613471512.672 [Micromodem](INFO): Nmea in: $SNTTA,0.013001,,,,103152.90*4E

2021-02-16T10:31:52.742Z,1613471512.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 228.730167 deg, deltaT: 4.430928 s, approachRate: -0.649976 m/s, LOS rate: 0.358721 deg/s, posRepo size: 4
2021-02-16T10:31:52.748Z,1613471512.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.320000 m,
      bearing: 228.730167 deg,
      approachRate: -0.649976 m/s,
      LOS rate: 0.358721 deg/s,
      cmd update: 1.076163 deg/s,
      cmd heading: 218.085985 deg,
      new cmd heading: 218.091216 deg.

2021-02-16T10:31:55.124Z,1613471515.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:31:55.892Z,1613471515.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:31:56.295Z,1613471516.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:31:57.120Z,1613471517.120 [Micromodem](INFO): Nmea in: $SNTTA,0.011084,,,,103157.35*4B

2021-02-16T10:31:57.163Z,1613471517.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.380001 m, bearing: 227.401491 deg, deltaT: 4.503904 s, approachRate: -0.652767 m/s, LOS rate: -0.295006 deg/s, posRepo size: 4
2021-02-16T10:31:57.166Z,1613471517.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.380001 m,
      bearing: 227.401491 deg,
      approachRate: -0.652767 m/s,
      LOS rate: -0.295006 deg/s,
      cmd update: -0.885017 deg/s,
      cmd heading: 222.923393 deg,
      new cmd heading: 223.356645 deg.

2021-02-16T10:31:59.575Z,1613471519.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:00.335Z,1613471520.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:00.738Z,1613471520.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:01.576Z,1613471521.576 [Micromodem](INFO): Nmea in: $SNTTA,0.009194,,,,103201.79*4A

2021-02-16T10:32:01.667Z,1613471521.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 225.280567 deg, deltaT: 4.441201 s, approachRate: -0.621454 m/s, LOS rate: -0.477556 deg/s, posRepo size: 4
2021-02-16T10:32:01.669Z,1613471521.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 225.280567 deg,
      approachRate: -0.621454 m/s,
      LOS rate: -0.477556 deg/s,
      cmd update: -1.432669 deg/s,
      cmd heading: 218.994069 deg,
      new cmd heading: 218.583937 deg.

2021-02-16T10:32:03.980Z,1613471523.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:04.777Z,1613471524.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:05.180Z,1613471525.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:06.020Z,1613471526.020 [Micromodem](INFO): Nmea in: $SNTTA,0.007305,,,,103206.23*46

2021-02-16T10:32:06.046Z,1613471526.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 223.703148 deg, deltaT: 4.472434 s, approachRate: -0.643945 m/s, LOS rate: -0.352698 deg/s, posRepo size: 4
2021-02-16T10:32:06.048Z,1613471526.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 223.703148 deg,
      approachRate: -0.643945 m/s,
      LOS rate: -0.352698 deg/s,
      cmd update: -1.058094 deg/s,
      cmd heading: 212.575421 deg,
      new cmd heading: 212.050818 deg.

2021-02-16T10:32:08.454Z,1613471528.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:09.226Z,1613471529.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:09.625Z,1613471529.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:10.452Z,1613471530.452 [Micromodem](INFO): Nmea in: $SNTTA,0.005517,,,,103210.69*48

2021-02-16T10:32:10.478Z,1613471530.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 225.992750 deg, deltaT: 4.367264 s, approachRate: -0.618236 m/s, LOS rate: 0.524265 deg/s, posRepo size: 4
2021-02-16T10:32:10.480Z,1613471530.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 225.992750 deg,
      approachRate: -0.618236 m/s,
      LOS rate: 0.524265 deg/s,
      cmd update: 1.572794 deg/s,
      cmd heading: 207.951832 deg,
      new cmd heading: 207.498548 deg.

2021-02-16T10:32:12.895Z,1613471532.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:13.687Z,1613471533.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:14.066Z,1613471534.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:14.908Z,1613471534.908 [Micromodem](INFO): Nmea in: $SNTTA,0.003937,,,,103215.14*4F

2021-02-16T10:32:14.958Z,1613471534.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 224.268182 deg, deltaT: 4.445049 s, approachRate: -0.526429 m/s, LOS rate: -0.387975 deg/s, posRepo size: 4
2021-02-16T10:32:14.964Z,1613471534.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 224.268182 deg,
      approachRate: -0.526429 m/s,
      LOS rate: -0.387975 deg/s,
      cmd update: -1.163925 deg/s,
      cmd heading: 214.942754 deg,
      new cmd heading: 215.672387 deg.

2021-02-16T10:32:17.339Z,1613471537.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:18.108Z,1613471538.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:18.511Z,1613471538.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:19.372Z,1613471539.372 [Micromodem](INFO): Nmea in: $SNTTA,0.002735,,0.017871,,103219.57*5F

2021-02-16T10:32:19.436Z,1613471539.436 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T10:32:19.436Z,1613471539.436 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:32:19.436Z,1613471539.436 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T10:32:19.436Z,1613471539.436 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:32:19.436Z,1613471539.436 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T10:32:19.437Z,1613471539.437 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-02-16T10:32:19.437Z,1613471539.437 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T10:32:19.438Z,1613471539.438 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T10:32:19.438Z,1613471539.438 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T10:32:19.445Z,1613471539.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 201.285060 deg, deltaT: 4.452806 s, approachRate: -0.363815 m/s, LOS rate: -5.161492 deg/s, posRepo size: 4
2021-02-16T10:32:19.453Z,1613471539.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 201.285060 deg,
      approachRate: -0.363815 m/s,
      LOS rate: -5.161492 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 209.759902 deg,
      new cmd heading: 209.180577 deg.

2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T103219: (41.552319, -70.708603)
2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T10:32:19.785Z,1613471539.785 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:32:19.786Z,1613471539.786 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T10:32:19.786Z,1613471539.786 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T10:32:19.786Z,1613471539.786 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:32:20.169Z,1613471540.169 [UniversalFixResidualReporter](INFO): Fix residual: 6.0 %DT, over the last 549.0 m. Residual distance 33.0 m at bearing 143.5 degrees. Fix at (41.5540, -70.7080) with 0.0 m made good.
2021-02-16T10:32:21.783Z,1613471541.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:22.554Z,1613471542.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:22.956Z,1613471542.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:23.781Z,1613471543.781 [Micromodem](INFO): Nmea in: $SNTTA,0.003012,,,,103224.01*47

2021-02-16T10:32:23.815Z,1613471543.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 214.996651 deg, deltaT: 4.478215 s, approachRate: 0.093787 m/s, LOS rate: 3.061843 deg/s, posRepo size: 4
2021-02-16T10:32:23.817Z,1613471543.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 214.996651 deg,
      approachRate: 0.093787 m/s,
      LOS rate: 3.061843 deg/s,
      cmd update: 9.185529 deg/s,
      cmd heading: 156.335565 deg,
      new cmd heading: 151.346241 deg.

2021-02-16T10:32:26.216Z,1613471546.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:27.009Z,1613471547.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:27.421Z,1613471547.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:28.233Z,1613471548.233 [Micromodem](INFO): Nmea in: $SNTTA,0.004278,,,,103228.47*40

2021-02-16T10:32:28.248Z,1613471548.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 189.108909 deg, deltaT: 4.419505 s, approachRate: 0.461590 m/s, LOS rate: -5.857611 deg/s, posRepo size: 4
2021-02-16T10:32:28.250Z,1613471548.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 189.108909 deg,
      approachRate: 0.461590 m/s,
      LOS rate: -5.857611 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.135405 deg,
      new cmd heading: 200.871417 deg.

2021-02-16T10:32:30.683Z,1613471550.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:31.441Z,1613471551.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:31.848Z,1613471551.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:32.676Z,1613471552.676 [Micromodem](INFO): Nmea in: $SNTTA,0.005691,,0.020417,,103232.90*5D

2021-02-16T10:32:32.739Z,1613471552.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.639998 m, bearing: 181.699438 deg, deltaT: 4.424013 s, approachRate: 0.474682 m/s, LOS rate: -1.674830 deg/s, posRepo size: 4
2021-02-16T10:32:32.741Z,1613471552.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 181.699438 deg,
      approachRate: 0.474682 m/s,
      LOS rate: -1.674830 deg/s,
      cmd update: -5.024491 deg/s,
      cmd heading: 143.999331 deg,
      new cmd heading: 138.412419 deg.

2021-02-16T10:32:35.090Z,1613471555.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:35.881Z,1613471555.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:36.291Z,1613471556.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:37.112Z,1613471557.112 [Micromodem](INFO): Nmea in: $SNTTA,0.008099,,,,103237.34*4B

2021-02-16T10:32:37.134Z,1613471557.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 194.645420 deg, deltaT: 4.476646 s, approachRate: 0.804174 m/s, LOS rate: 2.891893 deg/s, posRepo size: 4
2021-02-16T10:32:37.156Z,1613471557.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 194.645420 deg,
      approachRate: 0.804174 m/s,
      LOS rate: 2.891893 deg/s,
      cmd update: 8.675679 deg/s,
      cmd heading: 121.526626 deg,
      new cmd heading: 119.555754 deg.

2021-02-16T10:32:39.582Z,1613471559.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:40.325Z,1613471560.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:40.729Z,1613471560.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:41.556Z,1613471561.556 [Micromodem](INFO): Nmea in: $SNTTA,0.008780,,,,103241.78*4D

2021-02-16T10:32:41.635Z,1613471561.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.319998 m, bearing: 168.823534 deg, deltaT: 4.406726 s, approachRate: 0.245079 m/s, LOS rate: -5.859653 deg/s, posRepo size: 4
2021-02-16T10:32:41.636Z,1613471561.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.32 m. Rolling out.
2021-02-16T10:32:41.636Z,1613471561.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T10:32:44.001Z,1613471564.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:44.425Z,1613471564.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:32:44.773Z,1613471564.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:45.174Z,1613471565.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:46.004Z,1613471566.004 [Micromodem](INFO): Nmea in: $SNTTA,0.010456,,,,103246.23*45

2021-02-16T10:32:46.050Z,1613471566.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 120.509850 deg, deltaT: 4.528080 s, approachRate: 0.556528 m/s, LOS rate: -10.669795 deg/s, posRepo size: 4
2021-02-16T10:32:48.452Z,1613471568.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:49.222Z,1613471569.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:49.633Z,1613471569.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:49.653Z,1613471569.653 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:32:50.451Z,1613471570.451 [Micromodem](INFO): Nmea in: $SNTTA,0.012097,,,,103250.68*46

2021-02-16T10:32:50.477Z,1613471570.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 126.956701 deg, deltaT: 4.366640 s, approachRate: 0.563362 m/s, LOS rate: 1.476387 deg/s, posRepo size: 4
2021-02-16T10:32:52.879Z,1613471572.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:53.656Z,1613471573.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:54.071Z,1613471574.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:54.484Z,1613471574.484 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T10:32:54.908Z,1613471574.908 [Micromodem](INFO): Nmea in: $SNTTA,0.013901,,,,103255.11*4A

2021-02-16T10:32:54.938Z,1613471574.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.059998 m, bearing: 136.387471 deg, deltaT: 4.449937 s, approachRate: 0.620233 m/s, LOS rate: 2.119304 deg/s, posRepo size: 4
2021-02-16T10:32:57.323Z,1613471577.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:32:58.100Z,1613471578.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:32:58.508Z,1613471578.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:32:59.332Z,1613471579.332 [Micromodem](INFO): Nmea in: $SNTTA,0.015705,,,,103259.56*49

2021-02-16T10:32:59.426Z,1613471579.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 141.464187 deg, deltaT: 4.464239 s, approachRate: 0.604807 m/s, LOS rate: 1.137196 deg/s, posRepo size: 4
2021-02-16T10:33:00.955Z,1613471580.955 [PowerOnly](INFO): Powering down loadControl
2021-02-16T10:33:01.772Z,1613471581.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:02.550Z,1613471582.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:02.975Z,1613471582.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:03.792Z,1613471583.792 [Micromodem](INFO): Nmea in: $SNTTA,0.017507,,,,103304.01*40

2021-02-16T10:33:03.855Z,1613471583.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 146.548539 deg, deltaT: 4.469190 s, approachRate: 0.590711 m/s, LOS rate: 1.137645 deg/s, posRepo size: 4
2021-02-16T10:33:06.225Z,1613471586.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:07.005Z,1613471587.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:07.435Z,1613471587.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:08.240Z,1613471588.240 [Micromodem](INFO): Nmea in: $SNTTA,0.019374,,,,103308.46*43

2021-02-16T10:33:08.262Z,1613471588.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 153.594794 deg, deltaT: 4.407877 s, approachRate: 0.639764 m/s, LOS rate: 1.598560 deg/s, posRepo size: 4
2021-02-16T10:33:10.671Z,1613471590.671 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:11.435Z,1613471591.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:11.838Z,1613471591.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:12.664Z,1613471592.664 [Micromodem](INFO): Nmea in: $SNTTA,0.021312,,,,103312.89*40

2021-02-16T10:33:12.713Z,1613471592.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.099998 m, bearing: 156.918173 deg, deltaT: 4.437821 s, approachRate: 0.648967 m/s, LOS rate: 0.748876 deg/s, posRepo size: 4
2021-02-16T10:33:14.679Z,1613471594.679 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:33:15.098Z,1613471595.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:15.877Z,1613471595.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:16.283Z,1613471596.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:17.104Z,1613471597.104 [Micromodem](INFO): Nmea in: $SNTTA,0.023339,,,,103317.33*4F

2021-02-16T10:33:17.138Z,1613471597.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 156.026096 deg, deltaT: 4.484205 s, approachRate: 0.669015 m/s, LOS rate: -0.198938 deg/s, posRepo size: 4
2021-02-16T10:33:19.542Z,1613471599.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:20.333Z,1613471600.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:20.725Z,1613471600.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:21.556Z,1613471601.556 [Micromodem](INFO): Nmea in: $SNTTA,0.025184,,,,103321.79*46

2021-02-16T10:33:21.625Z,1613471601.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 155.026279 deg, deltaT: 4.387416 s, approachRate: 0.642748 m/s, LOS rate: -0.227883 deg/s, posRepo size: 4
2021-02-16T10:33:23.996Z,1613471603.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:24.449Z,1613471604.449 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:33:24.769Z,1613471604.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:25.190Z,1613471605.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:26.000Z,1613471606.000 [Micromodem](INFO): Nmea in: $SNTTA,0.027015,,,,103326.23*45

2021-02-16T10:33:26.037Z,1613471606.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.680000 m, bearing: 157.065500 deg, deltaT: 4.508689 s, approachRate: 0.612151 m/s, LOS rate: 0.452287 deg/s, posRepo size: 4
2021-02-16T10:33:28.452Z,1613471608.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:29.230Z,1613471609.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:29.655Z,1613471609.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:29.674Z,1613471609.674 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T10:33:30.465Z,1613471610.465 [Micromodem](INFO): Nmea in: $SNTTA,0.028942,,,,103330.69*48

2021-02-16T10:33:30.517Z,1613471610.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 163.228612 deg, deltaT: 4.378668 s, approachRate: 0.657734 m/s, LOS rate: 1.407531 deg/s, posRepo size: 4
2021-02-16T10:33:32.868Z,1613471612.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:33.659Z,1613471613.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:34.063Z,1613471614.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:34.486Z,1613471614.486 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T10:33:34.884Z,1613471614.884 [Micromodem](INFO): Nmea in: $SNTTA,0.030709,,,,103335.12*49

2021-02-16T10:33:34.925Z,1613471614.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 160.002727 deg, deltaT: 4.463725 s, approachRate: 0.591434 m/s, LOS rate: -0.722689 deg/s, posRepo size: 4
2021-02-16T10:33:37.308Z,1613471617.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:38.113Z,1613471618.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:38.507Z,1613471618.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:39.341Z,1613471619.341 [Micromodem](INFO): Nmea in: $SNTTA,0.032664,,,,103339.57*4C

2021-02-16T10:33:39.364Z,1613471619.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 159.624458 deg, deltaT: 4.451133 s, approachRate: 0.660507 m/s, LOS rate: -0.084983 deg/s, posRepo size: 4
2021-02-16T10:33:41.812Z,1613471621.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:42.554Z,1613471622.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:42.959Z,1613471622.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:43.784Z,1613471623.784 [Micromodem](INFO): Nmea in: $SNTTA,0.034419,,,,103344.01*4B

2021-02-16T10:33:43.818Z,1613471623.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 157.839456 deg, deltaT: 4.473070 s, approachRate: 0.576784 m/s, LOS rate: -0.399055 deg/s, posRepo size: 4
2021-02-16T10:33:46.199Z,1613471626.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:47.005Z,1613471627.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:47.422Z,1613471627.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:48.230Z,1613471628.230 [Micromodem](INFO): Nmea in: $SNTTA,0.036351,,,,103348.46*4D

2021-02-16T10:33:48.250Z,1613471628.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.720005 m, bearing: 162.641270 deg, deltaT: 4.408478 s, approachRate: 0.680509 m/s, LOS rate: 1.089223 deg/s, posRepo size: 4
2021-02-16T10:33:50.694Z,1613471630.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:51.432Z,1613471631.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:51.844Z,1613471631.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:52.667Z,1613471632.667 [Micromodem](INFO): Nmea in: $SNTTA,0.037963,,,,103352.89*4F

2021-02-16T10:33:52.701Z,1613471632.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 166.992880 deg, deltaT: 4.439788 s, approachRate: 0.527052 m/s, LOS rate: 0.980139 deg/s, posRepo size: 4
2021-02-16T10:33:55.089Z,1613471635.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:33:55.877Z,1613471635.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:33:56.299Z,1613471636.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:33:57.112Z,1613471637.112 [Micromodem](INFO): Nmea in: $SNTTA,0.040033,,,,103357.33*47

2021-02-16T10:33:57.134Z,1613471637.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 160.011894 deg, deltaT: 4.447489 s, approachRate: 0.701517 m/s, LOS rate: -1.569647 deg/s, posRepo size: 4
2021-02-16T10:33:59.561Z,1613471639.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:00.327Z,1613471640.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:00.727Z,1613471640.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:01.556Z,1613471641.556 [Micromodem](INFO): Nmea in: $SNTTA,0.041890,,,,103401.78*4C

2021-02-16T10:34:01.650Z,1613471641.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 168.009430 deg, deltaT: 4.423157 s, approachRate: 0.637555 m/s, LOS rate: 1.808106 deg/s, posRepo size: 4
2021-02-16T10:34:03.646Z,1613471643.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:04.472Z,1613471644.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:04.822Z,1613471644.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:05.654Z,1613471645.654 [Micromodem](INFO): Nmea in: $SNTTA,0.043304,,,,103405.93*49

2021-02-16T10:34:05.720Z,1613471645.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 160.639492 deg, deltaT: 4.102932 s, approachRate: 0.497205 m/s, LOS rate: -1.796261 deg/s, posRepo size: 4
2021-02-16T10:34:08.067Z,1613471648.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:08.866Z,1613471648.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:09.266Z,1613471649.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:10.100Z,1613471650.100 [Micromodem](INFO): Nmea in: $SNTTA,0.045325,,,,103410.33*42

2021-02-16T10:34:10.134Z,1613471650.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 163.226891 deg, deltaT: 4.519514 s, approachRate: 0.677063 m/s, LOS rate: 0.572495 deg/s, posRepo size: 4
2021-02-16T10:34:12.538Z,1613471652.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:13.321Z,1613471653.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:13.715Z,1613471653.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:14.544Z,1613471654.544 [Micromodem](INFO): Nmea in: $SNTTA,0.047036,,,,103414.78*4A

2021-02-16T10:34:14.635Z,1613471654.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.620003 m, bearing: 163.785450 deg, deltaT: 4.362113 s, approachRate: 0.577703 m/s, LOS rate: 0.128048 deg/s, posRepo size: 4
2021-02-16T10:34:16.984Z,1613471656.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:17.758Z,1613471657.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:18.160Z,1613471658.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:18.984Z,1613471658.984 [Micromodem](INFO): Nmea in: $SNTTA,0.048958,,,,103419.21*45

2021-02-16T10:34:19.032Z,1613471659.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.620003 m, bearing: 179.114867 deg, deltaT: 4.502676 s, approachRate: 0.666270 m/s, LOS rate: 3.404512 deg/s, posRepo size: 4
2021-02-16T10:34:21.443Z,1613471661.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:22.199Z,1613471662.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:22.634Z,1613471662.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:23.428Z,1613471663.428 [Micromodem](INFO): Nmea in: $SNTTA,0.050975,,,,103423.66*49

2021-02-16T10:34:23.481Z,1613471663.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 167.738504 deg, deltaT: 4.384986 s, approachRate: 0.684153 m/s, LOS rate: -2.594390 deg/s, posRepo size: 4
2021-02-16T10:34:25.860Z,1613471665.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:26.653Z,1613471666.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:27.059Z,1613471667.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:27.877Z,1613471667.877 [Micromodem](INFO): Nmea in: $SNTTA,0.052881,,,0.055399,103428.11*57

2021-02-16T10:34:27.901Z,1613471667.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 167.237250 deg, deltaT: 4.467345 s, approachRate: 0.631247 m/s, LOS rate: -0.112204 deg/s, posRepo size: 4
2021-02-16T10:34:30.301Z,1613471670.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:31.080Z,1613471671.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:31.486Z,1613471671.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:32.308Z,1613471672.308 [Micromodem](INFO): Nmea in: $SNTTA,0.054812,,,,103432.54*4C

2021-02-16T10:34:32.360Z,1613471672.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.380005 m, bearing: 176.291431 deg, deltaT: 4.452458 s, approachRate: 0.660310 m/s, LOS rate: 2.033524 deg/s, posRepo size: 4
2021-02-16T10:34:34.768Z,1613471674.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:35.524Z,1613471675.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:35.935Z,1613471675.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:36.764Z,1613471676.764 [Micromodem](INFO): Nmea in: $SNTTA,0.056611,,,,103436.98*47

2021-02-16T10:34:36.821Z,1613471676.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 173.435005 deg, deltaT: 4.413203 s, approachRate: 0.611800 m/s, LOS rate: -0.647246 deg/s, posRepo size: 4
2021-02-16T10:34:39.175Z,1613471679.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:40.017Z,1613471680.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:40.443Z,1613471680.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:41.252Z,1613471681.252 [Micromodem](INFO): Nmea in: $SNTTA,0.058680,,,,103441.48*4C

2021-02-16T10:34:41.286Z,1613471681.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.200005 m, bearing: 173.990832 deg, deltaT: 4.520296 s, approachRate: 0.690221 m/s, LOS rate: 0.122963 deg/s, posRepo size: 4
2021-02-16T10:34:43.693Z,1613471683.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:44.480Z,1613471684.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:44.877Z,1613471684.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:45.710Z,1613471685.710 [Micromodem](INFO): Nmea in: $SNTTA,0.060453,,0.071067,,103445.94*57

2021-02-16T10:34:45.809Z,1613471685.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 178.123656 deg, deltaT: 4.430061 s, approachRate: 0.595928 m/s, LOS rate: 0.932905 deg/s, posRepo size: 4
2021-02-16T10:34:48.113Z,1613471688.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:48.914Z,1613471688.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:49.310Z,1613471689.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:50.140Z,1613471690.140 [Micromodem](INFO): Nmea in: $SNTTA,0.062206,,,,103450.37*47

2021-02-16T10:34:50.162Z,1613471690.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 181.673934 deg, deltaT: 4.473790 s, approachRate: 0.590104 m/s, LOS rate: 0.793573 deg/s, posRepo size: 4
2021-02-16T10:34:52.569Z,1613471692.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:53.350Z,1613471693.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:53.763Z,1613471693.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:54.592Z,1613471694.592 [Micromodem](INFO): Nmea in: $SNTTA,0.063978,,,,103454.81*4D

2021-02-16T10:34:54.657Z,1613471694.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 171.218909 deg, deltaT: 4.404734 s, approachRate: 0.599355 m/s, LOS rate: -2.373588 deg/s, posRepo size: 4
2021-02-16T10:34:56.999Z,1613471696.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:34:57.792Z,1613471697.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:34:58.201Z,1613471698.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:34:59.024Z,1613471699.024 [Micromodem](INFO): Nmea in: $SNTTA,0.065990,,,,103459.25*4E

2021-02-16T10:34:59.046Z,1613471699.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 164.083424 deg, deltaT: 4.502628 s, approachRate: 0.652953 m/s, LOS rate: -1.584738 deg/s, posRepo size: 4
2021-02-16T10:35:01.473Z,1613471701.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:02.240Z,1613471702.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:02.657Z,1613471702.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:03.468Z,1613471703.468 [Micromodem](INFO): Nmea in: $SNTTA,0.067693,,,,103503.70*4E

2021-02-16T10:35:03.512Z,1613471703.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.639999 m, bearing: 173.617357 deg, deltaT: 4.405440 s, approachRate: 0.585638 m/s, LOS rate: 2.164127 deg/s, posRepo size: 4
2021-02-16T10:35:05.946Z,1613471705.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:06.680Z,1613471706.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:07.091Z,1613471707.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:07.916Z,1613471707.916 [Micromodem](INFO): Nmea in: $SNTTA,0.069612,,,,103508.14*40

2021-02-16T10:35:07.950Z,1613471707.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.580002 m, bearing: 177.947492 deg, deltaT: 4.441508 s, approachRate: 0.661938 m/s, LOS rate: 0.974925 deg/s, posRepo size: 4
2021-02-16T10:35:10.340Z,1613471710.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:11.124Z,1613471711.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:11.530Z,1613471711.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:12.357Z,1613471712.357 [Micromodem](INFO): Nmea in: $SNTTA,0.071586,,0.078373,,103512.58*52

2021-02-16T10:35:12.425Z,1613471712.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.520004 m, bearing: 175.884638 deg, deltaT: 4.459262 s, approachRate: 0.659302 m/s, LOS rate: -0.462600 deg/s, posRepo size: 4
2021-02-16T10:35:14.727Z,1613471714.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:15.273Z,1613471715.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:15.679Z,1613471715.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:16.520Z,1613471716.520 [Micromodem](INFO): Nmea in: $SNTTA,0.073416,,,,103516.80*4F

2021-02-16T10:35:16.581Z,1613471716.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 169.189427 deg, deltaT: 4.124071 s, approachRate: 0.669242 m/s, LOS rate: -1.623447 deg/s, posRepo size: 4
2021-02-16T10:35:18.956Z,1613471718.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:19.724Z,1613471719.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:20.123Z,1613471720.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:20.952Z,1613471720.952 [Micromodem](INFO): Nmea in: $SNTTA,0.075444,,,,103521.18*4B

2021-02-16T10:35:21.009Z,1613471721.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.279999 m, bearing: 170.466359 deg, deltaT: 4.457795 s, approachRate: 0.672977 m/s, LOS rate: 0.286449 deg/s, posRepo size: 4
2021-02-16T10:35:23.420Z,1613471723.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:24.165Z,1613471724.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:24.592Z,1613471724.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:25.424Z,1613471725.424 [Micromodem](INFO): Nmea in: $SNTTA,0.077665,,,,103525.62*41

2021-02-16T10:35:25.449Z,1613471725.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 174.887827 deg, deltaT: 4.454086 s, approachRate: 0.754365 m/s, LOS rate: 0.992677 deg/s, posRepo size: 4
2021-02-16T10:35:27.843Z,1613471727.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:28.629Z,1613471728.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:29.012Z,1613471729.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:29.848Z,1613471729.848 [Micromodem](INFO): Nmea in: $SNTTA,0.079411,,,,103530.09*47

2021-02-16T10:35:29.890Z,1613471729.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.280006 m, bearing: 165.334715 deg, deltaT: 4.450808 s, approachRate: 0.593151 m/s, LOS rate: -2.146377 deg/s, posRepo size: 4
2021-02-16T10:35:32.273Z,1613471732.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:33.050Z,1613471733.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:33.475Z,1613471733.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:34.280Z,1613471734.280 [Micromodem](INFO): Nmea in: $SNTTA,0.081146,,,,103534.51*4E

2021-02-16T10:35:34.322Z,1613471734.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 170.041015 deg, deltaT: 4.446084 s, approachRate: 0.580285 m/s, LOS rate: 1.058527 deg/s, posRepo size: 4
2021-02-16T10:35:36.745Z,1613471736.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:37.495Z,1613471737.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:37.899Z,1613471737.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:38.733Z,1613471738.733 [Micromodem](INFO): Nmea in: $SNTTA,0.083065,,,,103538.95*48

2021-02-16T10:35:38.800Z,1613471738.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.800003 m, bearing: 175.652385 deg, deltaT: 4.403361 s, approachRate: 0.667672 m/s, LOS rate: 1.274338 deg/s, posRepo size: 4
2021-02-16T10:35:41.149Z,1613471741.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:41.954Z,1613471741.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:42.344Z,1613471742.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:43.193Z,1613471743.193 [Micromodem](INFO): Nmea in: $SNTTA,0.084971,,,,103543.41*46

2021-02-16T10:35:43.220Z,1613471743.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 174.535785 deg, deltaT: 4.488908 s, approachRate: 0.628213 m/s, LOS rate: -0.248746 deg/s, posRepo size: 4
2021-02-16T10:35:45.657Z,1613471745.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:46.410Z,1613471746.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:46.788Z,1613471746.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:47.637Z,1613471747.637 [Micromodem](INFO): Nmea in: $SNTTA,0.086793,,,,103547.87*48

2021-02-16T10:35:47.672Z,1613471747.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.380005 m, bearing: 172.818908 deg, deltaT: 4.444360 s, approachRate: 0.621014 m/s, LOS rate: -0.386305 deg/s, posRepo size: 4
2021-02-16T10:35:50.053Z,1613471750.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:50.826Z,1613471750.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:51.239Z,1613471751.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:52.060Z,1613471752.060 [Micromodem](INFO): Nmea in: $SNTTA,0.088700,,,,103552.28*4D

2021-02-16T10:35:52.090Z,1613471752.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.199997 m, bearing: 174.480474 deg, deltaT: 4.426609 s, approachRate: 0.637055 m/s, LOS rate: 0.375359 deg/s, posRepo size: 4
2021-02-16T10:35:54.735Z,1613471754.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:55.270Z,1613471755.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:35:55.683Z,1613471755.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:35:56.500Z,1613471756.500 [Micromodem](INFO): Nmea in: $SNTTA,0.090584,,,,103556.73*40

2021-02-16T10:35:56.540Z,1613471756.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.020004 m, bearing: 168.240837 deg, deltaT: 4.428483 s, approachRate: 0.636789 m/s, LOS rate: -1.408978 deg/s, posRepo size: 4
2021-02-16T10:35:58.941Z,1613471758.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:35:59.714Z,1613471759.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:00.120Z,1613471760.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:00.952Z,1613471760.952 [Micromodem](INFO): Nmea in: $SNTTA,0.092524,,,,103601.17*4B

2021-02-16T10:36:01.028Z,1613471761.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 169.285501 deg, deltaT: 4.440716 s, approachRate: 0.662056 m/s, LOS rate: 0.235247 deg/s, posRepo size: 4
2021-02-16T10:36:03.407Z,1613471763.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:04.166Z,1613471764.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:04.570Z,1613471764.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:05.416Z,1613471765.416 [Micromodem](INFO): Nmea in: $SNTTA,0.094545,,,,103605.62*4C

2021-02-16T10:36:05.455Z,1613471765.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.020004 m, bearing: 172.209915 deg, deltaT: 4.436155 s, approachRate: 0.689786 m/s, LOS rate: 0.659223 deg/s, posRepo size: 4
2021-02-16T10:36:07.820Z,1613471767.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:08.632Z,1613471768.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:09.007Z,1613471769.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:09.052Z,1613471769.052 [CTD_Seabird](ERROR): Failed to parse device response: 5.80,1.4665,2.762089
2021-02-16T10:36:09.852Z,1613471769.852 [Micromodem](INFO): Nmea in: $SNTTA,0.096670,,,,103610.09*42

2021-02-16T10:36:09.897Z,1613471769.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.199997 m, bearing: 173.872970 deg, deltaT: 4.604025 s, approachRate: 0.690698 m/s, LOS rate: 0.361218 deg/s, posRepo size: 4
2021-02-16T10:36:12.262Z,1613471772.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:13.045Z,1613471773.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:13.467Z,1613471773.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:14.280Z,1613471774.280 [Micromodem](INFO): Nmea in: $SNTTA,0.098562,,,,103614.50*44

2021-02-16T10:36:14.317Z,1613471774.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.020004 m, bearing: 171.853884 deg, deltaT: 4.309728 s, approachRate: 0.654335 m/s, LOS rate: -0.468495 deg/s, posRepo size: 4
2021-02-16T10:36:16.723Z,1613471776.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:17.506Z,1613471777.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:17.897Z,1613471777.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:18.728Z,1613471778.728 [Micromodem](INFO): Nmea in: $SNTTA,0.100649,,,,103618.96*48

2021-02-16T10:36:18.762Z,1613471778.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.140015 m, bearing: 173.139271 deg, deltaT: 4.422131 s, approachRate: 0.705545 m/s, LOS rate: 0.290671 deg/s, posRepo size: 4
2021-02-16T10:36:18.763Z,1613471778.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.14 m. Resuming terminal guidance.
2021-02-16T10:36:18.763Z,1613471778.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:36:21.166Z,1613471781.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:21.941Z,1613471781.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:22.355Z,1613471782.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:23.175Z,1613471783.175 [Micromodem](INFO): Nmea in: $SNTTA,0.102631,,,,103623.40*46

2021-02-16T10:36:23.195Z,1613471783.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.080002 m, bearing: 172.245882 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:36:23.196Z,1613471783.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 172.245882deg and heading rate command to 0 deg/s.
2021-02-16T10:36:25.657Z,1613471785.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:26.408Z,1613471786.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:26.785Z,1613471786.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:27.636Z,1613471787.636 [Micromodem](INFO): Nmea in: $SNTTA,0.104569,,,,103627.86*40

2021-02-16T10:36:27.689Z,1613471787.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.080002 m, bearing: 182.909310 deg, deltaT: 4.440651 s, approachRate: 0.000000 m/s, LOS rate: 2.401321 deg/s, posRepo size: 2
2021-02-16T10:36:27.690Z,1613471787.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.080002 m,
      bearing: 182.909310 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.401321 deg/s,
      cmd update: 7.203963 deg/s,
      cmd heading: 172.245882 deg,
      new cmd heading: 172.245882 deg.

2021-02-16T10:36:30.041Z,1613471790.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:30.826Z,1613471790.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:31.237Z,1613471791.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:32.060Z,1613471792.060 [Micromodem](INFO): Nmea in: $SNTTA,,,,,103632.28*51

2021-02-16T10:36:32.082Z,1613471792.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.960007 m, bearing: 225.954119 deg, deltaT: 4.468180 s, approachRate: 1.315973 m/s, LOS rate: 9.633633 deg/s, posRepo size: 3
2021-02-16T10:36:32.084Z,1613471792.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.960007 m,
      bearing: 225.954119 deg,
      approachRate: 1.315973 m/s,
      LOS rate: 9.633633 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 204.435457 deg,
      new cmd heading: 207.178589 deg.

2021-02-16T10:36:34.524Z,1613471794.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:35.269Z,1613471795.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:35.677Z,1613471795.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:36.500Z,1613471796.500 [Micromodem](INFO): Nmea in: $SNTTA,0.108278,,,,103636.73*41

2021-02-16T10:36:36.538Z,1613471796.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.539993 m, bearing: 207.846632 deg, deltaT: 4.409299 s, approachRate: 0.585124 m/s, LOS rate: -4.106659 deg/s, posRepo size: 4
2021-02-16T10:36:36.541Z,1613471796.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.539993 m,
      bearing: 207.846632 deg,
      approachRate: 0.585124 m/s,
      LOS rate: -4.106659 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.398850 deg,
      new cmd heading: 262.483011 deg.

2021-02-16T10:36:38.950Z,1613471798.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:39.719Z,1613471799.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:40.120Z,1613471800.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:40.960Z,1613471800.960 [Micromodem](INFO): Nmea in: $SNTTA,0.109560,,,,103641.18*43

2021-02-16T10:36:40.991Z,1613471800.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 212.770146 deg, deltaT: 4.519720 s, approachRate: 0.424805 m/s, LOS rate: 1.089341 deg/s, posRepo size: 4
2021-02-16T10:36:40.993Z,1613471800.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 212.770146 deg,
      approachRate: 0.424805 m/s,
      LOS rate: 1.089341 deg/s,
      cmd update: 3.268022 deg/s,
      cmd heading: 203.322864 deg,
      new cmd heading: 198.889116 deg.

2021-02-16T10:36:43.420Z,1613471803.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:44.174Z,1613471804.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:44.619Z,1613471804.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:45.420Z,1613471805.420 [Micromodem](INFO): Nmea in: $SNTTA,0.110240,,,,103645.63*46

2021-02-16T10:36:45.446Z,1613471805.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 265.135239 deg, deltaT: 4.352335 s, approachRate: 0.000000 m/s, LOS rate: 12.031494 deg/s, posRepo size: 4
2021-02-16T10:36:45.446Z,1613471805.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.031494 deg/s. Setting heading cmd to target bearing of 265.135239deg and heading rate command to 0 deg/s.
2021-02-16T10:36:46.235Z,1613471806.235 [CTD_Seabird](ERROR): Failed to parse device response: 5.690,2.76201,3228.62
2021-02-16T10:36:47.840Z,1613471807.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:48.633Z,1613471808.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:49.016Z,1613471809.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:49.848Z,1613471809.848 [Micromodem](INFO): Nmea in: $SNTTA,0.110868,,,,103650.09*4E

2021-02-16T10:36:49.892Z,1613471809.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.459991 m, bearing: 260.537894 deg, deltaT: 4.484788 s, approachRate: 0.000000 m/s, LOS rate: -1.025098 deg/s, posRepo size: 4
2021-02-16T10:36:49.894Z,1613471809.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 260.537894 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.025098 deg/s,
      cmd update: -3.075293 deg/s,
      cmd heading: 265.135239 deg,
      new cmd heading: 265.135239 deg.

2021-02-16T10:36:52.261Z,1613471812.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:53.046Z,1613471813.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:53.454Z,1613471813.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:54.284Z,1613471814.284 [Micromodem](INFO): Nmea in: $SNTTA,0.111477,,,,103654.50*45

2021-02-16T10:36:54.315Z,1613471814.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 294.038250 deg, deltaT: 4.429820 s, approachRate: 0.650140 m/s, LOS rate: 7.562465 deg/s, posRepo size: 4
2021-02-16T10:36:54.317Z,1613471814.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 294.038250 deg,
      approachRate: 0.650140 m/s,
      LOS rate: 7.562465 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 251.461479 deg,
      new cmd heading: 250.189907 deg.

2021-02-16T10:36:56.744Z,1613471816.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:36:57.491Z,1613471817.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:36:57.895Z,1613471817.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:36:58.720Z,1613471818.720 [Micromodem](INFO): Nmea in: $SNTTA,0.111742,,,,103658.95*45

2021-02-16T10:36:58.781Z,1613471818.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 222.039751 deg, deltaT: 4.435681 s, approachRate: 0.000000 m/s, LOS rate: -16.231668 deg/s, posRepo size: 4
2021-02-16T10:36:58.782Z,1613471818.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.231668 deg/s. Setting heading cmd to target bearing of 222.039751deg and heading rate command to 0 deg/s.
2021-02-16T10:37:01.160Z,1613471821.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:01.935Z,1613471821.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:02.349Z,1613471822.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:03.164Z,1613471823.164 [Micromodem](INFO): Nmea in: $SNTTA,0.111489,,,,103703.39*48

2021-02-16T10:37:03.206Z,1613471823.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 311.698743 deg, deltaT: 4.461873 s, approachRate: 0.000000 m/s, LOS rate: 20.094475 deg/s, posRepo size: 4
2021-02-16T10:37:03.207Z,1613471823.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.094475 deg/s. Setting heading cmd to target bearing of 311.698743deg and heading rate command to 0 deg/s.
2021-02-16T10:37:05.678Z,1613471825.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:06.413Z,1613471826.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:06.789Z,1613471826.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:07.627Z,1613471827.627 [Micromodem](INFO): Nmea in: $SNTTA,0.110529,,,,103707.87*43

2021-02-16T10:37:08.026Z,1613471828.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.959991 m, bearing: 314.420710 deg, deltaT: 4.882433 s, approachRate: -0.282647 m/s, LOS rate: 0.557502 deg/s, posRepo size: 4
2021-02-16T10:37:08.044Z,1613471828.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.959991 m,
      bearing: 314.420710 deg,
      approachRate: -0.282647 m/s,
      LOS rate: 0.557502 deg/s,
      cmd update: 1.672507 deg/s,
      cmd heading: 311.698743 deg,
      new cmd heading: 311.698743 deg.

2021-02-16T10:37:10.471Z,1613471830.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:11.234Z,1613471831.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:11.641Z,1613471831.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:12.464Z,1613471832.464 [Micromodem](INFO): Nmea in: $SNTTA,0.109154,,,,103712.75*4C

2021-02-16T10:37:12.886Z,1613471832.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.559998 m, bearing: 354.884963 deg, deltaT: 4.833455 s, approachRate: -0.496538 m/s, LOS rate: 8.371704 deg/s, posRepo size: 4
2021-02-16T10:37:12.888Z,1613471832.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 354.884963 deg,
      approachRate: -0.496538 m/s,
      LOS rate: 8.371704 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 319.816613 deg,
      new cmd heading: 320.437919 deg.

2021-02-16T10:37:15.419Z,1613471835.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:16.160Z,1613471836.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:16.562Z,1613471836.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:17.432Z,1613471837.432 [Micromodem](INFO): Nmea in: $SNTTA,0.107370,,,,103717.62*45

2021-02-16T10:37:17.470Z,1613471837.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 347.209743 deg, deltaT: 4.476164 s, approachRate: -0.589787 m/s, LOS rate: -1.714687 deg/s, posRepo size: 4
2021-02-16T10:37:17.472Z,1613471837.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 347.209743 deg,
      approachRate: -0.589787 m/s,
      LOS rate: -1.714687 deg/s,
      cmd update: -5.144061 deg/s,
      cmd heading: 13.516926 deg,
      new cmd heading: 19.274947 deg.

2021-02-16T10:37:19.498Z,1613471839.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:19.808Z,1613471839.808 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:37:20.219Z,1613471840.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:20.629Z,1613471840.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:21.440Z,1613471841.440 [Micromodem](INFO): Nmea in: $SNTTA,0.105453,,,,103721.67*41

2021-02-16T10:37:21.479Z,1613471841.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 350.678168 deg, deltaT: 4.052711 s, approachRate: 0.000000 m/s, LOS rate: 0.855828 deg/s, posRepo size: 4
2021-02-16T10:37:21.481Z,1613471841.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 350.678168 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.855828 deg/s,
      cmd update: 2.567485 deg/s,
      cmd heading: 352.748140 deg,
      new cmd heading: 350.426898 deg.

2021-02-16T10:37:23.870Z,1613471843.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:24.646Z,1613471844.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:25.047Z,1613471845.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:25.872Z,1613471845.872 [Micromodem](INFO): Nmea in: $SNTTA,0.103188,,,,103726.10*43

2021-02-16T10:37:25.911Z,1613471845.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 351.375749 deg, deltaT: 4.473748 s, approachRate: -1.421630 m/s, LOS rate: 0.155928 deg/s, posRepo size: 4
2021-02-16T10:37:25.913Z,1613471845.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.559998 m,
      bearing: 351.375749 deg,
      approachRate: -1.421630 m/s,
      LOS rate: 0.155928 deg/s,
      cmd update: 0.467783 deg/s,
      cmd heading: 4.266299 deg,
      new cmd heading: 5.285873 deg.

2021-02-16T10:37:28.292Z,1613471848.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:29.085Z,1613471849.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:29.491Z,1613471849.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:29.902Z,1613471849.902 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:37:30.328Z,1613471850.328 [Micromodem](INFO): Nmea in: $SNTTA,0.100806,,,,103730.57*4B

2021-02-16T10:37:30.373Z,1613471850.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.559998 m, bearing: 351.260756 deg, deltaT: 4.401956 s, approachRate: 0.000000 m/s, LOS rate: -0.026123 deg/s, posRepo size: 4
2021-02-16T10:37:30.379Z,1613471850.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.559998 m,
      bearing: 351.260756 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.026123 deg/s,
      cmd update: -0.078370 deg/s,
      cmd heading: 6.326840 deg,
      new cmd heading: 6.537696 deg.

2021-02-16T10:37:32.757Z,1613471852.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:33.528Z,1613471853.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:33.933Z,1613471853.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:34.764Z,1613471854.764 [Micromodem](INFO): Nmea in: $SNTTA,0.098375,,,,103734.98*43

2021-02-16T10:37:34.818Z,1613471854.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 350.652732 deg, deltaT: 4.511439 s, approachRate: -1.582640 m/s, LOS rate: -0.134774 deg/s, posRepo size: 4
2021-02-16T10:37:34.824Z,1613471854.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.420013 m,
      bearing: 350.652732 deg,
      approachRate: -1.582640 m/s,
      LOS rate: -0.134774 deg/s,
      cmd update: -0.404321 deg/s,
      cmd heading: 5.977653 deg,
      new cmd heading: 5.942838 deg.

2021-02-16T10:37:37.180Z,1613471857.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:37.981Z,1613471857.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:38.411Z,1613471858.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:39.209Z,1613471859.209 [Micromodem](INFO): Nmea in: $SNTTA,0.095866,,,,103739.44*4B

2021-02-16T10:37:39.248Z,1613471859.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.580002 m, bearing: 350.231173 deg, deltaT: 4.402498 s, approachRate: -0.872235 m/s, LOS rate: -0.095755 deg/s, posRepo size: 4
2021-02-16T10:37:39.249Z,1613471859.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.580002 m,
      bearing: 350.231173 deg,
      approachRate: -0.872235 m/s,
      LOS rate: -0.095755 deg/s,
      cmd update: -0.287264 deg/s,
      cmd heading: 4.176289 deg,
      new cmd heading: 4.007290 deg.

2021-02-16T10:37:39.678Z,1613471859.678 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:37:41.663Z,1613471861.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:42.421Z,1613471862.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:42.844Z,1613471862.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:43.652Z,1613471863.652 [Micromodem](INFO): Nmea in: $SNTTA,0.093208,,,,103743.88*42

2021-02-16T10:37:43.720Z,1613471863.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.619995 m, bearing: 350.403922 deg, deltaT: 4.442810 s, approachRate: -0.891329 m/s, LOS rate: 0.038883 deg/s, posRepo size: 4
2021-02-16T10:37:43.721Z,1613471863.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.619995 m,
      bearing: 350.403922 deg,
      approachRate: -0.891329 m/s,
      LOS rate: 0.038883 deg/s,
      cmd update: 0.116649 deg/s,
      cmd heading: 2.898917 deg,
      new cmd heading: 2.771582 deg.

2021-02-16T10:37:44.856Z,1613471864.856 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:37:46.068Z,1613471866.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:46.868Z,1613471866.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:47.282Z,1613471867.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:48.104Z,1613471868.104 [Micromodem](INFO): Nmea in: $SNTTA,0.090756,,,,103748.33*44

2021-02-16T10:37:48.146Z,1613471868.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.960007 m, bearing: 350.095061 deg, deltaT: 4.454778 s, approachRate: -0.821587 m/s, LOS rate: -0.069333 deg/s, posRepo size: 4
2021-02-16T10:37:48.147Z,1613471868.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.960007 m,
      bearing: 350.095061 deg,
      approachRate: -0.821587 m/s,
      LOS rate: -0.069333 deg/s,
      cmd update: -0.207998 deg/s,
      cmd heading: 3.418492 deg,
      new cmd heading: 3.466932 deg.

2021-02-16T10:37:50.553Z,1613471870.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:51.305Z,1613471871.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:51.728Z,1613471871.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:52.540Z,1613471872.540 [Micromodem](INFO): Nmea in: $SNTTA,0.088349,,,,103752.76*4D

2021-02-16T10:37:52.599Z,1613471872.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.360001 m, bearing: 349.544548 deg, deltaT: 4.396381 s, approachRate: -0.818857 m/s, LOS rate: -0.125220 deg/s, posRepo size: 4
2021-02-16T10:37:52.613Z,1613471872.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.360001 m,
      bearing: 349.544548 deg,
      approachRate: -0.818857 m/s,
      LOS rate: -0.125220 deg/s,
      cmd update: -0.375659 deg/s,
      cmd heading: 2.503950 deg,
      new cmd heading: 2.407496 deg.

2021-02-16T10:37:54.654Z,1613471874.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:55.353Z,1613471875.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:37:55.749Z,1613471875.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:37:56.615Z,1613471876.615 [Micromodem](INFO): Nmea in: $SNTTA,0.086055,,,,103756.81*41

2021-02-16T10:37:56.690Z,1613471876.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 349.288006 deg, deltaT: 4.039985 s, approachRate: -0.861388 m/s, LOS rate: -0.063501 deg/s, posRepo size: 4
2021-02-16T10:37:56.696Z,1613471876.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.880005 m,
      bearing: 349.288006 deg,
      approachRate: -0.861388 m/s,
      LOS rate: -0.063501 deg/s,
      cmd update: -0.190502 deg/s,
      cmd heading: 0.986297 deg,
      new cmd heading: 0.790010 deg.

2021-02-16T10:37:59.009Z,1613471879.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:37:59.788Z,1613471879.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:00.208Z,1613471880.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:01.020Z,1613471881.020 [Micromodem](INFO): Nmea in: $SNTTA,0.083517,,,,103801.24*45

2021-02-16T10:38:01.057Z,1613471881.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 349.336282 deg, deltaT: 4.510347 s, approachRate: -0.838073 m/s, LOS rate: 0.010703 deg/s, posRepo size: 4
2021-02-16T10:38:01.059Z,1613471881.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 349.336282 deg,
      approachRate: -0.838073 m/s,
      LOS rate: 0.010703 deg/s,
      cmd update: 0.032110 deg/s,
      cmd heading: 0.130106 deg,
      new cmd heading: 0.054676 deg.

2021-02-16T10:38:03.463Z,1613471883.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:04.239Z,1613471884.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:04.676Z,1613471884.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:05.464Z,1613471885.464 [Micromodem](INFO): Nmea in: $SNTTA,0.080982,,,,103805.70*43

2021-02-16T10:38:05.505Z,1613471885.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 349.458515 deg, deltaT: 4.409361 s, approachRate: -0.857269 m/s, LOS rate: 0.027721 deg/s, posRepo size: 4
2021-02-16T10:38:05.506Z,1613471885.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 349.458515 deg,
      approachRate: -0.857269 m/s,
      LOS rate: 0.027721 deg/s,
      cmd update: 0.083164 deg/s,
      cmd heading: 0.272072 deg,
      new cmd heading: 0.285622 deg.

2021-02-16T10:38:07.893Z,1613471887.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:08.684Z,1613471888.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:09.081Z,1613471889.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:09.912Z,1613471889.912 [Micromodem](INFO): Nmea in: $SNTTA,0.078419,,,,103810.14*4D

2021-02-16T10:38:09.936Z,1613471889.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.480003 m, bearing: 349.274045 deg, deltaT: 4.450739 s, approachRate: -0.862777 m/s, LOS rate: -0.041447 deg/s, posRepo size: 4
2021-02-16T10:38:09.937Z,1613471889.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 349.274045 deg,
      approachRate: -0.862777 m/s,
      LOS rate: -0.041447 deg/s,
      cmd update: -0.124341 deg/s,
      cmd heading: 0.642156 deg,
      new cmd heading: 0.675647 deg.

2021-02-16T10:38:12.335Z,1613471892.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:13.120Z,1613471893.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:13.533Z,1613471893.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:14.372Z,1613471894.372 [Micromodem](INFO): Nmea in: $SNTTA,0.076050,,,,103814.58*46

2021-02-16T10:38:14.440Z,1613471894.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 348.902155 deg, deltaT: 4.413586 s, approachRate: -0.815665 m/s, LOS rate: -0.084260 deg/s, posRepo size: 4
2021-02-16T10:38:14.442Z,1613471894.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.879997 m,
      bearing: 348.902155 deg,
      approachRate: -0.815665 m/s,
      LOS rate: -0.084260 deg/s,
      cmd update: -0.252781 deg/s,
      cmd heading: 0.092737 deg,
      new cmd heading: 0.031961 deg.

2021-02-16T10:38:16.796Z,1613471896.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:17.566Z,1613471897.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:17.970Z,1613471897.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:18.797Z,1613471898.797 [Micromodem](INFO): Nmea in: $SNTTA,0.073653,,,,103819.02*44

2021-02-16T10:38:18.858Z,1613471898.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 348.558733 deg, deltaT: 4.498935 s, approachRate: -0.786853 m/s, LOS rate: -0.076334 deg/s, posRepo size: 4
2021-02-16T10:38:18.860Z,1613471898.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.339996 m,
      bearing: 348.558733 deg,
      approachRate: -0.786853 m/s,
      LOS rate: -0.076334 deg/s,
      cmd update: -0.229002 deg/s,
      cmd heading: 358.956566 deg,
      new cmd heading: 358.852373 deg.

2021-02-16T10:38:21.252Z,1613471901.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:22.026Z,1613471902.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:22.426Z,1613471902.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:23.252Z,1613471903.252 [Micromodem](INFO): Nmea in: $SNTTA,0.071358,,,,103823.48*4F

2021-02-16T10:38:23.294Z,1613471903.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.860001 m, bearing: 348.859425 deg, deltaT: 4.395717 s, approachRate: -0.791679 m/s, LOS rate: 0.068406 deg/s, posRepo size: 4
2021-02-16T10:38:23.300Z,1613471903.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 348.859425 deg,
      approachRate: -0.791679 m/s,
      LOS rate: 0.068406 deg/s,
      cmd update: 0.205217 deg/s,
      cmd heading: 357.948995 deg,
      new cmd heading: 357.846334 deg.

2021-02-16T10:38:25.705Z,1613471905.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:26.452Z,1613471906.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:26.860Z,1613471906.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:27.680Z,1613471907.680 [Micromodem](INFO): Nmea in: $SNTTA,0.068853,,,,103827.91*47

2021-02-16T10:38:27.728Z,1613471907.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.079994 m, bearing: 348.111902 deg, deltaT: 4.476043 s, approachRate: -0.844497 m/s, LOS rate: -0.167005 deg/s, posRepo size: 4
2021-02-16T10:38:27.730Z,1613471907.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.079994 m,
      bearing: 348.111902 deg,
      approachRate: -0.844497 m/s,
      LOS rate: -0.167005 deg/s,
      cmd update: -0.501016 deg/s,
      cmd heading: 358.865233 deg,
      new cmd heading: 358.950853 deg.

2021-02-16T10:38:30.112Z,1613471910.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:30.898Z,1613471910.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:31.302Z,1613471911.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:32.128Z,1613471912.128 [Micromodem](INFO): Nmea in: $SNTTA,0.066531,,,,103832.35*4A

2021-02-16T10:38:32.150Z,1613471912.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 348.039010 deg, deltaT: 4.446986 s, approachRate: -0.782552 m/s, LOS rate: -0.016391 deg/s, posRepo size: 4
2021-02-16T10:38:32.177Z,1613471912.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.599998 m,
      bearing: 348.039010 deg,
      approachRate: -0.782552 m/s,
      LOS rate: -0.016391 deg/s,
      cmd update: -0.049174 deg/s,
      cmd heading: 356.633543 deg,
      new cmd heading: 356.440628 deg.

2021-02-16T10:38:34.583Z,1613471914.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:35.340Z,1613471915.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:35.753Z,1613471915.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:36.576Z,1613471916.576 [Micromodem](INFO): Nmea in: $SNTTA,0.064207,,,,103836.79*46

2021-02-16T10:38:36.645Z,1613471916.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 347.554012 deg, deltaT: 4.402053 s, approachRate: -0.790539 m/s, LOS rate: -0.110175 deg/s, posRepo size: 4
2021-02-16T10:38:36.646Z,1613471916.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.120003 m,
      bearing: 347.554012 deg,
      approachRate: -0.790539 m/s,
      LOS rate: -0.110175 deg/s,
      cmd update: -0.330526 deg/s,
      cmd heading: 356.416888 deg,
      new cmd heading: 356.393590 deg.

2021-02-16T10:38:39.016Z,1613471919.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:39.786Z,1613471919.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:40.192Z,1613471920.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:41.016Z,1613471921.016 [Micromodem](INFO): Nmea in: $SNTTA,0.061701,,,,103841.24*48

2021-02-16T10:38:41.065Z,1613471921.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 347.709686 deg, deltaT: 4.530290 s, approachRate: -0.821140 m/s, LOS rate: 0.034363 deg/s, posRepo size: 4
2021-02-16T10:38:41.073Z,1613471921.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 347.709686 deg,
      approachRate: -0.821140 m/s,
      LOS rate: 0.034363 deg/s,
      cmd update: 0.103089 deg/s,
      cmd heading: 354.920742 deg,
      new cmd heading: 354.799255 deg.

2021-02-16T10:38:43.468Z,1613471923.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:44.248Z,1613471924.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:44.644Z,1613471924.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:45.468Z,1613471925.468 [Micromodem](INFO): Nmea in: $SNTTA,0.059197,,,,103845.70*4F

2021-02-16T10:38:45.517Z,1613471925.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 346.972353 deg, deltaT: 4.350166 s, approachRate: -0.855140 m/s, LOS rate: -0.169495 deg/s, posRepo size: 4
2021-02-16T10:38:45.519Z,1613471925.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.680000 m,
      bearing: 346.972353 deg,
      approachRate: -0.855140 m/s,
      LOS rate: -0.169495 deg/s,
      cmd update: -0.508486 deg/s,
      cmd heading: 355.369588 deg,
      new cmd heading: 355.417592 deg.

2021-02-16T10:38:47.917Z,1613471927.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:48.672Z,1613471928.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:49.077Z,1613471929.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:49.912Z,1613471929.912 [Micromodem](INFO): Nmea in: $SNTTA,0.056733,,,,103850.13*49

2021-02-16T10:38:49.936Z,1613471929.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 347.012897 deg, deltaT: 4.458127 s, approachRate: -0.834431 m/s, LOS rate: 0.009094 deg/s, posRepo size: 4
2021-02-16T10:38:49.938Z,1613471929.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.959999 m,
      bearing: 347.012897 deg,
      approachRate: -0.834431 m/s,
      LOS rate: 0.009094 deg/s,
      cmd update: 0.027283 deg/s,
      cmd heading: 353.102598 deg,
      new cmd heading: 352.885982 deg.

2021-02-16T10:38:52.336Z,1613471932.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:53.121Z,1613471933.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:53.522Z,1613471933.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:54.351Z,1613471934.351 [Micromodem](INFO): Nmea in: $SNTTA,0.054290,,,,103854.58*4C

2021-02-16T10:38:54.425Z,1613471934.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 347.014782 deg, deltaT: 4.465021 s, approachRate: -0.833143 m/s, LOS rate: 0.000422 deg/s, posRepo size: 4
2021-02-16T10:38:54.431Z,1613471934.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 347.014782 deg,
      approachRate: -0.833143 m/s,
      LOS rate: 0.000422 deg/s,
      cmd update: 0.001267 deg/s,
      cmd heading: 353.224308 deg,
      new cmd heading: 353.236713 deg.

2021-02-16T10:38:56.813Z,1613471936.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:38:57.568Z,1613471937.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:38:57.970Z,1613471937.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:38:58.804Z,1613471938.804 [Micromodem](INFO): Nmea in: $SNTTA,0.051826,,,,103859.02*4C

2021-02-16T10:38:58.852Z,1613471938.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.519997 m, bearing: 346.628576 deg, deltaT: 4.463731 s, approachRate: -0.833384 m/s, LOS rate: -0.086521 deg/s, posRepo size: 4
2021-02-16T10:38:58.854Z,1613471938.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.519997 m,
      bearing: 346.628576 deg,
      approachRate: -0.833384 m/s,
      LOS rate: -0.086521 deg/s,
      cmd update: -0.259563 deg/s,
      cmd heading: 353.229967 deg,
      new cmd heading: 353.230491 deg.

2021-02-16T10:39:01.252Z,1613471941.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:02.013Z,1613471942.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:02.425Z,1613471942.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:03.244Z,1613471943.244 [Micromodem](INFO): Nmea in: $SNTTA,0.049436,,,,103903.47*47

2021-02-16T10:39:03.278Z,1613471943.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.980011 m, bearing: 346.996614 deg, deltaT: 4.423281 s, approachRate: -0.800308 m/s, LOS rate: 0.083205 deg/s, posRepo size: 4
2021-02-16T10:39:03.280Z,1613471943.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.980011 m,
      bearing: 346.996614 deg,
      approachRate: -0.800308 m/s,
      LOS rate: 0.083205 deg/s,
      cmd update: 0.249614 deg/s,
      cmd heading: 352.081850 deg,
      new cmd heading: 351.973729 deg.

2021-02-16T10:39:05.690Z,1613471945.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:06.456Z,1613471946.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:06.862Z,1613471946.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:07.684Z,1613471947.684 [Micromodem](INFO): Nmea in: $SNTTA,0.047079,,,,103907.91*49

2021-02-16T10:39:07.738Z,1613471947.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 345.911051 deg, deltaT: 4.416580 s, approachRate: -0.801527 m/s, LOS rate: -0.245793 deg/s, posRepo size: 4
2021-02-16T10:39:07.740Z,1613471947.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 345.911051 deg,
      approachRate: -0.801527 m/s,
      LOS rate: -0.245793 deg/s,
      cmd update: -0.737378 deg/s,
      cmd heading: 353.184318 deg,
      new cmd heading: 353.299014 deg.

2021-02-16T10:39:10.118Z,1613471950.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:10.900Z,1613471950.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:11.306Z,1613471951.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:12.128Z,1613471952.128 [Micromodem](INFO): Nmea in: $SNTTA,0.044608,,,,103912.36*43

2021-02-16T10:39:12.150Z,1613471952.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 345.581972 deg, deltaT: 4.491475 s, approachRate: -0.828234 m/s, LOS rate: -0.073267 deg/s, posRepo size: 4
2021-02-16T10:39:12.152Z,1613471952.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.720009 m,
      bearing: 345.581972 deg,
      approachRate: -0.828234 m/s,
      LOS rate: -0.073267 deg/s,
      cmd update: -0.219802 deg/s,
      cmd heading: 349.875344 deg,
      new cmd heading: 349.591876 deg.

2021-02-16T10:39:14.574Z,1613471954.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:15.344Z,1613471955.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:15.755Z,1613471955.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:16.579Z,1613471956.579 [Micromodem](INFO): Nmea in: $SNTTA,0.042149,0.084026,,,103916.80*58

2021-02-16T10:39:16.638Z,1613471956.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.059998 m, bearing: 346.106859 deg, deltaT: 4.397859 s, approachRate: -0.832226 m/s, LOS rate: 0.119350 deg/s, posRepo size: 4
2021-02-16T10:39:16.648Z,1613471956.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.059998 m,
      bearing: 346.106859 deg,
      approachRate: -0.832226 m/s,
      LOS rate: 0.119350 deg/s,
      cmd update: 0.358051 deg/s,
      cmd heading: 348.907826 deg,
      new cmd heading: 348.804434 deg.

2021-02-16T10:39:19.001Z,1613471959.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:19.788Z,1613471959.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:20.194Z,1613471960.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:21.036Z,1613471961.036 [Micromodem](INFO): Nmea in: $SNTTA,0.039686,,,,103921.24*4C

2021-02-16T10:39:21.066Z,1613471961.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 345.625713 deg, deltaT: 4.505585 s, approachRate: -0.825640 m/s, LOS rate: -0.106789 deg/s, posRepo size: 4
2021-02-16T10:39:21.068Z,1613471961.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.340008 m,
      bearing: 345.625713 deg,
      approachRate: -0.825640 m/s,
      LOS rate: -0.106789 deg/s,
      cmd update: -0.320366 deg/s,
      cmd heading: 350.521086 deg,
      new cmd heading: 350.661830 deg.

2021-02-16T10:39:23.457Z,1613471963.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:24.237Z,1613471964.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:24.642Z,1613471964.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:25.464Z,1613471965.464 [Micromodem](INFO): Nmea in: $SNTTA,0.037604,,,,103925.69*45

2021-02-16T10:39:25.489Z,1613471965.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.160004 m, bearing: 346.192701 deg, deltaT: 4.398131 s, approachRate: -0.723035 m/s, LOS rate: 0.128916 deg/s, posRepo size: 4
2021-02-16T10:39:25.491Z,1613471965.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.160004 m,
      bearing: 346.192701 deg,
      approachRate: -0.723035 m/s,
      LOS rate: 0.128916 deg/s,
      cmd update: 0.386747 deg/s,
      cmd heading: 349.112067 deg,
      new cmd heading: 348.978239 deg.

2021-02-16T10:39:27.932Z,1613471967.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:28.676Z,1613471968.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:29.081Z,1613471969.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:29.924Z,1613471969.924 [Micromodem](INFO): Nmea in: $SNTTA,0.034793,,0.067348,,103930.13*50

2021-02-16T10:39:29.970Z,1613471969.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 345.962387 deg, deltaT: 4.465397 s, approachRate: -0.927130 m/s, LOS rate: -0.051577 deg/s, posRepo size: 4
2021-02-16T10:39:29.972Z,1613471969.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.020000 m,
      bearing: 345.962387 deg,
      approachRate: -0.927130 m/s,
      LOS rate: -0.051577 deg/s,
      cmd update: -0.154732 deg/s,
      cmd heading: 350.837441 deg,
      new cmd heading: 351.006676 deg.

2021-02-16T10:39:32.327Z,1613471972.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:33.139Z,1613471973.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:33.526Z,1613471973.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:34.379Z,1613471974.379 [Micromodem](INFO): Nmea in: $SNTTA,0.031986,,,,103934.59*45

2021-02-16T10:39:34.432Z,1613471974.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.820000 m, bearing: 346.917684 deg, deltaT: 4.422286 s, approachRate: -0.949735 m/s, LOS rate: 0.216019 deg/s, posRepo size: 4
2021-02-16T10:39:34.433Z,1613471974.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.820000 m,
      bearing: 346.917684 deg,
      approachRate: -0.949735 m/s,
      LOS rate: 0.216019 deg/s,
      cmd update: 0.648057 deg/s,
      cmd heading: 350.152532 deg,
      new cmd heading: 350.079467 deg.

2021-02-16T10:39:36.812Z,1613471976.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:37.574Z,1613471977.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:37.977Z,1613471977.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:38.805Z,1613471978.805 [Micromodem](INFO): Nmea in: $SNTTA,0.029389,,0.057507,,103939.03*55

2021-02-16T10:39:38.829Z,1613471978.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.859997 m, bearing: 346.908095 deg, deltaT: 4.487786 s, approachRate: -0.882396 m/s, LOS rate: -0.002137 deg/s, posRepo size: 4
2021-02-16T10:39:38.830Z,1613471978.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.859997 m,
      bearing: 346.908095 deg,
      approachRate: -0.882396 m/s,
      LOS rate: -0.002137 deg/s,
      cmd update: -0.006410 deg/s,
      cmd heading: 353.050400 deg,
      new cmd heading: 353.308328 deg.

2021-02-16T10:39:41.233Z,1613471981.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:42.017Z,1613471982.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:42.443Z,1613471982.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:43.244Z,1613471983.244 [Micromodem](INFO): Nmea in: $SNTTA,0.026739,,,,103943.47*46

2021-02-16T10:39:43.280Z,1613471983.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.959999 m, bearing: 346.251768 deg, deltaT: 4.414958 s, approachRate: -0.883360 m/s, LOS rate: -0.148660 deg/s, posRepo size: 4
2021-02-16T10:39:43.281Z,1613471983.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.96 m.
2021-02-16T10:39:43.282Z,1613471983.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.959999 m,
      bearing: 346.251768 deg,
      approachRate: -0.883360 m/s,
      LOS rate: -0.148660 deg/s,
      cmd update: -0.445979 deg/s,
      cmd heading: 353.021995 deg,
      new cmd heading: 353.019314 deg.

2021-02-16T10:39:43.653Z,1613471983.653 [PowerOnly](INFO): Powering up loadControl
2021-02-16T10:39:45.693Z,1613471985.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:46.456Z,1613471986.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:46.864Z,1613471986.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:47.684Z,1613471987.684 [Micromodem](INFO): Nmea in: $SNTTA,0.024090,,,,103947.91*4F

2021-02-16T10:39:47.735Z,1613471987.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 344.763907 deg, deltaT: 4.433037 s, approachRate: -0.906828 m/s, LOS rate: -0.335630 deg/s, posRepo size: 4
2021-02-16T10:39:47.735Z,1613471987.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.94 m.
2021-02-16T10:39:47.736Z,1613471987.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.94 m.
2021-02-16T10:39:47.736Z,1613471987.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T10:39:47.737Z,1613471987.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.939999 m,
      bearing: 344.763907 deg,
      approachRate: -0.906828 m/s,
      LOS rate: -0.335630 deg/s,
      cmd update: -1.006891 deg/s,
      cmd heading: 351.046712 deg,
      new cmd heading: 350.848846 deg.

2021-02-16T10:39:50.113Z,1613471990.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:50.900Z,1613471990.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:51.311Z,1613471991.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:52.136Z,1613471992.136 [Micromodem](INFO): Nmea in: $SNTTA,0.021662,,,,103952.36*48

2021-02-16T10:39:52.182Z,1613471992.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 343.787354 deg, deltaT: 4.470585 s, approachRate: -0.818685 m/s, LOS rate: -0.218440 deg/s, posRepo size: 4
2021-02-16T10:39:52.188Z,1613471992.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.279999 m,
      bearing: 343.787354 deg,
      approachRate: -0.818685 m/s,
      LOS rate: -0.218440 deg/s,
      cmd update: -0.655319 deg/s,
      cmd heading: 346.545288 deg,
      new cmd heading: 346.121622 deg.

2021-02-16T10:39:54.588Z,1613471994.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:55.353Z,1613471995.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:39:55.750Z,1613471995.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:39:56.609Z,1613471996.609 [Micromodem](INFO): Nmea in: $SNTTA,0.019106,,,,103956.81*4E

2021-02-16T10:39:56.697Z,1613471996.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 344.027148 deg, deltaT: 4.406806 s, approachRate: -0.871379 m/s, LOS rate: 0.054415 deg/s, posRepo size: 4
2021-02-16T10:39:56.698Z,1613471996.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 344.027148 deg,
      approachRate: -0.871379 m/s,
      LOS rate: 0.054415 deg/s,
      cmd update: 0.163244 deg/s,
      cmd heading: 343.655099 deg,
      new cmd heading: 343.314336 deg.

2021-02-16T10:39:59.017Z,1613471999.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:39:59.809Z,1613471999.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:00.214Z,1613472000.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:01.043Z,1613472001.043 [Micromodem](INFO): Nmea in: $SNTTA,0.016529,,,,104001.27*48

2021-02-16T10:40:01.059Z,1613472001.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 343.959311 deg, deltaT: 4.515545 s, approachRate: -0.704235 m/s, LOS rate: -0.015023 deg/s, posRepo size: 4
2021-02-16T10:40:01.069Z,1613472001.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 343.959311 deg,
      approachRate: -0.704235 m/s,
      LOS rate: -0.015023 deg/s,
      cmd update: -0.045069 deg/s,
      cmd heading: 344.391647 deg,
      new cmd heading: 344.452813 deg.

2021-02-16T10:40:03.465Z,1613472003.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:04.244Z,1613472004.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:04.645Z,1613472004.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:05.472Z,1613472005.472 [Micromodem](INFO): Nmea in: $SNTTA,0.013797,,,,104005.70*4C

2021-02-16T10:40:05.518Z,1613472005.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 345.711637 deg, deltaT: 4.379607 s, approachRate: -1.082289 m/s, LOS rate: 0.400110 deg/s, posRepo size: 4
2021-02-16T10:40:05.524Z,1613472005.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 345.711637 deg,
      approachRate: -1.082289 m/s,
      LOS rate: 0.400110 deg/s,
      cmd update: 1.200331 deg/s,
      cmd heading: 344.194081 deg,
      new cmd heading: 344.173785 deg.

2021-02-16T10:40:07.903Z,1613472007.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:08.685Z,1613472008.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:09.100Z,1613472009.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:09.916Z,1613472009.916 [Micromodem](INFO): Nmea in: $SNTTA,0.011236,,,,104010.14*46

2021-02-16T10:40:09.955Z,1613472009.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.619999 m, bearing: 346.163577 deg, deltaT: 4.459452 s, approachRate: -0.874546 m/s, LOS rate: 0.101344 deg/s, posRepo size: 4
2021-02-16T10:40:09.957Z,1613472009.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 346.163577 deg,
      approachRate: -0.874546 m/s,
      LOS rate: 0.101344 deg/s,
      cmd update: 0.304033 deg/s,
      cmd heading: 349.546804 deg,
      new cmd heading: 350.061007 deg.

2021-02-16T10:40:12.341Z,1613472012.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:13.139Z,1613472013.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:13.530Z,1613472013.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:14.372Z,1613472014.372 [Micromodem](INFO): Nmea in: $SNTTA,0.008846,,,,104014.59*4E

2021-02-16T10:40:14.430Z,1613472014.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 346.073555 deg, deltaT: 4.430944 s, approachRate: -0.798926 m/s, LOS rate: -0.020317 deg/s, posRepo size: 4
2021-02-16T10:40:14.436Z,1613472014.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 346.073555 deg,
      approachRate: -0.798926 m/s,
      LOS rate: -0.020317 deg/s,
      cmd update: -0.060950 deg/s,
      cmd heading: 350.893960 deg,
      new cmd heading: 351.037435 deg.

2021-02-16T10:40:16.819Z,1613472016.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:17.580Z,1613472017.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:17.973Z,1613472017.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:18.804Z,1613472018.804 [Micromodem](INFO): Nmea in: $SNTTA,0.006475,,,,104019.04*49

2021-02-16T10:40:18.849Z,1613472018.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 344.644597 deg, deltaT: 4.485351 s, approachRate: -0.815990 m/s, LOS rate: -0.318583 deg/s, posRepo size: 4
2021-02-16T10:40:18.850Z,1613472018.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 344.644597 deg,
      approachRate: -0.815990 m/s,
      LOS rate: -0.318583 deg/s,
      cmd update: -0.955750 deg/s,
      cmd heading: 350.620573 deg,
      new cmd heading: 350.595862 deg.

2021-02-16T10:40:21.241Z,1613472021.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:22.017Z,1613472022.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:22.429Z,1613472022.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:23.248Z,1613472023.248 [Micromodem](INFO): Nmea in: $SNTTA,0.004514,,0.016651,,104023.47*58

2021-02-16T10:40:23.282Z,1613472023.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 342.019756 deg, deltaT: 4.437863 s, approachRate: -0.648961 m/s, LOS rate: -0.591465 deg/s, posRepo size: 4
2021-02-16T10:40:23.284Z,1613472023.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 342.019756 deg,
      approachRate: -0.648961 m/s,
      LOS rate: -0.591465 deg/s,
      cmd update: -1.774396 deg/s,
      cmd heading: 346.379170 deg,
      new cmd heading: 345.995602 deg.

2021-02-16T10:40:25.693Z,1613472025.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:26.458Z,1613472026.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:26.876Z,1613472026.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:27.703Z,1613472027.703 [Micromodem](INFO): Nmea in: $SNTTA,0.002923,,,,104027.91*42

2021-02-16T10:40:27.736Z,1613472027.736 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T10:40:27.736Z,1613472027.736 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:40:27.736Z,1613472027.736 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T10:40:27.736Z,1613472027.736 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:40:27.736Z,1613472027.736 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T10:40:27.737Z,1613472027.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T10:40:27.737Z,1613472027.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T10:40:27.737Z,1613472027.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T10:40:27.737Z,1613472027.737 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T10:40:27.739Z,1613472027.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 336.306767 deg, deltaT: 4.397427 s, approachRate: -0.532130 m/s, LOS rate: -1.299166 deg/s, posRepo size: 4
2021-02-16T10:40:27.741Z,1613472027.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 336.306767 deg,
      approachRate: -0.532130 m/s,
      LOS rate: -1.299166 deg/s,
      cmd update: -3.897499 deg/s,
      cmd heading: 338.576499 deg,
      new cmd heading: 337.758768 deg.

2021-02-16T10:40:28.105Z,1613472028.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T104028: (41.552319, -70.708603)
2021-02-16T10:40:28.105Z,1613472028.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T10:40:28.105Z,1613472028.105 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T10:40:28.106Z,1613472028.106 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:40:29.791Z,1613472029.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:30.514Z,1613472030.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:30.917Z,1613472030.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:31.752Z,1613472031.752 [Micromodem](INFO): Nmea in: $SNTTA,0.002906,,,,104031.97*44

2021-02-16T10:40:31.801Z,1613472031.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 332.585652 deg, deltaT: 4.082066 s, approachRate: 0.014699 m/s, LOS rate: -0.911576 deg/s, posRepo size: 4
2021-02-16T10:40:31.803Z,1613472031.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 332.585652 deg,
      approachRate: 0.014699 m/s,
      LOS rate: -0.911576 deg/s,
      cmd update: -2.734729 deg/s,
      cmd heading: 322.681535 deg,
      new cmd heading: 320.949389 deg.

2021-02-16T10:40:34.156Z,1613472034.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:34.957Z,1613472034.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:35.345Z,1613472035.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:36.201Z,1613472036.201 [Micromodem](INFO): Nmea in: $SNTTA,0.004638,,,,104036.42*4F

2021-02-16T10:40:36.246Z,1613472036.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 320.081516 deg, deltaT: 4.427638 s, approachRate: 0.623358 m/s, LOS rate: -2.824110 deg/s, posRepo size: 4
2021-02-16T10:40:36.248Z,1613472036.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 320.081516 deg,
      approachRate: 0.623358 m/s,
      LOS rate: -2.824110 deg/s,
      cmd update: -8.472330 deg/s,
      cmd heading: 310.562918 deg,
      new cmd heading: 309.309316 deg.

2021-02-16T10:40:38.673Z,1613472038.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:39.480Z,1613472039.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:39.843Z,1613472039.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:40.654Z,1613472040.654 [Micromodem](INFO): Nmea in: $SNTTA,0.006529,,,,104040.94*44

2021-02-16T10:40:40.718Z,1613472040.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 278.981016 deg, deltaT: 4.449683 s, approachRate: 0.647236 m/s, LOS rate: -9.236725 deg/s, posRepo size: 4
2021-02-16T10:40:40.720Z,1613472040.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 278.981016 deg,
      approachRate: 0.647236 m/s,
      LOS rate: -9.236725 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 272.896465 deg,
      new cmd heading: 268.795773 deg.

2021-02-16T10:40:43.052Z,1613472043.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:43.849Z,1613472043.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:44.247Z,1613472044.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:45.074Z,1613472045.074 [Micromodem](INFO): Nmea in: $SNTTA,0.008487,,,,104045.30*44

2021-02-16T10:40:45.100Z,1613472045.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 322.176389 deg, deltaT: 4.450603 s, approachRate: 0.660585 m/s, LOS rate: 9.705510 deg/s, posRepo size: 4
2021-02-16T10:40:45.102Z,1613472045.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 322.176389 deg,
      approachRate: 0.660585 m/s,
      LOS rate: 9.705510 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 219.440267 deg,
      new cmd heading: 214.516547 deg.

2021-02-16T10:40:47.495Z,1613472047.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:48.298Z,1613472048.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:48.682Z,1613472048.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:49.516Z,1613472049.516 [Micromodem](INFO): Nmea in: $SNTTA,0.009903,,,,104049.75*49

2021-02-16T10:40:49.577Z,1613472049.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.000000 m, bearing: 286.596978 deg, deltaT: 4.410154 s, approachRate: 0.489779 m/s, LOS rate: -8.067612 deg/s, posRepo size: 4
2021-02-16T10:40:49.577Z,1613472049.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.00 m. Rolling out.
2021-02-16T10:40:49.577Z,1613472049.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T10:40:51.944Z,1613472051.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:52.720Z,1613472052.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:53.131Z,1613472053.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:53.948Z,1613472053.948 [Micromodem](INFO): Nmea in: $SNTTA,0.011601,,,,104054.18*4A

2021-02-16T10:40:53.989Z,1613472053.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 225.539458 deg, deltaT: 4.520107 s, approachRate: 0.544235 m/s, LOS rate: -13.507981 deg/s, posRepo size: 4
2021-02-16T10:40:56.418Z,1613472056.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:40:57.169Z,1613472057.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:40:57.579Z,1613472057.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:40:58.426Z,1613472058.426 [Micromodem](INFO): Nmea in: $SNTTA,0.013139,,,,104058.62*45

2021-02-16T10:40:58.451Z,1613472058.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 289.070162 deg, deltaT: 4.375592 s, approachRate: 0.740472 m/s, LOS rate: 14.519340 deg/s, posRepo size: 4
2021-02-16T10:41:00.845Z,1613472060.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:01.634Z,1613472061.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:02.014Z,1613472062.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:02.852Z,1613472062.852 [Micromodem](INFO): Nmea in: $SNTTA,0.015007,,,,104103.09*4D

2021-02-16T10:41:02.901Z,1613472062.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.619999 m, bearing: 230.639779 deg, deltaT: 4.452131 s, approachRate: 0.431254 m/s, LOS rate: -13.124138 deg/s, posRepo size: 4
2021-02-16T10:41:05.310Z,1613472065.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:06.096Z,1613472066.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:06.515Z,1613472066.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:07.337Z,1613472067.337 [Micromodem](INFO): Nmea in: $SNTTA,0.017103,,,,104107.55*47

2021-02-16T10:41:07.419Z,1613472067.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 299.637967 deg, deltaT: 4.514364 s, approachRate: 0.837327 m/s, LOS rate: 15.284143 deg/s, posRepo size: 4
2021-02-16T10:41:09.821Z,1613472069.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:10.569Z,1613472070.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:10.945Z,1613472070.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:11.787Z,1613472071.787 [Micromodem](INFO): Nmea in: $SNTTA,0.019029,,,,104112.03*47

2021-02-16T10:41:11.822Z,1613472071.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.280003 m, bearing: 287.295952 deg, deltaT: 4.449570 s, approachRate: 0.647255 m/s, LOS rate: -2.773755 deg/s, posRepo size: 4
2021-02-16T10:41:14.193Z,1613472074.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:14.989Z,1613472074.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:15.415Z,1613472075.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:16.361Z,1613472076.361 [Micromodem](INFO): Nmea in: $SNTTA,0.020957,,,0.025469,104116.44*58

2021-02-16T10:41:16.423Z,1613472076.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.099998 m, bearing: 226.779602 deg, deltaT: 4.438427 s, approachRate: 0.635359 m/s, LOS rate: -13.634639 deg/s, posRepo size: 4
2021-02-16T10:41:18.236Z,1613472078.236 [PowerOnly](INFO): Powering down loadControl
2021-02-16T10:41:18.669Z,1613472078.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:19.433Z,1613472079.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:19.840Z,1613472079.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:20.667Z,1613472080.667 [Micromodem](INFO): Nmea in: $SNTTA,0.023033,0.048894,,,104120.89*51

2021-02-16T10:41:20.701Z,1613472080.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.099998 m, bearing: 231.669334 deg, deltaT: 4.418752 s, approachRate: 0.678925 m/s, LOS rate: 1.106587 deg/s, posRepo size: 4
2021-02-16T10:41:23.095Z,1613472083.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:23.872Z,1613472083.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:24.280Z,1613472084.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:25.100Z,1613472085.100 [Micromodem](INFO): Nmea in: $SNTTA,0.024985,,,,104125.33*41

2021-02-16T10:41:25.136Z,1613472085.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.099998 m, bearing: 228.879475 deg, deltaT: 4.465902 s, approachRate: 0.671757 m/s, LOS rate: -0.624702 deg/s, posRepo size: 4
2021-02-16T10:41:27.558Z,1613472087.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:28.317Z,1613472088.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:28.730Z,1613472088.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:29.544Z,1613472089.544 [Micromodem](INFO): Nmea in: $SNTTA,0.027061,,,,104129.77*4D

2021-02-16T10:41:29.626Z,1613472089.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.680000 m, bearing: 282.904059 deg, deltaT: 4.420354 s, approachRate: 0.583664 m/s, LOS rate: 12.221777 deg/s, posRepo size: 4
2021-02-16T10:41:31.992Z,1613472091.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:32.765Z,1613472092.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:33.172Z,1613472093.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:33.992Z,1613472093.992 [Micromodem](INFO): Nmea in: $SNTTA,0.029204,,,,104134.22*4E

2021-02-16T10:41:34.036Z,1613472094.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.920002 m, bearing: 285.609824 deg, deltaT: 4.489979 s, approachRate: 0.721607 m/s, LOS rate: 0.602623 deg/s, posRepo size: 4
2021-02-16T10:41:36.460Z,1613472096.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:37.216Z,1613472097.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:37.631Z,1613472097.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:38.456Z,1613472098.456 [Micromodem](INFO): Nmea in: $SNTTA,0.031285,,,,104138.67*43

2021-02-16T10:41:38.510Z,1613472098.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 286.184926 deg, deltaT: 4.382309 s, approachRate: 0.711953 m/s, LOS rate: 0.131233 deg/s, posRepo size: 4
2021-02-16T10:41:40.895Z,1613472100.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:41.658Z,1613472101.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:42.059Z,1613472102.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:42.888Z,1613472102.888 [Micromodem](INFO): Nmea in: $SNTTA,0.033305,,,,104143.11*45

2021-02-16T10:41:42.933Z,1613472102.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 281.410405 deg, deltaT: 4.499776 s, approachRate: 0.693368 m/s, LOS rate: -1.061057 deg/s, posRepo size: 4
2021-02-16T10:41:45.319Z,1613472105.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:46.101Z,1613472106.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:46.519Z,1613472106.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:47.328Z,1613472107.328 [Micromodem](INFO): Nmea in: $SNTTA,0.035438,,,,104147.56*4D

2021-02-16T10:41:47.408Z,1613472107.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 285.267359 deg, deltaT: 4.421620 s, approachRate: 0.719192 m/s, LOS rate: 0.872294 deg/s, posRepo size: 4
2021-02-16T10:41:49.801Z,1613472109.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:50.545Z,1613472110.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:50.947Z,1613472110.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:51.772Z,1613472111.772 [Micromodem](INFO): Nmea in: $SNTTA,0.037448,0.055515,,,104152.00*50

2021-02-16T10:41:51.821Z,1613472111.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 289.251217 deg, deltaT: 4.463933 s, approachRate: 0.658613 m/s, LOS rate: 0.892455 deg/s, posRepo size: 4
2021-02-16T10:41:54.193Z,1613472114.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:54.990Z,1613472114.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:55.414Z,1613472115.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:41:56.225Z,1613472116.225 [Micromodem](INFO): Nmea in: $SNTTA,0.039316,,,,104156.44*49

2021-02-16T10:41:56.246Z,1613472116.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 293.225895 deg, deltaT: 4.405360 s, approachRate: 0.653748 m/s, LOS rate: 0.902237 deg/s, posRepo size: 4
2021-02-16T10:41:58.684Z,1613472118.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:41:59.436Z,1613472119.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:41:59.863Z,1613472119.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:00.664Z,1613472120.664 [Micromodem](INFO): Nmea in: $SNTTA,0.041325,,,,104200.89*47

2021-02-16T10:42:00.716Z,1613472120.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 283.760810 deg, deltaT: 4.437170 s, approachRate: 0.676108 m/s, LOS rate: -2.133136 deg/s, posRepo size: 4
2021-02-16T10:42:03.098Z,1613472123.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:03.889Z,1613472123.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:04.296Z,1613472124.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:05.115Z,1613472125.115 [Micromodem](INFO): Nmea in: $SNTTA,0.043493,,,,104205.34*4C

2021-02-16T10:42:05.134Z,1613472125.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 242.897455 deg, deltaT: 4.473320 s, approachRate: 0.724294 m/s, LOS rate: -9.134905 deg/s, posRepo size: 4
2021-02-16T10:42:07.539Z,1613472127.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:08.322Z,1613472128.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:08.728Z,1613472128.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:09.572Z,1613472129.572 [Micromodem](INFO): Nmea in: $SNTTA,0.045778,,,,104209.78*48

2021-02-16T10:42:09.661Z,1613472129.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 241.689112 deg, deltaT: 4.421740 s, approachRate: 0.773452 m/s, LOS rate: -0.273273 deg/s, posRepo size: 4
2021-02-16T10:42:11.980Z,1613472131.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:12.777Z,1613472132.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:13.166Z,1613472133.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:14.000Z,1613472134.000 [Micromodem](INFO): Nmea in: $SNTTA,0.048141,,,,104214.23*4B

2021-02-16T10:42:14.022Z,1613472134.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.360001 m, bearing: 236.116033 deg, deltaT: 4.499904 s, approachRate: 0.786682 m/s, LOS rate: -1.238488 deg/s, posRepo size: 4
2021-02-16T10:42:16.450Z,1613472136.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:17.225Z,1613472137.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:17.644Z,1613472137.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:18.464Z,1613472138.464 [Micromodem](INFO): Nmea in: $SNTTA,0.050424,,,,104218.68*47

2021-02-16T10:42:18.498Z,1613472138.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 232.458549 deg, deltaT: 4.378962 s, approachRate: 0.781008 m/s, LOS rate: -0.835240 deg/s, posRepo size: 4
2021-02-16T10:42:20.890Z,1613472140.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:21.650Z,1613472141.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:22.054Z,1613472142.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:22.880Z,1613472142.880 [Micromodem](INFO): Nmea in: $SNTTA,0.052487,,,,104223.10*4B

2021-02-16T10:42:22.925Z,1613472142.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 281.750303 deg, deltaT: 4.477623 s, approachRate: 0.696799 m/s, LOS rate: 11.008464 deg/s, posRepo size: 4
2021-02-16T10:42:25.316Z,1613472145.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:26.109Z,1613472146.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:26.498Z,1613472146.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:27.332Z,1613472147.332 [Micromodem](INFO): Nmea in: $SNTTA,0.054712,,,,104227.57*45

2021-02-16T10:42:27.412Z,1613472147.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 223.081519 deg, deltaT: 4.443718 s, approachRate: 0.742620 m/s, LOS rate: -13.202634 deg/s, posRepo size: 4
2021-02-16T10:42:29.768Z,1613472149.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:30.541Z,1613472150.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:30.942Z,1613472150.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:31.768Z,1613472151.768 [Micromodem](INFO): Nmea in: $SNTTA,0.056964,,,,104232.00*4E

2021-02-16T10:42:31.822Z,1613472151.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 283.887934 deg, deltaT: 4.456731 s, approachRate: 0.767378 m/s, LOS rate: 13.643725 deg/s, posRepo size: 4
2021-02-16T10:42:34.218Z,1613472154.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:34.981Z,1613472154.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:35.415Z,1613472155.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:36.213Z,1613472156.213 [Micromodem](INFO): Nmea in: $SNTTA,0.059401,,,,104236.44*4B

2021-02-16T10:42:36.254Z,1613472156.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.279999 m, bearing: 244.592079 deg, deltaT: 4.423622 s, approachRate: 0.827375 m/s, LOS rate: -8.883185 deg/s, posRepo size: 4
2021-02-16T10:42:38.699Z,1613472158.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:39.424Z,1613472159.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:39.852Z,1613472159.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:40.670Z,1613472160.670 [Micromodem](INFO): Nmea in: $SNTTA,0.061596,,,,104240.88*4E

2021-02-16T10:42:40.728Z,1613472160.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 238.305901 deg, deltaT: 4.428467 s, approachRate: 0.731631 m/s, LOS rate: -1.419493 deg/s, posRepo size: 4
2021-02-16T10:42:43.076Z,1613472163.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:43.871Z,1613472163.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:44.274Z,1613472164.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:45.100Z,1613472165.100 [Micromodem](INFO): Nmea in: $SNTTA,0.063805,,,,104245.33*4E

2021-02-16T10:42:45.132Z,1613472165.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 242.871336 deg, deltaT: 4.502238 s, approachRate: 0.746294 m/s, LOS rate: 1.014037 deg/s, posRepo size: 4
2021-02-16T10:42:47.542Z,1613472167.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:48.313Z,1613472168.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:48.733Z,1613472168.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:49.555Z,1613472169.555 [Micromodem](INFO): Nmea in: $SNTTA,0.066144,,,,104249.77*4B

2021-02-16T10:42:49.596Z,1613472169.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 238.714620 deg, deltaT: 4.408064 s, approachRate: 0.789465 m/s, LOS rate: -0.942980 deg/s, posRepo size: 4
2021-02-16T10:42:51.975Z,1613472171.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:52.757Z,1613472172.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:53.163Z,1613472173.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:53.987Z,1613472173.987 [Micromodem](INFO): Nmea in: $SNTTA,0.068361,,,,104254.21*4F

2021-02-16T10:42:54.011Z,1613472174.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.660011 m, bearing: 282.736473 deg, deltaT: 4.476037 s, approachRate: 0.737260 m/s, LOS rate: 9.835006 deg/s, posRepo size: 4
2021-02-16T10:42:56.447Z,1613472176.447 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:42:57.203Z,1613472177.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:42:57.637Z,1613472177.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:42:58.435Z,1613472178.435 [Micromodem](INFO): Nmea in: $SNTTA,0.070596,,,,104258.66*47

2021-02-16T10:42:58.460Z,1613472178.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.019997 m, bearing: 242.376475 deg, deltaT: 4.392291 s, approachRate: 0.764973 m/s, LOS rate: -9.188826 deg/s, posRepo size: 4
2021-02-16T10:43:00.864Z,1613472180.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:01.644Z,1613472181.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:02.049Z,1613472182.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:02.872Z,1613472182.872 [Micromodem](INFO): Nmea in: $SNTTA,0.072739,,,,104303.10*4C

2021-02-16T10:43:02.932Z,1613472182.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 240.712450 deg, deltaT: 4.471594 s, approachRate: 0.724577 m/s, LOS rate: -0.372132 deg/s, posRepo size: 4
2021-02-16T10:43:05.301Z,1613472185.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:06.097Z,1613472186.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:06.499Z,1613472186.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:07.320Z,1613472187.320 [Micromodem](INFO): Nmea in: $SNTTA,0.074918,,,,104307.55*42

2021-02-16T10:43:07.360Z,1613472187.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.560005 m, bearing: 257.032204 deg, deltaT: 4.425169 s, approachRate: 0.745733 m/s, LOS rate: 3.687939 deg/s, posRepo size: 4
2021-02-16T10:43:09.771Z,1613472189.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:10.537Z,1613472190.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:10.938Z,1613472190.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:11.764Z,1613472191.764 [Micromodem](INFO): Nmea in: $SNTTA,0.077137,,,,104311.99*43

2021-02-16T10:43:11.826Z,1613472191.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 242.684380 deg, deltaT: 4.473320 s, approachRate: 0.737708 m/s, LOS rate: -3.207422 deg/s, posRepo size: 4
2021-02-16T10:43:14.203Z,1613472194.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:14.982Z,1613472194.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:15.412Z,1613472195.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:16.209Z,1613472196.209 [Micromodem](INFO): Nmea in: $SNTTA,0.079539,,,,104316.44*40

2021-02-16T10:43:16.260Z,1613472196.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 235.650679 deg, deltaT: 4.426565 s, approachRate: 0.826825 m/s, LOS rate: -1.588975 deg/s, posRepo size: 4
2021-02-16T10:43:18.670Z,1613472198.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:19.424Z,1613472199.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:19.826Z,1613472199.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:20.655Z,1613472200.655 [Micromodem](INFO): Nmea in: $SNTTA,0.081729,,,,104320.88*41

2021-02-16T10:43:20.694Z,1613472200.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 232.603595 deg, deltaT: 4.416664 s, approachRate: 0.719999 m/s, LOS rate: -0.689906 deg/s, posRepo size: 4
2021-02-16T10:43:23.090Z,1613472203.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:23.864Z,1613472203.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:24.274Z,1613472204.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:25.096Z,1613472205.096 [Micromodem](INFO): Nmea in: $SNTTA,0.083733,,,,104325.32*4C

2021-02-16T10:43:25.138Z,1613472205.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 251.332684 deg, deltaT: 4.494422 s, approachRate: 0.680847 m/s, LOS rate: 4.167185 deg/s, posRepo size: 4
2021-02-16T10:43:27.533Z,1613472207.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:28.308Z,1613472208.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:28.714Z,1613472208.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:29.536Z,1613472209.536 [Micromodem](INFO): Nmea in: $SNTTA,0.085938,,,,104329.76*43

2021-02-16T10:43:29.562Z,1613472209.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 250.423012 deg, deltaT: 4.385951 s, approachRate: 0.752403 m/s, LOS rate: -0.207406 deg/s, posRepo size: 4
2021-02-16T10:43:31.980Z,1613472211.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:32.757Z,1613472212.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:33.157Z,1613472213.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:33.984Z,1613472213.984 [Micromodem](INFO): Nmea in: $SNTTA,0.088191,,,,104334.21*4B

2021-02-16T10:43:34.022Z,1613472214.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.479996 m, bearing: 242.092148 deg, deltaT: 4.530148 s, approachRate: 0.754938 m/s, LOS rate: -1.838983 deg/s, posRepo size: 4
2021-02-16T10:43:36.438Z,1613472216.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:37.197Z,1613472217.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:37.633Z,1613472217.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:38.432Z,1613472218.432 [Micromodem](INFO): Nmea in: $SNTTA,0.090295,,,,104338.65*49

2021-02-16T10:43:38.471Z,1613472218.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.600006 m, bearing: 247.128511 deg, deltaT: 4.375714 s, approachRate: 0.713029 m/s, LOS rate: 1.150981 deg/s, posRepo size: 4
2021-02-16T10:43:40.864Z,1613472220.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:41.644Z,1613472221.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:42.051Z,1613472222.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:42.893Z,1613472222.893 [Micromodem](INFO): Nmea in: $SNTTA,0.092489,,0.100751,,104343.10*52

2021-02-16T10:43:42.917Z,1613472222.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 249.741195 deg, deltaT: 4.454557 s, approachRate: 0.740815 m/s, LOS rate: 0.586519 deg/s, posRepo size: 4
2021-02-16T10:43:45.322Z,1613472225.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:46.085Z,1613472226.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:46.495Z,1613472226.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:47.312Z,1613472227.312 [Micromodem](INFO): Nmea in: $SNTTA,0.094701,,,,104347.54*4F

2021-02-16T10:43:47.352Z,1613472227.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 283.613524 deg, deltaT: 4.451723 s, approachRate: 0.741283 m/s, LOS rate: 7.608813 deg/s, posRepo size: 4
2021-02-16T10:43:49.767Z,1613472229.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:50.529Z,1613472230.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:50.964Z,1613472230.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:51.760Z,1613472231.760 [Micromodem](INFO): Nmea in: $SNTTA,0.096973,,,,104351.99*40

2021-02-16T10:43:51.820Z,1613472231.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.619995 m, bearing: 243.067800 deg, deltaT: 4.476523 s, approachRate: 0.763985 m/s, LOS rate: -9.057415 deg/s, posRepo size: 4
2021-02-16T10:43:54.179Z,1613472234.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:54.990Z,1613472234.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:55.417Z,1613472235.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:43:56.217Z,1613472236.217 [Micromodem](INFO): Nmea in: $SNTTA,0.098806,,,,104356.45*4B

2021-02-16T10:43:56.254Z,1613472236.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 242.247221 deg, deltaT: 4.417541 s, approachRate: 0.638366 m/s, LOS rate: -0.185755 deg/s, posRepo size: 4
2021-02-16T10:43:58.666Z,1613472238.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:43:59.497Z,1613472239.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:43:59.824Z,1613472239.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:01.048Z,1613472241.048 [Micromodem](INFO): Nmea in: $SNTTA,0.100891,,,,104400.95*4C

2021-02-16T10:44:01.070Z,1613472241.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.500000 m, bearing: 243.229402 deg, deltaT: 4.887959 s, approachRate: 0.626028 m/s, LOS rate: 0.200939 deg/s, posRepo size: 4
2021-02-16T10:44:01.071Z,1613472241.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.50 m. Resuming terminal guidance.
2021-02-16T10:44:01.071Z,1613472241.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:44:03.481Z,1613472243.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:04.264Z,1613472244.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:04.670Z,1613472244.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:05.500Z,1613472245.500 [Micromodem](INFO): Nmea in: $SNTTA,0.103178,,,,104405.72*4D

2021-02-16T10:44:05.548Z,1613472245.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 245.786598 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:44:05.549Z,1613472245.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 245.786598deg and heading rate command to 0 deg/s.
2021-02-16T10:44:07.950Z,1613472247.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:08.719Z,1613472248.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:09.114Z,1613472249.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:09.984Z,1613472249.984 [Micromodem](INFO): Nmea in: $SNTTA,0.104944,,,,104410.17*4A

2021-02-16T10:44:10.008Z,1613472250.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 276.118129 deg, deltaT: 4.480079 s, approachRate: 0.589279 m/s, LOS rate: 6.770312 deg/s, posRepo size: 2
2021-02-16T10:44:10.010Z,1613472250.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 276.118129 deg,
      approachRate: 0.589279 m/s,
      LOS rate: 6.770312 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 245.786598 deg,
      new cmd heading: 245.786598 deg.

2021-02-16T10:44:12.365Z,1613472252.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:13.158Z,1613472253.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:13.558Z,1613472253.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:14.408Z,1613472254.408 [Micromodem](INFO): Nmea in: $SNTTA,0.107031,,,,104414.61*47

2021-02-16T10:44:14.445Z,1613472254.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 200.766089 deg, deltaT: 4.432862 s, approachRate: 0.703830 m/s, LOS rate: -16.998509 deg/s, posRepo size: 3
2021-02-16T10:44:14.445Z,1613472254.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.998509 deg/s. Setting heading cmd to target bearing of 200.766089deg and heading rate command to 0 deg/s.
2021-02-16T10:44:16.827Z,1613472256.827 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:17.618Z,1613472257.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:18.002Z,1613472258.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:18.847Z,1613472258.847 [Micromodem](INFO): Nmea in: $SNTTA,0.108779,,,0.111272,104419.07*56

2021-02-16T10:44:18.871Z,1613472258.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 225.379427 deg, deltaT: 4.455939 s, approachRate: 0.000000 m/s, LOS rate: 5.523715 deg/s, posRepo size: 4
2021-02-16T10:44:18.873Z,1613472258.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 225.379427 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.523715 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 200.766089 deg,
      new cmd heading: 200.766089 deg.

2021-02-16T10:44:21.253Z,1613472261.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:22.040Z,1613472262.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:22.471Z,1613472262.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:23.272Z,1613472263.272 [Micromodem](INFO): Nmea in: $SNTTA,0.110753,,,,104423.49*4C

2021-02-16T10:44:23.305Z,1613472263.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.440002 m, bearing: 229.705327 deg, deltaT: 4.452118 s, approachRate: 1.293768 m/s, LOS rate: 0.971650 deg/s, posRepo size: 4
2021-02-16T10:44:23.307Z,1613472263.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 229.705327 deg,
      approachRate: 1.293768 m/s,
      LOS rate: 0.971650 deg/s,
      cmd update: 2.914950 deg/s,
      cmd heading: 254.140735 deg,
      new cmd heading: 258.853447 deg.

2021-02-16T10:44:25.740Z,1613472265.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:26.484Z,1613472266.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:26.890Z,1613472266.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:27.721Z,1613472267.721 [Micromodem](INFO): Nmea in: $SNTTA,0.112728,,,,104427.94*46

2021-02-16T10:44:27.788Z,1613472267.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.440002 m, bearing: 222.158255 deg, deltaT: 4.398133 s, approachRate: 0.000000 m/s, LOS rate: -1.715972 deg/s, posRepo size: 4
2021-02-16T10:44:27.789Z,1613472267.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.440002 m,
      bearing: 222.158255 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.715972 deg/s,
      cmd update: -5.147915 deg/s,
      cmd heading: 266.970246 deg,
      new cmd heading: 268.350953 deg.

2021-02-16T10:44:30.165Z,1613472270.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:30.950Z,1613472270.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:31.347Z,1613472271.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:32.163Z,1613472272.163 [Micromodem](INFO): Nmea in: $SNTTA,0.114524,,,,104432.40*43

2021-02-16T10:44:32.619Z,1613472272.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.960007 m, bearing: 226.491559 deg, deltaT: 4.915962 s, approachRate: 1.122874 m/s, LOS rate: 0.881476 deg/s, posRepo size: 4
2021-02-16T10:44:32.628Z,1613472272.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 226.491559 deg,
      approachRate: 1.122874 m/s,
      LOS rate: 0.881476 deg/s,
      cmd update: 2.644429 deg/s,
      cmd heading: 241.685195 deg,
      new cmd heading: 239.719808 deg.

2021-02-16T10:44:35.020Z,1613472275.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:35.781Z,1613472275.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:36.213Z,1613472276.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:37.012Z,1613472277.012 [Micromodem](INFO): Nmea in: $SNTTA,0.116528,,,,104437.24*4A

2021-02-16T10:44:37.046Z,1613472277.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.960007 m, bearing: 207.571539 deg, deltaT: 4.442090 s, approachRate: 0.000000 m/s, LOS rate: -4.259261 deg/s, posRepo size: 4
2021-02-16T10:44:37.048Z,1613472277.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 207.571539 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.259261 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.446105 deg,
      new cmd heading: 254.432900 deg.

2021-02-16T10:44:39.452Z,1613472279.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:40.233Z,1613472280.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:40.659Z,1613472280.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:41.446Z,1613472281.446 [Micromodem](INFO): Nmea in: $SNTTA,0.118451,,,,104441.69*43

2021-02-16T10:44:41.876Z,1613472281.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.779999 m, bearing: 188.479890 deg, deltaT: 4.843793 s, approachRate: 1.201536 m/s, LOS rate: -3.941467 deg/s, posRepo size: 4
2021-02-16T10:44:41.878Z,1613472281.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.779999 m,
      bearing: 188.479890 deg,
      approachRate: 1.201536 m/s,
      LOS rate: -3.941467 deg/s,
      cmd update: -11.824401 deg/s,
      cmd heading: 195.445183 deg,
      new cmd heading: 191.012167 deg.

2021-02-16T10:44:44.276Z,1613472284.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:45.074Z,1613472285.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:45.480Z,1613472285.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:46.290Z,1613472286.290 [Micromodem](INFO): Nmea in: $SNTTA,0.120119,,,,104446.53*4F

2021-02-16T10:44:46.746Z,1613472286.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 215.207567 deg, deltaT: 4.808127 s, approachRate: 0.499154 m/s, LOS rate: 5.558854 deg/s, posRepo size: 4
2021-02-16T10:44:46.748Z,1613472286.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.179993 m,
      bearing: 215.207567 deg,
      approachRate: 0.499154 m/s,
      LOS rate: 5.558854 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.519654 deg,
      new cmd heading: 133.486148 deg.

2021-02-16T10:44:49.124Z,1613472289.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:49.917Z,1613472289.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:50.327Z,1613472290.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:51.151Z,1613472291.151 [Micromodem](INFO): Nmea in: $SNTTA,0.121360,,0.122548,,104451.37*50

2021-02-16T10:44:51.170Z,1613472291.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.179993 m, bearing: 182.571817 deg, deltaT: 4.475438 s, approachRate: 0.000000 m/s, LOS rate: -7.292192 deg/s, posRepo size: 4
2021-02-16T10:44:51.172Z,1613472291.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.179993 m,
      bearing: 182.571817 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.292192 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.033619 deg,
      new cmd heading: 196.713175 deg.

2021-02-16T10:44:53.596Z,1613472293.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:54.388Z,1613472294.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:54.782Z,1613472294.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:44:55.605Z,1613472295.605 [Micromodem](INFO): Nmea in: $SNTTA,0.121887,,,,104455.84*48

2021-02-16T10:44:56.006Z,1613472296.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.820007 m, bearing: 171.991294 deg, deltaT: 4.881741 s, approachRate: 0.540794 m/s, LOS rate: -2.167367 deg/s, posRepo size: 4
2021-02-16T10:44:56.008Z,1613472296.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.820007 m,
      bearing: 171.991294 deg,
      approachRate: 0.540794 m/s,
      LOS rate: -2.167367 deg/s,
      cmd update: -6.502100 deg/s,
      cmd heading: 133.210325 deg,
      new cmd heading: 129.320117 deg.

2021-02-16T10:44:58.467Z,1613472298.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:44:59.217Z,1613472299.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:44:59.643Z,1613472299.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:00.433Z,1613472300.433 [Micromodem](INFO): Nmea in: $SNTTA,0.121915,,,,104500.67*4E

2021-02-16T10:45:01.248Z,1613472301.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:02.842Z,1613472302.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:45:04.094Z,1613472304.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:04.865Z,1613472304.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:05.289Z,1613472305.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:05.688Z,1613472305.688 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,481,0003,E4
8,186,80,80,B3,FF
2021-02-16T10:45:06.087Z,1613472306.087 [Micromodem](INFO): Nmea in: $SNTTA,0.120726,,,,104506.32*47

2021-02-16T10:45:06.925Z,1613472306.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:09.755Z,1613472309.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:12.570Z,1613472312.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:13.348Z,1613472313.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:13.759Z,1613472313.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:14.158Z,1613472314.158 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,1E2,0003,E4
8,186,80,80,B3,FF
2021-02-16T10:45:14.567Z,1613472314.567 [Micromodem](INFO): Nmea in: $SNTTA,0.117681,,,,104514.80*45

2021-02-16T10:45:15.452Z,1613472315.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:18.230Z,1613472318.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:21.040Z,1613472321.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:21.849Z,1613472321.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:22.241Z,1613472322.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:22.649Z,1613472322.649 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F3A,0003,E4
8,186,80,80,B3,FF
2021-02-16T10:45:23.077Z,1613472323.077 [Micromodem](INFO): Nmea in: $SNTTA,0.113484,,,,104523.30*49

2021-02-16T10:45:23.904Z,1613472323.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:26.748Z,1613472326.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:29.540Z,1613472329.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:30.316Z,1613472330.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:30.723Z,1613472330.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:31.555Z,1613472331.555 [Micromodem](INFO): Nmea in: $SNTTA,0.109850,,,,104531.77*47

2021-02-16T10:45:31.584Z,1613472331.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 103.386408 deg, deltaT: 35.474993 s, approachRate: -0.514165 m/s, LOS rate: -1.933894 deg/s, posRepo size: 4
2021-02-16T10:45:31.586Z,1613472331.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 103.386408 deg,
      approachRate: -0.514165 m/s,
      LOS rate: -1.933894 deg/s,
      cmd update: -5.801683 deg/s,
      cmd heading: 262.548242 deg,
      new cmd heading: 259.771949 deg.

2021-02-16T10:45:33.986Z,1613472333.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:34.766Z,1613472334.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:35.165Z,1613472335.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:35.992Z,1613472335.992 [Micromodem](INFO): Nmea in: $SNTTA,0.108740,,,,104536.22*4F

2021-02-16T10:45:36.014Z,1613472336.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.020004 m, bearing: 70.478871 deg, deltaT: 4.518710 s, approachRate: -0.345231 m/s, LOS rate: -7.282507 deg/s, posRepo size: 4
2021-02-16T10:45:36.016Z,1613472336.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.020004 m,
      bearing: 70.478871 deg,
      approachRate: -0.345231 m/s,
      LOS rate: -7.282507 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 236.355409 deg,
      new cmd heading: 234.369156 deg.

2021-02-16T10:45:38.462Z,1613472338.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:39.226Z,1613472339.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:39.656Z,1613472339.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:40.456Z,1613472340.456 [Micromodem](INFO): Nmea in: $SNTTA,0.108334,,,,104540.68*47

2021-02-16T10:45:40.501Z,1613472340.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.419998 m, bearing: 345.145851 deg, deltaT: 4.431880 s, approachRate: -0.135384 m/s, LOS rate: -19.254360 deg/s, posRepo size: 4
2021-02-16T10:45:40.501Z,1613472340.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.254360 deg/s. Setting heading cmd to target bearing of 345.145851deg and heading rate command to 0 deg/s.
2021-02-16T10:45:42.884Z,1613472342.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:43.653Z,1613472343.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:44.074Z,1613472344.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:44.880Z,1613472344.880 [Micromodem](INFO): Nmea in: $SNTTA,0.108501,,,,104545.11*4C

2021-02-16T10:45:44.918Z,1613472344.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.780014 m, bearing: 331.251225 deg, deltaT: 4.408987 s, approachRate: 0.081655 m/s, LOS rate: -3.151433 deg/s, posRepo size: 4
2021-02-16T10:45:44.920Z,1613472344.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.780014 m,
      bearing: 331.251225 deg,
      approachRate: 0.081655 m/s,
      LOS rate: -3.151433 deg/s,
      cmd update: -9.454298 deg/s,
      cmd heading: 345.145851 deg,
      new cmd heading: 345.145851 deg.

2021-02-16T10:45:47.300Z,1613472347.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:48.092Z,1613472348.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:48.503Z,1613472348.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:49.325Z,1613472349.325 [Micromodem](INFO): Nmea in: $SNTTA,0.108558,,,,104549.55*4C

2021-02-16T10:45:49.412Z,1613472349.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 351.869817 deg, deltaT: 4.440562 s, approachRate: 0.027019 m/s, LOS rate: 4.643239 deg/s, posRepo size: 4
2021-02-16T10:45:49.414Z,1613472349.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.899994 m,
      bearing: 351.869817 deg,
      approachRate: 0.027019 m/s,
      LOS rate: 4.643239 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.199323 deg,
      new cmd heading: 298.913850 deg.

2021-02-16T10:45:51.782Z,1613472351.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:52.547Z,1613472352.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:52.942Z,1613472352.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:53.772Z,1613472353.772 [Micromodem](INFO): Nmea in: $SNTTA,0.108651,,,,104554.00*4A

2021-02-16T10:45:53.837Z,1613472353.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 67.780776 deg, deltaT: 4.438162 s, approachRate: 0.000000 m/s, LOS rate: 17.104143 deg/s, posRepo size: 4
2021-02-16T10:45:53.838Z,1613472353.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.104143 deg/s. Setting heading cmd to target bearing of 67.780776deg and heading rate command to 0 deg/s.
2021-02-16T10:45:56.205Z,1613472356.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:45:56.981Z,1613472356.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:45:57.417Z,1613472357.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:45:58.213Z,1613472358.213 [Micromodem](INFO): Nmea in: $SNTTA,0.109422,,,,104558.44*41

2021-02-16T10:45:58.251Z,1613472358.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 31.135079 deg, deltaT: 4.474534 s, approachRate: 0.281596 m/s, LOS rate: -8.189836 deg/s, posRepo size: 4
2021-02-16T10:45:58.253Z,1613472358.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 31.135079 deg,
      approachRate: 0.281596 m/s,
      LOS rate: -8.189836 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 67.780776 deg,
      new cmd heading: 67.780776 deg.

2021-02-16T10:46:00.665Z,1613472360.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:01.426Z,1613472361.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:01.847Z,1613472361.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:02.676Z,1613472362.676 [Micromodem](INFO): Nmea in: $SNTTA,0.110368,,,,104602.88*4C

2021-02-16T10:46:02.740Z,1613472362.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.599991 m, bearing: 35.205807 deg, deltaT: 4.401274 s, approachRate: 0.327175 m/s, LOS rate: 0.924898 deg/s, posRepo size: 4
2021-02-16T10:46:02.742Z,1613472362.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.599991 m,
      bearing: 35.205807 deg,
      approachRate: 0.327175 m/s,
      LOS rate: 0.924898 deg/s,
      cmd update: 2.774693 deg/s,
      cmd heading: 14.918026 deg,
      new cmd heading: 9.286690 deg.

2021-02-16T10:46:05.088Z,1613472365.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:05.868Z,1613472365.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:06.295Z,1613472366.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:07.100Z,1613472367.100 [Micromodem](INFO): Nmea in: $SNTTA,0.111151,,,,104607.32*41

2021-02-16T10:46:07.122Z,1613472367.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 68.789451 deg, deltaT: 4.471800 s, approachRate: 0.254934 m/s, LOS rate: 7.510095 deg/s, posRepo size: 4
2021-02-16T10:46:07.148Z,1613472367.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.740005 m,
      bearing: 68.789451 deg,
      approachRate: 0.254934 m/s,
      LOS rate: 7.510095 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 27.325875 deg,
      new cmd heading: 28.378343 deg.

2021-02-16T10:46:08.712Z,1613472368.712 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:46:09.545Z,1613472369.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:10.317Z,1613472370.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:10.720Z,1613472370.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:11.552Z,1613472371.552 [Micromodem](INFO): Nmea in: $SNTTA,0.111139,,,,104611.78*46

2021-02-16T10:46:11.648Z,1613472371.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 0.093323 deg, deltaT: 4.412474 s, approachRate: 0.000000 m/s, LOS rate: -15.568620 deg/s, posRepo size: 4
2021-02-16T10:46:11.648Z,1613472371.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.568620 deg/s. Setting heading cmd to target bearing of 0.093323deg and heading rate command to 0 deg/s.
2021-02-16T10:46:13.982Z,1613472373.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:14.794Z,1613472374.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:15.182Z,1613472375.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:16.016Z,1613472376.016 [Micromodem](INFO): Nmea in: $SNTTA,0.110921,,,,104616.25*49

2021-02-16T10:46:16.057Z,1613472376.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 103.431795 deg, deltaT: 4.525413 s, approachRate: 0.000000 m/s, LOS rate: 22.835148 deg/s, posRepo size: 4
2021-02-16T10:46:16.058Z,1613472376.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.835148 deg/s. Setting heading cmd to target bearing of 103.431795deg and heading rate command to 0 deg/s.
2021-02-16T10:46:18.459Z,1613472378.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:19.231Z,1613472379.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:19.647Z,1613472379.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:20.464Z,1613472380.464 [Micromodem](INFO): Nmea in: $SNTTA,0.110248,,,,104620.69*40

2021-02-16T10:46:20.489Z,1613472380.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 63.397126 deg, deltaT: 4.429589 s, approachRate: -0.338632 m/s, LOS rate: -9.038009 deg/s, posRepo size: 4
2021-02-16T10:46:20.490Z,1613472380.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.240005 m,
      bearing: 63.397126 deg,
      approachRate: -0.338632 m/s,
      LOS rate: -9.038009 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.431795 deg,
      new cmd heading: 103.431795 deg.

2021-02-16T10:46:22.910Z,1613472382.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:23.669Z,1613472383.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:24.082Z,1613472384.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:24.900Z,1613472384.900 [Micromodem](INFO): Nmea in: $SNTTA,0.109071,,,,104625.13*48

2021-02-16T10:46:24.938Z,1613472384.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 128.538327 deg, deltaT: 4.420861 s, approachRate: 0.000000 m/s, LOS rate: 14.734958 deg/s, posRepo size: 4
2021-02-16T10:46:24.938Z,1613472384.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.734958 deg/s. Setting heading cmd to target bearing of 128.538327deg and heading rate command to 0 deg/s.
2021-02-16T10:46:27.323Z,1613472387.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:28.108Z,1613472388.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:28.522Z,1613472388.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:29.340Z,1613472389.340 [Micromodem](INFO): Nmea in: $SNTTA,0.107578,,,,104629.56*47

2021-02-16T10:46:29.417Z,1613472389.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.220001 m, bearing: 115.790899 deg, deltaT: 4.440103 s, approachRate: -0.905385 m/s, LOS rate: -2.870976 deg/s, posRepo size: 4
2021-02-16T10:46:29.423Z,1613472389.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.220001 m,
      bearing: 115.790899 deg,
      approachRate: -0.905385 m/s,
      LOS rate: -2.870976 deg/s,
      cmd update: -8.612927 deg/s,
      cmd heading: 128.538327 deg,
      new cmd heading: 128.538327 deg.

2021-02-16T10:46:31.808Z,1613472391.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:32.570Z,1613472392.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:32.957Z,1613472392.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:33.792Z,1613472393.792 [Micromodem](INFO): Nmea in: $SNTTA,0.105993,,,,104634.03*40

2021-02-16T10:46:33.854Z,1613472393.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.220001 m, bearing: 116.270051 deg, deltaT: 4.455883 s, approachRate: 0.000000 m/s, LOS rate: 0.107532 deg/s, posRepo size: 4
2021-02-16T10:46:33.857Z,1613472393.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.220001 m,
      bearing: 116.270051 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.107532 deg/s,
      cmd update: 0.322597 deg/s,
      cmd heading: 90.160513 deg,
      new cmd heading: 86.454578 deg.

2021-02-16T10:46:36.230Z,1613472396.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:36.996Z,1613472396.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:37.439Z,1613472397.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:38.229Z,1613472398.229 [Micromodem](INFO): Nmea in: $SNTTA,0.104134,,,,104638.45*4A

2021-02-16T10:46:38.264Z,1613472398.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 118.171220 deg, deltaT: 4.435698 s, approachRate: -1.190342 m/s, LOS rate: 0.428607 deg/s, posRepo size: 4
2021-02-16T10:46:38.266Z,1613472398.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.940002 m,
      bearing: 118.171220 deg,
      approachRate: -1.190342 m/s,
      LOS rate: 0.428607 deg/s,
      cmd update: 1.285820 deg/s,
      cmd heading: 91.591765 deg,
      new cmd heading: 91.722130 deg.

2021-02-16T10:46:40.713Z,1613472400.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:41.441Z,1613472401.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:41.851Z,1613472401.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:42.673Z,1613472402.673 [Micromodem](INFO): Nmea in: $SNTTA,0.102395,,,,104642.90*40

2021-02-16T10:46:42.744Z,1613472402.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 118.190222 deg, deltaT: 4.433571 s, approachRate: -0.568392 m/s, LOS rate: 0.004286 deg/s, posRepo size: 4
2021-02-16T10:46:42.746Z,1613472402.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.419998 m,
      bearing: 118.190222 deg,
      approachRate: -0.568392 m/s,
      LOS rate: 0.004286 deg/s,
      cmd update: 0.012858 deg/s,
      cmd heading: 97.291025 deg,
      new cmd heading: 97.871611 deg.

2021-02-16T10:46:44.710Z,1613472404.710 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:46:45.128Z,1613472405.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:45.890Z,1613472405.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:46.290Z,1613472406.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:47.120Z,1613472407.120 [Micromodem](INFO): Nmea in: $SNTTA,0.100458,,,,104647.35*4E

2021-02-16T10:46:47.166Z,1613472407.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.480011 m, bearing: 119.387868 deg, deltaT: 4.480222 s, approachRate: -0.656215 m/s, LOS rate: 0.267319 deg/s, posRepo size: 4
2021-02-16T10:46:47.172Z,1613472407.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.480011 m,
      bearing: 119.387868 deg,
      approachRate: -0.656215 m/s,
      LOS rate: 0.267319 deg/s,
      cmd update: 0.801956 deg/s,
      cmd heading: 97.348630 deg,
      new cmd heading: 97.353691 deg.

2021-02-16T10:46:49.702Z,1613472409.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:50.330Z,1613472410.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:50.747Z,1613472410.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:51.572Z,1613472411.572 [Micromodem](INFO): Nmea in: $SNTTA,0.098636,,,,104651.78*4A

2021-02-16T10:46:51.651Z,1613472411.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.720001 m, bearing: 120.283470 deg, deltaT: 4.403369 s, approachRate: -0.626795 m/s, LOS rate: 0.203390 deg/s, posRepo size: 4
2021-02-16T10:46:51.653Z,1613472411.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.720001 m,
      bearing: 120.283470 deg,
      approachRate: -0.626795 m/s,
      LOS rate: 0.203390 deg/s,
      cmd update: 0.610170 deg/s,
      cmd heading: 100.880293 deg,
      new cmd heading: 101.257764 deg.

2021-02-16T10:46:53.993Z,1613472413.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:54.791Z,1613472414.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:55.239Z,1613472415.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:46:56.013Z,1613472416.013 [Micromodem](INFO): Nmea in: $SNTTA,0.096681,,,,104656.25*47

2021-02-16T10:46:56.034Z,1613472416.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.720001 m, bearing: 120.016396 deg, deltaT: 4.486735 s, approachRate: -0.668638 m/s, LOS rate: -0.059525 deg/s, posRepo size: 4
2021-02-16T10:46:56.036Z,1613472416.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.720001 m,
      bearing: 120.016396 deg,
      approachRate: -0.668638 m/s,
      LOS rate: -0.059525 deg/s,
      cmd update: -0.178576 deg/s,
      cmd heading: 103.620123 deg,
      new cmd heading: 103.844478 deg.

2021-02-16T10:46:58.456Z,1613472418.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:46:59.228Z,1613472419.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:46:59.638Z,1613472419.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:00.452Z,1613472420.452 [Micromodem](INFO): Nmea in: $SNTTA,0.094799,,,,104700.68*46

2021-02-16T10:47:00.501Z,1613472420.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 121.744311 deg, deltaT: 4.381632 s, approachRate: -0.629901 m/s, LOS rate: 0.394354 deg/s, posRepo size: 4
2021-02-16T10:47:00.503Z,1613472420.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 121.744311 deg,
      approachRate: -0.629901 m/s,
      LOS rate: 0.394354 deg/s,
      cmd update: 1.183063 deg/s,
      cmd heading: 102.837725 deg,
      new cmd heading: 102.756768 deg.

2021-02-16T10:47:02.878Z,1613472422.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:03.660Z,1613472423.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:04.068Z,1613472424.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:04.892Z,1613472424.892 [Micromodem](INFO): Nmea in: $SNTTA,0.093002,,,,104705.12*4C

2021-02-16T10:47:04.926Z,1613472424.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 122.446932 deg, deltaT: 4.458924 s, approachRate: -0.618986 m/s, LOS rate: 0.157576 deg/s, posRepo size: 4
2021-02-16T10:47:04.928Z,1613472424.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 122.446932 deg,
      approachRate: -0.618986 m/s,
      LOS rate: 0.157576 deg/s,
      cmd update: 0.472729 deg/s,
      cmd heading: 108.113564 deg,
      new cmd heading: 108.608959 deg.

2021-02-16T10:47:07.322Z,1613472427.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:08.104Z,1613472428.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:08.511Z,1613472428.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:09.332Z,1613472429.332 [Micromodem](INFO): Nmea in: $SNTTA,0.090704,,,,104709.56*42

2021-02-16T10:47:09.379Z,1613472429.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.840012 m, bearing: 122.516505 deg, deltaT: 4.447273 s, approachRate: -0.755516 m/s, LOS rate: 0.015644 deg/s, posRepo size: 4
2021-02-16T10:47:09.385Z,1613472429.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.840012 m,
      bearing: 122.516505 deg,
      approachRate: -0.755516 m/s,
      LOS rate: 0.015644 deg/s,
      cmd update: 0.046931 deg/s,
      cmd heading: 110.215820 deg,
      new cmd heading: 110.414525 deg.

2021-02-16T10:47:11.797Z,1613472431.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:12.549Z,1613472432.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:12.963Z,1613472432.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:13.784Z,1613472433.784 [Micromodem](INFO): Nmea in: $SNTTA,0.088772,,,,104714.00*45

2021-02-16T10:47:13.843Z,1613472433.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 123.526170 deg, deltaT: 4.473748 s, approachRate: -0.670582 m/s, LOS rate: 0.225687 deg/s, posRepo size: 4
2021-02-16T10:47:13.851Z,1613472433.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.839996 m,
      bearing: 123.526170 deg,
      approachRate: -0.670582 m/s,
      LOS rate: 0.225687 deg/s,
      cmd update: 0.677060 deg/s,
      cmd heading: 110.425602 deg,
      new cmd heading: 110.445229 deg.

2021-02-16T10:47:16.222Z,1613472436.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:17.000Z,1613472437.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:17.419Z,1613472437.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:18.239Z,1613472438.239 [Micromodem](INFO): Nmea in: $SNTTA,0.086693,,,,104718.46*4B

2021-02-16T10:47:18.281Z,1613472438.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 123.754763 deg, deltaT: 4.427447 s, approachRate: -0.691143 m/s, LOS rate: 0.051631 deg/s, posRepo size: 4
2021-02-16T10:47:18.282Z,1613472438.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.779999 m,
      bearing: 123.754763 deg,
      approachRate: -0.691143 m/s,
      LOS rate: 0.051631 deg/s,
      cmd update: 0.154892 deg/s,
      cmd heading: 113.413934 deg,
      new cmd heading: 113.713514 deg.

2021-02-16T10:47:20.691Z,1613472440.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:21.450Z,1613472441.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:21.872Z,1613472441.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:22.680Z,1613472442.680 [Micromodem](INFO): Nmea in: $SNTTA,0.084875,,,,104722.91*4C

2021-02-16T10:47:22.728Z,1613472442.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 124.437782 deg, deltaT: 4.411251 s, approachRate: -0.612071 m/s, LOS rate: 0.154836 deg/s, posRepo size: 4
2021-02-16T10:47:22.730Z,1613472442.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.080002 m,
      bearing: 124.437782 deg,
      approachRate: -0.612071 m/s,
      LOS rate: 0.154836 deg/s,
      cmd update: 0.464507 deg/s,
      cmd heading: 114.099922 deg,
      new cmd heading: 114.171249 deg.

2021-02-16T10:47:25.141Z,1613472445.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:25.902Z,1613472445.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:26.294Z,1613472446.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:27.124Z,1613472447.124 [Micromodem](INFO): Nmea in: $SNTTA,0.082902,,,,104727.36*43

2021-02-16T10:47:27.162Z,1613472447.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 124.354290 deg, deltaT: 4.496502 s, approachRate: -0.667184 m/s, LOS rate: -0.018568 deg/s, posRepo size: 4
2021-02-16T10:47:27.164Z,1613472447.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.080009 m,
      bearing: 124.354290 deg,
      approachRate: -0.667184 m/s,
      LOS rate: -0.018568 deg/s,
      cmd update: -0.055705 deg/s,
      cmd heading: 116.186795 deg,
      new cmd heading: 116.373895 deg.

2021-02-16T10:47:29.582Z,1613472449.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:30.333Z,1613472450.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:30.738Z,1613472450.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:31.560Z,1613472451.560 [Micromodem](INFO): Nmea in: $SNTTA,0.080931,,,,104731.79*4D

2021-02-16T10:47:31.643Z,1613472451.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 125.455152 deg, deltaT: 4.412591 s, approachRate: -0.652679 m/s, LOS rate: 0.249482 deg/s, posRepo size: 4
2021-02-16T10:47:31.645Z,1613472451.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.200005 m,
      bearing: 125.455152 deg,
      approachRate: -0.652679 m/s,
      LOS rate: 0.249482 deg/s,
      cmd update: 0.748446 deg/s,
      cmd heading: 115.941685 deg,
      new cmd heading: 115.914983 deg.

2021-02-16T10:47:33.983Z,1613472453.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:34.793Z,1613472454.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:35.187Z,1613472455.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:36.016Z,1613472456.016 [Micromodem](INFO): Nmea in: $SNTTA,0.079050,,,,104736.25*4B

2021-02-16T10:47:36.057Z,1613472456.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.320007 m, bearing: 126.423209 deg, deltaT: 4.517751 s, approachRate: -0.637485 m/s, LOS rate: 0.214278 deg/s, posRepo size: 4
2021-02-16T10:47:36.058Z,1613472456.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 126.423209 deg,
      approachRate: -0.637485 m/s,
      LOS rate: 0.214278 deg/s,
      cmd update: 0.642835 deg/s,
      cmd heading: 119.332299 deg,
      new cmd heading: 119.606654 deg.

2021-02-16T10:47:38.457Z,1613472458.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:39.230Z,1613472459.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:39.651Z,1613472459.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:39.673Z,1613472459.673 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:47:40.456Z,1613472460.456 [Micromodem](INFO): Nmea in: $SNTTA,0.077224,,,,104740.68*4C

2021-02-16T10:47:40.482Z,1613472460.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 126.697878 deg, deltaT: 4.347900 s, approachRate: -0.620991 m/s, LOS rate: 0.063173 deg/s, posRepo size: 4
2021-02-16T10:47:40.504Z,1613472460.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.620003 m,
      bearing: 126.697878 deg,
      approachRate: -0.620991 m/s,
      LOS rate: 0.063173 deg/s,
      cmd update: 0.189519 deg/s,
      cmd heading: 122.129872 deg,
      new cmd heading: 122.412564 deg.

2021-02-16T10:47:42.892Z,1613472462.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:43.669Z,1613472463.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:44.082Z,1613472464.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:44.901Z,1613472464.901 [Micromodem](INFO): Nmea in: $SNTTA,0.075239,,,,104745.12*4A

2021-02-16T10:47:44.961Z,1613472464.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.680000 m, bearing: 126.605397 deg, deltaT: 4.478749 s, approachRate: -0.656434 m/s, LOS rate: -0.020649 deg/s, posRepo size: 4
2021-02-16T10:47:44.967Z,1613472464.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.680000 m,
      bearing: 126.605397 deg,
      approachRate: -0.656434 m/s,
      LOS rate: -0.020649 deg/s,
      cmd update: -0.061946 deg/s,
      cmd heading: 122.977897 deg,
      new cmd heading: 123.062162 deg.

2021-02-16T10:47:47.315Z,1613472467.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:48.113Z,1613472468.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:48.514Z,1613472468.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:49.344Z,1613472469.344 [Micromodem](INFO): Nmea in: $SNTTA,0.073271,,,,104749.57*4D

2021-02-16T10:47:49.412Z,1613472469.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 126.739624 deg, deltaT: 4.452761 s, approachRate: -0.660265 m/s, LOS rate: 0.030145 deg/s, posRepo size: 4
2021-02-16T10:47:49.413Z,1613472469.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 126.739624 deg,
      approachRate: -0.660265 m/s,
      LOS rate: 0.030145 deg/s,
      cmd update: 0.090434 deg/s,
      cmd heading: 122.702063 deg,
      new cmd heading: 122.675288 deg.

2021-02-16T10:47:51.803Z,1613472471.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:52.558Z,1613472472.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:52.962Z,1613472472.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:53.792Z,1613472473.792 [Micromodem](INFO): Nmea in: $SNTTA,0.071327,,,,104754.02*41

2021-02-16T10:47:53.846Z,1613472473.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.740005 m, bearing: 126.276893 deg, deltaT: 4.462890 s, approachRate: -0.672208 m/s, LOS rate: -0.103684 deg/s, posRepo size: 4
2021-02-16T10:47:53.852Z,1613472473.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.740005 m,
      bearing: 126.276893 deg,
      approachRate: -0.672208 m/s,
      LOS rate: -0.103684 deg/s,
      cmd update: -0.311053 deg/s,
      cmd heading: 123.106009 deg,
      new cmd heading: 123.143109 deg.

2021-02-16T10:47:56.225Z,1613472476.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:47:57.009Z,1613472477.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:47:57.420Z,1613472477.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:47:58.233Z,1613472478.233 [Micromodem](INFO): Nmea in: $SNTTA,0.068997,,,,104758.46*44

2021-02-16T10:47:58.270Z,1613472478.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 127.096638 deg, deltaT: 4.417345 s, approachRate: -0.774222 m/s, LOS rate: 0.185574 deg/s, posRepo size: 4
2021-02-16T10:47:58.272Z,1613472478.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 127.096638 deg,
      approachRate: -0.774222 m/s,
      LOS rate: 0.185574 deg/s,
      cmd update: 0.556723 deg/s,
      cmd heading: 121.733239 deg,
      new cmd heading: 121.602502 deg.

2021-02-16T10:48:00.682Z,1613472480.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:01.440Z,1613472481.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:01.862Z,1613472481.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:02.668Z,1613472482.668 [Micromodem](INFO): Nmea in: $SNTTA,0.066816,,,,104802.90*49

2021-02-16T10:48:02.717Z,1613472482.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 128.189468 deg, deltaT: 4.434220 s, approachRate: -0.744213 m/s, LOS rate: 0.246454 deg/s, posRepo size: 4
2021-02-16T10:48:02.719Z,1613472482.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.019997 m,
      bearing: 128.189468 deg,
      approachRate: -0.744213 m/s,
      LOS rate: 0.246454 deg/s,
      cmd update: 0.739361 deg/s,
      cmd heading: 124.201998 deg,
      new cmd heading: 124.443292 deg.

2021-02-16T10:48:05.095Z,1613472485.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:05.884Z,1613472485.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:06.297Z,1613472486.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:07.112Z,1613472487.112 [Micromodem](INFO): Nmea in: $SNTTA,0.064694,,,,104807.34*44

2021-02-16T10:48:07.165Z,1613472487.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.840004 m, bearing: 129.293391 deg, deltaT: 4.455830 s, approachRate: -0.713670 m/s, LOS rate: 0.247748 deg/s, posRepo size: 4
2021-02-16T10:48:07.167Z,1613472487.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.840004 m,
      bearing: 129.293391 deg,
      approachRate: -0.713670 m/s,
      LOS rate: 0.247748 deg/s,
      cmd update: 0.743244 deg/s,
      cmd heading: 127.499429 deg,
      new cmd heading: 127.809857 deg.

2021-02-16T10:48:09.566Z,1613472489.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:10.339Z,1613472490.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:10.734Z,1613472490.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:11.564Z,1613472491.564 [Micromodem](INFO): Nmea in: $SNTTA,0.062731,,,,104811.79*42

2021-02-16T10:48:11.643Z,1613472491.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 129.322324 deg, deltaT: 4.406886 s, approachRate: -0.667138 m/s, LOS rate: 0.006565 deg/s, posRepo size: 4
2021-02-16T10:48:11.645Z,1613472491.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 129.322324 deg,
      approachRate: -0.667138 m/s,
      LOS rate: 0.006565 deg/s,
      cmd update: 0.019696 deg/s,
      cmd heading: 130.774813 deg,
      new cmd heading: 131.137690 deg.

2021-02-16T10:48:14.004Z,1613472494.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:14.777Z,1613472494.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:15.194Z,1613472495.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:16.008Z,1613472496.008 [Micromodem](INFO): Nmea in: $SNTTA,0.060910,,0.062052,,104816.23*58

2021-02-16T10:48:16.045Z,1613472496.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.200005 m, bearing: 128.626437 deg, deltaT: 4.543921 s, approachRate: -0.594200 m/s, LOS rate: -0.153147 deg/s, posRepo size: 4
2021-02-16T10:48:16.051Z,1613472496.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.200005 m,
      bearing: 128.626437 deg,
      approachRate: -0.594200 m/s,
      LOS rate: -0.153147 deg/s,
      cmd update: -0.459440 deg/s,
      cmd heading: 130.864231 deg,
      new cmd heading: 130.871222 deg.

2021-02-16T10:48:18.446Z,1613472498.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:19.224Z,1613472499.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:19.638Z,1613472499.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:20.468Z,1613472500.468 [Micromodem](INFO): Nmea in: $SNTTA,0.058872,,,,104820.68*41

2021-02-16T10:48:20.494Z,1613472500.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 129.255169 deg, deltaT: 4.343493 s, approachRate: -0.718316 m/s, LOS rate: 0.144753 deg/s, posRepo size: 4
2021-02-16T10:48:20.496Z,1613472500.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 129.255169 deg,
      approachRate: -0.718316 m/s,
      LOS rate: 0.144753 deg/s,
      cmd update: 0.434258 deg/s,
      cmd heading: 128.866785 deg,
      new cmd heading: 128.657481 deg.

2021-02-16T10:48:22.878Z,1613472502.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:23.660Z,1613472503.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:24.071Z,1613472504.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:24.904Z,1613472504.904 [Micromodem](INFO): Nmea in: $SNTTA,0.056905,,,,104825.11*45

2021-02-16T10:48:24.932Z,1613472504.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 128.641531 deg, deltaT: 4.467026 s, approachRate: -0.658157 m/s, LOS rate: -0.137371 deg/s, posRepo size: 4
2021-02-16T10:48:24.934Z,1613472504.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.139999 m,
      bearing: 128.641531 deg,
      approachRate: -0.658157 m/s,
      LOS rate: -0.137371 deg/s,
      cmd update: -0.412112 deg/s,
      cmd heading: 130.806640 deg,
      new cmd heading: 130.992271 deg.

2021-02-16T10:48:27.330Z,1613472507.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:28.116Z,1613472508.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:28.514Z,1613472508.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:29.340Z,1613472509.340 [Micromodem](INFO): Nmea in: $SNTTA,0.054854,,,,104829.57*4C

2021-02-16T10:48:29.363Z,1613472509.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 129.431661 deg, deltaT: 4.476445 s, approachRate: -0.683578 m/s, LOS rate: 0.176508 deg/s, posRepo size: 4
2021-02-16T10:48:29.369Z,1613472509.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.080002 m,
      bearing: 129.431661 deg,
      approachRate: -0.683578 m/s,
      LOS rate: 0.176508 deg/s,
      cmd update: 0.529525 deg/s,
      cmd heading: 128.963519 deg,
      new cmd heading: 128.804568 deg.

2021-02-16T10:48:31.780Z,1613472511.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:32.548Z,1613472512.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:32.956Z,1613472512.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:33.779Z,1613472513.779 [Micromodem](INFO): Nmea in: $SNTTA,0.052752,,,,104834.00*4D

2021-02-16T10:48:33.814Z,1613472513.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.959999 m, bearing: 129.852838 deg, deltaT: 4.440026 s, approachRate: -0.702699 m/s, LOS rate: 0.094859 deg/s, posRepo size: 4
2021-02-16T10:48:33.816Z,1613472513.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.959999 m,
      bearing: 129.852838 deg,
      approachRate: -0.702699 m/s,
      LOS rate: 0.094859 deg/s,
      cmd update: 0.284577 deg/s,
      cmd heading: 131.304803 deg,
      new cmd heading: 131.524764 deg.

2021-02-16T10:48:36.236Z,1613472516.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:36.992Z,1613472516.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:37.417Z,1613472517.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:38.233Z,1613472518.233 [Micromodem](INFO): Nmea in: $SNTTA,0.050660,,,,104838.45*42

2021-02-16T10:48:38.277Z,1613472518.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.780006 m, bearing: 130.047690 deg, deltaT: 4.403928 s, approachRate: -0.722081 m/s, LOS rate: 0.044245 deg/s, posRepo size: 4
2021-02-16T10:48:38.283Z,1613472518.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.780006 m,
      bearing: 130.047690 deg,
      approachRate: -0.722081 m/s,
      LOS rate: 0.044245 deg/s,
      cmd update: 0.132735 deg/s,
      cmd heading: 132.564492 deg,
      new cmd heading: 132.693095 deg.

2021-02-16T10:48:40.690Z,1613472520.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:41.441Z,1613472521.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:41.843Z,1613472521.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:42.677Z,1613472522.677 [Micromodem](INFO): Nmea in: $SNTTA,0.048501,,0.049658,,104842.90*52

2021-02-16T10:48:42.721Z,1613472522.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 129.608686 deg, deltaT: 4.448490 s, approachRate: -0.714851 m/s, LOS rate: -0.098686 deg/s, posRepo size: 4
2021-02-16T10:48:42.739Z,1613472522.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 129.608686 deg,
      approachRate: -0.714851 m/s,
      LOS rate: -0.098686 deg/s,
      cmd update: -0.296058 deg/s,
      cmd heading: 133.154960 deg,
      new cmd heading: 133.214308 deg.

2021-02-16T10:48:45.113Z,1613472525.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:45.881Z,1613472525.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:46.286Z,1613472526.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:47.108Z,1613472527.108 [Micromodem](INFO): Nmea in: $SNTTA,0.046160,,,,104847.33*4B

2021-02-16T10:48:47.133Z,1613472527.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 130.454523 deg, deltaT: 4.480286 s, approachRate: -0.803518 m/s, LOS rate: 0.188791 deg/s, posRepo size: 4
2021-02-16T10:48:47.155Z,1613472527.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 130.454523 deg,
      approachRate: -0.803518 m/s,
      LOS rate: 0.188791 deg/s,
      cmd update: 0.566373 deg/s,
      cmd heading: 131.828545 deg,
      new cmd heading: 131.716283 deg.

2021-02-16T10:48:49.594Z,1613472529.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:50.326Z,1613472530.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:50.730Z,1613472530.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:51.552Z,1613472531.552 [Micromodem](INFO): Nmea in: $SNTTA,0.044021,,,,104851.78*45

2021-02-16T10:48:51.585Z,1613472531.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 131.375765 deg, deltaT: 4.398015 s, approachRate: -0.723055 m/s, LOS rate: 0.209468 deg/s, posRepo size: 4
2021-02-16T10:48:51.592Z,1613472531.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.820000 m,
      bearing: 131.375765 deg,
      approachRate: -0.723055 m/s,
      LOS rate: 0.209468 deg/s,
      cmd update: 0.628403 deg/s,
      cmd heading: 134.319364 deg,
      new cmd heading: 134.562486 deg.

2021-02-16T10:48:53.656Z,1613472533.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:54.381Z,1613472534.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:54.769Z,1613472534.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:48:55.616Z,1613472535.616 [Micromodem](INFO): Nmea in: $SNTTA,0.042053,,,0.059664,104855.84*57

2021-02-16T10:48:55.693Z,1613472535.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 131.498941 deg, deltaT: 4.085326 s, approachRate: -0.734334 m/s, LOS rate: 0.030151 deg/s, posRepo size: 4
2021-02-16T10:48:55.695Z,1613472535.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 131.498941 deg,
      approachRate: -0.734334 m/s,
      LOS rate: 0.030151 deg/s,
      cmd update: 0.090452 deg/s,
      cmd heading: 136.884163 deg,
      new cmd heading: 137.173227 deg.

2021-02-16T10:48:58.044Z,1613472538.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:48:58.814Z,1613472538.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:48:59.233Z,1613472539.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:00.040Z,1613472540.040 [Micromodem](INFO): Nmea in: $SNTTA,0.039997,,,,104900.27*44

2021-02-16T10:49:00.080Z,1613472540.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.759998 m, bearing: 131.336874 deg, deltaT: 4.444824 s, approachRate: -0.688443 m/s, LOS rate: -0.036462 deg/s, posRepo size: 4
2021-02-16T10:49:00.082Z,1613472540.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.759998 m,
      bearing: 131.336874 deg,
      approachRate: -0.688443 m/s,
      LOS rate: -0.036462 deg/s,
      cmd update: -0.109386 deg/s,
      cmd heading: 137.286571 deg,
      new cmd heading: 137.322523 deg.

2021-02-16T10:49:02.482Z,1613472542.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:03.263Z,1613472543.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:03.663Z,1613472543.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:04.488Z,1613472544.488 [Micromodem](INFO): Nmea in: $SNTTA,0.037950,,,,104904.72*45

2021-02-16T10:49:04.533Z,1613472544.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.760002 m, bearing: 131.644260 deg, deltaT: 4.438139 s, approachRate: -0.675958 m/s, LOS rate: 0.069260 deg/s, posRepo size: 4
2021-02-16T10:49:04.534Z,1613472544.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.760002 m,
      bearing: 131.644260 deg,
      approachRate: -0.675958 m/s,
      LOS rate: 0.069260 deg/s,
      cmd update: 0.207780 deg/s,
      cmd heading: 136.801545 deg,
      new cmd heading: 136.756006 deg.

2021-02-16T10:49:06.947Z,1613472546.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:07.698Z,1613472547.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:08.115Z,1613472548.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:08.928Z,1613472548.928 [Micromodem](INFO): Nmea in: $SNTTA,0.035915,,,,104909.15*4A

2021-02-16T10:49:08.976Z,1613472548.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.700005 m, bearing: 131.177499 deg, deltaT: 4.429290 s, approachRate: -0.690855 m/s, LOS rate: -0.105381 deg/s, posRepo size: 4
2021-02-16T10:49:08.978Z,1613472548.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.700005 m,
      bearing: 131.177499 deg,
      approachRate: -0.690855 m/s,
      LOS rate: -0.105381 deg/s,
      cmd update: -0.316142 deg/s,
      cmd heading: 137.721883 deg,
      new cmd heading: 137.810418 deg.

2021-02-16T10:49:11.370Z,1613472551.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:12.140Z,1613472552.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:12.546Z,1613472552.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:13.404Z,1613472553.404 [Micromodem](INFO): Nmea in: $SNTTA,0.033799,,,,104913.59*45

2021-02-16T10:49:13.447Z,1613472553.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 130.892707 deg, deltaT: 4.437688 s, approachRate: -0.716590 m/s, LOS rate: -0.064176 deg/s, posRepo size: 4
2021-02-16T10:49:13.449Z,1613472553.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.520000 m,
      bearing: 130.892707 deg,
      approachRate: -0.716590 m/s,
      LOS rate: -0.064176 deg/s,
      cmd update: -0.192527 deg/s,
      cmd heading: 136.322747 deg,
      new cmd heading: 136.174945 deg.

2021-02-16T10:49:15.834Z,1613472555.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:16.607Z,1613472556.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:16.991Z,1613472556.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:17.828Z,1613472557.828 [Micromodem](INFO): Nmea in: $SNTTA,0.031926,,,,104918.06*4C

2021-02-16T10:49:17.876Z,1613472557.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 131.463465 deg, deltaT: 4.480005 s, approachRate: -0.629463 m/s, LOS rate: 0.127401 deg/s, posRepo size: 4
2021-02-16T10:49:17.878Z,1613472557.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 131.463465 deg,
      approachRate: -0.629463 m/s,
      LOS rate: 0.127401 deg/s,
      cmd update: 0.382204 deg/s,
      cmd heading: 135.457901 deg,
      new cmd heading: 135.378396 deg.

2021-02-16T10:49:20.256Z,1613472560.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:21.050Z,1613472561.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:21.439Z,1613472561.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:22.268Z,1613472562.268 [Micromodem](INFO): Nmea in: $SNTTA,0.029917,,,,104922.50*4D

2021-02-16T10:49:22.310Z,1613472562.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.640003 m, bearing: 133.730897 deg, deltaT: 4.421357 s, approachRate: -0.692096 m/s, LOS rate: 0.512836 deg/s, posRepo size: 4
2021-02-16T10:49:22.312Z,1613472562.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 133.730897 deg,
      approachRate: -0.692096 m/s,
      LOS rate: 0.512836 deg/s,
      cmd update: 1.538508 deg/s,
      cmd heading: 137.147762 deg,
      new cmd heading: 137.310125 deg.

2021-02-16T10:49:24.731Z,1613472564.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:25.489Z,1613472565.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:25.895Z,1613472565.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:26.716Z,1613472566.716 [Micromodem](INFO): Nmea in: $SNTTA,0.028070,,,,104926.94*48

2021-02-16T10:49:26.770Z,1613472566.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 132.369394 deg, deltaT: 4.410738 s, approachRate: -0.625747 m/s, LOS rate: -0.308679 deg/s, posRepo size: 4
2021-02-16T10:49:26.776Z,1613472566.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.879997 m,
      bearing: 132.369394 deg,
      approachRate: -0.625747 m/s,
      LOS rate: -0.308679 deg/s,
      cmd update: -0.926037 deg/s,
      cmd heading: 143.939828 deg,
      new cmd heading: 144.663484 deg.

2021-02-16T10:49:29.123Z,1613472569.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:29.921Z,1613472569.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:29.967Z,1613472569.967 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:49:30.329Z,1613472570.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:31.148Z,1613472571.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,104931.37*54

2021-02-16T10:49:31.183Z,1613472571.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.939999 m, bearing: 131.402731 deg, deltaT: 4.473219 s, approachRate: -0.657245 m/s, LOS rate: -0.216100 deg/s, posRepo size: 4
2021-02-16T10:49:31.183Z,1613472571.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.94 m.
2021-02-16T10:49:31.185Z,1613472571.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.939999 m,
      bearing: 131.402731 deg,
      approachRate: -0.657245 m/s,
      LOS rate: -0.216100 deg/s,
      cmd update: -0.648300 deg/s,
      cmd heading: 139.797452 deg,
      new cmd heading: 139.417943 deg.

2021-02-16T10:49:31.545Z,1613472571.545 [PowerOnly](INFO): Powering up loadControl
2021-02-16T10:49:33.628Z,1613472573.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:34.369Z,1613472574.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:34.785Z,1613472574.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:35.626Z,1613472575.626 [Micromodem](INFO): Nmea in: $SNTTA,0.024060,,,0.051368,104935.82*57

2021-02-16T10:49:35.664Z,1613472575.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.880001 m, bearing: 131.526617 deg, deltaT: 4.468098 s, approachRate: -0.684855 m/s, LOS rate: 0.027727 deg/s, posRepo size: 4
2021-02-16T10:49:35.665Z,1613472575.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.88 m.
2021-02-16T10:49:35.665Z,1613472575.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.88 m.
2021-02-16T10:49:35.665Z,1613472575.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T10:49:35.687Z,1613472575.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.880001 m,
      bearing: 131.526617 deg,
      approachRate: -0.684855 m/s,
      LOS rate: 0.027727 deg/s,
      cmd update: 0.083180 deg/s,
      cmd heading: 136.903516 deg,
      new cmd heading: 136.626562 deg.

2021-02-16T10:49:38.041Z,1613472578.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:38.809Z,1613472578.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:39.316Z,1613472579.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:40.036Z,1613472580.036 [Micromodem](INFO): Nmea in: $SNTTA,0.022052,,,,104940.26*4B

2021-02-16T10:49:40.073Z,1613472580.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.880001 m, bearing: 134.239732 deg, deltaT: 4.432281 s, approachRate: -0.676852 m/s, LOS rate: 0.612126 deg/s, posRepo size: 4
2021-02-16T10:49:40.075Z,1613472580.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.880001 m,
      bearing: 134.239732 deg,
      approachRate: -0.676852 m/s,
      LOS rate: 0.612126 deg/s,
      cmd update: 1.836378 deg/s,
      cmd heading: 137.272541 deg,
      new cmd heading: 137.305802 deg.

2021-02-16T10:49:42.479Z,1613472582.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:43.253Z,1613472583.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:43.660Z,1613472583.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:44.488Z,1613472584.488 [Micromodem](INFO): Nmea in: $SNTTA,0.020077,,,,104944.71*48

2021-02-16T10:49:44.527Z,1613472584.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 133.386245 deg, deltaT: 4.419299 s, approachRate: -0.665264 m/s, LOS rate: -0.193127 deg/s, posRepo size: 4
2021-02-16T10:49:44.529Z,1613472584.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 133.386245 deg,
      approachRate: -0.665264 m/s,
      LOS rate: -0.193127 deg/s,
      cmd update: -0.579382 deg/s,
      cmd heading: 145.358734 deg,
      new cmd heading: 146.186070 deg.

2021-02-16T10:49:46.918Z,1613472586.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:47.692Z,1613472587.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:48.116Z,1613472588.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:48.929Z,1613472588.929 [Micromodem](INFO): Nmea in: $SNTTA,0.018001,,,0.031975,104949.15*5A

2021-02-16T10:49:48.978Z,1613472588.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 130.822274 deg, deltaT: 4.456028 s, approachRate: -0.767500 m/s, LOS rate: -0.575394 deg/s, posRepo size: 4
2021-02-16T10:49:48.980Z,1613472588.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.519999 m,
      bearing: 130.822274 deg,
      approachRate: -0.767500 m/s,
      LOS rate: -0.575394 deg/s,
      cmd update: -1.726181 deg/s,
      cmd heading: 142.772635 deg,
      new cmd heading: 142.518935 deg.

2021-02-16T10:49:51.366Z,1613472591.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:52.140Z,1613472592.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:52.547Z,1613472592.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:53.375Z,1613472593.375 [Micromodem](INFO): Nmea in: $SNTTA,0.015795,,,,104953.60*43

2021-02-16T10:49:53.430Z,1613472593.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 132.518183 deg, deltaT: 4.419334 s, approachRate: -0.692412 m/s, LOS rate: 0.383748 deg/s, posRepo size: 4
2021-02-16T10:49:53.436Z,1613472593.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.459999 m,
      bearing: 132.518183 deg,
      approachRate: -0.692412 m/s,
      LOS rate: 0.383748 deg/s,
      cmd update: 1.151243 deg/s,
      cmd heading: 135.129514 deg,
      new cmd heading: 134.330755 deg.

2021-02-16T10:49:55.819Z,1613472595.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:49:56.604Z,1613472596.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:49:56.993Z,1613472596.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:49:57.828Z,1613472597.828 [Micromodem](INFO): Nmea in: $SNTTA,0.013693,,,,104958.06*49

2021-02-16T10:49:57.873Z,1613472597.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.400002 m, bearing: 137.286871 deg, deltaT: 4.498158 s, approachRate: -0.680278 m/s, LOS rate: 1.060142 deg/s, posRepo size: 4
2021-02-16T10:49:57.874Z,1613472597.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.400002 m,
      bearing: 137.286871 deg,
      approachRate: -0.680278 m/s,
      LOS rate: 1.060142 deg/s,
      cmd update: 3.180427 deg/s,
      cmd heading: 140.307976 deg,
      new cmd heading: 140.776335 deg.

2021-02-16T10:50:00.272Z,1613472600.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:01.032Z,1613472601.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:01.438Z,1613472601.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:02.265Z,1613472602.265 [Micromodem](INFO): Nmea in: $SNTTA,0.011597,,0.037456,,105002.49*5D

2021-02-16T10:50:02.280Z,1613472602.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 135.900533 deg, deltaT: 4.399180 s, approachRate: -0.736501 m/s, LOS rate: -0.315135 deg/s, posRepo size: 4
2021-02-16T10:50:02.282Z,1613472602.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 135.900533 deg,
      approachRate: -0.736501 m/s,
      LOS rate: -0.315135 deg/s,
      cmd update: -0.945406 deg/s,
      cmd heading: 154.299388 deg,
      new cmd heading: 155.618267 deg.

2021-02-16T10:50:04.715Z,1613472604.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:05.481Z,1613472605.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:05.892Z,1613472605.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:06.708Z,1613472606.708 [Micromodem](INFO): Nmea in: $SNTTA,0.009720,,,,105006.93*44

2021-02-16T10:50:06.762Z,1613472606.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 129.544674 deg, deltaT: 4.449622 s, approachRate: -0.647246 m/s, LOS rate: -1.428404 deg/s, posRepo size: 4
2021-02-16T10:50:06.764Z,1613472606.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 129.544674 deg,
      approachRate: -0.647246 m/s,
      LOS rate: -1.428404 deg/s,
      cmd update: -4.285213 deg/s,
      cmd heading: 150.096501 deg,
      new cmd heading: 149.670024 deg.

2021-02-16T10:50:09.148Z,1613472609.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:09.937Z,1613472609.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:10.338Z,1613472610.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:11.161Z,1613472611.161 [Micromodem](INFO): Nmea in: $SNTTA,0.008027,,,,105011.39*43

2021-02-16T10:50:11.257Z,1613472611.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 130.753276 deg, deltaT: 4.475583 s, approachRate: -0.576461 m/s, LOS rate: 0.270043 deg/s, posRepo size: 4
2021-02-16T10:50:11.258Z,1613472611.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 130.753276 deg,
      approachRate: -0.576461 m/s,
      LOS rate: 0.270043 deg/s,
      cmd update: 0.810130 deg/s,
      cmd heading: 130.900451 deg,
      new cmd heading: 128.902406 deg.

2021-02-16T10:50:13.649Z,1613472613.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:14.394Z,1613472614.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:14.770Z,1613472614.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:15.639Z,1613472615.639 [Micromodem](INFO): Nmea in: $SNTTA,0.006321,,,,105015.85*4B

2021-02-16T10:50:15.674Z,1613472615.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 136.857347 deg, deltaT: 4.397754 s, approachRate: -0.545733 m/s, LOS rate: 1.387998 deg/s, posRepo size: 4
2021-02-16T10:50:15.676Z,1613472615.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 136.857347 deg,
      approachRate: -0.545733 m/s,
      LOS rate: 1.387998 deg/s,
      cmd update: 4.163992 deg/s,
      cmd heading: 134.463082 deg,
      new cmd heading: 134.856563 deg.

2021-02-16T10:50:17.702Z,1613472617.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:18.437Z,1613472618.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:18.811Z,1613472618.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:19.689Z,1613472619.689 [Micromodem](INFO): Nmea in: $SNTTA,0.004567,,,,105019.89*4D

2021-02-16T10:50:19.749Z,1613472619.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.660000 m, bearing: 139.313101 deg, deltaT: 4.055586 s, approachRate: -0.650954 m/s, LOS rate: 0.605524 deg/s, posRepo size: 4
2021-02-16T10:50:19.750Z,1613472619.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.660000 m,
      bearing: 139.313101 deg,
      approachRate: -0.650954 m/s,
      LOS rate: 0.605524 deg/s,
      cmd update: 1.816571 deg/s,
      cmd heading: 151.350254 deg,
      new cmd heading: 153.454369 deg.

2021-02-16T10:50:22.055Z,1613472622.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:22.858Z,1613472622.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:23.254Z,1613472623.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:24.084Z,1613472624.084 [Micromodem](INFO): Nmea in: $SNTTA,0.003399,,,,105024.31*40

2021-02-16T10:50:24.124Z,1613472624.124 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T10:50:24.124Z,1613472624.124 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:50:24.124Z,1613472624.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T10:50:24.124Z,1613472624.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:50:24.124Z,1613472624.124 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T10:50:24.125Z,1613472624.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-02-16T10:50:24.125Z,1613472624.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T10:50:24.125Z,1613472624.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T10:50:24.125Z,1613472624.125 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T10:50:24.131Z,1613472624.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 141.625079 deg, deltaT: 4.467701 s, approachRate: -0.456611 m/s, LOS rate: 0.517487 deg/s, posRepo size: 4
2021-02-16T10:50:24.133Z,1613472624.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 141.625079 deg,
      approachRate: -0.456611 m/s,
      LOS rate: 0.517487 deg/s,
      cmd update: 1.552462 deg/s,
      cmd heading: 159.458708 deg,
      new cmd heading: 160.221921 deg.

2021-02-16T10:50:24.515Z,1613472624.515 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T105024: (41.552319, -70.708603)
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T10:50:24.516Z,1613472624.516 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T10:50:26.530Z,1613472626.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:27.293Z,1613472627.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:27.698Z,1613472627.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:28.524Z,1613472628.524 [Micromodem](INFO): Nmea in: $SNTTA,0.002690,,,,105028.75*41

2021-02-16T10:50:28.565Z,1613472628.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 155.466129 deg, deltaT: 4.429798 s, approachRate: -0.135446 m/s, LOS rate: 3.124533 deg/s, posRepo size: 4
2021-02-16T10:50:28.567Z,1613472628.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 155.466129 deg,
      approachRate: -0.135446 m/s,
      LOS rate: 3.124533 deg/s,
      cmd update: 9.373599 deg/s,
      cmd heading: 166.307570 deg,
      new cmd heading: 167.000328 deg.

2021-02-16T10:50:30.967Z,1613472630.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:31.736Z,1613472631.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:32.143Z,1613472632.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:32.964Z,1613472632.964 [Micromodem](INFO): Nmea in: $SNTTA,0.006413,,,,105033.19*4C

2021-02-16T10:50:33.003Z,1613472633.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.499999 m, bearing: 176.910710 deg, deltaT: 4.449743 s, approachRate: 0.782067 m/s, LOS rate: 4.819285 deg/s, posRepo size: 4
2021-02-16T10:50:33.005Z,1613472633.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 176.910710 deg,
      approachRate: 0.782067 m/s,
      LOS rate: 4.819285 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 208.192061 deg,
      new cmd heading: 212.093231 deg.

2021-02-16T10:50:35.441Z,1613472635.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:36.180Z,1613472636.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:36.614Z,1613472636.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:37.428Z,1613472637.428 [Micromodem](INFO): Nmea in: $SNTTA,0.006666,,,,105037.64*42

2021-02-16T10:50:37.454Z,1613472637.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.139999 m, bearing: 151.328428 deg, deltaT: 4.428637 s, approachRate: 0.596120 m/s, LOS rate: -5.776559 deg/s, posRepo size: 4
2021-02-16T10:50:37.456Z,1613472637.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.139999 m,
      bearing: 151.328428 deg,
      approachRate: 0.596120 m/s,
      LOS rate: -5.776559 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 261.382459 deg,
      new cmd heading: 266.591647 deg.

2021-02-16T10:50:39.868Z,1613472639.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:40.642Z,1613472640.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:41.035Z,1613472641.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:41.869Z,1613472641.869 [Micromodem](INFO): Nmea in: $SNTTA,0.007434,,,,105042.10*47

2021-02-16T10:50:41.926Z,1613472641.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 211.262204 deg, deltaT: 4.477320 s, approachRate: 0.536035 m/s, LOS rate: 13.386083 deg/s, posRepo size: 4
2021-02-16T10:50:41.931Z,1613472641.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.386083 deg/s. Setting heading cmd to target bearing of 211.262204deg and heading rate command to 0 deg/s.
2021-02-16T10:50:44.280Z,1613472644.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:45.079Z,1613472645.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:45.478Z,1613472645.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:46.304Z,1613472646.304 [Micromodem](INFO): Nmea in: $SNTTA,0.007802,,,,105046.53*4D

2021-02-16T10:50:46.326Z,1613472646.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 246.356481 deg, deltaT: 4.429198 s, approachRate: -0.176105 m/s, LOS rate: 7.923393 deg/s, posRepo size: 4
2021-02-16T10:50:46.351Z,1613472646.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 246.356481 deg,
      approachRate: -0.176105 m/s,
      LOS rate: 7.923393 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.262204 deg,
      new cmd heading: 211.262204 deg.

2021-02-16T10:50:48.765Z,1613472648.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:49.518Z,1613472649.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:49.923Z,1613472649.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:50.772Z,1613472650.772 [Micromodem](INFO): Nmea in: $SNTTA,0.009291,,,,105050.97*4C

2021-02-16T10:50:50.817Z,1613472650.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 199.653984 deg, deltaT: 4.408047 s, approachRate: 0.490013 m/s, LOS rate: -10.594827 deg/s, posRepo size: 4
2021-02-16T10:50:50.819Z,1613472650.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.919997 m,
      bearing: 199.653984 deg,
      approachRate: 0.490013 m/s,
      LOS rate: -10.594827 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.207094 deg,
      new cmd heading: 270.003526 deg.

2021-02-16T10:50:53.163Z,1613472653.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:53.967Z,1613472653.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:54.369Z,1613472654.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:55.192Z,1613472655.192 [Micromodem](INFO): Nmea in: $SNTTA,0.010489,,,,105055.42*46

2021-02-16T10:50:55.245Z,1613472655.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.559999 m, bearing: 247.973897 deg, deltaT: 4.486697 s, approachRate: 0.588407 m/s, LOS rate: 10.769596 deg/s, posRepo size: 4
2021-02-16T10:50:55.253Z,1613472655.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.559999 m,
      bearing: 247.973897 deg,
      approachRate: 0.588407 m/s,
      LOS rate: 10.769596 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 210.414513 deg,
      new cmd heading: 205.276100 deg.

2021-02-16T10:50:57.666Z,1613472657.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:50:58.419Z,1613472658.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:50:58.806Z,1613472658.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:50:59.656Z,1613472659.656 [Micromodem](INFO): Nmea in: $SNTTA,0.011690,,,,105059.87*48

2021-02-16T10:50:59.705Z,1613472659.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.580000 m, bearing: 283.133935 deg, deltaT: 4.417418 s, approachRate: 0.230904 m/s, LOS rate: 7.959409 deg/s, posRepo size: 4
2021-02-16T10:50:59.707Z,1613472659.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.580000 m,
      bearing: 283.133935 deg,
      approachRate: 0.230904 m/s,
      LOS rate: 7.959409 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 263.471206 deg,
      new cmd heading: 269.075662 deg.

2021-02-16T10:51:02.075Z,1613472662.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:02.850Z,1613472662.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:03.262Z,1613472663.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:04.080Z,1613472664.080 [Micromodem](INFO): Nmea in: $SNTTA,0.013300,,,,105104.30*43

2021-02-16T10:51:04.126Z,1613472664.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 194.398235 deg, deltaT: 4.488416 s, approachRate: 0.668387 m/s, LOS rate: -19.769936 deg/s, posRepo size: 4
2021-02-16T10:51:04.126Z,1613472664.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.58 m. Rolling out.
2021-02-16T10:51:04.131Z,1613472664.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T10:51:06.104Z,1613472666.104 [PowerOnly](INFO): Powering down loadControl
2021-02-16T10:51:06.529Z,1613472666.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:07.289Z,1613472667.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:07.693Z,1613472667.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:08.520Z,1613472668.520 [Micromodem](INFO): Nmea in: $SNTTA,0.015175,,,,105108.74*49

2021-02-16T10:51:08.544Z,1613472668.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 216.697464 deg, deltaT: 4.384775 s, approachRate: 0.342092 m/s, LOS rate: 5.085604 deg/s, posRepo size: 4
2021-02-16T10:51:10.954Z,1613472670.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:11.732Z,1613472671.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:12.138Z,1613472672.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:12.969Z,1613472672.969 [Micromodem](INFO): Nmea in: $SNTTA,0.016600,,,,105113.19*4E

2021-02-16T10:51:13.802Z,1613472673.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:15.375Z,1613472675.375 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:51:16.661Z,1613472676.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:17.417Z,1613472677.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:17.807Z,1613472677.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:18.662Z,1613472678.662 [Micromodem](INFO): Nmea in: $SNTTA,0.017243,,0.033626,,105118.87*5C

2021-02-16T10:51:18.697Z,1613472678.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.919998 m, bearing: 289.856044 deg, deltaT: 10.114470 s, approachRate: 0.379654 m/s, LOS rate: 7.233061 deg/s, posRepo size: 4
2021-02-16T10:51:21.044Z,1613472681.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:21.834Z,1613472681.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:22.251Z,1613472682.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:23.064Z,1613472683.064 [Micromodem](INFO): Nmea in: $SNTTA,0.017672,,,,105123.29*4A

2021-02-16T10:51:23.113Z,1613472683.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 3.130408 deg, deltaT: 4.464273 s, approachRate: 0.134400 m/s, LOS rate: 16.413505 deg/s, posRepo size: 4
2021-02-16T10:51:25.506Z,1613472685.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:26.276Z,1613472686.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:26.687Z,1613472686.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:27.519Z,1613472687.519 [Micromodem](INFO): Nmea in: $SNTTA,0.017905,,,,105127.73*4E

2021-02-16T10:51:27.549Z,1613472687.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.880001 m, bearing: 25.397422 deg, deltaT: 4.427488 s, approachRate: 0.081311 m/s, LOS rate: 5.029266 deg/s, posRepo size: 4
2021-02-16T10:51:29.952Z,1613472689.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:30.730Z,1613472690.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:31.180Z,1613472691.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:31.972Z,1613472691.972 [Micromodem](INFO): Nmea in: $SNTTA,0.017942,,,,105132.18*44

2021-02-16T10:51:32.029Z,1613472692.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 22.696782 deg, deltaT: 4.552016 s, approachRate: 0.013180 m/s, LOS rate: -0.593284 deg/s, posRepo size: 4
2021-02-16T10:51:34.519Z,1613472694.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:35.199Z,1613472695.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:35.635Z,1613472695.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:35.652Z,1613472695.652 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T10:51:36.453Z,1613472696.453 [Micromodem](INFO): Nmea in: $SNTTA,0.018810,,0.034666,0.021329,105136.65*49

2021-02-16T10:51:36.484Z,1613472696.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.140001 m, bearing: 19.412106 deg, deltaT: 4.357701 s, approachRate: 0.275375 m/s, LOS rate: -0.753763 deg/s, posRepo size: 4
2021-02-16T10:51:38.875Z,1613472698.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:39.641Z,1613472699.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:40.047Z,1613472700.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:40.868Z,1613472700.868 [Micromodem](INFO): Nmea in: $SNTTA,0.019257,,,,105141.09*41

2021-02-16T10:51:40.912Z,1613472700.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.920000 m, bearing: 11.244189 deg, deltaT: 4.470701 s, approachRate: 0.174469 m/s, LOS rate: -1.826988 deg/s, posRepo size: 4
2021-02-16T10:51:43.286Z,1613472703.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:44.086Z,1613472704.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:44.504Z,1613472704.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:45.338Z,1613472705.338 [Micromodem](INFO): Nmea in: $SNTTA,0.020061,0.045362,,,105145.54*58

2021-02-16T10:51:45.361Z,1613472705.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 329.093431 deg, deltaT: 4.428922 s, approachRate: 0.270946 m/s, LOS rate: -9.517159 deg/s, posRepo size: 4
2021-02-16T10:51:47.766Z,1613472707.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:48.524Z,1613472708.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:48.930Z,1613472708.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:49.769Z,1613472709.769 [Micromodem](INFO): Nmea in: $SNTTA,0.021187,,,,105149.98*44

2021-02-16T10:51:49.825Z,1613472709.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 321.453865 deg, deltaT: 4.450779 s, approachRate: 0.390943 m/s, LOS rate: -1.716456 deg/s, posRepo size: 4
2021-02-16T10:51:52.201Z,1613472712.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:52.978Z,1613472712.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:53.413Z,1613472713.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:54.201Z,1613472714.201 [Micromodem](INFO): Nmea in: $SNTTA,0.023076,,,,105154.43*43

2021-02-16T10:51:54.242Z,1613472714.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 336.261196 deg, deltaT: 4.441639 s, approachRate: 0.621394 m/s, LOS rate: 3.333754 deg/s, posRepo size: 4
2021-02-16T10:51:56.689Z,1613472716.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:51:57.424Z,1613472717.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:51:57.818Z,1613472717.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:51:58.657Z,1613472718.657 [Micromodem](INFO): Nmea in: $SNTTA,0.024500,0.035180,0.028505,,105158.88*4E

2021-02-16T10:51:58.707Z,1613472718.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 274.652616 deg, deltaT: 4.458286 s, approachRate: 0.565239 m/s, LOS rate: -13.818893 deg/s, posRepo size: 4
2021-02-16T10:52:01.079Z,1613472721.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:01.861Z,1613472721.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:02.262Z,1613472722.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:03.092Z,1613472723.092 [Micromodem](INFO): Nmea in: $SNTTA,0.026506,,,,105203.32*43

2021-02-16T10:52:03.123Z,1613472723.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 353.467235 deg, deltaT: 4.437603 s, approachRate: 0.621958 m/s, LOS rate: 17.760628 deg/s, posRepo size: 4
2021-02-16T10:52:05.534Z,1613472725.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:06.300Z,1613472726.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:06.712Z,1613472726.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:07.536Z,1613472727.536 [Micromodem](INFO): Nmea in: $SNTTA,0.027945,,,,105207.75*4E

2021-02-16T10:52:07.561Z,1613472727.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 323.143654 deg, deltaT: 4.419685 s, approachRate: 0.502298 m/s, LOS rate: -6.861027 deg/s, posRepo size: 4
2021-02-16T10:52:09.969Z,1613472729.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:10.750Z,1613472730.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:11.157Z,1613472731.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:11.976Z,1613472731.976 [Micromodem](INFO): Nmea in: $SNTTA,0.029796,,,,105212.20*44

2021-02-16T10:52:12.028Z,1613472732.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 313.761596 deg, deltaT: 4.499644 s, approachRate: 0.626717 m/s, LOS rate: -2.085067 deg/s, posRepo size: 4
2021-02-16T10:52:14.704Z,1613472734.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:15.243Z,1613472735.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:15.648Z,1613472735.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:16.476Z,1613472736.476 [Micromodem](INFO): Nmea in: $SNTTA,0.031951,,,,105216.70*49

2021-02-16T10:52:16.525Z,1613472736.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 318.180729 deg, deltaT: 4.429260 s, approachRate: 0.731498 m/s, LOS rate: 0.997713 deg/s, posRepo size: 4
2021-02-16T10:52:18.921Z,1613472738.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:19.681Z,1613472739.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:20.090Z,1613472740.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:20.912Z,1613472740.912 [Micromodem](INFO): Nmea in: $SNTTA,0.035874,,,,105221.14*4D

2021-02-16T10:52:20.956Z,1613472740.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 308.090791 deg, deltaT: 4.500975 s, approachRate: 0.533219 m/s, LOS rate: -2.241723 deg/s, posRepo size: 4
2021-02-16T10:52:23.347Z,1613472743.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:24.125Z,1613472744.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:24.538Z,1613472744.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:25.404Z,1613472745.404 [Micromodem](INFO): Nmea in: $SNTTA,0.065454,,,,105225.58*4A

2021-02-16T10:52:25.441Z,1613472745.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.880001 m, bearing: 303.113168 deg, deltaT: 4.414388 s, approachRate: 0.747555 m/s, LOS rate: -1.127591 deg/s, posRepo size: 4
2021-02-16T10:52:27.796Z,1613472747.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:28.570Z,1613472748.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:29.001Z,1613472749.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:29.800Z,1613472749.800 [Micromodem](INFO): Nmea in: $SNTTA,0.054737,,,,105230.02*45

2021-02-16T10:52:29.853Z,1613472749.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.119999 m, bearing: 307.462933 deg, deltaT: 4.458505 s, approachRate: 0.726700 m/s, LOS rate: 0.975611 deg/s, posRepo size: 4
2021-02-16T10:52:32.249Z,1613472752.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:33.013Z,1613472753.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:33.431Z,1613472753.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:34.262Z,1613472754.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105234.47*5C

2021-02-16T10:52:34.317Z,1613472754.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 13.585155 deg, deltaT: 4.430952 s, approachRate: 0.812468 m/s, LOS rate: 14.922806 deg/s, posRepo size: 4
2021-02-16T10:52:36.690Z,1613472756.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:37.465Z,1613472757.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:37.863Z,1613472757.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:38.692Z,1613472758.692 [Micromodem](INFO): Nmea in: $SNTTA,0.056366,,,,105238.92*46

2021-02-16T10:52:38.742Z,1613472758.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.200005 m, bearing: 314.365358 deg, deltaT: 4.433484 s, approachRate: 0.784936 m/s, LOS rate: -13.357397 deg/s, posRepo size: 4
2021-02-16T10:52:41.127Z,1613472761.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:41.905Z,1613472761.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:42.306Z,1613472762.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:43.132Z,1613472763.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105243.36*5A

2021-02-16T10:52:43.178Z,1613472763.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 313.675481 deg, deltaT: 4.499550 s, approachRate: 0.760074 m/s, LOS rate: -0.153321 deg/s, posRepo size: 4
2021-02-16T10:52:45.562Z,1613472765.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:46.353Z,1613472766.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:46.750Z,1613472766.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:47.581Z,1613472767.581 [Micromodem](INFO): Nmea in: $SNTTA,0.047323,,0.052016,,105247.81*53

2021-02-16T10:52:47.661Z,1613472767.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 7.096342 deg, deltaT: 4.365926 s, approachRate: 0.810825 m/s, LOS rate: 12.235861 deg/s, posRepo size: 4
2021-02-16T10:52:49.674Z,1613472769.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:50.418Z,1613472770.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:50.790Z,1613472770.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:51.648Z,1613472771.648 [Micromodem](INFO): Nmea in: $SNTTA,,,0.058801,,105251.87*49

2021-02-16T10:52:51.708Z,1613472771.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 5.703719 deg, deltaT: 4.049148 s, approachRate: 0.829806 m/s, LOS rate: -0.343930 deg/s, posRepo size: 4
2021-02-16T10:52:54.052Z,1613472774.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:54.833Z,1613472774.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:55.242Z,1613472775.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:52:56.064Z,1613472776.064 [Micromodem](INFO): Nmea in: $SNTTA,0.051926,,,,105256.29*47

2021-02-16T10:52:56.106Z,1613472776.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.060005 m, bearing: 359.048182 deg, deltaT: 4.478594 s, approachRate: 0.790427 m/s, LOS rate: -1.486079 deg/s, posRepo size: 4
2021-02-16T10:52:58.505Z,1613472778.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:52:59.281Z,1613472779.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:52:59.682Z,1613472779.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:00.508Z,1613472780.508 [Micromodem](INFO): Nmea in: $SNTTA,0.054348,,,,105300.74*4A

2021-02-16T10:53:00.549Z,1613472780.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.659996 m, bearing: 1.589740 deg, deltaT: 4.418542 s, approachRate: 0.814746 m/s, LOS rate: 0.575203 deg/s, posRepo size: 4
2021-02-16T10:53:02.953Z,1613472782.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:03.721Z,1613472783.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:04.131Z,1613472784.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:04.957Z,1613472784.957 [Micromodem](INFO): Nmea in: $SNTTA,0.056916,,,,105305.18*46

2021-02-16T10:53:04.981Z,1613472784.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 357.677718 deg, deltaT: 4.449412 s, approachRate: 0.822583 m/s, LOS rate: -0.879222 deg/s, posRepo size: 4
2021-02-16T10:53:05.420Z,1613472785.420 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T10:53:07.423Z,1613472787.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:08.164Z,1613472788.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:08.574Z,1613472788.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:09.432Z,1613472789.432 [Micromodem](INFO): Nmea in: $SNTTA,0.059114,,,,105309.62*42

2021-02-16T10:53:09.457Z,1613472789.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 3.591176 deg, deltaT: 4.423094 s, approachRate: 0.800343 m/s, LOS rate: 1.336951 deg/s, posRepo size: 4
2021-02-16T10:53:11.839Z,1613472791.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:12.654Z,1613472792.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:13.019Z,1613472793.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:13.850Z,1613472793.850 [Micromodem](INFO): Nmea in: $SNTTA,0.061465,,,,105314.11*42

2021-02-16T10:53:13.899Z,1613472793.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 0.329852 deg, deltaT: 4.468948 s, approachRate: 0.778708 m/s, LOS rate: -0.729774 deg/s, posRepo size: 4
2021-02-16T10:53:16.260Z,1613472796.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:17.048Z,1613472797.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:17.459Z,1613472797.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:18.296Z,1613472798.296 [Micromodem](INFO): Nmea in: $SNTTA,0.063821,,0.076516,,105318.50*58

2021-02-16T10:53:18.329Z,1613472798.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.879997 m, bearing: 2.641185 deg, deltaT: 4.449496 s, approachRate: 0.795594 m/s, LOS rate: 0.519459 deg/s, posRepo size: 4
2021-02-16T10:53:20.723Z,1613472800.723 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T10:53:20.723Z,1613472800.723 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T10:53:20.723Z,1613472800.723 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T10:53:20.767Z,1613472800.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:20.879Z,1613472800.879 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T10:53:21.179Z,1613472801.179 [RDI_Pathfinder](INFO): Powering down
2021-02-16T10:53:21.492Z,1613472801.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:21.915Z,1613472801.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:22.091Z,1613472802.091 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T10:53:22.091Z,1613472802.091 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T10:53:22.740Z,1613472802.740 [Micromodem](INFO): Nmea in: $SNTTA,0.066190,,,,105322.94*42

2021-02-16T10:53:22.764Z,1613472802.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 356.359437 deg, deltaT: 4.429251 s, approachRate: 0.799232 m/s, LOS rate: -1.418240 deg/s, posRepo size: 4
2021-02-16T10:53:25.160Z,1613472805.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:25.942Z,1613472805.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:26.342Z,1613472806.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:27.168Z,1613472807.168 [Micromodem](INFO): Nmea in: $SNTTA,0.068427,,,,105327.40*49

2021-02-16T10:53:27.190Z,1613472807.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.840004 m, bearing: 353.621214 deg, deltaT: 4.463376 s, approachRate: 0.766237 m/s, LOS rate: -0.613487 deg/s, posRepo size: 4
2021-02-16T10:53:29.642Z,1613472809.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:30.404Z,1613472810.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:30.798Z,1613472810.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:31.648Z,1613472811.648 [Micromodem](INFO): Nmea in: $SNTTA,0.070760,,,,105331.86*4D

2021-02-16T10:53:31.672Z,1613472811.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.320007 m, bearing: 347.900002 deg, deltaT: 4.439988 s, approachRate: 0.783787 m/s, LOS rate: -1.288565 deg/s, posRepo size: 4
2021-02-16T10:53:34.046Z,1613472814.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:34.829Z,1613472814.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:35.262Z,1613472815.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:36.072Z,1613472816.072 [Micromodem](INFO): Nmea in: $SNTTA,0.073228,,,,105336.28*44

2021-02-16T10:53:36.095Z,1613472816.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.980003 m, bearing: 347.781812 deg, deltaT: 4.430984 s, approachRate: 0.826001 m/s, LOS rate: -0.026673 deg/s, posRepo size: 4
2021-02-16T10:53:38.514Z,1613472818.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:39.274Z,1613472819.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:39.682Z,1613472819.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:40.493Z,1613472820.493 [Micromodem](INFO): Nmea in: $SNTTA,0.075524,,,,105340.73*46

2021-02-16T10:53:41.320Z,1613472821.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:42.908Z,1613472822.908 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:53:44.168Z,1613472824.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:44.929Z,1613472824.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:45.338Z,1613472825.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:46.186Z,1613472826.186 [Micromodem](INFO): Nmea in: $SNTTA,0.078837,,,,105346.38*4D

2021-02-16T10:53:46.219Z,1613472826.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 345.372040 deg, deltaT: 10.087177 s, approachRate: 0.832740 m/s, LOS rate: -0.238895 deg/s, posRepo size: 4
2021-02-16T10:53:48.591Z,1613472828.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:49.374Z,1613472829.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:49.786Z,1613472829.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:50.630Z,1613472830.630 [Micromodem](INFO): Nmea in: $SNTTA,0.081324,,0.100636,,105350.83*59

2021-02-16T10:53:50.678Z,1613472830.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.119995 m, bearing: 332.725180 deg, deltaT: 4.482832 s, approachRate: 1.057367 m/s, LOS rate: -2.821177 deg/s, posRepo size: 4
2021-02-16T10:53:53.030Z,1613472833.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:53.820Z,1613472833.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:54.236Z,1613472834.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:55.044Z,1613472835.044 [Micromodem](INFO): Nmea in: $SNTTA,0.083955,,,,105355.27*40

2021-02-16T10:53:55.081Z,1613472835.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 330.227297 deg, deltaT: 4.435881 s, approachRate: 0.865671 m/s, LOS rate: -0.563108 deg/s, posRepo size: 4
2021-02-16T10:53:57.474Z,1613472837.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:53:58.256Z,1613472838.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:53:58.662Z,1613472838.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:53:59.473Z,1613472839.473 [Micromodem](INFO): Nmea in: $SNTTA,0.086247,,,,105359.71*42

2021-02-16T10:54:00.312Z,1613472840.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:01.892Z,1613472841.892 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:54:03.128Z,1613472843.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:03.923Z,1613472843.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:04.318Z,1613472844.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:05.155Z,1613472845.155 [Micromodem](INFO): Nmea in: $SNTTA,0.089435,,,,105405.38*4D

2021-02-16T10:54:05.209Z,1613472845.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 335.887776 deg, deltaT: 10.102990 s, approachRate: 0.807681 m/s, LOS rate: 0.560278 deg/s, posRepo size: 4
2021-02-16T10:54:07.632Z,1613472847.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:08.358Z,1613472848.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:08.773Z,1613472848.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:09.644Z,1613472849.644 [Micromodem](INFO): Nmea in: $SNTTA,0.091708,,,,105409.81*47

2021-02-16T10:54:09.694Z,1613472849.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.700012 m, bearing: 339.746477 deg, deltaT: 4.442975 s, approachRate: 0.580696 m/s, LOS rate: 0.868495 deg/s, posRepo size: 4
2021-02-16T10:54:12.023Z,1613472852.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:12.805Z,1613472852.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:13.220Z,1613472853.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:14.032Z,1613472854.032 [Micromodem](INFO): Nmea in: $SNTTA,0.093994,,,,105414.26*4F

2021-02-16T10:54:14.069Z,1613472854.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.000000 m, bearing: 339.034034 deg, deltaT: 4.446476 s, approachRate: 0.742158 m/s, LOS rate: -0.160227 deg/s, posRepo size: 4
2021-02-16T10:54:16.469Z,1613472856.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:17.246Z,1613472857.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:17.662Z,1613472857.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:18.462Z,1613472858.462 [Micromodem](INFO): Nmea in: $SNTTA,0.096343,,,,105418.70*45

2021-02-16T10:54:18.868Z,1613472858.868 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:54:19.298Z,1613472859.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:20.896Z,1613472860.896 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:54:22.107Z,1613472862.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:22.900Z,1613472862.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:23.317Z,1613472863.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:24.117Z,1613472864.117 [Micromodem](INFO): Nmea in: $SNTTA,0.099453,,,,105424.35*42

2021-02-16T10:54:24.952Z,1613472864.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:26.534Z,1613472866.534 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:54:27.823Z,1613472867.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:28.556Z,1613472868.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:28.962Z,1613472868.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:29.784Z,1613472869.784 [Micromodem](INFO): Nmea in: $SNTTA,0.102413,,,,105430.01*47

2021-02-16T10:54:29.838Z,1613472869.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.779999 m, bearing: 334.252874 deg, deltaT: 15.744140 s, approachRate: 0.811731 m/s, LOS rate: -0.303679 deg/s, posRepo size: 4
2021-02-16T10:54:29.839Z,1613472869.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.78 m. Resuming terminal guidance.
2021-02-16T10:54:29.843Z,1613472869.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T10:54:32.246Z,1613472872.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:33.009Z,1613472873.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:33.406Z,1613472873.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:34.260Z,1613472874.260 [Micromodem](INFO): Nmea in: $SNTTA,0.104683,,,,105434.46*4D

2021-02-16T10:54:34.285Z,1613472874.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 335.085092 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T10:54:34.286Z,1613472874.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 335.085092deg and heading rate command to 0 deg/s.
2021-02-16T10:54:36.680Z,1613472876.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:37.450Z,1613472877.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:37.854Z,1613472877.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:38.681Z,1613472878.681 [Micromodem](INFO): Nmea in: $SNTTA,0.107218,,,,105438.90*4F

2021-02-16T10:54:39.504Z,1613472879.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:41.080Z,1613472881.080 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:54:42.332Z,1613472882.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:43.102Z,1613472883.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:43.507Z,1613472883.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:44.332Z,1613472884.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105444.55*5E

2021-02-16T10:54:44.372Z,1613472884.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 32.814445 deg, deltaT: 10.086262 s, approachRate: 0.826867 m/s, LOS rate: 5.723562 deg/s, posRepo size: 2
2021-02-16T10:54:44.374Z,1613472884.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.540009 m,
      bearing: 32.814445 deg,
      approachRate: 0.826867 m/s,
      LOS rate: 5.723562 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 335.085092 deg,
      new cmd heading: 335.085092 deg.

2021-02-16T10:54:46.803Z,1613472886.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:47.546Z,1613472887.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:47.955Z,1613472887.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:48.780Z,1613472888.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105449.00*53

2021-02-16T10:54:48.818Z,1613472888.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 325.476027 deg, deltaT: 4.456879 s, approachRate: 0.000000 m/s, LOS rate: -15.108872 deg/s, posRepo size: 3
2021-02-16T10:54:48.818Z,1613472888.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.108872 deg/s. Setting heading cmd to target bearing of 325.476027deg and heading rate command to 0 deg/s.
2021-02-16T10:54:51.235Z,1613472891.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:51.992Z,1613472891.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:52.398Z,1613472892.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:53.229Z,1613472893.229 [Micromodem](INFO): Nmea in: $SNTTA,0.115028,,,,105453.45*48

2021-02-16T10:54:53.283Z,1613472893.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 6.932581 deg, deltaT: 4.444900 s, approachRate: 1.619830 m/s, LOS rate: 9.326770 deg/s, posRepo size: 4
2021-02-16T10:54:53.285Z,1613472893.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.739990 m,
      bearing: 6.932581 deg,
      approachRate: 1.619830 m/s,
      LOS rate: 9.326770 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 325.476027 deg,
      new cmd heading: 325.476027 deg.

2021-02-16T10:54:55.666Z,1613472895.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:54:56.436Z,1613472896.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:54:56.859Z,1613472896.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:54:57.664Z,1613472897.664 [Micromodem](INFO): Nmea in: $SNTTA,0.116891,,,,105457.89*45

2021-02-16T10:54:57.712Z,1613472897.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 22.572749 deg, deltaT: 4.444767 s, approachRate: 0.000000 m/s, LOS rate: 3.518783 deg/s, posRepo size: 4
2021-02-16T10:54:57.714Z,1613472897.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.739990 m,
      bearing: 22.572749 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.518783 deg/s,
      cmd update: 10.556348 deg/s,
      cmd heading: 18.832588 deg,
      new cmd heading: 23.712640 deg.

2021-02-16T10:55:00.106Z,1613472900.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:00.885Z,1613472900.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:01.291Z,1613472901.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:02.111Z,1613472902.111 [Micromodem](INFO): Nmea in: $SNTTA,,,,,105502.34*5A

2021-02-16T10:55:02.132Z,1613472902.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.739990 m, bearing: 48.594238 deg, deltaT: 4.463223 s, approachRate: 0.000000 m/s, LOS rate: 5.830201 deg/s, posRepo size: 4
2021-02-16T10:55:02.134Z,1613472902.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.739990 m,
      bearing: 48.594238 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.830201 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 65.930862 deg,
      new cmd heading: 69.831612 deg.

2021-02-16T10:55:04.543Z,1613472904.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:05.324Z,1613472905.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:05.750Z,1613472905.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:06.552Z,1613472906.552 [Micromodem](INFO): Nmea in: $SNTTA,0.120754,,,,105506.78*4D

2021-02-16T10:55:07.392Z,1613472907.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:08.984Z,1613472908.984 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T10:55:10.248Z,1613472910.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:10.996Z,1613472910.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:11.407Z,1613472911.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:12.232Z,1613472912.232 [Micromodem](INFO): Nmea in: $SNTTA,0.122660,,,,105512.45*42

2021-02-16T10:55:12.675Z,1613472912.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.020004 m, bearing: 92.463187 deg, deltaT: 10.520841 s, approachRate: 1.072159 m/s, LOS rate: 4.169719 deg/s, posRepo size: 4
2021-02-16T10:55:12.677Z,1613472912.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.020004 m,
      bearing: 92.463187 deg,
      approachRate: 1.072159 m/s,
      LOS rate: 4.169719 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.988862 deg,
      new cmd heading: 196.874074 deg.

2021-02-16T10:55:15.062Z,1613472915.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:15.848Z,1613472915.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:16.252Z,1613472916.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:17.065Z,1613472917.065 [Micromodem](INFO): Nmea in: $SNTTA,0.123429,,,,105517.30*4B

2021-02-16T10:55:17.506Z,1613472917.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 80.169004 deg, deltaT: 4.819395 s, approachRate: 0.248993 m/s, LOS rate: -2.550981 deg/s, posRepo size: 4
2021-02-16T10:55:17.510Z,1613472917.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.220001 m,
      bearing: 80.169004 deg,
      approachRate: 0.248993 m/s,
      LOS rate: -2.550981 deg/s,
      cmd update: -7.652942 deg/s,
      cmd heading: 250.050731 deg,
      new cmd heading: 254.845955 deg.

2021-02-16T10:55:19.937Z,1613472919.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:20.703Z,1613472920.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:21.118Z,1613472921.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:21.923Z,1613472921.923 [Micromodem](INFO): Nmea in: $SNTTA,0.123500,,,,105522.16*43

2021-02-16T10:55:22.344Z,1613472922.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.160004 m, bearing: 124.510046 deg, deltaT: 4.851945 s, approachRate: -0.012366 m/s, LOS rate: 9.138818 deg/s, posRepo size: 4
2021-02-16T10:55:22.346Z,1613472922.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.160004 m,
      bearing: 124.510046 deg,
      approachRate: -0.012366 m/s,
      LOS rate: 9.138818 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 213.005832 deg,
      new cmd heading: 209.968731 deg.

2021-02-16T10:55:24.758Z,1613472924.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:25.540Z,1613472925.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:25.947Z,1613472925.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:26.762Z,1613472926.762 [Micromodem](INFO): Nmea in: $SNTTA,0.122816,,,0.125328,105526.99*5A

2021-02-16T10:55:27.242Z,1613472927.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.079987 m, bearing: 162.161805 deg, deltaT: 4.826819 s, approachRate: -0.223753 m/s, LOS rate: 7.800533 deg/s, posRepo size: 4
2021-02-16T10:55:27.244Z,1613472927.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.079987 m,
      bearing: 162.161805 deg,
      approachRate: -0.223753 m/s,
      LOS rate: 7.800533 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 271.075597 deg,
      new cmd heading: 276.548473 deg.

2021-02-16T10:55:29.637Z,1613472929.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:30.399Z,1613472930.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:30.799Z,1613472930.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:31.641Z,1613472931.641 [Micromodem](INFO): Nmea in: $SNTTA,0.121598,,,,105531.85*48

2021-02-16T10:55:32.059Z,1613472932.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.219986 m, bearing: 152.282401 deg, deltaT: 4.879024 s, approachRate: -0.381224 m/s, LOS rate: -2.024873 deg/s, posRepo size: 4
2021-02-16T10:55:32.061Z,1613472932.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.219986 m,
      bearing: 152.282401 deg,
      approachRate: -0.381224 m/s,
      LOS rate: -2.024873 deg/s,
      cmd update: -6.074619 deg/s,
      cmd heading: 329.623695 deg,
      new cmd heading: 334.346391 deg.

2021-02-16T10:55:34.475Z,1613472934.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:35.240Z,1613472935.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:35.652Z,1613472935.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:36.484Z,1613472936.484 [Micromodem](INFO): Nmea in: $SNTTA,0.119717,,,,105536.69*43

2021-02-16T10:55:36.526Z,1613472936.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.219986 m, bearing: 151.108906 deg, deltaT: 4.425440 s, approachRate: 0.000000 m/s, LOS rate: -0.265170 deg/s, posRepo size: 4
2021-02-16T10:55:36.530Z,1613472936.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.219986 m,
      bearing: 151.108906 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.265170 deg/s,
      cmd update: -0.795511 deg/s,
      cmd heading: 302.846500 deg,
      new cmd heading: 300.110795 deg.

2021-02-16T10:55:38.940Z,1613472938.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:39.685Z,1613472939.685 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:40.092Z,1613472940.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:40.920Z,1613472940.920 [Micromodem](INFO): Nmea in: $SNTTA,0.118170,,,,105541.14*4F

2021-02-16T10:55:40.977Z,1613472940.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 148.975701 deg, deltaT: 4.539124 s, approachRate: -1.136781 m/s, LOS rate: -0.469960 deg/s, posRepo size: 4
2021-02-16T10:55:40.983Z,1613472940.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 148.975701 deg,
      approachRate: -1.136781 m/s,
      LOS rate: -0.469960 deg/s,
      cmd update: -1.409879 deg/s,
      cmd heading: 299.231643 deg,
      new cmd heading: 298.945397 deg.

2021-02-16T10:55:43.360Z,1613472943.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:44.134Z,1613472944.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:44.541Z,1613472944.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:45.364Z,1613472945.364 [Micromodem](INFO): Nmea in: $SNTTA,0.116552,,,,105545.59*48

2021-02-16T10:55:45.409Z,1613472945.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 159.820047 deg, deltaT: 4.360140 s, approachRate: 0.000000 m/s, LOS rate: 2.487156 deg/s, posRepo size: 4
2021-02-16T10:55:45.411Z,1613472945.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 159.820047 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.487156 deg/s,
      cmd update: 7.461467 deg/s,
      cmd heading: 293.072428 deg,
      new cmd heading: 292.475410 deg.

2021-02-16T10:55:47.784Z,1613472947.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:48.579Z,1613472948.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:48.977Z,1613472948.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:49.804Z,1613472949.804 [Micromodem](INFO): Nmea in: $SNTTA,0.114738,,,,105550.03*4F

2021-02-16T10:55:49.828Z,1613472949.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 152.470149 deg, deltaT: 4.451368 s, approachRate: 0.000000 m/s, LOS rate: -1.651155 deg/s, posRepo size: 4
2021-02-16T10:55:49.830Z,1613472949.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 152.470149 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.651155 deg/s,
      cmd update: -4.953465 deg/s,
      cmd heading: 326.285768 deg,
      new cmd heading: 329.201657 deg.

2021-02-16T10:55:52.254Z,1613472952.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:53.025Z,1613472953.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:53.431Z,1613472953.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:54.264Z,1613472954.264 [Micromodem](INFO): Nmea in: $SNTTA,0.112775,,,,105554.48*4B

2021-02-16T10:55:54.289Z,1613472954.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 148.759007 deg, deltaT: 4.438627 s, approachRate: 0.000000 m/s, LOS rate: -0.836101 deg/s, posRepo size: 4
2021-02-16T10:55:54.291Z,1613472954.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 148.759007 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.836101 deg/s,
      cmd update: -2.508304 deg/s,
      cmd heading: 304.299170 deg,
      new cmd heading: 302.251120 deg.

2021-02-16T10:55:56.689Z,1613472956.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:55:57.458Z,1613472957.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:55:57.866Z,1613472957.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:55:58.684Z,1613472958.684 [Micromodem](INFO): Nmea in: $SNTTA,0.111071,,,,105558.91*43

2021-02-16T10:55:58.733Z,1613472958.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.319992 m, bearing: 145.671119 deg, deltaT: 4.436582 s, approachRate: -2.420784 m/s, LOS rate: -0.696006 deg/s, posRepo size: 4
2021-02-16T10:55:58.734Z,1613472958.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.319992 m,
      bearing: 145.671119 deg,
      approachRate: -2.420784 m/s,
      LOS rate: -0.696006 deg/s,
      cmd update: -2.088018 deg/s,
      cmd heading: 293.161797 deg,
      new cmd heading: 292.116408 deg.

2021-02-16T10:56:01.115Z,1613472961.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:01.900Z,1613472961.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:02.314Z,1613472962.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:03.142Z,1613472963.142 [Micromodem](INFO): Nmea in: $SNTTA,0.109708,,,,105603.35*40

2021-02-16T10:56:03.197Z,1613472963.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 136.576831 deg, deltaT: 4.446973 s, approachRate: -0.431754 m/s, LOS rate: -2.045051 deg/s, posRepo size: 4
2021-02-16T10:56:03.200Z,1613472963.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 136.576831 deg,
      approachRate: -0.431754 m/s,
      LOS rate: -2.045051 deg/s,
      cmd update: -6.135154 deg/s,
      cmd heading: 283.876045 deg,
      new cmd heading: 282.969739 deg.

2021-02-16T10:56:05.562Z,1613472965.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:06.347Z,1613472966.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:06.757Z,1613472966.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:07.578Z,1613472967.578 [Micromodem](INFO): Nmea in: $SNTTA,0.108948,,,,105607.80*41

2021-02-16T10:56:07.645Z,1613472967.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 154.659716 deg, deltaT: 4.468576 s, approachRate: -0.241685 m/s, LOS rate: 4.046677 deg/s, posRepo size: 4
2021-02-16T10:56:07.647Z,1613472967.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.320007 m,
      bearing: 154.659716 deg,
      approachRate: -0.241685 m/s,
      LOS rate: 4.046677 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 256.566923 deg,
      new cmd heading: 253.924077 deg.

2021-02-16T10:56:10.012Z,1613472970.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:10.790Z,1613472970.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:11.209Z,1613472971.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:12.016Z,1613472972.016 [Micromodem](INFO): Nmea in: $SNTTA,0.108774,,,,105612.24*4A

2021-02-16T10:56:12.054Z,1613472972.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.259995 m, bearing: 273.901924 deg, deltaT: 4.427202 s, approachRate: -0.013555 m/s, LOS rate: 26.933989 deg/s, posRepo size: 4
2021-02-16T10:56:12.055Z,1613472972.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.933989 deg/s. Setting heading cmd to target bearing of 273.901924deg and heading rate command to 0 deg/s.
2021-02-16T10:56:14.519Z,1613472974.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:15.245Z,1613472975.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:15.663Z,1613472975.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:16.476Z,1613472976.476 [Micromodem](INFO): Nmea in: $SNTTA,0.109711,,,,105616.70*4D

2021-02-16T10:56:16.501Z,1613472976.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.259995 m, bearing: 207.171181 deg, deltaT: 4.410026 s, approachRate: 0.000000 m/s, LOS rate: -15.131599 deg/s, posRepo size: 4
2021-02-16T10:56:16.502Z,1613472976.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.131599 deg/s. Setting heading cmd to target bearing of 207.171181deg and heading rate command to 0 deg/s.
2021-02-16T10:56:18.900Z,1613472978.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:19.678Z,1613472979.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:20.092Z,1613472980.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:20.924Z,1613472980.924 [Micromodem](INFO): Nmea in: $SNTTA,0.110936,,,,105621.13*4F

2021-02-16T10:56:20.948Z,1613472980.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 246.712935 deg, deltaT: 4.511194 s, approachRate: 0.718218 m/s, LOS rate: 8.765253 deg/s, posRepo size: 4
2021-02-16T10:56:20.950Z,1613472980.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 246.712935 deg,
      approachRate: 0.718218 m/s,
      LOS rate: 8.765253 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.171181 deg,
      new cmd heading: 207.171181 deg.

2021-02-16T10:56:23.363Z,1613472983.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:24.134Z,1613472984.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:24.526Z,1613472984.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:25.361Z,1613472985.361 [Micromodem](INFO): Nmea in: $SNTTA,0.112614,,,,105625.59*48

2021-02-16T10:56:25.428Z,1613472985.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 253.948373 deg, deltaT: 4.397838 s, approachRate: 0.000000 m/s, LOS rate: 1.645226 deg/s, posRepo size: 4
2021-02-16T10:56:25.429Z,1613472985.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 253.948373 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.645226 deg/s,
      cmd update: 4.935678 deg/s,
      cmd heading: 259.845362 deg,
      new cmd heading: 265.389962 deg.

2021-02-16T10:56:27.782Z,1613472987.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:28.576Z,1613472988.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:28.970Z,1613472988.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:29.800Z,1613472989.800 [Micromodem](INFO): Nmea in: $SNTTA,0.113733,,,,105630.03*46

2021-02-16T10:56:29.825Z,1613472989.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 204.973704 deg, deltaT: 4.439785 s, approachRate: 0.000000 m/s, LOS rate: -11.030865 deg/s, posRepo size: 4
2021-02-16T10:56:29.827Z,1613472989.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 204.973704 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.030865 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.836266 deg,
      new cmd heading: 283.850300 deg.

2021-02-16T10:56:32.248Z,1613472992.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:33.008Z,1613472993.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:33.419Z,1613472993.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:34.252Z,1613472994.252 [Micromodem](INFO): Nmea in: $SNTTA,0.114795,,,,105634.46*48

2021-02-16T10:56:34.291Z,1613472994.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 197.865458 deg, deltaT: 4.477206 s, approachRate: 0.000000 m/s, LOS rate: -1.587652 deg/s, posRepo size: 4
2021-02-16T10:56:34.293Z,1613472994.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 197.865458 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.587652 deg/s,
      cmd update: -4.762957 deg/s,
      cmd heading: 228.174413 deg,
      new cmd heading: 223.344857 deg.

2021-02-16T10:56:36.694Z,1613472996.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:37.458Z,1613472997.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:37.873Z,1613472997.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:38.684Z,1613472998.684 [Micromodem](INFO): Nmea in: $SNTTA,0.116011,,,,105638.91*47

2021-02-16T10:56:38.725Z,1613472998.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 246.133462 deg, deltaT: 4.418095 s, approachRate: 0.000000 m/s, LOS rate: 10.925072 deg/s, posRepo size: 4
2021-02-16T10:56:38.726Z,1613472998.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 246.133462 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.925072 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.119529 deg,
      new cmd heading: 205.141406 deg.

2021-02-16T10:56:41.114Z,1613473001.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:41.909Z,1613473001.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:42.313Z,1613473002.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:43.126Z,1613473003.126 [Micromodem](INFO): Nmea in: $SNTTA,0.117238,,,,105643.36*4E

2021-02-16T10:56:43.548Z,1613473003.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.860001 m, bearing: 203.882581 deg, deltaT: 4.867784 s, approachRate: 1.922843 m/s, LOS rate: -8.679695 deg/s, posRepo size: 4
2021-02-16T10:56:43.550Z,1613473003.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.860001 m,
      bearing: 203.882581 deg,
      approachRate: 1.922843 m/s,
      LOS rate: -8.679695 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 265.533010 deg,
      new cmd heading: 269.985070 deg.

2021-02-16T10:56:45.976Z,1613473005.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:46.745Z,1613473006.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:47.181Z,1613473007.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:47.991Z,1613473007.991 [Micromodem](INFO): Nmea in: $SNTTA,0.118140,,,,105648.20*41

2021-02-16T10:56:48.020Z,1613473008.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.860001 m, bearing: 172.289282 deg, deltaT: 4.421578 s, approachRate: 0.000000 m/s, LOS rate: -7.145254 deg/s, posRepo size: 4
2021-02-16T10:56:48.022Z,1613473008.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.860001 m,
      bearing: 172.289282 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.145254 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.593232 deg,
      new cmd heading: 207.418244 deg.

2021-02-16T10:56:50.424Z,1613473010.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:51.203Z,1613473011.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:51.639Z,1613473011.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:52.418Z,1613473012.418 [Micromodem](INFO): Nmea in: $SNTTA,0.118854,,0.125035,,105652.66*5A

2021-02-16T10:56:52.872Z,1613473012.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 170.388057 deg, deltaT: 4.868497 s, approachRate: 0.505288 m/s, LOS rate: -0.390516 deg/s, posRepo size: 4
2021-02-16T10:56:52.874Z,1613473012.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 170.388057 deg,
      approachRate: 0.505288 m/s,
      LOS rate: -0.390516 deg/s,
      cmd update: -1.171547 deg/s,
      cmd heading: 154.052323 deg,
      new cmd heading: 149.192623 deg.

2021-02-16T10:56:55.280Z,1613473015.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:56:56.036Z,1613473016.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:56:56.442Z,1613473016.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:56:57.272Z,1613473017.272 [Micromodem](INFO): Nmea in: $SNTTA,0.118893,,,,105657.49*47

2021-02-16T10:56:57.318Z,1613473017.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 165.984990 deg, deltaT: 4.425588 s, approachRate: 0.000000 m/s, LOS rate: -0.994911 deg/s, posRepo size: 4
2021-02-16T10:56:57.320Z,1613473017.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 165.984990 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.994911 deg/s,
      cmd update: -2.984734 deg/s,
      cmd heading: 148.863625 deg,
      new cmd heading: 148.369180 deg.

2021-02-16T10:56:59.717Z,1613473019.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:00.481Z,1613473020.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:00.887Z,1613473020.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:01.711Z,1613473021.711 [Micromodem](INFO): Nmea in: $SNTTA,0.118464,,,,105701.93*46

2021-02-16T10:57:01.736Z,1613473021.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 136.778855 deg, deltaT: 4.448739 s, approachRate: 0.000000 m/s, LOS rate: -6.565037 deg/s, posRepo size: 4
2021-02-16T10:57:01.737Z,1613473021.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 136.778855 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.565037 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 135.609397 deg,
      new cmd heading: 134.419380 deg.

2021-02-16T10:57:04.184Z,1613473024.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:04.929Z,1613473024.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:05.342Z,1613473025.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:06.192Z,1613473026.192 [Micromodem](INFO): Nmea in: $SNTTA,0.117464,,,,105706.38*4F

2021-02-16T10:57:06.249Z,1613473026.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.319992 m, bearing: 141.470116 deg, deltaT: 4.433734 s, approachRate: 0.000000 m/s, LOS rate: 1.058083 deg/s, posRepo size: 4
2021-02-16T10:57:06.251Z,1613473026.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 141.470116 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.058083 deg/s,
      cmd update: 3.174251 deg/s,
      cmd heading: 82.316603 deg,
      new cmd heading: 76.658303 deg.

2021-02-16T10:57:08.588Z,1613473028.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:09.373Z,1613473029.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:09.779Z,1613473029.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:10.654Z,1613473030.654 [Micromodem](INFO): Nmea in: $SNTTA,0.116150,,,,105710.83*4B

2021-02-16T10:57:10.674Z,1613473030.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 135.890602 deg, deltaT: 4.467181 s, approachRate: -3.438407 m/s, LOS rate: -1.249001 deg/s, posRepo size: 4
2021-02-16T10:57:10.676Z,1613473030.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.960007 m,
      bearing: 135.890602 deg,
      approachRate: -3.438407 m/s,
      LOS rate: -1.249001 deg/s,
      cmd update: -3.747003 deg/s,
      cmd heading: 96.446437 deg,
      new cmd heading: 97.859356 deg.

2021-02-16T10:57:13.020Z,1613473033.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:13.812Z,1613473033.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:14.234Z,1613473034.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:15.040Z,1613473035.040 [Micromodem](INFO): Nmea in: $SNTTA,0.114395,,,,105715.26*48

2021-02-16T10:57:15.077Z,1613473035.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 135.921707 deg, deltaT: 4.426819 s, approachRate: 1.856861 m/s, LOS rate: 0.007026 deg/s, posRepo size: 4
2021-02-16T10:57:15.079Z,1613473035.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 135.921707 deg,
      approachRate: 1.856861 m/s,
      LOS rate: 0.007026 deg/s,
      cmd update: 0.021079 deg/s,
      cmd heading: 79.795434 deg,
      new cmd heading: 78.279989 deg.

2021-02-16T10:57:17.502Z,1613473037.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:18.261Z,1613473038.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:18.662Z,1613473038.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:19.496Z,1613473039.496 [Micromodem](INFO): Nmea in: $SNTTA,0.112514,,,,105719.72*4C

2021-02-16T10:57:19.521Z,1613473039.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 138.806110 deg, deltaT: 4.416942 s, approachRate: 0.000000 m/s, LOS rate: 0.653032 deg/s, posRepo size: 4
2021-02-16T10:57:19.522Z,1613473039.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 138.806110 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.653032 deg/s,
      cmd update: 1.959095 deg/s,
      cmd heading: 79.888516 deg,
      new cmd heading: 79.897624 deg.

2021-02-16T10:57:21.948Z,1613473041.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:22.701Z,1613473042.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:23.114Z,1613473043.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:23.936Z,1613473043.936 [Micromodem](INFO): Nmea in: $SNTTA,0.110600,,,,105724.16*44

2021-02-16T10:57:23.977Z,1613473043.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 138.207894 deg, deltaT: 4.469624 s, approachRate: -1.288698 m/s, LOS rate: -0.133840 deg/s, posRepo size: 4
2021-02-16T10:57:23.978Z,1613473043.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 138.207894 deg,
      approachRate: -1.288698 m/s,
      LOS rate: -0.133840 deg/s,
      cmd update: -0.401521 deg/s,
      cmd heading: 88.647092 deg,
      new cmd heading: 89.464359 deg.

2021-02-16T10:57:26.390Z,1613473046.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:27.173Z,1613473047.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:27.567Z,1613473047.567 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:28.400Z,1613473048.400 [Micromodem](INFO): Nmea in: $SNTTA,0.109028,,,,105728.63*4E

2021-02-16T10:57:28.425Z,1613473048.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 138.041429 deg, deltaT: 4.438582 s, approachRate: 0.000000 m/s, LOS rate: -0.037504 deg/s, posRepo size: 4
2021-02-16T10:57:28.451Z,1613473048.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 138.041429 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.037504 deg/s,
      cmd update: -0.112513 deg/s,
      cmd heading: 86.865404 deg,
      new cmd heading: 86.693506 deg.

2021-02-16T10:57:30.820Z,1613473050.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:31.608Z,1613473051.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:32.006Z,1613473052.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:32.828Z,1613473052.828 [Micromodem](INFO): Nmea in: $SNTTA,0.107811,,,,105733.06*4B

2021-02-16T10:57:32.866Z,1613473052.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 149.715875 deg, deltaT: 4.461274 s, approachRate: 0.000000 m/s, LOS rate: 2.616841 deg/s, posRepo size: 4
2021-02-16T10:57:32.868Z,1613473052.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 149.715875 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.616841 deg/s,
      cmd update: 7.850524 deg/s,
      cmd heading: 86.363299 deg,
      new cmd heading: 86.317529 deg.

2021-02-16T10:57:35.268Z,1613473055.268 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:35.665Z,1613473055.665 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T10:57:36.032Z,1613473056.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:36.451Z,1613473056.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:37.272Z,1613473057.272 [Micromodem](INFO): Nmea in: $SNTTA,0.107039,,,,105737.49*46

2021-02-16T10:57:37.297Z,1613473057.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.440002 m, bearing: 96.691518 deg, deltaT: 4.426055 s, approachRate: -1.125154 m/s, LOS rate: -11.980049 deg/s, posRepo size: 4
2021-02-16T10:57:37.297Z,1613473057.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.980049 deg/s. Setting heading cmd to target bearing of 96.691518deg and heading rate command to 0 deg/s.
2021-02-16T10:57:39.694Z,1613473059.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:40.482Z,1613473060.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:40.881Z,1613473060.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:40.921Z,1613473060.921 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:57:41.716Z,1613473061.716 [Micromodem](INFO): Nmea in: $SNTTA,0.106244,,,,105741.93*49

2021-02-16T10:57:41.774Z,1613473061.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.179993 m, bearing: 159.393925 deg, deltaT: 4.456670 s, approachRate: -0.282724 m/s, LOS rate: 14.069340 deg/s, posRepo size: 4
2021-02-16T10:57:41.779Z,1613473061.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.069340 deg/s. Setting heading cmd to target bearing of 159.393925deg and heading rate command to 0 deg/s.
2021-02-16T10:57:44.187Z,1613473064.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:44.930Z,1613473064.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:45.333Z,1613473065.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:46.188Z,1613473066.188 [Micromodem](INFO): Nmea in: $SNTTA,0.105156,,,,105746.38*4C

2021-02-16T10:57:46.247Z,1613473066.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 146.026644 deg, deltaT: 4.435857 s, approachRate: -0.365201 m/s, LOS rate: -3.013461 deg/s, posRepo size: 4
2021-02-16T10:57:46.249Z,1613473066.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 146.026644 deg,
      approachRate: -0.365201 m/s,
      LOS rate: -3.013461 deg/s,
      cmd update: -9.040383 deg/s,
      cmd heading: 159.393925 deg,
      new cmd heading: 159.393925 deg.

2021-02-16T10:57:48.601Z,1613473068.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:49.366Z,1613473069.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:49.779Z,1613473069.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:50.637Z,1613473070.637 [Micromodem](INFO): Nmea in: $SNTTA,0.103841,,,,105750.82*43

2021-02-16T10:57:50.691Z,1613473070.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.580002 m, bearing: 146.184408 deg, deltaT: 4.478391 s, approachRate: -0.442126 m/s, LOS rate: 0.035228 deg/s, posRepo size: 4
2021-02-16T10:57:50.693Z,1613473070.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.580002 m,
      bearing: 146.184408 deg,
      approachRate: -0.442126 m/s,
      LOS rate: 0.035228 deg/s,
      cmd update: 0.105683 deg/s,
      cmd heading: 118.983558 deg,
      new cmd heading: 115.018835 deg.

2021-02-16T10:57:53.032Z,1613473073.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:53.814Z,1613473073.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:54.230Z,1613473074.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:55.056Z,1613473075.056 [Micromodem](INFO): Nmea in: $SNTTA,0.102413,,,,105755.27*43

2021-02-16T10:57:55.076Z,1613473075.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 146.580955 deg, deltaT: 4.412327 s, approachRate: -0.489538 m/s, LOS rate: 0.089873 deg/s, posRepo size: 4
2021-02-16T10:57:55.078Z,1613473075.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.419998 m,
      bearing: 146.580955 deg,
      approachRate: -0.489538 m/s,
      LOS rate: 0.089873 deg/s,
      cmd update: 0.269618 deg/s,
      cmd heading: 119.450645 deg,
      new cmd heading: 119.493254 deg.

2021-02-16T10:57:57.499Z,1613473077.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:57:58.253Z,1613473078.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:57:58.680Z,1613473078.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:57:59.488Z,1613473079.488 [Micromodem](INFO): Nmea in: $SNTTA,0.100656,,,,105759.71*4D

2021-02-16T10:57:59.537Z,1613473079.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 146.645528 deg, deltaT: 4.444725 s, approachRate: -0.593959 m/s, LOS rate: 0.014528 deg/s, posRepo size: 4
2021-02-16T10:57:59.538Z,1613473079.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 146.645528 deg,
      approachRate: -0.593959 m/s,
      LOS rate: 0.014528 deg/s,
      cmd update: 0.043584 deg/s,
      cmd heading: 120.646209 deg,
      new cmd heading: 120.763375 deg.

2021-02-16T10:58:01.924Z,1613473081.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:02.696Z,1613473082.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:03.113Z,1613473083.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:03.924Z,1613473083.924 [Micromodem](INFO): Nmea in: $SNTTA,0.099084,,,,105804.15*40

2021-02-16T10:58:03.983Z,1613473083.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 147.258018 deg, deltaT: 4.442834 s, approachRate: -0.526693 m/s, LOS rate: 0.137860 deg/s, posRepo size: 4
2021-02-16T10:58:03.986Z,1613473083.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 147.258018 deg,
      approachRate: -0.526693 m/s,
      LOS rate: 0.137860 deg/s,
      cmd update: 0.413581 deg/s,
      cmd heading: 120.840326 deg,
      new cmd heading: 120.858730 deg.

2021-02-16T10:58:06.362Z,1613473086.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:07.174Z,1613473087.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:07.552Z,1613473087.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:08.384Z,1613473088.384 [Micromodem](INFO): Nmea in: $SNTTA,0.097655,,,,105808.63*49

2021-02-16T10:58:08.409Z,1613473088.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 147.965120 deg, deltaT: 4.469010 s, approachRate: 0.000000 m/s, LOS rate: 0.158223 deg/s, posRepo size: 4
2021-02-16T10:58:08.411Z,1613473088.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 147.965120 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.158223 deg/s,
      cmd update: 0.474670 deg/s,
      cmd heading: 122.688720 deg,
      new cmd heading: 122.847537 deg.

2021-02-16T10:58:10.818Z,1613473090.818 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:11.592Z,1613473091.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:11.990Z,1613473091.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:12.816Z,1613473092.816 [Micromodem](INFO): Nmea in: $SNTTA,0.096124,,,,105813.04*42

2021-02-16T10:58:12.869Z,1613473092.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.000000 m, bearing: 150.492276 deg, deltaT: 4.431692 s, approachRate: -1.001875 m/s, LOS rate: 0.570246 deg/s, posRepo size: 4
2021-02-16T10:58:12.870Z,1613473092.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.000000 m,
      bearing: 150.492276 deg,
      approachRate: -1.001875 m/s,
      LOS rate: 0.570246 deg/s,
      cmd update: 1.710739 deg/s,
      cmd heading: 124.787081 deg,
      new cmd heading: 124.987771 deg.

2021-02-16T10:58:15.277Z,1613473095.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:15.698Z,1613473095.698 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:58:16.030Z,1613473096.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:16.433Z,1613473096.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:17.260Z,1613473097.260 [Micromodem](INFO): Nmea in: $SNTTA,0.094606,,,,105817.48*4B

2021-02-16T10:58:17.305Z,1613473097.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 150.892280 deg, deltaT: 4.432554 s, approachRate: -0.514376 m/s, LOS rate: 0.090242 deg/s, posRepo size: 4
2021-02-16T10:58:17.307Z,1613473097.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.720001 m,
      bearing: 150.892280 deg,
      approachRate: -0.514376 m/s,
      LOS rate: 0.090242 deg/s,
      cmd update: 0.270726 deg/s,
      cmd heading: 132.388848 deg,
      new cmd heading: 133.100377 deg.

2021-02-16T10:58:19.709Z,1613473099.709 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:20.489Z,1613473100.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:20.895Z,1613473100.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:21.713Z,1613473101.713 [Micromodem](INFO): Nmea in: $SNTTA,0.092939,0.116794,,,105821.94*58

2021-02-16T10:58:21.742Z,1613473101.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 152.013455 deg, deltaT: 4.436436 s, approachRate: -0.568024 m/s, LOS rate: 0.252720 deg/s, posRepo size: 4
2021-02-16T10:58:21.744Z,1613473101.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.199997 m,
      bearing: 152.013455 deg,
      approachRate: -0.568024 m/s,
      LOS rate: 0.252720 deg/s,
      cmd update: 0.758160 deg/s,
      cmd heading: 133.589968 deg,
      new cmd heading: 133.702644 deg.

2021-02-16T10:58:22.917Z,1613473102.917 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T10:58:24.160Z,1613473104.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:24.922Z,1613473104.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:25.322Z,1613473105.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:26.160Z,1613473106.160 [Micromodem](INFO): Nmea in: $SNTTA,0.091115,,,,105826.38*4E

2021-02-16T10:58:26.228Z,1613473106.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.500000 m, bearing: 152.237417 deg, deltaT: 4.434991 s, approachRate: -0.608794 m/s, LOS rate: 0.050499 deg/s, posRepo size: 4
2021-02-16T10:58:26.230Z,1613473106.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.500000 m,
      bearing: 152.237417 deg,
      approachRate: -0.608794 m/s,
      LOS rate: 0.050499 deg/s,
      cmd update: 0.151497 deg/s,
      cmd heading: 136.952252 deg,
      new cmd heading: 137.305024 deg.

2021-02-16T10:58:28.581Z,1613473108.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:29.360Z,1613473109.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:29.778Z,1613473109.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:30.596Z,1613473110.596 [Micromodem](INFO): Nmea in: $SNTTA,0.089307,,,,105830.81*43

2021-02-16T10:58:30.687Z,1613473110.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.740005 m, bearing: 152.972345 deg, deltaT: 4.474004 s, approachRate: -0.616896 m/s, LOS rate: 0.164266 deg/s, posRepo size: 4
2021-02-16T10:58:30.689Z,1613473110.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.740005 m,
      bearing: 152.972345 deg,
      approachRate: -0.616896 m/s,
      LOS rate: 0.164266 deg/s,
      cmd update: 0.492799 deg/s,
      cmd heading: 137.629970 deg,
      new cmd heading: 137.697948 deg.

2021-02-16T10:58:33.029Z,1613473113.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:33.821Z,1613473113.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:34.240Z,1613473114.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:35.044Z,1613473115.044 [Micromodem](INFO): Nmea in: $SNTTA,0.087364,,,,105835.27*41

2021-02-16T10:58:35.069Z,1613473115.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.800003 m, bearing: 153.796012 deg, deltaT: 4.426793 s, approachRate: -0.664138 m/s, LOS rate: 0.186064 deg/s, posRepo size: 4
2021-02-16T10:58:35.071Z,1613473115.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.800003 m,
      bearing: 153.796012 deg,
      approachRate: -0.664138 m/s,
      LOS rate: 0.186064 deg/s,
      cmd update: 0.558192 deg/s,
      cmd heading: 139.811672 deg,
      new cmd heading: 140.012622 deg.

2021-02-16T10:58:37.467Z,1613473117.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:38.249Z,1613473118.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:38.654Z,1613473118.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:39.476Z,1613473119.476 [Micromodem](INFO): Nmea in: $SNTTA,0.085555,,,,105839.70*49

2021-02-16T10:58:39.529Z,1613473119.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 154.362412 deg, deltaT: 4.408446 s, approachRate: -0.612460 m/s, LOS rate: 0.128481 deg/s, posRepo size: 4
2021-02-16T10:58:39.535Z,1613473119.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.100006 m,
      bearing: 154.362412 deg,
      approachRate: -0.612460 m/s,
      LOS rate: 0.128481 deg/s,
      cmd update: 0.385442 deg/s,
      cmd heading: 142.272491 deg,
      new cmd heading: 142.528757 deg.

2021-02-16T10:58:41.917Z,1613473121.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:42.696Z,1613473122.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:43.104Z,1613473123.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:43.928Z,1613473123.928 [Micromodem](INFO): Nmea in: $SNTTA,0.083643,,,,105844.15*42

2021-02-16T10:58:43.966Z,1613473123.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.280006 m, bearing: 155.245651 deg, deltaT: 4.472159 s, approachRate: -0.630568 m/s, LOS rate: 0.197497 deg/s, posRepo size: 4
2021-02-16T10:58:43.968Z,1613473123.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.280006 m,
      bearing: 155.245651 deg,
      approachRate: -0.630568 m/s,
      LOS rate: 0.197497 deg/s,
      cmd update: 0.592492 deg/s,
      cmd heading: 143.996330 deg,
      new cmd heading: 144.159627 deg.

2021-02-16T10:58:46.385Z,1613473126.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:47.158Z,1613473127.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:47.549Z,1613473127.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:48.380Z,1613473128.380 [Micromodem](INFO): Nmea in: $SNTTA,0.081623,,,,105848.61*49

2021-02-16T10:58:48.405Z,1613473128.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 155.222620 deg, deltaT: 4.451649 s, approachRate: -0.687385 m/s, LOS rate: -0.005174 deg/s, posRepo size: 4
2021-02-16T10:58:48.407Z,1613473128.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.220009 m,
      bearing: 155.222620 deg,
      approachRate: -0.687385 m/s,
      LOS rate: -0.005174 deg/s,
      cmd update: -0.015521 deg/s,
      cmd heading: 146.631397 deg,
      new cmd heading: 146.877268 deg.

2021-02-16T10:58:50.806Z,1613473130.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:51.608Z,1613473131.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:51.985Z,1613473131.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:52.828Z,1613473132.828 [Micromodem](INFO): Nmea in: $SNTTA,0.079519,,,,105853.06*4F

2021-02-16T10:58:52.886Z,1613473132.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.040001 m, bearing: 156.562648 deg, deltaT: 4.432797 s, approachRate: -0.717382 m/s, LOS rate: 0.302299 deg/s, posRepo size: 4
2021-02-16T10:58:52.892Z,1613473132.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 156.562648 deg,
      approachRate: -0.717382 m/s,
      LOS rate: 0.302299 deg/s,
      cmd update: 0.906896 deg/s,
      cmd heading: 146.562720 deg,
      new cmd heading: 146.555398 deg.

2021-02-16T10:58:55.270Z,1613473135.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:58:56.035Z,1613473136.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:58:56.449Z,1613473136.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:58:57.282Z,1613473137.282 [Micromodem](INFO): Nmea in: $SNTTA,0.077462,,,0.079993,105857.49*50

2021-02-16T10:58:57.307Z,1613473137.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.980003 m, bearing: 156.333468 deg, deltaT: 4.428941 s, approachRate: -0.690910 m/s, LOS rate: -0.051746 deg/s, posRepo size: 4
2021-02-16T10:58:57.309Z,1613473137.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 156.333468 deg,
      approachRate: -0.690910 m/s,
      LOS rate: -0.051746 deg/s,
      cmd update: -0.155238 deg/s,
      cmd heading: 150.590242 deg,
      new cmd heading: 150.999360 deg.

2021-02-16T10:58:59.710Z,1613473139.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:00.485Z,1613473140.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:00.879Z,1613473140.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:01.724Z,1613473141.724 [Micromodem](INFO): Nmea in: $SNTTA,0.075700,,,,105901.94*44

2021-02-16T10:59:01.761Z,1613473141.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 156.984317 deg, deltaT: 4.444957 s, approachRate: -0.593931 m/s, LOS rate: 0.146424 deg/s, posRepo size: 4
2021-02-16T10:59:01.764Z,1613473141.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 156.984317 deg,
      approachRate: -0.593931 m/s,
      LOS rate: 0.146424 deg/s,
      cmd update: 0.439272 deg/s,
      cmd heading: 149.900185 deg,
      new cmd heading: 149.828681 deg.

2021-02-16T10:59:04.140Z,1613473144.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:04.920Z,1613473144.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:05.323Z,1613473145.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:06.177Z,1613473146.177 [Micromodem](INFO): Nmea in: $SNTTA,0.073870,,,,105906.37*44

2021-02-16T10:59:06.204Z,1613473146.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 157.330771 deg, deltaT: 4.477168 s, approachRate: -0.616462 m/s, LOS rate: 0.077383 deg/s, posRepo size: 4
2021-02-16T10:59:06.207Z,1613473146.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.580002 m,
      bearing: 157.330771 deg,
      approachRate: -0.616462 m/s,
      LOS rate: 0.077383 deg/s,
      cmd update: 0.232148 deg/s,
      cmd heading: 151.865040 deg,
      new cmd heading: 152.053784 deg.

2021-02-16T10:59:08.577Z,1613473148.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:09.357Z,1613473149.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:09.762Z,1613473149.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:10.593Z,1613473150.593 [Micromodem](INFO): Nmea in: $SNTTA,0.071961,,0.085741,,105910.81*5C

2021-02-16T10:59:10.670Z,1613473150.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 157.924533 deg, deltaT: 4.462512 s, approachRate: -0.645376 m/s, LOS rate: 0.133056 deg/s, posRepo size: 4
2021-02-16T10:59:10.690Z,1613473150.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.700005 m,
      bearing: 157.924533 deg,
      approachRate: -0.645376 m/s,
      LOS rate: 0.133056 deg/s,
      cmd update: 0.399167 deg/s,
      cmd heading: 152.901053 deg,
      new cmd heading: 152.999360 deg.

2021-02-16T10:59:13.034Z,1613473153.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:13.800Z,1613473153.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:14.219Z,1613473154.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:15.032Z,1613473155.032 [Micromodem](INFO): Nmea in: $SNTTA,0.070143,,,,105915.25*4F

2021-02-16T10:59:15.066Z,1613473155.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 158.157306 deg, deltaT: 4.422046 s, approachRate: -0.610578 m/s, LOS rate: 0.052639 deg/s, posRepo size: 4
2021-02-16T10:59:15.068Z,1613473155.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.000000 m,
      bearing: 158.157306 deg,
      approachRate: -0.610578 m/s,
      LOS rate: 0.052639 deg/s,
      cmd update: 0.157918 deg/s,
      cmd heading: 154.667649 deg,
      new cmd heading: 154.828884 deg.

2021-02-16T10:59:17.469Z,1613473157.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:18.246Z,1613473158.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:18.656Z,1613473158.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:19.476Z,1613473159.476 [Micromodem](INFO): Nmea in: $SNTTA,0.068123,,,,105919.70*4C

2021-02-16T10:59:19.525Z,1613473159.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.000008 m, bearing: 158.434161 deg, deltaT: 4.409209 s, approachRate: -0.680392 m/s, LOS rate: 0.062790 deg/s, posRepo size: 4
2021-02-16T10:59:19.531Z,1613473159.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.000008 m,
      bearing: 158.434161 deg,
      approachRate: -0.680392 m/s,
      LOS rate: 0.062790 deg/s,
      cmd update: 0.188370 deg/s,
      cmd heading: 155.363954 deg,
      new cmd heading: 155.435551 deg.

2021-02-16T10:59:21.930Z,1613473161.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:22.693Z,1613473162.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:23.099Z,1613473163.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:23.920Z,1613473163.920 [Micromodem](INFO): Nmea in: $SNTTA,0.066058,,,,105924.15*42

2021-02-16T10:59:23.954Z,1613473163.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 159.016079 deg, deltaT: 4.469963 s, approachRate: -0.684569 m/s, LOS rate: 0.130184 deg/s, posRepo size: 4
2021-02-16T10:59:23.956Z,1613473163.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.940010 m,
      bearing: 159.016079 deg,
      approachRate: -0.684569 m/s,
      LOS rate: 0.130184 deg/s,
      cmd update: 0.390553 deg/s,
      cmd heading: 156.205985 deg,
      new cmd heading: 156.283574 deg.

2021-02-16T10:59:26.358Z,1613473166.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:27.139Z,1613473167.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:27.555Z,1613473167.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:28.364Z,1613473168.364 [Micromodem](INFO): Nmea in: $SNTTA,0.064047,,,,105928.59*4A

2021-02-16T10:59:28.403Z,1613473168.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 159.043031 deg, deltaT: 4.451789 s, approachRate: -0.673888 m/s, LOS rate: 0.006054 deg/s, posRepo size: 4
2021-02-16T10:59:28.405Z,1613473168.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 159.043031 deg,
      approachRate: -0.673888 m/s,
      LOS rate: 0.006054 deg/s,
      cmd update: 0.018163 deg/s,
      cmd heading: 157.944681 deg,
      new cmd heading: 158.104537 deg.

2021-02-16T10:59:30.807Z,1613473170.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:31.577Z,1613473171.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:31.998Z,1613473171.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:32.804Z,1613473172.804 [Micromodem](INFO): Nmea in: $SNTTA,0.062179,,,,105933.03*45

2021-02-16T10:59:32.857Z,1613473172.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 159.148257 deg, deltaT: 4.452372 s, approachRate: -0.646846 m/s, LOS rate: 0.023634 deg/s, posRepo size: 4
2021-02-16T10:59:32.858Z,1613473172.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.060005 m,
      bearing: 159.148257 deg,
      approachRate: -0.646846 m/s,
      LOS rate: 0.023634 deg/s,
      cmd update: 0.070901 deg/s,
      cmd heading: 158.025474 deg,
      new cmd heading: 158.033010 deg.

2021-02-16T10:59:35.260Z,1613473175.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:36.025Z,1613473176.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:36.431Z,1613473176.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:37.265Z,1613473177.265 [Micromodem](INFO): Nmea in: $SNTTA,0.060192,,0.070411,,105937.48*54

2021-02-16T10:59:37.314Z,1613473177.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 159.765392 deg, deltaT: 4.405586 s, approachRate: -0.680954 m/s, LOS rate: 0.140080 deg/s, posRepo size: 4
2021-02-16T10:59:37.316Z,1613473177.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.060005 m,
      bearing: 159.765392 deg,
      approachRate: -0.680954 m/s,
      LOS rate: 0.140080 deg/s,
      cmd update: 0.420240 deg/s,
      cmd heading: 158.338124 deg,
      new cmd heading: 158.370883 deg.

2021-02-16T10:59:39.702Z,1613473179.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:40.473Z,1613473180.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:40.870Z,1613473180.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:41.704Z,1613473181.704 [Micromodem](INFO): Nmea in: $SNTTA,0.058236,,,,105941.93*48

2021-02-16T10:59:41.752Z,1613473181.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 160.563172 deg, deltaT: 4.470028 s, approachRate: -0.657715 m/s, LOS rate: 0.178473 deg/s, posRepo size: 4
2021-02-16T10:59:41.754Z,1613473181.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 160.563172 deg,
      approachRate: -0.657715 m/s,
      LOS rate: 0.178473 deg/s,
      cmd update: 0.535419 deg/s,
      cmd heading: 160.214923 deg,
      new cmd heading: 160.395833 deg.

2021-02-16T10:59:44.125Z,1613473184.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:44.914Z,1613473184.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:45.314Z,1613473185.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:46.147Z,1613473186.147 [Micromodem](INFO): Nmea in: $SNTTA,0.056257,,,,105946.37*48

2021-02-16T10:59:46.204Z,1613473186.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 160.634834 deg, deltaT: 4.473272 s, approachRate: -0.657238 m/s, LOS rate: 0.016020 deg/s, posRepo size: 4
2021-02-16T10:59:46.207Z,1613473186.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.180000 m,
      bearing: 160.634834 deg,
      approachRate: -0.657238 m/s,
      LOS rate: 0.016020 deg/s,
      cmd update: 0.048060 deg/s,
      cmd heading: 162.612132 deg,
      new cmd heading: 162.830988 deg.

2021-02-16T10:59:48.587Z,1613473188.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:49.353Z,1613473189.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:49.758Z,1613473189.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:50.585Z,1613473190.585 [Micromodem](INFO): Nmea in: $SNTTA,0.054190,,,,105950.81*48

2021-02-16T10:59:50.660Z,1613473190.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.059998 m, bearing: 160.112721 deg, deltaT: 4.423389 s, approachRate: -0.705342 m/s, LOS rate: -0.118035 deg/s, posRepo size: 4
2021-02-16T10:59:50.662Z,1613473190.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 160.112721 deg,
      approachRate: -0.705342 m/s,
      LOS rate: -0.118035 deg/s,
      cmd update: -0.354104 deg/s,
      cmd heading: 162.824616 deg,
      new cmd heading: 162.845948 deg.

2021-02-16T10:59:53.042Z,1613473193.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:53.797Z,1613473193.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:54.215Z,1613473194.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:55.041Z,1613473195.041 [Micromodem](INFO): Nmea in: $SNTTA,0.052267,0.062634,,,105955.25*55

2021-02-16T10:59:55.074Z,1613473195.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 161.461082 deg, deltaT: 4.441579 s, approachRate: -0.634908 m/s, LOS rate: 0.303577 deg/s, posRepo size: 4
2021-02-16T10:59:55.076Z,1613473195.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 161.461082 deg,
      approachRate: -0.634908 m/s,
      LOS rate: 0.303577 deg/s,
      cmd update: 0.910731 deg/s,
      cmd heading: 161.251041 deg,
      new cmd heading: 161.104311 deg.

2021-02-16T10:59:57.464Z,1613473197.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T10:59:58.243Z,1613473198.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T10:59:58.656Z,1613473198.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T10:59:59.552Z,1613473199.552 [Micromodem](INFO): Nmea in: $SNTTA,0.050402,,,,105959.69*4D

2021-02-16T10:59:59.621Z,1613473199.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.420006 m, bearing: 161.966379 deg, deltaT: 4.418681 s, approachRate: -0.638199 m/s, LOS rate: 0.114355 deg/s, posRepo size: 4
2021-02-16T10:59:59.629Z,1613473199.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.420006 m,
      bearing: 161.966379 deg,
      approachRate: -0.638199 m/s,
      LOS rate: 0.114355 deg/s,
      cmd update: 0.343064 deg/s,
      cmd heading: 165.275244 deg,
      new cmd heading: 165.762044 deg.

2021-02-16T11:00:00.305Z,1613473200.305 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T11:00:00.305Z,1613473200.305 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T11:00:00.305Z,1613473200.305 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T11:00:00.305Z,1613473200.305 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:00:00.305Z,1613473200.305 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T11:00:00.773Z,1613473200.773 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B604C0000005D000004003E0000000000000000151D80030C5669BF92F9E55CB49980890EE806BE2FF1B85A05CFB6C38159BDF7B0157534E97864A8A498
2021-02-16T11:00:00.773Z,1613473200.773 [Micromodem](INFO): Outgoing frame #2, 17 bytes: BA2BCC80C9EAAF22524CADC29C35746DC0
2021-02-16T11:00:00.774Z,1613473200.774 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T11:00:01.116Z,1613473201.116 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T11:00:01.516Z,1613473201.516 [Micromodem](INFO): Nmea in: $CADRQ,110002,1,10,0,64,1*74

2021-02-16T11:00:01.517Z,1613473201.517 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B604C0000005D000004003E0000000000000000151D80030C5669BF92F9E55CB49980890EE806BE2FF1B85A05CFB6C38159BDF7B0157534E97864A8A498*39

2021-02-16T11:00:01.704Z,1613473201.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:01.914Z,1613473201.914 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T11:00:02.320Z,1613473202.320 [Micromodem](INFO): Nmea in: $CADRQ,110002,1,10,0,64,2*77

2021-02-16T11:00:02.320Z,1613473202.320 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,BA2BCC80C9EAAF22524CADC29C35746DC0*31

2021-02-16T11:00:02.737Z,1613473202.737 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T11:00:02.737Z,1613473202.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:03.154Z,1613473203.154 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T11:00:03.155Z,1613473203.155 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B

2021-02-16T11:00:04.368Z,1613473204.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:05.545Z,1613473205.545 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T11:00:05.545Z,1613473205.545 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T11:00:05.964Z,1613473205.964 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,110003.760961,3,0,200,4000,14500,1,1,10,1,2,2,3,81*42

2021-02-16T11:00:05.964Z,1613473205.964 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,110003.760961,3,0,200,4000,14500,1,1,10,1,2,2,3,81*42

2021-02-16T11:00:07.217Z,1613473207.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:07.990Z,1613473207.990 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T11:00:08.372Z,1613473208.372 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T11:00:08.373Z,1613473208.373 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0076.lzma.parts
2021-02-16T11:00:08.373Z,1613473208.373 [Micromodem](INFO): Packets left to send: 0
2021-02-16T11:00:08.785Z,1613473208.785 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216110008.452543,06,10039,40,0345,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.1,7.00,16,-4.00,-01,1.03,28,14500,4000*60

2021-02-16T11:00:08.785Z,1613473208.785 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216110008.452543,06,10039,40,0345,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,22.1,7.00,16,-4.00,-01,1.03,28,14500,4000*60

2021-02-16T11:00:08.972Z,1613473208.972 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T11:00:08.972Z,1613473208.972 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T11:00:08.972Z,1613473208.972 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T11:00:08.972Z,1613473208.972 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:00:08.972Z,1613473208.972 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T11:00:10.026Z,1613473210.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:12.849Z,1613473212.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:14.032Z,1613473214.032 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:14.438Z,1613473214.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:15.260Z,1613473215.260 [Micromodem](INFO): Nmea in: $SNTTA,0.043547,,,,110015.48*49

2021-02-16T11:00:15.306Z,1613473215.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 161.478554 deg, deltaT: 15.806455 s, approachRate: -0.649103 m/s, LOS rate: -0.030862 deg/s, posRepo size: 4
2021-02-16T11:00:15.308Z,1613473215.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 161.478554 deg,
      approachRate: -0.649103 m/s,
      LOS rate: -0.030862 deg/s,
      cmd update: -0.092587 deg/s,
      cmd heading: 170.691036 deg,
      new cmd heading: 170.842193 deg.

2021-02-16T11:00:17.701Z,1613473217.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:18.473Z,1613473218.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:18.897Z,1613473218.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:19.708Z,1613473219.708 [Micromodem](INFO): Nmea in: $SNTTA,0.041677,,,,110019.93*41

2021-02-16T11:00:19.760Z,1613473219.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.340004 m, bearing: 160.742956 deg, deltaT: 4.435362 s, approachRate: -0.635798 m/s, LOS rate: -0.165848 deg/s, posRepo size: 4
2021-02-16T11:00:19.762Z,1613473219.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.340004 m,
      bearing: 160.742956 deg,
      approachRate: -0.635798 m/s,
      LOS rate: -0.165848 deg/s,
      cmd update: -0.497545 deg/s,
      cmd heading: 170.280028 deg,
      new cmd heading: 170.238182 deg.

2021-02-16T11:00:22.166Z,1613473222.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:22.917Z,1613473222.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:23.328Z,1613473223.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:24.163Z,1613473224.163 [Micromodem](INFO): Nmea in: $SNTTA,0.039581,,,,110024.37*44

2021-02-16T11:00:24.227Z,1613473224.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.220001 m, bearing: 161.564573 deg, deltaT: 4.442298 s, approachRate: -0.702340 m/s, LOS rate: 0.184953 deg/s, posRepo size: 4
2021-02-16T11:00:24.230Z,1613473224.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.220001 m,
      bearing: 161.564573 deg,
      approachRate: -0.702340 m/s,
      LOS rate: 0.184953 deg/s,
      cmd update: 0.554859 deg/s,
      cmd heading: 168.061743 deg,
      new cmd heading: 167.830883 deg.

2021-02-16T11:00:26.575Z,1613473226.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:27.374Z,1613473227.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:27.773Z,1613473227.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:28.608Z,1613473228.608 [Micromodem](INFO): Nmea in: $SNTTA,0.037633,,,,110028.83*43

2021-02-16T11:00:28.660Z,1613473228.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 161.551650 deg, deltaT: 4.484022 s, approachRate: -0.669044 m/s, LOS rate: -0.002882 deg/s, posRepo size: 4
2021-02-16T11:00:28.661Z,1613473228.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.219994 m,
      bearing: 161.551650 deg,
      approachRate: -0.669044 m/s,
      LOS rate: -0.002882 deg/s,
      cmd update: -0.008646 deg/s,
      cmd heading: 170.549739 deg,
      new cmd heading: 170.778889 deg.

2021-02-16T11:00:31.041Z,1613473231.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:31.814Z,1613473231.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:32.239Z,1613473232.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:33.040Z,1613473233.040 [Micromodem](INFO): Nmea in: $SNTTA,0.035630,,,,110033.27*46

2021-02-16T11:00:33.082Z,1613473233.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 161.087758 deg, deltaT: 4.418921 s, approachRate: -0.665319 m/s, LOS rate: -0.104979 deg/s, posRepo size: 4
2021-02-16T11:00:33.084Z,1613473233.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.280003 m,
      bearing: 161.087758 deg,
      approachRate: -0.665319 m/s,
      LOS rate: -0.104979 deg/s,
      cmd update: -0.314936 deg/s,
      cmd heading: 170.511533 deg,
      new cmd heading: 170.507933 deg.

2021-02-16T11:00:35.474Z,1613473235.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:36.261Z,1613473236.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:36.674Z,1613473236.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:37.492Z,1613473237.492 [Micromodem](INFO): Nmea in: $SNTTA,0.033914,,0.050407,,110037.71*56

2021-02-16T11:00:37.531Z,1613473237.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 162.070745 deg, deltaT: 4.412950 s, approachRate: -0.598241 m/s, LOS rate: 0.222751 deg/s, posRepo size: 4
2021-02-16T11:00:37.533Z,1613473237.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 162.070745 deg,
      approachRate: -0.598241 m/s,
      LOS rate: 0.222751 deg/s,
      cmd update: 0.668252 deg/s,
      cmd heading: 169.121738 deg,
      new cmd heading: 168.979257 deg.

2021-02-16T11:00:39.516Z,1613473239.516 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T11:00:39.730Z,1613473239.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:40.298Z,1613473240.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:40.701Z,1613473240.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:41.528Z,1613473241.528 [Micromodem](INFO): Nmea in: $SNTTA,0.032119,,,,110041.75*4F

2021-02-16T11:00:41.553Z,1613473241.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 159.584597 deg, deltaT: 4.039726 s, approachRate: -0.653509 m/s, LOS rate: -0.615425 deg/s, posRepo size: 4
2021-02-16T11:00:41.583Z,1613473241.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.999996 m,
      bearing: 159.584597 deg,
      approachRate: -0.653509 m/s,
      LOS rate: -0.615425 deg/s,
      cmd update: -1.846275 deg/s,
      cmd heading: 171.821285 deg,
      new cmd heading: 172.111851 deg.

2021-02-16T11:00:43.966Z,1613473243.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:44.740Z,1613473244.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:45.186Z,1613473245.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:45.972Z,1613473245.972 [Micromodem](INFO): Nmea in: $SNTTA,0.030339,,,,110046.19*40

2021-02-16T11:00:46.025Z,1613473246.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.360001 m, bearing: 161.023048 deg, deltaT: 4.486177 s, approachRate: -0.588473 m/s, LOS rate: 0.320641 deg/s, posRepo size: 4
2021-02-16T11:00:46.026Z,1613473246.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.360001 m,
      bearing: 161.023048 deg,
      approachRate: -0.588473 m/s,
      LOS rate: 0.320641 deg/s,
      cmd update: 0.961922 deg/s,
      cmd heading: 163.559636 deg,
      new cmd heading: 162.762253 deg.

2021-02-16T11:00:48.415Z,1613473248.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:49.195Z,1613473249.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:49.600Z,1613473249.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:50.425Z,1613473250.425 [Micromodem](INFO): Nmea in: $SNTTA,0.028227,,,,110050.65*4B

2021-02-16T11:00:50.478Z,1613473250.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.119999 m, bearing: 161.539943 deg, deltaT: 4.407065 s, approachRate: -0.735184 m/s, LOS rate: 0.117288 deg/s, posRepo size: 4
2021-02-16T11:00:50.480Z,1613473250.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.119999 m,
      bearing: 161.539943 deg,
      approachRate: -0.735184 m/s,
      LOS rate: 0.117288 deg/s,
      cmd update: 0.351863 deg/s,
      cmd heading: 167.809874 deg,
      new cmd heading: 168.258863 deg.

2021-02-16T11:00:52.866Z,1613473252.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:53.640Z,1613473253.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:54.050Z,1613473254.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:54.868Z,1613473254.868 [Micromodem](INFO): Nmea in: $SNTTA,0.026216,,,0.028708,110055.09*53

2021-02-16T11:00:54.915Z,1613473254.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 162.515499 deg, deltaT: 4.486520 s, approachRate: -0.668670 m/s, LOS rate: 0.217442 deg/s, posRepo size: 4
2021-02-16T11:00:54.916Z,1613473254.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.12 m.
2021-02-16T11:00:54.917Z,1613473254.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.119999 m,
      bearing: 162.515499 deg,
      approachRate: -0.668670 m/s,
      LOS rate: 0.217442 deg/s,
      cmd update: 0.652325 deg/s,
      cmd heading: 169.388448 deg,
      new cmd heading: 169.535264 deg.

2021-02-16T11:00:55.273Z,1613473255.273 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:00:57.321Z,1613473257.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:00:58.078Z,1613473258.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:00:58.478Z,1613473258.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:00:59.309Z,1613473259.309 [Micromodem](INFO): Nmea in: $SNTTA,0.024080,,,0.026605,110059.53*5D

2021-02-16T11:00:59.334Z,1613473259.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 161.564682 deg, deltaT: 4.425147 s, approachRate: -0.718620 m/s, LOS rate: -0.214867 deg/s, posRepo size: 4
2021-02-16T11:00:59.334Z,1613473259.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.94 m.
2021-02-16T11:00:59.334Z,1613473259.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.94 m.
2021-02-16T11:00:59.335Z,1613473259.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:00:59.337Z,1613473259.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.939999 m,
      bearing: 161.564682 deg,
      approachRate: -0.718620 m/s,
      LOS rate: -0.214867 deg/s,
      cmd update: -0.644600 deg/s,
      cmd heading: 172.275199 deg,
      new cmd heading: 172.543060 deg.

2021-02-16T11:01:01.734Z,1613473261.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:02.516Z,1613473262.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:02.924Z,1613473262.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:03.752Z,1613473263.752 [Micromodem](INFO): Nmea in: $SNTTA,0.022615,,,,110103.97*4E

2021-02-16T11:01:03.782Z,1613473263.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.119999 m, bearing: 160.358498 deg, deltaT: 4.437369 s, approachRate: -0.635512 m/s, LOS rate: -0.271824 deg/s, posRepo size: 4
2021-02-16T11:01:03.804Z,1613473263.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.119999 m,
      bearing: 160.358498 deg,
      approachRate: -0.635512 m/s,
      LOS rate: -0.271824 deg/s,
      cmd update: -0.815473 deg/s,
      cmd heading: 169.414853 deg,
      new cmd heading: 169.142893 deg.

2021-02-16T11:01:06.224Z,1613473266.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:06.961Z,1613473266.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:07.384Z,1613473267.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:08.221Z,1613473268.221 [Micromodem](INFO): Nmea in: $SNTTA,0.020319,,,,110108.41*45

2021-02-16T11:01:08.250Z,1613473268.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.300001 m, bearing: 160.608715 deg, deltaT: 4.465185 s, approachRate: -0.631552 m/s, LOS rate: 0.056037 deg/s, posRepo size: 4
2021-02-16T11:01:08.252Z,1613473268.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.300001 m,
      bearing: 160.608715 deg,
      approachRate: -0.631552 m/s,
      LOS rate: 0.056037 deg/s,
      cmd update: 0.168112 deg/s,
      cmd heading: 165.776895 deg,
      new cmd heading: 165.427611 deg.

2021-02-16T11:01:10.659Z,1613473270.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:11.409Z,1613473271.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:11.828Z,1613473271.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:12.661Z,1613473272.661 [Micromodem](INFO): Nmea in: $SNTTA,0.018419,,,0.047810,110112.86*5D

2021-02-16T11:01:12.727Z,1613473272.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 160.371940 deg, deltaT: 4.438223 s, approachRate: -0.648908 m/s, LOS rate: -0.053349 deg/s, posRepo size: 4
2021-02-16T11:01:12.729Z,1613473272.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.420002 m,
      bearing: 160.371940 deg,
      approachRate: -0.648908 m/s,
      LOS rate: -0.053349 deg/s,
      cmd update: -0.160047 deg/s,
      cmd heading: 166.523666 deg,
      new cmd heading: 166.600827 deg.

2021-02-16T11:01:15.061Z,1613473275.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:15.855Z,1613473275.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:16.255Z,1613473276.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:17.087Z,1613473277.087 [Micromodem](INFO): Nmea in: $SNTTA,0.016452,,,,110117.31*41

2021-02-16T11:01:17.111Z,1613473277.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 160.905897 deg, deltaT: 4.429075 s, approachRate: -0.663796 m/s, LOS rate: 0.120557 deg/s, posRepo size: 4
2021-02-16T11:01:17.113Z,1613473277.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.480000 m,
      bearing: 160.905897 deg,
      approachRate: -0.663796 m/s,
      LOS rate: 0.120557 deg/s,
      cmd update: 0.361672 deg/s,
      cmd heading: 165.814780 deg,
      new cmd heading: 165.747868 deg.

2021-02-16T11:01:19.665Z,1613473279.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:20.301Z,1613473280.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:20.702Z,1613473280.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:21.532Z,1613473281.532 [Micromodem](INFO): Nmea in: $SNTTA,0.014735,,0.106823,,110121.75*54

2021-02-16T11:01:21.588Z,1613473281.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.900000 m, bearing: 162.181025 deg, deltaT: 4.487479 s, approachRate: -0.574933 m/s, LOS rate: 0.284152 deg/s, posRepo size: 4
2021-02-16T11:01:21.589Z,1613473281.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 162.181025 deg,
      approachRate: -0.574933 m/s,
      LOS rate: 0.284152 deg/s,
      cmd update: 0.852457 deg/s,
      cmd heading: 167.428794 deg,
      new cmd heading: 167.584947 deg.

2021-02-16T11:01:23.972Z,1613473283.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:24.742Z,1613473284.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:25.174Z,1613473285.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:25.968Z,1613473285.968 [Micromodem](INFO): Nmea in: $SNTTA,0.012933,,,,110126.19*47

2021-02-16T11:01:26.021Z,1613473286.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 160.576026 deg, deltaT: 4.378416 s, approachRate: -0.616662 m/s, LOS rate: -0.366571 deg/s, posRepo size: 4
2021-02-16T11:01:26.023Z,1613473286.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 160.576026 deg,
      approachRate: -0.616662 m/s,
      LOS rate: -0.366571 deg/s,
      cmd update: -1.099712 deg/s,
      cmd heading: 171.182353 deg,
      new cmd heading: 171.576275 deg.

2021-02-16T11:01:28.417Z,1613473288.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:29.190Z,1613473289.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:29.592Z,1613473289.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:30.432Z,1613473290.432 [Micromodem](INFO): Nmea in: $SNTTA,0.011225,0.048025,,,110130.64*50

2021-02-16T11:01:30.479Z,1613473290.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.499996 m, bearing: 158.392169 deg, deltaT: 4.470014 s, approachRate: -0.604026 m/s, LOS rate: -0.488557 deg/s, posRepo size: 4
2021-02-16T11:01:30.481Z,1613473290.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.499996 m,
      bearing: 158.392169 deg,
      approachRate: -0.604026 m/s,
      LOS rate: -0.488557 deg/s,
      cmd update: -1.465672 deg/s,
      cmd heading: 166.285262 deg,
      new cmd heading: 165.771872 deg.

2021-02-16T11:01:32.877Z,1613473292.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:33.645Z,1613473293.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:34.030Z,1613473294.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:34.864Z,1613473294.864 [Micromodem](INFO): Nmea in: $SNTTA,0.009303,,,,110135.10*4F

2021-02-16T11:01:34.928Z,1613473294.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 162.551303 deg, deltaT: 4.447302 s, approachRate: -0.661074 m/s, LOS rate: 0.935204 deg/s, posRepo size: 4
2021-02-16T11:01:34.930Z,1613473294.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 162.551303 deg,
      approachRate: -0.661074 m/s,
      LOS rate: 0.935204 deg/s,
      cmd update: 2.805612 deg/s,
      cmd heading: 159.765804 deg,
      new cmd heading: 159.088399 deg.

2021-02-16T11:01:37.287Z,1613473297.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:38.069Z,1613473298.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:38.479Z,1613473298.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:39.300Z,1613473299.300 [Micromodem](INFO): Nmea in: $SNTTA,0.007305,,,,110139.52*4D

2021-02-16T11:01:39.326Z,1613473299.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 165.360902 deg, deltaT: 4.424500 s, approachRate: -0.637361 m/s, LOS rate: 0.635009 deg/s, posRepo size: 4
2021-02-16T11:01:39.328Z,1613473299.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 165.360902 deg,
      approachRate: -0.637361 m/s,
      LOS rate: 0.635009 deg/s,
      cmd update: 1.905028 deg/s,
      cmd heading: 172.224568 deg,
      new cmd heading: 173.416634 deg.

2021-02-16T11:01:41.751Z,1613473301.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:42.520Z,1613473302.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:42.918Z,1613473302.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:43.748Z,1613473303.748 [Micromodem](INFO): Nmea in: $SNTTA,0.005573,,,,110143.97*4C

2021-02-16T11:01:43.797Z,1613473303.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 158.520085 deg, deltaT: 4.484667 s, approachRate: -0.561915 m/s, LOS rate: -1.525379 deg/s, posRepo size: 4
2021-02-16T11:01:43.803Z,1613473303.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 158.520085 deg,
      approachRate: -0.561915 m/s,
      LOS rate: -1.525379 deg/s,
      cmd update: -4.576137 deg/s,
      cmd heading: 180.747611 deg,
      new cmd heading: 181.552306 deg.

2021-02-16T11:01:46.220Z,1613473306.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:46.956Z,1613473306.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:47.362Z,1613473307.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:48.217Z,1613473308.217 [Micromodem](INFO): Nmea in: $SNTTA,0.004209,,,,110148.41*47

2021-02-16T11:01:48.252Z,1613473308.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 161.622438 deg, deltaT: 4.402392 s, approachRate: -0.477013 m/s, LOS rate: 0.704697 deg/s, posRepo size: 4
2021-02-16T11:01:48.254Z,1613473308.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 161.622438 deg,
      approachRate: -0.477013 m/s,
      LOS rate: 0.704697 deg/s,
      cmd update: 2.114092 deg/s,
      cmd heading: 160.552917 deg,
      new cmd heading: 158.428852 deg.

2021-02-16T11:01:50.662Z,1613473310.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:51.417Z,1613473311.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:51.811Z,1613473311.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:52.660Z,1613473312.660 [Micromodem](INFO): Nmea in: $SNTTA,0.003151,,0.027204,,110152.87*52

2021-02-16T11:01:52.697Z,1613473312.697 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T11:01:52.697Z,1613473312.697 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T11:01:52.698Z,1613473312.698 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T11:01:52.701Z,1613473312.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 182.864177 deg, deltaT: 4.480502 s, approachRate: -0.321392 m/s, LOS rate: 4.740928 deg/s, posRepo size: 4
2021-02-16T11:01:52.703Z,1613473312.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 182.864177 deg,
      approachRate: -0.321392 m/s,
      LOS rate: 4.740928 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 169.991006 deg,
      new cmd heading: 170.940221 deg.

2021-02-16T11:01:53.065Z,1613473313.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T110153: (41.552319, -70.708603)
2021-02-16T11:01:53.065Z,1613473313.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T11:01:53.065Z,1613473313.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T11:01:53.066Z,1613473313.066 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:01:55.078Z,1613473315.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:01:55.854Z,1613473315.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:01:56.259Z,1613473316.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:01:57.076Z,1613473317.076 [Micromodem](INFO): Nmea in: $SNTTA,0.003263,,,,110157.31*45

2021-02-16T11:01:57.114Z,1613473317.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.919998 m, bearing: 176.406957 deg, deltaT: 4.424577 s, approachRate: 0.054242 m/s, LOS rate: -1.459398 deg/s, posRepo size: 4
2021-02-16T11:01:57.116Z,1613473317.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 176.406957 deg,
      approachRate: 0.054242 m/s,
      LOS rate: -1.459398 deg/s,
      cmd update: -4.378195 deg/s,
      cmd heading: 223.279876 deg,
      new cmd heading: 228.331060 deg.

2021-02-16T11:01:59.689Z,1613473319.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:00.297Z,1613473320.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:00.705Z,1613473320.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:01.528Z,1613473321.528 [Micromodem](INFO): Nmea in: $SNTTA,0.005429,,,,110201.75*4B

2021-02-16T11:02:01.577Z,1613473321.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 171.495450 deg, deltaT: 4.427658 s, approachRate: 0.745315 m/s, LOS rate: -1.109279 deg/s, posRepo size: 4
2021-02-16T11:02:01.584Z,1613473321.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 171.495450 deg,
      approachRate: 0.745315 m/s,
      LOS rate: -1.109279 deg/s,
      cmd update: -3.327836 deg/s,
      cmd heading: 203.914770 deg,
      new cmd heading: 201.895634 deg.

2021-02-16T11:02:03.950Z,1613473323.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:04.734Z,1613473324.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:05.160Z,1613473325.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:05.971Z,1613473325.971 [Micromodem](INFO): Nmea in: $SNTTA,0.006857,,,,110206.19*40

2021-02-16T11:02:05.996Z,1613473325.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.100000 m, bearing: 152.115034 deg, deltaT: 4.465826 s, approachRate: -0.026870 m/s, LOS rate: -4.339716 deg/s, posRepo size: 4
2021-02-16T11:02:05.997Z,1613473325.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 152.115034 deg,
      approachRate: -0.026870 m/s,
      LOS rate: -4.339716 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 189.075595 deg,
      new cmd heading: 187.676862 deg.

2021-02-16T11:02:08.409Z,1613473328.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:09.190Z,1613473329.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:09.611Z,1613473329.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:10.416Z,1613473330.416 [Micromodem](INFO): Nmea in: $SNTTA,0.003754,,0.006528,,110210.64*53

2021-02-16T11:02:10.458Z,1613473330.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 143.808854 deg, deltaT: 4.441659 s, approachRate: -0.553848 m/s, LOS rate: -1.870062 deg/s, posRepo size: 4
2021-02-16T11:02:10.460Z,1613473330.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 143.808854 deg,
      approachRate: -0.553848 m/s,
      LOS rate: -1.870062 deg/s,
      cmd update: -5.610188 deg/s,
      cmd heading: 135.687797 deg,
      new cmd heading: 130.478597 deg.

2021-02-16T11:02:12.851Z,1613473332.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:13.651Z,1613473333.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:14.031Z,1613473334.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:14.880Z,1613473334.880 [Micromodem](INFO): Nmea in: $SNTTA,0.003956,,,,110215.10*4E

2021-02-16T11:02:14.904Z,1613473334.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 136.174001 deg, deltaT: 4.424580 s, approachRate: 0.067804 m/s, LOS rate: -1.725554 deg/s, posRepo size: 4
2021-02-16T11:02:14.906Z,1613473334.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 136.174001 deg,
      approachRate: 0.067804 m/s,
      LOS rate: -1.725554 deg/s,
      cmd update: -5.176664 deg/s,
      cmd heading: 110.842750 deg,
      new cmd heading: 108.306985 deg.

2021-02-16T11:02:17.296Z,1613473337.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:18.064Z,1613473338.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:18.470Z,1613473338.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:19.296Z,1613473339.296 [Micromodem](INFO): Nmea in: $SNTTA,0.003989,,,,110219.52*46

2021-02-16T11:02:19.350Z,1613473339.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 124.317557 deg, deltaT: 4.465278 s, approachRate: 0.013436 m/s, LOS rate: -2.655253 deg/s, posRepo size: 4
2021-02-16T11:02:19.356Z,1613473339.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 124.317557 deg,
      approachRate: 0.013436 m/s,
      LOS rate: -2.655253 deg/s,
      cmd update: -7.965759 deg/s,
      cmd heading: 87.810107 deg,
      new cmd heading: 85.488643 deg.

2021-02-16T11:02:21.730Z,1613473341.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:22.523Z,1613473342.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:22.914Z,1613473342.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:23.748Z,1613473343.748 [Micromodem](INFO): Nmea in: $SNTTA,0.005186,,,,110223.98*48

2021-02-16T11:02:23.773Z,1613473343.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 111.103395 deg, deltaT: 4.428286 s, approachRate: -0.067746 m/s, LOS rate: -2.984035 deg/s, posRepo size: 4
2021-02-16T11:02:23.774Z,1613473343.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 111.103395 deg,
      approachRate: -0.067746 m/s,
      LOS rate: -2.984035 deg/s,
      cmd update: -8.952106 deg/s,
      cmd heading: 52.408528 deg,
      new cmd heading: 49.009753 deg.

2021-02-16T11:02:26.209Z,1613473346.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:26.953Z,1613473346.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:27.363Z,1613473347.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:28.217Z,1613473348.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.034679,110228.41*42

2021-02-16T11:02:28.248Z,1613473348.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 94.639053 deg, deltaT: 4.472264 s, approachRate: 0.509809 m/s, LOS rate: -3.681434 deg/s, posRepo size: 4
2021-02-16T11:02:28.250Z,1613473348.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 94.639053 deg,
      approachRate: 0.509809 m/s,
      LOS rate: -3.681434 deg/s,
      cmd update: -11.044301 deg/s,
      cmd heading: 12.408083 deg,
      new cmd heading: 8.528321 deg.

2021-02-16T11:02:29.804Z,1613473349.804 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:02:30.665Z,1613473350.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:31.396Z,1613473351.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:31.823Z,1613473351.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:32.664Z,1613473352.664 [Micromodem](INFO): Nmea in: $SNTTA,0.005398,,,,110232.85*49

2021-02-16T11:02:32.701Z,1613473352.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 81.113038 deg, deltaT: 4.430486 s, approachRate: -0.514616 m/s, LOS rate: -3.052942 deg/s, posRepo size: 4
2021-02-16T11:02:32.702Z,1613473352.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 81.113038 deg,
      approachRate: -0.514616 m/s,
      LOS rate: -3.052942 deg/s,
      cmd update: -9.158824 deg/s,
      cmd heading: 323.431845 deg,
      new cmd heading: 318.440208 deg.

2021-02-16T11:02:35.046Z,1613473355.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:35.861Z,1613473355.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:36.254Z,1613473356.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:37.096Z,1613473357.096 [Micromodem](INFO): Nmea in: $SNTTA,0.005361,,,,110237.31*45

2021-02-16T11:02:37.121Z,1613473357.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.520000 m, bearing: 78.132330 deg, deltaT: 4.464381 s, approachRate: -0.040319 m/s, LOS rate: -0.667664 deg/s, posRepo size: 4
2021-02-16T11:02:37.124Z,1613473357.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 78.132330 deg,
      approachRate: -0.040319 m/s,
      LOS rate: -0.667664 deg/s,
      cmd update: -2.002993 deg/s,
      cmd heading: 282.580201 deg,
      new cmd heading: 278.836797 deg.

2021-02-16T11:02:39.511Z,1613473359.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:40.284Z,1613473360.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:40.705Z,1613473360.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:41.519Z,1613473361.519 [Micromodem](INFO): Nmea in: $SNTTA,0.003606,,,,110241.74*47

2021-02-16T11:02:41.544Z,1613473361.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 55.000143 deg, deltaT: 4.411790 s, approachRate: -0.013600 m/s, LOS rate: -5.243266 deg/s, posRepo size: 4
2021-02-16T11:02:41.546Z,1613473361.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 55.000143 deg,
      approachRate: -0.013600 m/s,
      LOS rate: -5.243266 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 273.735418 deg,
      new cmd heading: 272.896438 deg.

2021-02-16T11:02:43.954Z,1613473363.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:44.734Z,1613473364.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:45.165Z,1613473365.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:45.965Z,1613473365.965 [Micromodem](INFO): Nmea in: $SNTTA,0.003567,,,,110246.19*4F

2021-02-16T11:02:46.014Z,1613473366.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 43.195496 deg, deltaT: 4.461360 s, approachRate: -0.013449 m/s, LOS rate: -2.645975 deg/s, posRepo size: 4
2021-02-16T11:02:46.017Z,1613473366.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 43.195496 deg,
      approachRate: -0.013449 m/s,
      LOS rate: -2.645975 deg/s,
      cmd update: -7.937925 deg/s,
      cmd heading: 220.567328 deg,
      new cmd heading: 215.064488 deg.

2021-02-16T11:02:48.400Z,1613473368.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:49.284Z,1613473369.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:49.585Z,1613473369.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:50.428Z,1613473370.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 40.374645 deg, deltaT: 4.432578 s, approachRate: -0.054144 m/s, LOS rate: -0.636391 deg/s, posRepo size: 4
2021-02-16T11:02:50.428Z,1613473370.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 5.16 m.
2021-02-16T11:02:50.430Z,1613473370.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 40.374645 deg,
      approachRate: -0.054144 m/s,
      LOS rate: -0.636391 deg/s,
      cmd update: -1.909172 deg/s,
      cmd heading: 185.138521 deg,
      new cmd heading: 181.895601 deg.

2021-02-16T11:02:50.800Z,1613473370.800 [Micromodem](INFO): Nmea in: $SNTTA,0.003551,,0.021986,,110250.74*5C

2021-02-16T11:02:52.838Z,1613473372.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:53.646Z,1613473373.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:54.022Z,1613473374.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:54.864Z,1613473374.864 [Micromodem](INFO): Nmea in: $SNTTA,0.003556,,,0.007686,110255.10*57

2021-02-16T11:02:54.888Z,1613473374.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 28.932265 deg, deltaT: 4.466715 s, approachRate: 0.000000 m/s, LOS rate: -2.561699 deg/s, posRepo size: 4
2021-02-16T11:02:54.890Z,1613473374.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 28.932265 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.561699 deg/s,
      cmd update: -7.685097 deg/s,
      cmd heading: 176.641234 deg,
      new cmd heading: 175.842873 deg.

2021-02-16T11:02:57.286Z,1613473377.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:02:58.079Z,1613473378.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:02:58.483Z,1613473378.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:02:59.304Z,1613473379.304 [Micromodem](INFO): Nmea in: $SNTTA,0.003555,,,,110259.53*4E

2021-02-16T11:02:59.354Z,1613473379.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 21.166505 deg, deltaT: 4.407795 s, approachRate: 0.013612 m/s, LOS rate: -1.761824 deg/s, posRepo size: 4
2021-02-16T11:02:59.360Z,1613473379.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 21.166505 deg,
      approachRate: 0.013612 m/s,
      LOS rate: -1.761824 deg/s,
      cmd update: -5.285472 deg/s,
      cmd heading: 142.644115 deg,
      new cmd heading: 139.106549 deg.

2021-02-16T11:03:01.725Z,1613473381.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:02.504Z,1613473382.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:02.934Z,1613473382.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:03.736Z,1613473383.736 [Micromodem](INFO): Nmea in: $SNTTA,0.003540,,,,110303.96*4D

2021-02-16T11:03:03.788Z,1613473383.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 17.414862 deg, deltaT: 4.472627 s, approachRate: 0.000000 m/s, LOS rate: -0.838801 deg/s, posRepo size: 4
2021-02-16T11:03:03.790Z,1613473383.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 17.414862 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.838801 deg/s,
      cmd update: -2.516403 deg/s,
      cmd heading: 119.004496 deg,
      new cmd heading: 116.795306 deg.

2021-02-16T11:03:06.220Z,1613473386.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:06.953Z,1613473386.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:07.362Z,1613473387.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:08.209Z,1613473388.209 [Micromodem](INFO): Nmea in: $SNTTA,0.003560,,,,110308.41*4E

2021-02-16T11:03:08.272Z,1613473388.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 0.756167 deg, deltaT: 4.444923 s, approachRate: 0.013498 m/s, LOS rate: -3.747803 deg/s, posRepo size: 4
2021-02-16T11:03:08.273Z,1613473388.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 0.756167 deg,
      approachRate: 0.013498 m/s,
      LOS rate: -3.747803 deg/s,
      cmd update: -11.243408 deg/s,
      cmd heading: 107.829205 deg,
      new cmd heading: 106.670163 deg.

2021-02-16T11:03:10.647Z,1613473390.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:11.400Z,1613473391.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:11.818Z,1613473391.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:12.660Z,1613473392.660 [Micromodem](INFO): Nmea in: $SNTTA,0.003500,,0.137034,,110312.85*57

2021-02-16T11:03:12.708Z,1613473392.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 2.275789 deg, deltaT: 4.447969 s, approachRate: 0.000000 m/s, LOS rate: 0.341644 deg/s, posRepo size: 4
2021-02-16T11:03:12.710Z,1613473392.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 2.275789 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.341644 deg/s,
      cmd update: 1.024933 deg/s,
      cmd heading: 57.818884 deg,
      new cmd heading: 52.727689 deg.

2021-02-16T11:03:15.060Z,1613473395.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:15.838Z,1613473395.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:16.247Z,1613473396.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:17.071Z,1613473397.071 [Micromodem](INFO): Nmea in: $SNTTA,0.003505,,,,110317.29*4D

2021-02-16T11:03:17.090Z,1613473397.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 354.823082 deg, deltaT: 4.432042 s, approachRate: 0.000000 m/s, LOS rate: -1.681552 deg/s, posRepo size: 4
2021-02-16T11:03:17.092Z,1613473397.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 354.823082 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.681552 deg/s,
      cmd update: -5.044656 deg/s,
      cmd heading: 62.363909 deg,
      new cmd heading: 62.774628 deg.

2021-02-16T11:03:19.500Z,1613473399.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:20.293Z,1613473400.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:20.691Z,1613473400.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:21.520Z,1613473401.520 [Micromodem](INFO): Nmea in: $SNTTA,0.003406,,0.033469,,110321.75*56

2021-02-16T11:03:21.545Z,1613473401.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 350.584376 deg, deltaT: 4.432557 s, approachRate: -0.040608 m/s, LOS rate: -0.956267 deg/s, posRepo size: 4
2021-02-16T11:03:21.546Z,1613473401.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 350.584376 deg,
      approachRate: -0.040608 m/s,
      LOS rate: -0.956267 deg/s,
      cmd update: -2.868800 deg/s,
      cmd heading: 39.995382 deg,
      new cmd heading: 37.870346 deg.

2021-02-16T11:03:23.940Z,1613473403.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:24.724Z,1613473404.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:25.157Z,1613473405.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:25.956Z,1613473405.956 [Micromodem](INFO): Nmea in: $SNTTA,0.003264,,0.042126,,110326.18*50

2021-02-16T11:03:26.006Z,1613473406.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.800000 m, bearing: 336.646610 deg, deltaT: 4.422542 s, approachRate: -0.067834 m/s, LOS rate: -3.151528 deg/s, posRepo size: 4
2021-02-16T11:03:26.008Z,1613473406.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 336.646610 deg,
      approachRate: -0.067834 m/s,
      LOS rate: -3.151528 deg/s,
      cmd update: -9.454585 deg/s,
      cmd heading: 27.307957 deg,
      new cmd heading: 25.988648 deg.

2021-02-16T11:03:28.403Z,1613473408.403 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T11:03:28.403Z,1613473408.403 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T11:03:28.403Z,1613473408.403 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T11:03:28.444Z,1613473408.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:28.691Z,1613473408.691 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T11:03:28.847Z,1613473408.847 [RDI_Pathfinder](INFO): Powering down
2021-02-16T11:03:29.168Z,1613473409.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:29.574Z,1613473409.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:29.763Z,1613473409.763 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T11:03:29.764Z,1613473409.764 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T11:03:30.396Z,1613473410.396 [Micromodem](INFO): Nmea in: $SNTTA,0.003244,,,,110330.62*45

2021-02-16T11:03:30.438Z,1613473410.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.800000 m, bearing: 326.519570 deg, deltaT: 4.483578 s, approachRate: 0.000000 m/s, LOS rate: -2.258696 deg/s, posRepo size: 4
2021-02-16T11:03:30.445Z,1613473410.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.800000 m,
      bearing: 326.519570 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.258696 deg/s,
      cmd update: -6.776088 deg/s,
      cmd heading: 344.955141 deg,
      new cmd heading: 341.057706 deg.

2021-02-16T11:03:32.850Z,1613473412.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:33.660Z,1613473413.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:34.031Z,1613473414.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:34.867Z,1613473414.867 [Micromodem](INFO): Nmea in: $SNTTA,0.003390,,,,110335.11*4C

2021-02-16T11:03:34.894Z,1613473414.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 338.079884 deg, deltaT: 4.427137 s, approachRate: 0.040658 m/s, LOS rate: 2.611239 deg/s, posRepo size: 4
2021-02-16T11:03:34.896Z,1613473414.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 338.079884 deg,
      approachRate: 0.040658 m/s,
      LOS rate: 2.611239 deg/s,
      cmd update: 7.833717 deg/s,
      cmd heading: 315.084674 deg,
      new cmd heading: 311.964197 deg.

2021-02-16T11:03:37.296Z,1613473417.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:38.077Z,1613473418.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:38.465Z,1613473418.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:39.300Z,1613473419.300 [Micromodem](INFO): Nmea in: $SNTTA,0.003513,,,,110339.53*4B

2021-02-16T11:03:39.336Z,1613473419.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 341.159753 deg, deltaT: 4.456611 s, approachRate: 0.067316 m/s, LOS rate: 0.691079 deg/s, posRepo size: 4
2021-02-16T11:03:39.337Z,1613473419.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 341.159753 deg,
      approachRate: 0.067316 m/s,
      LOS rate: 0.691079 deg/s,
      cmd update: 2.073236 deg/s,
      cmd heading: 350.018196 deg,
      new cmd heading: 353.480519 deg.

2021-02-16T11:03:41.733Z,1613473421.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:42.506Z,1613473422.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:42.906Z,1613473422.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:43.732Z,1613473423.732 [Micromodem](INFO): Nmea in: $SNTTA,0.003556,,,,110343.96*4E

2021-02-16T11:03:43.781Z,1613473423.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 337.421836 deg, deltaT: 4.408396 s, approachRate: 0.013610 m/s, LOS rate: -0.847909 deg/s, posRepo size: 4
2021-02-16T11:03:43.782Z,1613473423.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 337.421836 deg,
      approachRate: 0.013610 m/s,
      LOS rate: -0.847909 deg/s,
      cmd update: -2.543726 deg/s,
      cmd heading: 359.199643 deg,
      new cmd heading: 0.151109 deg.

2021-02-16T11:03:46.168Z,1613473426.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:46.950Z,1613473426.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:47.352Z,1613473427.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:48.176Z,1613473428.176 [Micromodem](INFO): Nmea in: $SNTTA,0.003606,,,,110348.40*48

2021-02-16T11:03:48.203Z,1613473428.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.399999 m, bearing: 339.845215 deg, deltaT: 4.460804 s, approachRate: 0.013451 m/s, LOS rate: 0.543260 deg/s, posRepo size: 4
2021-02-16T11:03:48.206Z,1613473428.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 339.845215 deg,
      approachRate: 0.013451 m/s,
      LOS rate: 0.543260 deg/s,
      cmd update: 1.629781 deg/s,
      cmd heading: 347.852693 deg,
      new cmd heading: 346.785677 deg.

2021-02-16T11:03:50.658Z,1613473430.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:51.388Z,1613473431.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:51.799Z,1613473431.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:52.635Z,1613473432.635 [Micromodem](INFO): Nmea in: $SNTTA,0.003412,,,,110352.84*4C

2021-02-16T11:03:52.682Z,1613473432.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 346.464897 deg, deltaT: 4.460226 s, approachRate: -0.080713 m/s, LOS rate: 1.484159 deg/s, posRepo size: 4
2021-02-16T11:03:52.687Z,1613473432.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 5.04 m. Reached intercept timeout.
2021-02-16T11:03:52.687Z,1613473432.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-02-16T11:03:52.687Z,1613473432.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T11:03:52.687Z,1613473432.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-02-16T11:03:53.046Z,1613473433.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-02-16T11:03:53.046Z,1613473433.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-02-16T11:03:53.046Z,1613473433.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-02-16T11:03:53.462Z,1613473433.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T11:03:53.464Z,1613473433.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T11:03:53.893Z,1613473433.893 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-02-16T11:03:53.894Z,1613473433.894 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-02-16T11:03:55.076Z,1613473435.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:03:55.855Z,1613473435.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:03:56.247Z,1613473436.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:03:57.080Z,1613473437.080 [Micromodem](INFO): Nmea in: $SNTTA,0.003280,,,,110357.31*4A

2021-02-16T11:03:57.472Z,1613473437.472 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-02-16T11:03:57.472Z,1613473437.472 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-02-16T11:03:57.472Z,1613473437.472 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T11:03:57.472Z,1613473437.472 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-02-16T11:03:57.905Z,1613473437.905 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-02-16T11:03:57.906Z,1613473437.906 [lineCaptureDepth:LineCapture:L] Stopped
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture] Stopped
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-02-16T11:03:57.908Z,1613473437.908 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:G] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:H] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T11:03:57.909Z,1613473437.909 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T11:03:58.284Z,1613473438.284 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-02-16T11:03:58.284Z,1613473438.284 [lineCaptureDepth:Lap:B] Stopped
2021-02-16T11:03:58.284Z,1613473438.284 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-02-16T11:03:58.285Z,1613473438.285 [lineCaptureDepth:Lap:C] Running Loop=1
2021-02-16T11:03:58.720Z,1613473438.720 [lineCaptureDepth:Lap:C] Stopped
2021-02-16T11:03:58.720Z,1613473438.720 [lineCaptureDepth:Lap:D] Running Loop=1
2021-02-16T11:03:59.118Z,1613473439.118 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-02-16T11:03:59.118Z,1613473439.118 [lineCaptureDepth:Lap:D] Stopped
2021-02-16T11:03:59.118Z,1613473439.118 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-02-16T11:03:59.118Z,1613473439.118 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-02-16T11:03:59.135Z,1613473439.135 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-02-16T11:03:59.497Z,1613473439.497 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 0.010000 min 
2021-02-16T11:03:59.497Z,1613473439.497 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-02-16T11:03:59.498Z,1613473439.498 [lineCaptureDepth:Lap:Docked:B.Docked] Running Loop=1
2021-02-16T11:03:59.498Z,1613473439.498 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initialize.
2021-02-16T11:03:59.498Z,1613473439.498 [lineCaptureDepth:Lap:Docked:B.Docked](DEBUG): Initializing internal variables to default values.
2021-02-16T11:03:59.498Z,1613473439.498 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining depth of 6.000000 m.
2021-02-16T11:03:59.499Z,1613473439.499 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-02-16T11:03:59.503Z,1613473439.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:00.283Z,1613473440.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:00.360Z,1613473440.360 [lineCaptureDepth:Lap:Docked:B.Docked](INFO): Timed out from 2021-02-16T11:03:59.5Z
2021-02-16T11:04:00.360Z,1613473440.360 [lineCaptureDepth:Lap:Docked:B.Docked] Stopped
2021-02-16T11:04:00.360Z,1613473440.360 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-02-16T11:04:00.360Z,1613473440.360 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-02-16T11:04:00.361Z,1613473440.361 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-02-16T11:04:00.682Z,1613473440.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:00.734Z,1613473440.734 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 4.860001 m .
2021-02-16T11:04:00.734Z,1613473440.734 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-02-16T11:04:00.734Z,1613473440.734 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Running Loop=1
2021-02-16T11:04:00.734Z,1613473440.734 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initialize.
2021-02-16T11:04:00.734Z,1613473440.734 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T11:04:01.128Z,1613473441.128 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:04:01.512Z,1613473441.512 [Micromodem](INFO): Nmea in: $SNTTA,0.003254,,,,110401.73*41

2021-02-16T11:04:01.514Z,1613473441.514 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:04:01.567Z,1613473441.567 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:04:01.945Z,1613473441.945 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:04:02.346Z,1613473442.346 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:04:02.346Z,1613473442.346 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detaching from dock.
2021-02-16T11:04:02.763Z,1613473442.763 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-02-16T11:04:03.961Z,1613473443.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:04.729Z,1613473444.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:05.143Z,1613473445.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:05.968Z,1613473445.968 [Micromodem](INFO): Nmea in: $SNTTA,0.003205,,0.005955,,110406.18*5D

2021-02-16T11:04:08.374Z,1613473448.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:09.166Z,1613473449.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:09.570Z,1613473449.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:10.404Z,1613473450.404 [Micromodem](INFO): Nmea in: $SNTTA,0.003510,,,,110410.62*46

2021-02-16T11:04:12.882Z,1613473452.882 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Thruster off.
2021-02-16T11:04:12.883Z,1613473452.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:13.644Z,1613473453.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:14.013Z,1613473454.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:14.864Z,1613473454.864 [Micromodem](INFO): Nmea in: $SNTTA,0.003625,,,,110415.10*43

2021-02-16T11:04:17.265Z,1613473457.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:18.063Z,1613473458.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:18.458Z,1613473458.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:19.304Z,1613473459.304 [Micromodem](INFO): Nmea in: $SNTTA,0.004082,,,,110419.51*46

2021-02-16T11:04:21.725Z,1613473461.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:22.502Z,1613473462.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:22.901Z,1613473462.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:23.733Z,1613473463.733 [Micromodem](INFO): Nmea in: $SNTTA,0.004607,,0.030431,0.007176,110423.95*4E

2021-02-16T11:04:26.174Z,1613473466.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:26.940Z,1613473466.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:27.347Z,1613473467.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:28.180Z,1613473468.180 [Micromodem](INFO): Nmea in: $SNTTA,0.004673,,,,110428.39*42

2021-02-16T11:04:30.641Z,1613473470.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:31.389Z,1613473471.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:31.795Z,1613473471.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:32.632Z,1613473472.632 [Micromodem](INFO): Nmea in: $SNTTA,0.006751,,,,110432.84*4C

2021-02-16T11:04:35.044Z,1613473475.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:35.854Z,1613473475.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:36.260Z,1613473476.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:37.069Z,1613473477.069 [Micromodem](INFO): Nmea in: $SNTTA,0.005557,,0.019682,,110437.30*5B

2021-02-16T11:04:39.478Z,1613473479.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:40.272Z,1613473480.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:40.699Z,1613473480.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:41.504Z,1613473481.504 [Micromodem](INFO): Nmea in: $SNTTA,0.007539,,,,110441.73*4D

2021-02-16T11:04:41.550Z,1613473481.550 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T11:04:43.953Z,1613473483.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:44.720Z,1613473484.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:45.130Z,1613473485.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:45.964Z,1613473485.964 [Micromodem](INFO): Nmea in: $SNTTA,0.007866,,,,110446.17*4F

2021-02-16T11:04:48.363Z,1613473488.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:49.160Z,1613473489.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:49.571Z,1613473489.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:50.388Z,1613473490.388 [Micromodem](INFO): Nmea in: $SNTTA,0.007804,,,,110450.61*4D

2021-02-16T11:04:52.872Z,1613473492.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:53.620Z,1613473493.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:54.009Z,1613473494.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:54.861Z,1613473494.861 [Micromodem](INFO): Nmea in: $SNTTA,0.007901,,,0.039776,110455.07*5E

2021-02-16T11:04:57.269Z,1613473497.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:04:58.048Z,1613473498.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:04:58.470Z,1613473498.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:04:59.280Z,1613473499.280 [Micromodem](INFO): Nmea in: $SNTTA,0.008368,,,,110459.50*48

2021-02-16T11:05:01.758Z,1613473501.758 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): Detached at range: 12.36 m. Transitioning DDM to standby.
2021-02-16T11:05:01.759Z,1613473501.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:02.132Z,1613473502.132 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:05:02.132Z,1613473502.132 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](INFO): DDM at standby.
2021-02-16T11:05:02.502Z,1613473502.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:02.580Z,1613473502.580 [lineCaptureDepth:Lap:Docked:Detach:B.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T11:05:02.580Z,1613473502.580 [lineCaptureDepth:Lap:Docked:Detach:B.Undock] Stopped
2021-02-16T11:05:02.581Z,1613473502.581 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-02-16T11:05:02.582Z,1613473502.582 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-02-16T11:05:02.582Z,1613473502.582 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-02-16T11:05:02.582Z,1613473502.582 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-02-16T11:05:02.587Z,1613473502.587 [lineCaptureDepth:Lap:Docked] Stopped
2021-02-16T11:05:02.587Z,1613473502.587 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-02-16T11:05:02.588Z,1613473502.588 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-02-16T11:05:02.588Z,1613473502.588 [lineCaptureDepth:Lap] Stopped
2021-02-16T11:05:02.588Z,1613473502.588 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-02-16T11:05:02.589Z,1613473502.589 [lineCaptureDepth:Lap](INFO): Running loop #3
2021-02-16T11:05:02.589Z,1613473502.589 [lineCaptureDepth:Lap] Running Loop=3
2021-02-16T11:05:02.589Z,1613473502.589 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-02-16T11:05:02.589Z,1613473502.589 [lineCaptureDepth:Lap:A] Running Loop=1
2021-02-16T11:05:02.903Z,1613473502.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:02.955Z,1613473502.955 [lineCaptureDepth:Lap:A] Stopped
2021-02-16T11:05:02.955Z,1613473502.955 [lineCaptureDepth:Lap:B] Running Loop=1
2021-02-16T11:05:02.955Z,1613473502.955 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-02-16T11:05:03.316Z,1613473503.316 [lineCaptureDepth:LineCapture] Running Loop=1
2021-02-16T11:05:03.316Z,1613473503.316 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-02-16T11:05:03.316Z,1613473503.316 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-02-16T11:05:03.316Z,1613473503.316 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T11:05:03.316Z,1613473503.316 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T11:05:03.317Z,1613473503.317 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T11:05:03.318Z,1613473503.318 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T11:05:03.320Z,1613473503.320 [lineCaptureDepth:LineCapture:A] Stopped
2021-02-16T11:05:03.320Z,1613473503.320 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-02-16T11:05:03.734Z,1613473503.734 [Micromodem](INFO): Nmea in: $SNTTA,0.007166,,,,110503.95*4C

2021-02-16T11:05:03.842Z,1613473503.842 [lineCaptureDepth:LineCapture:B] Stopped
2021-02-16T11:05:03.842Z,1613473503.842 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-02-16T11:05:04.150Z,1613473504.150 [lineCaptureDepth:LineCapture:D] Stopped
2021-02-16T11:05:04.150Z,1613473504.150 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-02-16T11:05:04.557Z,1613473504.557 [lineCaptureDepth:LineCapture:E] Stopped
2021-02-16T11:05:04.557Z,1613473504.557 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:F] Stopped
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T11:05:04.974Z,1613473504.974 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-02-16T11:05:04.975Z,1613473504.975 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T11:05:04.975Z,1613473504.975 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-02-16T11:05:04.975Z,1613473504.975 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-02-16T11:05:04.975Z,1613473504.975 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T11:05:04.975Z,1613473504.975 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T11:05:04.976Z,1613473504.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T11:05:04.977Z,1613473504.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T11:05:05.369Z,1613473505.369 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:05:05.370Z,1613473505.370 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-02-16T11:05:05.765Z,1613473505.765 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-02-16T11:05:06.170Z,1613473506.170 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-02-16T11:05:06.172Z,1613473506.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:06.580Z,1613473506.580 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T11:05:06.946Z,1613473506.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:07.345Z,1613473507.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:08.172Z,1613473508.172 [Micromodem](INFO): Nmea in: $SNTTA,0.008562,,,,110508.40*40

2021-02-16T11:05:10.598Z,1613473510.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:11.389Z,1613473511.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:11.837Z,1613473511.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:12.640Z,1613473512.640 [Micromodem](INFO): Nmea in: $SNTTA,0.008660,,,,110512.84*42

2021-02-16T11:05:15.054Z,1613473515.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:15.850Z,1613473515.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:16.241Z,1613473516.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:17.072Z,1613473517.072 [Micromodem](INFO): Nmea in: $SNTTA,0.008936,,,,110517.31*45

2021-02-16T11:05:19.510Z,1613473519.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:20.278Z,1613473520.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:20.679Z,1613473520.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:21.489Z,1613473521.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110521.73*5C

2021-02-16T11:05:22.317Z,1613473522.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:23.913Z,1613473523.913 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:05:25.145Z,1613473525.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:25.929Z,1613473525.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:26.336Z,1613473526.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:26.766Z,1613473526.766 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 13.20 m. Transitioning DDM to standby.
2021-02-16T11:05:27.160Z,1613473527.160 [Micromodem](INFO): Nmea in: $SNTTA,0.009429,,,,110527.39*4C

2021-02-16T11:05:27.184Z,1613473527.184 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T11:05:27.184Z,1613473527.184 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-02-16T11:05:27.584Z,1613473527.584 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T11:05:27.585Z,1613473527.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-02-16T11:05:27.585Z,1613473527.585 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-02-16T11:05:28.024Z,1613473528.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-02-16T11:05:28.024Z,1613473528.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-02-16T11:05:28.024Z,1613473528.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-02-16T11:05:28.387Z,1613473528.387 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-02-16T11:05:28.388Z,1613473528.388 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T11:05:28.388Z,1613473528.388 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-02-16T11:05:28.388Z,1613473528.388 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-02-16T11:05:28.388Z,1613473528.388 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T11:05:28.824Z,1613473528.824 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T11:05:28.824Z,1613473528.824 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T11:05:28.824Z,1613473528.824 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T11:05:28.825Z,1613473528.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T11:05:28.825Z,1613473528.825 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T11:05:28.826Z,1613473528.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T11:05:28.826Z,1613473528.826 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T11:05:28.827Z,1613473528.827 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T11:05:28.828Z,1613473528.828 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T11:05:28.830Z,1613473528.830 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-02-16T11:05:28.847Z,1613473528.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T11:05:28.847Z,1613473528.847 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-02-16T11:05:28.848Z,1613473528.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 13.919997 m 
2021-02-16T11:05:28.848Z,1613473528.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-02-16T11:05:28.848Z,1613473528.848 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-02-16T11:05:28.849Z,1613473528.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-02-16T11:05:28.849Z,1613473528.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T11:05:28.849Z,1613473528.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-02-16T11:05:28.849Z,1613473528.849 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-02-16T11:05:29.239Z,1613473529.239 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:05:29.243Z,1613473529.243 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T11:05:29.244Z,1613473529.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T11:05:29.244Z,1613473529.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T11:05:29.244Z,1613473529.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T11:05:29.244Z,1613473529.244 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T11:05:29.589Z,1613473529.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T11:05:29.589Z,1613473529.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T11:05:29.589Z,1613473529.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T11:05:29.590Z,1613473529.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T11:05:29.591Z,1613473529.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-02-16T11:05:29.591Z,1613473529.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T11:05:29.591Z,1613473529.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-02-16T11:05:29.592Z,1613473529.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-02-16T11:05:29.592Z,1613473529.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T11:05:29.592Z,1613473529.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T11:05:29.592Z,1613473529.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T11:05:29.593Z,1613473529.593 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T11:05:29.594Z,1613473529.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-02-16T11:05:29.594Z,1613473529.594 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-02-16T11:05:29.601Z,1613473529.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:30.032Z,1613473530.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.919997 m, bearing: 294.940081 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:05:30.032Z,1613473530.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 13.92 m.
2021-02-16T11:05:30.033Z,1613473530.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 13.92 m.
2021-02-16T11:05:30.033Z,1613473530.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:05:30.033Z,1613473530.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 294.940081deg and heading rate command to 0 deg/s.
2021-02-16T11:05:30.382Z,1613473530.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:30.802Z,1613473530.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:31.706Z,1613473531.706 [Micromodem](INFO): Nmea in: $SNTTA,0.009619,,,,110531.83*4B

2021-02-16T11:05:31.731Z,1613473531.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 292.957578 deg, deltaT: 4.450331 s, approachRate: 0.067412 m/s, LOS rate: -0.445473 deg/s, posRepo size: 2
2021-02-16T11:05:31.733Z,1613473531.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.220002 m,
      bearing: 292.957578 deg,
      approachRate: 0.067412 m/s,
      LOS rate: -0.445473 deg/s,
      cmd update: -1.336420 deg/s,
      cmd heading: 294.940081 deg,
      new cmd heading: 294.940081 deg.

2021-02-16T11:05:32.860Z,1613473532.860 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:05:34.053Z,1613473534.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:34.846Z,1613473534.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:35.243Z,1613473535.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:36.084Z,1613473536.084 [Micromodem](INFO): Nmea in: $SNTTA,0.009743,,,,110536.30*4A

2021-02-16T11:05:36.108Z,1613473536.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 292.950365 deg, deltaT: 4.469617 s, approachRate: 0.040272 m/s, LOS rate: -0.001614 deg/s, posRepo size: 3
2021-02-16T11:05:36.110Z,1613473536.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 292.950365 deg,
      approachRate: 0.040272 m/s,
      LOS rate: -0.001614 deg/s,
      cmd update: -0.004841 deg/s,
      cmd heading: 288.963347 deg,
      new cmd heading: 288.399555 deg.

2021-02-16T11:05:38.475Z,1613473538.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:39.277Z,1613473539.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:39.680Z,1613473539.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:40.504Z,1613473540.504 [Micromodem](INFO): Nmea in: $SNTTA,0.064275,,,,110540.73*47

2021-02-16T11:05:40.550Z,1613473540.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 291.401388 deg, deltaT: 4.448739 s, approachRate: 18.396225 m/s, LOS rate: -0.348184 deg/s, posRepo size: 4
2021-02-16T11:05:40.552Z,1613473540.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 291.401388 deg,
      approachRate: 18.396225 m/s,
      LOS rate: -0.348184 deg/s,
      cmd update: -1.044551 deg/s,
      cmd heading: 288.941831 deg,
      new cmd heading: 288.939801 deg.

2021-02-16T11:05:42.971Z,1613473542.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:43.737Z,1613473543.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:44.160Z,1613473544.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:44.969Z,1613473544.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,110545.19*52

2021-02-16T11:05:45.926Z,1613473545.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:47.080Z,1613473547.080 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:05:48.703Z,1613473548.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:49.485Z,1613473549.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:49.890Z,1613473549.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:50.716Z,1613473550.716 [Micromodem](INFO): Nmea in: $SNTTA,0.006402,,,,110550.94*4D

2021-02-16T11:05:50.759Z,1613473550.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.180000 m, bearing: 263.568449 deg, deltaT: 10.171896 s, approachRate: -8.558877 m/s, LOS rate: -2.736259 deg/s, posRepo size: 4
2021-02-16T11:05:50.761Z,1613473550.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 263.568449 deg,
      approachRate: -8.558877 m/s,
      LOS rate: -2.736259 deg/s,
      cmd update: -8.208776 deg/s,
      cmd heading: 278.312154 deg,
      new cmd heading: 277.839995 deg.

2021-02-16T11:05:53.179Z,1613473553.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:53.934Z,1613473553.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:54.336Z,1613473554.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:55.168Z,1613473555.168 [Micromodem](INFO): Nmea in: $SNTTA,0.005521,,,,110555.38*4D

2021-02-16T11:05:55.193Z,1613473555.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 244.810837 deg, deltaT: 4.469390 s, approachRate: -0.268493 m/s, LOS rate: -4.196907 deg/s, posRepo size: 4
2021-02-16T11:05:55.194Z,1613473555.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 244.810837 deg,
      approachRate: -0.268493 m/s,
      LOS rate: -4.196907 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 241.625624 deg,
      new cmd heading: 238.205504 deg.

2021-02-16T11:05:57.640Z,1613473557.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:05:58.375Z,1613473558.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:05:58.892Z,1613473558.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:05:59.708Z,1613473559.708 [Micromodem](INFO): Nmea in: $SNTTA,0.004873,,,,110559.83*4A

2021-02-16T11:05:59.747Z,1613473559.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.080001 m, bearing: 230.743270 deg, deltaT: 4.455517 s, approachRate: -0.201996 m/s, LOS rate: -3.157337 deg/s, posRepo size: 4
2021-02-16T11:05:59.749Z,1613473559.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 230.743270 deg,
      approachRate: -0.201996 m/s,
      LOS rate: -3.157337 deg/s,
      cmd update: -9.472010 deg/s,
      cmd heading: 188.228143 deg,
      new cmd heading: 181.972627 deg.

2021-02-16T11:06:02.059Z,1613473562.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:02.847Z,1613473562.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:03.232Z,1613473563.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:04.064Z,1613473564.064 [Micromodem](INFO): Nmea in: $SNTTA,0.004806,,,,110604.30*4B

2021-02-16T11:06:04.101Z,1613473564.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 213.685105 deg, deltaT: 4.452578 s, approachRate: 0.013475 m/s, LOS rate: -3.831076 deg/s, posRepo size: 4
2021-02-16T11:06:04.103Z,1613473564.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 213.685105 deg,
      approachRate: 0.013475 m/s,
      LOS rate: -3.831076 deg/s,
      cmd update: -11.493228 deg/s,
      cmd heading: 145.997206 deg,
      new cmd heading: 142.049272 deg.

2021-02-16T11:06:06.467Z,1613473566.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:07.260Z,1613473567.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:07.675Z,1613473567.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:08.495Z,1613473568.495 [Micromodem](INFO): Nmea in: $SNTTA,0.005208,,,,110608.71*47

2021-02-16T11:06:08.514Z,1613473568.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 251.491964 deg, deltaT: 4.419455 s, approachRate: 0.149340 m/s, LOS rate: 8.554643 deg/s, posRepo size: 4
2021-02-16T11:06:08.516Z,1613473568.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 251.491964 deg,
      approachRate: 0.149340 m/s,
      LOS rate: 8.554643 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 95.203147 deg,
      new cmd heading: 90.483993 deg.

2021-02-16T11:06:10.948Z,1613473570.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:11.706Z,1613473571.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:12.111Z,1613473572.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:13.036Z,1613473573.036 [Micromodem](INFO): Nmea in: $SNTTA,0.006811,,,,110613.16*4D

2021-02-16T11:06:13.091Z,1613473573.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.260000 m, bearing: 191.516728 deg, deltaT: 4.563960 s, approachRate: 0.539006 m/s, LOS rate: -13.141052 deg/s, posRepo size: 4
2021-02-16T11:06:13.093Z,1613473573.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.141052 deg/s. Setting heading cmd to target bearing of 191.516728deg and heading rate command to 0 deg/s.
2021-02-16T11:06:15.372Z,1613473575.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:16.150Z,1613473576.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:16.566Z,1613473576.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:17.380Z,1613473577.380 [Micromodem](INFO): Nmea in: $SNTTA,0.005925,,,,110617.60*4D

2021-02-16T11:06:17.417Z,1613473577.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 164.805293 deg, deltaT: 4.347733 s, approachRate: -0.289806 m/s, LOS rate: -6.143762 deg/s, posRepo size: 4
2021-02-16T11:06:17.419Z,1613473577.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 164.805293 deg,
      approachRate: -0.289806 m/s,
      LOS rate: -6.143762 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 191.516728 deg,
      new cmd heading: 191.516728 deg.

2021-02-16T11:06:19.858Z,1613473579.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:20.628Z,1613473580.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:21.005Z,1613473581.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:21.860Z,1613473581.860 [Micromodem](INFO): Nmea in: $SNTTA,0.006285,,,,110622.08*47

2021-02-16T11:06:21.913Z,1613473581.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.419999 m, bearing: 138.966086 deg, deltaT: 4.419370 s, approachRate: 0.095036 m/s, LOS rate: -5.846808 deg/s, posRepo size: 4
2021-02-16T11:06:21.915Z,1613473581.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 138.966086 deg,
      approachRate: 0.095036 m/s,
      LOS rate: -5.846808 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 138.532875 deg,
      new cmd heading: 132.744591 deg.

2021-02-16T11:06:24.266Z,1613473584.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:25.039Z,1613473585.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:25.454Z,1613473585.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:26.276Z,1613473586.276 [Micromodem](INFO): Nmea in: $SNTTA,0.007056,,,,110626.49*4B

2021-02-16T11:06:26.319Z,1613473586.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 187.358960 deg, deltaT: 4.522709 s, approachRate: 0.291860 m/s, LOS rate: 10.699975 deg/s, posRepo size: 4
2021-02-16T11:06:26.321Z,1613473586.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 187.358960 deg,
      approachRate: 0.291860 m/s,
      LOS rate: 10.699975 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 84.214033 deg,
      new cmd heading: 79.926901 deg.

2021-02-16T11:06:28.721Z,1613473588.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:29.489Z,1613473589.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:29.886Z,1613473589.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:30.728Z,1613473590.728 [Micromodem](INFO): Nmea in: $SNTTA,0.008104,,,0.025173,110630.94*59

2021-02-16T11:06:30.771Z,1613473590.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 161.087320 deg, deltaT: 4.345949 s, approachRate: 0.372762 m/s, LOS rate: -6.045087 deg/s, posRepo size: 4
2021-02-16T11:06:30.773Z,1613473590.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 161.087320 deg,
      approachRate: 0.372762 m/s,
      LOS rate: -6.045087 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 136.358990 deg,
      new cmd heading: 141.977175 deg.

2021-02-16T11:06:33.162Z,1613473593.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:33.925Z,1613473593.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:34.336Z,1613473594.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:35.168Z,1613473595.168 [Micromodem](INFO): Nmea in: $SNTTA,0.009364,,,,110635.38*43

2021-02-16T11:06:35.193Z,1613473595.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 159.460643 deg, deltaT: 4.462380 s, approachRate: 0.403372 m/s, LOS rate: -0.364531 deg/s, posRepo size: 4
2021-02-16T11:06:35.195Z,1613473595.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 159.460643 deg,
      approachRate: 0.403372 m/s,
      LOS rate: -0.364531 deg/s,
      cmd update: -1.093594 deg/s,
      cmd heading: 82.801921 deg,
      new cmd heading: 77.675329 deg.

2021-02-16T11:06:37.612Z,1613473597.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:38.369Z,1613473598.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:38.775Z,1613473598.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:39.704Z,1613473599.704 [Micromodem](INFO): Nmea in: $SNTTA,0.010494,,,,110639.82*4E

2021-02-16T11:06:39.754Z,1613473599.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 131.333596 deg, deltaT: 4.481234 s, approachRate: 0.374897 m/s, LOS rate: -6.276630 deg/s, posRepo size: 4
2021-02-16T11:06:39.754Z,1613473599.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.84 m. Rolling out.
2021-02-16T11:06:39.754Z,1613473599.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:06:42.048Z,1613473602.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:42.836Z,1613473602.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:43.326Z,1613473603.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:44.060Z,1613473604.060 [Micromodem](INFO): Nmea in: $SNTTA,0.011519,,0.032093,,110644.29*55

2021-02-16T11:06:44.109Z,1613473604.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 88.321122 deg, deltaT: 4.431518 s, approachRate: 0.338484 m/s, LOS rate: -9.706036 deg/s, posRepo size: 4
2021-02-16T11:06:46.463Z,1613473606.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:47.265Z,1613473607.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:47.682Z,1613473607.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:48.492Z,1613473608.492 [Micromodem](INFO): Nmea in: $SNTTA,0.012478,,,,110648.72*47

2021-02-16T11:06:48.530Z,1613473608.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 67.667907 deg, deltaT: 4.435184 s, approachRate: 0.311149 m/s, LOS rate: -4.656676 deg/s, posRepo size: 4
2021-02-16T11:06:50.938Z,1613473610.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:51.706Z,1613473611.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:52.111Z,1613473612.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:53.018Z,1613473613.018 [Micromodem](INFO): Nmea in: $SNTTA,0.013098,,,,110653.16*44

2021-02-16T11:06:53.057Z,1613473613.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.619999 m, bearing: 40.552469 deg, deltaT: 4.417913 s, approachRate: 0.203716 m/s, LOS rate: -6.137612 deg/s, posRepo size: 4
2021-02-16T11:06:55.389Z,1613473615.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:06:56.163Z,1613473616.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:06:56.550Z,1613473616.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:06:57.384Z,1613473617.384 [Micromodem](INFO): Nmea in: $SNTTA,0.013649,,,,110657.61*4A

2021-02-16T11:06:57.433Z,1613473617.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 44.090671 deg, deltaT: 4.474881 s, approachRate: 0.201122 m/s, LOS rate: 0.790681 deg/s, posRepo size: 4
2021-02-16T11:06:59.868Z,1613473619.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:00.597Z,1613473620.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:00.000Z,1613473621.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:01.856Z,1613473621.856 [Micromodem](INFO): Nmea in: $SNTTA,0.014456,,,,110702.05*42

2021-02-16T11:07:01.902Z,1613473621.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 43.867447 deg, deltaT: 4.462626 s, approachRate: 0.282345 m/s, LOS rate: -0.050021 deg/s, posRepo size: 4
2021-02-16T11:07:04.253Z,1613473624.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:05.042Z,1613473625.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:05.460Z,1613473625.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:06.271Z,1613473626.271 [Micromodem](INFO): Nmea in: $SNTTA,0.015586,,,,110706.49*43

2021-02-16T11:07:06.290Z,1613473626.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 103.167924 deg, deltaT: 4.423552 s, approachRate: 0.393349 m/s, LOS rate: 13.405625 deg/s, posRepo size: 4
2021-02-16T11:07:07.057Z,1613473627.057 [BPC1](ERROR): BPC1A: No match for serial number 1717 in BPC1A's battery stick inventory (sticks 1-32 in onboard configuration file).
2021-02-16T11:07:08.742Z,1613473628.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:09.480Z,1613473629.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:09.897Z,1613473629.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:10.712Z,1613473630.712 [Micromodem](INFO): Nmea in: $SNTTA,0.017273,,,,110710.93*4C

2021-02-16T11:07:10.750Z,1613473630.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.039999 m, bearing: 90.119797 deg, deltaT: 4.429637 s, approachRate: 0.568896 m/s, LOS rate: -2.945642 deg/s, posRepo size: 4
2021-02-16T11:07:13.162Z,1613473633.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:13.941Z,1613473633.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:14.330Z,1613473634.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:15.168Z,1613473635.168 [Micromodem](INFO): Nmea in: $SNTTA,0.019066,,,,110715.39*41

2021-02-16T11:07:15.232Z,1613473635.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.740002 m, bearing: 82.451592 deg, deltaT: 4.458683 s, approachRate: 0.605561 m/s, LOS rate: -1.719836 deg/s, posRepo size: 4
2021-02-16T11:07:15.976Z,1613473635.976 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:07:17.597Z,1613473637.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:18.377Z,1613473638.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:18.774Z,1613473638.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:19.612Z,1613473639.612 [Micromodem](INFO): Nmea in: $SNTTA,0.020843,,,,110719.83*49

2021-02-16T11:07:19.669Z,1613473639.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 91.063060 deg, deltaT: 4.461888 s, approachRate: 0.605125 m/s, LOS rate: 1.930005 deg/s, posRepo size: 4
2021-02-16T11:07:22.050Z,1613473642.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:22.831Z,1613473642.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:23.240Z,1613473643.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:24.059Z,1613473644.059 [Micromodem](INFO): Nmea in: $SNTTA,0.023076,,,,110724.28*4B

2021-02-16T11:07:24.084Z,1613473644.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 29.110160 deg, deltaT: 4.435903 s, approachRate: 0.743930 m/s, LOS rate: -13.966244 deg/s, posRepo size: 4
2021-02-16T11:07:26.471Z,1613473646.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:27.256Z,1613473647.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:27.662Z,1613473647.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:28.484Z,1613473648.484 [Micromodem](INFO): Nmea in: $SNTTA,0.025314,,,,110728.71*4A

2021-02-16T11:07:28.524Z,1613473648.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.159996 m, bearing: 33.049571 deg, deltaT: 4.435593 s, approachRate: 0.771034 m/s, LOS rate: 0.888136 deg/s, posRepo size: 4
2021-02-16T11:07:30.943Z,1613473650.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:31.706Z,1613473651.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:32.106Z,1613473652.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:32.948Z,1613473652.948 [Micromodem](INFO): Nmea in: $SNTTA,0.027347,,,,110733.16*45

2021-02-16T11:07:32.998Z,1613473652.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.159996 m, bearing: 85.557668 deg, deltaT: 4.408367 s, approachRate: 0.680524 m/s, LOS rate: 11.911009 deg/s, posRepo size: 4
2021-02-16T11:07:35.390Z,1613473655.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:36.152Z,1613473656.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:36.558Z,1613473656.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:37.380Z,1613473657.380 [Micromodem](INFO): Nmea in: $SNTTA,0.029588,,,,110737.60*4B

2021-02-16T11:07:37.422Z,1613473657.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.579998 m, bearing: 86.934381 deg, deltaT: 4.493870 s, approachRate: 0.761037 m/s, LOS rate: 0.306354 deg/s, posRepo size: 4
2021-02-16T11:07:39.871Z,1613473659.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:40.613Z,1613473660.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:41.008Z,1613473661.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:41.853Z,1613473661.853 [Micromodem](INFO): Nmea in: $SNTTA,0.031810,,,,110742.10*4B

2021-02-16T11:07:41.897Z,1613473661.897 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T11:07:41.923Z,1613473661.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 37.919445 deg, deltaT: 4.464579 s, approachRate: 0.739152 m/s, LOS rate: -10.978625 deg/s, posRepo size: 4
2021-02-16T11:07:44.256Z,1613473664.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:45.041Z,1613473665.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:45.463Z,1613473665.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:46.288Z,1613473666.288 [Micromodem](INFO): Nmea in: $SNTTA,0.033967,,,,110746.49*40

2021-02-16T11:07:46.310Z,1613473666.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.119999 m, bearing: 39.894759 deg, deltaT: 4.424441 s, approachRate: 0.732295 m/s, LOS rate: 0.446455 deg/s, posRepo size: 4
2021-02-16T11:07:48.703Z,1613473668.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:49.485Z,1613473669.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:49.890Z,1613473669.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:50.712Z,1613473670.712 [Micromodem](INFO): Nmea in: $SNTTA,0.036396,,,,110750.94*46

2021-02-16T11:07:50.752Z,1613473670.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.720005 m, bearing: 44.867222 deg, deltaT: 4.416768 s, approachRate: 0.815077 m/s, LOS rate: 1.125815 deg/s, posRepo size: 4
2021-02-16T11:07:53.167Z,1613473673.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:53.937Z,1613473673.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:54.353Z,1613473674.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:55.164Z,1613473675.164 [Micromodem](INFO): Nmea in: $SNTTA,0.038690,,,,110755.39*49

2021-02-16T11:07:55.225Z,1613473675.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.200001 m, bearing: 93.522372 deg, deltaT: 4.453843 s, approachRate: 0.781347 m/s, LOS rate: 10.924307 deg/s, posRepo size: 4
2021-02-16T11:07:57.649Z,1613473677.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:07:58.381Z,1613473678.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:07:58.792Z,1613473678.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:07:59.635Z,1613473679.635 [Micromodem](INFO): Nmea in: $SNTTA,0.040949,,,,110759.83*40

2021-02-16T11:07:59.680Z,1613473679.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 59.502033 deg, deltaT: 4.476007 s, approachRate: 0.750670 m/s, LOS rate: -7.600600 deg/s, posRepo size: 4
2021-02-16T11:08:02.037Z,1613473682.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:02.845Z,1613473682.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:03.230Z,1613473683.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:04.076Z,1613473684.076 [Micromodem](INFO): Nmea in: $SNTTA,0.043118,,,,110804.30*40

2021-02-16T11:08:04.115Z,1613473684.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.860008 m, bearing: 61.184261 deg, deltaT: 4.431188 s, approachRate: 0.744722 m/s, LOS rate: 0.379634 deg/s, posRepo size: 4
2021-02-16T11:08:06.468Z,1613473686.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:07.269Z,1613473687.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:07.666Z,1613473687.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:08.496Z,1613473688.496 [Micromodem](INFO): Nmea in: $SNTTA,0.045623,,0.078423,,110808.72*57

2021-02-16T11:08:08.531Z,1613473688.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.580002 m, bearing: 53.808510 deg, deltaT: 4.417080 s, approachRate: 0.842184 m/s, LOS rate: -1.669825 deg/s, posRepo size: 4
2021-02-16T11:08:10.942Z,1613473690.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:11.705Z,1613473691.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:12.111Z,1613473692.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:12.932Z,1613473692.932 [Micromodem](INFO): Nmea in: $SNTTA,0.047992,,,,110813.15*4F

2021-02-16T11:08:12.985Z,1613473692.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 44.395502 deg, deltaT: 4.426168 s, approachRate: 0.813344 m/s, LOS rate: -2.126672 deg/s, posRepo size: 4
2021-02-16T11:08:15.376Z,1613473695.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:16.173Z,1613473696.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:16.554Z,1613473696.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:17.399Z,1613473697.399 [Micromodem](INFO): Nmea in: $SNTTA,0.050367,,,,110817.62*4D

2021-02-16T11:08:17.418Z,1613473697.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.720001 m, bearing: 52.463851 deg, deltaT: 4.491380 s, approachRate: 0.788177 m/s, LOS rate: 1.796407 deg/s, posRepo size: 4
2021-02-16T11:08:19.874Z,1613473699.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:20.607Z,1613473700.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:20.998Z,1613473700.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:21.852Z,1613473701.852 [Micromodem](INFO): Nmea in: $SNTTA,0.052825,,,,110822.06*46

2021-02-16T11:08:21.918Z,1613473701.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 60.238205 deg, deltaT: 4.414432 s, approachRate: 0.829098 m/s, LOS rate: 1.761122 deg/s, posRepo size: 4
2021-02-16T11:08:24.264Z,1613473704.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:25.037Z,1613473705.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:25.442Z,1613473705.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:26.272Z,1613473706.272 [Micromodem](INFO): Nmea in: $SNTTA,0.055248,,,,110826.49*4F

2021-02-16T11:08:26.308Z,1613473706.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.040009 m, bearing: 60.025868 deg, deltaT: 4.478730 s, approachRate: 0.817198 m/s, LOS rate: -0.047410 deg/s, posRepo size: 4
2021-02-16T11:08:28.724Z,1613473708.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:29.490Z,1613473709.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:29.886Z,1613473709.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:30.716Z,1613473710.716 [Micromodem](INFO): Nmea in: $SNTTA,0.057519,,,,110830.94*49

2021-02-16T11:08:30.757Z,1613473710.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 61.468970 deg, deltaT: 4.390822 s, approachRate: 0.765231 m/s, LOS rate: 0.328663 deg/s, posRepo size: 4
2021-02-16T11:08:33.179Z,1613473713.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:33.941Z,1613473713.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:34.335Z,1613473714.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:35.180Z,1613473715.180 [Micromodem](INFO): Nmea in: $SNTTA,0.060107,,,,110835.39*44

2021-02-16T11:08:35.228Z,1613473715.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 57.429125 deg, deltaT: 4.471245 s, approachRate: 0.885659 m/s, LOS rate: -0.903517 deg/s, posRepo size: 4
2021-02-16T11:08:37.577Z,1613473717.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:38.373Z,1613473718.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:38.775Z,1613473718.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:39.608Z,1613473719.608 [Micromodem](INFO): Nmea in: $SNTTA,0.062561,,,,110839.82*4E

2021-02-16T11:08:39.658Z,1613473719.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 56.488110 deg, deltaT: 4.464464 s, approachRate: 0.819806 m/s, LOS rate: -0.210779 deg/s, posRepo size: 4
2021-02-16T11:08:42.052Z,1613473722.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:42.829Z,1613473722.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:43.364Z,1613473723.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:44.052Z,1613473724.052 [Micromodem](INFO): Nmea in: $SNTTA,0.065048,,,,110844.28*4D

2021-02-16T11:08:44.092Z,1613473724.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 65.812978 deg, deltaT: 4.434996 s, approachRate: 0.838783 m/s, LOS rate: 2.102565 deg/s, posRepo size: 4
2021-02-16T11:08:46.480Z,1613473726.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:47.263Z,1613473727.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:47.674Z,1613473727.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:48.493Z,1613473728.493 [Micromodem](INFO): Nmea in: $SNTTA,0.067486,,,,110848.71*49

2021-02-16T11:08:48.535Z,1613473728.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.400009 m, bearing: 60.776526 deg, deltaT: 4.439836 s, approachRate: 0.824357 m/s, LOS rate: -1.134378 deg/s, posRepo size: 4
2021-02-16T11:08:50.937Z,1613473730.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:51.708Z,1613473731.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:52.121Z,1613473732.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:52.936Z,1613473732.936 [Micromodem](INFO): Nmea in: $SNTTA,0.069808,,,,110853.16*46

2021-02-16T11:08:52.984Z,1613473732.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 57.311892 deg, deltaT: 4.410610 s, approachRate: 0.775401 m/s, LOS rate: -0.785523 deg/s, posRepo size: 4
2021-02-16T11:08:55.393Z,1613473735.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:08:56.162Z,1613473736.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:08:56.550Z,1613473736.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:08:57.388Z,1613473737.388 [Micromodem](INFO): Nmea in: $SNTTA,0.072165,,,,110857.62*49

2021-02-16T11:08:57.430Z,1613473737.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.360001 m, bearing: 73.324949 deg, deltaT: 4.511156 s, approachRate: 0.784721 m/s, LOS rate: 3.549657 deg/s, posRepo size: 4
2021-02-16T11:08:59.866Z,1613473739.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:00.594Z,1613473740.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:00.994Z,1613473740.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:01.815Z,1613473741.815 [Micromodem](INFO): Nmea in: $SNTTA,0.074546,,,,110902.04*4B

2021-02-16T11:09:02.667Z,1613473742.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:04.230Z,1613473744.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:09:05.483Z,1613473745.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:06.262Z,1613473746.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:06.664Z,1613473746.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:07.553Z,1613473747.553 [Micromodem](INFO): Nmea in: $SNTTA,0.077580,,,,110907.71*45

2021-02-16T11:09:07.577Z,1613473747.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 77.276412 deg, deltaT: 10.062352 s, approachRate: 0.810943 m/s, LOS rate: 0.392698 deg/s, posRepo size: 4
2021-02-16T11:09:09.932Z,1613473749.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:10.688Z,1613473750.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:11.094Z,1613473751.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:11.936Z,1613473751.936 [Micromodem](INFO): Nmea in: $SNTTA,0.079963,,,,110912.14*4D

2021-02-16T11:09:11.986Z,1613473751.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 85.130324 deg, deltaT: 4.413471 s, approachRate: 0.802090 m/s, LOS rate: 1.779532 deg/s, posRepo size: 4
2021-02-16T11:09:14.015Z,1613473754.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:14.746Z,1613473754.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:15.134Z,1613473755.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:15.968Z,1613473755.968 [Micromodem](INFO): Nmea in: $SNTTA,0.082199,,,,110916.20*47

2021-02-16T11:09:16.016Z,1613473756.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 77.845285 deg, deltaT: 4.041143 s, approachRate: 0.846297 m/s, LOS rate: -1.802717 deg/s, posRepo size: 4
2021-02-16T11:09:18.397Z,1613473758.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:19.186Z,1613473759.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:19.596Z,1613473759.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:20.408Z,1613473760.408 [Micromodem](INFO): Nmea in: $SNTTA,0.084617,,,,110920.64*45

2021-02-16T11:09:20.423Z,1613473760.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 84.636692 deg, deltaT: 4.477815 s, approachRate: 0.803963 m/s, LOS rate: 1.516679 deg/s, posRepo size: 4
2021-02-16T11:09:22.892Z,1613473762.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:23.650Z,1613473763.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:24.055Z,1613473764.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:24.083Z,1613473764.083 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:09:24.880Z,1613473764.880 [Micromodem](INFO): Nmea in: $SNTTA,0.087247,,,,110925.10*41

2021-02-16T11:09:24.947Z,1613473764.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 68.816157 deg, deltaT: 4.437653 s, approachRate: 0.878842 m/s, LOS rate: -3.565068 deg/s, posRepo size: 4
2021-02-16T11:09:27.316Z,1613473767.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:28.089Z,1613473768.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:28.496Z,1613473768.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:29.331Z,1613473769.331 [Micromodem](INFO): Nmea in: $SNTTA,0.089763,,,,110929.54*40

2021-02-16T11:09:29.350Z,1613473769.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 86.361267 deg, deltaT: 4.476743 s, approachRate: 0.857769 m/s, LOS rate: 3.919169 deg/s, posRepo size: 4
2021-02-16T11:09:31.757Z,1613473771.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:32.541Z,1613473772.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:32.938Z,1613473772.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:33.768Z,1613473773.768 [Micromodem](INFO): Nmea in: $SNTTA,0.092212,,,,110933.99*43

2021-02-16T11:09:33.845Z,1613473773.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 84.278148 deg, deltaT: 4.415597 s, approachRate: 0.828881 m/s, LOS rate: -0.471764 deg/s, posRepo size: 4
2021-02-16T11:09:35.863Z,1613473775.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:36.574Z,1613473776.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:36.978Z,1613473776.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:37.832Z,1613473777.832 [Micromodem](INFO): Nmea in: $SNTTA,0.094368,,,,110938.03*41

2021-02-16T11:09:37.892Z,1613473777.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 86.876707 deg, deltaT: 4.063545 s, approachRate: 0.797331 m/s, LOS rate: 0.639481 deg/s, posRepo size: 4
2021-02-16T11:09:40.254Z,1613473780.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:41.022Z,1613473781.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:41.427Z,1613473781.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:42.266Z,1613473782.266 [Micromodem](INFO): Nmea in: $SNTTA,0.096844,,,,110942.51*4C

2021-02-16T11:09:42.281Z,1613473782.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 74.680032 deg, deltaT: 4.501612 s, approachRate: 0.826371 m/s, LOS rate: -2.709402 deg/s, posRepo size: 4
2021-02-16T11:09:44.715Z,1613473784.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:45.464Z,1613473785.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:45.868Z,1613473785.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:46.700Z,1613473786.700 [Micromodem](INFO): Nmea in: $SNTTA,0.099247,,,,110946.92*41

2021-02-16T11:09:46.725Z,1613473786.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 77.632620 deg, deltaT: 4.368318 s, approachRate: 0.824117 m/s, LOS rate: 0.675910 deg/s, posRepo size: 4
2021-02-16T11:09:48.856Z,1613473788.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:49.559Z,1613473789.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:49.930Z,1613473789.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:50.736Z,1613473790.736 [Micromodem](INFO): Nmea in: $SNTTA,0.101383,,,,110951.01*44

2021-02-16T11:09:51.165Z,1613473791.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.220001 m, bearing: 84.874854 deg, deltaT: 4.502164 s, approachRate: 0.706325 m/s, LOS rate: 1.608612 deg/s, posRepo size: 4
2021-02-16T11:09:51.165Z,1613473791.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.22 m. Resuming terminal guidance.
2021-02-16T11:09:51.165Z,1613473791.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:09:53.568Z,1613473793.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:54.353Z,1613473794.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:54.754Z,1613473794.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:09:55.586Z,1613473795.586 [Micromodem](INFO): Nmea in: $SNTTA,0.103948,,,,110955.80*46

2021-02-16T11:09:55.652Z,1613473795.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.119995 m, bearing: 86.458768 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:09:55.653Z,1613473795.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 86.458768deg and heading rate command to 0 deg/s.
2021-02-16T11:09:58.026Z,1613473798.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:09:58.798Z,1613473798.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:09:59.200Z,1613473799.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:00.028Z,1613473800.028 [Micromodem](INFO): Nmea in: $SNTTA,0.106394,,,,111000.25*4F

2021-02-16T11:10:00.078Z,1613473800.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 99.797403 deg, deltaT: 4.463558 s, approachRate: 0.819978 m/s, LOS rate: 2.988341 deg/s, posRepo size: 2
2021-02-16T11:10:00.088Z,1613473800.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 99.797403 deg,
      approachRate: 0.819978 m/s,
      LOS rate: 2.988341 deg/s,
      cmd update: 8.965025 deg/s,
      cmd heading: 86.458768 deg,
      new cmd heading: 86.458768 deg.

2021-02-16T11:10:02.518Z,1613473802.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:03.261Z,1613473803.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:03.671Z,1613473803.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:04.480Z,1613473804.480 [Micromodem](INFO): Nmea in: $SNTTA,0.109108,,,,111004.71*42

2021-02-16T11:10:04.515Z,1613473804.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 133.401313 deg, deltaT: 4.431210 s, approachRate: 0.000000 m/s, LOS rate: 7.583461 deg/s, posRepo size: 3
2021-02-16T11:10:04.516Z,1613473804.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 133.401313 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.583461 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.182926 deg,
      new cmd heading: 129.877341 deg.

2021-02-16T11:10:06.920Z,1613473806.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:07.680Z,1613473807.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:08.094Z,1613473808.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:08.908Z,1613473808.908 [Micromodem](INFO): Nmea in: $SNTTA,0.111170,,,,111009.13*4D

2021-02-16T11:10:08.966Z,1613473808.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.680008 m, bearing: 92.393704 deg, deltaT: 4.420532 s, approachRate: 1.560897 m/s, LOS rate: -9.276623 deg/s, posRepo size: 4
2021-02-16T11:10:08.968Z,1613473808.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 92.393704 deg,
      approachRate: 1.560897 m/s,
      LOS rate: -9.276623 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 179.182824 deg,
      new cmd heading: 184.550268 deg.

2021-02-16T11:10:11.356Z,1613473811.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:12.131Z,1613473812.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:12.537Z,1613473812.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:13.376Z,1613473813.376 [Micromodem](INFO): Nmea in: $SNTTA,0.113013,,,,111013.58*4F

2021-02-16T11:10:13.399Z,1613473813.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.679993 m, bearing: 132.276203 deg, deltaT: 4.474073 s, approachRate: 0.670527 m/s, LOS rate: 8.914137 deg/s, posRepo size: 4
2021-02-16T11:10:13.400Z,1613473813.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.679993 m,
      bearing: 132.276203 deg,
      approachRate: 0.670527 m/s,
      LOS rate: 8.914137 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 125.447254 deg,
      new cmd heading: 120.629950 deg.

2021-02-16T11:10:15.925Z,1613473815.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:16.607Z,1613473816.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:16.995Z,1613473816.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:17.811Z,1613473817.811 [Micromodem](INFO): Nmea in: $SNTTA,0.114485,,,,111018.06*43

2021-02-16T11:10:18.240Z,1613473818.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 160.291822 deg, deltaT: 4.880222 s, approachRate: 0.430313 m/s, LOS rate: 5.740644 deg/s, posRepo size: 4
2021-02-16T11:10:18.242Z,1613473818.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.780014 m,
      bearing: 160.291822 deg,
      approachRate: 0.430313 m/s,
      LOS rate: 5.740644 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 184.011252 deg,
      new cmd heading: 188.359884 deg.

2021-02-16T11:10:20.693Z,1613473820.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:21.421Z,1613473821.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:21.854Z,1613473821.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:22.684Z,1613473822.684 [Micromodem](INFO): Nmea in: $SNTTA,0.115723,,,,111022.87*4D

2021-02-16T11:10:22.708Z,1613473822.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 194.939664 deg, deltaT: 4.393521 s, approachRate: 0.000000 m/s, LOS rate: 7.886122 deg/s, posRepo size: 4
2021-02-16T11:10:22.710Z,1613473822.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.780014 m,
      bearing: 194.939664 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.886122 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 236.680716 deg,
      new cmd heading: 241.976437 deg.

2021-02-16T11:10:25.087Z,1613473825.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:25.867Z,1613473825.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:26.312Z,1613473826.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:27.097Z,1613473827.097 [Micromodem](INFO): Nmea in: $SNTTA,0.116477,,,,111027.32*47

2021-02-16T11:10:27.141Z,1613473827.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.780014 m, bearing: 221.774753 deg, deltaT: 4.464194 s, approachRate: 0.000000 m/s, LOS rate: 6.011183 deg/s, posRepo size: 4
2021-02-16T11:10:27.143Z,1613473827.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.780014 m,
      bearing: 221.774753 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.011183 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.253985 deg,
      new cmd heading: 295.178641 deg.

2021-02-16T11:10:29.285Z,1613473829.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:29.933Z,1613473829.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:30.351Z,1613473830.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:31.138Z,1613473831.138 [Micromodem](INFO): Nmea in: $SNTTA,0.116681,,,,111031.38*41

2021-02-16T11:10:31.558Z,1613473831.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 201.740811 deg, deltaT: 4.451093 s, approachRate: 0.741388 m/s, LOS rate: -4.500904 deg/s, posRepo size: 4
2021-02-16T11:10:31.560Z,1613473831.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.080002 m,
      bearing: 201.740811 deg,
      approachRate: 0.741388 m/s,
      LOS rate: -4.500904 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 343.429551 deg,
      new cmd heading: 348.177531 deg.

2021-02-16T11:10:34.010Z,1613473834.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:34.748Z,1613473834.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:35.154Z,1613473835.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:35.980Z,1613473835.980 [Micromodem](INFO): Nmea in: $SNTTA,0.116531,,,,111036.20*47

2021-02-16T11:10:36.042Z,1613473836.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 248.428952 deg, deltaT: 4.431214 s, approachRate: 0.000000 m/s, LOS rate: 10.536196 deg/s, posRepo size: 4
2021-02-16T11:10:36.044Z,1613473836.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.080002 m,
      bearing: 248.428952 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.536196 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.329885 deg,
      new cmd heading: 284.876412 deg.

2021-02-16T11:10:38.422Z,1613473838.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:39.195Z,1613473839.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:39.639Z,1613473839.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:40.428Z,1613473840.428 [Micromodem](INFO): Nmea in: $SNTTA,0.115957,,,,111040.65*48

2021-02-16T11:10:40.465Z,1613473840.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.080002 m, bearing: 264.483120 deg, deltaT: 4.437532 s, approachRate: 0.000000 m/s, LOS rate: 3.617815 deg/s, posRepo size: 4
2021-02-16T11:10:40.467Z,1613473840.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.080002 m,
      bearing: 264.483120 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.617815 deg/s,
      cmd update: 10.853444 deg/s,
      cmd heading: 343.943415 deg,
      new cmd heading: 348.869355 deg.

2021-02-16T11:10:42.568Z,1613473842.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:43.273Z,1613473843.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:43.689Z,1613473843.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:44.480Z,1613473844.480 [Micromodem](INFO): Nmea in: $SNTTA,0.114857,,,,111044.72*4A

2021-02-16T11:10:44.915Z,1613473844.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 251.757904 deg, deltaT: 4.439634 s, approachRate: -0.675735 m/s, LOS rate: -2.866276 deg/s, posRepo size: 4
2021-02-16T11:10:44.917Z,1613473844.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.079987 m,
      bearing: 251.757904 deg,
      approachRate: -0.675735 m/s,
      LOS rate: -2.866276 deg/s,
      cmd update: -8.598827 deg/s,
      cmd heading: 32.126312 deg,
      new cmd heading: 36.688623 deg.

2021-02-16T11:10:47.293Z,1613473847.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:48.080Z,1613473848.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:48.488Z,1613473848.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:49.308Z,1613473849.308 [Micromodem](INFO): Nmea in: $SNTTA,0.113202,,,,111049.53*49

2021-02-16T11:10:49.368Z,1613473849.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 253.901108 deg, deltaT: 4.450465 s, approachRate: -0.566227 m/s, LOS rate: 0.481569 deg/s, posRepo size: 4
2021-02-16T11:10:49.371Z,1613473849.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.560013 m,
      bearing: 253.901108 deg,
      approachRate: -0.566227 m/s,
      LOS rate: 0.481569 deg/s,
      cmd update: 1.444706 deg/s,
      cmd heading: 353.857085 deg,
      new cmd heading: 350.261537 deg.

2021-02-16T11:10:51.769Z,1613473851.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:52.534Z,1613473852.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:52.932Z,1613473852.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:53.772Z,1613473853.772 [Micromodem](INFO): Nmea in: $SNTTA,0.111395,,,,111053.99*49

2021-02-16T11:10:53.850Z,1613473853.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.560013 m, bearing: 252.582144 deg, deltaT: 4.410346 s, approachRate: 0.000000 m/s, LOS rate: -0.299061 deg/s, posRepo size: 4
2021-02-16T11:10:53.856Z,1613473853.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.560013 m,
      bearing: 252.582144 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.299061 deg/s,
      cmd update: -0.897184 deg/s,
      cmd heading: 0.227684 deg,
      new cmd heading: 0.943611 deg.

2021-02-16T11:10:55.996Z,1613473855.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:10:56.608Z,1613473856.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:10:57.009Z,1613473857.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:10:57.824Z,1613473857.824 [Micromodem](INFO): Nmea in: $SNTTA,0.109688,,,,111058.06*44

2021-02-16T11:10:58.240Z,1613473858.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 253.406275 deg, deltaT: 4.536325 s, approachRate: -1.150711 m/s, LOS rate: 0.181674 deg/s, posRepo size: 4
2021-02-16T11:10:58.241Z,1613473858.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 253.406275 deg,
      approachRate: -1.150711 m/s,
      LOS rate: 0.181674 deg/s,
      cmd update: 0.545021 deg/s,
      cmd heading: 356.160538 deg,
      new cmd heading: 355.845250 deg.

2021-02-16T11:11:00.683Z,1613473860.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:01.413Z,1613473861.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:01.868Z,1613473861.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:02.664Z,1613473862.664 [Micromodem](INFO): Nmea in: $SNTTA,0.107951,,,,111102.86*47

2021-02-16T11:11:02.688Z,1613473862.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 248.748332 deg, deltaT: 4.374604 s, approachRate: -0.576053 m/s, LOS rate: -1.064769 deg/s, posRepo size: 4
2021-02-16T11:11:02.690Z,1613473862.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 248.748332 deg,
      approachRate: -0.576053 m/s,
      LOS rate: -1.064769 deg/s,
      cmd update: -3.194307 deg/s,
      cmd heading: 358.544783 deg,
      new cmd heading: 358.776582 deg.

2021-02-16T11:11:05.093Z,1613473865.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:05.865Z,1613473865.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:06.264Z,1613473866.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:07.092Z,1613473867.092 [Micromodem](INFO): Nmea in: $SNTTA,0.106628,,,,111107.32*4D

2021-02-16T11:11:07.141Z,1613473867.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 241.649525 deg, deltaT: 4.466761 s, approachRate: -0.456705 m/s, LOS rate: -1.589252 deg/s, posRepo size: 4
2021-02-16T11:11:07.147Z,1613473867.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 241.649525 deg,
      approachRate: -0.456705 m/s,
      LOS rate: -1.589252 deg/s,
      cmd update: -4.767755 deg/s,
      cmd heading: 344.276534 deg,
      new cmd heading: 342.960780 deg.

2021-02-16T11:11:09.260Z,1613473869.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:09.941Z,1613473869.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:10.329Z,1613473870.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:11.132Z,1613473871.132 [Micromodem](INFO): Nmea in: $SNTTA,0.105939,,,,111111.39*4D

2021-02-16T11:11:11.553Z,1613473871.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.760010 m, bearing: 262.675770 deg, deltaT: 4.453972 s, approachRate: -0.229010 m/s, LOS rate: 4.720785 deg/s, posRepo size: 4
2021-02-16T11:11:11.555Z,1613473871.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.760010 m,
      bearing: 262.675770 deg,
      approachRate: -0.229010 m/s,
      LOS rate: 4.720785 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.041208 deg,
      new cmd heading: 321.275866 deg.

2021-02-16T11:11:13.993Z,1613473873.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:14.745Z,1613473874.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:15.170Z,1613473875.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:15.976Z,1613473875.976 [Micromodem](INFO): Nmea in: $SNTTA,0.105552,,,,111116.20*43

2021-02-16T11:11:16.036Z,1613473876.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 333.408362 deg, deltaT: 4.455455 s, approachRate: -0.080800 m/s, LOS rate: 15.875504 deg/s, posRepo size: 4
2021-02-16T11:11:16.037Z,1613473876.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.875504 deg/s. Setting heading cmd to target bearing of 333.408362deg and heading rate command to 0 deg/s.
2021-02-16T11:11:18.395Z,1613473878.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:19.193Z,1613473879.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:19.617Z,1613473879.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:20.431Z,1613473880.431 [Micromodem](INFO): Nmea in: $SNTTA,0.105145,,,,111120.65*45

2021-02-16T11:11:20.450Z,1613473880.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 318.926640 deg, deltaT: 4.405622 s, approachRate: -0.163431 m/s, LOS rate: -3.287100 deg/s, posRepo size: 4
2021-02-16T11:11:20.452Z,1613473880.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 318.926640 deg,
      approachRate: -0.163431 m/s,
      LOS rate: -3.287100 deg/s,
      cmd update: -9.861302 deg/s,
      cmd heading: 333.408362 deg,
      new cmd heading: 333.408362 deg.

2021-02-16T11:11:22.948Z,1613473882.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:23.670Z,1613473883.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:24.038Z,1613473884.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:24.892Z,1613473884.892 [Micromodem](INFO): Nmea in: $SNTTA,0.104915,,,,111125.12*4C

2021-02-16T11:11:24.974Z,1613473884.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 332.749577 deg, deltaT: 4.416901 s, approachRate: 0.000000 m/s, LOS rate: 3.129556 deg/s, posRepo size: 4
2021-02-16T11:11:24.980Z,1613473884.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 332.749577 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.129556 deg/s,
      cmd update: 9.388667 deg/s,
      cmd heading: 289.862501 deg,
      new cmd heading: 284.833405 deg.

2021-02-16T11:11:27.293Z,1613473887.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:28.081Z,1613473888.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:28.498Z,1613473888.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:29.332Z,1613473889.332 [Micromodem](INFO): Nmea in: $SNTTA,0.104840,,,,111129.53*44

2021-02-16T11:11:29.354Z,1613473889.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.200012 m, bearing: 329.700280 deg, deltaT: 4.521119 s, approachRate: -0.106164 m/s, LOS rate: -0.674456 deg/s, posRepo size: 4
2021-02-16T11:11:29.356Z,1613473889.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.200012 m,
      bearing: 329.700280 deg,
      approachRate: -0.106164 m/s,
      LOS rate: -0.674456 deg/s,
      cmd update: -2.023369 deg/s,
      cmd heading: 332.321894 deg,
      new cmd heading: 335.777890 deg.

2021-02-16T11:11:31.781Z,1613473891.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:32.528Z,1613473892.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:32.926Z,1613473892.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:33.756Z,1613473893.756 [Micromodem](INFO): Nmea in: $SNTTA,0.104241,,,,111133.98*43

2021-02-16T11:11:33.808Z,1613473893.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.240005 m, bearing: 245.810913 deg, deltaT: 4.366096 s, approachRate: -0.219878 m/s, LOS rate: -19.213816 deg/s, posRepo size: 4
2021-02-16T11:11:33.809Z,1613473893.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.213816 deg/s. Setting heading cmd to target bearing of 245.810913deg and heading rate command to 0 deg/s.
2021-02-16T11:11:35.756Z,1613473895.756 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T11:11:35.758Z,1613473895.758 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T11:11:35.858Z,1613473895.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:36.565Z,1613473896.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:36.971Z,1613473896.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:37.793Z,1613473897.793 [Micromodem](INFO): Nmea in: $SNTTA,0.103868,,,,111138.01*4E

2021-02-16T11:11:37.865Z,1613473897.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.700012 m, bearing: 312.282314 deg, deltaT: 4.067260 s, approachRate: -0.132766 m/s, LOS rate: 16.343043 deg/s, posRepo size: 4
2021-02-16T11:11:37.866Z,1613473897.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.343043 deg/s. Setting heading cmd to target bearing of 312.282314deg and heading rate command to 0 deg/s.
2021-02-16T11:11:40.264Z,1613473900.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:41.015Z,1613473901.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:41.415Z,1613473901.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:42.244Z,1613473902.244 [Micromodem](INFO): Nmea in: $SNTTA,0.103168,,,,111142.47*48

2021-02-16T11:11:42.289Z,1613473902.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 240.681386 deg, deltaT: 4.477210 s, approachRate: -0.241225 m/s, LOS rate: -15.992309 deg/s, posRepo size: 4
2021-02-16T11:11:42.290Z,1613473902.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.992309 deg/s. Setting heading cmd to target bearing of 240.681386deg and heading rate command to 0 deg/s.
2021-02-16T11:11:44.688Z,1613473904.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:45.449Z,1613473905.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:45.876Z,1613473905.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:46.681Z,1613473906.681 [Micromodem](INFO): Nmea in: $SNTTA,0.101949,,0.103112,,111146.90*51

2021-02-16T11:11:46.705Z,1613473906.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.759995 m, bearing: 244.173170 deg, deltaT: 4.379743 s, approachRate: -0.424683 m/s, LOS rate: 0.797258 deg/s, posRepo size: 4
2021-02-16T11:11:46.706Z,1613473906.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.759995 m,
      bearing: 244.173170 deg,
      approachRate: -0.424683 m/s,
      LOS rate: 0.797258 deg/s,
      cmd update: 2.391773 deg/s,
      cmd heading: 240.681386 deg,
      new cmd heading: 240.681386 deg.

2021-02-16T11:11:49.111Z,1613473909.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:49.897Z,1613473909.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:50.297Z,1613473910.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:51.124Z,1613473911.124 [Micromodem](INFO): Nmea in: $SNTTA,0.100617,,,,111151.35*43

2021-02-16T11:11:51.184Z,1613473911.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 241.825989 deg, deltaT: 4.483925 s, approachRate: -0.441573 m/s, LOS rate: -0.523466 deg/s, posRepo size: 4
2021-02-16T11:11:51.186Z,1613473911.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 241.825989 deg,
      approachRate: -0.441573 m/s,
      LOS rate: -0.523466 deg/s,
      cmd update: -1.570397 deg/s,
      cmd heading: 251.396286 deg,
      new cmd heading: 252.417645 deg.

2021-02-16T11:11:53.563Z,1613473913.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:54.353Z,1613473914.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:54.756Z,1613473914.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:11:55.580Z,1613473915.580 [Micromodem](INFO): Nmea in: $SNTTA,0.099026,,,,111155.80*4C

2021-02-16T11:11:55.648Z,1613473915.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 234.465040 deg, deltaT: 4.445191 s, approachRate: -0.580403 m/s, LOS rate: -1.655936 deg/s, posRepo size: 4
2021-02-16T11:11:55.650Z,1613473915.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 234.465040 deg,
      approachRate: -0.580403 m/s,
      LOS rate: -1.655936 deg/s,
      cmd update: -4.967807 deg/s,
      cmd heading: 244.413495 deg,
      new cmd heading: 243.715124 deg.

2021-02-16T11:11:58.018Z,1613473918.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:11:58.794Z,1613473918.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:11:59.198Z,1613473919.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:00.016Z,1613473920.016 [Micromodem](INFO): Nmea in: $SNTTA,0.097217,,,,111200.24*4F

2021-02-16T11:12:00.083Z,1613473920.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.619995 m, bearing: 237.925350 deg, deltaT: 4.444873 s, approachRate: -0.580448 m/s, LOS rate: 0.778495 deg/s, posRepo size: 4
2021-02-16T11:12:00.085Z,1613473920.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.619995 m,
      bearing: 237.925350 deg,
      approachRate: -0.580448 m/s,
      LOS rate: 0.778495 deg/s,
      cmd update: 2.335484 deg/s,
      cmd heading: 222.318882 deg,
      new cmd heading: 220.210545 deg.

2021-02-16T11:12:02.431Z,1613473922.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:03.233Z,1613473923.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:03.651Z,1613473923.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:04.456Z,1613473924.456 [Micromodem](INFO): Nmea in: $SNTTA,0.095399,,,,111204.68*46

2021-02-16T11:12:04.496Z,1613473924.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.860001 m, bearing: 236.529451 deg, deltaT: 4.447796 s, approachRate: -0.620531 m/s, LOS rate: -0.313841 deg/s, posRepo size: 4
2021-02-16T11:12:04.498Z,1613473924.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.860001 m,
      bearing: 236.529451 deg,
      approachRate: -0.620531 m/s,
      LOS rate: -0.313841 deg/s,
      cmd update: -0.941522 deg/s,
      cmd heading: 232.696789 deg,
      new cmd heading: 233.636249 deg.

2021-02-16T11:12:06.905Z,1613473926.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:07.668Z,1613473927.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:08.086Z,1613473928.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:08.900Z,1613473928.900 [Micromodem](INFO): Nmea in: $SNTTA,0.093658,,,,111209.12*48

2021-02-16T11:12:08.949Z,1613473928.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 237.113705 deg, deltaT: 4.417930 s, approachRate: -0.597565 m/s, LOS rate: 0.132246 deg/s, posRepo size: 4
2021-02-16T11:12:08.950Z,1613473928.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.220001 m,
      bearing: 237.113705 deg,
      approachRate: -0.597565 m/s,
      LOS rate: 0.132246 deg/s,
      cmd update: 0.396739 deg/s,
      cmd heading: 228.540977 deg,
      new cmd heading: 228.126131 deg.

2021-02-16T11:12:11.337Z,1613473931.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:12.118Z,1613473932.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:12.518Z,1613473932.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:13.344Z,1613473933.344 [Micromodem](INFO): Nmea in: $SNTTA,0.091869,,,,111213.57*4C

2021-02-16T11:12:13.385Z,1613473933.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.580002 m, bearing: 237.918739 deg, deltaT: 4.456961 s, approachRate: -0.592332 m/s, LOS rate: 0.180624 deg/s, posRepo size: 4
2021-02-16T11:12:13.387Z,1613473933.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.580002 m,
      bearing: 237.918739 deg,
      approachRate: -0.592332 m/s,
      LOS rate: 0.180624 deg/s,
      cmd update: 0.541872 deg/s,
      cmd heading: 230.312477 deg,
      new cmd heading: 230.476049 deg.

2021-02-16T11:12:15.783Z,1613473935.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:16.556Z,1613473936.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:16.967Z,1613473936.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:17.792Z,1613473937.792 [Micromodem](INFO): Nmea in: $SNTTA,0.090181,,,,111218.01*4A

2021-02-16T11:12:17.865Z,1613473937.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 238.604353 deg, deltaT: 4.416341 s, approachRate: -0.570609 m/s, LOS rate: 0.155245 deg/s, posRepo size: 4
2021-02-16T11:12:17.867Z,1613473937.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.059998 m,
      bearing: 238.604353 deg,
      approachRate: -0.570609 m/s,
      LOS rate: 0.155245 deg/s,
      cmd update: 0.465735 deg/s,
      cmd heading: 232.705530 deg,
      new cmd heading: 232.963429 deg.

2021-02-16T11:12:20.227Z,1613473940.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:21.005Z,1613473941.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:21.416Z,1613473941.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:22.239Z,1613473942.239 [Micromodem](INFO): Nmea in: $SNTTA,0.088276,,,,111222.46*42

2021-02-16T11:12:22.254Z,1613473942.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.240005 m, bearing: 239.078751 deg, deltaT: 4.502602 s, approachRate: -0.626303 m/s, LOS rate: 0.105361 deg/s, posRepo size: 4
2021-02-16T11:12:22.256Z,1613473942.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.240005 m,
      bearing: 239.078751 deg,
      approachRate: -0.626303 m/s,
      LOS rate: 0.105361 deg/s,
      cmd update: 0.316082 deg/s,
      cmd heading: 234.802372 deg,
      new cmd heading: 234.970943 deg.

2021-02-16T11:12:24.772Z,1613473944.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:25.449Z,1613473945.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:25.864Z,1613473945.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:26.682Z,1613473946.682 [Micromodem](INFO): Nmea in: $SNTTA,0.086507,,,,111226.90*42

2021-02-16T11:12:26.722Z,1613473946.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.539993 m, bearing: 239.447117 deg, deltaT: 4.379490 s, approachRate: -0.616513 m/s, LOS rate: 0.084112 deg/s, posRepo size: 4
2021-02-16T11:12:26.724Z,1613473946.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 239.447117 deg,
      approachRate: -0.616513 m/s,
      LOS rate: 0.084112 deg/s,
      cmd update: 0.252335 deg/s,
      cmd heading: 236.186730 deg,
      new cmd heading: 236.329176 deg.

2021-02-16T11:12:29.118Z,1613473949.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:29.890Z,1613473949.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:30.301Z,1613473950.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:31.137Z,1613473951.137 [Micromodem](INFO): Nmea in: $SNTTA,0.084649,,,,111231.34*41

2021-02-16T11:12:31.168Z,1613473951.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 239.510036 deg, deltaT: 4.461891 s, approachRate: -0.632017 m/s, LOS rate: 0.014102 deg/s, posRepo size: 4
2021-02-16T11:12:31.170Z,1613473951.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 239.510036 deg,
      approachRate: -0.632017 m/s,
      LOS rate: 0.014102 deg/s,
      cmd update: 0.042305 deg/s,
      cmd heading: 237.312594 deg,
      new cmd heading: 237.422225 deg.

2021-02-16T11:12:33.557Z,1613473953.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:34.334Z,1613473954.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:34.738Z,1613473954.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:35.564Z,1613473955.564 [Micromodem](INFO): Nmea in: $SNTTA,0.082788,,0.098687,,111235.78*51

2021-02-16T11:12:35.645Z,1613473955.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.959999 m, bearing: 238.851907 deg, deltaT: 4.464113 s, approachRate: -0.618264 m/s, LOS rate: -0.147427 deg/s, posRepo size: 4
2021-02-16T11:12:35.647Z,1613473955.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.959999 m,
      bearing: 238.851907 deg,
      approachRate: -0.618264 m/s,
      LOS rate: -0.147427 deg/s,
      cmd update: -0.442280 deg/s,
      cmd heading: 237.501259 deg,
      new cmd heading: 237.520382 deg.

2021-02-16T11:12:38.010Z,1613473958.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:38.781Z,1613473958.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:39.190Z,1613473959.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:40.008Z,1613473960.008 [Micromodem](INFO): Nmea in: $SNTTA,0.080921,,,,111240.23*44

2021-02-16T11:12:40.042Z,1613473960.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 239.013891 deg, deltaT: 4.464754 s, approachRate: -0.618174 m/s, LOS rate: 0.036281 deg/s, posRepo size: 4
2021-02-16T11:12:40.044Z,1613473960.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.200005 m,
      bearing: 239.013891 deg,
      approachRate: -0.618174 m/s,
      LOS rate: 0.036281 deg/s,
      cmd update: 0.108842 deg/s,
      cmd heading: 235.526313 deg,
      new cmd heading: 235.356462 deg.

2021-02-16T11:12:42.433Z,1613473962.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:43.242Z,1613473963.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:43.650Z,1613473963.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:44.460Z,1613473964.460 [Micromodem](INFO): Nmea in: $SNTTA,0.078860,,,,111244.69*4D

2021-02-16T11:12:44.500Z,1613473964.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 238.406469 deg, deltaT: 4.390407 s, approachRate: -0.710641 m/s, LOS rate: -0.138352 deg/s, posRepo size: 4
2021-02-16T11:12:44.502Z,1613473964.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 238.406469 deg,
      approachRate: -0.710641 m/s,
      LOS rate: -0.138352 deg/s,
      cmd update: -0.415057 deg/s,
      cmd heading: 236.004628 deg,
      new cmd heading: 236.053347 deg.

2021-02-16T11:12:46.905Z,1613473966.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:47.666Z,1613473967.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:48.098Z,1613473968.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:48.896Z,1613473968.896 [Micromodem](INFO): Nmea in: $SNTTA,0.077029,,,0.079591,111249.12*5B

2021-02-16T11:12:48.945Z,1613473968.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 238.834367 deg, deltaT: 4.463517 s, approachRate: -0.604903 m/s, LOS rate: 0.095866 deg/s, posRepo size: 4
2021-02-16T11:12:48.947Z,1613473968.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 238.834367 deg,
      approachRate: -0.604903 m/s,
      LOS rate: 0.095866 deg/s,
      cmd update: 0.287597 deg/s,
      cmd heading: 234.155527 deg,
      new cmd heading: 233.974078 deg.

2021-02-16T11:12:51.341Z,1613473971.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:52.109Z,1613473972.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:52.514Z,1613473972.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:53.342Z,1613473973.342 [Micromodem](INFO): Nmea in: $SNTTA,0.075137,,,,111253.56*41

2021-02-16T11:12:53.398Z,1613473973.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 239.663907 deg, deltaT: 4.458731 s, approachRate: -0.645923 m/s, LOS rate: 0.186048 deg/s, posRepo size: 4
2021-02-16T11:12:53.404Z,1613473973.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 239.663907 deg,
      approachRate: -0.645923 m/s,
      LOS rate: 0.186048 deg/s,
      cmd update: 0.558145 deg/s,
      cmd heading: 235.440275 deg,
      new cmd heading: 235.561540 deg.

2021-02-16T11:12:55.790Z,1613473975.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:12:56.562Z,1613473976.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:12:56.975Z,1613473976.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:12:57.788Z,1613473977.788 [Micromodem](INFO): Nmea in: $SNTTA,0.073214,,,,111258.01*4C

2021-02-16T11:12:57.853Z,1613473977.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 240.156063 deg, deltaT: 4.401133 s, approachRate: -0.668010 m/s, LOS rate: 0.111825 deg/s, posRepo size: 4
2021-02-16T11:12:57.854Z,1613473977.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 240.156063 deg,
      approachRate: -0.668010 m/s,
      LOS rate: 0.111825 deg/s,
      cmd update: 0.335475 deg/s,
      cmd heading: 237.896618 deg,
      new cmd heading: 238.159840 deg.

2021-02-16T11:13:00.255Z,1613473980.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:01.002Z,1613473981.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:01.435Z,1613473981.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:02.241Z,1613473982.241 [Micromodem](INFO): Nmea in: $SNTTA,0.071250,,,,111302.45*40

2021-02-16T11:13:02.265Z,1613473982.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.680000 m, bearing: 239.299257 deg, deltaT: 4.529406 s, approachRate: -0.635846 m/s, LOS rate: -0.189165 deg/s, posRepo size: 4
2021-02-16T11:13:02.271Z,1613473982.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.680000 m,
      bearing: 239.299257 deg,
      approachRate: -0.635846 m/s,
      LOS rate: -0.189165 deg/s,
      cmd update: -0.567496 deg/s,
      cmd heading: 239.416188 deg,
      new cmd heading: 239.536873 deg.

2021-02-16T11:13:04.678Z,1613473984.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:05.445Z,1613473985.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:05.870Z,1613473985.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:06.692Z,1613473986.692 [Micromodem](INFO): Nmea in: $SNTTA,0.069186,,,,111306.90*4D

2021-02-16T11:13:06.724Z,1613473986.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.559998 m, bearing: 239.672759 deg, deltaT: 4.357818 s, approachRate: -0.715955 m/s, LOS rate: 0.085709 deg/s, posRepo size: 4
2021-02-16T11:13:06.726Z,1613473986.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.559998 m,
      bearing: 239.672759 deg,
      approachRate: -0.715955 m/s,
      LOS rate: 0.085709 deg/s,
      cmd update: 0.257126 deg/s,
      cmd heading: 236.943146 deg,
      new cmd heading: 236.681529 deg.

2021-02-16T11:13:09.121Z,1613473989.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:09.901Z,1613473989.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:10.290Z,1613473990.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:11.140Z,1613473991.140 [Micromodem](INFO): Nmea in: $SNTTA,0.067223,,,,111311.35*46

2021-02-16T11:13:11.173Z,1613473991.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.680000 m, bearing: 239.920285 deg, deltaT: 4.454236 s, approachRate: -0.646575 m/s, LOS rate: 0.055571 deg/s, posRepo size: 4
2021-02-16T11:13:11.175Z,1613473991.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 239.920285 deg,
      approachRate: -0.646575 m/s,
      LOS rate: 0.055571 deg/s,
      cmd update: 0.166713 deg/s,
      cmd heading: 238.088429 deg,
      new cmd heading: 238.205612 deg.

2021-02-16T11:13:13.564Z,1613473993.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:14.349Z,1613473994.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:14.739Z,1613473994.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:15.572Z,1613473995.572 [Micromodem](INFO): Nmea in: $SNTTA,0.065231,,0.087993,,111315.80*5F

2021-02-16T11:13:15.660Z,1613473995.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.620003 m, bearing: 239.439357 deg, deltaT: 4.468289 s, approachRate: -0.684825 m/s, LOS rate: -0.107631 deg/s, posRepo size: 4
2021-02-16T11:13:15.662Z,1613473995.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.620003 m,
      bearing: 239.439357 deg,
      approachRate: -0.684825 m/s,
      LOS rate: -0.107631 deg/s,
      cmd update: -0.322894 deg/s,
      cmd heading: 238.832693 deg,
      new cmd heading: 238.911442 deg.

2021-02-16T11:13:18.011Z,1613473998.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:18.772Z,1613473998.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:19.180Z,1613473999.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:20.003Z,1613474000.003 [Micromodem](INFO): Nmea in: $SNTTA,0.063340,,,,111320.22*42

2021-02-16T11:13:20.038Z,1613474000.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.800003 m, bearing: 239.458045 deg, deltaT: 4.468709 s, approachRate: -0.631055 m/s, LOS rate: 0.004182 deg/s, posRepo size: 4
2021-02-16T11:13:20.040Z,1613474000.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 239.458045 deg,
      approachRate: -0.631055 m/s,
      LOS rate: 0.004182 deg/s,
      cmd update: 0.012546 deg/s,
      cmd heading: 237.388486 deg,
      new cmd heading: 237.264587 deg.

2021-02-16T11:13:22.434Z,1613474002.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:23.223Z,1613474003.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:23.643Z,1613474003.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:24.460Z,1613474004.460 [Micromodem](INFO): Nmea in: $SNTTA,0.061474,,,,111324.67*45

2021-02-16T11:13:24.482Z,1613474004.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.040001 m, bearing: 240.134234 deg, deltaT: 4.417162 s, approachRate: -0.624836 m/s, LOS rate: 0.153082 deg/s, posRepo size: 4
2021-02-16T11:13:24.484Z,1613474004.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.040001 m,
      bearing: 240.134234 deg,
      approachRate: -0.624836 m/s,
      LOS rate: 0.153082 deg/s,
      cmd update: 0.459246 deg/s,
      cmd heading: 237.443901 deg,
      new cmd heading: 237.449049 deg.

2021-02-16T11:13:26.897Z,1613474006.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:27.666Z,1613474007.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:28.073Z,1613474008.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:28.892Z,1613474008.892 [Micromodem](INFO): Nmea in: $SNTTA,0.059577,,,,111329.12*43

2021-02-16T11:13:28.941Z,1613474008.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 239.787178 deg, deltaT: 4.440462 s, approachRate: -0.635067 m/s, LOS rate: -0.078158 deg/s, posRepo size: 4
2021-02-16T11:13:28.942Z,1613474008.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 239.787178 deg,
      approachRate: -0.635067 m/s,
      LOS rate: -0.078158 deg/s,
      cmd update: -0.234473 deg/s,
      cmd heading: 239.479410 deg,
      new cmd heading: 239.679934 deg.

2021-02-16T11:13:31.311Z,1613474011.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:32.109Z,1613474012.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:32.510Z,1613474012.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:33.348Z,1613474013.348 [Micromodem](INFO): Nmea in: $SNTTA,0.057666,,,,111333.56*45

2021-02-16T11:13:33.386Z,1613474013.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 239.784528 deg, deltaT: 4.463259 s, approachRate: -0.658712 m/s, LOS rate: -0.000594 deg/s, posRepo size: 4
2021-02-16T11:13:33.388Z,1613474013.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.280006 m,
      bearing: 239.784528 deg,
      approachRate: -0.658712 m/s,
      LOS rate: -0.000594 deg/s,
      cmd update: -0.001781 deg/s,
      cmd heading: 238.431918 deg,
      new cmd heading: 238.334686 deg.

2021-02-16T11:13:35.829Z,1613474015.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:36.565Z,1613474016.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:36.960Z,1613474016.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:37.790Z,1613474017.790 [Micromodem](INFO): Nmea in: $SNTTA,0.055737,,,,111338.02*48

2021-02-16T11:13:37.872Z,1613474017.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.400002 m, bearing: 240.101148 deg, deltaT: 4.399603 s, approachRate: -0.654606 m/s, LOS rate: 0.071966 deg/s, posRepo size: 4
2021-02-16T11:13:37.874Z,1613474017.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.400002 m,
      bearing: 240.101148 deg,
      approachRate: -0.654606 m/s,
      LOS rate: 0.071966 deg/s,
      cmd update: 0.215897 deg/s,
      cmd heading: 238.424074 deg,
      new cmd heading: 238.423200 deg.

2021-02-16T11:13:40.242Z,1613474020.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:40.992Z,1613474020.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:41.399Z,1613474021.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:42.227Z,1613474022.227 [Micromodem](INFO): Nmea in: $SNTTA,0.053769,,,,111342.44*4A

2021-02-16T11:13:42.256Z,1613474022.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 239.529571 deg, deltaT: 4.508094 s, approachRate: -0.652161 m/s, LOS rate: -0.126789 deg/s, posRepo size: 4
2021-02-16T11:13:42.257Z,1613474022.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.459999 m,
      bearing: 239.529571 deg,
      approachRate: -0.652161 m/s,
      LOS rate: -0.126789 deg/s,
      cmd update: -0.380368 deg/s,
      cmd heading: 239.396473 deg,
      new cmd heading: 239.477733 deg.

2021-02-16T11:13:44.676Z,1613474024.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:45.445Z,1613474025.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:45.858Z,1613474025.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:46.672Z,1613474026.672 [Micromodem](INFO): Nmea in: $SNTTA,0.051937,,,,111346.89*48

2021-02-16T11:13:46.717Z,1613474026.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.700005 m, bearing: 240.118469 deg, deltaT: 4.377592 s, approachRate: -0.630482 m/s, LOS rate: 0.134526 deg/s, posRepo size: 4
2021-02-16T11:13:46.723Z,1613474026.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.700005 m,
      bearing: 240.118469 deg,
      approachRate: -0.630482 m/s,
      LOS rate: 0.134526 deg/s,
      cmd update: 0.403577 deg/s,
      cmd heading: 237.729813 deg,
      new cmd heading: 237.556308 deg.

2021-02-16T11:13:49.113Z,1613474029.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:49.885Z,1613474029.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:50.286Z,1613474030.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:51.112Z,1613474031.112 [Micromodem](INFO): Nmea in: $SNTTA,0.050094,,,,111351.33*4E

2021-02-16T11:13:51.119Z,1613474031.119 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:13:51.170Z,1613474031.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.940002 m, bearing: 240.744689 deg, deltaT: 4.468718 s, approachRate: -0.617627 m/s, LOS rate: 0.140134 deg/s, posRepo size: 4
2021-02-16T11:13:51.176Z,1613474031.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 240.744689 deg,
      approachRate: -0.617627 m/s,
      LOS rate: 0.140134 deg/s,
      cmd update: 0.420402 deg/s,
      cmd heading: 239.526803 deg,
      new cmd heading: 239.710885 deg.

2021-02-16T11:13:53.550Z,1613474033.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:54.325Z,1613474034.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:54.730Z,1613474034.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:13:55.560Z,1613474035.560 [Micromodem](INFO): Nmea in: $SNTTA,0.048233,,,,111355.77*4C

2021-02-16T11:13:55.630Z,1613474035.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 240.580737 deg, deltaT: 4.446939 s, approachRate: -0.620652 m/s, LOS rate: -0.036868 deg/s, posRepo size: 4
2021-02-16T11:13:55.640Z,1613474035.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 240.580737 deg,
      approachRate: -0.620652 m/s,
      LOS rate: -0.036868 deg/s,
      cmd update: -0.110605 deg/s,
      cmd heading: 241.394665 deg,
      new cmd heading: 241.590352 deg.

2021-02-16T11:13:58.014Z,1613474038.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:13:58.769Z,1613474038.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:13:59.192Z,1613474039.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:00.000Z,1613474040.000 [Micromodem](INFO): Nmea in: $SNTTA,0.046432,,,,111400.22*42

2021-02-16T11:14:00.065Z,1613474040.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.479996 m, bearing: 239.803051 deg, deltaT: 4.420637 s, approachRate: -0.610773 m/s, LOS rate: -0.175922 deg/s, posRepo size: 4
2021-02-16T11:14:00.067Z,1613474040.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.479996 m,
      bearing: 239.803051 deg,
      approachRate: -0.610773 m/s,
      LOS rate: -0.175922 deg/s,
      cmd update: -0.527765 deg/s,
      cmd heading: 240.903658 deg,
      new cmd heading: 240.851707 deg.

2021-02-16T11:14:02.419Z,1613474042.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:03.218Z,1613474043.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:03.512Z,1613474043.512 [CTD_Seabird](ERROR): Failed to parse device response: 6.03,1.4818,3348.59
2021-02-16T11:14:03.649Z,1613474043.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:04.452Z,1613474044.452 [Micromodem](INFO): Nmea in: $SNTTA,0.044454,,,,111404.68*4A

2021-02-16T11:14:04.505Z,1613474044.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 239.256909 deg, deltaT: 4.447613 s, approachRate: -0.674517 m/s, LOS rate: -0.122794 deg/s, posRepo size: 4
2021-02-16T11:14:04.507Z,1613474044.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.480003 m,
      bearing: 239.256909 deg,
      approachRate: -0.674517 m/s,
      LOS rate: -0.122794 deg/s,
      cmd update: -0.368383 deg/s,
      cmd heading: 238.555651 deg,
      new cmd heading: 238.312676 deg.

2021-02-16T11:14:06.907Z,1613474046.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:07.674Z,1613474047.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:08.062Z,1613474048.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:08.896Z,1613474048.896 [Micromodem](INFO): Nmea in: $SNTTA,0.042412,,,,111409.12*4E

2021-02-16T11:14:08.945Z,1613474048.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.360001 m, bearing: 239.030694 deg, deltaT: 4.433878 s, approachRate: -0.703674 m/s, LOS rate: -0.051020 deg/s, posRepo size: 4
2021-02-16T11:14:08.947Z,1613474048.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.360001 m,
      bearing: 239.030694 deg,
      approachRate: -0.703674 m/s,
      LOS rate: -0.051020 deg/s,
      cmd update: -0.153060 deg/s,
      cmd heading: 236.922346 deg,
      new cmd heading: 236.750535 deg.

2021-02-16T11:14:11.313Z,1613474051.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:12.109Z,1613474052.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:12.519Z,1613474052.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:13.332Z,1613474053.332 [Micromodem](INFO): Nmea in: $SNTTA,0.040392,,,,111413.56*48

2021-02-16T11:14:13.378Z,1613474053.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.360008 m, bearing: 240.410201 deg, deltaT: 4.485577 s, approachRate: -0.668809 m/s, LOS rate: 0.307543 deg/s, posRepo size: 4
2021-02-16T11:14:13.384Z,1613474053.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.360008 m,
      bearing: 240.410201 deg,
      approachRate: -0.668809 m/s,
      LOS rate: 0.307543 deg/s,
      cmd update: 0.922628 deg/s,
      cmd heading: 236.235799 deg,
      new cmd heading: 236.172381 deg.

2021-02-16T11:14:15.768Z,1613474055.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:16.549Z,1613474056.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:16.955Z,1613474056.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:17.776Z,1613474057.776 [Micromodem](INFO): Nmea in: $SNTTA,0.038375,,,,111418.00*46

2021-02-16T11:14:17.837Z,1613474057.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 240.533690 deg, deltaT: 4.439897 s, approachRate: -0.675693 m/s, LOS rate: 0.027814 deg/s, posRepo size: 4
2021-02-16T11:14:17.852Z,1613474057.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 240.533690 deg,
      approachRate: -0.675693 m/s,
      LOS rate: 0.027814 deg/s,
      cmd update: 0.083441 deg/s,
      cmd heading: 240.313774 deg,
      new cmd heading: 240.701050 deg.

2021-02-16T11:14:20.224Z,1613474060.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:20.996Z,1613474060.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:21.398Z,1613474061.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:22.225Z,1613474062.225 [Micromodem](INFO): Nmea in: $SNTTA,0.036442,,,,111422.45*43

2021-02-16T11:14:22.267Z,1613474062.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 241.070188 deg, deltaT: 4.475630 s, approachRate: -0.643485 m/s, LOS rate: 0.119871 deg/s, posRepo size: 4
2021-02-16T11:14:22.269Z,1613474062.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 241.070188 deg,
      approachRate: -0.643485 m/s,
      LOS rate: 0.119871 deg/s,
      cmd update: 0.359613 deg/s,
      cmd heading: 240.688238 deg,
      new cmd heading: 240.721239 deg.

2021-02-16T11:14:24.691Z,1613474064.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:25.438Z,1613474065.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:25.860Z,1613474065.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:26.700Z,1613474066.700 [Micromodem](INFO): Nmea in: $SNTTA,0.034345,,,,111426.89*45

2021-02-16T11:14:26.730Z,1613474066.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 240.753404 deg, deltaT: 4.381517 s, approachRate: -0.712082 m/s, LOS rate: -0.072300 deg/s, posRepo size: 4
2021-02-16T11:14:26.732Z,1613474066.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 240.753404 deg,
      approachRate: -0.712082 m/s,
      LOS rate: -0.072300 deg/s,
      cmd update: -0.216900 deg/s,
      cmd heading: 242.266757 deg,
      new cmd heading: 242.435377 deg.

2021-02-16T11:14:29.103Z,1613474069.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:29.895Z,1613474069.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:30.287Z,1613474070.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:31.120Z,1613474071.120 [Micromodem](INFO): Nmea in: $SNTTA,0.032370,,,,111431.34*45

2021-02-16T11:14:31.164Z,1613474071.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 240.039649 deg, deltaT: 4.471366 s, approachRate: -0.670935 m/s, LOS rate: -0.159628 deg/s, posRepo size: 4
2021-02-16T11:14:31.166Z,1613474071.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.360004 m,
      bearing: 240.039649 deg,
      approachRate: -0.670935 m/s,
      LOS rate: -0.159628 deg/s,
      cmd update: -0.478884 deg/s,
      cmd heading: 241.300374 deg,
      new cmd heading: 241.203263 deg.

2021-02-16T11:14:33.545Z,1613474073.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:34.326Z,1613474074.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:34.735Z,1613474074.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:35.573Z,1613474075.573 [Micromodem](INFO): Nmea in: $SNTTA,0.030403,,0.059312,,111435.81*5C

2021-02-16T11:14:35.592Z,1613474075.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.360001 m, bearing: 240.435500 deg, deltaT: 4.447559 s, approachRate: -0.674528 m/s, LOS rate: 0.089004 deg/s, posRepo size: 4
2021-02-16T11:14:35.594Z,1613474075.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.360001 m,
      bearing: 240.435500 deg,
      approachRate: -0.674528 m/s,
      LOS rate: 0.089004 deg/s,
      cmd update: 0.267012 deg/s,
      cmd heading: 239.162957 deg,
      new cmd heading: 238.965856 deg.

2021-02-16T11:14:37.996Z,1613474077.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:38.770Z,1613474078.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:39.188Z,1613474079.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:40.016Z,1613474080.016 [Micromodem](INFO): Nmea in: $SNTTA,0.028380,,,,111440.22*40

2021-02-16T11:14:40.069Z,1613474080.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 241.151768 deg, deltaT: 4.419724 s, approachRate: -0.678775 m/s, LOS rate: 0.162062 deg/s, posRepo size: 4
2021-02-16T11:14:40.070Z,1613474080.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 241.151768 deg,
      approachRate: -0.678775 m/s,
      LOS rate: 0.162062 deg/s,
      cmd update: 0.486185 deg/s,
      cmd heading: 240.343131 deg,
      new cmd heading: 240.468297 deg.

2021-02-16T11:14:42.422Z,1613474082.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:43.236Z,1613474083.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:43.663Z,1613474083.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:44.512Z,1613474084.512 [Micromodem](INFO): Nmea in: $SNTTA,0.026389,,,,111444.69*4C

2021-02-16T11:14:44.534Z,1613474084.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 239.830809 deg, deltaT: 4.462141 s, approachRate: -0.672323 m/s, LOS rate: -0.296037 deg/s, posRepo size: 4
2021-02-16T11:14:44.535Z,1613474084.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.36 m.
2021-02-16T11:14:44.536Z,1613474084.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.360001 m,
      bearing: 239.830809 deg,
      approachRate: -0.672323 m/s,
      LOS rate: -0.296037 deg/s,
      cmd update: -0.888111 deg/s,
      cmd heading: 242.512503 deg,
      new cmd heading: 242.742087 deg.

2021-02-16T11:14:44.869Z,1613474084.869 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:14:46.919Z,1613474086.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:47.657Z,1613474087.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:48.060Z,1613474088.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:48.905Z,1613474088.905 [Micromodem](INFO): Nmea in: $SNTTA,0.024532,,,,111449.11*4A

2021-02-16T11:14:48.964Z,1613474088.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 242.415681 deg, deltaT: 4.418310 s, approachRate: -0.624673 m/s, LOS rate: 0.585036 deg/s, posRepo size: 4
2021-02-16T11:14:48.965Z,1613474088.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.60 m.
2021-02-16T11:14:48.965Z,1613474088.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.60 m.
2021-02-16T11:14:48.965Z,1613474088.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:14:48.967Z,1613474088.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.600002 m,
      bearing: 242.415681 deg,
      approachRate: -0.624673 m/s,
      LOS rate: 0.585036 deg/s,
      cmd update: 1.755109 deg/s,
      cmd heading: 238.588522 deg,
      new cmd heading: 238.158887 deg.

2021-02-16T11:14:51.316Z,1613474091.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:52.104Z,1613474092.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:52.509Z,1613474092.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:53.348Z,1613474093.348 [Micromodem](INFO): Nmea in: $SNTTA,0.022545,,,,111453.55*47

2021-02-16T11:14:53.370Z,1613474093.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 242.608429 deg, deltaT: 4.472214 s, approachRate: -0.657393 m/s, LOS rate: 0.043099 deg/s, posRepo size: 4
2021-02-16T11:14:53.372Z,1613474093.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.660000 m,
      bearing: 242.608429 deg,
      approachRate: -0.657393 m/s,
      LOS rate: 0.043099 deg/s,
      cmd update: 0.129297 deg/s,
      cmd heading: 246.437840 deg,
      new cmd heading: 247.170571 deg.

2021-02-16T11:14:55.796Z,1613474095.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:14:56.541Z,1613474096.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:14:56.945Z,1613474096.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:14:57.780Z,1613474097.780 [Micromodem](INFO): Nmea in: $SNTTA,0.020635,,,,111457.99*45

2021-02-16T11:14:57.860Z,1613474097.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 241.344789 deg, deltaT: 4.410101 s, approachRate: -0.666651 m/s, LOS rate: -0.286533 deg/s, posRepo size: 4
2021-02-16T11:14:57.861Z,1613474097.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.720001 m,
      bearing: 241.344789 deg,
      approachRate: -0.666651 m/s,
      LOS rate: -0.286533 deg/s,
      cmd update: -0.859599 deg/s,
      cmd heading: 247.008034 deg,
      new cmd heading: 247.071747 deg.

2021-02-16T11:14:59.879Z,1613474099.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:00.598Z,1613474100.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:01.005Z,1613474101.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:01.828Z,1613474101.828 [Micromodem](INFO): Nmea in: $SNTTA,0.019012,,0.050869,,111502.10*50

2021-02-16T11:15:01.879Z,1613474101.879 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-02-16T11:15:01.899Z,1613474101.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 238.050725 deg, deltaT: 4.065972 s, approachRate: -0.590265 m/s, LOS rate: -0.810154 deg/s, posRepo size: 4
2021-02-16T11:15:01.901Z,1613474101.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 238.050725 deg,
      approachRate: -0.590265 m/s,
      LOS rate: -0.810154 deg/s,
      cmd update: -2.430462 deg/s,
      cmd heading: 243.526574 deg,
      new cmd heading: 243.108335 deg.

2021-02-16T11:15:04.257Z,1613474104.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:05.034Z,1613474105.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:05.434Z,1613474105.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:06.260Z,1613474106.260 [Micromodem](INFO): Nmea in: $SNTTA,0.017160,,,,111506.48*4F

2021-02-16T11:15:06.298Z,1613474106.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.560001 m, bearing: 239.695353 deg, deltaT: 4.508806 s, approachRate: -0.612135 m/s, LOS rate: 0.364759 deg/s, posRepo size: 4
2021-02-16T11:15:06.300Z,1613474106.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.560001 m,
      bearing: 239.695353 deg,
      approachRate: -0.612135 m/s,
      LOS rate: 0.364759 deg/s,
      cmd update: 1.094277 deg/s,
      cmd heading: 232.538809 deg,
      new cmd heading: 231.652782 deg.

2021-02-16T11:15:08.697Z,1613474108.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:09.473Z,1613474109.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:09.889Z,1613474109.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:10.704Z,1613474110.704 [Micromodem](INFO): Nmea in: $SNTTA,0.015322,,,0.067558,111510.92*5E

2021-02-16T11:15:10.744Z,1613474110.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.799997 m, bearing: 239.782643 deg, deltaT: 4.368897 s, approachRate: -0.631739 m/s, LOS rate: 0.019980 deg/s, posRepo size: 4
2021-02-16T11:15:10.746Z,1613474110.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 239.782643 deg,
      approachRate: -0.631739 m/s,
      LOS rate: 0.019980 deg/s,
      cmd update: 0.059939 deg/s,
      cmd heading: 237.310821 deg,
      new cmd heading: 237.802867 deg.

2021-02-16T11:15:13.139Z,1613474113.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:13.918Z,1613474113.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:14.322Z,1613474114.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:15.148Z,1613474115.148 [Micromodem](INFO): Nmea in: $SNTTA,0.013460,,,,111515.37*44

2021-02-16T11:15:15.212Z,1613474115.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.980001 m, bearing: 240.618057 deg, deltaT: 4.490728 s, approachRate: -0.627960 m/s, LOS rate: 0.186031 deg/s, posRepo size: 4
2021-02-16T11:15:15.219Z,1613474115.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.980001 m,
      bearing: 240.618057 deg,
      approachRate: -0.627960 m/s,
      LOS rate: 0.186031 deg/s,
      cmd update: 0.558093 deg/s,
      cmd heading: 237.580105 deg,
      new cmd heading: 237.605317 deg.

2021-02-16T11:15:17.644Z,1613474117.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:18.366Z,1613474118.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:18.770Z,1613474118.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:19.657Z,1613474119.657 [Micromodem](INFO): Nmea in: $SNTTA,0.011654,,,0.050375,111519.82*5B

2021-02-16T11:15:19.709Z,1613474119.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 239.253440 deg, deltaT: 4.436249 s, approachRate: -0.622148 m/s, LOS rate: -0.307606 deg/s, posRepo size: 4
2021-02-16T11:15:19.711Z,1613474119.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.219997 m,
      bearing: 239.253440 deg,
      approachRate: -0.622148 m/s,
      LOS rate: -0.307606 deg/s,
      cmd update: -0.922818 deg/s,
      cmd heading: 240.055595 deg,
      new cmd heading: 240.327053 deg.

2021-02-16T11:15:22.065Z,1613474122.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:22.825Z,1613474122.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:23.214Z,1613474123.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:24.044Z,1613474124.044 [Micromodem](INFO): Nmea in: $SNTTA,0.018087,,,,111524.27*41

2021-02-16T11:15:24.089Z,1613474124.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.400001 m, bearing: 238.417425 deg, deltaT: 4.442880 s, approachRate: -0.634723 m/s, LOS rate: -0.188170 deg/s, posRepo size: 4
2021-02-16T11:15:24.091Z,1613474124.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.400001 m,
      bearing: 238.417425 deg,
      approachRate: -0.634723 m/s,
      LOS rate: -0.188170 deg/s,
      cmd update: -0.564509 deg/s,
      cmd heading: 235.945895 deg,
      new cmd heading: 235.564456 deg.

2021-02-16T11:15:26.472Z,1613474126.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:27.251Z,1613474127.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:27.669Z,1613474127.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:28.480Z,1613474128.480 [Micromodem](INFO): Nmea in: $SNTTA,0.007829,,,,111528.70*4D

2021-02-16T11:15:28.520Z,1613474128.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.579999 m, bearing: 239.104542 deg, deltaT: 4.429561 s, approachRate: -0.636632 m/s, LOS rate: 0.155121 deg/s, posRepo size: 4
2021-02-16T11:15:28.522Z,1613474128.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.579999 m,
      bearing: 239.104542 deg,
      approachRate: -0.636632 m/s,
      LOS rate: 0.155121 deg/s,
      cmd update: 0.465362 deg/s,
      cmd heading: 233.447988 deg,
      new cmd heading: 233.211475 deg.

2021-02-16T11:15:30.961Z,1613474130.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:31.697Z,1613474131.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:32.101Z,1613474132.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:32.928Z,1613474132.928 [Micromodem](INFO): Nmea in: $SNTTA,0.006049,,,,111533.15*4B

2021-02-16T11:15:32.983Z,1613474132.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.820000 m, bearing: 242.336396 deg, deltaT: 4.421932 s, approachRate: -0.624161 m/s, LOS rate: 0.730869 deg/s, posRepo size: 4
2021-02-16T11:15:32.985Z,1613474132.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 242.336396 deg,
      approachRate: -0.624161 m/s,
      LOS rate: 0.730869 deg/s,
      cmd update: 2.192608 deg/s,
      cmd heading: 235.508041 deg,
      new cmd heading: 235.719989 deg.

2021-02-16T11:15:35.345Z,1613474135.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:36.142Z,1613474136.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:36.561Z,1613474136.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:37.368Z,1613474137.368 [Micromodem](INFO): Nmea in: $SNTTA,0.004376,,,,111537.59*4A

2021-02-16T11:15:37.410Z,1613474137.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 239.214180 deg, deltaT: 4.475813 s, approachRate: -0.576431 m/s, LOS rate: -0.697575 deg/s, posRepo size: 4
2021-02-16T11:15:37.416Z,1613474137.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 239.214180 deg,
      approachRate: -0.576431 m/s,
      LOS rate: -0.697575 deg/s,
      cmd update: -2.092726 deg/s,
      cmd heading: 245.321793 deg,
      new cmd heading: 246.213579 deg.

2021-02-16T11:15:39.854Z,1613474139.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:40.580Z,1613474140.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:40.997Z,1613474140.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:41.835Z,1613474141.835 [Micromodem](INFO): Nmea in: $SNTTA,0.003087,,,,111542.03*4D

2021-02-16T11:15:41.901Z,1613474141.901 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T11:15:41.901Z,1613474141.901 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:15:41.901Z,1613474141.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T11:15:41.901Z,1613474141.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:15:41.902Z,1613474141.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T11:15:41.902Z,1613474141.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T11:15:41.902Z,1613474141.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T11:15:41.902Z,1613474141.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T11:15:41.903Z,1613474141.903 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T11:15:41.906Z,1613474141.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 245.306135 deg, deltaT: 4.416271 s, approachRate: -0.461929 m/s, LOS rate: 1.379434 deg/s, posRepo size: 4
2021-02-16T11:15:41.909Z,1613474141.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 245.306135 deg,
      approachRate: -0.461929 m/s,
      LOS rate: 1.379434 deg/s,
      cmd update: 4.138302 deg/s,
      cmd heading: 236.079762 deg,
      new cmd heading: 235.062880 deg.

2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T111542: (41.552319, -70.708603)
2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T11:15:42.251Z,1613474142.251 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:15:42.252Z,1613474142.252 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T11:15:42.252Z,1613474142.252 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T11:15:42.252Z,1613474142.252 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:15:44.252Z,1613474144.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:45.024Z,1613474145.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:45.435Z,1613474145.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:46.256Z,1613474146.256 [Micromodem](INFO): Nmea in: $SNTTA,0.002624,,,,111546.47*47

2021-02-16T11:15:46.278Z,1613474146.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.899999 m, bearing: 237.272521 deg, deltaT: 4.484929 s, approachRate: -0.066891 m/s, LOS rate: -1.791247 deg/s, posRepo size: 4
2021-02-16T11:15:46.280Z,1613474146.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.899999 m,
      bearing: 237.272521 deg,
      approachRate: -0.066891 m/s,
      LOS rate: -1.791247 deg/s,
      cmd update: -5.373740 deg/s,
      cmd heading: 254.639730 deg,
      new cmd heading: 256.185307 deg.

2021-02-16T11:15:48.685Z,1613474148.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:49.476Z,1613474149.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:49.874Z,1613474149.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:50.708Z,1613474150.708 [Micromodem](INFO): Nmea in: $SNTTA,0.003799,,,,111550.93*4F

2021-02-16T11:15:50.752Z,1613474150.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 249.200271 deg, deltaT: 4.385765 s, approachRate: 0.424099 m/s, LOS rate: 2.719651 deg/s, posRepo size: 4
2021-02-16T11:15:50.754Z,1613474150.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 249.200271 deg,
      approachRate: 0.424099 m/s,
      LOS rate: 2.719651 deg/s,
      cmd update: 8.158953 deg/s,
      cmd heading: 231.072560 deg,
      new cmd heading: 228.591590 deg.

2021-02-16T11:15:53.171Z,1613474153.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:53.917Z,1613474153.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:54.319Z,1613474154.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:55.144Z,1613474155.144 [Micromodem](INFO): Nmea in: $SNTTA,0.006635,,,,111555.37*46

2021-02-16T11:15:55.189Z,1613474155.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 247.865297 deg, deltaT: 4.490578 s, approachRate: 0.948653 m/s, LOS rate: -0.297283 deg/s, posRepo size: 4
2021-02-16T11:15:55.195Z,1613474155.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.019998 m,
      bearing: 247.865297 deg,
      approachRate: 0.948653 m/s,
      LOS rate: -0.297283 deg/s,
      cmd update: -0.891850 deg/s,
      cmd heading: 267.679342 deg,
      new cmd heading: 271.044323 deg.

2021-02-16T11:15:57.583Z,1613474157.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:15:58.361Z,1613474158.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:15:58.767Z,1613474158.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:15:59.592Z,1613474159.592 [Micromodem](INFO): Nmea in: $SNTTA,0.007365,,,,111559.81*46

2021-02-16T11:15:59.654Z,1613474159.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 236.084532 deg, deltaT: 4.444835 s, approachRate: 0.269977 m/s, LOS rate: -2.650439 deg/s, posRepo size: 4
2021-02-16T11:15:59.657Z,1613474159.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 236.084532 deg,
      approachRate: 0.269977 m/s,
      LOS rate: -2.650439 deg/s,
      cmd update: -7.951317 deg/s,
      cmd heading: 263.713725 deg,
      new cmd heading: 263.329931 deg.

2021-02-16T11:16:02.082Z,1613474162.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:02.823Z,1613474162.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:03.211Z,1613474163.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:04.056Z,1613474164.056 [Micromodem](INFO): Nmea in: $SNTTA,0.009977,,,,111604.28*49

2021-02-16T11:16:04.101Z,1613474164.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 264.987680 deg, deltaT: 4.452817 s, approachRate: 0.862375 m/s, LOS rate: 6.490980 deg/s, posRepo size: 4
2021-02-16T11:16:04.102Z,1613474164.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.06 m. Rolling out.
2021-02-16T11:16:04.102Z,1613474164.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:16:06.467Z,1613474166.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:07.265Z,1613474167.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:07.655Z,1613474167.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:08.487Z,1613474168.487 [Micromodem](INFO): Nmea in: $SNTTA,0.011012,,,,111608.72*49

2021-02-16T11:16:08.510Z,1613474168.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 251.661790 deg, deltaT: 4.423573 s, approachRate: 0.366221 m/s, LOS rate: -3.012472 deg/s, posRepo size: 4
2021-02-16T11:16:10.921Z,1613474170.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:11.693Z,1613474171.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:12.107Z,1613474172.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:12.924Z,1613474172.924 [Micromodem](INFO): Nmea in: $SNTTA,0.012879,,,,111613.14*45

2021-02-16T11:16:12.970Z,1613474172.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 185.451370 deg, deltaT: 4.424265 s, approachRate: 0.623832 m/s, LOS rate: -14.965293 deg/s, posRepo size: 4
2021-02-16T11:16:15.341Z,1613474175.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:16.138Z,1613474176.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:16.561Z,1613474176.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:17.380Z,1613474177.380 [Micromodem](INFO): Nmea in: $SNTTA,0.014613,,,,111617.59*4C

2021-02-16T11:16:17.402Z,1613474177.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 195.643051 deg, deltaT: 4.465785 s, approachRate: 0.765823 m/s, LOS rate: 2.282170 deg/s, posRepo size: 4
2021-02-16T11:16:19.376Z,1613474179.376 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:16:19.804Z,1613474179.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:20.576Z,1613474180.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:20.982Z,1613474180.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:21.812Z,1613474181.812 [Micromodem](INFO): Nmea in: $SNTTA,0.016224,,,,111622.03*47

2021-02-16T11:16:21.886Z,1613474181.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.320000 m, bearing: 203.902949 deg, deltaT: 4.411383 s, approachRate: 0.557648 m/s, LOS rate: 1.872406 deg/s, posRepo size: 4
2021-02-16T11:16:24.262Z,1613474184.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:25.020Z,1613474185.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:25.429Z,1613474185.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:26.268Z,1613474186.268 [Micromodem](INFO): Nmea in: $SNTTA,0.017980,,,,111626.47*47

2021-02-16T11:16:26.301Z,1613474186.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 238.110449 deg, deltaT: 4.523780 s, approachRate: 0.397897 m/s, LOS rate: 7.561708 deg/s, posRepo size: 4
2021-02-16T11:16:28.697Z,1613474188.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:29.493Z,1613474189.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:29.871Z,1613474189.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:30.724Z,1613474190.724 [Micromodem](INFO): Nmea in: $SNTTA,0.019737,,,,111630.94*42

2021-02-16T11:16:30.762Z,1613474190.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.760000 m, bearing: 184.590589 deg, deltaT: 4.364739 s, approachRate: 0.604848 m/s, LOS rate: -12.261870 deg/s, posRepo size: 4
2021-02-16T11:16:33.133Z,1613474193.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:33.910Z,1613474193.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:34.313Z,1613474194.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:35.140Z,1613474195.140 [Micromodem](INFO): Nmea in: $SNTTA,0.021698,,,,111635.36*40

2021-02-16T11:16:35.185Z,1613474195.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.699997 m, bearing: 179.115441 deg, deltaT: 4.463196 s, approachRate: 0.658720 m/s, LOS rate: -1.226733 deg/s, posRepo size: 4
2021-02-16T11:16:37.571Z,1613474197.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:38.357Z,1613474198.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:38.763Z,1613474198.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:39.587Z,1613474199.587 [Micromodem](INFO): Nmea in: $SNTTA,0.023465,,,,111639.81*42

2021-02-16T11:16:39.610Z,1613474199.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.340000 m, bearing: 181.802888 deg, deltaT: 4.483422 s, approachRate: 0.588837 m/s, LOS rate: 0.599419 deg/s, posRepo size: 4
2021-02-16T11:16:42.020Z,1613474202.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:42.807Z,1613474202.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:43.202Z,1613474203.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:44.048Z,1613474204.048 [Micromodem](INFO): Nmea in: $SNTTA,0.025228,,,,111644.26*4C

2021-02-16T11:16:44.154Z,1613474204.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 188.653745 deg, deltaT: 4.440705 s, approachRate: 0.608012 m/s, LOS rate: 1.542741 deg/s, posRepo size: 4
2021-02-16T11:16:46.461Z,1613474206.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:47.248Z,1613474207.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:47.665Z,1613474207.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:48.476Z,1613474208.476 [Micromodem](INFO): Nmea in: $SNTTA,0.027085,,0.059680,,111648.70*58

2021-02-16T11:16:48.510Z,1613474208.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.220001 m, bearing: 197.130283 deg, deltaT: 4.411627 s, approachRate: 0.720823 m/s, LOS rate: 1.921409 deg/s, posRepo size: 4
2021-02-16T11:16:50.920Z,1613474210.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:51.689Z,1613474211.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:52.105Z,1613474212.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:52.921Z,1613474212.921 [Micromodem](INFO): Nmea in: $SNTTA,0.028898,,,0.031412,111653.14*5C

2021-02-16T11:16:53.004Z,1613474213.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 243.325407 deg, deltaT: 4.415174 s, approachRate: 0.529990 m/s, LOS rate: 10.462809 deg/s, posRepo size: 4
2021-02-16T11:16:55.348Z,1613474215.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:16:56.137Z,1613474216.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:16:56.533Z,1613474216.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:16:57.364Z,1613474217.364 [Micromodem](INFO): Nmea in: $SNTTA,0.030752,,,,111657.59*4A

2021-02-16T11:16:57.415Z,1613474217.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 206.084252 deg, deltaT: 4.500577 s, approachRate: 0.706576 m/s, LOS rate: -8.274751 deg/s, posRepo size: 4
2021-02-16T11:16:59.838Z,1613474219.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:00.584Z,1613474220.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:00.995Z,1613474220.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:01.820Z,1613474221.820 [Micromodem](INFO): Nmea in: $SNTTA,0.032647,,0.039660,,111702.03*57

2021-02-16T11:17:01.884Z,1613474221.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 191.343132 deg, deltaT: 4.402617 s, approachRate: 0.545132 m/s, LOS rate: -3.348263 deg/s, posRepo size: 4
2021-02-16T11:17:04.236Z,1613474224.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:05.016Z,1613474225.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:05.427Z,1613474225.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:06.252Z,1613474226.252 [Micromodem](INFO): Nmea in: $SNTTA,0.034592,,,,111706.47*4A

2021-02-16T11:17:06.267Z,1613474226.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.079994 m, bearing: 195.671669 deg, deltaT: 4.501314 s, approachRate: 0.653141 m/s, LOS rate: 0.961616 deg/s, posRepo size: 4
2021-02-16T11:17:08.683Z,1613474228.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:09.526Z,1613474229.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:09.931Z,1613474229.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:10.748Z,1613474230.748 [Micromodem](INFO): Nmea in: $SNTTA,0.036501,,,,111710.97*48

2021-02-16T11:17:10.773Z,1613474230.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.900002 m, bearing: 203.316741 deg, deltaT: 4.439678 s, approachRate: 0.635183 m/s, LOS rate: 1.721988 deg/s, posRepo size: 4
2021-02-16T11:17:13.185Z,1613474233.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:13.953Z,1613474233.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:14.375Z,1613474234.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:15.197Z,1613474235.197 [Micromodem](INFO): Nmea in: $SNTTA,0.038393,,,,111715.40*44

2021-02-16T11:17:15.238Z,1613474235.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 209.676958 deg, deltaT: 4.462244 s, approachRate: 0.645415 m/s, LOS rate: 1.425341 deg/s, posRepo size: 4
2021-02-16T11:17:17.661Z,1613474237.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:18.412Z,1613474238.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:18.833Z,1613474238.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:19.652Z,1613474239.652 [Micromodem](INFO): Nmea in: $SNTTA,0.040543,,,0.060443,111719.86*5D

2021-02-16T11:17:19.682Z,1613474239.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 219.274235 deg, deltaT: 4.435950 s, approachRate: 0.730395 m/s, LOS rate: 2.163522 deg/s, posRepo size: 4
2021-02-16T11:17:22.075Z,1613474242.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:22.858Z,1613474242.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:23.249Z,1613474243.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:24.080Z,1613474244.080 [Micromodem](INFO): Nmea in: $SNTTA,0.042280,,,,111724.31*4E

2021-02-16T11:17:24.120Z,1613474244.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 211.890472 deg, deltaT: 4.486336 s, approachRate: 0.575081 m/s, LOS rate: -1.645834 deg/s, posRepo size: 4
2021-02-16T11:17:26.506Z,1613474246.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:27.284Z,1613474247.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:27.695Z,1613474247.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:28.530Z,1613474248.530 [Micromodem](INFO): Nmea in: $SNTTA,0.044191,,0.059402,,111728.73*55

2021-02-16T11:17:28.562Z,1613474248.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.480003 m, bearing: 189.448178 deg, deltaT: 4.395451 s, approachRate: 0.655223 m/s, LOS rate: -5.105800 deg/s, posRepo size: 4
2021-02-16T11:17:30.961Z,1613474250.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:31.733Z,1613474251.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:32.144Z,1613474252.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:32.976Z,1613474252.976 [Micromodem](INFO): Nmea in: $SNTTA,0.046037,,,,111733.18*49

2021-02-16T11:17:33.030Z,1613474253.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 212.656956 deg, deltaT: 4.437564 s, approachRate: 0.621963 m/s, LOS rate: 5.230072 deg/s, posRepo size: 4
2021-02-16T11:17:35.391Z,1613474255.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:36.172Z,1613474256.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:36.589Z,1613474256.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:36.661Z,1613474256.661 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T11:17:37.404Z,1613474257.404 [Micromodem](INFO): Nmea in: $SNTTA,0.048047,,0.065548,,111737.62*5D

2021-02-16T11:17:37.469Z,1613474257.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 208.482604 deg, deltaT: 4.448956 s, approachRate: 0.674316 m/s, LOS rate: -0.938277 deg/s, posRepo size: 4
2021-02-16T11:17:39.877Z,1613474259.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:40.648Z,1613474260.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:41.023Z,1613474261.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:41.872Z,1613474261.872 [Micromodem](INFO): Nmea in: $SNTTA,0.049767,,,,111742.10*4A

2021-02-16T11:17:41.925Z,1613474261.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 212.443253 deg, deltaT: 4.432203 s, approachRate: 0.582102 m/s, LOS rate: 0.893607 deg/s, posRepo size: 4
2021-02-16T11:17:44.275Z,1613474264.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:45.060Z,1613474265.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:45.478Z,1613474265.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:46.295Z,1613474266.295 [Micromodem](INFO): Nmea in: $SNTTA,0.051623,,,,111746.51*43

2021-02-16T11:17:46.310Z,1613474266.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.580002 m, bearing: 210.820073 deg, deltaT: 4.460478 s, approachRate: 0.618768 m/s, LOS rate: -0.363903 deg/s, posRepo size: 4
2021-02-16T11:17:46.700Z,1613474266.700 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T11:17:48.720Z,1613474268.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:49.506Z,1613474269.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:49.910Z,1613474269.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:50.740Z,1613474270.740 [Micromodem](INFO): Nmea in: $SNTTA,0.053459,,,0.055973,111750.96*51

2021-02-16T11:17:50.764Z,1613474270.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 215.724804 deg, deltaT: 4.421765 s, approachRate: 0.637753 m/s, LOS rate: 1.109225 deg/s, posRepo size: 4
2021-02-16T11:17:51.958Z,1613474271.958 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:17:53.190Z,1613474273.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:53.956Z,1613474273.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:54.374Z,1613474274.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:55.184Z,1613474275.184 [Micromodem](INFO): Nmea in: $SNTTA,0.055389,,,,111755.40*40

2021-02-16T11:17:55.246Z,1613474275.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.220001 m, bearing: 204.837810 deg, deltaT: 4.469358 s, approachRate: 0.630965 m/s, LOS rate: -2.435919 deg/s, posRepo size: 4
2021-02-16T11:17:57.651Z,1613474277.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:17:58.393Z,1613474278.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:17:58.801Z,1613474278.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:17:59.650Z,1613474279.650 [Micromodem](INFO): Nmea in: $SNTTA,0.057338,,,,111759.84*4C

2021-02-16T11:17:59.679Z,1613474279.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 192.709949 deg, deltaT: 4.456905 s, approachRate: 0.659649 m/s, LOS rate: -2.721140 deg/s, posRepo size: 4
2021-02-16T11:18:02.075Z,1613474282.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:02.859Z,1613474282.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:03.247Z,1613474283.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:04.080Z,1613474284.080 [Micromodem](INFO): Nmea in: $SNTTA,0.059293,,,,111804.31*4B

2021-02-16T11:18:04.117Z,1613474284.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.160004 m, bearing: 197.007791 deg, deltaT: 4.447914 s, approachRate: 0.674475 m/s, LOS rate: 0.966260 deg/s, posRepo size: 4
2021-02-16T11:18:06.506Z,1613474286.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:07.282Z,1613474287.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:07.697Z,1613474287.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:08.512Z,1613474288.512 [Micromodem](INFO): Nmea in: $SNTTA,0.061049,,0.065181,,111808.73*5A

2021-02-16T11:18:08.550Z,1613474288.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 203.867923 deg, deltaT: 4.430040 s, approachRate: 0.568845 m/s, LOS rate: 1.548549 deg/s, posRepo size: 4
2021-02-16T11:18:10.970Z,1613474290.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:11.741Z,1613474291.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:12.129Z,1613474292.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:12.964Z,1613474292.964 [Micromodem](INFO): Nmea in: $SNTTA,0.062965,,,,111813.19*4D

2021-02-16T11:18:13.012Z,1613474293.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.740005 m, bearing: 220.494407 deg, deltaT: 4.410339 s, approachRate: 0.693824 m/s, LOS rate: 3.769888 deg/s, posRepo size: 4
2021-02-16T11:18:15.384Z,1613474295.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:16.179Z,1613474296.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:16.624Z,1613474296.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:17.404Z,1613474297.404 [Micromodem](INFO): Nmea in: $SNTTA,0.064830,,,,111817.63*43

2021-02-16T11:18:17.441Z,1613474297.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 226.455933 deg, deltaT: 4.480526 s, approachRate: 0.656174 m/s, LOS rate: 1.330541 deg/s, posRepo size: 4
2021-02-16T11:18:19.885Z,1613474299.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:20.647Z,1613474300.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:21.035Z,1613474301.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:21.880Z,1613474301.880 [Micromodem](INFO): Nmea in: $SNTTA,0.066779,,,,111822.10*41

2021-02-16T11:18:21.943Z,1613474301.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 213.103951 deg, deltaT: 4.415103 s, approachRate: 0.611537 m/s, LOS rate: -3.024161 deg/s, posRepo size: 4
2021-02-16T11:18:24.280Z,1613474304.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:25.061Z,1613474305.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:25.461Z,1613474305.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:26.288Z,1613474306.288 [Micromodem](INFO): Nmea in: $SNTTA,0.068787,,,,111826.51*4F

2021-02-16T11:18:26.310Z,1613474306.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 197.249101 deg, deltaT: 4.492001 s, approachRate: 0.654496 m/s, LOS rate: -3.529574 deg/s, posRepo size: 4
2021-02-16T11:18:28.719Z,1613474308.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:29.511Z,1613474309.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:29.927Z,1613474309.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:30.736Z,1613474310.736 [Micromodem](INFO): Nmea in: $SNTTA,0.070708,,,,111830.96*4D

2021-02-16T11:18:30.797Z,1613474310.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 210.622803 deg, deltaT: 4.388637 s, approachRate: 0.656240 m/s, LOS rate: 3.047347 deg/s, posRepo size: 4
2021-02-16T11:18:33.161Z,1613474313.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:33.961Z,1613474313.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:34.356Z,1613474314.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:35.184Z,1613474315.184 [Micromodem](INFO): Nmea in: $SNTTA,0.072560,,,,111835.41*4C

2021-02-16T11:18:35.218Z,1613474315.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 227.816711 deg, deltaT: 4.507768 s, approachRate: 0.625588 m/s, LOS rate: 3.814284 deg/s, posRepo size: 4
2021-02-16T11:18:37.623Z,1613474317.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:38.388Z,1613474318.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:38.824Z,1613474318.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:39.660Z,1613474319.660 [Micromodem](INFO): Nmea in: $SNTTA,0.074566,,,,111839.84*49

2021-02-16T11:18:39.708Z,1613474319.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.959999 m, bearing: 218.115193 deg, deltaT: 4.415004 s, approachRate: 0.665910 m/s, LOS rate: -2.197398 deg/s, posRepo size: 4
2021-02-16T11:18:42.056Z,1613474322.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:42.854Z,1613474322.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:43.244Z,1613474323.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:44.076Z,1613474324.076 [Micromodem](INFO): Nmea in: $SNTTA,0.076401,,0.081863,,111844.30*54

2021-02-16T11:18:44.120Z,1613474324.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.780006 m, bearing: 209.001384 deg, deltaT: 4.456155 s, approachRate: 0.632834 m/s, LOS rate: -2.045218 deg/s, posRepo size: 4
2021-02-16T11:18:46.516Z,1613474326.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:47.285Z,1613474327.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:47.681Z,1613474327.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:48.517Z,1613474328.517 [Micromodem](INFO): Nmea in: $SNTTA,0.078316,,,,111848.73*4A

2021-02-16T11:18:48.552Z,1613474328.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.660004 m, bearing: 212.463566 deg, deltaT: 4.423032 s, approachRate: 0.651136 m/s, LOS rate: 0.782762 deg/s, posRepo size: 4
2021-02-16T11:18:50.977Z,1613474330.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:51.734Z,1613474331.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:52.126Z,1613474332.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:52.956Z,1613474332.956 [Micromodem](INFO): Nmea in: $SNTTA,0.080303,,,,111853.18*4E

2021-02-16T11:18:52.990Z,1613474332.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 201.098213 deg, deltaT: 4.419935 s, approachRate: 0.665169 m/s, LOS rate: -2.571385 deg/s, posRepo size: 4
2021-02-16T11:18:55.371Z,1613474335.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:18:56.164Z,1613474336.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:18:56.570Z,1613474336.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:18:57.392Z,1613474337.392 [Micromodem](INFO): Nmea in: $SNTTA,0.082179,,,,111857.61*49

2021-02-16T11:18:57.407Z,1613474337.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.420006 m, bearing: 217.721077 deg, deltaT: 4.504429 s, approachRate: 0.626050 m/s, LOS rate: 3.690338 deg/s, posRepo size: 4
2021-02-16T11:18:59.878Z,1613474339.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:00.628Z,1613474340.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:01.014Z,1613474341.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:01.872Z,1613474341.872 [Micromodem](INFO): Nmea in: $SNTTA,0.084119,,,,111902.08*47

2021-02-16T11:19:01.906Z,1613474341.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 219.373778 deg, deltaT: 4.383730 s, approachRate: 0.656974 m/s, LOS rate: 0.377008 deg/s, posRepo size: 4
2021-02-16T11:19:04.278Z,1613474344.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:05.057Z,1613474345.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:05.477Z,1613474345.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:06.284Z,1613474346.284 [Micromodem](INFO): Nmea in: $SNTTA,0.086064,,,,111906.51*46

2021-02-16T11:19:06.320Z,1613474346.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.300003 m, bearing: 217.209045 deg, deltaT: 4.482223 s, approachRate: 0.669311 m/s, LOS rate: -0.482960 deg/s, posRepo size: 4
2021-02-16T11:19:08.720Z,1613474348.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:09.498Z,1613474349.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:09.917Z,1613474349.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:10.729Z,1613474350.729 [Micromodem](INFO): Nmea in: $SNTTA,0.088095,,,,111910.95*49

2021-02-16T11:19:10.800Z,1613474350.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.300003 m, bearing: 209.616074 deg, deltaT: 4.404646 s, approachRate: 0.681099 m/s, LOS rate: -1.723855 deg/s, posRepo size: 4
2021-02-16T11:19:13.188Z,1613474353.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:13.954Z,1613474353.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:14.350Z,1613474354.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:15.176Z,1613474355.176 [Micromodem](INFO): Nmea in: $SNTTA,0.089990,,,,111915.40*49

2021-02-16T11:19:15.240Z,1613474355.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 212.951283 deg, deltaT: 4.483404 s, approachRate: 0.628985 m/s, LOS rate: 0.743901 deg/s, posRepo size: 4
2021-02-16T11:19:17.619Z,1613474357.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:18.391Z,1613474358.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:18.794Z,1613474358.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:19.640Z,1613474359.640 [Micromodem](INFO): Nmea in: $SNTTA,0.091790,,,,111919.84*4A

2021-02-16T11:19:19.676Z,1613474359.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.880005 m, bearing: 213.931907 deg, deltaT: 4.461733 s, approachRate: 0.618596 m/s, LOS rate: 0.219785 deg/s, posRepo size: 4
2021-02-16T11:19:22.066Z,1613474362.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:22.858Z,1613474362.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:23.241Z,1613474363.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:24.113Z,1613474364.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.880005 m, bearing: 223.609752 deg, deltaT: 4.437008 s, approachRate: 0.000000 m/s, LOS rate: 2.181165 deg/s, posRepo size: 4
2021-02-16T11:19:24.472Z,1613474364.472 [Micromodem](INFO): Nmea in: $SNTTA,0.093639,,,,111924.34*4F

2021-02-16T11:19:26.479Z,1613474366.479 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:27.273Z,1613474367.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:27.677Z,1613474367.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:28.500Z,1613474368.500 [Micromodem](INFO): Nmea in: $SNTTA,0.095510,,,,111928.72*4F

2021-02-16T11:19:28.541Z,1613474368.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.460007 m, bearing: 213.768529 deg, deltaT: 4.426047 s, approachRate: 1.260719 m/s, LOS rate: -2.223479 deg/s, posRepo size: 4
2021-02-16T11:19:30.980Z,1613474370.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:31.740Z,1613474371.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:32.123Z,1613474372.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:32.960Z,1613474372.960 [Micromodem](INFO): Nmea in: $SNTTA,0.097402,,,,111933.19*48

2021-02-16T11:19:33.027Z,1613474373.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 221.179803 deg, deltaT: 4.432222 s, approachRate: 0.636248 m/s, LOS rate: 1.672135 deg/s, posRepo size: 4
2021-02-16T11:19:35.368Z,1613474375.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:36.160Z,1613474376.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:36.574Z,1613474376.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:37.388Z,1613474377.388 [Micromodem](INFO): Nmea in: $SNTTA,0.099244,,,,111937.61*49

2021-02-16T11:19:37.425Z,1613474377.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 214.020440 deg, deltaT: 4.463756 s, approachRate: 0.618316 m/s, LOS rate: -1.603888 deg/s, posRepo size: 4
2021-02-16T11:19:39.870Z,1613474379.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:40.621Z,1613474380.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:41.028Z,1613474381.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:41.864Z,1613474381.864 [Micromodem](INFO): Nmea in: $SNTTA,0.101107,,,,111942.07*4F

2021-02-16T11:19:41.927Z,1613474381.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.800003 m, bearing: 215.092219 deg, deltaT: 4.423892 s, approachRate: 0.623884 m/s, LOS rate: 0.242271 deg/s, posRepo size: 4
2021-02-16T11:19:41.927Z,1613474381.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.80 m. Resuming terminal guidance.
2021-02-16T11:19:41.928Z,1613474381.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:19:44.262Z,1613474384.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:45.067Z,1613474385.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:45.471Z,1613474385.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:46.296Z,1613474386.296 [Micromodem](INFO): Nmea in: $SNTTA,0.102860,,,,111946.52*40

2021-02-16T11:19:46.340Z,1613474386.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.440002 m, bearing: 210.398568 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:19:46.341Z,1613474386.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 210.398568deg and heading rate command to 0 deg/s.
2021-02-16T11:19:48.712Z,1613474388.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:49.498Z,1613474389.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:49.898Z,1613474389.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:50.724Z,1613474390.724 [Micromodem](INFO): Nmea in: $SNTTA,0.104659,,,,111950.95*4E

2021-02-16T11:19:50.754Z,1613474390.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 198.691159 deg, deltaT: 4.381554 s, approachRate: 0.616219 m/s, LOS rate: -2.671976 deg/s, posRepo size: 2
2021-02-16T11:19:50.776Z,1613474390.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 198.691159 deg,
      approachRate: 0.616219 m/s,
      LOS rate: -2.671976 deg/s,
      cmd update: -8.015929 deg/s,
      cmd heading: 210.398568 deg,
      new cmd heading: 210.398568 deg.

2021-02-16T11:19:53.198Z,1613474393.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:53.936Z,1613474393.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:19:54.343Z,1613474394.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:19:55.153Z,1613474395.153 [Micromodem](INFO): Nmea in: $SNTTA,0.106355,,,,111955.38*47

2021-02-16T11:19:56.010Z,1613474396.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:57.576Z,1613474397.576 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:19:58.870Z,1613474398.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:19:59.608Z,1613474399.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:00.020Z,1613474400.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:00.402Z,1613474400.402 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,093,0003,E4
C,186,80,80,9B,FF
2021-02-16T11:20:00.837Z,1613474400.837 [Micromodem](INFO): Nmea in: $SNTTA,0.108191,,,,112001.06*45

2021-02-16T11:20:01.679Z,1613474401.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:04.470Z,1613474404.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:07.289Z,1613474407.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:08.085Z,1613474408.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:08.485Z,1613474408.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:09.312Z,1613474409.312 [Micromodem](INFO): Nmea in: $SNTTA,0.109339,,,,112009.53*4C

2021-02-16T11:20:09.334Z,1613474409.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.820007 m, bearing: 175.168001 deg, deltaT: 18.632468 s, approachRate: 0.412184 m/s, LOS rate: -1.262482 deg/s, posRepo size: 3
2021-02-16T11:20:09.336Z,1613474409.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.820007 m,
      bearing: 175.168001 deg,
      approachRate: 0.412184 m/s,
      LOS rate: -1.262482 deg/s,
      cmd update: -3.787447 deg/s,
      cmd heading: 61.053325 deg,
      new cmd heading: 58.012122 deg.

2021-02-16T11:20:11.786Z,1613474411.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:12.524Z,1613474412.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:12.929Z,1613474412.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:13.756Z,1613474413.756 [Micromodem](INFO): Nmea in: $SNTTA,0.109192,,0.120199,,112013.97*50

2021-02-16T11:20:13.803Z,1613474413.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 113.214962 deg, deltaT: 4.401461 s, approachRate: -0.231739 m/s, LOS rate: -14.075562 deg/s, posRepo size: 4
2021-02-16T11:20:13.804Z,1613474413.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.075562 deg/s. Setting heading cmd to target bearing of 113.214962deg and heading rate command to 0 deg/s.
2021-02-16T11:20:16.201Z,1613474416.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:16.973Z,1613474416.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:17.374Z,1613474417.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:18.205Z,1613474418.205 [Micromodem](INFO): Nmea in: $SNTTA,0.108450,,,,112018.42*45

2021-02-16T11:20:18.256Z,1613474418.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.800018 m, bearing: 58.655930 deg, deltaT: 4.501754 s, approachRate: 0.000000 m/s, LOS rate: -12.119506 deg/s, posRepo size: 4
2021-02-16T11:20:18.257Z,1613474418.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.119506 deg/s. Setting heading cmd to target bearing of 58.655930deg and heading rate command to 0 deg/s.
2021-02-16T11:20:20.682Z,1613474420.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:21.419Z,1613474421.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:21.867Z,1613474421.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:22.676Z,1613474422.676 [Micromodem](INFO): Nmea in: $SNTTA,0.107259,,,,112022.87*45

2021-02-16T11:20:22.700Z,1613474422.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 43.354510 deg, deltaT: 4.413110 s, approachRate: -0.693395 m/s, LOS rate: -3.467265 deg/s, posRepo size: 4
2021-02-16T11:20:22.701Z,1613474422.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.739990 m,
      bearing: 43.354510 deg,
      approachRate: -0.693395 m/s,
      LOS rate: -3.467265 deg/s,
      cmd update: -10.401794 deg/s,
      cmd heading: 58.655930 deg,
      new cmd heading: 58.655930 deg.

2021-02-16T11:20:25.091Z,1613474425.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:25.891Z,1613474425.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:26.261Z,1613474426.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:27.484Z,1613474427.484 [Micromodem](INFO): Nmea in: $SNTTA,0.105460,,,,112027.38*4A

2021-02-16T11:20:27.506Z,1613474427.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.040009 m, bearing: 49.744319 deg, deltaT: 4.878566 s, approachRate: -0.553438 m/s, LOS rate: 1.309772 deg/s, posRepo size: 4
2021-02-16T11:20:27.508Z,1613474427.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.040009 m,
      bearing: 49.744319 deg,
      approachRate: -0.553438 m/s,
      LOS rate: 1.309772 deg/s,
      cmd update: 3.929316 deg/s,
      cmd heading: 7.913055 deg,
      new cmd heading: 4.177282 deg.

2021-02-16T11:20:29.946Z,1613474429.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:30.704Z,1613474430.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:31.117Z,1613474431.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:31.932Z,1613474431.932 [Micromodem](INFO): Nmea in: $SNTTA,0.103431,,,,112032.15*43

2021-02-16T11:20:31.981Z,1613474431.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 46.946745 deg, deltaT: 4.405825 s, approachRate: -0.721770 m/s, LOS rate: -0.634972 deg/s, posRepo size: 4
2021-02-16T11:20:31.982Z,1613474431.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 46.946745 deg,
      approachRate: -0.721770 m/s,
      LOS rate: -0.634972 deg/s,
      cmd update: -1.904915 deg/s,
      cmd heading: 25.225236 deg,
      new cmd heading: 26.906017 deg.

2021-02-16T11:20:34.371Z,1613474434.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:35.152Z,1613474435.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:35.565Z,1613474435.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:36.388Z,1613474436.388 [Micromodem](INFO): Nmea in: $SNTTA,0.101228,,,,112036.60*49

2021-02-16T11:20:36.410Z,1613474436.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.680008 m, bearing: 47.493690 deg, deltaT: 4.451797 s, approachRate: -0.714320 m/s, LOS rate: 0.122859 deg/s, posRepo size: 4
2021-02-16T11:20:36.412Z,1613474436.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.680008 m,
      bearing: 47.493690 deg,
      approachRate: -0.714320 m/s,
      LOS rate: 0.122859 deg/s,
      cmd update: 0.368578 deg/s,
      cmd heading: 16.737608 deg,
      new cmd heading: 15.972629 deg.

2021-02-16T11:20:38.849Z,1613474438.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:39.596Z,1613474439.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:39.998Z,1613474439.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:40.854Z,1613474440.854 [Micromodem](INFO): Nmea in: $SNTTA,0.098920,,,,112041.04*49

2021-02-16T11:20:40.921Z,1613474440.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 48.014232 deg, deltaT: 4.427015 s, approachRate: -0.786082 m/s, LOS rate: 0.117583 deg/s, posRepo size: 4
2021-02-16T11:20:40.923Z,1613474440.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 48.014232 deg,
      approachRate: -0.786082 m/s,
      LOS rate: 0.117583 deg/s,
      cmd update: 0.352749 deg/s,
      cmd heading: 18.363530 deg,
      new cmd heading: 18.548406 deg.

2021-02-16T11:20:43.261Z,1613474443.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:44.045Z,1613474444.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:44.442Z,1613474444.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:45.276Z,1613474445.276 [Micromodem](INFO): Nmea in: $SNTTA,0.096544,,,,112045.49*44

2021-02-16T11:20:45.312Z,1613474445.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 45.262366 deg, deltaT: 4.474068 s, approachRate: -0.791228 m/s, LOS rate: -0.615070 deg/s, posRepo size: 4
2021-02-16T11:20:45.314Z,1613474445.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.660004 m,
      bearing: 45.262366 deg,
      approachRate: -0.791228 m/s,
      LOS rate: -0.615070 deg/s,
      cmd update: -1.845211 deg/s,
      cmd heading: 19.947398 deg,
      new cmd heading: 20.089120 deg.

2021-02-16T11:20:47.705Z,1613474447.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:48.480Z,1613474448.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:48.886Z,1613474448.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:49.708Z,1613474449.708 [Micromodem](INFO): Nmea in: $SNTTA,0.094421,,,,112049.93*4F

2021-02-16T11:20:49.753Z,1613474449.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 46.213070 deg, deltaT: 4.431585 s, approachRate: -0.717578 m/s, LOS rate: 0.214529 deg/s, posRepo size: 4
2021-02-16T11:20:49.760Z,1613474449.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 46.213070 deg,
      approachRate: -0.717578 m/s,
      LOS rate: 0.214529 deg/s,
      cmd update: 0.643587 deg/s,
      cmd heading: 11.790168 deg,
      new cmd heading: 11.011586 deg.

2021-02-16T11:20:52.142Z,1613474452.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:52.924Z,1613474452.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:53.330Z,1613474453.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:54.156Z,1613474454.156 [Micromodem](INFO): Nmea in: $SNTTA,0.092418,,,,112054.37*41

2021-02-16T11:20:54.195Z,1613474454.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 47.258519 deg, deltaT: 4.445508 s, approachRate: -0.674835 m/s, LOS rate: 0.235170 deg/s, posRepo size: 4
2021-02-16T11:20:54.197Z,1613474454.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.480011 m,
      bearing: 47.258519 deg,
      approachRate: -0.674835 m/s,
      LOS rate: 0.235170 deg/s,
      cmd update: 0.705509 deg/s,
      cmd heading: 14.658205 deg,
      new cmd heading: 14.920602 deg.

2021-02-16T11:20:56.612Z,1613474456.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:20:57.373Z,1613474457.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:20:57.785Z,1613474457.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:20:58.600Z,1613474458.600 [Micromodem](INFO): Nmea in: $SNTTA,0.090475,,,,112058.82*4A

2021-02-16T11:20:58.675Z,1613474458.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.540009 m, bearing: 48.784903 deg, deltaT: 4.466795 s, approachRate: -0.658191 m/s, LOS rate: 0.341718 deg/s, posRepo size: 4
2021-02-16T11:20:58.677Z,1613474458.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.540009 m,
      bearing: 48.784903 deg,
      approachRate: -0.658191 m/s,
      LOS rate: 0.341718 deg/s,
      cmd update: 1.025153 deg/s,
      cmd heading: 17.801871 deg,
      new cmd heading: 18.103989 deg.

2021-02-16T11:21:01.049Z,1613474461.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:01.860Z,1613474461.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:01.978Z,1613474461.978 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T11:21:01.978Z,1613474461.978 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T11:21:01.978Z,1613474461.978 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T11:21:01.978Z,1613474461.978 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T11:21:01.978Z,1613474461.978 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T11:21:01.979Z,1613474461.979 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T11:21:01.979Z,1613474461.979 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T11:21:01.980Z,1613474461.980 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T11:21:01.980Z,1613474461.980 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T11:21:01.980Z,1613474461.980 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T11:21:01.982Z,1613474461.982 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613469062.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T11:21:01.982Z,1613474461.982 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T11:21:02.234Z,1613474462.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:03.050Z,1613474463.050 [Micromodem](INFO): Nmea in: $SNTTA,0.088540,,,,112103.31*43

2021-02-16T11:21:03.121Z,1613474463.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 50.074149 deg, deltaT: 4.420881 s, approachRate: -0.651455 m/s, LOS rate: 0.291626 deg/s, posRepo size: 4
2021-02-16T11:21:03.127Z,1613474463.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 50.074149 deg,
      approachRate: -0.651455 m/s,
      LOS rate: 0.291626 deg/s,
      cmd update: 0.874879 deg/s,
      cmd heading: 22.345137 deg,
      new cmd heading: 22.796859 deg.

2021-02-16T11:21:05.473Z,1613474465.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:06.256Z,1613474466.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:06.661Z,1613474466.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:07.503Z,1613474467.503 [Micromodem](INFO): Nmea in: $SNTTA,0.086388,,,,112107.70*4E

2021-02-16T11:21:07.522Z,1613474467.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 51.505961 deg, deltaT: 4.429571 s, approachRate: -0.731449 m/s, LOS rate: 0.323240 deg/s, posRepo size: 4
2021-02-16T11:21:07.524Z,1613474467.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.419998 m,
      bearing: 51.505961 deg,
      approachRate: -0.731449 m/s,
      LOS rate: 0.323240 deg/s,
      cmd update: 0.969719 deg/s,
      cmd heading: 26.206356 deg,
      new cmd heading: 26.585762 deg.

2021-02-16T11:21:09.932Z,1613474469.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:10.701Z,1613474470.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:11.106Z,1613474471.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:11.936Z,1613474471.936 [Micromodem](INFO): Nmea in: $SNTTA,0.084224,,,,112112.15*4C

2021-02-16T11:21:11.984Z,1613474471.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.120003 m, bearing: 52.320885 deg, deltaT: 4.448181 s, approachRate: -0.741875 m/s, LOS rate: 0.183204 deg/s, posRepo size: 4
2021-02-16T11:21:11.985Z,1613474471.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.120003 m,
      bearing: 52.320885 deg,
      approachRate: -0.741875 m/s,
      LOS rate: 0.183204 deg/s,
      cmd update: 0.549611 deg/s,
      cmd heading: 30.527366 deg,
      new cmd heading: 30.953348 deg.

2021-02-16T11:21:14.367Z,1613474474.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:15.150Z,1613474475.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:15.558Z,1613474475.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:16.376Z,1613474476.376 [Micromodem](INFO): Nmea in: $SNTTA,0.082020,,,,112116.60*4A

2021-02-16T11:21:16.410Z,1613474476.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 54.254235 deg, deltaT: 4.445643 s, approachRate: -0.728805 m/s, LOS rate: 0.434886 deg/s, posRepo size: 4
2021-02-16T11:21:16.412Z,1613474476.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.879997 m,
      bearing: 54.254235 deg,
      approachRate: -0.728805 m/s,
      LOS rate: 0.434886 deg/s,
      cmd update: 1.304659 deg/s,
      cmd heading: 32.975358 deg,
      new cmd heading: 33.201860 deg.

2021-02-16T11:21:18.866Z,1613474478.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:19.616Z,1613474479.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:20.011Z,1613474480.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:20.852Z,1613474480.852 [Micromodem](INFO): Nmea in: $SNTTA,0.079845,,,,112121.07*40

2021-02-16T11:21:20.900Z,1613474480.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 54.577788 deg, deltaT: 4.438621 s, approachRate: -0.743475 m/s, LOS rate: 0.072895 deg/s, posRepo size: 4
2021-02-16T11:21:20.904Z,1613474480.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 54.577788 deg,
      approachRate: -0.743475 m/s,
      LOS rate: 0.072895 deg/s,
      cmd update: 0.218685 deg/s,
      cmd heading: 38.760868 deg,
      new cmd heading: 39.367592 deg.

2021-02-16T11:21:23.302Z,1613474483.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:24.032Z,1613474484.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:24.532Z,1613474484.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:25.348Z,1613474485.348 [Micromodem](INFO): Nmea in: $SNTTA,0.077747,,,,112125.48*4C

2021-02-16T11:21:25.397Z,1613474485.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 54.929764 deg, deltaT: 4.558257 s, approachRate: -0.684469 m/s, LOS rate: 0.077217 deg/s, posRepo size: 4
2021-02-16T11:21:25.411Z,1613474485.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.460007 m,
      bearing: 54.929764 deg,
      approachRate: -0.684469 m/s,
      LOS rate: 0.077217 deg/s,
      cmd update: 0.231652 deg/s,
      cmd heading: 39.756934 deg,
      new cmd heading: 39.845329 deg.

2021-02-16T11:21:27.808Z,1613474487.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:28.578Z,1613474488.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:28.974Z,1613474488.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:29.804Z,1613474489.804 [Micromodem](INFO): Nmea in: $SNTTA,0.075340,,,,112130.03*46

2021-02-16T11:21:29.881Z,1613474489.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 54.847123 deg, deltaT: 4.400943 s, approachRate: -0.818008 m/s, LOS rate: -0.018778 deg/s, posRepo size: 4
2021-02-16T11:21:29.882Z,1613474489.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.860001 m,
      bearing: 54.847123 deg,
      approachRate: -0.818008 m/s,
      LOS rate: -0.018778 deg/s,
      cmd update: -0.056335 deg/s,
      cmd heading: 40.778180 deg,
      new cmd heading: 40.890457 deg.

2021-02-16T11:21:32.261Z,1613474492.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:33.029Z,1613474493.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:33.417Z,1613474493.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:34.252Z,1613474494.252 [Micromodem](INFO): Nmea in: $SNTTA,0.073096,,,,112134.48*43

2021-02-16T11:21:34.296Z,1613474494.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.440010 m, bearing: 55.095185 deg, deltaT: 4.509765 s, approachRate: -0.758352 m/s, LOS rate: 0.055006 deg/s, posRepo size: 4
2021-02-16T11:21:34.297Z,1613474494.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.440010 m,
      bearing: 55.095185 deg,
      approachRate: -0.758352 m/s,
      LOS rate: 0.055006 deg/s,
      cmd update: 0.165017 deg/s,
      cmd heading: 40.524355 deg,
      new cmd heading: 40.502171 deg.

2021-02-16T11:21:35.090Z,1613474495.090 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T11:21:35.470Z,1613474495.470 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T11:21:35.600Z,1613474495.600 [Radio_Surface](INFO): Powering up
2021-02-16T11:21:36.699Z,1613474496.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:37.463Z,1613474497.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:37.885Z,1613474497.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:38.707Z,1613474498.707 [Micromodem](INFO): Nmea in: $SNTTA,0.071051,,,,112138.91*42

2021-02-16T11:21:38.731Z,1613474498.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.379997 m, bearing: 51.381495 deg, deltaT: 4.372162 s, approachRate: -0.699885 m/s, LOS rate: -0.849394 deg/s, posRepo size: 4
2021-02-16T11:21:38.733Z,1613474498.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 51.381495 deg,
      approachRate: -0.699885 m/s,
      LOS rate: -0.849394 deg/s,
      cmd update: -2.548183 deg/s,
      cmd heading: 41.246609 deg,
      new cmd heading: 41.321276 deg.

2021-02-16T11:21:41.131Z,1613474501.131 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T11:21:41.140Z,1613474501.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:41.902Z,1613474501.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:42.308Z,1613474502.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:43.152Z,1613474503.152 [Micromodem](INFO): Nmea in: $SNTTA,0.069502,,,,112143.35*4A

2021-02-16T11:21:43.211Z,1613474503.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 57.874433 deg, deltaT: 4.460910 s, approachRate: -0.524556 m/s, LOS rate: 1.455519 deg/s, posRepo size: 4
2021-02-16T11:21:43.214Z,1613474503.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.040001 m,
      bearing: 57.874433 deg,
      approachRate: -0.524556 m/s,
      LOS rate: 1.455519 deg/s,
      cmd update: 4.366556 deg/s,
      cmd heading: 29.879520 deg,
      new cmd heading: 28.739185 deg.

2021-02-16T11:21:45.568Z,1613474505.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:46.344Z,1613474506.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:46.755Z,1613474506.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:47.163Z,1613474507.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:21:47.588Z,1613474507.588 [Micromodem](INFO): Nmea in: $SNTTA,0.068372,,,,112147.79*46

2021-02-16T11:21:47.671Z,1613474507.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 55.938518 deg, deltaT: 4.483158 s, approachRate: -0.374736 m/s, LOS rate: -0.431819 deg/s, posRepo size: 4
2021-02-16T11:21:47.674Z,1613474507.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.360001 m,
      bearing: 55.938518 deg,
      approachRate: -0.374736 m/s,
      LOS rate: -0.431819 deg/s,
      cmd update: -1.295458 deg/s,
      cmd heading: 49.409641 deg,
      new cmd heading: 51.392105 deg.

2021-02-16T11:21:50.052Z,1613474510.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:50.796Z,1613474510.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:51.213Z,1613474511.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:52.047Z,1613474512.047 [Micromodem](INFO): Nmea in: $SNTTA,0.067428,,,0.069947,112152.25*57

2021-02-16T11:21:52.092Z,1613474512.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 60.700936 deg, deltaT: 4.389259 s, approachRate: -0.328072 m/s, LOS rate: 1.085016 deg/s, posRepo size: 4
2021-02-16T11:21:52.094Z,1613474512.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.920006 m,
      bearing: 60.700936 deg,
      approachRate: -0.328072 m/s,
      LOS rate: 1.085016 deg/s,
      cmd update: 3.255049 deg/s,
      cmd heading: 43.709934 deg,
      new cmd heading: 43.088202 deg.

2021-02-16T11:21:52.503Z,1613474512.503 [BuoyancyServo](FAULT): Overload Error
2021-02-16T11:21:52.503Z,1613474512.503 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T11:21:52.503Z,1613474512.503 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T11:21:52.572Z,1613474512.572 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T11:21:54.469Z,1613474514.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:54.485Z,1613474514.485 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T11:21:54.485Z,1613474514.485 [BuoyancyServo](INFO): Powering down
2021-02-16T11:21:55.279Z,1613474515.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:21:55.478Z,1613474515.478 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T11:21:55.478Z,1613474515.478 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T11:21:55.652Z,1613474515.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:21:55.710Z,1613474515.710 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T11:21:55.712Z,1613474515.712 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T11:21:56.523Z,1613474516.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 61.444143 deg, deltaT: 4.463620 s, approachRate: -0.241956 m/s, LOS rate: 0.166503 deg/s, posRepo size: 4
2021-02-16T11:21:56.525Z,1613474516.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 61.444143 deg,
      approachRate: -0.241956 m/s,
      LOS rate: 0.166503 deg/s,
      cmd update: 0.499509 deg/s,
      cmd heading: 58.239262 deg,
      new cmd heading: 59.683364 deg.

2021-02-16T11:21:56.916Z,1613474516.916 [Micromodem](INFO): Nmea in: $SNTTA,0.066671,,,,112156.75*42

2021-02-16T11:21:56.921Z,1613474516.921 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:21:58.941Z,1613474518.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:21:59.682Z,1613474519.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:00.093Z,1613474520.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:00.908Z,1613474520.908 [Micromodem](INFO): Nmea in: $SNTTA,0.066121,,,,112201.13*41

2021-02-16T11:22:00.970Z,1613474520.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 61.769034 deg, deltaT: 4.446667 s, approachRate: -0.188906 m/s, LOS rate: 0.073064 deg/s, posRepo size: 4
2021-02-16T11:22:00.976Z,1613474520.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.000000 m,
      bearing: 61.769034 deg,
      approachRate: -0.188906 m/s,
      LOS rate: 0.073064 deg/s,
      cmd update: 0.219192 deg/s,
      cmd heading: 60.458419 deg,
      new cmd heading: 60.683944 deg.

2021-02-16T11:22:03.337Z,1613474523.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:04.125Z,1613474524.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:04.661Z,1613474524.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:05.340Z,1613474525.340 [Micromodem](INFO): Nmea in: $SNTTA,0.065668,,,,112205.57*4C

2021-02-16T11:22:06.167Z,1613474526.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:06.959Z,1613474526.959 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:22:07.760Z,1613474527.760 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:22:07.764Z,1613474527.764 [NAL9602](INFO): SBD MO Status=1, MOMSN=13411, MT Status=0, MTMSN=0
2021-02-16T11:22:07.764Z,1613474527.764 [NAL9602](INFO): No messages in MT queue
2021-02-16T11:22:09.029Z,1613474529.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:09.778Z,1613474529.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:10.182Z,1613474530.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:11.012Z,1613474531.012 [Micromodem](INFO): Nmea in: $SNTTA,0.065152,,,,112211.23*44

2021-02-16T11:22:11.072Z,1613474531.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.620003 m, bearing: 60.433439 deg, deltaT: 10.082012 s, approachRate: -0.136877 m/s, LOS rate: -0.132473 deg/s, posRepo size: 4
2021-02-16T11:22:11.074Z,1613474531.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.620003 m,
      bearing: 60.433439 deg,
      approachRate: -0.136877 m/s,
      LOS rate: -0.132473 deg/s,
      cmd update: -0.397419 deg/s,
      cmd heading: 62.669189 deg,
      new cmd heading: 62.771696 deg.

2021-02-16T11:22:11.255Z,1613474531.255 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:22:13.155Z,1613474533.155 [BuoyancyServo](FAULT): Overload Error
2021-02-16T11:22:13.155Z,1613474533.155 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T11:22:13.155Z,1613474533.155 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T11:22:13.259Z,1613474533.259 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T11:22:13.426Z,1613474533.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:14.227Z,1613474534.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:14.653Z,1613474534.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:15.080Z,1613474535.080 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T11:22:15.080Z,1613474535.080 [BuoyancyServo](INFO): Powering down
2021-02-16T11:22:15.452Z,1613474535.452 [Micromodem](INFO): Nmea in: $SNTTA,0.064932,,,,112215.67*4F

2021-02-16T11:22:15.489Z,1613474535.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 56.651781 deg, deltaT: 4.463270 s, approachRate: -0.080658 m/s, LOS rate: -0.847284 deg/s, posRepo size: 4
2021-02-16T11:22:15.491Z,1613474535.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 56.651781 deg,
      approachRate: -0.080658 m/s,
      LOS rate: -0.847284 deg/s,
      cmd update: -2.541852 deg/s,
      cmd heading: 60.895383 deg,
      new cmd heading: 60.727638 deg.

2021-02-16T11:22:15.503Z,1613474535.503 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T11:22:16.006Z,1613474536.006 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T11:22:16.006Z,1613474536.006 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T11:22:16.311Z,1613474536.311 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T11:22:16.312Z,1613474536.312 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T11:22:17.090Z,1613474537.090 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T11:22:17.934Z,1613474537.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:18.669Z,1613474538.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:19.071Z,1613474539.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:19.920Z,1613474539.920 [Micromodem](INFO): Nmea in: $SNTTA,0.064765,,,,112220.12*47

2021-02-16T11:22:19.983Z,1613474539.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 57.043298 deg, deltaT: 4.436171 s, approachRate: -0.067627 m/s, LOS rate: 0.088256 deg/s, posRepo size: 4
2021-02-16T11:22:19.985Z,1613474539.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 57.043298 deg,
      approachRate: -0.067627 m/s,
      LOS rate: 0.088256 deg/s,
      cmd update: 0.264767 deg/s,
      cmd heading: 49.619878 deg,
      new cmd heading: 48.399982 deg.

2021-02-16T11:22:21.929Z,1613474541.929 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T11:22:22.323Z,1613474542.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:23.126Z,1613474543.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:23.519Z,1613474543.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:24.348Z,1613474544.348 [Micromodem](INFO): Nmea in: $SNTTA,0.064662,,,,112224.58*4B

2021-02-16T11:22:24.397Z,1613474544.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.840004 m, bearing: 69.026233 deg, deltaT: 4.499447 s, approachRate: -0.026669 m/s, LOS rate: 2.663202 deg/s, posRepo size: 4
2021-02-16T11:22:24.399Z,1613474544.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.840004 m,
      bearing: 69.026233 deg,
      approachRate: -0.026669 m/s,
      LOS rate: 2.663202 deg/s,
      cmd update: 7.989605 deg/s,
      cmd heading: 50.810131 deg,
      new cmd heading: 50.915583 deg.

2021-02-16T11:22:26.803Z,1613474546.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:27.558Z,1613474547.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:27.971Z,1613474547.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:28.800Z,1613474548.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112229.01*54

2021-02-16T11:22:28.888Z,1613474548.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 61.450037 deg, deltaT: 4.386806 s, approachRate: -0.136773 m/s, LOS rate: -1.727042 deg/s, posRepo size: 4
2021-02-16T11:22:28.890Z,1613474548.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 61.450037 deg,
      approachRate: -0.136773 m/s,
      LOS rate: -1.727042 deg/s,
      cmd update: -5.181125 deg/s,
      cmd heading: 85.892535 deg,
      new cmd heading: 89.839145 deg.

2021-02-16T11:22:31.249Z,1613474551.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:31.997Z,1613474551.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:32.414Z,1613474552.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:32.430Z,1613474552.430 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,112233.00,A,4133.11478,N,07042.57792,W,0.467,192.78,160221,,,A*7B
2021-02-16T11:22:32.432Z,1613474552.432 [NAL9602](INFO): GPS fix at 20210216T112233: (41.551913, -70.709632)
2021-02-16T11:22:32.452Z,1613474552.452 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T11:22:32.452Z,1613474552.452 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T11:22:33.305Z,1613474553.305 [Micromodem](INFO): Nmea in: $SNTTA,0.064141,0.075028,,,112233.45*51

2021-02-16T11:22:33.338Z,1613474553.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.000008 m, bearing: 64.865924 deg, deltaT: 4.500588 s, approachRate: -0.053326 m/s, LOS rate: 0.758987 deg/s, posRepo size: 4
2021-02-16T11:22:33.340Z,1613474553.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.000008 m,
      bearing: 64.865924 deg,
      approachRate: -0.053326 m/s,
      LOS rate: 0.758987 deg/s,
      cmd update: 2.276960 deg/s,
      cmd heading: 62.595376 deg,
      new cmd heading: 60.255171 deg.

2021-02-16T11:22:34.215Z,1613474554.215 [BuoyancyServo](FAULT): Overload Error
2021-02-16T11:22:34.216Z,1613474554.216 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T11:22:34.216Z,1613474554.216 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T11:22:34.320Z,1613474554.320 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T11:22:35.736Z,1613474555.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:36.178Z,1613474556.178 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T11:22:36.178Z,1613474556.178 [BuoyancyServo](INFO): Powering down
2021-02-16T11:22:36.520Z,1613474556.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:36.660Z,1613474556.660 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2021-02-16T11:22:36.931Z,1613474556.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:37.087Z,1613474557.087 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T11:22:37.087Z,1613474557.087 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T11:22:37.372Z,1613474557.372 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T11:22:37.379Z,1613474557.379 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T11:22:37.748Z,1613474557.748 [Micromodem](INFO): Nmea in: $SNTTA,0.064115,,,,112237.97*4D

2021-02-16T11:22:37.796Z,1613474557.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 61.126935 deg, deltaT: 4.452467 s, approachRate: 0.013475 m/s, LOS rate: -0.839757 deg/s, posRepo size: 4
2021-02-16T11:22:37.798Z,1613474557.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 61.126935 deg,
      approachRate: 0.013475 m/s,
      LOS rate: -0.839757 deg/s,
      cmd update: -2.519270 deg/s,
      cmd heading: 72.742645 deg,
      new cmd heading: 73.765107 deg.

2021-02-16T11:22:40.312Z,1613474560.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:42.831Z,1613474562.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:42.916Z,1613474562.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:43.238Z,1613474563.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:44.063Z,1613474564.063 [Micromodem](INFO): Nmea in: $SNTTA,0.064156,,,,112244.28*4A

2021-02-16T11:22:44.097Z,1613474564.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 68.732788 deg, deltaT: 6.323650 s, approachRate: -0.018977 m/s, LOS rate: 1.202763 deg/s, posRepo size: 4
2021-02-16T11:22:44.099Z,1613474564.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 68.732788 deg,
      approachRate: -0.018977 m/s,
      LOS rate: 1.202763 deg/s,
      cmd update: 3.608289 deg/s,
      cmd heading: 56.811688 deg,
      new cmd heading: 55.727102 deg.

2021-02-16T11:22:46.403Z,1613474566.403 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:22:46.476Z,1613474566.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:47.266Z,1613474567.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:47.680Z,1613474567.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:48.499Z,1613474568.499 [Micromodem](INFO): Nmea in: $SNTTA,0.063974,,,,112248.71*45

2021-02-16T11:22:48.518Z,1613474568.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 65.873705 deg, deltaT: 4.455073 s, approachRate: -0.026934 m/s, LOS rate: -0.641759 deg/s, posRepo size: 4
2021-02-16T11:22:48.520Z,1613474568.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.820007 m,
      bearing: 65.873705 deg,
      approachRate: -0.026934 m/s,
      LOS rate: -0.641759 deg/s,
      cmd update: -1.925277 deg/s,
      cmd heading: 72.887015 deg,
      new cmd heading: 74.317586 deg.

2021-02-16T11:22:49.298Z,1613474569.298 [NAL9602](INFO): SBD MO Status=1, MOMSN=13412, MT Status=0, MTMSN=0
2021-02-16T11:22:49.351Z,1613474569.351 [NAL9602](INFO): Sent 99 bytes from file Logs/20210216T042015/Courier0079.lzma
2021-02-16T11:22:49.351Z,1613474569.351 [NAL9602](INFO): Packets left to send: 0
2021-02-16T11:22:52.181Z,1613474572.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:52.732Z,1613474572.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:53.116Z,1613474573.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:53.972Z,1613474573.972 [Micromodem](INFO): Nmea in: $SNTTA,0.063851,,,,112254.18*41

2021-02-16T11:22:54.024Z,1613474574.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 59.478237 deg, deltaT: 5.428885 s, approachRate: -0.033156 m/s, LOS rate: -1.178044 deg/s, posRepo size: 4
2021-02-16T11:22:54.026Z,1613474574.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.640007 m,
      bearing: 59.478237 deg,
      approachRate: -0.033156 m/s,
      LOS rate: -1.178044 deg/s,
      cmd update: -3.534133 deg/s,
      cmd heading: 62.442671 deg,
      new cmd heading: 61.523317 deg.

2021-02-16T11:22:56.373Z,1613474576.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:22:57.154Z,1613474577.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:22:57.320Z,1613474577.320 [BuoyancyServo](FAULT): Overload Error
2021-02-16T11:22:57.320Z,1613474577.320 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T11:22:57.320Z,1613474577.320 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T11:22:57.423Z,1613474577.423 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T11:22:57.558Z,1613474577.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:22:58.384Z,1613474578.384 [Micromodem](INFO): Nmea in: $SNTTA,0.063635,,,,112258.60*4E

2021-02-16T11:22:58.410Z,1613474578.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 64.856799 deg, deltaT: 4.473141 s, approachRate: -0.080482 m/s, LOS rate: 1.202413 deg/s, posRepo size: 4
2021-02-16T11:22:58.433Z,1613474578.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 64.856799 deg,
      approachRate: -0.080482 m/s,
      LOS rate: 1.202413 deg/s,
      cmd update: 3.607238 deg/s,
      cmd heading: 46.634115 deg,
      new cmd heading: 45.254562 deg.

2021-02-16T11:22:58.782Z,1613474578.782 [NAL9602](INFO): SBD MO Status=1, MOMSN=13413, MT Status=0, MTMSN=0
2021-02-16T11:22:58.836Z,1613474578.836 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:22:58.837Z,1613474578.837 [NAL9602](INFO): Packets left to send: 7
2021-02-16T11:22:59.392Z,1613474579.392 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T11:22:59.393Z,1613474579.393 [BuoyancyServo](INFO): Powering down
2021-02-16T11:23:01.744Z,1613474581.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:01.779Z,1613474581.779 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T11:23:02.071Z,1613474582.071 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T11:23:02.071Z,1613474582.071 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T11:23:02.282Z,1613474582.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:02.401Z,1613474582.401 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T11:23:02.407Z,1613474582.407 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T11:23:02.683Z,1613474582.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:03.517Z,1613474583.517 [Micromodem](INFO): Nmea in: $SNTTA,0.063468,,,,112303.73*49

2021-02-16T11:23:03.548Z,1613474583.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.099998 m, bearing: 68.842098 deg, deltaT: 5.113549 s, approachRate: -0.035201 m/s, LOS rate: 0.779361 deg/s, posRepo size: 4
2021-02-16T11:23:03.549Z,1613474583.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 68.842098 deg,
      approachRate: -0.035201 m/s,
      LOS rate: 0.779361 deg/s,
      cmd update: 2.338082 deg/s,
      cmd heading: 65.094601 deg,
      new cmd heading: 66.574572 deg.

2021-02-16T11:23:05.962Z,1613474585.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:06.725Z,1613474586.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:07.137Z,1613474587.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:07.952Z,1613474587.952 [Micromodem](INFO): Nmea in: $SNTTA,0.063467,,,,112308.17*4F

2021-02-16T11:23:08.006Z,1613474588.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 58.881394 deg, deltaT: 4.410911 s, approachRate: -0.013602 m/s, LOS rate: -2.258197 deg/s, posRepo size: 4
2021-02-16T11:23:08.012Z,1613474588.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 58.881394 deg,
      approachRate: -0.013602 m/s,
      LOS rate: -2.258197 deg/s,
      cmd update: -6.774590 deg/s,
      cmd heading: 75.407542 deg,
      new cmd heading: 76.479415 deg.

2021-02-16T11:23:08.354Z,1613474588.354 [NAL9602](INFO): SBD MO Status=1, MOMSN=13414, MT Status=0, MTMSN=0
2021-02-16T11:23:08.403Z,1613474588.403 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:23:08.403Z,1613474588.403 [NAL9602](INFO): Packets left to send: 6
2021-02-16T11:23:11.640Z,1613474591.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:12.142Z,1613474592.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:12.530Z,1613474592.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:13.364Z,1613474593.364 [Micromodem](INFO): Nmea in: $SNTTA,0.063438,,,,112313.59*45

2021-02-16T11:23:13.418Z,1613474593.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 56.608717 deg, deltaT: 5.480553 s, approachRate: 0.000000 m/s, LOS rate: -0.414680 deg/s, posRepo size: 4
2021-02-16T11:23:13.420Z,1613474593.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 56.608717 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.414680 deg/s,
      cmd update: -1.244041 deg/s,
      cmd heading: 38.276971 deg,
      new cmd heading: 35.658537 deg.

2021-02-16T11:23:15.813Z,1613474595.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:16.568Z,1613474596.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:16.975Z,1613474596.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:17.805Z,1613474597.805 [Micromodem](INFO): Nmea in: $SNTTA,0.063157,,,,112318.02*4C

2021-02-16T11:23:17.872Z,1613474597.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 61.010214 deg, deltaT: 4.367353 s, approachRate: -0.109905 m/s, LOS rate: 1.007818 deg/s, posRepo size: 4
2021-02-16T11:23:17.880Z,1613474597.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.560005 m,
      bearing: 61.010214 deg,
      approachRate: -0.109905 m/s,
      LOS rate: 1.007818 deg/s,
      cmd update: 3.023454 deg/s,
      cmd heading: 32.844136 deg,
      new cmd heading: 32.261098 deg.

2021-02-16T11:23:19.475Z,1613474599.475 [BuoyancyServo](FAULT): Overload Error
2021-02-16T11:23:19.475Z,1613474599.475 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T11:23:19.475Z,1613474599.475 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T11:23:19.516Z,1613474599.516 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T11:23:20.241Z,1613474600.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:21.017Z,1613474601.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:21.429Z,1613474601.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:21.500Z,1613474601.500 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T11:23:21.500Z,1613474601.500 [BuoyancyServo](INFO): Powering down
2021-02-16T11:23:21.551Z,1613474601.551 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:23:22.244Z,1613474602.244 [Micromodem](INFO): Nmea in: $SNTTA,0.062921,,,,112322.46*4D

2021-02-16T11:23:22.291Z,1613474602.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.320000 m, bearing: 60.655625 deg, deltaT: 4.535802 s, approachRate: -0.052914 m/s, LOS rate: -0.078176 deg/s, posRepo size: 4
2021-02-16T11:23:22.293Z,1613474602.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.320000 m,
      bearing: 60.655625 deg,
      approachRate: -0.052914 m/s,
      LOS rate: -0.078176 deg/s,
      cmd update: -0.234527 deg/s,
      cmd heading: 46.545804 deg,
      new cmd heading: 47.643085 deg.

2021-02-16T11:23:22.333Z,1613474602.333 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T11:23:22.333Z,1613474602.333 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T11:23:22.694Z,1613474602.694 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T11:23:22.699Z,1613474602.699 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T11:23:24.688Z,1613474604.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:25.462Z,1613474605.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:25.893Z,1613474605.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:26.692Z,1613474606.692 [Micromodem](INFO): Nmea in: $SNTTA,0.062836,,,,112326.91*44

2021-02-16T11:23:26.729Z,1613474606.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 59.814692 deg, deltaT: 4.370118 s, approachRate: -0.041187 m/s, LOS rate: -0.192428 deg/s, posRepo size: 4
2021-02-16T11:23:26.733Z,1613474606.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 59.814692 deg,
      approachRate: -0.041187 m/s,
      LOS rate: -0.192428 deg/s,
      cmd update: -0.577284 deg/s,
      cmd heading: 45.519955 deg,
      new cmd heading: 45.419642 deg.

2021-02-16T11:23:29.142Z,1613474609.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:29.926Z,1613474609.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:30.317Z,1613474610.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:30.333Z,1613474610.333 [NAL9602](INFO): SBD MO Status=1, MOMSN=13415, MT Status=0, MTMSN=0
2021-02-16T11:23:30.383Z,1613474610.383 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:23:30.384Z,1613474610.384 [NAL9602](INFO): Packets left to send: 5
2021-02-16T11:23:31.140Z,1613474611.140 [Micromodem](INFO): Nmea in: $SNTTA,0.062680,,,,112331.37*4D

2021-02-16T11:23:33.217Z,1613474613.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 66.478142 deg, deltaT: 4.611233 s, approachRate: -0.052048 m/s, LOS rate: 1.445047 deg/s, posRepo size: 4
2021-02-16T11:23:33.221Z,1613474613.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 66.478142 deg,
      approachRate: -0.052048 m/s,
      LOS rate: 1.445047 deg/s,
      cmd update: 4.335142 deg/s,
      cmd heading: 42.857961 deg,
      new cmd heading: 41.528483 deg.

2021-02-16T11:23:33.729Z,1613474613.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:34.525Z,1613474614.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:34.923Z,1613474614.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:35.753Z,1613474615.753 [Micromodem](INFO): Nmea in: $SNTTA,0.062758,,,,112335.97*47

2021-02-16T11:23:35.824Z,1613474615.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 63.210491 deg, deltaT: 4.425087 s, approachRate: 0.040677 m/s, LOS rate: -0.738438 deg/s, posRepo size: 4
2021-02-16T11:23:35.826Z,1613474615.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 63.210491 deg,
      approachRate: 0.040677 m/s,
      LOS rate: -0.738438 deg/s,
      cmd update: -2.215313 deg/s,
      cmd heading: 62.041417 deg,
      new cmd heading: 64.125806 deg.

2021-02-16T11:23:38.178Z,1613474618.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:38.967Z,1613474618.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:39.371Z,1613474619.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:40.204Z,1613474620.204 [Micromodem](INFO): Nmea in: $SNTTA,0.062633,,,,112340.42*41

2021-02-16T11:23:40.238Z,1613474620.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 60.726850 deg, deltaT: 4.467063 s, approachRate: -0.067157 m/s, LOS rate: -0.555990 deg/s, posRepo size: 4
2021-02-16T11:23:40.240Z,1613474620.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 60.726850 deg,
      approachRate: -0.067157 m/s,
      LOS rate: -0.555990 deg/s,
      cmd update: -1.667969 deg/s,
      cmd heading: 52.145485 deg,
      new cmd heading: 51.188151 deg.

2021-02-16T11:23:41.398Z,1613474621.398 [NAL9602](INFO): SBD MO Status=1, MOMSN=13416, MT Status=0, MTMSN=0
2021-02-16T11:23:41.447Z,1613474621.447 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:23:41.447Z,1613474621.447 [NAL9602](INFO): Packets left to send: 4
2021-02-16T11:23:44.692Z,1613474624.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:45.202Z,1613474625.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:45.638Z,1613474625.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:46.428Z,1613474626.428 [Micromodem](INFO): Nmea in: $SNTTA,0.062400,,,,112346.65*40

2021-02-16T11:23:46.446Z,1613474626.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 63.609975 deg, deltaT: 6.223048 s, approachRate: -0.048208 m/s, LOS rate: 0.463298 deg/s, posRepo size: 4
2021-02-16T11:23:46.448Z,1613474626.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 63.609975 deg,
      approachRate: -0.048208 m/s,
      LOS rate: 0.463298 deg/s,
      cmd update: 1.389894 deg/s,
      cmd heading: 41.765276 deg,
      new cmd heading: 41.068862 deg.

2021-02-16T11:23:48.906Z,1613474628.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:49.657Z,1613474629.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:50.051Z,1613474630.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:50.884Z,1613474630.884 [Micromodem](INFO): Nmea in: $SNTTA,0.062571,,,,112351.10*43

2021-02-16T11:23:50.902Z,1613474630.902 [NAL9602](INFO): SBD MO Status=1, MOMSN=13417, MT Status=0, MTMSN=0
2021-02-16T11:23:50.955Z,1613474630.955 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:23:50.955Z,1613474630.955 [NAL9602](INFO): Packets left to send: 3
2021-02-16T11:23:51.011Z,1613474631.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 70.507947 deg, deltaT: 4.439498 s, approachRate: 0.040545 m/s, LOS rate: 1.553773 deg/s, posRepo size: 4
2021-02-16T11:23:51.013Z,1613474631.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.660004 m,
      bearing: 70.507947 deg,
      approachRate: 0.040545 m/s,
      LOS rate: 1.553773 deg/s,
      cmd update: 4.661319 deg/s,
      cmd heading: 47.935372 deg,
      new cmd heading: 48.662439 deg.

2021-02-16T11:23:53.749Z,1613474633.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:54.226Z,1613474634.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:54.658Z,1613474634.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:55.460Z,1613474635.460 [Micromodem](INFO): Nmea in: $SNTTA,0.062599,,,,112355.67*41

2021-02-16T11:23:55.478Z,1613474635.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 61.486613 deg, deltaT: 4.610282 s, approachRate: 0.013014 m/s, LOS rate: -1.956786 deg/s, posRepo size: 4
2021-02-16T11:23:55.480Z,1613474635.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.720001 m,
      bearing: 61.486613 deg,
      approachRate: 0.013014 m/s,
      LOS rate: -1.956786 deg/s,
      cmd update: -5.870357 deg/s,
      cmd heading: 69.425161 deg,
      new cmd heading: 71.290673 deg.

2021-02-16T11:23:56.711Z,1613474636.711 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:23:57.929Z,1613474637.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:23:58.666Z,1613474638.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:23:59.073Z,1613474639.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:23:59.912Z,1613474639.912 [Micromodem](INFO): Nmea in: $SNTTA,0.062540,,,,112400.11*43

2021-02-16T11:23:59.978Z,1613474639.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.720001 m, bearing: 66.576217 deg, deltaT: 4.419120 s, approachRate: 0.000000 m/s, LOS rate: 1.151723 deg/s, posRepo size: 4
2021-02-16T11:23:59.984Z,1613474639.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.720001 m,
      bearing: 66.576217 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.151723 deg/s,
      cmd update: 3.455170 deg/s,
      cmd heading: 43.489653 deg,
      new cmd heading: 40.658016 deg.

2021-02-16T11:24:00.298Z,1613474640.298 [NAL9602](INFO): SBD MO Status=1, MOMSN=13418, MT Status=0, MTMSN=0
2021-02-16T11:24:00.360Z,1613474640.360 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:24:00.360Z,1613474640.360 [NAL9602](INFO): Packets left to send: 2
2021-02-16T11:24:03.169Z,1613474643.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:03.634Z,1613474643.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:04.051Z,1613474644.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:04.888Z,1613474644.888 [Micromodem](INFO): Nmea in: $SNTTA,0.062668,,,,112405.08*47

2021-02-16T11:24:04.946Z,1613474644.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 75.070541 deg, deltaT: 4.969720 s, approachRate: 0.036219 m/s, LOS rate: 1.709216 deg/s, posRepo size: 4
2021-02-16T11:24:04.952Z,1613474644.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 75.070541 deg,
      approachRate: 0.036219 m/s,
      LOS rate: 1.709216 deg/s,
      cmd update: 5.127648 deg/s,
      cmd heading: 60.664300 deg,
      new cmd heading: 62.321161 deg.

2021-02-16T11:24:06.979Z,1613474646.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:07.677Z,1613474647.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:08.083Z,1613474648.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:08.912Z,1613474648.912 [Micromodem](INFO): Nmea in: $SNTTA,0.062839,,,,112409.13*4B

2021-02-16T11:24:08.962Z,1613474648.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.140007 m, bearing: 70.344576 deg, deltaT: 4.033283 s, approachRate: 0.059506 m/s, LOS rate: -1.171741 deg/s, posRepo size: 4
2021-02-16T11:24:08.968Z,1613474648.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.140007 m,
      bearing: 70.344576 deg,
      approachRate: 0.059506 m/s,
      LOS rate: -1.171741 deg/s,
      cmd update: -3.515224 deg/s,
      cmd heading: 81.347127 deg,
      new cmd heading: 83.713168 deg.

2021-02-16T11:24:11.328Z,1613474651.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:11.730Z,1613474651.730 [NAL9602](INFO): SBD MO Status=1, MOMSN=13419, MT Status=0, MTMSN=0
2021-02-16T11:24:11.789Z,1613474651.789 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:24:11.790Z,1613474651.790 [NAL9602](INFO): Packets left to send: 1
2021-02-16T11:24:12.118Z,1613474652.118 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:12.523Z,1613474652.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:14.666Z,1613474654.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:14.735Z,1613474654.735 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112413.57*58

2021-02-16T11:24:15.148Z,1613474655.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.960007 m, bearing: 68.732057 deg, deltaT: 6.257421 s, approachRate: -0.028766 m/s, LOS rate: -0.257697 deg/s, posRepo size: 4
2021-02-16T11:24:15.150Z,1613474655.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.960007 m,
      bearing: 68.732057 deg,
      approachRate: -0.028766 m/s,
      LOS rate: -0.257697 deg/s,
      cmd update: -0.773091 deg/s,
      cmd heading: 59.379440 deg,
      new cmd heading: 57.979305 deg.

2021-02-16T11:24:17.556Z,1613474657.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:18.350Z,1613474658.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:18.756Z,1613474658.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:19.580Z,1613474659.580 [Micromodem](INFO): Nmea in: $SNTTA,0.063207,,,,112419.80*46

2021-02-16T11:24:19.607Z,1613474659.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.500000 m, bearing: 74.671938 deg, deltaT: 4.424697 s, approachRate: 0.122041 m/s, LOS rate: 1.342438 deg/s, posRepo size: 4
2021-02-16T11:24:19.613Z,1613474659.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.500000 m,
      bearing: 74.671938 deg,
      approachRate: 0.122041 m/s,
      LOS rate: 1.342438 deg/s,
      cmd update: 4.027313 deg/s,
      cmd heading: 55.952594 deg,
      new cmd heading: 55.624570 deg.

2021-02-16T11:24:22.042Z,1613474662.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:22.794Z,1613474662.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:22.820Z,1613474662.820 [NAL9602](INFO): SBD MO Status=1, MOMSN=13420, MT Status=0, MTMSN=0
2021-02-16T11:24:22.869Z,1613474662.869 [NAL9602](INFO): Sent 18 bytes from file Logs/20210216T042015/Express0071.lzma
2021-02-16T11:24:22.870Z,1613474662.870 [NAL9602](INFO): Packets left to send: 0
2021-02-16T11:24:23.200Z,1613474663.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:25.800Z,1613474665.800 [Micromodem](INFO): Nmea in: $SNTTA,0.063365,,,,112424.24*43

2021-02-16T11:24:25.817Z,1613474665.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 75.052065 deg, deltaT: 6.504082 s, approachRate: 0.027675 m/s, LOS rate: 0.058444 deg/s, posRepo size: 4
2021-02-16T11:24:25.829Z,1613474665.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.680000 m,
      bearing: 75.052065 deg,
      approachRate: 0.027675 m/s,
      LOS rate: 0.058444 deg/s,
      cmd update: 0.175333 deg/s,
      cmd heading: 82.147219 deg,
      new cmd heading: 82.663935 deg.

2021-02-16T11:24:28.255Z,1613474668.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:29.001Z,1613474669.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:29.407Z,1613474669.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:30.244Z,1613474670.244 [Micromodem](INFO): Nmea in: $SNTTA,0.063431,,,,112430.45*47

2021-02-16T11:24:30.285Z,1613474670.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 76.770691 deg, deltaT: 4.202071 s, approachRate: 0.085672 m/s, LOS rate: 0.408995 deg/s, posRepo size: 4
2021-02-16T11:24:30.287Z,1613474670.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 76.770691 deg,
      approachRate: 0.085672 m/s,
      LOS rate: 0.408995 deg/s,
      cmd update: 1.226985 deg/s,
      cmd heading: 82.883990 deg,
      new cmd heading: 82.953533 deg.

2021-02-16T11:24:31.860Z,1613474671.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:24:32.652Z,1613474672.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:33.452Z,1613474673.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:33.878Z,1613474673.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:34.680Z,1613474674.680 [Micromodem](INFO): Nmea in: $SNTTA,0.063639,,,,112434.90*41

2021-02-16T11:24:34.720Z,1613474674.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 74.937407 deg, deltaT: 4.421615 s, approachRate: 0.054278 m/s, LOS rate: -0.414619 deg/s, posRepo size: 4
2021-02-16T11:24:34.721Z,1613474674.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 74.937407 deg,
      approachRate: 0.054278 m/s,
      LOS rate: -0.414619 deg/s,
      cmd update: -1.243856 deg/s,
      cmd heading: 88.304087 deg,
      new cmd heading: 88.791657 deg.

2021-02-16T11:24:35.902Z,1613474675.902 [NAL9602](INFO): SBD MO Status=1, MOMSN=13421, MT Status=0, MTMSN=0
2021-02-16T11:24:35.959Z,1613474675.959 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0074.lzma
2021-02-16T11:24:35.959Z,1613474675.959 [NAL9602](INFO): Packets left to send: 2
2021-02-16T11:24:38.765Z,1613474678.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:39.288Z,1613474679.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:39.693Z,1613474679.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:40.520Z,1613474680.520 [Micromodem](INFO): Nmea in: $SNTTA,0.063739,,,,112440.73*4E

2021-02-16T11:24:40.568Z,1613474680.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.520004 m, bearing: 74.414132 deg, deltaT: 5.810240 s, approachRate: 0.041307 m/s, LOS rate: -0.090061 deg/s, posRepo size: 4
2021-02-16T11:24:40.569Z,1613474680.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.520004 m,
      bearing: 74.414132 deg,
      approachRate: 0.041307 m/s,
      LOS rate: -0.090061 deg/s,
      cmd update: -0.270182 deg/s,
      cmd heading: 81.071696 deg,
      new cmd heading: 80.540542 deg.

2021-02-16T11:24:42.000Z,1613474683.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:43.740Z,1613474683.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:44.142Z,1613474684.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:44.956Z,1613474684.956 [Micromodem](INFO): Nmea in: $SNTTA,0.063790,,,0.076259,112445.19*55

2021-02-16T11:24:45.794Z,1613474685.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:46.159Z,1613474686.159 [NAL9602](INFO): SBD MO Status=1, MOMSN=13422, MT Status=0, MTMSN=0
2021-02-16T11:24:46.211Z,1613474686.211 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0074.lzma
2021-02-16T11:24:46.211Z,1613474686.211 [NAL9602](INFO): Packets left to send: 1
2021-02-16T11:24:49.061Z,1613474689.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:49.186Z,1613474689.186 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:24:51.620Z,1613474691.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:52.409Z,1613474692.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:52.831Z,1613474692.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:53.640Z,1613474693.640 [Micromodem](INFO): Nmea in: $SNTTA,0.064039,,,,112453.86*46

2021-02-16T11:24:53.663Z,1613474693.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 65.976779 deg, deltaT: 13.167552 s, approachRate: 0.031896 m/s, LOS rate: -0.640769 deg/s, posRepo size: 4
2021-02-16T11:24:53.664Z,1613474693.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 65.976779 deg,
      approachRate: 0.031896 m/s,
      LOS rate: -0.640769 deg/s,
      cmd update: -1.922306 deg/s,
      cmd heading: 77.514123 deg,
      new cmd heading: 77.412891 deg.

2021-02-16T11:24:56.050Z,1613474696.050 [NAL9602](INFO): SBD MO Status=1, MOMSN=13423, MT Status=0, MTMSN=0
2021-02-16T11:24:56.104Z,1613474696.104 [NAL9602](INFO): Sent 53 bytes from file Logs/20210216T042015/Express0074.lzma
2021-02-16T11:24:56.105Z,1613474696.105 [NAL9602](INFO): Packets left to send: 0
2021-02-16T11:24:56.162Z,1613474696.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:56.884Z,1613474696.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:24:59.013Z,1613474699.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:24:59.139Z,1613474699.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:24:59.573Z,1613474699.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.299995 m, bearing: 83.415639 deg, deltaT: 5.917759 s, approachRate: 0.060833 m/s, LOS rate: 2.946869 deg/s, posRepo size: 4
2021-02-16T11:24:59.575Z,1613474699.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.299995 m,
      bearing: 83.415639 deg,
      approachRate: 0.060833 m/s,
      LOS rate: 2.946869 deg/s,
      cmd update: 8.840607 deg/s,
      cmd heading: 66.147711 deg,
      new cmd heading: 65.431764 deg.

2021-02-16T11:25:00.979Z,1613474700.979 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003285
2021-02-16T11:25:01.229Z,1613474701.229 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T11:25:01.229Z,1613474701.229 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T11:25:01.229Z,1613474701.229 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T11:25:01.229Z,1613474701.229 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:25:01.230Z,1613474701.230 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T11:25:02.076Z,1613474702.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:02.764Z,1613474702.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:03.176Z,1613474703.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:04.038Z,1613474704.038 [Micromodem](INFO): Nmea in: $SNTTA,0.064398,,,,112504.21*40

2021-02-16T11:25:04.076Z,1613474704.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.420006 m, bearing: 83.394554 deg, deltaT: 4.382232 s, approachRate: 0.027386 m/s, LOS rate: -0.004811 deg/s, posRepo size: 4
2021-02-16T11:25:04.077Z,1613474704.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.420006 m,
      bearing: 83.394554 deg,
      approachRate: 0.027386 m/s,
      LOS rate: -0.004811 deg/s,
      cmd update: -0.014434 deg/s,
      cmd heading: 104.931771 deg,
      new cmd heading: 109.241240 deg.

2021-02-16T11:25:04.995Z,1613474704.995 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20210216T042015/Express0077.lzma
2021-02-16T11:25:05.997Z,1613474705.997 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0077.lzma.bak
2021-02-16T11:25:05.997Z,1613474705.997 [DataOverHttps](INFO): SBD MOMSN=81731
2021-02-16T11:25:06.420Z,1613474706.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:07.218Z,1613474707.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:07.638Z,1613474707.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:07.653Z,1613474707.653 [NAL9602](INFO): SBD MO Status=1, MOMSN=13424, MT Status=0, MTMSN=0
2021-02-16T11:25:07.699Z,1613474707.699 [NAL9602](INFO): Sent 177 bytes from file Logs/20210216T042015/Express0077.lzma
2021-02-16T11:25:07.700Z,1613474707.700 [NAL9602](INFO): Packets left to send: 0
2021-02-16T11:25:08.444Z,1613474708.444 [Micromodem](INFO): Nmea in: $SNTTA,0.064536,,,,112508.67*4C

2021-02-16T11:25:08.480Z,1613474708.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 80.163219 deg, deltaT: 4.476551 s, approachRate: 0.040210 m/s, LOS rate: -0.721836 deg/s, posRepo size: 4
2021-02-16T11:25:08.487Z,1613474708.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 80.163219 deg,
      approachRate: 0.040210 m/s,
      LOS rate: -0.721836 deg/s,
      cmd update: -2.165508 deg/s,
      cmd heading: 104.867151 deg,
      new cmd heading: 104.861158 deg.

2021-02-16T11:25:10.937Z,1613474710.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:11.653Z,1613474711.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:12.059Z,1613474712.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:12.884Z,1613474712.884 [Micromodem](INFO): Nmea in: $SNTTA,0.064736,,,,112513.10*44

2021-02-16T11:25:12.975Z,1613474712.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.840004 m, bearing: 74.833192 deg, deltaT: 4.414374 s, approachRate: 0.054367 m/s, LOS rate: -1.207425 deg/s, posRepo size: 4
2021-02-16T11:25:12.984Z,1613474712.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.840004 m,
      bearing: 74.833192 deg,
      approachRate: 0.054367 m/s,
      LOS rate: -1.207425 deg/s,
      cmd update: -3.622276 deg/s,
      cmd heading: 95.318770 deg,
      new cmd heading: 94.259339 deg.

2021-02-16T11:25:15.038Z,1613474715.038 [DataOverHttps](INFO): Sending 1294 bytes from file Logs/20210216T042015/Express0080.lzma
2021-02-16T11:25:15.309Z,1613474715.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:16.037Z,1613474716.037 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0080.lzma.bak
2021-02-16T11:25:16.037Z,1613474716.037 [DataOverHttps](INFO): SBD MOMSN=81733
2021-02-16T11:25:16.098Z,1613474716.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:16.509Z,1613474716.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:17.348Z,1613474717.348 [Micromodem](INFO): Nmea in: $SNTTA,0.064618,,,,112517.54*4D

2021-02-16T11:25:17.366Z,1613474717.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 75.771981 deg, deltaT: 4.466349 s, approachRate: -0.013435 m/s, LOS rate: 0.210192 deg/s, posRepo size: 4
2021-02-16T11:25:17.368Z,1613474717.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.779999 m,
      bearing: 75.771981 deg,
      approachRate: -0.013435 m/s,
      LOS rate: 0.210192 deg/s,
      cmd update: 0.630575 deg/s,
      cmd heading: 79.123012 deg,
      new cmd heading: 77.598190 deg.

2021-02-16T11:25:17.371Z,1613474717.371 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T11:25:17.371Z,1613474717.371 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T11:25:17.371Z,1613474717.371 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T11:25:17.371Z,1613474717.371 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:25:17.372Z,1613474717.372 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T11:25:17.372Z,1613474717.372 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T11:25:17.372Z,1613474717.372 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T11:25:19.350Z,1613474719.350 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,112520.00,A,4133.13193,N,07042.58769,W,0.486,297.73,160221,,,A*75
2021-02-16T11:25:19.352Z,1613474719.352 [NAL9602](INFO): GPS fix at 20210216T112520: (41.552199, -70.709795)
2021-02-16T11:25:19.374Z,1613474719.374 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T11:25:19.375Z,1613474719.375 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T11:25:19.375Z,1613474719.375 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T11:25:19.375Z,1613474719.375 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T11:25:19.376Z,1613474719.376 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T11:25:19.376Z,1613474719.376 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T11:25:19.785Z,1613474719.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:20.184Z,1613474720.184 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T11:25:20.185Z,1613474720.185 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T11:25:20.544Z,1613474720.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:20.966Z,1613474720.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:21.810Z,1613474721.810 [Micromodem](INFO): Nmea in: $SNTTA,0.064708,,,,112521.99*49

2021-02-16T11:25:21.903Z,1613474721.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 77.991861 deg, deltaT: 4.444072 s, approachRate: 0.027001 m/s, LOS rate: 0.499515 deg/s, posRepo size: 4
2021-02-16T11:25:21.905Z,1613474721.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.899994 m,
      bearing: 77.991861 deg,
      approachRate: 0.027001 m/s,
      LOS rate: 0.499515 deg/s,
      cmd update: 1.498544 deg/s,
      cmd heading: 81.914938 deg,
      new cmd heading: 82.246906 deg.

2021-02-16T11:25:24.247Z,1613474724.247 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:24.996Z,1613474724.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:25.394Z,1613474725.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:26.225Z,1613474726.225 [Micromodem](INFO): Nmea in: $SNTTA,0.064537,,,,112526.44*40

2021-02-16T11:25:26.269Z,1613474726.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 82.288377 deg, deltaT: 4.485089 s, approachRate: -0.066886 m/s, LOS rate: 0.957956 deg/s, posRepo size: 4
2021-02-16T11:25:26.271Z,1613474726.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 82.288377 deg,
      approachRate: -0.066886 m/s,
      LOS rate: 0.957956 deg/s,
      cmd update: 2.873867 deg/s,
      cmd heading: 88.630306 deg,
      new cmd heading: 89.252798 deg.

2021-02-16T11:25:28.674Z,1613474728.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:29.544Z,1613474729.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:30.031Z,1613474730.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:30.075Z,1613474730.075 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:25:30.876Z,1613474730.876 [Micromodem](INFO): Nmea in: $SNTTA,0.064225,,,,112530.99*43

2021-02-16T11:25:30.955Z,1613474730.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 80.938575 deg, deltaT: 4.617376 s, approachRate: -0.142939 m/s, LOS rate: -0.292331 deg/s, posRepo size: 4
2021-02-16T11:25:30.957Z,1613474730.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 80.938575 deg,
      approachRate: -0.142939 m/s,
      LOS rate: -0.292331 deg/s,
      cmd update: -0.876993 deg/s,
      cmd heading: 101.921759 deg,
      new cmd heading: 103.288889 deg.

2021-02-16T11:25:33.305Z,1613474733.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:34.072Z,1613474734.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:34.514Z,1613474734.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:35.309Z,1613474735.309 [Micromodem](INFO): Nmea in: $SNTTA,0.063268,,,,112535.52*4F

2021-02-16T11:25:35.327Z,1613474735.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 81.722701 deg, deltaT: 4.526157 s, approachRate: -0.291640 m/s, LOS rate: 0.173243 deg/s, posRepo size: 4
2021-02-16T11:25:35.333Z,1613474735.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.619995 m,
      bearing: 81.722701 deg,
      approachRate: -0.291640 m/s,
      LOS rate: 0.173243 deg/s,
      cmd update: 0.519730 deg/s,
      cmd heading: 97.948808 deg,
      new cmd heading: 97.670291 deg.

2021-02-16T11:25:37.793Z,1613474737.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:38.518Z,1613474738.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:38.925Z,1613474738.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:39.765Z,1613474739.765 [Micromodem](INFO): Nmea in: $SNTTA,0.062173,,,,112539.97*42

2021-02-16T11:25:39.888Z,1613474739.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.940010 m, bearing: 82.273966 deg, deltaT: 4.379165 s, approachRate: -0.383631 m/s, LOS rate: 0.125883 deg/s, posRepo size: 4
2021-02-16T11:25:39.890Z,1613474739.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.940010 m,
      bearing: 82.273966 deg,
      approachRate: -0.383631 m/s,
      LOS rate: 0.125883 deg/s,
      cmd update: 0.377650 deg/s,
      cmd heading: 100.218709 deg,
      new cmd heading: 100.480227 deg.

2021-02-16T11:25:41.916Z,1613474741.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:42.556Z,1613474742.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:43.019Z,1613474743.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:43.784Z,1613474743.784 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112544.00*59

2021-02-16T11:25:43.802Z,1613474743.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.139999 m, bearing: 81.245018 deg, deltaT: 4.025121 s, approachRate: -0.447194 m/s, LOS rate: -0.255631 deg/s, posRepo size: 4
2021-02-16T11:25:43.850Z,1613474743.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.139999 m,
      bearing: 81.245018 deg,
      approachRate: -0.447194 m/s,
      LOS rate: -0.255631 deg/s,
      cmd update: -0.766894 deg/s,
      cmd heading: 101.743212 deg,
      new cmd heading: 101.890126 deg.

2021-02-16T11:25:46.274Z,1613474746.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:47.008Z,1613474747.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:47.435Z,1613474747.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:48.262Z,1613474748.262 [Micromodem](INFO): Nmea in: $SNTTA,0.068898,,,,112548.46*4E

2021-02-16T11:25:48.328Z,1613474748.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 81.275590 deg, deltaT: 4.524245 s, approachRate: -0.530474 m/s, LOS rate: 0.006757 deg/s, posRepo size: 4
2021-02-16T11:25:48.330Z,1613474748.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 81.275590 deg,
      approachRate: -0.530474 m/s,
      LOS rate: 0.006757 deg/s,
      cmd update: 0.020272 deg/s,
      cmd heading: 98.270605 deg,
      new cmd heading: 97.980627 deg.

2021-02-16T11:25:50.746Z,1613474750.746 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:25:50.797Z,1613474750.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:51.501Z,1613474751.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:51.557Z,1613474751.557 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T11:25:51.915Z,1613474751.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:52.733Z,1613474752.733 [Micromodem](INFO): Nmea in: $SNTTA,0.057734,,,,112552.95*4E

2021-02-16T11:25:52.774Z,1613474752.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 82.138660 deg, deltaT: 4.406949 s, approachRate: -0.544595 m/s, LOS rate: 0.195843 deg/s, posRepo size: 4
2021-02-16T11:25:52.780Z,1613474752.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 82.138660 deg,
      approachRate: -0.544595 m/s,
      LOS rate: 0.195843 deg/s,
      cmd update: 0.587529 deg/s,
      cmd heading: 98.359861 deg,
      new cmd heading: 98.368575 deg.

2021-02-16T11:25:55.185Z,1613474755.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:25:55.956Z,1613474755.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:25:56.545Z,1613474756.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:25:57.417Z,1613474757.417 [Micromodem](INFO): Nmea in: $SNTTA,0.056023,,,,112557.40*43

2021-02-16T11:25:57.504Z,1613474757.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 81.176552 deg, deltaT: 4.747804 s, approachRate: -0.556048 m/s, LOS rate: -0.202643 deg/s, posRepo size: 4
2021-02-16T11:25:57.506Z,1613474757.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 81.176552 deg,
      approachRate: -0.556048 m/s,
      LOS rate: -0.202643 deg/s,
      cmd update: -0.607928 deg/s,
      cmd heading: 101.114716 deg,
      new cmd heading: 101.379217 deg.

2021-02-16T11:25:59.826Z,1613474759.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:00.610Z,1613474760.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:01.020Z,1613474761.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:01.848Z,1613474761.848 [Micromodem](INFO): Nmea in: $SNTTA,0.054301,,,,112602.06*43

2021-02-16T11:26:01.906Z,1613474761.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.180008 m, bearing: 84.611325 deg, deltaT: 4.326513 s, approachRate: -0.582453 m/s, LOS rate: 0.793889 deg/s, posRepo size: 4
2021-02-16T11:26:01.908Z,1613474761.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.180008 m,
      bearing: 84.611325 deg,
      approachRate: -0.582453 m/s,
      LOS rate: 0.793889 deg/s,
      cmd update: 2.381668 deg/s,
      cmd heading: 98.443675 deg,
      new cmd heading: 98.152603 deg.

2021-02-16T11:26:04.263Z,1613474764.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:05.048Z,1613474765.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:05.455Z,1613474765.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:06.281Z,1613474766.281 [Micromodem](INFO): Nmea in: $SNTTA,0.052686,,,,112606.50*48

2021-02-16T11:26:06.343Z,1613474766.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.779999 m, bearing: 79.500158 deg, deltaT: 4.489415 s, approachRate: -0.534593 m/s, LOS rate: -1.138493 deg/s, posRepo size: 4
2021-02-16T11:26:06.345Z,1613474766.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.779999 m,
      bearing: 79.500158 deg,
      approachRate: -0.534593 m/s,
      LOS rate: -1.138493 deg/s,
      cmd update: -3.415479 deg/s,
      cmd heading: 109.135863 deg,
      new cmd heading: 110.142892 deg.

2021-02-16T11:26:08.723Z,1613474768.723 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:09.501Z,1613474769.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:09.897Z,1613474769.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:10.728Z,1613474770.728 [Micromodem](INFO): Nmea in: $SNTTA,0.051156,,,,112610.95*4F

2021-02-16T11:26:10.752Z,1613474770.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 80.006370 deg, deltaT: 4.399314 s, approachRate: -0.545538 m/s, LOS rate: 0.115066 deg/s, posRepo size: 4
2021-02-16T11:26:10.754Z,1613474770.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.380005 m,
      bearing: 80.006370 deg,
      approachRate: -0.545538 m/s,
      LOS rate: 0.115066 deg/s,
      cmd update: 0.345199 deg/s,
      cmd heading: 94.109888 deg,
      new cmd heading: 92.619394 deg.

2021-02-16T11:26:13.173Z,1613474773.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:13.954Z,1613474773.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:14.349Z,1613474774.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:15.188Z,1613474775.188 [Micromodem](INFO): Nmea in: $SNTTA,0.049433,,,,112615.40*4D

2021-02-16T11:26:15.220Z,1613474775.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 81.823665 deg, deltaT: 4.566444 s, approachRate: -0.564993 m/s, LOS rate: 0.397967 deg/s, posRepo size: 4
2021-02-16T11:26:15.222Z,1613474775.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 81.823665 deg,
      approachRate: -0.564993 m/s,
      LOS rate: 0.397967 deg/s,
      cmd update: 1.193901 deg/s,
      cmd heading: 95.669508 deg,
      new cmd heading: 95.802303 deg.

2021-02-16T11:26:17.648Z,1613474777.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:18.380Z,1613474778.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:18.791Z,1613474778.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:19.644Z,1613474779.644 [Micromodem](INFO): Nmea in: $SNTTA,0.047848,,,,112619.83*40

2021-02-16T11:26:19.685Z,1613474779.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 81.087357 deg, deltaT: 4.361121 s, approachRate: -0.550316 m/s, LOS rate: -0.168835 deg/s, posRepo size: 4
2021-02-16T11:26:19.688Z,1613474779.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.400002 m,
      bearing: 81.087357 deg,
      approachRate: -0.550316 m/s,
      LOS rate: -0.168835 deg/s,
      cmd update: -0.506504 deg/s,
      cmd heading: 100.928704 deg,
      new cmd heading: 101.461972 deg.

2021-02-16T11:26:22.110Z,1613474782.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:22.857Z,1613474782.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:23.257Z,1613474783.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:24.096Z,1613474784.096 [Micromodem](INFO): Nmea in: $SNTTA,0.046187,,,,112624.31*4C

2021-02-16T11:26:24.120Z,1613474784.120 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:26:24.133Z,1613474784.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 77.916209 deg, deltaT: 4.423864 s, approachRate: -0.542511 m/s, LOS rate: -0.716828 deg/s, posRepo size: 4
2021-02-16T11:26:24.135Z,1613474784.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 77.916209 deg,
      approachRate: -0.542511 m/s,
      LOS rate: -0.716828 deg/s,
      cmd update: -2.150483 deg/s,
      cmd heading: 98.685743 deg,
      new cmd heading: 98.450247 deg.

2021-02-16T11:26:26.513Z,1613474786.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:27.298Z,1613474787.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:27.692Z,1613474787.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:28.520Z,1613474788.520 [Micromodem](INFO): Nmea in: $SNTTA,0.044348,,,,112628.75*43

2021-02-16T11:26:28.547Z,1613474788.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 73.118582 deg, deltaT: 4.457135 s, approachRate: -0.619234 m/s, LOS rate: -1.076393 deg/s, posRepo size: 4
2021-02-16T11:26:28.549Z,1613474788.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.239998 m,
      bearing: 73.118582 deg,
      approachRate: -0.619234 m/s,
      LOS rate: -1.076393 deg/s,
      cmd update: -3.229178 deg/s,
      cmd heading: 89.101132 deg,
      new cmd heading: 88.193148 deg.

2021-02-16T11:26:30.964Z,1613474790.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:31.733Z,1613474791.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:32.139Z,1613474792.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:32.976Z,1613474792.976 [Micromodem](INFO): Nmea in: $SNTTA,0.042576,,,,112633.18*4F

2021-02-16T11:26:33.018Z,1613474793.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 76.990739 deg, deltaT: 4.427500 s, approachRate: -0.596272 m/s, LOS rate: 0.874570 deg/s, posRepo size: 4
2021-02-16T11:26:33.020Z,1613474793.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.600002 m,
      bearing: 76.990739 deg,
      approachRate: -0.596272 m/s,
      LOS rate: 0.874570 deg/s,
      cmd update: 2.623709 deg/s,
      cmd heading: 74.803674 deg,
      new cmd heading: 73.296614 deg.

2021-02-16T11:26:35.381Z,1613474795.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:36.168Z,1613474796.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:36.578Z,1613474796.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:37.408Z,1613474797.408 [Micromodem](INFO): Nmea in: $SNTTA,0.040658,,,,112637.61*48

2021-02-16T11:26:37.430Z,1613474797.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 80.801725 deg, deltaT: 4.501128 s, approachRate: -0.639839 m/s, LOS rate: 0.846674 deg/s, posRepo size: 4
2021-02-16T11:26:37.432Z,1613474797.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.720005 m,
      bearing: 80.801725 deg,
      approachRate: -0.639839 m/s,
      LOS rate: 0.846674 deg/s,
      cmd update: 2.540021 deg/s,
      cmd heading: 86.586263 deg,
      new cmd heading: 87.603512 deg.

2021-02-16T11:26:39.892Z,1613474799.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:40.628Z,1613474800.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:41.019Z,1613474801.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:41.876Z,1613474801.876 [Micromodem](INFO): Nmea in: $SNTTA,0.038742,,,,112642.07*4F

2021-02-16T11:26:41.929Z,1613474801.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 79.476552 deg, deltaT: 4.399384 s, approachRate: -0.640998 m/s, LOS rate: -0.301218 deg/s, posRepo size: 4
2021-02-16T11:26:41.931Z,1613474801.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 79.476552 deg,
      approachRate: -0.640998 m/s,
      LOS rate: -0.301218 deg/s,
      cmd update: -0.903653 deg/s,
      cmd heading: 97.786799 deg,
      new cmd heading: 98.998678 deg.

2021-02-16T11:26:44.292Z,1613474804.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:45.062Z,1613474805.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:45.462Z,1613474805.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:46.292Z,1613474806.292 [Micromodem](INFO): Nmea in: $SNTTA,0.037111,,,,112646.51*47

2021-02-16T11:26:46.342Z,1613474806.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.379993 m, bearing: 80.854154 deg, deltaT: 4.482735 s, approachRate: -0.562160 m/s, LOS rate: 0.307313 deg/s, posRepo size: 4
2021-02-16T11:26:46.348Z,1613474806.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.379993 m,
      bearing: 80.854154 deg,
      approachRate: -0.562160 m/s,
      LOS rate: 0.307313 deg/s,
      cmd update: 0.921938 deg/s,
      cmd heading: 93.735820 deg,
      new cmd heading: 93.367965 deg.

2021-02-16T11:26:48.769Z,1613474808.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:49.514Z,1613474809.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:49.912Z,1613474809.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:50.740Z,1613474810.740 [Micromodem](INFO): Nmea in: $SNTTA,0.035508,,,,112650.96*45

2021-02-16T11:26:50.794Z,1613474810.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 79.551575 deg, deltaT: 4.391627 s, approachRate: -0.546493 m/s, LOS rate: -0.296605 deg/s, posRepo size: 4
2021-02-16T11:26:50.802Z,1613474810.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 79.551575 deg,
      approachRate: -0.546493 m/s,
      LOS rate: -0.296605 deg/s,
      cmd update: -0.889815 deg/s,
      cmd heading: 97.784665 deg,
      new cmd heading: 98.214083 deg.

2021-02-16T11:26:53.177Z,1613474813.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:53.976Z,1613474813.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:54.350Z,1613474814.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:55.200Z,1613474815.200 [Micromodem](INFO): Nmea in: $SNTTA,0.033952,,,,112655.42*4C

2021-02-16T11:26:55.254Z,1613474815.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 77.792795 deg, deltaT: 4.447377 s, approachRate: -0.526154 m/s, LOS rate: -0.395465 deg/s, posRepo size: 4
2021-02-16T11:26:55.256Z,1613474815.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 77.792795 deg,
      approachRate: -0.526154 m/s,
      LOS rate: -0.395465 deg/s,
      cmd update: -1.186394 deg/s,
      cmd heading: 93.827414 deg,
      new cmd heading: 93.400075 deg.

2021-02-16T11:26:57.639Z,1613474817.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:26:58.388Z,1613474818.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:26:58.823Z,1613474818.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:26:59.644Z,1613474819.644 [Micromodem](INFO): Nmea in: $SNTTA,0.032350,,,,112659.83*44

2021-02-16T11:26:59.669Z,1613474819.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 73.696252 deg, deltaT: 4.463251 s, approachRate: -0.551168 m/s, LOS rate: -0.917838 deg/s, posRepo size: 4
2021-02-16T11:26:59.671Z,1613474819.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.179996 m,
      bearing: 73.696252 deg,
      approachRate: -0.551168 m/s,
      LOS rate: -0.917838 deg/s,
      cmd update: -2.753515 deg/s,
      cmd heading: 88.534878 deg,
      new cmd heading: 88.019935 deg.

2021-02-16T11:27:02.060Z,1613474822.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:02.864Z,1613474822.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:03.244Z,1613474823.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:04.065Z,1613474824.065 [Micromodem](INFO): Nmea in: $SNTTA,0.030908,,,,112704.31*41

2021-02-16T11:27:04.912Z,1613474824.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:06.472Z,1613474826.472 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:27:07.704Z,1613474827.704 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:08.488Z,1613474828.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:08.895Z,1613474828.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:09.716Z,1613474829.716 [Micromodem](INFO): Nmea in: $SNTTA,0.028784,,,,112709.94*40

2021-02-16T11:27:09.741Z,1613474829.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 75.391109 deg, deltaT: 10.078646 s, approachRate: -0.517926 m/s, LOS rate: 0.168163 deg/s, posRepo size: 4
2021-02-16T11:27:09.742Z,1613474829.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 75.391109 deg,
      approachRate: -0.517926 m/s,
      LOS rate: 0.168163 deg/s,
      cmd update: 0.504489 deg/s,
      cmd heading: 60.776756 deg,
      new cmd heading: 59.607462 deg.

2021-02-16T11:27:12.184Z,1613474832.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:12.934Z,1613474832.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:13.344Z,1613474833.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:14.180Z,1613474834.180 [Micromodem](INFO): Nmea in: $SNTTA,0.027207,,,,112714.38*4B

2021-02-16T11:27:14.222Z,1613474834.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.380001 m, bearing: 75.555396 deg, deltaT: 4.453897 s, approachRate: -0.579268 m/s, LOS rate: 0.036886 deg/s, posRepo size: 4
2021-02-16T11:27:14.225Z,1613474834.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.380001 m,
      bearing: 75.555396 deg,
      approachRate: -0.579268 m/s,
      LOS rate: 0.036886 deg/s,
      cmd update: 0.110658 deg/s,
      cmd heading: 63.023714 deg,
      new cmd heading: 63.251491 deg.

2021-02-16T11:27:16.644Z,1613474836.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:17.381Z,1613474837.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:17.781Z,1613474837.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:18.636Z,1613474838.636 [Micromodem](INFO): Nmea in: $SNTTA,0.025754,,,,112718.83*46

2021-02-16T11:27:18.664Z,1613474838.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.159996 m, bearing: 78.716967 deg, deltaT: 4.463541 s, approachRate: -0.497364 m/s, LOS rate: 0.708310 deg/s, posRepo size: 4
2021-02-16T11:27:18.665Z,1613474838.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.16 m.
2021-02-16T11:27:18.667Z,1613474838.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.159996 m,
      bearing: 78.716967 deg,
      approachRate: -0.497364 m/s,
      LOS rate: 0.708310 deg/s,
      cmd update: 2.124931 deg/s,
      cmd heading: 63.516935 deg,
      new cmd heading: 63.565351 deg.

2021-02-16T11:27:19.021Z,1613474839.021 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:27:21.062Z,1613474841.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:21.850Z,1613474841.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:22.234Z,1613474842.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:23.068Z,1613474843.068 [Micromodem](INFO): Nmea in: $SNTTA,0.024017,,,,112723.30*47

2021-02-16T11:27:23.113Z,1613474843.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 77.165264 deg, deltaT: 4.464406 s, approachRate: -0.537584 m/s, LOS rate: -0.347572 deg/s, posRepo size: 4
2021-02-16T11:27:23.113Z,1613474843.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2021-02-16T11:27:23.113Z,1613474843.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.76 m.
2021-02-16T11:27:23.114Z,1613474843.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:27:23.116Z,1613474843.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 77.165264 deg,
      approachRate: -0.537584 m/s,
      LOS rate: -0.347572 deg/s,
      cmd update: -1.042716 deg/s,
      cmd heading: 73.016930 deg,
      new cmd heading: 73.898821 deg.

2021-02-16T11:27:25.477Z,1613474845.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:26.266Z,1613474846.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:26.669Z,1613474846.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:27.500Z,1613474847.500 [Micromodem](INFO): Nmea in: $SNTTA,0.022138,,,,112727.71*4C

2021-02-16T11:27:27.522Z,1613474847.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.939999 m, bearing: 80.032646 deg, deltaT: 4.404599 s, approachRate: -0.640241 m/s, LOS rate: 0.650997 deg/s, posRepo size: 4
2021-02-16T11:27:27.524Z,1613474847.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.939999 m,
      bearing: 80.032646 deg,
      approachRate: -0.640241 m/s,
      LOS rate: 0.650997 deg/s,
      cmd update: 1.952992 deg/s,
      cmd heading: 68.424174 deg,
      new cmd heading: 67.986174 deg.

2021-02-16T11:27:29.965Z,1613474849.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:30.709Z,1613474850.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:31.164Z,1613474851.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:31.944Z,1613474851.944 [Micromodem](INFO): Nmea in: $SNTTA,0.020447,,,,112732.16*46

2021-02-16T11:27:32.036Z,1613474852.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 72.931886 deg, deltaT: 4.550474 s, approachRate: -0.619716 m/s, LOS rate: -1.560444 deg/s, posRepo size: 4
2021-02-16T11:27:32.038Z,1613474852.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.119997 m,
      bearing: 72.931886 deg,
      approachRate: -0.619716 m/s,
      LOS rate: -1.560444 deg/s,
      cmd update: -4.681332 deg/s,
      cmd heading: 77.203846 deg,
      new cmd heading: 78.044039 deg.

2021-02-16T11:27:34.368Z,1613474854.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:35.154Z,1613474855.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:35.558Z,1613474855.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:36.384Z,1613474856.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112736.60*58

2021-02-16T11:27:36.421Z,1613474856.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.300001 m, bearing: 78.174944 deg, deltaT: 4.449498 s, approachRate: -0.633778 m/s, LOS rate: 1.178348 deg/s, posRepo size: 4
2021-02-16T11:27:36.443Z,1613474856.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.300001 m,
      bearing: 78.174944 deg,
      approachRate: -0.633778 m/s,
      LOS rate: 1.178348 deg/s,
      cmd update: 3.535045 deg/s,
      cmd heading: 56.155182 deg,
      new cmd heading: 54.647924 deg.

2021-02-16T11:27:38.914Z,1613474858.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:39.638Z,1613474859.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:40.040Z,1613474860.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:40.881Z,1613474860.881 [Micromodem](INFO): Nmea in: $SNTTA,0.016712,,,,112741.08*4B

2021-02-16T11:27:41.008Z,1613474861.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 83.298385 deg, deltaT: 4.335021 s, approachRate: -0.581313 m/s, LOS rate: 1.181872 deg/s, posRepo size: 4
2021-02-16T11:27:41.010Z,1613474861.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 83.298385 deg,
      approachRate: -0.581313 m/s,
      LOS rate: 1.181872 deg/s,
      cmd update: 3.545617 deg/s,
      cmd heading: 71.507725 deg,
      new cmd heading: 73.493052 deg.

2021-02-16T11:27:42.957Z,1613474862.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:43.644Z,1613474863.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:44.063Z,1613474864.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:44.909Z,1613474864.909 [Micromodem](INFO): Nmea in: $SNTTA,0.015141,,,,112745.09*4D

2021-02-16T11:27:45.083Z,1613474865.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 85.665025 deg, deltaT: 4.050292 s, approachRate: -0.562923 m/s, LOS rate: 0.584313 deg/s, posRepo size: 4
2021-02-16T11:27:45.085Z,1613474865.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 85.665025 deg,
      approachRate: -0.562923 m/s,
      LOS rate: 0.584313 deg/s,
      cmd update: 1.752940 deg/s,
      cmd heading: 85.854531 deg,
      new cmd heading: 87.951813 deg.

2021-02-16T11:27:47.006Z,1613474867.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:47.684Z,1613474867.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:48.101Z,1613474868.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:48.913Z,1613474868.913 [Micromodem](INFO): Nmea in: $SNTTA,0.013543,,,,112749.13*4A

2021-02-16T11:27:48.996Z,1613474868.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.980001 m, bearing: 90.014503 deg, deltaT: 4.029319 s, approachRate: -0.625415 m/s, LOS rate: 1.079457 deg/s, posRepo size: 4
2021-02-16T11:27:48.998Z,1613474868.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.980001 m,
      bearing: 90.014503 deg,
      approachRate: -0.625415 m/s,
      LOS rate: 1.079457 deg/s,
      cmd update: 3.238372 deg/s,
      cmd heading: 92.925014 deg,
      new cmd heading: 93.750474 deg.

2021-02-16T11:27:51.372Z,1613474871.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:52.130Z,1613474872.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:52.560Z,1613474872.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:53.387Z,1613474873.387 [Micromodem](INFO): Nmea in: $SNTTA,0.012018,,,,112753.58*44

2021-02-16T11:27:53.419Z,1613474873.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 87.505686 deg, deltaT: 4.553739 s, approachRate: -0.474335 m/s, LOS rate: -0.550936 deg/s, posRepo size: 4
2021-02-16T11:27:53.421Z,1613474873.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 87.505686 deg,
      approachRate: -0.474335 m/s,
      LOS rate: -0.550936 deg/s,
      cmd update: -1.652807 deg/s,
      cmd heading: 107.645368 deg,
      new cmd heading: 108.786043 deg.

2021-02-16T11:27:55.911Z,1613474875.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:27:56.674Z,1613474876.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:27:57.077Z,1613474877.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:27:57.904Z,1613474877.904 [Micromodem](INFO): Nmea in: $SNTTA,0.010338,,,,112758.12*42

2021-02-16T11:27:57.957Z,1613474877.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 86.221351 deg, deltaT: 4.445696 s, approachRate: -0.728795 m/s, LOS rate: -0.288894 deg/s, posRepo size: 4
2021-02-16T11:27:57.958Z,1613474877.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.579999 m,
      bearing: 86.221351 deg,
      approachRate: -0.728795 m/s,
      LOS rate: -0.288894 deg/s,
      cmd update: -0.866682 deg/s,
      cmd heading: 100.284106 deg,
      new cmd heading: 99.556324 deg.

2021-02-16T11:28:00.341Z,1613474880.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:01.121Z,1613474881.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:01.522Z,1613474881.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:02.356Z,1613474882.356 [Micromodem](INFO): Nmea in: $SNTTA,0.008987,,,,112802.57*44

2021-02-16T11:28:02.378Z,1613474882.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 97.094547 deg, deltaT: 4.443767 s, approachRate: -0.526580 m/s, LOS rate: 2.446842 deg/s, posRepo size: 4
2021-02-16T11:28:02.380Z,1613474882.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 97.094547 deg,
      approachRate: -0.526580 m/s,
      LOS rate: 2.446842 deg/s,
      cmd update: 7.340527 deg/s,
      cmd heading: 96.432884 deg,
      new cmd heading: 96.070319 deg.

2021-02-16T11:28:04.773Z,1613474884.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:05.566Z,1613474885.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:05.993Z,1613474885.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:06.794Z,1613474886.794 [Micromodem](INFO): Nmea in: $SNTTA,0.006865,,,,112807.01*41

2021-02-16T11:28:06.866Z,1613474886.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 98.601663 deg, deltaT: 4.438498 s, approachRate: -0.486651 m/s, LOS rate: 0.339555 deg/s, posRepo size: 4
2021-02-16T11:28:06.869Z,1613474886.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.080001 m,
      bearing: 98.601663 deg,
      approachRate: -0.486651 m/s,
      LOS rate: 0.339555 deg/s,
      cmd update: 1.018666 deg/s,
      cmd heading: 129.014122 deg,
      new cmd heading: 132.444483 deg.

2021-02-16T11:28:09.272Z,1613474889.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:10.006Z,1613474890.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:10.410Z,1613474890.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:11.245Z,1613474891.245 [Micromodem](INFO): Nmea in: $SNTTA,0.010061,,,0.009692,112811.45*57

2021-02-16T11:28:11.285Z,1613474891.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.919999 m, bearing: 86.368111 deg, deltaT: 4.509239 s, approachRate: -0.479017 m/s, LOS rate: -2.712997 deg/s, posRepo size: 4
2021-02-16T11:28:11.287Z,1613474891.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.919999 m,
      bearing: 86.368111 deg,
      approachRate: -0.479017 m/s,
      LOS rate: -2.712997 deg/s,
      cmd update: -8.138991 deg/s,
      cmd heading: 133.602858 deg,
      new cmd heading: 133.992341 deg.

2021-02-16T11:28:13.683Z,1613474893.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:14.453Z,1613474894.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:14.860Z,1613474894.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:15.684Z,1613474895.684 [Micromodem](INFO): Nmea in: $SNTTA,0.004568,,,,112815.90*48

2021-02-16T11:28:15.729Z,1613474895.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.839999 m, bearing: 100.735427 deg, deltaT: 4.363535 s, approachRate: -0.247506 m/s, LOS rate: 3.292587 deg/s, posRepo size: 4
2021-02-16T11:28:15.731Z,1613474895.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.839999 m,
      bearing: 100.735427 deg,
      approachRate: -0.247506 m/s,
      LOS rate: 3.292587 deg/s,
      cmd update: 9.877760 deg/s,
      cmd heading: 98.049947 deg,
      new cmd heading: 94.325618 deg.

2021-02-16T11:28:18.131Z,1613474898.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:18.893Z,1613474898.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:19.298Z,1613474899.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:20.137Z,1613474900.137 [Micromodem](INFO): Nmea in: $SNTTA,0.004908,,,,112820.34*4A

2021-02-16T11:28:20.188Z,1613474900.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 109.820938 deg, deltaT: 4.453374 s, approachRate: 0.107784 m/s, LOS rate: 2.040141 deg/s, posRepo size: 4
2021-02-16T11:28:20.189Z,1613474900.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 109.820938 deg,
      approachRate: 0.107784 m/s,
      LOS rate: 2.040141 deg/s,
      cmd update: 6.120423 deg/s,
      cmd heading: 142.031088 deg,
      new cmd heading: 146.606673 deg.

2021-02-16T11:28:22.556Z,1613474902.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:23.342Z,1613474903.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:23.746Z,1613474903.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:24.572Z,1613474904.572 [Micromodem](INFO): Nmea in: $SNTTA,0.005957,,,,112824.79*4C

2021-02-16T11:28:24.594Z,1613474904.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 105.269218 deg, deltaT: 4.498809 s, approachRate: 0.373432 m/s, LOS rate: -1.011761 deg/s, posRepo size: 4
2021-02-16T11:28:24.624Z,1613474904.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 105.269218 deg,
      approachRate: 0.373432 m/s,
      LOS rate: -1.011761 deg/s,
      cmd update: -3.035284 deg/s,
      cmd heading: 169.527885 deg,
      new cmd heading: 171.839513 deg.

2021-02-16T11:28:27.041Z,1613474907.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:27.784Z,1613474907.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:28.190Z,1613474908.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:29.012Z,1613474909.012 [Micromodem](INFO): Nmea in: $SNTTA,0.007539,,,,112829.23*48

2021-02-16T11:28:29.071Z,1613474909.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 129.361993 deg, deltaT: 4.421258 s, approachRate: 0.542832 m/s, LOS rate: 5.449303 deg/s, posRepo size: 4
2021-02-16T11:28:29.073Z,1613474909.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 129.361993 deg,
      approachRate: 0.542832 m/s,
      LOS rate: 5.449303 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.187285 deg,
      new cmd heading: 154.806010 deg.

2021-02-16T11:28:31.463Z,1613474911.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:32.258Z,1613474912.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:32.681Z,1613474912.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:33.470Z,1613474913.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,112833.70*53

2021-02-16T11:28:34.289Z,1613474914.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:35.882Z,1613474915.882 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:28:37.130Z,1613474917.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:37.915Z,1613474917.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:38.309Z,1613474918.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:39.148Z,1613474919.148 [Micromodem](INFO): Nmea in: $SNTTA,0.010987,,,,112839.36*42

2021-02-16T11:28:39.212Z,1613474919.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 176.280953 deg, deltaT: 10.097432 s, approachRate: 0.499137 m/s, LOS rate: 4.646623 deg/s, posRepo size: 4
2021-02-16T11:28:39.219Z,1613474919.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 176.280953 deg,
      approachRate: 0.499137 m/s,
      LOS rate: 4.646623 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 277.748177 deg,
      new cmd heading: 283.331609 deg.

2021-02-16T11:28:41.575Z,1613474921.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:41.968Z,1613474921.968 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.274326
2021-02-16T11:28:42.350Z,1613474922.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:42.767Z,1613474922.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:43.576Z,1613474923.576 [Micromodem](INFO): Nmea in: $SNTTA,0.012157,,,,112843.80*45

2021-02-16T11:28:43.665Z,1613474923.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 191.042194 deg, deltaT: 4.512909 s, approachRate: 0.398856 m/s, LOS rate: 3.270893 deg/s, posRepo size: 4
2021-02-16T11:28:43.666Z,1613474923.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.24 m. Rolling out.
2021-02-16T11:28:43.666Z,1613474923.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:28:46.033Z,1613474926.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:46.807Z,1613474926.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:47.198Z,1613474927.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:48.032Z,1613474928.032 [Micromodem](INFO): Nmea in: $SNTTA,0.013142,,,,112848.25*44

2021-02-16T11:28:48.093Z,1613474928.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 229.148981 deg, deltaT: 4.403993 s, approachRate: 0.340600 m/s, LOS rate: 8.652781 deg/s, posRepo size: 4
2021-02-16T11:28:48.543Z,1613474928.543 [Radio_Surface](INFO): Powering down
2021-02-16T11:28:50.443Z,1613474930.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:51.254Z,1613474931.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:51.672Z,1613474931.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:52.478Z,1613474932.478 [Micromodem](INFO): Nmea in: $SNTTA,0.014441,,,,112852.70*4E

2021-02-16T11:28:52.510Z,1613474932.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 250.256246 deg, deltaT: 4.433537 s, approachRate: 0.433062 m/s, LOS rate: 4.760819 deg/s, posRepo size: 4
2021-02-16T11:28:53.676Z,1613474933.676 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:28:54.928Z,1613474934.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:28:55.686Z,1613474935.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:28:56.088Z,1613474936.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:28:56.912Z,1613474936.912 [Micromodem](INFO): Nmea in: $SNTTA,0.014726,,,,112857.13*4C

2021-02-16T11:28:56.981Z,1613474936.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 274.190622 deg, deltaT: 4.409898 s, approachRate: 0.312933 m/s, LOS rate: 5.427422 deg/s, posRepo size: 4
2021-02-16T11:28:59.337Z,1613474939.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:00.141Z,1613474940.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:00.530Z,1613474940.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:01.364Z,1613474941.364 [Micromodem](INFO): Nmea in: $SNTTA,0.014120,,,,112901.59*40

2021-02-16T11:29:01.406Z,1613474941.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.239996 m, bearing: 291.265740 deg, deltaT: 4.488979 s, approachRate: -0.400983 m/s, LOS rate: 3.803787 deg/s, posRepo size: 4
2021-02-16T11:29:03.790Z,1613474943.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:04.610Z,1613474944.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:04.973Z,1613474944.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:05.824Z,1613474945.824 [Micromodem](INFO): Nmea in: $SNTTA,0.013643,,,0.016142,112906.06*56

2021-02-16T11:29:05.873Z,1613474945.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.400002 m, bearing: 260.217011 deg, deltaT: 4.403677 s, approachRate: -0.190748 m/s, LOS rate: -7.050637 deg/s, posRepo size: 4
2021-02-16T11:29:08.274Z,1613474948.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:09.012Z,1613474949.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:09.481Z,1613474949.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:10.251Z,1613474950.251 [Micromodem](INFO): Nmea in: $SNTTA,0.013026,,,,112910.46*4E

2021-02-16T11:29:10.270Z,1613474950.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 350.809526 deg, deltaT: 4.506775 s, approachRate: -0.226327 m/s, LOS rate: 20.101406 deg/s, posRepo size: 4
2021-02-16T11:29:12.730Z,1613474952.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:13.462Z,1613474953.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:13.879Z,1613474953.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:14.693Z,1613474954.693 [Micromodem](INFO): Nmea in: $SNTTA,0.012795,,0.021482,0.040352,112914.91*43

2021-02-16T11:29:14.732Z,1613474954.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 345.411354 deg, deltaT: 4.392131 s, approachRate: -0.095625 m/s, LOS rate: -1.229055 deg/s, posRepo size: 4
2021-02-16T11:29:17.137Z,1613474957.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:17.903Z,1613474957.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:18.113Z,1613474958.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T11:29:18.305Z,1613474958.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:19.115Z,1613474959.115 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T11:29:19.157Z,1613474959.157 [Micromodem](INFO): Nmea in: $SNTTA,0.010716,,,,112919.35*44

2021-02-16T11:29:19.182Z,1613474959.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 355.103065 deg, deltaT: 4.457049 s, approachRate: -0.363470 m/s, LOS rate: 2.174468 deg/s, posRepo size: 4
2021-02-16T11:29:21.563Z,1613474961.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:22.349Z,1613474962.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:22.750Z,1613474962.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:23.576Z,1613474963.576 [Micromodem](INFO): Nmea in: $SNTTA,0.009199,,,,112923.80*4A

2021-02-16T11:29:23.603Z,1613474963.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 14.721969 deg, deltaT: 4.475530 s, approachRate: -0.831187 m/s, LOS rate: 4.383596 deg/s, posRepo size: 4
2021-02-16T11:29:26.038Z,1613474966.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:26.797Z,1613474966.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:27.197Z,1613474967.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:28.035Z,1613474968.035 [Micromodem](INFO): Nmea in: $SNTTA,0.007641,,0.042273,,112928.25*5C

2021-02-16T11:29:28.070Z,1613474968.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.280000 m, bearing: 29.242386 deg, deltaT: 4.439582 s, approachRate: -0.527076 m/s, LOS rate: 3.270672 deg/s, posRepo size: 4
2021-02-16T11:29:30.449Z,1613474970.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:31.242Z,1613474971.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:31.664Z,1613474971.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:32.480Z,1613474972.480 [Micromodem](INFO): Nmea in: $SNTTA,0.006594,,,,112932.69*4B

2021-02-16T11:29:32.502Z,1613474972.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.719998 m, bearing: 41.495021 deg, deltaT: 4.415613 s, approachRate: -0.353292 m/s, LOS rate: 2.774844 deg/s, posRepo size: 4
2021-02-16T11:29:34.908Z,1613474974.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:35.680Z,1613474975.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:36.093Z,1613474976.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:36.908Z,1613474976.908 [Micromodem](INFO): Nmea in: $SNTTA,0.006295,,,,112937.13*45

2021-02-16T11:29:36.956Z,1613474976.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.359999 m, bearing: 9.483973 deg, deltaT: 4.428325 s, approachRate: -0.081295 m/s, LOS rate: -7.228703 deg/s, posRepo size: 4
2021-02-16T11:29:39.332Z,1613474979.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:40.142Z,1613474980.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:40.535Z,1613474980.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:41.360Z,1613474981.360 [Micromodem](INFO): Nmea in: $SNTTA,0.006725,,,,112941.59*44

2021-02-16T11:29:41.376Z,1613474981.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 315.253911 deg, deltaT: 4.470345 s, approachRate: 0.161062 m/s, LOS rate: -12.131067 deg/s, posRepo size: 4
2021-02-16T11:29:43.797Z,1613474983.797 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:44.574Z,1613474984.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:44.980Z,1613474984.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:45.811Z,1613474985.811 [Micromodem](INFO): Nmea in: $SNTTA,0.007854,,,,112946.02*45

2021-02-16T11:29:45.881Z,1613474985.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.820001 m, bearing: 9.331341 deg, deltaT: 4.425598 s, approachRate: 0.393167 m/s, LOS rate: 12.219239 deg/s, posRepo size: 4
2021-02-16T11:29:48.260Z,1613474988.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:49.012Z,1613474989.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:49.423Z,1613474989.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:50.252Z,1613474990.252 [Micromodem](INFO): Nmea in: $SNTTA,0.009528,,,,112950.46*4A

2021-02-16T11:29:50.270Z,1613474990.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.339997 m, bearing: 36.476700 deg, deltaT: 4.520117 s, approachRate: 0.557507 m/s, LOS rate: 6.005455 deg/s, posRepo size: 4
2021-02-16T11:29:52.684Z,1613474992.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:53.458Z,1613474993.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:53.874Z,1613474993.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:54.692Z,1613474994.692 [Micromodem](INFO): Nmea in: $SNTTA,0.012126,,,,112954.90*45

2021-02-16T11:29:54.730Z,1613474994.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 340.991184 deg, deltaT: 4.373408 s, approachRate: 0.878034 m/s, LOS rate: -12.687022 deg/s, posRepo size: 4
2021-02-16T11:29:57.125Z,1613474997.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:29:57.900Z,1613474997.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:29:58.313Z,1613474998.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:29:59.132Z,1613474999.132 [Micromodem](INFO): Nmea in: $SNTTA,0.013651,,,,112959.35*41

2021-02-16T11:29:59.176Z,1613474999.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 358.500510 deg, deltaT: 4.454311 s, approachRate: 0.471454 m/s, LOS rate: 3.930872 deg/s, posRepo size: 4
2021-02-16T11:30:01.569Z,1613475001.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:02.357Z,1613475002.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:02.757Z,1613475002.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:03.589Z,1613475003.589 [Micromodem](INFO): Nmea in: $SNTTA,0.016015,,,,113003.81*4A

2021-02-16T11:30:03.650Z,1613475003.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 356.365940 deg, deltaT: 4.440164 s, approachRate: 0.783755 m/s, LOS rate: -0.480741 deg/s, posRepo size: 4
2021-02-16T11:30:06.022Z,1613475006.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:06.788Z,1613475006.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:07.195Z,1613475007.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:08.008Z,1613475008.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113008.23*54

2021-02-16T11:30:08.878Z,1613475008.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:08.879Z,1613475008.879 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T11:30:08.883Z,1613475008.883 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T11:30:08.883Z,1613475008.883 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T11:30:08.883Z,1613475008.883 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:30:08.883Z,1613475008.883 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T11:30:09.334Z,1613475009.334 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60520000005D00000400610000000000000000151D80030C5669BF92F9E5796B3E474B34E5FE05C06674518DEBF40B49C29AD98BC4D8DDEA05B0D21E93
2021-02-16T11:30:09.334Z,1613475009.334 [Micromodem](INFO): Outgoing frame #2, 35 bytes: 325C75C4AD69A4427D61B1A3953D370D286158479805543913F69E42AB3410F252F000
2021-02-16T11:30:09.335Z,1613475009.335 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T11:30:09.689Z,1613475009.689 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T11:30:10.088Z,1613475010.088 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:30:10.091Z,1613475010.091 [Micromodem](INFO): Nmea in: $CADRQ,113010,1,10,0,64,1*74

2021-02-16T11:30:10.112Z,1613475010.112 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60520000005D00000400610000000000000000151D80030C5669BF92F9E5796B3E474B34E5FE05C06674518DEBF40B49C29AD98BC4D8DDEA05B0D21E93*38

2021-02-16T11:30:10.530Z,1613475010.530 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T11:30:10.934Z,1613475010.934 [Micromodem](INFO): Nmea in: $CADRQ,113011,1,10,0,64,2*76

2021-02-16T11:30:10.934Z,1613475010.934 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,325C75C4AD69A4427D61B1A3953D370D286158479805543913F69E42AB3410F252F000*48

2021-02-16T11:30:11.351Z,1613475011.351 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,35*4D

2021-02-16T11:30:11.740Z,1613475011.740 [Micromodem](INFO): Nmea in: $CATXP,99*72

2021-02-16T11:30:11.782Z,1613475011.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:12.568Z,1613475012.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:14.171Z,1613475014.171 [Micromodem](INFO): Nmea in: $CATXF,99*64

2021-02-16T11:30:14.171Z,1613475014.171 [Micromodem](ERROR): Response from modem unexpected: $CATXF,99*64

2021-02-16T11:30:14.602Z,1613475014.602 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,113012.383996,3,0,200,4000,14500,1,1,10,1,2,2,3,99*49

2021-02-16T11:30:14.602Z,1613475014.602 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,113012.383996,3,0,200,4000,14500,1,1,10,1,2,2,3,99*49

2021-02-16T11:30:14.665Z,1613475014.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:17.421Z,1613475017.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:19.933Z,1613475019.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:22.737Z,1613475022.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:23.879Z,1613475023.879 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:24.269Z,1613475024.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:25.108Z,1613475025.108 [Micromodem](INFO): Nmea in: $SNTTA,0.027037,,,,113025.33*45

2021-02-16T11:30:25.150Z,1613475025.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.739998 m, bearing: 349.195744 deg, deltaT: 21.563835 s, approachRate: 0.787429 m/s, LOS rate: -0.332510 deg/s, posRepo size: 4
2021-02-16T11:30:27.544Z,1613475027.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:28.315Z,1613475028.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:28.744Z,1613475028.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:29.540Z,1613475029.540 [Micromodem](INFO): Nmea in: $SNTTA,0.029650,,,,113029.76*41

2021-02-16T11:30:29.591Z,1613475029.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.579998 m, bearing: 356.246466 deg, deltaT: 4.472547 s, approachRate: 0.858571 m/s, LOS rate: 1.576445 deg/s, posRepo size: 4
2021-02-16T11:30:31.987Z,1613475031.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:32.753Z,1613475032.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:33.154Z,1613475033.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:33.984Z,1613475033.984 [Micromodem](INFO): Nmea in: $SNTTA,0.032004,,,,113034.20*43

2021-02-16T11:30:34.046Z,1613475034.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 352.800007 deg, deltaT: 4.359361 s, approachRate: 0.825809 m/s, LOS rate: -0.790588 deg/s, posRepo size: 4
2021-02-16T11:30:36.466Z,1613475036.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:37.194Z,1613475037.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:37.616Z,1613475037.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:38.424Z,1613475038.424 [Micromodem](INFO): Nmea in: $SNTTA,0.034476,,,,113038.64*48

2021-02-16T11:30:38.461Z,1613475038.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.899994 m, bearing: 351.743677 deg, deltaT: 4.466851 s, approachRate: 0.832801 m/s, LOS rate: -0.236482 deg/s, posRepo size: 4
2021-02-16T11:30:41.012Z,1613475041.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:41.638Z,1613475041.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:42.045Z,1613475042.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:42.880Z,1613475042.880 [Micromodem](INFO): Nmea in: $SNTTA,0.036975,,,0.039498,113043.08*53

2021-02-16T11:30:42.995Z,1613475042.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.680000 m, bearing: 356.435034 deg, deltaT: 4.441746 s, approachRate: 0.851018 m/s, LOS rate: 1.056196 deg/s, posRepo size: 4
2021-02-16T11:30:45.307Z,1613475045.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:46.082Z,1613475046.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:46.490Z,1613475046.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:47.316Z,1613475047.316 [Micromodem](INFO): Nmea in: $SNTTA,0.039530,,,,113047.53*4A

2021-02-16T11:30:47.430Z,1613475047.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.460003 m, bearing: 347.088193 deg, deltaT: 4.454487 s, approachRate: 0.848583 m/s, LOS rate: -2.098298 deg/s, posRepo size: 4
2021-02-16T11:30:49.481Z,1613475049.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:50.121Z,1613475050.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:50.547Z,1613475050.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:51.380Z,1613475051.380 [Micromodem](INFO): Nmea in: $SNTTA,0.041898,,,,113051.57*49

2021-02-16T11:30:51.480Z,1613475051.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.000004 m, bearing: 350.217649 deg, deltaT: 4.034418 s, approachRate: 0.877450 m/s, LOS rate: 0.775690 deg/s, posRepo size: 4
2021-02-16T11:30:53.893Z,1613475053.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:54.566Z,1613475054.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:54.976Z,1613475054.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:30:55.804Z,1613475055.804 [Micromodem](INFO): Nmea in: $SNTTA,0.044461,,,,113056.01*42

2021-02-16T11:30:55.936Z,1613475055.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.840004 m, bearing: 351.432794 deg, deltaT: 4.433996 s, approachRate: 0.866036 m/s, LOS rate: 0.274052 deg/s, posRepo size: 4
2021-02-16T11:30:58.246Z,1613475058.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:30:59.025Z,1613475059.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:30:59.427Z,1613475059.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:00.264Z,1613475060.264 [Micromodem](INFO): Nmea in: $SNTTA,0.047030,0.088469,,,113100.47*54

2021-02-16T11:31:00.329Z,1613475060.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 348.016279 deg, deltaT: 4.502851 s, approachRate: 0.866117 m/s, LOS rate: -0.758745 deg/s, posRepo size: 4
2021-02-16T11:31:02.688Z,1613475062.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:03.454Z,1613475063.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:03.869Z,1613475063.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:04.684Z,1613475064.684 [Micromodem](INFO): Nmea in: $SNTTA,0.049544,,,,113104.90*47

2021-02-16T11:31:04.723Z,1613475064.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 347.830334 deg, deltaT: 4.366449 s, approachRate: 0.851951 m/s, LOS rate: -0.042585 deg/s, posRepo size: 4
2021-02-16T11:31:06.806Z,1613475066.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:07.498Z,1613475067.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:07.909Z,1613475067.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:08.724Z,1613475068.724 [Micromodem](INFO): Nmea in: $SNTTA,0.051818,,,,113108.94*42

2021-02-16T11:31:08.866Z,1613475068.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.880005 m, bearing: 343.267549 deg, deltaT: 4.058879 s, approachRate: 0.842599 m/s, LOS rate: -1.124149 deg/s, posRepo size: 4
2021-02-16T11:31:11.160Z,1613475071.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:11.936Z,1613475071.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:12.374Z,1613475072.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:13.165Z,1613475073.165 [Micromodem](INFO): Nmea in: $SNTTA,0.054347,,,,113113.38*4A

2021-02-16T11:31:13.261Z,1613475073.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.900002 m, bearing: 338.703753 deg, deltaT: 4.514993 s, approachRate: 0.890366 m/s, LOS rate: -1.010809 deg/s, posRepo size: 4
2021-02-16T11:31:14.372Z,1613475074.372 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T11:31:14.886Z,1613475074.886 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60520000005D00000400610000000000000000151D80030C5669BF92F9E5796B3E474B34E5FE05C06674518DEBF40B49C29AD98BC4D8DDEA05B0D21E93
2021-02-16T11:31:14.886Z,1613475074.886 [Micromodem](INFO): Outgoing frame #2, 35 bytes: 325C75C4AD69A4427D61B1A3953D370D286158479805543913F69E42AB3410F252F000
2021-02-16T11:31:14.887Z,1613475074.887 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T11:31:15.180Z,1613475075.180 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T11:31:15.572Z,1613475075.572 [Micromodem](INFO): Nmea in: $CADRQ,113116,1,10,0,64,1*73

2021-02-16T11:31:15.572Z,1613475075.572 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60520000005D00000400610000000000000000151D80030C5669BF92F9E5796B3E474B34E5FE05C06674518DEBF40B49C29AD98BC4D8DDEA05B0D21E93*38

2021-02-16T11:31:15.688Z,1613475075.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:15.986Z,1613475075.986 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T11:31:16.380Z,1613475076.380 [Micromodem](INFO): Nmea in: $CADRQ,113117,1,10,0,64,2*71

2021-02-16T11:31:16.380Z,1613475076.380 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,325C75C4AD69A4427D61B1A3953D370D286158479805543913F69E42AB3410F252F000*48

2021-02-16T11:31:16.784Z,1613475076.784 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,35*4D

2021-02-16T11:31:16.784Z,1613475076.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:17.193Z,1613475077.193 [Micromodem](INFO): Nmea in: $CATXP,99*72

2021-02-16T11:31:17.193Z,1613475077.193 [Micromodem](ERROR): Response from modem unexpected: $CATXP,99*72

2021-02-16T11:31:18.415Z,1613475078.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:19.629Z,1613475079.629 [Micromodem](INFO): Nmea in: $CATXF,99*64

2021-02-16T11:31:19.629Z,1613475079.629 [Micromodem](ERROR): Response from modem unexpected: $CATXF,99*64

2021-02-16T11:31:20.034Z,1613475080.034 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,113117.832184,3,0,200,4000,14500,1,1,10,1,2,2,3,99*47

2021-02-16T11:31:20.034Z,1613475080.034 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,113117.832184,3,0,200,4000,14500,1,1,10,1,2,2,3,99*47

2021-02-16T11:31:20.924Z,1613475080.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:22.440Z,1613475082.440 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T11:31:22.861Z,1613475082.861 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T11:31:22.862Z,1613475082.862 [Micromodem](INFO): Sent 91 bytes from file Logs/20210216T042015/Courier0082.lzma.parts
2021-02-16T11:31:22.863Z,1613475082.863 [Micromodem](INFO): Packets left to send: 0
2021-02-16T11:31:23.286Z,1613475083.286 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216113122.571708,06,979,29,0129,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,8.3,3.00,01,0.00,-01,-1.80,38,14500,4000*56

2021-02-16T11:31:23.286Z,1613475083.286 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216113122.571708,06,979,29,0129,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,8.3,3.00,01,0.00,-01,-1.80,38,14500,4000*56

2021-02-16T11:31:23.371Z,1613475083.371 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T11:31:23.377Z,1613475083.377 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T11:31:23.377Z,1613475083.377 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T11:31:23.377Z,1613475083.377 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T11:31:23.377Z,1613475083.377 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T11:31:23.711Z,1613475083.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:26.229Z,1613475086.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:28.121Z,1613475088.121 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:28.511Z,1613475088.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:29.344Z,1613475089.344 [Micromodem](INFO): Nmea in: $SNTTA,0.063385,,,,113129.57*40

2021-02-16T11:31:29.359Z,1613475089.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.220009 m, bearing: 337.977977 deg, deltaT: 16.129517 s, approachRate: 0.825816 m/s, LOS rate: -0.044997 deg/s, posRepo size: 4
2021-02-16T11:31:31.801Z,1613475091.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:32.549Z,1613475092.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:32.984Z,1613475092.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:33.783Z,1613475093.783 [Micromodem](INFO): Nmea in: $SNTTA,0.065975,,,,113134.00*4D

2021-02-16T11:31:33.854Z,1613475093.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 331.591997 deg, deltaT: 4.387481 s, approachRate: 0.875217 m/s, LOS rate: -1.455501 deg/s, posRepo size: 4
2021-02-16T11:31:36.246Z,1613475096.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:36.995Z,1613475096.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:37.406Z,1613475097.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:38.288Z,1613475098.288 [Micromodem](INFO): Nmea in: $SNTTA,0.068362,,,,113138.44*40

2021-02-16T11:31:38.319Z,1613475098.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.780006 m, bearing: 340.774366 deg, deltaT: 4.510775 s, approachRate: 0.824692 m/s, LOS rate: 2.035652 deg/s, posRepo size: 4
2021-02-16T11:31:40.676Z,1613475100.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:41.436Z,1613475101.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:41.860Z,1613475101.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:42.682Z,1613475102.682 [Micromodem](INFO): Nmea in: $SNTTA,0.084751,,,,113142.88*4B

2021-02-16T11:31:42.707Z,1613475102.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 336.766466 deg, deltaT: 4.383467 s, approachRate: 0.698077 m/s, LOS rate: -0.914322 deg/s, posRepo size: 4
2021-02-16T11:31:45.104Z,1613475105.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:45.880Z,1613475105.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:46.286Z,1613475106.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:47.112Z,1613475107.112 [Micromodem](INFO): Nmea in: $SNTTA,0.072741,,,,113147.33*46

2021-02-16T11:31:47.137Z,1613475107.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 338.052017 deg, deltaT: 4.444434 s, approachRate: 0.769503 m/s, LOS rate: 0.289250 deg/s, posRepo size: 4
2021-02-16T11:31:49.531Z,1613475109.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:50.339Z,1613475110.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:50.730Z,1613475110.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:51.565Z,1613475111.565 [Micromodem](INFO): Nmea in: $SNTTA,0.075022,,,,113151.79*4A

2021-02-16T11:31:51.636Z,1613475111.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.740005 m, bearing: 329.223997 deg, deltaT: 4.440510 s, approachRate: 0.783693 m/s, LOS rate: -1.988064 deg/s, posRepo size: 4
2021-02-16T11:31:54.061Z,1613475114.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:54.778Z,1613475114.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:55.174Z,1613475115.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:31:56.009Z,1613475116.009 [Micromodem](INFO): Nmea in: $SNTTA,0.077230,,,,113156.22*40

2021-02-16T11:31:56.064Z,1613475116.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.919998 m, bearing: 341.571914 deg, deltaT: 4.481248 s, approachRate: 0.709622 m/s, LOS rate: 2.755464 deg/s, posRepo size: 4
2021-02-16T11:31:56.823Z,1613475116.823 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T11:31:58.441Z,1613475118.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:31:59.223Z,1613475119.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:31:59.662Z,1613475119.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:00.448Z,1613475120.448 [Micromodem](INFO): Nmea in: $SNTTA,0.079488,,,,113200.67*4A

2021-02-16T11:32:00.474Z,1613475120.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 323.693757 deg, deltaT: 4.413850 s, approachRate: 0.788428 m/s, LOS rate: -4.050468 deg/s, posRepo size: 4
2021-02-16T11:32:02.902Z,1613475122.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:03.658Z,1613475123.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:04.062Z,1613475124.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:04.928Z,1613475124.928 [Micromodem](INFO): Nmea in: $SNTTA,0.081814,,,,113205.10*41

2021-02-16T11:32:04.977Z,1613475124.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 323.125239 deg, deltaT: 4.704654 s, approachRate: 0.739692 m/s, LOS rate: -0.120842 deg/s, posRepo size: 4
2021-02-16T11:32:07.367Z,1613475127.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:08.133Z,1613475128.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:08.557Z,1613475128.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:09.360Z,1613475129.360 [Micromodem](INFO): Nmea in: $SNTTA,0.084331,,,,113209.58*48

2021-02-16T11:32:09.382Z,1613475129.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 325.841005 deg, deltaT: 4.237115 s, approachRate: 0.877956 m/s, LOS rate: 0.640947 deg/s, posRepo size: 4
2021-02-16T11:32:11.814Z,1613475131.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:12.574Z,1613475132.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:12.988Z,1613475132.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:13.815Z,1613475133.815 [Micromodem](INFO): Nmea in: $SNTTA,0.086574,,,,113214.02*4E

2021-02-16T11:32:13.878Z,1613475133.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 338.168950 deg, deltaT: 4.413860 s, approachRate: 0.774833 m/s, LOS rate: 2.793008 deg/s, posRepo size: 4
2021-02-16T11:32:16.267Z,1613475136.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:17.030Z,1613475137.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:17.454Z,1613475137.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:18.260Z,1613475138.260 [Micromodem](INFO): Nmea in: $SNTTA,0.088809,,,,113218.48*45

2021-02-16T11:32:18.298Z,1613475138.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.320007 m, bearing: 328.657911 deg, deltaT: 4.483138 s, approachRate: 0.736092 m/s, LOS rate: -2.121514 deg/s, posRepo size: 4
2021-02-16T11:32:20.699Z,1613475140.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:21.468Z,1613475141.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:21.874Z,1613475141.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:22.696Z,1613475142.696 [Micromodem](INFO): Nmea in: $SNTTA,0.090964,,,,113222.92*48

2021-02-16T11:32:22.742Z,1613475142.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.620010 m, bearing: 334.927697 deg, deltaT: 4.425579 s, approachRate: 0.745666 m/s, LOS rate: 1.416715 deg/s, posRepo size: 4
2021-02-16T11:32:25.146Z,1613475145.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:25.912Z,1613475145.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:26.320Z,1613475146.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:27.151Z,1613475147.151 [Micromodem](INFO): Nmea in: $SNTTA,0.093400,,,,113227.36*4F

2021-02-16T11:32:27.177Z,1613475147.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 327.036042 deg, deltaT: 4.431978 s, approachRate: 0.812276 m/s, LOS rate: -1.780617 deg/s, posRepo size: 4
2021-02-16T11:32:29.565Z,1613475149.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:30.356Z,1613475150.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:30.762Z,1613475150.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:31.584Z,1613475151.584 [Micromodem](INFO): Nmea in: $SNTTA,0.095747,,,,113231.80*43

2021-02-16T11:32:31.633Z,1613475151.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 330.106512 deg, deltaT: 4.476742 s, approachRate: 0.790752 m/s, LOS rate: 0.685872 deg/s, posRepo size: 4
2021-02-16T11:32:34.040Z,1613475154.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:34.835Z,1613475154.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:35.244Z,1613475155.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:36.068Z,1613475156.068 [Micromodem](INFO): Nmea in: $SNTTA,0.097914,,,,113236.28*4C

2021-02-16T11:32:36.113Z,1613475156.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 336.344087 deg, deltaT: 4.478438 s, approachRate: 0.723468 m/s, LOS rate: 1.392801 deg/s, posRepo size: 4
2021-02-16T11:32:38.486Z,1613475158.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:39.286Z,1613475159.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:39.687Z,1613475159.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:40.515Z,1613475160.515 [Micromodem](INFO): Nmea in: $SNTTA,0.100282,,,,113240.73*48

2021-02-16T11:32:40.534Z,1613475160.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.600006 m, bearing: 325.760299 deg, deltaT: 4.417499 s, approachRate: 0.814942 m/s, LOS rate: -2.395878 deg/s, posRepo size: 4
2021-02-16T11:32:40.535Z,1613475160.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.60 m. Resuming terminal guidance.
2021-02-16T11:32:40.535Z,1613475160.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:32:42.961Z,1613475162.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:43.716Z,1613475163.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:44.125Z,1613475164.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:44.965Z,1613475164.965 [Micromodem](INFO): Nmea in: $SNTTA,0.102564,,,,113245.16*43

2021-02-16T11:32:45.013Z,1613475165.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 330.021572 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:32:45.014Z,1613475165.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 330.021572deg and heading rate command to 0 deg/s.
2021-02-16T11:32:47.395Z,1613475167.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:48.170Z,1613475168.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:48.566Z,1613475168.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:49.408Z,1613475169.408 [Micromodem](INFO): Nmea in: $SNTTA,0.104899,,,,113249.62*45

2021-02-16T11:32:49.446Z,1613475169.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.500000 m, bearing: 315.499552 deg, deltaT: 4.494570 s, approachRate: 0.787619 m/s, LOS rate: -3.231014 deg/s, posRepo size: 2
2021-02-16T11:32:49.452Z,1613475169.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.500000 m,
      bearing: 315.499552 deg,
      approachRate: 0.787619 m/s,
      LOS rate: -3.231014 deg/s,
      cmd update: -9.693043 deg/s,
      cmd heading: 330.021572 deg,
      new cmd heading: 330.021572 deg.

2021-02-16T11:32:51.877Z,1613475171.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:52.646Z,1613475172.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:53.028Z,1613475173.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:53.875Z,1613475173.875 [Micromodem](INFO): Nmea in: $SNTTA,0.107083,,,,113254.09*44

2021-02-16T11:32:53.913Z,1613475173.913 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T11:32:54.284Z,1613475174.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 322.122759 deg, deltaT: 4.885450 s, approachRate: 0.675476 m/s, LOS rate: 1.355701 deg/s, posRepo size: 3
2021-02-16T11:32:54.286Z,1613475174.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.800003 m,
      bearing: 322.122759 deg,
      approachRate: 0.675476 m/s,
      LOS rate: 1.355701 deg/s,
      cmd update: 4.067102 deg/s,
      cmd heading: 282.629463 deg,
      new cmd heading: 279.161059 deg.

2021-02-16T11:32:56.690Z,1613475176.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:32:57.465Z,1613475177.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:32:57.888Z,1613475177.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:32:58.701Z,1613475178.701 [Micromodem](INFO): Nmea in: $SNTTA,0.109410,,,,113258.91*49

2021-02-16T11:32:58.726Z,1613475178.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 267.114382 deg, deltaT: 4.383496 s, approachRate: 0.000000 m/s, LOS rate: -12.548974 deg/s, posRepo size: 4
2021-02-16T11:32:58.727Z,1613475178.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.548974 deg/s. Setting heading cmd to target bearing of 267.114382deg and heading rate command to 0 deg/s.
2021-02-16T11:33:01.134Z,1613475181.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:01.905Z,1613475181.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:02.315Z,1613475182.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:03.148Z,1613475183.148 [Micromodem](INFO): Nmea in: $SNTTA,0.111180,,,,113303.35*4D

2021-02-16T11:33:03.173Z,1613475183.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.919998 m, bearing: 301.998426 deg, deltaT: 4.437503 s, approachRate: 1.379153 m/s, LOS rate: 7.861187 deg/s, posRepo size: 4
2021-02-16T11:33:03.196Z,1613475183.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.919998 m,
      bearing: 301.998426 deg,
      approachRate: 1.379153 m/s,
      LOS rate: 7.861187 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 267.114382 deg,
      new cmd heading: 267.114382 deg.

2021-02-16T11:33:05.557Z,1613475185.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:06.344Z,1613475186.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:06.746Z,1613475186.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:07.572Z,1613475187.572 [Micromodem](INFO): Nmea in: $SNTTA,0.112761,,,,113307.79*4B

2021-02-16T11:33:07.598Z,1613475187.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.199997 m, bearing: 274.086858 deg, deltaT: 4.493607 s, approachRate: 0.507387 m/s, LOS rate: -6.211395 deg/s, posRepo size: 4
2021-02-16T11:33:07.600Z,1613475187.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.199997 m,
      bearing: 274.086858 deg,
      approachRate: 0.507387 m/s,
      LOS rate: -6.211395 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 320.913360 deg,
      new cmd heading: 325.330368 deg.

2021-02-16T11:33:10.048Z,1613475190.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:10.785Z,1613475190.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:11.191Z,1613475191.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:12.028Z,1613475192.028 [Micromodem](INFO): Nmea in: $SNTTA,0.114083,,,,113312.23*4D

2021-02-16T11:33:12.053Z,1613475192.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.240005 m, bearing: 252.927314 deg, deltaT: 4.429101 s, approachRate: 0.460592 m/s, LOS rate: -4.777390 deg/s, posRepo size: 4
2021-02-16T11:33:12.055Z,1613475192.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.240005 m,
      bearing: 252.927314 deg,
      approachRate: 0.460592 m/s,
      LOS rate: -4.777390 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 267.639262 deg,
      new cmd heading: 263.039998 deg.

2021-02-16T11:33:14.557Z,1613475194.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:15.236Z,1613475195.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:15.665Z,1613475195.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:16.465Z,1613475196.465 [Micromodem](INFO): Nmea in: $SNTTA,0.115930,,,,113316.72*4D

2021-02-16T11:33:16.921Z,1613475196.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.120010 m, bearing: 294.328424 deg, deltaT: 4.845259 s, approachRate: 0.594396 m/s, LOS rate: 8.544664 deg/s, posRepo size: 4
2021-02-16T11:33:16.923Z,1613475196.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.120010 m,
      bearing: 294.328424 deg,
      approachRate: 0.594396 m/s,
      LOS rate: 8.544664 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.544524 deg,
      new cmd heading: 204.623816 deg.

2021-02-16T11:33:19.313Z,1613475199.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:20.091Z,1613475200.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:20.484Z,1613475200.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:21.307Z,1613475201.307 [Micromodem](INFO): Nmea in: $SNTTA,0.117768,,,,113321.54*4C

2021-02-16T11:33:21.727Z,1613475201.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.700012 m, bearing: 272.950943 deg, deltaT: 4.807209 s, approachRate: 0.536694 m/s, LOS rate: -4.446963 deg/s, posRepo size: 4
2021-02-16T11:33:21.729Z,1613475201.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.700012 m,
      bearing: 272.950943 deg,
      approachRate: 0.536694 m/s,
      LOS rate: -4.446963 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 267.279310 deg,
      new cmd heading: 272.138350 deg.

2021-02-16T11:33:24.160Z,1613475204.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:24.925Z,1613475204.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:25.335Z,1613475205.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:26.176Z,1613475206.176 [Micromodem](INFO): Nmea in: $SNTTA,0.119192,,,,113326.37*43

2021-02-16T11:33:26.206Z,1613475206.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.059998 m, bearing: 245.552787 deg, deltaT: 4.458234 s, approachRate: 3.445307 m/s, LOS rate: -6.145518 deg/s, posRepo size: 4
2021-02-16T11:33:26.210Z,1613475206.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.059998 m,
      bearing: 245.552787 deg,
      approachRate: 3.445307 m/s,
      LOS rate: -6.145518 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 213.780716 deg,
      new cmd heading: 208.684951 deg.

2021-02-16T11:33:28.588Z,1613475208.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:29.369Z,1613475209.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:29.779Z,1613475209.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:30.615Z,1613475210.615 [Micromodem](INFO): Nmea in: $SNTTA,0.120053,,,,113330.81*4F

2021-02-16T11:33:30.666Z,1613475210.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.059998 m, bearing: 190.684429 deg, deltaT: 4.442694 s, approachRate: 0.000000 m/s, LOS rate: -12.350245 deg/s, posRepo size: 4
2021-02-16T11:33:30.666Z,1613475210.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.350245 deg/s. Setting heading cmd to target bearing of 190.684429deg and heading rate command to 0 deg/s.
2021-02-16T11:33:33.032Z,1613475213.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:33.853Z,1613475213.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:34.225Z,1613475214.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:35.079Z,1613475215.079 [Micromodem](INFO): Nmea in: $SNTTA,0.120468,,,,113335.30*4C

2021-02-16T11:33:35.474Z,1613475215.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.900009 m, bearing: 263.971703 deg, deltaT: 4.897884 s, approachRate: -2.278533 m/s, LOS rate: 14.963047 deg/s, posRepo size: 4
2021-02-16T11:33:35.479Z,1613475215.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.963047 deg/s. Setting heading cmd to target bearing of 263.971703deg and heading rate command to 0 deg/s.
2021-02-16T11:33:37.942Z,1613475217.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:38.662Z,1613475218.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:39.069Z,1613475219.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:39.882Z,1613475219.882 [Micromodem](INFO): Nmea in: $SNTTA,0.120251,,,,113340.11*41

2021-02-16T11:33:40.322Z,1613475220.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.240005 m, bearing: 154.684155 deg, deltaT: 4.824332 s, approachRate: -0.136807 m/s, LOS rate: -22.653405 deg/s, posRepo size: 4
2021-02-16T11:33:40.323Z,1613475220.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.653405 deg/s. Setting heading cmd to target bearing of 154.684155deg and heading rate command to 0 deg/s.
2021-02-16T11:33:42.746Z,1613475222.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:43.521Z,1613475223.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:43.914Z,1613475223.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:44.744Z,1613475224.744 [Micromodem](INFO): Nmea in: $SNTTA,0.119588,,,,113344.97*42

2021-02-16T11:33:45.165Z,1613475225.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 184.396598 deg, deltaT: 4.851842 s, approachRate: -0.197864 m/s, LOS rate: 6.123951 deg/s, posRepo size: 4
2021-02-16T11:33:45.167Z,1613475225.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 184.396598 deg,
      approachRate: -0.197864 m/s,
      LOS rate: 6.123951 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.684155 deg,
      new cmd heading: 154.684155 deg.

2021-02-16T11:33:47.585Z,1613475227.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:48.357Z,1613475228.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:48.779Z,1613475228.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:49.636Z,1613475229.636 [Micromodem](INFO): Nmea in: $SNTTA,0.119424,,,,113349.80*4E

2021-02-16T11:33:49.839Z,1613475229.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 219.134940 deg, deltaT: 4.518363 s, approachRate: 0.000000 m/s, LOS rate: 7.688258 deg/s, posRepo size: 4
2021-02-16T11:33:49.848Z,1613475229.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 219.134940 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.688258 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 209.014781 deg,
      new cmd heading: 215.157449 deg.

2021-02-16T11:33:52.042Z,1613475232.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:52.820Z,1613475232.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:53.210Z,1613475233.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:54.052Z,1613475234.052 [Micromodem](INFO): Nmea in: $SNTTA,0.119029,,,,113354.27*46

2021-02-16T11:33:54.077Z,1613475234.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 222.635480 deg, deltaT: 4.378755 s, approachRate: 0.000000 m/s, LOS rate: 0.799437 deg/s, posRepo size: 4
2021-02-16T11:33:54.091Z,1613475234.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 222.635480 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.799437 deg/s,
      cmd update: 2.398312 deg/s,
      cmd heading: 261.514590 deg,
      new cmd heading: 266.158338 deg.

2021-02-16T11:33:56.465Z,1613475236.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:33:57.253Z,1613475237.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:33:57.669Z,1613475237.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:33:58.480Z,1613475238.480 [Micromodem](INFO): Nmea in: $SNTTA,0.118753,,,,113358.70*43

2021-02-16T11:33:58.521Z,1613475238.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 212.442721 deg, deltaT: 4.424084 s, approachRate: 0.000000 m/s, LOS rate: -2.303925 deg/s, posRepo size: 4
2021-02-16T11:33:58.523Z,1613475238.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 212.442721 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.303925 deg/s,
      cmd update: -6.911777 deg/s,
      cmd heading: 272.133601 deg,
      new cmd heading: 273.100821 deg.

2021-02-16T11:34:00.930Z,1613475240.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:01.690Z,1613475241.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:02.094Z,1613475242.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:02.920Z,1613475242.920 [Micromodem](INFO): Nmea in: $SNTTA,0.118634,,,,113403.14*48

2021-02-16T11:34:02.974Z,1613475242.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.020004 m, bearing: 267.758169 deg, deltaT: 4.459780 s, approachRate: -0.282524 m/s, LOS rate: 12.403179 deg/s, posRepo size: 4
2021-02-16T11:34:02.974Z,1613475242.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.403179 deg/s. Setting heading cmd to target bearing of 267.758169deg and heading rate command to 0 deg/s.
2021-02-16T11:34:05.341Z,1613475245.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:06.134Z,1613475246.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:06.573Z,1613475246.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:07.351Z,1613475247.351 [Micromodem](INFO): Nmea in: $SNTTA,0.119315,,,,113407.58*43

2021-02-16T11:34:08.195Z,1613475248.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:09.766Z,1613475249.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:34:11.029Z,1613475251.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:11.799Z,1613475251.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:12.196Z,1613475252.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:12.621Z,1613475252.621 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2EA,0003,E4
8,188,80,80,A6,FF
2021-02-16T11:34:13.016Z,1613475253.016 [Micromodem](INFO): Nmea in: $SNTTA,0.120516,,,,113413.24*42

2021-02-16T11:34:13.873Z,1613475253.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:16.707Z,1613475256.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:19.489Z,1613475259.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:20.288Z,1613475260.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:20.697Z,1613475260.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:21.105Z,1613475261.105 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,DFA,0003,E4
8,188,80,80,A6,FF
2021-02-16T11:34:21.505Z,1613475261.505 [Micromodem](INFO): Nmea in: $SNTTA,0.123213,,,,113421.73*40

2021-02-16T11:34:22.310Z,1613475262.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:25.162Z,1613475265.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:27.999Z,1613475267.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:28.766Z,1613475268.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:29.164Z,1613475269.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:29.994Z,1613475269.994 [Micromodem](INFO): Nmea in: $SNTTA,0.126261,,,,113430.21*47

2021-02-16T11:34:30.813Z,1613475270.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:32.393Z,1613475272.393 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:34:33.672Z,1613475273.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:34.421Z,1613475274.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:34.849Z,1613475274.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:35.655Z,1613475275.655 [Micromodem](INFO): Nmea in: $SNTTA,0.128157,,,,113435.87*46

2021-02-16T11:34:36.079Z,1613475276.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.479996 m, bearing: 289.714549 deg, deltaT: 33.105919 s, approachRate: 0.436780 m/s, LOS rate: 0.663216 deg/s, posRepo size: 4
2021-02-16T11:34:36.081Z,1613475276.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.479996 m,
      bearing: 289.714549 deg,
      approachRate: 0.436780 m/s,
      LOS rate: 0.663216 deg/s,
      cmd update: 1.989649 deg/s,
      cmd heading: 267.758169 deg,
      new cmd heading: 267.758169 deg.

2021-02-16T11:34:38.472Z,1613475278.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:39.263Z,1613475279.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:39.671Z,1613475279.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:40.484Z,1613475280.484 [Micromodem](INFO): Nmea in: $SNTTA,0.130027,,,,113440.71*42

2021-02-16T11:34:40.946Z,1613475280.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 286.100806 deg, deltaT: 4.814257 s, approachRate: 0.585762 m/s, LOS rate: -0.750634 deg/s, posRepo size: 4
2021-02-16T11:34:40.948Z,1613475280.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 286.100806 deg,
      approachRate: 0.585762 m/s,
      LOS rate: -0.750634 deg/s,
      cmd update: -2.251901 deg/s,
      cmd heading: 277.337215 deg,
      new cmd heading: 278.226836 deg.

2021-02-16T11:34:43.323Z,1613475283.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:44.126Z,1613475284.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:44.515Z,1613475284.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:45.359Z,1613475285.359 [Micromodem](INFO): Nmea in: $SNTTA,0.132056,,,,113445.57*47

2021-02-16T11:34:45.851Z,1613475285.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.239990 m, bearing: 280.155290 deg, deltaT: 4.875475 s, approachRate: 0.603016 m/s, LOS rate: -1.219474 deg/s, posRepo size: 4
2021-02-16T11:34:45.853Z,1613475285.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 280.155290 deg,
      approachRate: 0.603016 m/s,
      LOS rate: -1.219474 deg/s,
      cmd update: -3.658423 deg/s,
      cmd heading: 266.358068 deg,
      new cmd heading: 265.309434 deg.

2021-02-16T11:34:48.218Z,1613475288.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:48.981Z,1613475288.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:49.383Z,1613475289.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:50.194Z,1613475290.194 [Micromodem](INFO): Nmea in: $SNTTA,0.134024,,,,113450.43*45

2021-02-16T11:34:50.660Z,1613475290.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.119995 m, bearing: 260.230399 deg, deltaT: 4.879101 s, approachRate: 0.590274 m/s, LOS rate: -4.083722 deg/s, posRepo size: 4
2021-02-16T11:34:50.662Z,1613475290.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.119995 m,
      bearing: 260.230399 deg,
      approachRate: 0.590274 m/s,
      LOS rate: -4.083722 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 248.523038 deg,
      new cmd heading: 247.018307 deg.

2021-02-16T11:34:53.065Z,1613475293.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:53.832Z,1613475293.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:54.233Z,1613475294.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:55.044Z,1613475295.044 [Micromodem](INFO): Nmea in: $SNTTA,0.135264,,,,113455.28*4A

2021-02-16T11:34:55.462Z,1613475295.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.919998 m, bearing: 233.690770 deg, deltaT: 4.840013 s, approachRate: 0.371900 m/s, LOS rate: -5.483380 deg/s, posRepo size: 4
2021-02-16T11:34:55.464Z,1613475295.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.919998 m,
      bearing: 233.690770 deg,
      approachRate: 0.371900 m/s,
      LOS rate: -5.483380 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 190.683180 deg,
      new cmd heading: 185.968176 deg.

2021-02-16T11:34:57.916Z,1613475297.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:34:58.662Z,1613475298.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:34:59.068Z,1613475299.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:34:59.882Z,1613475299.882 [Micromodem](INFO): Nmea in: $SNTTA,0.136079,,,,113500.11*4C

2021-02-16T11:35:00.316Z,1613475300.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.119995 m, bearing: 168.542772 deg, deltaT: 4.861271 s, approachRate: 0.246848 m/s, LOS rate: -13.401433 deg/s, posRepo size: 4
2021-02-16T11:35:00.316Z,1613475300.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.401433 deg/s. Setting heading cmd to target bearing of 168.542772deg and heading rate command to 0 deg/s.
2021-02-16T11:35:02.742Z,1613475302.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:03.504Z,1613475303.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:03.910Z,1613475303.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:04.723Z,1613475304.723 [Micromodem](INFO): Nmea in: $SNTTA,0.136292,,,,113504.95*43

2021-02-16T11:35:05.556Z,1613475305.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:07.144Z,1613475307.144 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:35:08.391Z,1613475308.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:09.160Z,1613475309.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:09.613Z,1613475309.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:10.386Z,1613475310.386 [Micromodem](INFO): Nmea in: $SNTTA,0.135278,,,,113510.61*4A

2021-02-16T11:35:10.865Z,1613475310.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.740005 m, bearing: 126.119457 deg, deltaT: 10.475153 s, approachRate: -0.131739 m/s, LOS rate: -4.049899 deg/s, posRepo size: 4
2021-02-16T11:35:10.866Z,1613475310.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.740005 m,
      bearing: 126.119457 deg,
      approachRate: -0.131739 m/s,
      LOS rate: -4.049899 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 168.542772 deg,
      new cmd heading: 168.542772 deg.

2021-02-16T11:35:13.240Z,1613475313.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:13.647Z,1613475313.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:14.024Z,1613475314.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:14.873Z,1613475314.873 [Micromodem](INFO): Nmea in: $SNTTA,0.133748,,,,113515.09*41

2021-02-16T11:35:15.266Z,1613475315.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 131.867129 deg, deltaT: 4.506798 s, approachRate: -0.492589 m/s, LOS rate: 1.275334 deg/s, posRepo size: 4
2021-02-16T11:35:15.268Z,1613475315.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 131.867129 deg,
      approachRate: -0.492589 m/s,
      LOS rate: 1.275334 deg/s,
      cmd update: 3.826002 deg/s,
      cmd heading: 114.559511 deg,
      new cmd heading: 110.452883 deg.

2021-02-16T11:35:17.685Z,1613475317.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:18.452Z,1613475318.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:18.882Z,1613475318.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:19.678Z,1613475319.678 [Micromodem](INFO): Nmea in: $SNTTA,0.131906,,,,113519.90*4B

2021-02-16T11:35:20.123Z,1613475320.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.459976 m, bearing: 133.422623 deg, deltaT: 4.808562 s, approachRate: -0.636371 m/s, LOS rate: 0.323484 deg/s, posRepo size: 4
2021-02-16T11:35:20.125Z,1613475320.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 133.422623 deg,
      approachRate: -0.636371 m/s,
      LOS rate: 0.323484 deg/s,
      cmd update: 0.970452 deg/s,
      cmd heading: 132.972514 deg,
      new cmd heading: 134.449898 deg.

2021-02-16T11:35:22.509Z,1613475322.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:23.306Z,1613475323.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:23.711Z,1613475323.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:24.521Z,1613475324.521 [Micromodem](INFO): Nmea in: $SNTTA,0.129669,,,,113524.75*41

2021-02-16T11:35:25.001Z,1613475325.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.279999 m, bearing: 136.331477 deg, deltaT: 4.831339 s, approachRate: -0.658198 m/s, LOS rate: 0.602080 deg/s, posRepo size: 4
2021-02-16T11:35:25.003Z,1613475325.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.279999 m,
      bearing: 136.331477 deg,
      approachRate: -0.658198 m/s,
      LOS rate: 0.602080 deg/s,
      cmd update: 1.806241 deg/s,
      cmd heading: 137.660858 deg,
      new cmd heading: 138.081227 deg.

2021-02-16T11:35:27.367Z,1613475327.367 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:28.162Z,1613475328.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:28.573Z,1613475328.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:29.377Z,1613475329.377 [Micromodem](INFO): Nmea in: $SNTTA,0.127329,,,,113529.61*46

2021-02-16T11:35:29.808Z,1613475329.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 138.270732 deg, deltaT: 4.819688 s, approachRate: -0.722041 m/s, LOS rate: 0.402361 deg/s, posRepo size: 4
2021-02-16T11:35:29.813Z,1613475329.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 138.270732 deg,
      approachRate: -0.722041 m/s,
      LOS rate: 0.402361 deg/s,
      cmd update: 1.207083 deg/s,
      cmd heading: 146.374735 deg,
      new cmd heading: 147.126495 deg.

2021-02-16T11:35:32.238Z,1613475332.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:33.002Z,1613475333.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:33.404Z,1613475333.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:34.222Z,1613475334.222 [Micromodem](INFO): Nmea in: $SNTTA,0.124936,,,,113534.45*4B

2021-02-16T11:35:34.690Z,1613475334.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 136.161938 deg, deltaT: 4.879613 s, approachRate: -0.737758 m/s, LOS rate: -0.432164 deg/s, posRepo size: 4
2021-02-16T11:35:34.692Z,1613475334.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 136.161938 deg,
      approachRate: -0.737758 m/s,
      LOS rate: -0.432164 deg/s,
      cmd update: -1.296492 deg/s,
      cmd heading: 152.268956 deg,
      new cmd heading: 152.769289 deg.

2021-02-16T11:35:37.061Z,1613475337.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:37.863Z,1613475337.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:38.297Z,1613475338.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:39.108Z,1613475339.108 [Micromodem](INFO): Nmea in: $SNTTA,0.122650,,,,113539.31*4C

2021-02-16T11:35:39.162Z,1613475339.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 134.147361 deg, deltaT: 4.494464 s, approachRate: 0.000000 m/s, LOS rate: -0.448235 deg/s, posRepo size: 4
2021-02-16T11:35:39.168Z,1613475339.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 134.147361 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.448235 deg/s,
      cmd update: -1.344706 deg/s,
      cmd heading: 146.454485 deg,
      new cmd heading: 145.933453 deg.

2021-02-16T11:35:41.553Z,1613475341.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:42.326Z,1613475342.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:42.742Z,1613475342.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:43.556Z,1613475343.556 [Micromodem](INFO): Nmea in: $SNTTA,0.120381,,,0.122900,113543.77*5E

2021-02-16T11:35:43.593Z,1613475343.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.200012 m, bearing: 130.308302 deg, deltaT: 4.427097 s, approachRate: 0.000000 m/s, LOS rate: -0.867173 deg/s, posRepo size: 4
2021-02-16T11:35:43.595Z,1613475343.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.200012 m,
      bearing: 130.308302 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.867173 deg/s,
      cmd update: -2.601519 deg/s,
      cmd heading: 140.493569 deg,
      new cmd heading: 139.955172 deg.

2021-02-16T11:35:46.035Z,1613475346.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:46.768Z,1613475346.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:47.174Z,1613475347.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:48.012Z,1613475348.012 [Micromodem](INFO): Nmea in: $SNTTA,0.117991,,,,113548.21*4F

2021-02-16T11:35:48.057Z,1613475348.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 135.810348 deg, deltaT: 4.503885 s, approachRate: -2.304682 m/s, LOS rate: 1.221622 deg/s, posRepo size: 4
2021-02-16T11:35:48.063Z,1613475348.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 135.810348 deg,
      approachRate: -2.304682 m/s,
      LOS rate: 1.221622 deg/s,
      cmd update: 3.664866 deg/s,
      cmd heading: 128.789082 deg,
      new cmd heading: 127.838997 deg.

2021-02-16T11:35:50.462Z,1613475350.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:51.227Z,1613475351.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:51.660Z,1613475351.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:52.452Z,1613475352.452 [Micromodem](INFO): Nmea in: $SNTTA,0.115662,,,,113552.67*47

2021-02-16T11:35:52.474Z,1613475352.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 137.534328 deg, deltaT: 4.388401 s, approachRate: 0.000000 m/s, LOS rate: 0.392849 deg/s, posRepo size: 4
2021-02-16T11:35:52.476Z,1613475352.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 137.534328 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.392849 deg/s,
      cmd update: 1.178548 deg/s,
      cmd heading: 144.889791 deg,
      new cmd heading: 146.316227 deg.

2021-02-16T11:35:54.922Z,1613475354.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:35:55.670Z,1613475355.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:35:56.074Z,1613475356.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:35:56.901Z,1613475356.901 [Micromodem](INFO): Nmea in: $SNTTA,0.113337,,,,113557.12*43

2021-02-16T11:35:56.968Z,1613475356.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 135.657447 deg, deltaT: 4.409681 s, approachRate: 0.000000 m/s, LOS rate: -0.425627 deg/s, posRepo size: 4
2021-02-16T11:35:56.970Z,1613475356.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 135.657447 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.425627 deg/s,
      cmd update: -1.276882 deg/s,
      cmd heading: 150.084556 deg,
      new cmd heading: 150.639311 deg.

2021-02-16T11:35:59.329Z,1613475359.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:00.109Z,1613475360.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:00.512Z,1613475360.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:01.343Z,1613475361.343 [Micromodem](INFO): Nmea in: $SNTTA,0.111327,,,,113601.55*43

2021-02-16T11:36:01.362Z,1613475361.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.560013 m, bearing: 133.998749 deg, deltaT: 4.512376 s, approachRate: -2.273742 m/s, LOS rate: -0.367589 deg/s, posRepo size: 4
2021-02-16T11:36:01.364Z,1613475361.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.560013 m,
      bearing: 133.998749 deg,
      approachRate: -2.273742 m/s,
      LOS rate: -0.367589 deg/s,
      cmd update: -1.102766 deg/s,
      cmd heading: 144.322899 deg,
      new cmd heading: 143.867256 deg.

2021-02-16T11:36:03.774Z,1613475363.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:04.550Z,1613475364.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:04.954Z,1613475364.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:05.801Z,1613475365.801 [Micromodem](INFO): Nmea in: $SNTTA,0.109143,,,,113606.00*4D

2021-02-16T11:36:05.872Z,1613475365.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 133.493957 deg, deltaT: 4.383556 s, approachRate: -0.739127 m/s, LOS rate: -0.115156 deg/s, posRepo size: 4
2021-02-16T11:36:05.874Z,1613475365.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.320007 m,
      bearing: 133.493957 deg,
      approachRate: -0.739127 m/s,
      LOS rate: -0.115156 deg/s,
      cmd update: -0.345467 deg/s,
      cmd heading: 139.500113 deg,
      new cmd heading: 138.956619 deg.

2021-02-16T11:36:08.230Z,1613475368.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:08.992Z,1613475368.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:09.398Z,1613475369.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:10.225Z,1613475370.225 [Micromodem](INFO): Nmea in: $SNTTA,0.106735,,,,113610.44*42

2021-02-16T11:36:10.274Z,1613475370.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 135.684413 deg, deltaT: 4.497987 s, approachRate: -0.760340 m/s, LOS rate: 0.486986 deg/s, posRepo size: 4
2021-02-16T11:36:10.276Z,1613475370.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.900009 m,
      bearing: 135.684413 deg,
      approachRate: -0.760340 m/s,
      LOS rate: 0.486986 deg/s,
      cmd update: 1.460957 deg/s,
      cmd heading: 137.941912 deg,
      new cmd heading: 137.808767 deg.

2021-02-16T11:36:12.722Z,1613475372.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:13.437Z,1613475373.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:13.860Z,1613475373.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:14.664Z,1613475374.664 [Micromodem](INFO): Nmea in: $SNTTA,0.104453,,,,113614.88*47

2021-02-16T11:36:14.704Z,1613475374.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 135.451749 deg, deltaT: 4.393467 s, approachRate: -0.764772 m/s, LOS rate: -0.052957 deg/s, posRepo size: 4
2021-02-16T11:36:14.705Z,1613475374.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.540009 m,
      bearing: 135.451749 deg,
      approachRate: -0.764772 m/s,
      LOS rate: -0.052957 deg/s,
      cmd update: -0.158870 deg/s,
      cmd heading: 144.360225 deg,
      new cmd heading: 144.975439 deg.

2021-02-16T11:36:17.114Z,1613475377.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:17.886Z,1613475377.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:18.286Z,1613475378.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:19.116Z,1613475379.116 [Micromodem](INFO): Nmea in: $SNTTA,0.102233,,,,113619.33*4C

2021-02-16T11:36:19.177Z,1613475379.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.119995 m, bearing: 134.374246 deg, deltaT: 4.448917 s, approachRate: -0.768729 m/s, LOS rate: -0.242195 deg/s, posRepo size: 4
2021-02-16T11:36:19.183Z,1613475379.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.119995 m,
      bearing: 134.374246 deg,
      approachRate: -0.768729 m/s,
      LOS rate: -0.242195 deg/s,
      cmd update: -0.726584 deg/s,
      cmd heading: 143.652916 deg,
      new cmd heading: 143.582543 deg.

2021-02-16T11:36:21.535Z,1613475381.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:22.328Z,1613475382.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:22.739Z,1613475382.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:23.564Z,1613475383.564 [Micromodem](INFO): Nmea in: $SNTTA,0.100071,,,,113623.77*43

2021-02-16T11:36:23.586Z,1613475383.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.759995 m, bearing: 133.671583 deg, deltaT: 4.437148 s, approachRate: -0.757243 m/s, LOS rate: -0.158359 deg/s, posRepo size: 4
2021-02-16T11:36:23.588Z,1613475383.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.759995 m,
      bearing: 133.671583 deg,
      approachRate: -0.757243 m/s,
      LOS rate: -0.158359 deg/s,
      cmd update: -0.475077 deg/s,
      cmd heading: 140.428904 deg,
      new cmd heading: 140.127499 deg.

2021-02-16T11:36:25.984Z,1613475385.984 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:36:26.018Z,1613475386.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:26.772Z,1613475386.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:27.199Z,1613475387.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:28.004Z,1613475388.004 [Micromodem](INFO): Nmea in: $SNTTA,0.097619,,,,113628.22*4F

2021-02-16T11:36:28.070Z,1613475388.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 135.157081 deg, deltaT: 4.486880 s, approachRate: -0.775594 m/s, LOS rate: 0.331076 deg/s, posRepo size: 4
2021-02-16T11:36:28.072Z,1613475388.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.279999 m,
      bearing: 135.157081 deg,
      approachRate: -0.775594 m/s,
      LOS rate: 0.331076 deg/s,
      cmd update: 0.993228 deg/s,
      cmd heading: 138.298770 deg,
      new cmd heading: 138.101555 deg.

2021-02-16T11:36:30.453Z,1613475390.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:31.241Z,1613475391.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:31.659Z,1613475391.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:32.467Z,1613475392.467 [Micromodem](INFO): Nmea in: $SNTTA,0.095320,,,,113632.69*46

2021-02-16T11:36:32.486Z,1613475392.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.800003 m, bearing: 135.152040 deg, deltaT: 4.418516 s, approachRate: -0.787594 m/s, LOS rate: -0.001141 deg/s, posRepo size: 4
2021-02-16T11:36:32.488Z,1613475392.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.800003 m,
      bearing: 135.152040 deg,
      approachRate: -0.787594 m/s,
      LOS rate: -0.001141 deg/s,
      cmd update: -0.003422 deg/s,
      cmd heading: 142.691212 deg,
      new cmd heading: 143.097139 deg.

2021-02-16T11:36:32.899Z,1613475392.899 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:36:34.952Z,1613475394.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:35.671Z,1613475395.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:36.066Z,1613475396.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:36.896Z,1613475396.896 [Micromodem](INFO): Nmea in: $SNTTA,0.092817,,,,113637.12*47

2021-02-16T11:36:36.946Z,1613475396.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.020004 m, bearing: 134.608603 deg, deltaT: 4.438578 s, approachRate: -0.851624 m/s, LOS rate: -0.122435 deg/s, posRepo size: 4
2021-02-16T11:36:36.948Z,1613475396.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.020004 m,
      bearing: 134.608603 deg,
      approachRate: -0.851624 m/s,
      LOS rate: -0.122435 deg/s,
      cmd update: -0.367305 deg/s,
      cmd heading: 142.676105 deg,
      new cmd heading: 142.674549 deg.

2021-02-16T11:36:37.720Z,1613475397.720 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:36:39.329Z,1613475399.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:40.104Z,1613475400.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:40.515Z,1613475400.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:41.339Z,1613475401.339 [Micromodem](INFO): Nmea in: $SNTTA,0.090594,,,,113641.55*41

2021-02-16T11:36:41.358Z,1613475401.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.720001 m, bearing: 133.929355 deg, deltaT: 4.443396 s, approachRate: -0.742676 m/s, LOS rate: -0.152867 deg/s, posRepo size: 4
2021-02-16T11:36:41.360Z,1613475401.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.720001 m,
      bearing: 133.929355 deg,
      approachRate: -0.742676 m/s,
      LOS rate: -0.152867 deg/s,
      cmd update: -0.458601 deg/s,
      cmd heading: 141.034981 deg,
      new cmd heading: 140.888579 deg.

2021-02-16T11:36:42.978Z,1613475402.978 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:36:43.772Z,1613475403.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:44.554Z,1613475404.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:44.954Z,1613475404.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:45.796Z,1613475405.796 [Micromodem](INFO): Nmea in: $SNTTA,0.088255,,,,113646.00*45

2021-02-16T11:36:45.877Z,1613475405.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.179993 m, bearing: 133.942277 deg, deltaT: 4.411831 s, approachRate: -0.802390 m/s, LOS rate: 0.002929 deg/s, posRepo size: 4
2021-02-16T11:36:45.883Z,1613475405.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.179993 m,
      bearing: 133.942277 deg,
      approachRate: -0.802390 m/s,
      LOS rate: 0.002929 deg/s,
      cmd update: 0.008787 deg/s,
      cmd heading: 139.011737 deg,
      new cmd heading: 138.779742 deg.

2021-02-16T11:36:47.828Z,1613475407.828 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:36:48.234Z,1613475408.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:48.998Z,1613475408.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:49.411Z,1613475409.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:50.229Z,1613475410.229 [Micromodem](INFO): Nmea in: $SNTTA,0.085920,,,,113650.44*46

2021-02-16T11:36:50.280Z,1613475410.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 134.961273 deg, deltaT: 4.508053 s, approachRate: -0.785257 m/s, LOS rate: 0.226039 deg/s, posRepo size: 4
2021-02-16T11:36:50.282Z,1613475410.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 134.961273 deg,
      approachRate: -0.785257 m/s,
      LOS rate: 0.226039 deg/s,
      cmd update: 0.678117 deg/s,
      cmd heading: 139.051281 deg,
      new cmd heading: 139.054867 deg.

2021-02-16T11:36:52.683Z,1613475412.683 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:36:52.697Z,1613475412.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:53.442Z,1613475413.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:53.860Z,1613475413.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:53.987Z,1613475413.987 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T11:36:53.987Z,1613475413.987 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T11:36:53.987Z,1613475413.987 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T11:36:54.167Z,1613475414.167 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T11:36:54.331Z,1613475414.331 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T11:36:54.700Z,1613475414.700 [Micromodem](INFO): Nmea in: $SNTTA,0.083722,,,,113654.89*49

2021-02-16T11:36:54.746Z,1613475414.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 134.822757 deg, deltaT: 4.504121 s, approachRate: -0.732665 m/s, LOS rate: -0.030753 deg/s, posRepo size: 4
2021-02-16T11:36:54.748Z,1613475414.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.340004 m,
      bearing: 134.822757 deg,
      approachRate: -0.732665 m/s,
      LOS rate: -0.030753 deg/s,
      cmd update: -0.092260 deg/s,
      cmd heading: 142.107103 deg,
      new cmd heading: 142.354558 deg.

2021-02-16T11:36:55.223Z,1613475415.223 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T11:36:55.224Z,1613475415.224 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T11:36:57.102Z,1613475417.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:36:57.886Z,1613475417.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:36:58.290Z,1613475418.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:36:59.131Z,1613475419.131 [Micromodem](INFO): Nmea in: $SNTTA,0.081471,,,,113659.33*42

2021-02-16T11:36:59.156Z,1613475419.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.040009 m, bearing: 134.242560 deg, deltaT: 4.317973 s, approachRate: -0.764246 m/s, LOS rate: -0.134368 deg/s, posRepo size: 4
2021-02-16T11:36:59.158Z,1613475419.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.040009 m,
      bearing: 134.242560 deg,
      approachRate: -0.764246 m/s,
      LOS rate: -0.134368 deg/s,
      cmd update: -0.403104 deg/s,
      cmd heading: 141.708193 deg,
      new cmd heading: 141.666312 deg.

2021-02-16T11:37:01.553Z,1613475421.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:02.331Z,1613475422.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:02.735Z,1613475422.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:03.565Z,1613475423.565 [Micromodem](INFO): Nmea in: $SNTTA,0.078982,,,,113703.78*44

2021-02-16T11:37:03.609Z,1613475423.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.320007 m, bearing: 133.821041 deg, deltaT: 4.455091 s, approachRate: -0.835000 m/s, LOS rate: -0.094615 deg/s, posRepo size: 4
2021-02-16T11:37:03.610Z,1613475423.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.320007 m,
      bearing: 133.821041 deg,
      approachRate: -0.835000 m/s,
      LOS rate: -0.094615 deg/s,
      cmd update: -0.283845 deg/s,
      cmd heading: 139.912418 deg,
      new cmd heading: 139.730204 deg.

2021-02-16T11:37:06.000Z,1613475426.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:06.776Z,1613475426.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:07.180Z,1613475427.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:08.004Z,1613475428.004 [Micromodem](INFO): Nmea in: $SNTTA,0.076807,,,,113708.22*42

2021-02-16T11:37:08.030Z,1613475428.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.080002 m, bearing: 134.839573 deg, deltaT: 4.439744 s, approachRate: -0.729773 m/s, LOS rate: 0.229412 deg/s, posRepo size: 4
2021-02-16T11:37:08.048Z,1613475428.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.080002 m,
      bearing: 134.839573 deg,
      approachRate: -0.729773 m/s,
      LOS rate: 0.229412 deg/s,
      cmd update: 0.688237 deg/s,
      cmd heading: 138.652156 deg,
      new cmd heading: 138.529272 deg.

2021-02-16T11:37:10.431Z,1613475430.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:11.251Z,1613475431.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:11.349Z,1613475431.349 [CTD_Seabird](ERROR): Failed to parse device response: 6.13,
2021-02-16T11:37:11.618Z,1613475431.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:12.864Z,1613475432.864 [Micromodem](INFO): Nmea in: $SNTTA,0.074387,,,,113712.78*47

2021-02-16T11:37:12.889Z,1613475432.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.419998 m, bearing: 134.437015 deg, deltaT: 4.861407 s, approachRate: -0.752869 m/s, LOS rate: -0.082807 deg/s, posRepo size: 4
2021-02-16T11:37:12.891Z,1613475432.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.419998 m,
      bearing: 134.437015 deg,
      approachRate: -0.752869 m/s,
      LOS rate: -0.082807 deg/s,
      cmd update: -0.248420 deg/s,
      cmd heading: 141.995191 deg,
      new cmd heading: 142.294778 deg.

2021-02-16T11:37:15.270Z,1613475435.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:16.062Z,1613475436.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:16.471Z,1613475436.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:17.293Z,1613475437.293 [Micromodem](INFO): Nmea in: $SNTTA,0.071943,,,,113717.51*4E

2021-02-16T11:37:17.372Z,1613475437.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 133.750240 deg, deltaT: 4.450902 s, approachRate: -0.835784 m/s, LOS rate: -0.154300 deg/s, posRepo size: 4
2021-02-16T11:37:17.373Z,1613475437.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.700005 m,
      bearing: 133.750240 deg,
      approachRate: -0.835784 m/s,
      LOS rate: -0.154300 deg/s,
      cmd update: -0.462901 deg/s,
      cmd heading: 140.892465 deg,
      new cmd heading: 140.774646 deg.

2021-02-16T11:37:19.750Z,1613475439.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:20.516Z,1613475440.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:20.927Z,1613475440.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:21.740Z,1613475441.740 [Micromodem](INFO): Nmea in: $SNTTA,0.069706,,,,113721.96*46

2021-02-16T11:37:21.762Z,1613475441.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.519997 m, bearing: 135.208540 deg, deltaT: 4.491780 s, approachRate: -0.707962 m/s, LOS rate: 0.324660 deg/s, posRepo size: 4
2021-02-16T11:37:21.764Z,1613475441.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.519997 m,
      bearing: 135.208540 deg,
      approachRate: -0.707962 m/s,
      LOS rate: 0.324660 deg/s,
      cmd update: 0.973979 deg/s,
      cmd heading: 138.807669 deg,
      new cmd heading: 138.638452 deg.

2021-02-16T11:37:24.171Z,1613475444.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:24.953Z,1613475444.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:25.386Z,1613475445.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:26.180Z,1613475446.180 [Micromodem](INFO): Nmea in: $SNTTA,0.067264,,,,113726.40*45

2021-02-16T11:37:26.206Z,1613475446.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 134.782404 deg, deltaT: 4.374186 s, approachRate: -0.836726 m/s, LOS rate: -0.097421 deg/s, posRepo size: 4
2021-02-16T11:37:26.209Z,1613475446.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.860001 m,
      bearing: 134.782404 deg,
      approachRate: -0.836726 m/s,
      LOS rate: -0.097421 deg/s,
      cmd update: -0.292262 deg/s,
      cmd heading: 143.068899 deg,
      new cmd heading: 143.490918 deg.

2021-02-16T11:37:28.624Z,1613475448.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:29.393Z,1613475449.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:29.803Z,1613475449.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:30.620Z,1613475450.620 [Micromodem](INFO): Nmea in: $SNTTA,0.065078,,,,113730.84*47

2021-02-16T11:37:30.660Z,1613475450.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 133.865397 deg, deltaT: 4.488400 s, approachRate: -0.761964 m/s, LOS rate: -0.204306 deg/s, posRepo size: 4
2021-02-16T11:37:30.662Z,1613475450.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.440002 m,
      bearing: 133.865397 deg,
      approachRate: -0.761964 m/s,
      LOS rate: -0.204306 deg/s,
      cmd update: -0.612918 deg/s,
      cmd heading: 141.756777 deg,
      new cmd heading: 141.640368 deg.

2021-02-16T11:37:33.059Z,1613475453.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:33.864Z,1613475453.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:34.247Z,1613475454.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:35.092Z,1613475455.092 [Micromodem](INFO): Nmea in: $SNTTA,0.062952,,,,113735.31*4A

2021-02-16T11:37:35.139Z,1613475455.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 134.029198 deg, deltaT: 4.422312 s, approachRate: -0.719081 m/s, LOS rate: 0.037040 deg/s, posRepo size: 4
2021-02-16T11:37:35.141Z,1613475455.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 134.029198 deg,
      approachRate: -0.719081 m/s,
      LOS rate: 0.037040 deg/s,
      cmd update: 0.111119 deg/s,
      cmd heading: 139.045067 deg,
      new cmd heading: 138.767146 deg.

2021-02-16T11:37:37.551Z,1613475457.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:38.280Z,1613475458.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:38.703Z,1613475458.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:39.516Z,1613475459.516 [Micromodem](INFO): Nmea in: $SNTTA,0.060620,0.076133,,,113739.73*56

2021-02-16T11:37:39.541Z,1613475459.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 134.178069 deg, deltaT: 4.438287 s, approachRate: -0.784087 m/s, LOS rate: 0.033542 deg/s, posRepo size: 4
2021-02-16T11:37:39.542Z,1613475459.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.779999 m,
      bearing: 134.178069 deg,
      approachRate: -0.784087 m/s,
      LOS rate: 0.033542 deg/s,
      cmd update: 0.100627 deg/s,
      cmd heading: 139.538233 deg,
      new cmd heading: 139.584565 deg.

2021-02-16T11:37:41.953Z,1613475461.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:42.727Z,1613475462.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:43.130Z,1613475463.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:43.956Z,1613475463.956 [Micromodem](INFO): Nmea in: $SNTTA,0.058649,,,,113744.17*44

2021-02-16T11:37:43.981Z,1613475463.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 133.820304 deg, deltaT: 4.441372 s, approachRate: -0.675465 m/s, LOS rate: -0.080553 deg/s, posRepo size: 4
2021-02-16T11:37:43.983Z,1613475463.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.780006 m,
      bearing: 133.820304 deg,
      approachRate: -0.675465 m/s,
      LOS rate: -0.080553 deg/s,
      cmd update: -0.241659 deg/s,
      cmd heading: 139.985168 deg,
      new cmd heading: 140.026996 deg.

2021-02-16T11:37:46.395Z,1613475466.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:47.174Z,1613475467.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:47.579Z,1613475467.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:48.408Z,1613475468.408 [Micromodem](INFO): Nmea in: $SNTTA,0.056503,,,,113748.62*49

2021-02-16T11:37:48.432Z,1613475468.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.540001 m, bearing: 133.373118 deg, deltaT: 4.444023 s, approachRate: -0.729070 m/s, LOS rate: -0.100626 deg/s, posRepo size: 4
2021-02-16T11:37:48.434Z,1613475468.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.540001 m,
      bearing: 133.373118 deg,
      approachRate: -0.729070 m/s,
      LOS rate: -0.100626 deg/s,
      cmd update: -0.301879 deg/s,
      cmd heading: 138.911258 deg,
      new cmd heading: 138.809013 deg.

2021-02-16T11:37:50.876Z,1613475470.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:51.617Z,1613475471.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:52.018Z,1613475472.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:52.874Z,1613475472.874 [Micromodem](INFO): Nmea in: $SNTTA,0.054459,,,,113753.06*4D

2021-02-16T11:37:52.906Z,1613475472.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.540001 m, bearing: 134.746532 deg, deltaT: 4.434511 s, approachRate: -0.676512 m/s, LOS rate: 0.309710 deg/s, posRepo size: 4
2021-02-16T11:37:52.908Z,1613475472.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.540001 m,
      bearing: 134.746532 deg,
      approachRate: -0.676512 m/s,
      LOS rate: 0.309710 deg/s,
      cmd update: 0.929131 deg/s,
      cmd heading: 137.572541 deg,
      new cmd heading: 137.432907 deg.

2021-02-16T11:37:55.266Z,1613475475.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:37:56.062Z,1613475476.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:37:56.467Z,1613475476.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:37:57.288Z,1613475477.288 [Micromodem](INFO): Nmea in: $SNTTA,0.052431,,,,113757.51*43

2021-02-16T11:37:57.318Z,1613475477.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.420006 m, bearing: 134.400474 deg, deltaT: 4.454655 s, approachRate: -0.700390 m/s, LOS rate: -0.077685 deg/s, posRepo size: 4
2021-02-16T11:37:57.324Z,1613475477.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.420006 m,
      bearing: 134.400474 deg,
      approachRate: -0.700390 m/s,
      LOS rate: -0.077685 deg/s,
      cmd update: -0.233054 deg/s,
      cmd heading: 141.711405 deg,
      new cmd heading: 142.097528 deg.

2021-02-16T11:37:59.749Z,1613475479.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:00.500Z,1613475480.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:00.906Z,1613475480.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:01.732Z,1613475481.732 [Micromodem](INFO): Nmea in: $SNTTA,0.050489,,,,113801.95*46

2021-02-16T11:38:01.791Z,1613475481.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 133.344199 deg, deltaT: 4.470915 s, approachRate: -0.697844 m/s, LOS rate: -0.236255 deg/s, posRepo size: 4
2021-02-16T11:38:01.794Z,1613475481.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 133.344199 deg,
      approachRate: -0.697844 m/s,
      LOS rate: -0.236255 deg/s,
      cmd update: -0.708764 deg/s,
      cmd heading: 140.670351 deg,
      new cmd heading: 140.572180 deg.

2021-02-16T11:38:02.528Z,1613475482.528 [CTD_Seabird](ERROR): Failed to parse device response: .80
2021-02-16T11:38:04.199Z,1613475484.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:04.952Z,1613475484.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:05.371Z,1613475485.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:06.200Z,1613475486.200 [Micromodem](INFO): Nmea in: $SNTTA,0.048267,,0.069773,,113806.40*54

2021-02-16T11:38:06.253Z,1613475486.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 133.899315 deg, deltaT: 4.425905 s, approachRate: -0.691383 m/s, LOS rate: 0.125424 deg/s, posRepo size: 4
2021-02-16T11:38:06.256Z,1613475486.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 133.899315 deg,
      approachRate: -0.691383 m/s,
      LOS rate: 0.125424 deg/s,
      cmd update: 0.376273 deg/s,
      cmd heading: 137.530621 deg,
      new cmd heading: 137.205800 deg.

2021-02-16T11:38:08.630Z,1613475488.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:09.402Z,1613475489.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:09.836Z,1613475489.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:10.632Z,1613475490.632 [Micromodem](INFO): Nmea in: $SNTTA,0.046017,,,,113810.85*43

2021-02-16T11:38:10.676Z,1613475490.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 135.086266 deg, deltaT: 4.462571 s, approachRate: -0.726038 m/s, LOS rate: 0.265979 deg/s, posRepo size: 4
2021-02-16T11:38:10.678Z,1613475490.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 135.086266 deg,
      approachRate: -0.726038 m/s,
      LOS rate: 0.265979 deg/s,
      cmd update: 0.797937 deg/s,
      cmd heading: 139.205494 deg,
      new cmd heading: 139.367046 deg.

2021-02-16T11:38:13.078Z,1613475493.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:13.862Z,1613475493.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:14.269Z,1613475494.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:15.084Z,1613475495.084 [Micromodem](INFO): Nmea in: $SNTTA,0.043916,,,,113815.31*44

2021-02-16T11:38:15.129Z,1613475495.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 134.492094 deg, deltaT: 4.420515 s, approachRate: -0.746520 m/s, LOS rate: -0.134412 deg/s, posRepo size: 4
2021-02-16T11:38:15.131Z,1613475495.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.700005 m,
      bearing: 134.492094 deg,
      approachRate: -0.746520 m/s,
      LOS rate: -0.134412 deg/s,
      cmd update: -0.403237 deg/s,
      cmd heading: 142.741873 deg,
      new cmd heading: 143.101415 deg.

2021-02-16T11:38:17.530Z,1613475497.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:18.289Z,1613475498.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:18.690Z,1613475498.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:19.519Z,1613475499.519 [Micromodem](INFO): Nmea in: $SNTTA,0.042006,,,,113819.73*47

2021-02-16T11:38:19.543Z,1613475499.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.820007 m, bearing: 132.818424 deg, deltaT: 4.450248 s, approachRate: -0.647154 m/s, LOS rate: -0.376085 deg/s, posRepo size: 4
2021-02-16T11:38:19.545Z,1613475499.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.820007 m,
      bearing: 132.818424 deg,
      approachRate: -0.647154 m/s,
      LOS rate: -0.376085 deg/s,
      cmd update: -1.128254 deg/s,
      cmd heading: 140.947392 deg,
      new cmd heading: 140.780252 deg.

2021-02-16T11:38:21.960Z,1613475501.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:22.733Z,1613475502.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:23.134Z,1613475503.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:23.968Z,1613475503.968 [Micromodem](INFO): Nmea in: $SNTTA,0.040233,,,,113824.18*42

2021-02-16T11:38:24.021Z,1613475504.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 132.647792 deg, deltaT: 4.436636 s, approachRate: -0.608569 m/s, LOS rate: -0.038460 deg/s, posRepo size: 4
2021-02-16T11:38:24.027Z,1613475504.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 132.647792 deg,
      approachRate: -0.608569 m/s,
      LOS rate: -0.038460 deg/s,
      cmd update: -0.115379 deg/s,
      cmd heading: 135.941663 deg,
      new cmd heading: 135.427297 deg.

2021-02-16T11:38:26.396Z,1613475506.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:27.190Z,1613475507.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:27.578Z,1613475507.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:28.429Z,1613475508.429 [Micromodem](INFO): Nmea in: $SNTTA,0.038103,,0.070550,,113828.64*53

2021-02-16T11:38:28.453Z,1613475508.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.000004 m, bearing: 134.836103 deg, deltaT: 4.469359 s, approachRate: -0.698087 m/s, LOS rate: 0.489625 deg/s, posRepo size: 4
2021-02-16T11:38:28.454Z,1613475508.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.000004 m,
      bearing: 134.836103 deg,
      approachRate: -0.698087 m/s,
      LOS rate: 0.489625 deg/s,
      cmd update: 1.468876 deg/s,
      cmd heading: 135.426453 deg,
      new cmd heading: 135.377752 deg.

2021-02-16T11:38:30.884Z,1613475510.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:31.617Z,1613475511.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:32.027Z,1613475512.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:32.871Z,1613475512.871 [Micromodem](INFO): Nmea in: $SNTTA,0.036185,,,,113833.06*44

2021-02-16T11:38:32.897Z,1613475512.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.120003 m, bearing: 135.359173 deg, deltaT: 4.438897 s, approachRate: -0.648810 m/s, LOS rate: 0.117838 deg/s, posRepo size: 4
2021-02-16T11:38:32.899Z,1613475512.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.120003 m,
      bearing: 135.359173 deg,
      approachRate: -0.648810 m/s,
      LOS rate: 0.117838 deg/s,
      cmd update: 0.353513 deg/s,
      cmd heading: 141.952511 deg,
      new cmd heading: 142.574237 deg.

2021-02-16T11:38:35.269Z,1613475515.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:36.060Z,1613475516.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:36.466Z,1613475516.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:37.296Z,1613475517.296 [Micromodem](INFO): Nmea in: $SNTTA,0.034164,,,,113837.50*4E

2021-02-16T11:38:37.325Z,1613475517.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.000004 m, bearing: 133.693098 deg, deltaT: 4.424901 s, approachRate: -0.705100 m/s, LOS rate: -0.376522 deg/s, posRepo size: 4
2021-02-16T11:38:37.331Z,1613475517.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.000004 m,
      bearing: 133.693098 deg,
      approachRate: -0.705100 m/s,
      LOS rate: -0.376522 deg/s,
      cmd update: -1.129567 deg/s,
      cmd heading: 143.516765 deg,
      new cmd heading: 143.666180 deg.

2021-02-16T11:38:39.737Z,1613475519.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:40.512Z,1613475520.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:40.915Z,1613475520.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:41.744Z,1613475521.744 [Micromodem](INFO): Nmea in: $SNTTA,0.032235,,,,113841.96*44

2021-02-16T11:38:41.813Z,1613475521.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 131.938300 deg, deltaT: 4.477237 s, approachRate: -0.683457 m/s, LOS rate: -0.391938 deg/s, posRepo size: 4
2021-02-16T11:38:41.828Z,1613475521.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.940006 m,
      bearing: 131.938300 deg,
      approachRate: -0.683457 m/s,
      LOS rate: -0.391938 deg/s,
      cmd update: -1.175814 deg/s,
      cmd heading: 138.463915 deg,
      new cmd heading: 137.973846 deg.

2021-02-16T11:38:44.183Z,1613475524.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:44.953Z,1613475524.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:45.370Z,1613475525.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:46.180Z,1613475526.180 [Micromodem](INFO): Nmea in: $SNTTA,0.030333,,,,113846.40*4D

2021-02-16T11:38:46.233Z,1613475526.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.940002 m, bearing: 133.699191 deg, deltaT: 4.418393 s, approachRate: -0.678981 m/s, LOS rate: 0.398537 deg/s, posRepo size: 4
2021-02-16T11:38:46.236Z,1613475526.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.940002 m,
      bearing: 133.699191 deg,
      approachRate: -0.678981 m/s,
      LOS rate: 0.398537 deg/s,
      cmd update: 1.195610 deg/s,
      cmd heading: 133.291555 deg,
      new cmd heading: 132.749276 deg.

2021-02-16T11:38:48.637Z,1613475528.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:49.406Z,1613475529.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:49.810Z,1613475529.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:50.637Z,1613475530.637 [Micromodem](INFO): Nmea in: $SNTTA,0.028085,,,,113850.85*44

2021-02-16T11:38:50.677Z,1613475530.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.940002 m, bearing: 135.136044 deg, deltaT: 4.429388 s, approachRate: -0.677294 m/s, LOS rate: 0.324391 deg/s, posRepo size: 4
2021-02-16T11:38:50.679Z,1613475530.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.940002 m,
      bearing: 135.136044 deg,
      approachRate: -0.677294 m/s,
      LOS rate: 0.324391 deg/s,
      cmd update: 0.973173 deg/s,
      cmd heading: 138.612964 deg,
      new cmd heading: 139.158028 deg.

2021-02-16T11:38:53.055Z,1613475533.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:53.861Z,1613475533.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:54.248Z,1613475534.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:55.080Z,1613475535.080 [Micromodem](INFO): Nmea in: $SNTTA,0.025948,,,,113855.31*4B

2021-02-16T11:38:55.125Z,1613475535.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.760002 m, bearing: 134.948350 deg, deltaT: 4.449930 s, approachRate: -0.714618 m/s, LOS rate: -0.042179 deg/s, posRepo size: 4
2021-02-16T11:38:55.125Z,1613475535.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.76 m.
2021-02-16T11:38:55.131Z,1613475535.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.760002 m,
      bearing: 134.948350 deg,
      approachRate: -0.714618 m/s,
      LOS rate: -0.042179 deg/s,
      cmd update: -0.126537 deg/s,
      cmd heading: 142.945402 deg,
      new cmd heading: 143.384870 deg.

2021-02-16T11:38:55.476Z,1613475535.476 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:38:57.498Z,1613475537.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:38:58.280Z,1613475538.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:38:58.685Z,1613475538.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:38:59.516Z,1613475539.516 [Micromodem](INFO): Nmea in: $SNTTA,0.024071,,,,113859.72*42

2021-02-16T11:38:59.541Z,1613475539.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 132.662477 deg, deltaT: 4.474363 s, approachRate: -0.683897 m/s, LOS rate: -0.510882 deg/s, posRepo size: 4
2021-02-16T11:38:59.542Z,1613475539.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-02-16T11:38:59.542Z,1613475539.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.70 m.
2021-02-16T11:38:59.542Z,1613475539.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:38:59.544Z,1613475539.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 132.662477 deg,
      approachRate: -0.683897 m/s,
      LOS rate: -0.510882 deg/s,
      cmd update: -1.532647 deg/s,
      cmd heading: 142.381239 deg,
      new cmd heading: 142.329435 deg.

2021-02-16T11:39:01.947Z,1613475541.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:02.761Z,1613475542.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:03.130Z,1613475543.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:03.968Z,1613475543.968 [Micromodem](INFO): Nmea in: $SNTTA,0.022098,,,,113904.21*4C

2021-02-16T11:39:03.993Z,1613475543.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 133.649180 deg, deltaT: 4.410748 s, approachRate: -0.693759 m/s, LOS rate: 0.223704 deg/s, posRepo size: 4
2021-02-16T11:39:04.012Z,1613475544.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 133.649180 deg,
      approachRate: -0.693759 m/s,
      LOS rate: 0.223704 deg/s,
      cmd update: 0.671113 deg/s,
      cmd heading: 135.596787 deg,
      new cmd heading: 134.929932 deg.

2021-02-16T11:39:06.390Z,1613475546.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:07.168Z,1613475547.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:07.604Z,1613475547.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:08.396Z,1613475548.396 [Micromodem](INFO): Nmea in: $SNTTA,0.019788,,,,113908.61*4A

2021-02-16T11:39:08.421Z,1613475548.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.460001 m, bearing: 136.168495 deg, deltaT: 4.447913 s, approachRate: -0.714942 m/s, LOS rate: 0.566404 deg/s, posRepo size: 4
2021-02-16T11:39:08.423Z,1613475548.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.460001 m,
      bearing: 136.168495 deg,
      approachRate: -0.714942 m/s,
      LOS rate: 0.566404 deg/s,
      cmd update: 1.699212 deg/s,
      cmd heading: 138.581915 deg,
      new cmd heading: 138.860169 deg.

2021-02-16T11:39:10.866Z,1613475550.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:11.612Z,1613475551.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:12.037Z,1613475552.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:12.889Z,1613475552.889 [Micromodem](INFO): Nmea in: $SNTTA,0.017671,,,,113913.06*48

2021-02-16T11:39:12.931Z,1613475552.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 133.942619 deg, deltaT: 4.464513 s, approachRate: -0.712283 m/s, LOS rate: -0.498571 deg/s, posRepo size: 4
2021-02-16T11:39:12.933Z,1613475552.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 133.942619 deg,
      approachRate: -0.712283 m/s,
      LOS rate: -0.498571 deg/s,
      cmd update: -1.495713 deg/s,
      cmd heading: 146.168004 deg,
      new cmd heading: 146.929744 deg.

2021-02-16T11:39:15.293Z,1613475555.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:16.078Z,1613475556.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:16.479Z,1613475556.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:17.305Z,1613475557.305 [Micromodem](INFO): Nmea in: $SNTTA,0.015700,,,,113917.52*48

2021-02-16T11:39:17.376Z,1613475557.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.160000 m, bearing: 133.177474 deg, deltaT: 4.463908 s, approachRate: -0.698940 m/s, LOS rate: -0.171407 deg/s, posRepo size: 4
2021-02-16T11:39:17.378Z,1613475557.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.160000 m,
      bearing: 133.177474 deg,
      approachRate: -0.698940 m/s,
      LOS rate: -0.171407 deg/s,
      cmd update: -0.514221 deg/s,
      cmd heading: 139.498713 deg,
      new cmd heading: 138.837832 deg.

2021-02-16T11:39:19.763Z,1613475559.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:20.512Z,1613475560.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:20.920Z,1613475560.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:21.751Z,1613475561.751 [Micromodem](INFO): Nmea in: $SNTTA,0.013553,,,0.043421,113921.96*59

2021-02-16T11:39:21.774Z,1613475561.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.100002 m, bearing: 135.937526 deg, deltaT: 4.474491 s, approachRate: -0.683876 m/s, LOS rate: 0.616842 deg/s, posRepo size: 4
2021-02-16T11:39:21.776Z,1613475561.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.100002 m,
      bearing: 135.937526 deg,
      approachRate: -0.683876 m/s,
      LOS rate: 0.616842 deg/s,
      cmd update: 1.850525 deg/s,
      cmd heading: 137.195346 deg,
      new cmd heading: 137.007553 deg.

2021-02-16T11:39:24.204Z,1613475564.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:24.957Z,1613475564.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:25.366Z,1613475565.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:26.192Z,1613475566.192 [Micromodem](INFO): Nmea in: $SNTTA,0.011347,,,,113926.40*4A

2021-02-16T11:39:26.255Z,1613475566.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.800003 m, bearing: 137.246272 deg, deltaT: 4.369326 s, approachRate: -0.755265 m/s, LOS rate: 0.299530 deg/s, posRepo size: 4
2021-02-16T11:39:26.257Z,1613475566.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 137.246272 deg,
      approachRate: -0.755265 m/s,
      LOS rate: 0.299530 deg/s,
      cmd update: 0.898591 deg/s,
      cmd heading: 145.281162 deg,
      new cmd heading: 146.155609 deg.

2021-02-16T11:39:28.632Z,1613475568.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:29.400Z,1613475569.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:29.833Z,1613475569.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:30.628Z,1613475570.628 [Micromodem](INFO): Nmea in: $SNTTA,0.009427,,,,113930.84*4D

2021-02-16T11:39:30.678Z,1613475570.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.800002 m, bearing: 131.270198 deg, deltaT: 4.476021 s, approachRate: -0.670238 m/s, LOS rate: -1.335131 deg/s, posRepo size: 4
2021-02-16T11:39:30.684Z,1613475570.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 131.270198 deg,
      approachRate: -0.670238 m/s,
      LOS rate: -1.335131 deg/s,
      cmd update: -4.005393 deg/s,
      cmd heading: 149.299584 deg,
      new cmd heading: 149.684165 deg.

2021-02-16T11:39:33.080Z,1613475573.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:33.858Z,1613475573.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:34.273Z,1613475574.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:35.080Z,1613475575.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,113935.30*51

2021-02-16T11:39:35.152Z,1613475575.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.619997 m, bearing: 130.580827 deg, deltaT: 4.422123 s, approachRate: -0.719113 m/s, LOS rate: -0.155891 deg/s, posRepo size: 4
2021-02-16T11:39:35.159Z,1613475575.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.619997 m,
      bearing: 130.580827 deg,
      approachRate: -0.719113 m/s,
      LOS rate: -0.155891 deg/s,
      cmd update: -0.467674 deg/s,
      cmd heading: 131.570714 deg,
      new cmd heading: 129.687658 deg.

2021-02-16T11:39:37.523Z,1613475577.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:38.295Z,1613475578.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:38.694Z,1613475578.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:39.528Z,1613475579.528 [Micromodem](INFO): Nmea in: $SNTTA,0.005424,,,,113939.74*44

2021-02-16T11:39:39.576Z,1613475579.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 135.578640 deg, deltaT: 4.449626 s, approachRate: -0.633760 m/s, LOS rate: 1.123199 deg/s, posRepo size: 4
2021-02-16T11:39:39.578Z,1613475579.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 135.578640 deg,
      approachRate: -0.633760 m/s,
      LOS rate: 1.123199 deg/s,
      cmd update: 3.369596 deg/s,
      cmd heading: 129.489740 deg,
      new cmd heading: 129.279307 deg.

2021-02-16T11:39:41.987Z,1613475581.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:42.750Z,1613475582.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:42.867Z,1613475582.867 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:39:43.138Z,1613475583.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:43.988Z,1613475583.988 [Micromodem](INFO): Nmea in: $SNTTA,0.003637,,,,113944.20*49

2021-02-16T11:39:44.030Z,1613475584.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 136.728967 deg, deltaT: 4.443548 s, approachRate: -0.567115 m/s, LOS rate: 0.258876 deg/s, posRepo size: 4
2021-02-16T11:39:44.032Z,1613475584.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 136.728967 deg,
      approachRate: -0.567115 m/s,
      LOS rate: 0.258876 deg/s,
      cmd update: 0.776627 deg/s,
      cmd heading: 144.462626 deg,
      new cmd heading: 146.014055 deg.

2021-02-16T11:39:46.402Z,1613475586.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:47.177Z,1613475587.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:47.582Z,1613475587.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:48.408Z,1613475588.408 [Micromodem](INFO): Nmea in: $SNTTA,0.002868,,0.046799,,113948.62*5D

2021-02-16T11:39:48.451Z,1613475588.451 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T11:39:48.451Z,1613475588.451 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:39:48.451Z,1613475588.451 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T11:39:48.452Z,1613475588.452 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T11:39:48.455Z,1613475588.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 135.025668 deg, deltaT: 4.472446 s, approachRate: -0.241479 m/s, LOS rate: -0.380843 deg/s, posRepo size: 4
2021-02-16T11:39:48.457Z,1613475588.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 135.025668 deg,
      approachRate: -0.241479 m/s,
      LOS rate: -0.380843 deg/s,
      cmd update: -1.142528 deg/s,
      cmd heading: 147.932943 deg,
      new cmd heading: 148.256222 deg.

2021-02-16T11:39:48.860Z,1613475588.860 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T113948: (41.552319, -70.708603)
2021-02-16T11:39:48.860Z,1613475588.860 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T11:39:48.861Z,1613475588.861 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:39:49.256Z,1613475589.256 [UniversalFixResidualReporter](INFO): Fix residual: 3.1 %DT, over the last 568.7 m. Residual distance 17.8 m at bearing -130.4 degrees. Fix at (41.5522, -70.7098) with 100.1 m made good.
2021-02-16T11:39:50.862Z,1613475590.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:51.252Z,1613475591.252 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:39:51.625Z,1613475591.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:52.025Z,1613475592.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:52.872Z,1613475592.872 [Micromodem](INFO): Nmea in: $SNTTA,0.004993,,0.044673,,113953.07*50

2021-02-16T11:39:52.897Z,1613475592.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.440001 m, bearing: 161.063278 deg, deltaT: 4.439884 s, approachRate: 0.729749 m/s, LOS rate: 5.864480 deg/s, posRepo size: 4
2021-02-16T11:39:52.898Z,1613475592.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 161.063278 deg,
      approachRate: 0.729749 m/s,
      LOS rate: 5.864480 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 142.860408 deg,
      new cmd heading: 142.382069 deg.

2021-02-16T11:39:55.354Z,1613475595.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:39:56.075Z,1613475596.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:39:56.478Z,1613475596.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:39:57.300Z,1613475597.300 [Micromodem](INFO): Nmea in: $SNTTA,0.006333,,,,113957.52*4A

2021-02-16T11:39:57.373Z,1613475597.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.599998 m, bearing: 102.456847 deg, deltaT: 4.441147 s, approachRate: 0.486360 m/s, LOS rate: -13.196238 deg/s, posRepo size: 4
2021-02-16T11:39:57.374Z,1613475597.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.196238 deg/s. Setting heading cmd to target bearing of 102.456847deg and heading rate command to 0 deg/s.
2021-02-16T11:39:59.750Z,1613475599.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:00.518Z,1613475600.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:00.918Z,1613475600.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:01.744Z,1613475601.744 [Micromodem](INFO): Nmea in: $SNTTA,0.008551,,,,114001.96*43

2021-02-16T11:40:01.783Z,1613475601.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 170.765425 deg, deltaT: 4.455609 s, approachRate: 0.713707 m/s, LOS rate: 15.330918 deg/s, posRepo size: 4
2021-02-16T11:40:01.784Z,1613475601.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.330918 deg/s. Setting heading cmd to target bearing of 170.765425deg and heading rate command to 0 deg/s.
2021-02-16T11:40:04.193Z,1613475604.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:04.957Z,1613475604.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:05.363Z,1613475605.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:06.184Z,1613475606.184 [Micromodem](INFO): Nmea in: $SNTTA,0.008597,,,,114006.40*45

2021-02-16T11:40:06.244Z,1613475606.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 145.709669 deg, deltaT: 4.424893 s, approachRate: 0.040680 m/s, LOS rate: -5.662455 deg/s, posRepo size: 4
2021-02-16T11:40:06.246Z,1613475606.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.960001 m,
      bearing: 145.709669 deg,
      approachRate: 0.040680 m/s,
      LOS rate: -5.662455 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.765425 deg,
      new cmd heading: 170.765425 deg.

2021-02-16T11:40:08.633Z,1613475608.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:09.401Z,1613475609.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:09.825Z,1613475609.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:10.628Z,1613475610.628 [Micromodem](INFO): Nmea in: $SNTTA,0.011130,,,,114010.85*4A

2021-02-16T11:40:10.668Z,1613475610.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 135.269014 deg, deltaT: 4.447074 s, approachRate: 0.849997 m/s, LOS rate: -2.347758 deg/s, posRepo size: 4
2021-02-16T11:40:10.670Z,1613475610.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.740000 m,
      bearing: 135.269014 deg,
      approachRate: 0.849997 m/s,
      LOS rate: -2.347758 deg/s,
      cmd update: -7.043275 deg/s,
      cmd heading: 117.234828 deg,
      new cmd heading: 112.187543 deg.

2021-02-16T11:40:13.099Z,1613475613.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:13.862Z,1613475613.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:14.254Z,1613475614.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:15.088Z,1613475615.088 [Micromodem](INFO): Nmea in: $SNTTA,0.013696,,,0.042202,114015.31*51

2021-02-16T11:40:15.144Z,1613475615.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 169.510979 deg, deltaT: 4.426630 s, approachRate: 0.677716 m/s, LOS rate: 7.735448 deg/s, posRepo size: 4
2021-02-16T11:40:15.146Z,1613475615.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 169.510979 deg,
      approachRate: 0.677716 m/s,
      LOS rate: 7.735448 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 86.030240 deg,
      new cmd heading: 82.741601 deg.

2021-02-16T11:40:17.570Z,1613475617.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:18.289Z,1613475618.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:18.710Z,1613475618.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:19.520Z,1613475619.520 [Micromodem](INFO): Nmea in: $SNTTA,0.014281,,,,114019.73*46

2021-02-16T11:40:19.562Z,1613475619.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.540003 m, bearing: 135.993424 deg, deltaT: 4.473234 s, approachRate: 0.402394 m/s, LOS rate: -7.492913 deg/s, posRepo size: 4
2021-02-16T11:40:19.565Z,1613475619.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.540003 m,
      bearing: 135.993424 deg,
      approachRate: 0.402394 m/s,
      LOS rate: -7.492913 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 139.663810 deg,
      new cmd heading: 144.647386 deg.

2021-02-16T11:40:21.970Z,1613475621.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:22.734Z,1613475622.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:23.164Z,1613475623.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:23.180Z,1613475623.180 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:40:23.964Z,1613475623.964 [Micromodem](INFO): Nmea in: $SNTTA,0.016079,,,,114024.18*42

2021-02-16T11:40:24.019Z,1613475624.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 90.585964 deg, deltaT: 4.412972 s, approachRate: 0.625428 m/s, LOS rate: -10.289542 deg/s, posRepo size: 4
2021-02-16T11:40:24.020Z,1613475624.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 24.30 m. Rolling out.
2021-02-16T11:40:24.020Z,1613475624.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:40:26.430Z,1613475626.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:27.190Z,1613475627.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:27.582Z,1613475627.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:28.420Z,1613475628.420 [Micromodem](INFO): Nmea in: $SNTTA,0.017780,,,,114028.64*45

2021-02-16T11:40:28.465Z,1613475628.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.760000 m, bearing: 77.419593 deg, deltaT: 4.471086 s, approachRate: 0.550202 m/s, LOS rate: -2.944781 deg/s, posRepo size: 4
2021-02-16T11:40:30.032Z,1613475630.032 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:40:30.877Z,1613475630.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:31.622Z,1613475631.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:32.027Z,1613475632.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:32.896Z,1613475632.896 [Micromodem](INFO): Nmea in: $SNTTA,0.019230,,,,114033.07*4A

2021-02-16T11:40:32.901Z,1613475632.901 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:40:32.934Z,1613475632.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.979998 m, bearing: 121.942974 deg, deltaT: 4.427733 s, approachRate: 0.501385 m/s, LOS rate: 10.055570 deg/s, posRepo size: 4
2021-02-16T11:40:35.280Z,1613475635.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:36.070Z,1613475636.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:36.476Z,1613475636.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:37.306Z,1613475637.306 [Micromodem](INFO): Nmea in: $SNTTA,0.020677,,0.050459,,114037.52*50

2021-02-16T11:40:37.366Z,1613475637.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 56.403238 deg, deltaT: 4.461892 s, approachRate: 0.497547 m/s, LOS rate: -14.688776 deg/s, posRepo size: 4
2021-02-16T11:40:38.101Z,1613475638.101 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:40:39.745Z,1613475639.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:40.508Z,1613475640.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:40.914Z,1613475640.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:41.736Z,1613475641.736 [Micromodem](INFO): Nmea in: $SNTTA,0.021877,,,,114041.95*46

2021-02-16T11:40:41.760Z,1613475641.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.480000 m, bearing: 100.786005 deg, deltaT: 4.451254 s, approachRate: 0.512215 m/s, LOS rate: 9.970846 deg/s, posRepo size: 4
2021-02-16T11:40:44.189Z,1613475644.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:44.953Z,1613475644.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:45.374Z,1613475645.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:46.189Z,1613475646.189 [Micromodem](INFO): Nmea in: $SNTTA,0.023305,,,,114046.40*45

2021-02-16T11:40:46.245Z,1613475646.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.639999 m, bearing: 102.762744 deg, deltaT: 4.398216 s, approachRate: 0.491108 m/s, LOS rate: 0.449441 deg/s, posRepo size: 4
2021-02-16T11:40:48.204Z,1613475648.204 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T11:40:48.644Z,1613475648.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:49.408Z,1613475649.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:49.808Z,1613475649.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:50.632Z,1613475650.632 [Micromodem](INFO): Nmea in: $SNTTA,0.024958,,,,114050.85*4E

2021-02-16T11:40:50.657Z,1613475650.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.559998 m, bearing: 74.007716 deg, deltaT: 4.500648 s, approachRate: 0.426605 m/s, LOS rate: -6.389086 deg/s, posRepo size: 4
2021-02-16T11:40:53.043Z,1613475653.043 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:40:53.058Z,1613475653.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:53.861Z,1613475653.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:54.256Z,1613475654.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:55.080Z,1613475655.080 [Micromodem](INFO): Nmea in: $SNTTA,0.026598,,,,114055.31*46

2021-02-16T11:40:55.105Z,1613475655.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 78.261510 deg, deltaT: 4.411373 s, approachRate: 0.557649 m/s, LOS rate: 0.964279 deg/s, posRepo size: 4
2021-02-16T11:40:57.506Z,1613475657.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:40:57.906Z,1613475657.906 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T11:40:58.304Z,1613475658.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:40:58.709Z,1613475658.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:40:59.524Z,1613475659.524 [Micromodem](INFO): Nmea in: $SNTTA,0.028620,,,,114059.75*44

2021-02-16T11:40:59.582Z,1613475659.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.080002 m, bearing: 95.162649 deg, deltaT: 4.447051 s, approachRate: 0.688098 m/s, LOS rate: 3.800527 deg/s, posRepo size: 4
2021-02-16T11:41:01.969Z,1613475661.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:02.746Z,1613475662.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:03.146Z,1613475663.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:03.181Z,1613475663.181 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T11:41:03.972Z,1613475663.972 [Micromodem](INFO): Nmea in: $SNTTA,0.030648,,,,114104.19*40

2021-02-16T11:41:03.998Z,1613475663.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.139999 m, bearing: 94.716419 deg, deltaT: 4.433486 s, approachRate: 0.690201 m/s, LOS rate: -0.100650 deg/s, posRepo size: 4
2021-02-16T11:41:06.426Z,1613475666.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:07.173Z,1613475667.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:07.578Z,1613475667.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:07.992Z,1613475667.992 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:41:08.405Z,1613475668.405 [Micromodem](INFO): Nmea in: $SNTTA,0.032729,,,,114108.62*44

2021-02-16T11:41:08.466Z,1613475668.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 37.508551 deg, deltaT: 4.438146 s, approachRate: 0.675959 m/s, LOS rate: -12.890037 deg/s, posRepo size: 4
2021-02-16T11:41:10.873Z,1613475670.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:11.622Z,1613475671.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:12.024Z,1613475672.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:12.908Z,1613475672.908 [Micromodem](INFO): Nmea in: $SNTTA,0.034845,,,,114113.07*4E

2021-02-16T11:41:12.916Z,1613475672.916 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T11:41:12.929Z,1613475672.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 39.330821 deg, deltaT: 4.461173 s, approachRate: 0.739716 m/s, LOS rate: 0.408473 deg/s, posRepo size: 4
2021-02-16T11:41:15.269Z,1613475675.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:16.066Z,1613475676.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:16.483Z,1613475676.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:17.292Z,1613475677.292 [Micromodem](INFO): Nmea in: $SNTTA,0.036764,,,,114117.51*47

2021-02-16T11:41:17.362Z,1613475677.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.259998 m, bearing: 54.908133 deg, deltaT: 4.469980 s, approachRate: 0.630874 m/s, LOS rate: 3.484873 deg/s, posRepo size: 4
2021-02-16T11:41:19.730Z,1613475679.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:20.510Z,1613475680.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:20.910Z,1613475680.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:21.736Z,1613475681.736 [Micromodem](INFO): Nmea in: $SNTTA,0.038951,,,,114121.95*4C

2021-02-16T11:41:21.780Z,1613475681.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 87.992323 deg, deltaT: 4.464617 s, approachRate: 0.792901 m/s, LOS rate: 7.410309 deg/s, posRepo size: 4
2021-02-16T11:41:22.959Z,1613475682.959 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T11:41:24.174Z,1613475684.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:24.948Z,1613475684.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:25.360Z,1613475685.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:26.176Z,1613475686.176 [Micromodem](INFO): Nmea in: $SNTTA,0.041101,,,,114126.39*4E

2021-02-16T11:41:26.220Z,1613475686.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.039997 m, bearing: 50.782672 deg, deltaT: 4.387726 s, approachRate: 0.738423 m/s, LOS rate: -8.480395 deg/s, posRepo size: 4
2021-02-16T11:41:28.632Z,1613475688.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:29.412Z,1613475689.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:29.801Z,1613475689.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:30.632Z,1613475690.632 [Micromodem](INFO): Nmea in: $SNTTA,0.043333,,,,114130.86*4C

2021-02-16T11:41:30.682Z,1613475690.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.280006 m, bearing: 91.431405 deg, deltaT: 4.467256 s, approachRate: 0.725280 m/s, LOS rate: 9.099263 deg/s, posRepo size: 4
2021-02-16T11:41:33.062Z,1613475693.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:33.864Z,1613475693.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:34.249Z,1613475694.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:35.084Z,1613475695.084 [Micromodem](INFO): Nmea in: $SNTTA,0.045632,,,,114135.31*47

2021-02-16T11:41:35.128Z,1613475695.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 46.754984 deg, deltaT: 4.428931 s, approachRate: 0.758646 m/s, LOS rate: -10.087405 deg/s, posRepo size: 4
2021-02-16T11:41:37.524Z,1613475697.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:38.286Z,1613475698.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:38.690Z,1613475698.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:39.512Z,1613475699.512 [Micromodem](INFO): Nmea in: $SNTTA,0.047772,,,,114139.73*4A

2021-02-16T11:41:39.565Z,1613475699.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.820000 m, bearing: 99.919131 deg, deltaT: 4.454145 s, approachRate: 0.713942 m/s, LOS rate: 11.935881 deg/s, posRepo size: 4
2021-02-16T11:41:41.954Z,1613475701.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:42.730Z,1613475702.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:43.135Z,1613475703.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:43.960Z,1613475703.960 [Micromodem](INFO): Nmea in: $SNTTA,0.050229,,,,114144.18*40

2021-02-16T11:41:43.985Z,1613475703.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 85.164440 deg, deltaT: 4.419866 s, approachRate: 0.841655 m/s, LOS rate: -3.338266 deg/s, posRepo size: 4
2021-02-16T11:41:46.415Z,1613475706.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:47.180Z,1613475707.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:47.573Z,1613475707.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:48.404Z,1613475708.404 [Micromodem](INFO): Nmea in: $SNTTA,0.052516,,,,114148.62*48

2021-02-16T11:41:48.448Z,1613475708.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.199997 m, bearing: 55.170679 deg, deltaT: 4.467360 s, approachRate: 0.819275 m/s, LOS rate: -6.713979 deg/s, posRepo size: 4
2021-02-16T11:41:50.875Z,1613475710.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:51.613Z,1613475711.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:52.035Z,1613475712.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:52.871Z,1613475712.871 [Micromodem](INFO): Nmea in: $SNTTA,0.054840,,,,114153.06*48

2021-02-16T11:41:52.954Z,1613475712.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 46.877415 deg, deltaT: 4.451833 s, approachRate: 0.754747 m/s, LOS rate: -1.862887 deg/s, posRepo size: 4
2021-02-16T11:41:55.273Z,1613475715.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:41:56.074Z,1613475716.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:41:56.462Z,1613475716.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:41:57.304Z,1613475717.304 [Micromodem](INFO): Nmea in: $SNTTA,0.057284,,,,114157.52*4C

2021-02-16T11:41:57.368Z,1613475717.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 44.425289 deg, deltaT: 4.431808 s, approachRate: 0.812307 m/s, LOS rate: -0.553302 deg/s, posRepo size: 4
2021-02-16T11:41:59.730Z,1613475719.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:00.501Z,1613475720.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:00.906Z,1613475720.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:01.732Z,1613475721.732 [Micromodem](INFO): Nmea in: $SNTTA,0.059671,,,,114201.95*47

2021-02-16T11:42:01.769Z,1613475721.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 46.763157 deg, deltaT: 4.475072 s, approachRate: 0.777644 m/s, LOS rate: 0.522420 deg/s, posRepo size: 4
2021-02-16T11:42:04.178Z,1613475724.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:04.953Z,1613475724.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:05.366Z,1613475725.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:06.184Z,1613475726.184 [Micromodem](INFO): Nmea in: $SNTTA,0.061941,,,,114206.40*4F

2021-02-16T11:42:06.235Z,1613475726.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 47.279877 deg, deltaT: 4.414771 s, approachRate: 0.788262 m/s, LOS rate: 0.117044 deg/s, posRepo size: 4
2021-02-16T11:42:08.617Z,1613475728.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:09.392Z,1613475729.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:09.803Z,1613475729.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:10.205Z,1613475730.205 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:42:10.620Z,1613475730.620 [Micromodem](INFO): Nmea in: $SNTTA,0.064344,,,,114210.84*4A

2021-02-16T11:42:10.672Z,1613475730.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.720001 m, bearing: 49.703044 deg, deltaT: 4.448568 s, approachRate: 0.809249 m/s, LOS rate: 0.544707 deg/s, posRepo size: 4
2021-02-16T11:42:13.073Z,1613475733.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:13.859Z,1613475733.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:14.253Z,1613475734.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:15.076Z,1613475735.076 [Micromodem](INFO): Nmea in: $SNTTA,0.066809,,,,114215.30*40

2021-02-16T11:42:15.115Z,1613475735.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 59.577794 deg, deltaT: 4.444934 s, approachRate: 0.836908 m/s, LOS rate: 2.221574 deg/s, posRepo size: 4
2021-02-16T11:42:15.568Z,1613475735.568 [CTD_Seabird](ERROR): Failed to parse device response: 0,2.77181,3171.91
2021-02-16T11:42:17.508Z,1613475737.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:18.280Z,1613475738.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:18.691Z,1613475738.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:19.576Z,1613475739.576 [Micromodem](INFO): Nmea in: $SNTTA,0.069140,,,,114219.73*40

2021-02-16T11:42:19.660Z,1613475739.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 74.617884 deg, deltaT: 4.453526 s, approachRate: 0.835292 m/s, LOS rate: 3.377120 deg/s, posRepo size: 4
2021-02-16T11:42:21.961Z,1613475741.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:22.730Z,1613475742.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:23.130Z,1613475743.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:23.956Z,1613475743.956 [Micromodem](INFO): Nmea in: $SNTTA,0.071581,,,,114224.17*4C

2021-02-16T11:42:24.006Z,1613475744.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 45.762906 deg, deltaT: 4.425062 s, approachRate: 0.772874 m/s, LOS rate: -6.520808 deg/s, posRepo size: 4
2021-02-16T11:42:26.400Z,1613475746.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:27.168Z,1613475747.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:27.581Z,1613475747.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:28.400Z,1613475748.400 [Micromodem](INFO): Nmea in: $SNTTA,0.073988,,0.081924,,114228.61*5E

2021-02-16T11:42:28.442Z,1613475748.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.180000 m, bearing: 45.014013 deg, deltaT: 4.446526 s, approachRate: 0.809619 m/s, LOS rate: -0.168422 deg/s, posRepo size: 4
2021-02-16T11:42:30.870Z,1613475750.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:31.612Z,1613475751.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:32.023Z,1613475752.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:32.864Z,1613475752.864 [Micromodem](INFO): Nmea in: $SNTTA,0.076438,,,,114233.06*4E

2021-02-16T11:42:32.926Z,1613475752.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.839996 m, bearing: 53.524614 deg, deltaT: 4.431559 s, approachRate: 0.825894 m/s, LOS rate: 1.920453 deg/s, posRepo size: 4
2021-02-16T11:42:35.266Z,1613475755.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:36.071Z,1613475756.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:36.479Z,1613475756.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:37.292Z,1613475757.292 [Micromodem](INFO): Nmea in: $SNTTA,0.078873,,,,114237.52*46

2021-02-16T11:42:37.375Z,1613475757.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.559998 m, bearing: 59.391439 deg, deltaT: 4.444790 s, approachRate: 0.836935 m/s, LOS rate: 1.319933 deg/s, posRepo size: 4
2021-02-16T11:42:39.748Z,1613475759.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:40.505Z,1613475760.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:40.917Z,1613475760.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:41.748Z,1613475761.748 [Micromodem](INFO): Nmea in: $SNTTA,0.081293,,,,114241.95*4E

2021-02-16T11:42:41.789Z,1613475761.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 57.004615 deg, deltaT: 4.490768 s, approachRate: 0.788284 m/s, LOS rate: -0.531496 deg/s, posRepo size: 4
2021-02-16T11:42:44.175Z,1613475764.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:44.954Z,1613475764.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:45.369Z,1613475765.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:46.186Z,1613475766.186 [Micromodem](INFO): Nmea in: $SNTTA,0.083789,,,,114246.45*48

2021-02-16T11:42:46.269Z,1613475766.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 57.813009 deg, deltaT: 4.424633 s, approachRate: 0.854310 m/s, LOS rate: 0.182703 deg/s, posRepo size: 4
2021-02-16T11:42:48.618Z,1613475768.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:49.389Z,1613475769.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:49.803Z,1613475769.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:50.640Z,1613475770.640 [Micromodem](INFO): Nmea in: $SNTTA,0.086002,,,,114250.84*43

2021-02-16T11:42:50.665Z,1613475770.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.180008 m, bearing: 68.219294 deg, deltaT: 4.444053 s, approachRate: 0.742566 m/s, LOS rate: 2.341620 deg/s, posRepo size: 4
2021-02-16T11:42:53.059Z,1613475773.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:53.859Z,1613475773.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:54.245Z,1613475774.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:55.080Z,1613475775.080 [Micromodem](INFO): Nmea in: $SNTTA,0.088374,,,,114255.30*45

2021-02-16T11:42:55.105Z,1613475775.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.720001 m, bearing: 63.011965 deg, deltaT: 4.431619 s, approachRate: 0.798804 m/s, LOS rate: -1.175040 deg/s, posRepo size: 4
2021-02-16T11:42:57.492Z,1613475777.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:42:58.276Z,1613475778.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:42:58.690Z,1613475778.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:42:59.572Z,1613475779.572 [Micromodem](INFO): Nmea in: $SNTTA,0.090608,,,,114259.72*48

2021-02-16T11:42:59.696Z,1613475779.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 57.354137 deg, deltaT: 4.426129 s, approachRate: 0.759129 m/s, LOS rate: -1.278279 deg/s, posRepo size: 4
2021-02-16T11:43:01.950Z,1613475781.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:02.738Z,1613475782.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:03.131Z,1613475783.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:03.961Z,1613475783.961 [Micromodem](INFO): Nmea in: $SNTTA,0.092960,,,,114304.18*4E

2021-02-16T11:43:04.014Z,1613475784.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.560013 m, bearing: 62.825733 deg, deltaT: 4.470759 s, approachRate: 0.778394 m/s, LOS rate: 1.223863 deg/s, posRepo size: 4
2021-02-16T11:43:06.396Z,1613475786.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:07.173Z,1613475787.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:07.585Z,1613475787.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:08.400Z,1613475788.400 [Micromodem](INFO): Nmea in: $SNTTA,0.095267,,,,114308.62*44

2021-02-16T11:43:08.444Z,1613475788.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.040009 m, bearing: 66.552229 deg, deltaT: 4.443000 s, approachRate: 0.783254 m/s, LOS rate: 0.838734 deg/s, posRepo size: 4
2021-02-16T11:43:10.870Z,1613475790.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:11.615Z,1613475791.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:12.013Z,1613475792.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:12.869Z,1613475792.869 [Micromodem](INFO): Nmea in: $SNTTA,0.097535,,,,114313.06*4E

2021-02-16T11:43:12.894Z,1613475792.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 65.207638 deg, deltaT: 4.460242 s, approachRate: 0.766774 m/s, LOS rate: -0.301461 deg/s, posRepo size: 4
2021-02-16T11:43:15.281Z,1613475795.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:16.058Z,1613475796.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:16.457Z,1613475796.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:17.284Z,1613475797.284 [Micromodem](INFO): Nmea in: $SNTTA,0.099865,,,,114317.50*4F

2021-02-16T11:43:17.363Z,1613475797.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.940002 m, bearing: 79.889417 deg, deltaT: 4.443724 s, approachRate: 0.783126 m/s, LOS rate: 3.303936 deg/s, posRepo size: 4
2021-02-16T11:43:19.730Z,1613475799.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:20.500Z,1613475800.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:20.922Z,1613475800.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:21.728Z,1613475801.728 [Micromodem](INFO): Nmea in: $SNTTA,0.102121,,,,114321.95*49

2021-02-16T11:43:21.768Z,1613475801.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.360001 m, bearing: 82.320664 deg, deltaT: 4.440370 s, approachRate: 0.770206 m/s, LOS rate: 0.547533 deg/s, posRepo size: 4
2021-02-16T11:43:21.768Z,1613475801.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.36 m. Resuming terminal guidance.
2021-02-16T11:43:21.768Z,1613475801.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:43:24.178Z,1613475804.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:24.942Z,1613475804.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:25.361Z,1613475805.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:26.172Z,1613475806.172 [Micromodem](INFO): Nmea in: $SNTTA,0.104476,,,,114326.39*49

2021-02-16T11:43:26.220Z,1613475806.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.900009 m, bearing: 77.284519 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:43:26.222Z,1613475806.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 77.284519deg and heading rate command to 0 deg/s.
2021-02-16T11:43:28.613Z,1613475808.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:29.388Z,1613475809.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:29.801Z,1613475809.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:30.616Z,1613475810.616 [Micromodem](INFO): Nmea in: $SNTTA,0.106896,,,,114330.83*4F

2021-02-16T11:43:30.662Z,1613475810.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.500000 m, bearing: 61.509405 deg, deltaT: 4.477352 s, approachRate: 0.804045 m/s, LOS rate: -3.523313 deg/s, posRepo size: 2
2021-02-16T11:43:30.664Z,1613475810.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.500000 m,
      bearing: 61.509405 deg,
      approachRate: 0.804045 m/s,
      LOS rate: -3.523313 deg/s,
      cmd update: -10.569940 deg/s,
      cmd heading: 77.284519 deg,
      new cmd heading: 77.284519 deg.

2021-02-16T11:43:33.053Z,1613475813.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:33.852Z,1613475813.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:34.250Z,1613475814.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:35.057Z,1613475815.057 [Micromodem](INFO): Nmea in: $SNTTA,0.109170,,,,114335.30*4C

2021-02-16T11:43:35.889Z,1613475815.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:37.475Z,1613475817.475 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:43:38.702Z,1613475818.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:39.490Z,1613475819.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:39.891Z,1613475819.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:40.705Z,1613475820.705 [Micromodem](INFO): Nmea in: $SNTTA,0.111850,,,,114340.94*42

2021-02-16T11:43:41.534Z,1613475821.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:43.132Z,1613475823.132 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:43:44.389Z,1613475824.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:45.146Z,1613475825.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:45.561Z,1613475825.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:45.950Z,1613475825.950 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,24D,0,63,E4
4,185,80,80,B4,FF
2021-02-16T11:43:46.372Z,1613475826.372 [Micromodem](INFO): Nmea in: $SNTTA,0.114031,,,,114346.59*4F

2021-02-16T11:43:47.198Z,1613475827.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:50.031Z,1613475830.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:52.873Z,1613475832.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:53.631Z,1613475833.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:43:54.035Z,1613475834.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:43:54.437Z,1613475834.437 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,23E,0,63,E4
4,185,80,80,B4,FF
2021-02-16T11:43:54.884Z,1613475834.884 [Micromodem](INFO): Nmea in: $SNTTA,0.115882,,,,114355.07*47

2021-02-16T11:43:55.684Z,1613475835.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:43:58.512Z,1613475838.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:01.376Z,1613475841.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:02.114Z,1613475842.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:02.519Z,1613475842.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:02.919Z,1613475842.919 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,08E,0,63,E4
4,185,80,80,B4,FF
2021-02-16T11:44:03.360Z,1613475843.360 [Micromodem](INFO): Nmea in: $SNTTA,0.116180,,,0.120262,114403.56*54

2021-02-16T11:44:04.169Z,1613475844.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:07.008Z,1613475847.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:09.805Z,1613475849.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:10.592Z,1613475850.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:11.015Z,1613475851.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:11.402Z,1613475851.402 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2D6,0,63,E4
4,185,80,80,B4,FF
2021-02-16T11:44:11.843Z,1613475851.843 [Micromodem](INFO): Nmea in: $SNTTA,0.117539,,,,114412.04*4F

2021-02-16T11:44:12.639Z,1613475852.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:15.476Z,1613475855.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:18.332Z,1613475858.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:19.076Z,1613475859.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:19.502Z,1613475859.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:19.521Z,1613475859.521 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:44:19.885Z,1613475859.885 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,2D6,0,63,E4
4,185,80,80,B4,FF
2021-02-16T11:44:20.307Z,1613475860.307 [Micromodem](INFO): Nmea in: $SNTTA,0.119918,,,,114420.52*4C

2021-02-16T11:44:21.145Z,1613475861.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:23.956Z,1613475863.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:26.773Z,1613475866.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:27.560Z,1613475867.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:27.972Z,1613475867.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:28.807Z,1613475868.807 [Micromodem](INFO): Nmea in: $SNTTA,0.119972,,,,114429.01*4F

2021-02-16T11:44:28.872Z,1613475868.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 321.151479 deg, deltaT: 58.153841 s, approachRate: 0.333254 m/s, LOS rate: -1.725732 deg/s, posRepo size: 3
2021-02-16T11:44:28.873Z,1613475868.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.880005 m,
      bearing: 321.151479 deg,
      approachRate: 0.333254 m/s,
      LOS rate: -1.725732 deg/s,
      cmd update: -5.177195 deg/s,
      cmd heading: 182.561262 deg,
      new cmd heading: 177.787212 deg.

2021-02-16T11:44:31.248Z,1613475871.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:32.006Z,1613475872.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:32.421Z,1613475872.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:33.260Z,1613475873.260 [Micromodem](INFO): Nmea in: $SNTTA,0.119625,,,,114433.45*49

2021-02-16T11:44:33.285Z,1613475873.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 244.302917 deg, deltaT: 4.478926 s, approachRate: 0.000000 m/s, LOS rate: -17.157811 deg/s, posRepo size: 4
2021-02-16T11:44:33.286Z,1613475873.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.157811 deg/s. Setting heading cmd to target bearing of 244.302917deg and heading rate command to 0 deg/s.
2021-02-16T11:44:35.674Z,1613475875.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:36.449Z,1613475876.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:36.868Z,1613475876.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:37.676Z,1613475877.676 [Micromodem](INFO): Nmea in: $SNTTA,0.118157,,,,114437.89*4E

2021-02-16T11:44:37.714Z,1613475877.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 247.464256 deg, deltaT: 4.439150 s, approachRate: 0.000000 m/s, LOS rate: 0.712150 deg/s, posRepo size: 4
2021-02-16T11:44:37.716Z,1613475877.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.880005 m,
      bearing: 247.464256 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.712150 deg/s,
      cmd update: 2.136449 deg/s,
      cmd heading: 244.302917 deg,
      new cmd heading: 244.302917 deg.

2021-02-16T11:44:40.111Z,1613475880.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:40.898Z,1613475880.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:41.334Z,1613475881.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:42.124Z,1613475882.124 [Micromodem](INFO): Nmea in: $SNTTA,0.116712,,,,114442.34*43

2021-02-16T11:44:42.163Z,1613475882.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.880005 m, bearing: 243.035725 deg, deltaT: 4.409011 s, approachRate: 0.000000 m/s, LOS rate: -1.004427 deg/s, posRepo size: 4
2021-02-16T11:44:42.165Z,1613475882.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.880005 m,
      bearing: 243.035725 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.004427 deg/s,
      cmd update: -3.013282 deg/s,
      cmd heading: 253.763631 deg,
      new cmd heading: 254.672333 deg.

2021-02-16T11:44:44.582Z,1613475884.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:45.377Z,1613475885.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:45.761Z,1613475885.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:46.572Z,1613475886.572 [Micromodem](INFO): Nmea in: $SNTTA,0.114856,,,,114446.82*47

2021-02-16T11:44:46.988Z,1613475886.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 241.358886 deg, deltaT: 4.879338 s, approachRate: -1.598581 m/s, LOS rate: -0.343661 deg/s, posRepo size: 4
2021-02-16T11:44:46.990Z,1613475886.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.079987 m,
      bearing: 241.358886 deg,
      approachRate: -1.598581 m/s,
      LOS rate: -0.343661 deg/s,
      cmd update: -1.030983 deg/s,
      cmd heading: 239.045313 deg,
      new cmd heading: 237.943088 deg.

2021-02-16T11:44:49.405Z,1613475889.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:50.184Z,1613475890.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:50.590Z,1613475890.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:51.420Z,1613475891.420 [Micromodem](INFO): Nmea in: $SNTTA,0.112838,,,,114451.63*40

2021-02-16T11:44:51.444Z,1613475891.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 242.756097 deg, deltaT: 4.436775 s, approachRate: 0.000000 m/s, LOS rate: 0.314916 deg/s, posRepo size: 4
2021-02-16T11:44:51.446Z,1613475891.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.079987 m,
      bearing: 242.756097 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.314916 deg/s,
      cmd update: 0.944747 deg/s,
      cmd heading: 234.476841 deg,
      new cmd heading: 234.074244 deg.

2021-02-16T11:44:53.892Z,1613475893.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:54.645Z,1613475894.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:55.046Z,1613475895.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:44:55.888Z,1613475895.888 [Micromodem](INFO): Nmea in: $SNTTA,0.111009,,,,114456.09*42

2021-02-16T11:44:55.918Z,1613475895.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 244.487140 deg, deltaT: 4.425945 s, approachRate: 0.000000 m/s, LOS rate: 0.391113 deg/s, posRepo size: 4
2021-02-16T11:44:55.940Z,1613475895.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.079987 m,
      bearing: 244.487140 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.391113 deg/s,
      cmd update: 1.173338 deg/s,
      cmd heading: 238.663449 deg,
      new cmd heading: 239.072366 deg.

2021-02-16T11:44:58.332Z,1613475898.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:44:59.080Z,1613475899.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:44:59.500Z,1613475899.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:00.336Z,1613475900.336 [Micromodem](INFO): Nmea in: $SNTTA,0.109166,,,,114500.53*4E

2021-02-16T11:45:00.395Z,1613475900.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.079987 m, bearing: 244.802449 deg, deltaT: 4.454224 s, approachRate: 0.000000 m/s, LOS rate: 0.070789 deg/s, posRepo size: 4
2021-02-16T11:45:00.397Z,1613475900.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.079987 m,
      bearing: 244.802449 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.070789 deg/s,
      cmd update: 0.212366 deg/s,
      cmd heading: 243.885155 deg,
      new cmd heading: 244.420315 deg.

2021-02-16T11:45:02.740Z,1613475902.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:03.536Z,1613475903.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:03.928Z,1613475903.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:04.760Z,1613475904.760 [Micromodem](INFO): Nmea in: $SNTTA,0.107253,,,,114504.98*46

2021-02-16T11:45:04.782Z,1613475904.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 244.401326 deg, deltaT: 4.460207 s, approachRate: -2.569382 m/s, LOS rate: -0.089934 deg/s, posRepo size: 4
2021-02-16T11:45:04.802Z,1613475904.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 244.401326 deg,
      approachRate: -2.569382 m/s,
      LOS rate: -0.089934 deg/s,
      cmd update: -0.269801 deg/s,
      cmd heading: 244.833210 deg,
      new cmd heading: 244.914539 deg.

2021-02-16T11:45:07.180Z,1613475907.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:07.960Z,1613475907.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:08.378Z,1613475908.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:09.188Z,1613475909.188 [Micromodem](INFO): Nmea in: $SNTTA,0.105413,,,,114509.40*4E

2021-02-16T11:45:09.252Z,1613475909.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.800003 m, bearing: 243.835349 deg, deltaT: 4.412059 s, approachRate: -0.639159 m/s, LOS rate: -0.128280 deg/s, posRepo size: 4
2021-02-16T11:45:09.254Z,1613475909.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.800003 m,
      bearing: 243.835349 deg,
      approachRate: -0.639159 m/s,
      LOS rate: -0.128280 deg/s,
      cmd update: -0.384839 deg/s,
      cmd heading: 243.644538 deg,
      new cmd heading: 243.525018 deg.

2021-02-16T11:45:11.636Z,1613475911.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:12.405Z,1613475912.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:12.838Z,1613475912.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:13.636Z,1613475913.636 [Micromodem](INFO): Nmea in: $SNTTA,0.103683,,,,114513.85*41

2021-02-16T11:45:13.666Z,1613475913.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 245.297447 deg, deltaT: 4.450439 s, approachRate: -0.539271 m/s, LOS rate: 0.328529 deg/s, posRepo size: 4
2021-02-16T11:45:13.684Z,1613475913.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.400009 m,
      bearing: 245.297447 deg,
      approachRate: -0.539271 m/s,
      LOS rate: 0.328529 deg/s,
      cmd update: 0.985586 deg/s,
      cmd heading: 241.932516 deg,
      new cmd heading: 241.773748 deg.

2021-02-16T11:45:16.087Z,1613475916.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:16.881Z,1613475916.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:17.256Z,1613475917.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:18.100Z,1613475918.100 [Micromodem](INFO): Nmea in: $SNTTA,0.101693,,,,114518.33*44

2021-02-16T11:45:18.142Z,1613475918.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 246.980651 deg, deltaT: 4.447106 s, approachRate: 0.000000 m/s, LOS rate: 0.378494 deg/s, posRepo size: 4
2021-02-16T11:45:18.144Z,1613475918.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.400009 m,
      bearing: 246.980651 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.378494 deg/s,
      cmd update: 1.135483 deg/s,
      cmd heading: 246.319537 deg,
      new cmd heading: 246.749869 deg.

2021-02-16T11:45:20.524Z,1613475920.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:21.293Z,1613475921.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:21.718Z,1613475921.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:22.524Z,1613475922.524 [Micromodem](INFO): Nmea in: $SNTTA,0.099694,,,0.102193,114522.74*5F

2021-02-16T11:45:22.549Z,1613475922.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.400009 m, bearing: 245.473256 deg, deltaT: 4.437366 s, approachRate: -1.352154 m/s, LOS rate: -0.339705 deg/s, posRepo size: 4
2021-02-16T11:45:22.550Z,1613475922.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.400009 m,
      bearing: 245.473256 deg,
      approachRate: -1.352154 m/s,
      LOS rate: -0.339705 deg/s,
      cmd update: -1.019115 deg/s,
      cmd heading: 251.344225 deg,
      new cmd heading: 251.819395 deg.

2021-02-16T11:45:24.979Z,1613475924.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:25.742Z,1613475925.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:26.142Z,1613475926.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:26.984Z,1613475926.984 [Micromodem](INFO): Nmea in: $SNTTA,0.097775,,,,114527.19*47

2021-02-16T11:45:27.018Z,1613475927.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.520004 m, bearing: 245.022354 deg, deltaT: 4.446910 s, approachRate: -0.647642 m/s, LOS rate: -0.101397 deg/s, posRepo size: 4
2021-02-16T11:45:27.020Z,1613475927.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 245.022354 deg,
      approachRate: -0.647642 m/s,
      LOS rate: -0.101397 deg/s,
      cmd update: -0.304190 deg/s,
      cmd heading: 246.812072 deg,
      new cmd heading: 246.362890 deg.

2021-02-16T11:45:29.429Z,1613475929.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:30.184Z,1613475930.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:30.586Z,1613475930.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:31.416Z,1613475931.416 [Micromodem](INFO): Nmea in: $SNTTA,0.095950,,,,114531.63*46

2021-02-16T11:45:31.460Z,1613475931.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.759995 m, bearing: 245.249253 deg, deltaT: 4.449169 s, approachRate: -0.620343 m/s, LOS rate: 0.050998 deg/s, posRepo size: 4
2021-02-16T11:45:31.462Z,1613475931.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.759995 m,
      bearing: 245.249253 deg,
      approachRate: -0.620343 m/s,
      LOS rate: 0.050998 deg/s,
      cmd update: 0.152994 deg/s,
      cmd heading: 245.455202 deg,
      new cmd heading: 245.326653 deg.

2021-02-16T11:45:33.878Z,1613475933.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:34.631Z,1613475934.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:35.035Z,1613475935.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:35.872Z,1613475935.872 [Micromodem](INFO): Nmea in: $SNTTA,0.094047,,,,114536.08*42

2021-02-16T11:45:35.909Z,1613475935.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 245.125954 deg, deltaT: 4.442237 s, approachRate: -0.648320 m/s, LOS rate: -0.027756 deg/s, posRepo size: 4
2021-02-16T11:45:35.911Z,1613475935.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.880005 m,
      bearing: 245.125954 deg,
      approachRate: -0.648320 m/s,
      LOS rate: -0.027756 deg/s,
      cmd update: -0.083268 deg/s,
      cmd heading: 246.134928 deg,
      new cmd heading: 246.200520 deg.

2021-02-16T11:45:38.302Z,1613475938.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:39.078Z,1613475939.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:39.487Z,1613475939.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:40.304Z,1613475940.304 [Micromodem](INFO): Nmea in: $SNTTA,0.092068,,,,114540.52*47

2021-02-16T11:45:40.372Z,1613475940.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 244.767124 deg, deltaT: 4.447612 s, approachRate: -0.661029 m/s, LOS rate: -0.080679 deg/s, posRepo size: 4
2021-02-16T11:45:40.374Z,1613475940.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.940002 m,
      bearing: 244.767124 deg,
      approachRate: -0.661029 m/s,
      LOS rate: -0.080679 deg/s,
      cmd update: -0.242038 deg/s,
      cmd heading: 245.764959 deg,
      new cmd heading: 245.727967 deg.

2021-02-16T11:45:42.736Z,1613475942.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:43.521Z,1613475943.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:43.918Z,1613475943.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:44.752Z,1613475944.752 [Micromodem](INFO): Nmea in: $SNTTA,0.090164,,,0.114056,114544.97*5C

2021-02-16T11:45:44.797Z,1613475944.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 244.394769 deg, deltaT: 4.453819 s, approachRate: -0.646637 m/s, LOS rate: -0.083603 deg/s, posRepo size: 4
2021-02-16T11:45:44.799Z,1613475944.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.059998 m,
      bearing: 244.394769 deg,
      approachRate: -0.646637 m/s,
      LOS rate: -0.083603 deg/s,
      cmd update: -0.250810 deg/s,
      cmd heading: 244.684924 deg,
      new cmd heading: 244.585380 deg.

2021-02-16T11:45:47.173Z,1613475947.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:47.956Z,1613475947.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:48.370Z,1613475948.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:49.188Z,1613475949.188 [Micromodem](INFO): Nmea in: $SNTTA,0.088098,,,0.094554,114549.40*5E

2021-02-16T11:45:49.238Z,1613475949.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.940002 m, bearing: 243.958293 deg, deltaT: 4.409834 s, approachRate: -0.707509 m/s, LOS rate: -0.098978 deg/s, posRepo size: 4
2021-02-16T11:45:49.241Z,1613475949.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.940002 m,
      bearing: 243.958293 deg,
      approachRate: -0.707509 m/s,
      LOS rate: -0.098978 deg/s,
      cmd update: -0.296934 deg/s,
      cmd heading: 243.578905 deg,
      new cmd heading: 243.468267 deg.

2021-02-16T11:45:51.628Z,1613475951.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:52.400Z,1613475952.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:52.841Z,1613475952.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:53.632Z,1613475953.632 [Micromodem](INFO): Nmea in: $SNTTA,0.086086,,,,114553.84*4B

2021-02-16T11:45:53.676Z,1613475953.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 244.377830 deg, deltaT: 4.456759 s, approachRate: -0.686597 m/s, LOS rate: 0.094135 deg/s, posRepo size: 4
2021-02-16T11:45:53.678Z,1613475953.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.880005 m,
      bearing: 244.377830 deg,
      approachRate: -0.686597 m/s,
      LOS rate: 0.094135 deg/s,
      cmd update: 0.282405 deg/s,
      cmd heading: 242.262118 deg,
      new cmd heading: 242.135726 deg.

2021-02-16T11:45:56.061Z,1613475956.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:45:56.859Z,1613475956.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:45:57.253Z,1613475957.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:45:58.110Z,1613475958.110 [Micromodem](INFO): Nmea in: $SNTTA,0.084037,,,,114558.30*47

2021-02-16T11:45:58.135Z,1613475958.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.820000 m, bearing: 243.275847 deg, deltaT: 4.440013 s, approachRate: -0.689188 m/s, LOS rate: -0.248194 deg/s, posRepo size: 4
2021-02-16T11:45:58.137Z,1613475958.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.820000 m,
      bearing: 243.275847 deg,
      approachRate: -0.689188 m/s,
      LOS rate: -0.248194 deg/s,
      cmd update: -0.744581 deg/s,
      cmd heading: 243.517711 deg,
      new cmd heading: 243.647181 deg.

2021-02-16T11:46:00.516Z,1613475960.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:01.288Z,1613475961.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:01.699Z,1613475961.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:02.520Z,1613475962.520 [Micromodem](INFO): Nmea in: $SNTTA,0.081941,,,,114602.73*41

2021-02-16T11:46:02.544Z,1613475962.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 245.866729 deg, deltaT: 4.459073 s, approachRate: -0.686241 m/s, LOS rate: 0.581036 deg/s, posRepo size: 4
2021-02-16T11:46:02.545Z,1613475962.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.760002 m,
      bearing: 245.866729 deg,
      approachRate: -0.686241 m/s,
      LOS rate: 0.581036 deg/s,
      cmd update: 1.743108 deg/s,
      cmd heading: 240.185703 deg,
      new cmd heading: 239.893847 deg.

2021-02-16T11:46:04.975Z,1613475964.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:05.734Z,1613475965.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:06.138Z,1613475966.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:06.964Z,1613475966.964 [Micromodem](INFO): Nmea in: $SNTTA,0.079922,,,,114607.18*4B

2021-02-16T11:46:07.014Z,1613475967.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.700005 m, bearing: 244.846162 deg, deltaT: 4.437549 s, approachRate: -0.689569 m/s, LOS rate: -0.229984 deg/s, posRepo size: 4
2021-02-16T11:46:07.020Z,1613475967.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 244.846162 deg,
      approachRate: -0.689569 m/s,
      LOS rate: -0.229984 deg/s,
      cmd update: -0.689953 deg/s,
      cmd heading: 247.893284 deg,
      new cmd heading: 248.661583 deg.

2021-02-16T11:46:09.399Z,1613475969.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:10.180Z,1613475970.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:10.597Z,1613475970.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:11.412Z,1613475971.412 [Micromodem](INFO): Nmea in: $SNTTA,0.078031,,,,114611.62*4B

2021-02-16T11:46:11.450Z,1613475971.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 245.118605 deg, deltaT: 4.436152 s, approachRate: -0.649211 m/s, LOS rate: 0.061414 deg/s, posRepo size: 4
2021-02-16T11:46:11.452Z,1613475971.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 245.118605 deg,
      approachRate: -0.649211 m/s,
      LOS rate: 0.061414 deg/s,
      cmd update: 0.184242 deg/s,
      cmd heading: 244.821642 deg,
      new cmd heading: 244.528622 deg.

2021-02-16T11:46:13.874Z,1613475973.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:14.633Z,1613475974.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:15.043Z,1613475975.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:15.873Z,1613475975.873 [Micromodem](INFO): Nmea in: $SNTTA,0.076078,,,0.078602,114616.08*56

2021-02-16T11:46:15.921Z,1613475975.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 245.131282 deg, deltaT: 4.428184 s, approachRate: -0.663931 m/s, LOS rate: 0.002863 deg/s, posRepo size: 4
2021-02-16T11:46:15.924Z,1613475975.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.879997 m,
      bearing: 245.131282 deg,
      approachRate: -0.663931 m/s,
      LOS rate: 0.002863 deg/s,
      cmd update: 0.008588 deg/s,
      cmd heading: 245.637512 deg,
      new cmd heading: 245.723743 deg.

2021-02-16T11:46:18.277Z,1613475978.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:19.068Z,1613475979.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:19.486Z,1613475979.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:20.299Z,1613475980.299 [Micromodem](INFO): Nmea in: $SNTTA,0.074140,,,,114620.51*42

2021-02-16T11:46:20.366Z,1613475980.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 245.980356 deg, deltaT: 4.450700 s, approachRate: -0.633606 m/s, LOS rate: 0.190773 deg/s, posRepo size: 4
2021-02-16T11:46:20.368Z,1613475980.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 245.980356 deg,
      approachRate: -0.633606 m/s,
      LOS rate: 0.190773 deg/s,
      cmd update: 0.572320 deg/s,
      cmd heading: 245.675735 deg,
      new cmd heading: 245.679699 deg.

2021-02-16T11:46:22.733Z,1613475982.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:23.514Z,1613475983.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:23.915Z,1613475983.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:24.740Z,1613475984.740 [Micromodem](INFO): Nmea in: $SNTTA,0.072205,,,,114624.96*49

2021-02-16T11:46:24.773Z,1613475984.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 244.146232 deg, deltaT: 4.492778 s, approachRate: -0.667740 m/s, LOS rate: -0.408238 deg/s, posRepo size: 4
2021-02-16T11:46:24.775Z,1613475984.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.059998 m,
      bearing: 244.146232 deg,
      approachRate: -0.667740 m/s,
      LOS rate: -0.408238 deg/s,
      cmd update: -1.224715 deg/s,
      cmd heading: 248.244874 deg,
      new cmd heading: 248.462231 deg.

2021-02-16T11:46:27.194Z,1613475987.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:27.957Z,1613475987.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:28.368Z,1613475988.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:29.184Z,1613475989.184 [Micromodem](INFO): Nmea in: $SNTTA,0.070230,,,,114629.40*4B

2021-02-16T11:46:29.230Z,1613475989.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.120010 m, bearing: 244.821738 deg, deltaT: 4.383100 s, approachRate: -0.670755 m/s, LOS rate: 0.154116 deg/s, posRepo size: 4
2021-02-16T11:46:29.238Z,1613475989.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.120010 m,
      bearing: 244.821738 deg,
      approachRate: -0.670755 m/s,
      LOS rate: 0.154116 deg/s,
      cmd update: 0.462348 deg/s,
      cmd heading: 242.872082 deg,
      new cmd heading: 242.321469 deg.

2021-02-16T11:46:31.629Z,1613475991.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:32.402Z,1613475992.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:32.850Z,1613475992.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:33.653Z,1613475993.653 [Micromodem](INFO): Nmea in: $SNTTA,0.068278,,,,114633.85*4C

2021-02-16T11:46:33.677Z,1613475993.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.180008 m, bearing: 245.066969 deg, deltaT: 4.466536 s, approachRate: -0.658229 m/s, LOS rate: 0.054904 deg/s, posRepo size: 4
2021-02-16T11:46:33.679Z,1613475993.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.180008 m,
      bearing: 245.066969 deg,
      approachRate: -0.658229 m/s,
      LOS rate: 0.054904 deg/s,
      cmd update: 0.164712 deg/s,
      cmd heading: 244.937219 deg,
      new cmd heading: 245.136141 deg.

2021-02-16T11:46:36.075Z,1613475996.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:36.858Z,1613475996.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:37.251Z,1613475997.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:38.107Z,1613475998.107 [Micromodem](INFO): Nmea in: $SNTTA,0.066418,,,,114638.30*47

2021-02-16T11:46:38.180Z,1613475998.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 244.667594 deg, deltaT: 4.428288 s, approachRate: -0.623268 m/s, LOS rate: -0.090187 deg/s, posRepo size: 4
2021-02-16T11:46:38.182Z,1613475998.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 244.667594 deg,
      approachRate: -0.623268 m/s,
      LOS rate: -0.090187 deg/s,
      cmd update: -0.270562 deg/s,
      cmd heading: 245.666623 deg,
      new cmd heading: 245.749867 deg.

2021-02-16T11:46:40.502Z,1613476000.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:41.292Z,1613476001.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:41.716Z,1613476001.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:42.524Z,1613476002.524 [Micromodem](INFO): Nmea in: $SNTTA,0.064483,,,,114642.74*4A

2021-02-16T11:46:42.554Z,1613476002.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 245.813754 deg, deltaT: 4.457730 s, approachRate: -0.619148 m/s, LOS rate: 0.257118 deg/s, posRepo size: 4
2021-02-16T11:46:42.556Z,1613476002.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.660004 m,
      bearing: 245.813754 deg,
      approachRate: -0.619148 m/s,
      LOS rate: 0.257118 deg/s,
      cmd update: 0.771353 deg/s,
      cmd heading: 244.460525 deg,
      new cmd heading: 244.346478 deg.

2021-02-16T11:46:44.956Z,1613476004.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:45.730Z,1613476005.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:46.151Z,1613476006.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:46.960Z,1613476006.960 [Micromodem](INFO): Nmea in: $SNTTA,0.062651,,,,114647.17*41

2021-02-16T11:46:46.985Z,1613476006.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 245.301080 deg, deltaT: 4.483841 s, approachRate: -0.642306 m/s, LOS rate: -0.114338 deg/s, posRepo size: 4
2021-02-16T11:46:46.987Z,1613476006.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 245.301080 deg,
      approachRate: -0.642306 m/s,
      LOS rate: -0.114338 deg/s,
      cmd update: -0.343014 deg/s,
      cmd heading: 247.910772 deg,
      new cmd heading: 248.203539 deg.

2021-02-16T11:46:49.402Z,1613476009.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:50.172Z,1613476010.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:50.585Z,1613476010.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:51.400Z,1613476011.400 [Micromodem](INFO): Nmea in: $SNTTA,0.060778,,,,114651.62*4C

2021-02-16T11:46:51.440Z,1613476011.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.959999 m, bearing: 245.647125 deg, deltaT: 4.415893 s, approachRate: -0.638604 m/s, LOS rate: 0.078363 deg/s, posRepo size: 4
2021-02-16T11:46:51.441Z,1613476011.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 245.647125 deg,
      approachRate: -0.638604 m/s,
      LOS rate: 0.078363 deg/s,
      cmd update: 0.235090 deg/s,
      cmd heading: 246.393705 deg,
      new cmd heading: 246.252743 deg.

2021-02-16T11:46:53.886Z,1613476013.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:54.616Z,1613476014.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:55.028Z,1613476015.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:46:55.864Z,1613476015.864 [Micromodem](INFO): Nmea in: $SNTTA,0.058851,,,,114656.06*46

2021-02-16T11:46:55.889Z,1613476015.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.080002 m, bearing: 245.792909 deg, deltaT: 4.429656 s, approachRate: -0.650163 m/s, LOS rate: 0.032911 deg/s, posRepo size: 4
2021-02-16T11:46:55.891Z,1613476015.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 245.792909 deg,
      approachRate: -0.650163 m/s,
      LOS rate: 0.032911 deg/s,
      cmd update: 0.098732 deg/s,
      cmd heading: 247.436014 deg,
      new cmd heading: 247.536377 deg.

2021-02-16T11:46:58.288Z,1613476018.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:46:59.060Z,1613476019.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:46:59.467Z,1613476019.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:00.288Z,1613476020.288 [Micromodem](INFO): Nmea in: $SNTTA,0.056889,,,,114700.50*4C

2021-02-16T11:47:00.373Z,1613476020.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 245.105874 deg, deltaT: 4.443798 s, approachRate: -0.661597 m/s, LOS rate: -0.154605 deg/s, posRepo size: 4
2021-02-16T11:47:00.379Z,1613476020.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.139999 m,
      bearing: 245.105874 deg,
      approachRate: -0.661597 m/s,
      LOS rate: -0.154605 deg/s,
      cmd update: -0.463816 deg/s,
      cmd heading: 247.874757 deg,
      new cmd heading: 247.920369 deg.

2021-02-16T11:47:02.721Z,1613476022.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:03.515Z,1613476023.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:03.915Z,1613476023.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:04.740Z,1613476024.740 [Micromodem](INFO): Nmea in: $SNTTA,0.054968,,,,114704.96*4E

2021-02-16T11:47:04.794Z,1613476024.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.200005 m, bearing: 244.960063 deg, deltaT: 4.471127 s, approachRate: -0.657551 m/s, LOS rate: -0.032612 deg/s, posRepo size: 4
2021-02-16T11:47:04.801Z,1613476024.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.200005 m,
      bearing: 244.960063 deg,
      approachRate: -0.657551 m/s,
      LOS rate: -0.032612 deg/s,
      cmd update: -0.097835 deg/s,
      cmd heading: 245.802858 deg,
      new cmd heading: 245.608205 deg.

2021-02-16T11:47:07.186Z,1613476027.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:07.953Z,1613476027.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:08.383Z,1613476028.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:09.180Z,1613476029.180 [Micromodem](INFO): Nmea in: $SNTTA,0.053035,,0.083460,,114709.40*59

2021-02-16T11:47:09.239Z,1613476029.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 244.746551 deg, deltaT: 4.393202 s, approachRate: -0.655558 m/s, LOS rate: -0.048600 deg/s, posRepo size: 4
2021-02-16T11:47:09.242Z,1613476029.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 244.746551 deg,
      approachRate: -0.655558 m/s,
      LOS rate: -0.048600 deg/s,
      cmd update: -0.145801 deg/s,
      cmd heading: 245.372650 deg,
      new cmd heading: 245.327267 deg.

2021-02-16T11:47:11.629Z,1613476031.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:12.394Z,1613476032.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:12.813Z,1613476032.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:13.620Z,1613476033.620 [Micromodem](INFO): Nmea in: $SNTTA,0.051043,,,,114713.84*4E

2021-02-16T11:47:13.667Z,1613476033.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.440010 m, bearing: 246.193895 deg, deltaT: 4.483563 s, approachRate: -0.642346 m/s, LOS rate: 0.322811 deg/s, posRepo size: 4
2021-02-16T11:47:13.669Z,1613476033.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.440010 m,
      bearing: 246.193895 deg,
      approachRate: -0.642346 m/s,
      LOS rate: 0.322811 deg/s,
      cmd update: 0.968434 deg/s,
      cmd heading: 244.718933 deg,
      new cmd heading: 244.658699 deg.

2021-02-16T11:47:16.069Z,1613476036.069 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:16.878Z,1613476036.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:17.263Z,1613476037.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:18.092Z,1613476038.092 [Micromodem](INFO): Nmea in: $SNTTA,0.049059,,,,114718.32*4A

2021-02-16T11:47:18.149Z,1613476038.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.379997 m, bearing: 245.576064 deg, deltaT: 4.446769 s, approachRate: -0.688143 m/s, LOS rate: -0.138939 deg/s, posRepo size: 4
2021-02-16T11:47:18.155Z,1613476038.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.379997 m,
      bearing: 245.576064 deg,
      approachRate: -0.688143 m/s,
      LOS rate: -0.138939 deg/s,
      cmd update: -0.416818 deg/s,
      cmd heading: 249.021443 deg,
      new cmd heading: 249.459761 deg.

2021-02-16T11:47:20.485Z,1613476040.485 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T11:47:20.506Z,1613476040.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:21.285Z,1613476041.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:21.685Z,1613476041.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:22.512Z,1613476042.512 [Micromodem](INFO): Nmea in: $SNTTA,0.047164,,,,114722.73*47

2021-02-16T11:47:22.536Z,1613476042.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.559998 m, bearing: 245.630432 deg, deltaT: 4.413784 s, approachRate: -0.638907 m/s, LOS rate: 0.012318 deg/s, posRepo size: 4
2021-02-16T11:47:22.538Z,1613476042.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.559998 m,
      bearing: 245.630432 deg,
      approachRate: -0.638907 m/s,
      LOS rate: 0.012318 deg/s,
      cmd update: 0.036954 deg/s,
      cmd heading: 247.180042 deg,
      new cmd heading: 247.004299 deg.

2021-02-16T11:47:24.946Z,1613476044.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:25.724Z,1613476045.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:26.130Z,1613476046.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:26.952Z,1613476046.952 [Micromodem](INFO): Nmea in: $SNTTA,0.045224,,,,114727.17*45

2021-02-16T11:47:27.002Z,1613476047.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 246.695668 deg, deltaT: 4.460305 s, approachRate: -0.618789 m/s, LOS rate: 0.238826 deg/s, posRepo size: 4
2021-02-16T11:47:27.004Z,1613476047.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 246.695668 deg,
      approachRate: -0.618789 m/s,
      LOS rate: 0.238826 deg/s,
      cmd update: 0.716478 deg/s,
      cmd heading: 247.344862 deg,
      new cmd heading: 247.360653 deg.

2021-02-16T11:47:29.391Z,1613476049.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:30.168Z,1613476050.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:30.581Z,1613476050.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:31.396Z,1613476051.396 [Micromodem](INFO): Nmea in: $SNTTA,0.043252,,,,114731.61*44

2021-02-16T11:47:31.435Z,1613476051.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.739998 m, bearing: 246.482785 deg, deltaT: 4.445761 s, approachRate: -0.688299 m/s, LOS rate: -0.047885 deg/s, posRepo size: 4
2021-02-16T11:47:31.437Z,1613476051.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.739998 m,
      bearing: 246.482785 deg,
      approachRate: -0.688299 m/s,
      LOS rate: -0.047885 deg/s,
      cmd update: -0.143654 deg/s,
      cmd heading: 250.527365 deg,
      new cmd heading: 250.827127 deg.

2021-02-16T11:47:33.873Z,1613476053.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:34.618Z,1613476054.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:35.035Z,1613476055.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:35.053Z,1613476055.053 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:47:35.872Z,1613476055.872 [Micromodem](INFO): Nmea in: $SNTTA,0.041311,,,,114736.06*46

2021-02-16T11:47:35.921Z,1613476055.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 244.225189 deg, deltaT: 4.436055 s, approachRate: -0.676276 m/s, LOS rate: -0.508920 deg/s, posRepo size: 4
2021-02-16T11:47:35.923Z,1613476055.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.740002 m,
      bearing: 244.225189 deg,
      approachRate: -0.676276 m/s,
      LOS rate: -0.508920 deg/s,
      cmd update: -1.526759 deg/s,
      cmd heading: 249.889530 deg,
      new cmd heading: 249.822760 deg.

2021-02-16T11:47:38.273Z,1613476058.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:39.058Z,1613476059.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:39.475Z,1613476059.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:40.288Z,1613476060.288 [Micromodem](INFO): Nmea in: $SNTTA,0.039348,,0.047741,,114740.50*58

2021-02-16T11:47:40.340Z,1613476060.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.799999 m, bearing: 244.945637 deg, deltaT: 4.459646 s, approachRate: -0.659246 m/s, LOS rate: 0.161548 deg/s, posRepo size: 4
2021-02-16T11:47:40.355Z,1613476060.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.799999 m,
      bearing: 244.945637 deg,
      approachRate: -0.659246 m/s,
      LOS rate: 0.161548 deg/s,
      cmd update: 0.484645 deg/s,
      cmd heading: 243.093362 deg,
      new cmd heading: 242.476885 deg.

2021-02-16T11:47:42.732Z,1613476062.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:43.500Z,1613476063.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:43.907Z,1613476063.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:44.731Z,1613476064.731 [Micromodem](INFO): Nmea in: $SNTTA,0.037433,,,,114744.94*4E

2021-02-16T11:47:44.756Z,1613476064.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.920002 m, bearing: 245.198983 deg, deltaT: 4.457223 s, approachRate: -0.646142 m/s, LOS rate: 0.056839 deg/s, posRepo size: 4
2021-02-16T11:47:44.757Z,1613476064.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.920002 m,
      bearing: 245.198983 deg,
      approachRate: -0.646142 m/s,
      LOS rate: 0.056839 deg/s,
      cmd update: 0.170518 deg/s,
      cmd heading: 245.249790 deg,
      new cmd heading: 245.442720 deg.

2021-02-16T11:47:47.171Z,1613476067.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:47.953Z,1613476067.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:48.373Z,1613476068.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:49.199Z,1613476069.199 [Micromodem](INFO): Nmea in: $SNTTA,0.035474,,,,114749.40*4B

2021-02-16T11:47:49.254Z,1613476069.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 244.688440 deg, deltaT: 4.404486 s, approachRate: -0.667502 m/s, LOS rate: -0.115914 deg/s, posRepo size: 4
2021-02-16T11:47:49.260Z,1613476069.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 244.688440 deg,
      approachRate: -0.667502 m/s,
      LOS rate: -0.115914 deg/s,
      cmd update: -0.347743 deg/s,
      cmd heading: 246.003559 deg,
      new cmd heading: 246.084747 deg.

2021-02-16T11:47:51.631Z,1613476071.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:52.400Z,1613476072.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:52.806Z,1613476072.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:53.628Z,1613476073.628 [Micromodem](INFO): Nmea in: $SNTTA,0.033506,,,,114753.84*4A

2021-02-16T11:47:53.668Z,1613476073.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 244.816219 deg, deltaT: 4.490510 s, approachRate: -0.668075 m/s, LOS rate: 0.028455 deg/s, posRepo size: 4
2021-02-16T11:47:53.669Z,1613476073.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 244.816219 deg,
      approachRate: -0.668075 m/s,
      LOS rate: 0.028455 deg/s,
      cmd update: 0.085366 deg/s,
      cmd heading: 244.443396 deg,
      new cmd heading: 244.303267 deg.

2021-02-16T11:47:56.072Z,1613476076.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:47:56.860Z,1613476076.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:47:57.259Z,1613476077.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:47:58.096Z,1613476078.096 [Micromodem](INFO): Nmea in: $SNTTA,0.031584,,,,114758.30*46

2021-02-16T11:47:58.121Z,1613476078.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 245.601144 deg, deltaT: 4.423412 s, approachRate: -0.651081 m/s, LOS rate: 0.177448 deg/s, posRepo size: 4
2021-02-16T11:47:58.123Z,1613476078.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.100002 m,
      bearing: 245.601144 deg,
      approachRate: -0.651081 m/s,
      LOS rate: 0.177448 deg/s,
      cmd update: 0.532344 deg/s,
      cmd heading: 244.821341 deg,
      new cmd heading: 244.857996 deg.

2021-02-16T11:48:00.508Z,1613476080.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:01.284Z,1613476081.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:01.690Z,1613476081.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:02.512Z,1613476082.512 [Micromodem](INFO): Nmea in: $SNTTA,0.029616,,,,114802.73*40

2021-02-16T11:48:02.560Z,1613476082.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.220001 m, bearing: 246.122151 deg, deltaT: 4.448421 s, approachRate: -0.647421 m/s, LOS rate: 0.117122 deg/s, posRepo size: 4
2021-02-16T11:48:02.562Z,1613476082.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.220001 m,
      bearing: 246.122151 deg,
      approachRate: -0.647421 m/s,
      LOS rate: 0.117122 deg/s,
      cmd update: 0.351365 deg/s,
      cmd heading: 247.185098 deg,
      new cmd heading: 247.413147 deg.

2021-02-16T11:48:04.965Z,1613476084.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:05.734Z,1613476085.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:06.145Z,1613476086.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:06.973Z,1613476086.973 [Micromodem](INFO): Nmea in: $SNTTA,0.027696,,0.058065,,114807.18*5E

2021-02-16T11:48:06.997Z,1613476086.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.340000 m, bearing: 244.317861 deg, deltaT: 4.439179 s, approachRate: -0.648769 m/s, LOS rate: -0.406447 deg/s, posRepo size: 4
2021-02-16T11:48:06.999Z,1613476086.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.340000 m,
      bearing: 244.317861 deg,
      approachRate: -0.648769 m/s,
      LOS rate: -0.406447 deg/s,
      cmd update: -1.219340 deg/s,
      cmd heading: 248.747741 deg,
      new cmd heading: 248.894637 deg.

2021-02-16T11:48:09.401Z,1613476089.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:10.173Z,1613476090.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:10.578Z,1613476090.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:11.409Z,1613476091.409 [Micromodem](INFO): Nmea in: $SNTTA,0.025741,,,,114811.62*4D

2021-02-16T11:48:11.459Z,1613476091.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 244.764665 deg, deltaT: 4.424513 s, approachRate: -0.664480 m/s, LOS rate: 0.100984 deg/s, posRepo size: 4
2021-02-16T11:48:11.459Z,1613476091.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m.
2021-02-16T11:48:11.461Z,1613476091.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.399998 m,
      bearing: 244.764665 deg,
      approachRate: -0.664480 m/s,
      LOS rate: 0.100984 deg/s,
      cmd update: 0.302951 deg/s,
      cmd heading: 243.352707 deg,
      new cmd heading: 242.798078 deg.

2021-02-16T11:48:11.819Z,1613476091.819 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:48:13.884Z,1613476093.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:14.621Z,1613476094.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:15.039Z,1613476095.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:15.867Z,1613476095.867 [Micromodem](INFO): Nmea in: $SNTTA,0.023767,,,,114816.06*4A

2021-02-16T11:48:15.893Z,1613476095.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.460003 m, bearing: 246.588243 deg, deltaT: 4.465170 s, approachRate: -0.658428 m/s, LOS rate: 0.408401 deg/s, posRepo size: 4
2021-02-16T11:48:15.893Z,1613476095.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-02-16T11:48:15.893Z,1613476095.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.46 m.
2021-02-16T11:48:15.893Z,1613476095.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:48:15.895Z,1613476095.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 246.588243 deg,
      approachRate: -0.658428 m/s,
      LOS rate: 0.408401 deg/s,
      cmd update: 1.225202 deg/s,
      cmd heading: 244.704217 deg,
      new cmd heading: 244.833708 deg.

2021-02-16T11:48:18.286Z,1613476098.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:19.061Z,1613476099.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:19.466Z,1613476099.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:20.288Z,1613476100.288 [Micromodem](INFO): Nmea in: $SNTTA,0.021788,,,,114820.50*4F

2021-02-16T11:48:20.372Z,1613476100.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.460003 m, bearing: 246.216599 deg, deltaT: 4.457930 s, approachRate: -0.672958 m/s, LOS rate: -0.083367 deg/s, posRepo size: 4
2021-02-16T11:48:20.374Z,1613476100.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.460003 m,
      bearing: 246.216599 deg,
      approachRate: -0.672958 m/s,
      LOS rate: -0.083367 deg/s,
      cmd update: -0.250101 deg/s,
      cmd heading: 250.170946 deg,
      new cmd heading: 250.711026 deg.

2021-02-16T11:48:22.722Z,1613476102.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:23.509Z,1613476103.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:23.923Z,1613476103.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:24.736Z,1613476104.736 [Micromodem](INFO): Nmea in: $SNTTA,0.019866,,,,114824.95*46

2021-02-16T11:48:24.774Z,1613476104.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.580002 m, bearing: 244.090744 deg, deltaT: 4.466457 s, approachRate: -0.644807 m/s, LOS rate: -0.475960 deg/s, posRepo size: 4
2021-02-16T11:48:24.776Z,1613476104.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.580002 m,
      bearing: 244.090744 deg,
      approachRate: -0.644807 m/s,
      LOS rate: -0.475960 deg/s,
      cmd update: -1.427880 deg/s,
      cmd heading: 249.053866 deg,
      new cmd heading: 248.958656 deg.

2021-02-16T11:48:27.187Z,1613476107.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:27.948Z,1613476107.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:28.391Z,1613476108.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:29.180Z,1613476109.180 [Micromodem](INFO): Nmea in: $SNTTA,0.017864,,,,114829.39*41

2021-02-16T11:48:29.225Z,1613476109.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.580002 m, bearing: 243.350133 deg, deltaT: 4.397475 s, approachRate: -0.682210 m/s, LOS rate: -0.168417 deg/s, posRepo size: 4
2021-02-16T11:48:29.228Z,1613476109.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.580002 m,
      bearing: 243.350133 deg,
      approachRate: -0.682210 m/s,
      LOS rate: -0.168417 deg/s,
      cmd update: -0.505252 deg/s,
      cmd heading: 242.803528 deg,
      new cmd heading: 242.155585 deg.

2021-02-16T11:48:31.628Z,1613476111.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:32.398Z,1613476112.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:32.821Z,1613476112.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:33.626Z,1613476113.626 [Micromodem](INFO): Nmea in: $SNTTA,0.015838,,,,114833.84*47

2021-02-16T11:48:33.698Z,1613476113.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 244.518149 deg, deltaT: 4.460991 s, approachRate: -0.672497 m/s, LOS rate: 0.261829 deg/s, posRepo size: 4
2021-02-16T11:48:33.704Z,1613476113.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.580000 m,
      bearing: 244.518149 deg,
      approachRate: -0.672497 m/s,
      LOS rate: 0.261829 deg/s,
      cmd update: 0.785487 deg/s,
      cmd heading: 240.539522 deg,
      new cmd heading: 240.314187 deg.

2021-02-16T11:48:36.071Z,1613476116.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:36.863Z,1613476116.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:37.251Z,1613476117.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:38.095Z,1613476118.095 [Micromodem](INFO): Nmea in: $SNTTA,0.013891,0.022291,,,114838.31*53

2021-02-16T11:48:38.121Z,1613476118.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 245.472627 deg, deltaT: 4.439895 s, approachRate: -0.662178 m/s, LOS rate: 0.214978 deg/s, posRepo size: 4
2021-02-16T11:48:38.122Z,1613476118.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.639997 m,
      bearing: 245.472627 deg,
      approachRate: -0.662178 m/s,
      LOS rate: 0.214978 deg/s,
      cmd update: 0.644933 deg/s,
      cmd heading: 244.025272 deg,
      new cmd heading: 244.363910 deg.

2021-02-16T11:48:40.514Z,1613476120.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:41.285Z,1613476121.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:41.686Z,1613476121.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:42.520Z,1613476122.520 [Micromodem](INFO): Nmea in: $SNTTA,0.011914,,0.056964,,114842.73*54

2021-02-16T11:48:42.545Z,1613476122.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.700001 m, bearing: 245.476507 deg, deltaT: 4.485137 s, approachRate: -0.655498 m/s, LOS rate: 0.000865 deg/s, posRepo size: 4
2021-02-16T11:48:42.546Z,1613476122.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.700001 m,
      bearing: 245.476507 deg,
      approachRate: -0.655498 m/s,
      LOS rate: 0.000865 deg/s,
      cmd update: 0.002595 deg/s,
      cmd heading: 246.916822 deg,
      new cmd heading: 247.156488 deg.

2021-02-16T11:48:44.956Z,1613476124.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:45.725Z,1613476125.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:46.130Z,1613476126.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:46.952Z,1613476126.952 [Micromodem](INFO): Nmea in: $SNTTA,0.010067,,,,114847.17*49

2021-02-16T11:48:47.002Z,1613476127.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 247.137937 deg, deltaT: 4.408748 s, approachRate: -0.639638 m/s, LOS rate: 0.376848 deg/s, posRepo size: 4
2021-02-16T11:48:47.008Z,1613476127.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 247.137937 deg,
      approachRate: -0.639638 m/s,
      LOS rate: 0.376848 deg/s,
      cmd update: 1.130545 deg/s,
      cmd heading: 246.928262 deg,
      new cmd heading: 246.929352 deg.

2021-02-16T11:48:49.408Z,1613476129.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:50.168Z,1613476130.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:50.574Z,1613476130.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:51.416Z,1613476131.416 [Micromodem](INFO): Nmea in: $SNTTA,0.008300,,,0.054693,114851.61*57

2021-02-16T11:48:51.452Z,1613476131.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 247.135095 deg, deltaT: 4.414898 s, approachRate: -0.638747 m/s, LOS rate: -0.000644 deg/s, posRepo size: 4
2021-02-16T11:48:51.453Z,1613476131.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 247.135095 deg,
      approachRate: -0.638747 m/s,
      LOS rate: -0.000644 deg/s,
      cmd update: -0.001931 deg/s,
      cmd heading: 251.924071 deg,
      new cmd heading: 252.433578 deg.

2021-02-16T11:48:53.868Z,1613476133.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:54.612Z,1613476134.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:55.024Z,1613476135.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:48:55.864Z,1613476135.864 [Micromodem](INFO): Nmea in: $SNTTA,0.006394,,,,114856.05*42

2021-02-16T11:48:55.926Z,1613476135.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.240001 m, bearing: 242.451061 deg, deltaT: 4.475248 s, approachRate: -0.630132 m/s, LOS rate: -1.046654 deg/s, posRepo size: 4
2021-02-16T11:48:55.933Z,1613476135.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.240001 m,
      bearing: 242.451061 deg,
      approachRate: -0.630132 m/s,
      LOS rate: -1.046654 deg/s,
      cmd update: -3.139961 deg/s,
      cmd heading: 251.915440 deg,
      new cmd heading: 251.914563 deg.

2021-02-16T11:48:58.298Z,1613476138.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:48:59.057Z,1613476139.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:48:59.476Z,1613476139.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:00.313Z,1613476140.313 [Micromodem](INFO): Nmea in: $SNTTA,0.004823,,,,114900.50*45

2021-02-16T11:49:00.378Z,1613476140.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 242.254434 deg, deltaT: 4.431103 s, approachRate: -0.501004 m/s, LOS rate: -0.044374 deg/s, posRepo size: 4
2021-02-16T11:49:00.380Z,1613476140.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 242.254434 deg,
      approachRate: -0.501004 m/s,
      LOS rate: -0.044374 deg/s,
      cmd update: -0.133123 deg/s,
      cmd heading: 237.986504 deg,
      new cmd heading: 236.506270 deg.

2021-02-16T11:49:02.713Z,1613476142.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:03.506Z,1613476143.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:03.921Z,1613476143.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:04.741Z,1613476144.741 [Micromodem](INFO): Nmea in: $SNTTA,0.003509,,,0.049758,114904.95*53

2021-02-16T11:49:04.767Z,1613476144.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 249.054515 deg, deltaT: 4.478883 s, approachRate: -0.442075 m/s, LOS rate: 1.518254 deg/s, posRepo size: 4
2021-02-16T11:49:04.768Z,1613476144.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 249.054515 deg,
      approachRate: -0.442075 m/s,
      LOS rate: 1.518254 deg/s,
      cmd update: 4.554762 deg/s,
      cmd heading: 237.391692 deg,
      new cmd heading: 237.339577 deg.

2021-02-16T11:49:07.190Z,1613476147.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:07.966Z,1613476147.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:08.371Z,1613476148.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:09.188Z,1613476149.188 [Micromodem](INFO): Nmea in: $SNTTA,0.002887,,,,114909.41*44

2021-02-16T11:49:09.237Z,1613476149.237 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T11:49:09.237Z,1613476149.237 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:49:09.237Z,1613476149.237 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T11:49:09.237Z,1613476149.237 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:49:09.237Z,1613476149.237 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T11:49:09.238Z,1613476149.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.259999 m 
2021-02-16T11:49:09.238Z,1613476149.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T11:49:09.238Z,1613476149.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T11:49:09.238Z,1613476149.238 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T11:49:09.242Z,1613476149.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 224.951379 deg, deltaT: 4.409996 s, approachRate: -0.176871 m/s, LOS rate: -5.465569 deg/s, posRepo size: 4
2021-02-16T11:49:09.260Z,1613476149.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 224.951379 deg,
      approachRate: -0.176871 m/s,
      LOS rate: -5.465569 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 257.517696 deg,
      new cmd heading: 259.556070 deg.

2021-02-16T11:49:09.611Z,1613476149.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T114909: (41.552319, -70.708603)
2021-02-16T11:49:09.611Z,1613476149.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T11:49:09.611Z,1613476149.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T11:49:09.611Z,1613476149.611 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:49:09.612Z,1613476149.612 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T11:49:09.612Z,1613476149.612 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:49:09.612Z,1613476149.612 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T11:49:09.612Z,1613476149.612 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T11:49:09.612Z,1613476149.612 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:49:11.614Z,1613476151.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:12.410Z,1613476152.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:12.802Z,1613476152.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:13.632Z,1613476153.632 [Micromodem](INFO): Nmea in: $SNTTA,0.003745,,,,114913.85*47

2021-02-16T11:49:13.685Z,1613476153.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.160000 m, bearing: 235.722478 deg, deltaT: 4.550700 s, approachRate: 0.197772 m/s, LOS rate: 2.366910 deg/s, posRepo size: 4
2021-02-16T11:49:13.686Z,1613476153.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 235.722478 deg,
      approachRate: 0.197772 m/s,
      LOS rate: 2.366910 deg/s,
      cmd update: 7.100731 deg/s,
      cmd heading: 203.145742 deg,
      new cmd heading: 198.825670 deg.

2021-02-16T11:49:16.098Z,1613476156.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:16.873Z,1613476156.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:17.263Z,1613476157.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:18.083Z,1613476158.083 [Micromodem](INFO): Nmea in: $SNTTA,0.005000,,,0.021318,114918.32*57

2021-02-16T11:49:18.124Z,1613476158.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.380000 m, bearing: 250.055384 deg, deltaT: 4.320897 s, approachRate: 0.513782 m/s, LOS rate: 3.317114 deg/s, posRepo size: 4
2021-02-16T11:49:18.126Z,1613476158.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.380000 m,
      bearing: 250.055384 deg,
      approachRate: 0.513782 m/s,
      LOS rate: 3.317114 deg/s,
      cmd update: 9.951341 deg/s,
      cmd heading: 233.981794 deg,
      new cmd heading: 237.222383 deg.

2021-02-16T11:49:20.505Z,1613476160.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:21.280Z,1613476161.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:21.686Z,1613476161.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:22.515Z,1613476162.515 [Micromodem](INFO): Nmea in: $SNTTA,0.006478,,,,114922.72*45

2021-02-16T11:49:22.539Z,1613476162.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 241.439647 deg, deltaT: 4.446850 s, approachRate: 0.553200 m/s, LOS rate: -1.937492 deg/s, posRepo size: 4
2021-02-16T11:49:22.541Z,1613476162.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 241.439647 deg,
      approachRate: 0.553200 m/s,
      LOS rate: -1.937492 deg/s,
      cmd update: -5.812476 deg/s,
      cmd heading: 278.234161 deg,
      new cmd heading: 282.460257 deg.

2021-02-16T11:49:24.962Z,1613476164.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:25.724Z,1613476165.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:26.147Z,1613476166.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:26.956Z,1613476166.956 [Micromodem](INFO): Nmea in: $SNTTA,0.008161,,,,114927.17*40

2021-02-16T11:49:26.996Z,1613476166.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.419999 m, bearing: 255.141252 deg, deltaT: 4.457908 s, approachRate: 0.578747 m/s, LOS rate: 3.073551 deg/s, posRepo size: 4
2021-02-16T11:49:26.998Z,1613476166.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.419999 m,
      bearing: 255.141252 deg,
      approachRate: 0.578747 m/s,
      LOS rate: 3.073551 deg/s,
      cmd update: 9.220651 deg/s,
      cmd heading: 252.323879 deg,
      new cmd heading: 249.856599 deg.

2021-02-16T11:49:29.417Z,1613476169.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:30.186Z,1613476170.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:30.574Z,1613476170.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:31.423Z,1613476171.423 [Micromodem](INFO): Nmea in: $SNTTA,0.011438,,,,114931.63*45

2021-02-16T11:49:31.447Z,1613476171.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 254.920637 deg, deltaT: 4.458827 s, approachRate: 0.820843 m/s, LOS rate: -0.049478 deg/s, posRepo size: 4
2021-02-16T11:49:31.448Z,1613476171.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.08 m. Rolling out.
2021-02-16T11:49:31.448Z,1613476171.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:49:33.892Z,1613476173.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:34.621Z,1613476174.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:35.022Z,1613476175.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:35.865Z,1613476175.865 [Micromodem](INFO): Nmea in: $SNTTA,0.018394,,0.034587,,114936.07*5B

2021-02-16T11:49:35.894Z,1613476175.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 289.172396 deg, deltaT: 4.429793 s, approachRate: 1.462824 m/s, LOS rate: 7.732135 deg/s, posRepo size: 4
2021-02-16T11:49:38.297Z,1613476178.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:39.062Z,1613476179.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:39.484Z,1613476179.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:40.288Z,1613476180.288 [Micromodem](INFO): Nmea in: $SNTTA,0.013800,,,,114940.51*47

2021-02-16T11:49:40.368Z,1613476180.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.919998 m, bearing: 265.877271 deg, deltaT: 4.457623 s, approachRate: -0.592245 m/s, LOS rate: -5.225908 deg/s, posRepo size: 4
2021-02-16T11:49:42.724Z,1613476182.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:43.502Z,1613476183.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:43.914Z,1613476183.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:44.732Z,1613476184.732 [Micromodem](INFO): Nmea in: $SNTTA,0.014847,,,,114944.95*4F

2021-02-16T11:49:44.778Z,1613476184.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 282.278659 deg, deltaT: 4.455213 s, approachRate: 0.525228 m/s, LOS rate: 3.681393 deg/s, posRepo size: 4
2021-02-16T11:49:46.371Z,1613476186.371 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:49:47.181Z,1613476187.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:47.944Z,1613476187.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:48.373Z,1613476188.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:49.172Z,1613476189.172 [Micromodem](INFO): Nmea in: $SNTTA,0.016364,,,,114949.39*4C

2021-02-16T11:49:49.213Z,1613476189.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.239998 m, bearing: 281.371036 deg, deltaT: 4.423826 s, approachRate: 0.447575 m/s, LOS rate: -0.205167 deg/s, posRepo size: 4
2021-02-16T11:49:51.618Z,1613476191.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:52.394Z,1613476192.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:52.810Z,1613476192.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:53.607Z,1613476193.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,114953.84*59

2021-02-16T11:49:54.440Z,1613476194.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:56.022Z,1613476196.022 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:49:57.260Z,1613476197.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:49:58.047Z,1613476198.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:49:58.467Z,1613476198.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:49:59.280Z,1613476199.280 [Micromodem](INFO): Nmea in: $SNTTA,0.020745,,,,114959.49*48

2021-02-16T11:49:59.320Z,1613476199.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 317.606146 deg, deltaT: 10.100377 s, approachRate: 2.774154 m/s, LOS rate: 3.587501 deg/s, posRepo size: 4
2021-02-16T11:50:01.730Z,1613476201.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:02.488Z,1613476202.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:02.893Z,1613476202.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:03.734Z,1613476203.734 [Micromodem](INFO): Nmea in: $SNTTA,0.022557,,,,115003.93*4B

2021-02-16T11:50:03.804Z,1613476203.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 339.270031 deg, deltaT: 4.468070 s, approachRate: -4.162872 m/s, LOS rate: 4.848600 deg/s, posRepo size: 4
2021-02-16T11:50:06.172Z,1613476206.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:06.940Z,1613476206.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:07.366Z,1613476207.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:08.168Z,1613476208.168 [Micromodem](INFO): Nmea in: $SNTTA,0.024176,,,,115008.38*40

2021-02-16T11:50:08.314Z,1613476208.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 336.097572 deg, deltaT: 4.407664 s, approachRate: 0.626182 m/s, LOS rate: -0.719760 deg/s, posRepo size: 4
2021-02-16T11:50:10.606Z,1613476210.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:11.382Z,1613476211.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:11.782Z,1613476211.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:12.608Z,1613476212.608 [Micromodem](INFO): Nmea in: $SNTTA,0.026094,,,,115012.82*45

2021-02-16T11:50:12.653Z,1613476212.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.299999 m, bearing: 337.997157 deg, deltaT: 4.468458 s, approachRate: 0.644518 m/s, LOS rate: 0.425110 deg/s, posRepo size: 4
2021-02-16T11:50:15.061Z,1613476215.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:15.846Z,1613476215.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:16.233Z,1613476216.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:17.060Z,1613476217.060 [Micromodem](INFO): Nmea in: $SNTTA,0.028126,,,,115017.29*47

2021-02-16T11:50:17.099Z,1613476217.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 340.057579 deg, deltaT: 4.425337 s, approachRate: 0.705031 m/s, LOS rate: 0.465597 deg/s, posRepo size: 4
2021-02-16T11:50:19.489Z,1613476219.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:20.270Z,1613476220.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:20.670Z,1613476220.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:21.496Z,1613476221.496 [Micromodem](INFO): Nmea in: $SNTTA,0.030187,,,,115021.71*4D

2021-02-16T11:50:21.520Z,1613476221.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 339.251617 deg, deltaT: 4.466293 s, approachRate: 0.671698 m/s, LOS rate: -0.180454 deg/s, posRepo size: 4
2021-02-16T11:50:23.967Z,1613476223.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:24.716Z,1613476224.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:25.129Z,1613476225.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:25.944Z,1613476225.944 [Micromodem](INFO): Nmea in: $SNTTA,0.032107,,,,115026.16*41

2021-02-16T11:50:25.999Z,1613476225.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 343.416256 deg, deltaT: 4.431538 s, approachRate: 0.649888 m/s, LOS rate: 0.939773 deg/s, posRepo size: 4
2021-02-16T11:50:28.397Z,1613476228.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:29.157Z,1613476229.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:29.558Z,1613476229.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:30.384Z,1613476230.384 [Micromodem](INFO): Nmea in: $SNTTA,0.034160,,,,115030.60*40

2021-02-16T11:50:30.436Z,1613476230.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 333.361207 deg, deltaT: 4.439073 s, approachRate: 0.689333 m/s, LOS rate: -2.265124 deg/s, posRepo size: 4
2021-02-16T11:50:32.842Z,1613476232.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:33.614Z,1613476233.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:34.019Z,1613476234.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:34.864Z,1613476234.864 [Micromodem](INFO): Nmea in: $SNTTA,0.036160,,,,115035.06*47

2021-02-16T11:50:34.909Z,1613476234.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.779995 m, bearing: 315.782841 deg, deltaT: 4.436571 s, approachRate: 0.770864 m/s, LOS rate: -3.962151 deg/s, posRepo size: 4
2021-02-16T11:50:37.258Z,1613476237.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:38.040Z,1613476238.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:38.458Z,1613476238.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:39.272Z,1613476239.272 [Micromodem](INFO): Nmea in: $SNTTA,0.038063,,,0.045374,115039.49*53

2021-02-16T11:50:39.320Z,1613476239.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.480007 m, bearing: 310.927095 deg, deltaT: 4.463552 s, approachRate: 0.604902 m/s, LOS rate: -1.087866 deg/s, posRepo size: 4
2021-02-16T11:50:41.718Z,1613476241.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:42.490Z,1613476242.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:42.896Z,1613476242.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:43.376Z,1613476243.376 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:50:43.732Z,1613476243.732 [Micromodem](INFO): Nmea in: $SNTTA,0.040225,,,,115043.97*4D

2021-02-16T11:50:43.754Z,1613476243.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.599998 m, bearing: 332.952024 deg, deltaT: 4.483436 s, approachRate: 0.695893 m/s, LOS rate: 4.912511 deg/s, posRepo size: 4
2021-02-16T11:50:46.156Z,1613476246.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:46.928Z,1613476246.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:47.358Z,1613476247.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:48.163Z,1613476248.163 [Micromodem](INFO): Nmea in: $SNTTA,0.042160,,,,115048.37*4C

2021-02-16T11:50:48.246Z,1613476248.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.660007 m, bearing: 316.929629 deg, deltaT: 4.393748 s, approachRate: 0.696446 m/s, LOS rate: -3.646635 deg/s, posRepo size: 4
2021-02-16T11:50:48.562Z,1613476248.562 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:50:48.684Z,1613476248.684 [CTD_Seabird](ERROR): Failed to parse device response: 6,2.77295,2964.30
2021-02-16T11:50:49.426Z,1613476249.426 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:50:50.605Z,1613476250.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:51.372Z,1613476251.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:51.785Z,1613476251.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:52.600Z,1613476252.600 [Micromodem](INFO): Nmea in: $SNTTA,0.044273,,,,115052.81*4D

2021-02-16T11:50:52.640Z,1613476252.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 308.603383 deg, deltaT: 4.441120 s, approachRate: 0.729544 m/s, LOS rate: -1.874808 deg/s, posRepo size: 4
2021-02-16T11:50:55.038Z,1613476255.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:50:55.829Z,1613476255.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:50:56.230Z,1613476256.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:50:57.052Z,1613476257.052 [Micromodem](INFO): Nmea in: $SNTTA,0.046480,,,,115057.27*4C

2021-02-16T11:50:57.090Z,1613476257.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.200005 m, bearing: 321.791058 deg, deltaT: 4.439393 s, approachRate: 0.743346 m/s, LOS rate: 2.970603 deg/s, posRepo size: 4
2021-02-16T11:50:58.666Z,1613476258.666 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T11:50:59.484Z,1613476259.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:00.261Z,1613476260.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:00.666Z,1613476260.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:01.492Z,1613476261.492 [Micromodem](INFO): Nmea in: $SNTTA,0.048564,,,,115101.70*49

2021-02-16T11:51:01.536Z,1613476261.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 331.093229 deg, deltaT: 4.462915 s, approachRate: 0.699095 m/s, LOS rate: 2.084326 deg/s, posRepo size: 4
2021-02-16T11:51:03.512Z,1613476263.512 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T11:51:03.937Z,1613476263.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:04.712Z,1613476264.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:05.110Z,1613476265.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:05.940Z,1613476265.940 [Micromodem](INFO): Nmea in: $SNTTA,0.050658,,,,115106.16*4B

2021-02-16T11:51:05.980Z,1613476265.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 320.803358 deg, deltaT: 4.432332 s, approachRate: 0.690381 m/s, LOS rate: -2.321548 deg/s, posRepo size: 4
2021-02-16T11:51:08.415Z,1613476268.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:09.169Z,1613476269.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:09.566Z,1613476269.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:10.395Z,1613476270.395 [Micromodem](INFO): Nmea in: $SNTTA,0.052892,0.074242,,,115110.61*5F

2021-02-16T11:51:10.419Z,1613476270.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 314.915325 deg, deltaT: 4.448657 s, approachRate: 0.687847 m/s, LOS rate: -1.323553 deg/s, posRepo size: 4
2021-02-16T11:51:12.849Z,1613476272.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:13.598Z,1613476273.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:13.999Z,1613476273.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:14.888Z,1613476274.888 [Micromodem](INFO): Nmea in: $SNTTA,0.054941,,,,115115.04*49

2021-02-16T11:51:14.925Z,1613476274.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 317.303350 deg, deltaT: 4.443876 s, approachRate: 0.702090 m/s, LOS rate: 0.537374 deg/s, posRepo size: 4
2021-02-16T11:51:16.058Z,1613476276.058 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T11:51:17.270Z,1613476277.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:18.046Z,1613476278.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:18.463Z,1613476278.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:19.272Z,1613476279.272 [Micromodem](INFO): Nmea in: $SNTTA,0.056954,,,,115119.49*4A

2021-02-16T11:51:19.336Z,1613476279.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.740005 m, bearing: 300.007836 deg, deltaT: 4.464727 s, approachRate: 0.712250 m/s, LOS rate: -3.873812 deg/s, posRepo size: 4
2021-02-16T11:51:21.712Z,1613476281.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:22.488Z,1613476282.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:22.903Z,1613476282.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:23.716Z,1613476283.716 [Micromodem](INFO): Nmea in: $SNTTA,0.058904,,,,115123.93*4F

2021-02-16T11:51:23.739Z,1613476283.739 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T11:51:23.752Z,1613476283.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 314.998025 deg, deltaT: 4.469044 s, approachRate: 0.617581 m/s, LOS rate: 3.354227 deg/s, posRepo size: 4
2021-02-16T11:51:26.170Z,1613476286.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:26.934Z,1613476286.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:27.363Z,1613476287.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:28.160Z,1613476288.160 [Micromodem](INFO): Nmea in: $SNTTA,0.060890,,,,115128.38*42

2021-02-16T11:51:28.205Z,1613476288.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 311.991567 deg, deltaT: 4.382939 s, approachRate: 0.684474 m/s, LOS rate: -0.685946 deg/s, posRepo size: 4
2021-02-16T11:51:30.600Z,1613476290.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:31.376Z,1613476291.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:31.793Z,1613476291.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:32.604Z,1613476292.604 [Micromodem](INFO): Nmea in: $SNTTA,0.062837,,,,115132.82*47

2021-02-16T11:51:32.644Z,1613476292.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.380005 m, bearing: 314.517753 deg, deltaT: 4.470195 s, approachRate: 0.644267 m/s, LOS rate: 0.565118 deg/s, posRepo size: 4
2021-02-16T11:51:35.049Z,1613476295.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:35.850Z,1613476295.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:36.235Z,1613476296.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:37.073Z,1613476297.073 [Micromodem](INFO): Nmea in: $SNTTA,0.064818,,,,115137.29*48

2021-02-16T11:51:37.120Z,1613476297.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 315.974523 deg, deltaT: 4.421892 s, approachRate: 0.746288 m/s, LOS rate: 0.329445 deg/s, posRepo size: 4
2021-02-16T11:51:38.689Z,1613476298.689 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:51:39.482Z,1613476299.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:40.269Z,1613476300.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:40.670Z,1613476300.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:41.496Z,1613476301.496 [Micromodem](INFO): Nmea in: $SNTTA,0.066821,,,,115141.71*4C

2021-02-16T11:51:41.526Z,1613476301.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.380005 m, bearing: 311.507552 deg, deltaT: 4.474955 s, approachRate: 0.603357 m/s, LOS rate: -0.998216 deg/s, posRepo size: 4
2021-02-16T11:51:43.930Z,1613476303.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:44.708Z,1613476304.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:45.114Z,1613476305.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:45.948Z,1613476305.948 [Micromodem](INFO): Nmea in: $SNTTA,0.068867,,,,115146.15*45

2021-02-16T11:51:45.998Z,1613476305.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.440002 m, bearing: 314.725145 deg, deltaT: 4.454559 s, approachRate: 0.686936 m/s, LOS rate: 0.722315 deg/s, posRepo size: 4
2021-02-16T11:51:48.450Z,1613476308.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:49.168Z,1613476309.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:49.562Z,1613476309.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:50.410Z,1613476310.410 [Micromodem](INFO): Nmea in: $SNTTA,0.070878,,,,115150.61*46

2021-02-16T11:51:50.434Z,1613476310.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.500000 m, bearing: 311.079190 deg, deltaT: 4.426335 s, approachRate: 0.691316 m/s, LOS rate: -0.823696 deg/s, posRepo size: 4
2021-02-16T11:51:52.848Z,1613476312.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:53.602Z,1613476313.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:54.011Z,1613476314.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:54.858Z,1613476314.858 [Micromodem](INFO): Nmea in: $SNTTA,0.072933,,,,115155.04*4C

2021-02-16T11:51:54.883Z,1613476314.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 311.023182 deg, deltaT: 4.489177 s, approachRate: 0.668274 m/s, LOS rate: -0.012476 deg/s, posRepo size: 4
2021-02-16T11:51:57.266Z,1613476317.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:51:58.048Z,1613476318.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:51:58.451Z,1613476318.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:51:59.285Z,1613476319.285 [Micromodem](INFO): Nmea in: $SNTTA,0.075176,,,,115159.49*47

2021-02-16T11:51:59.368Z,1613476319.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 308.063743 deg, deltaT: 4.408073 s, approachRate: 0.775851 m/s, LOS rate: -0.671368 deg/s, posRepo size: 4
2021-02-16T11:52:01.718Z,1613476321.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:02.492Z,1613476322.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:02.890Z,1613476322.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:03.716Z,1613476323.716 [Micromodem](INFO): Nmea in: $SNTTA,0.077308,,,,115203.94*42

2021-02-16T11:52:03.754Z,1613476323.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 311.190522 deg, deltaT: 4.444913 s, approachRate: 0.715423 m/s, LOS rate: 0.703451 deg/s, posRepo size: 4
2021-02-16T11:52:06.156Z,1613476326.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:06.934Z,1613476326.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:07.380Z,1613476327.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:08.163Z,1613476328.163 [Micromodem](INFO): Nmea in: $SNTTA,0.079566,,,,115208.38*4F

2021-02-16T11:52:08.188Z,1613476328.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.459999 m, bearing: 305.577473 deg, deltaT: 4.414781 s, approachRate: 0.761080 m/s, LOS rate: -1.271422 deg/s, posRepo size: 4
2021-02-16T11:52:10.622Z,1613476330.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:11.372Z,1613476331.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:11.784Z,1613476331.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:12.608Z,1613476332.608 [Micromodem](INFO): Nmea in: $SNTTA,0.081712,,,,115212.82*43

2021-02-16T11:52:12.632Z,1613476332.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.699997 m, bearing: 303.058308 deg, deltaT: 4.449983 s, approachRate: 0.728092 m/s, LOS rate: -0.566107 deg/s, posRepo size: 4
2021-02-16T11:52:15.037Z,1613476335.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:15.845Z,1613476335.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:16.233Z,1613476336.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:17.064Z,1613476337.064 [Micromodem](INFO): Nmea in: $SNTTA,0.083871,,,,115217.29*4F

2021-02-16T11:52:17.125Z,1613476337.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.940002 m, bearing: 303.813426 deg, deltaT: 4.431789 s, approachRate: 0.731083 m/s, LOS rate: 0.170387 deg/s, posRepo size: 4
2021-02-16T11:52:19.518Z,1613476339.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:20.261Z,1613476340.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:20.686Z,1613476340.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:21.492Z,1613476341.492 [Micromodem](INFO): Nmea in: $SNTTA,0.085808,,,,115221.71*4F

2021-02-16T11:52:21.549Z,1613476341.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 298.612838 deg, deltaT: 4.462515 s, approachRate: 0.645377 m/s, LOS rate: -1.165394 deg/s, posRepo size: 4
2021-02-16T11:52:23.936Z,1613476343.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:24.710Z,1613476344.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:25.116Z,1613476345.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:25.956Z,1613476345.956 [Micromodem](INFO): Nmea in: $SNTTA,0.087791,,,,115226.15*47

2021-02-16T11:52:25.992Z,1613476345.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.880005 m, bearing: 302.650818 deg, deltaT: 4.437465 s, approachRate: 0.689582 m/s, LOS rate: 0.909975 deg/s, posRepo size: 4
2021-02-16T11:52:28.429Z,1613476348.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:29.159Z,1613476349.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:29.565Z,1613476349.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:30.384Z,1613476350.384 [Micromodem](INFO): Nmea in: $SNTTA,0.089991,,,,115230.60*42

2021-02-16T11:52:30.429Z,1613476350.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 303.179940 deg, deltaT: 4.450274 s, approachRate: 0.728043 m/s, LOS rate: 0.118896 deg/s, posRepo size: 4
2021-02-16T11:52:32.809Z,1613476352.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:33.594Z,1613476353.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:34.004Z,1613476354.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:34.836Z,1613476354.836 [Micromodem](INFO): Nmea in: $SNTTA,0.092151,,,,115235.04*4B

2021-02-16T11:52:34.890Z,1613476354.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.360001 m, bearing: 299.779817 deg, deltaT: 4.437910 s, approachRate: 0.730075 m/s, LOS rate: -0.766154 deg/s, posRepo size: 4
2021-02-16T11:52:37.255Z,1613476357.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:38.037Z,1613476358.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:38.442Z,1613476358.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:39.284Z,1613476359.284 [Micromodem](INFO): Nmea in: $SNTTA,0.094383,,,,115239.48*44

2021-02-16T11:52:39.353Z,1613476359.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.720001 m, bearing: 294.399458 deg, deltaT: 4.441648 s, approachRate: 0.756476 m/s, LOS rate: -1.211343 deg/s, posRepo size: 4
2021-02-16T11:52:41.725Z,1613476361.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:42.480Z,1613476362.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:42.888Z,1613476362.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:43.728Z,1613476363.728 [Micromodem](INFO): Nmea in: $SNTTA,0.096586,,,,115243.92*4F

2021-02-16T11:52:43.758Z,1613476363.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.020004 m, bearing: 296.216097 deg, deltaT: 4.479781 s, approachRate: 0.736644 m/s, LOS rate: 0.405520 deg/s, posRepo size: 4
2021-02-16T11:52:46.149Z,1613476366.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:46.924Z,1613476366.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:47.357Z,1613476367.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:48.152Z,1613476368.152 [Micromodem](INFO): Nmea in: $SNTTA,0.098760,,,,115248.37*4F

2021-02-16T11:52:48.202Z,1613476368.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.320007 m, bearing: 299.802138 deg, deltaT: 4.404289 s, approachRate: 0.749270 m/s, LOS rate: 0.814216 deg/s, posRepo size: 4
2021-02-16T11:52:50.590Z,1613476370.590 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:51.376Z,1613476371.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:51.776Z,1613476371.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:52.604Z,1613476372.604 [Micromodem](INFO): Nmea in: $SNTTA,0.100917,,0.103697,,115252.82*50

2021-02-16T11:52:52.658Z,1613476372.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.559998 m, bearing: 293.535166 deg, deltaT: 4.492352 s, approachRate: 0.721224 m/s, LOS rate: -1.395031 deg/s, posRepo size: 4
2021-02-16T11:52:52.658Z,1613476372.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.56 m. Resuming terminal guidance.
2021-02-16T11:52:52.658Z,1613476372.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T11:52:55.042Z,1613476375.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:52:55.827Z,1613476375.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:52:56.281Z,1613476376.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:52:57.052Z,1613476377.052 [Micromodem](INFO): Nmea in: $SNTTA,0.103074,,,,115257.27*41

2021-02-16T11:52:57.090Z,1613476377.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 295.633045 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T11:52:57.091Z,1613476377.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 295.633045deg and heading rate command to 0 deg/s.
2021-02-16T11:52:59.484Z,1613476379.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:00.266Z,1613476380.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:00.669Z,1613476380.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:01.499Z,1613476381.499 [Micromodem](INFO): Nmea in: $SNTTA,0.105195,,,,115301.71*48

2021-02-16T11:53:01.523Z,1613476381.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 299.095159 deg, deltaT: 4.443195 s, approachRate: 0.729203 m/s, LOS rate: 0.779195 deg/s, posRepo size: 2
2021-02-16T11:53:01.525Z,1613476381.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.979996 m,
      bearing: 299.095159 deg,
      approachRate: 0.729203 m/s,
      LOS rate: 0.779195 deg/s,
      cmd update: 2.337584 deg/s,
      cmd heading: 295.633045 deg,
      new cmd heading: 295.633045 deg.

2021-02-16T11:53:03.925Z,1613476383.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:04.701Z,1613476384.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:05.105Z,1613476385.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:05.932Z,1613476385.932 [Micromodem](INFO): Nmea in: $SNTTA,0.107438,,,,115306.14*4C

2021-02-16T11:53:05.985Z,1613476385.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.280014 m, bearing: 310.363331 deg, deltaT: 4.456181 s, approachRate: 0.740549 m/s, LOS rate: 2.528661 deg/s, posRepo size: 3
2021-02-16T11:53:05.991Z,1613476385.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.280014 m,
      bearing: 310.363331 deg,
      approachRate: 0.740549 m/s,
      LOS rate: 2.528661 deg/s,
      cmd update: 7.585984 deg/s,
      cmd heading: 306.039582 deg,
      new cmd heading: 307.029713 deg.

2021-02-16T11:53:08.385Z,1613476388.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:09.144Z,1613476389.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:09.561Z,1613476389.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:10.380Z,1613476390.380 [Micromodem](INFO): Nmea in: $SNTTA,0.109575,,,,115310.59*44

2021-02-16T11:53:10.418Z,1613476390.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 356.209337 deg, deltaT: 4.432279 s, approachRate: 0.730999 m/s, LOS rate: 10.343664 deg/s, posRepo size: 4
2021-02-16T11:53:10.420Z,1613476390.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 356.209337 deg,
      approachRate: 0.730999 m/s,
      LOS rate: 10.343664 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.695664 deg,
      new cmd heading: 342.884888 deg.

2021-02-16T11:53:12.854Z,1613476392.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:13.594Z,1613476393.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:13.996Z,1613476393.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:14.832Z,1613476394.832 [Micromodem](INFO): Nmea in: $SNTTA,0.111507,,,,115315.04*45

2021-02-16T11:53:14.892Z,1613476394.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 320.012722 deg, deltaT: 4.447491 s, approachRate: 0.000000 m/s, LOS rate: -8.138660 deg/s, posRepo size: 4
2021-02-16T11:53:14.894Z,1613476394.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 320.012722 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.138660 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 33.063026 deg,
      new cmd heading: 38.418734 deg.

2021-02-16T11:53:17.251Z,1613476397.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:18.034Z,1613476398.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:18.465Z,1613476398.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:19.264Z,1613476399.264 [Micromodem](INFO): Nmea in: $SNTTA,0.113114,,,,115319.48*45

2021-02-16T11:53:19.306Z,1613476399.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.800003 m, bearing: 358.667905 deg, deltaT: 4.442909 s, approachRate: 1.188410 m/s, LOS rate: 8.700422 deg/s, posRepo size: 4
2021-02-16T11:53:19.308Z,1613476399.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.800003 m,
      bearing: 358.667905 deg,
      approachRate: 1.188410 m/s,
      LOS rate: 8.700422 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.745405 deg,
      new cmd heading: 334.737877 deg.

2021-02-16T11:53:21.694Z,1613476401.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:22.481Z,1613476402.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:22.887Z,1613476402.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:23.712Z,1613476403.712 [Micromodem](INFO): Nmea in: $SNTTA,0.114486,,,,115323.92*42

2021-02-16T11:53:23.754Z,1613476403.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.800003 m, bearing: 3.358540 deg, deltaT: 4.474561 s, approachRate: 0.000000 m/s, LOS rate: 1.048290 deg/s, posRepo size: 4
2021-02-16T11:53:23.756Z,1613476403.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.800003 m,
      bearing: 3.358540 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.048290 deg/s,
      cmd update: 3.144869 deg/s,
      cmd heading: 33.392210 deg,
      new cmd heading: 38.132126 deg.

2021-02-16T11:53:26.156Z,1613476406.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:26.921Z,1613476406.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:27.369Z,1613476407.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:28.148Z,1613476408.148 [Micromodem](INFO): Nmea in: $SNTTA,0.115791,,,,115328.36*43

2021-02-16T11:53:28.193Z,1613476408.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.759995 m, bearing: 358.003819 deg, deltaT: 4.424765 s, approachRate: 0.894961 m/s, LOS rate: -1.210171 deg/s, posRepo size: 4
2021-02-16T11:53:28.195Z,1613476408.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.759995 m,
      bearing: 358.003819 deg,
      approachRate: 0.894961 m/s,
      LOS rate: -1.210171 deg/s,
      cmd update: -3.630513 deg/s,
      cmd heading: 47.299892 deg,
      new cmd heading: 48.595710 deg.

2021-02-16T11:53:30.606Z,1613476410.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:31.381Z,1613476411.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:31.789Z,1613476411.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:32.599Z,1613476412.599 [Micromodem](INFO): Nmea in: $SNTTA,0.116832,,,,115332.82*42

2021-02-16T11:53:33.032Z,1613476413.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.259995 m, bearing: 66.071063 deg, deltaT: 4.870930 s, approachRate: 0.307949 m/s, LOS rate: 13.974179 deg/s, posRepo size: 4
2021-02-16T11:53:33.033Z,1613476413.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.974179 deg/s. Setting heading cmd to target bearing of 66.071063deg and heading rate command to 0 deg/s.
2021-02-16T11:53:35.453Z,1613476415.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:36.228Z,1613476416.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:36.618Z,1613476416.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:37.440Z,1613476417.440 [Micromodem](INFO): Nmea in: $SNTTA,0.117422,,,,115337.67*40

2021-02-16T11:53:37.925Z,1613476417.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 87.275665 deg, deltaT: 4.804911 s, approachRate: 0.174820 m/s, LOS rate: 4.413110 deg/s, posRepo size: 4
2021-02-16T11:53:37.931Z,1613476417.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.099991 m,
      bearing: 87.275665 deg,
      approachRate: 0.174820 m/s,
      LOS rate: 4.413110 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 66.071063 deg,
      new cmd heading: 66.071063 deg.

2021-02-16T11:53:40.309Z,1613476420.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:41.077Z,1613476421.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:41.471Z,1613476421.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:42.287Z,1613476422.287 [Micromodem](INFO): Nmea in: $SNTTA,0.117579,,,,115342.52*4B

2021-02-16T11:53:42.715Z,1613476422.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.400009 m, bearing: 15.508114 deg, deltaT: 4.843022 s, approachRate: 0.061949 m/s, LOS rate: -14.818755 deg/s, posRepo size: 4
2021-02-16T11:53:42.716Z,1613476422.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.818755 deg/s. Setting heading cmd to target bearing of 15.508114deg and heading rate command to 0 deg/s.
2021-02-16T11:53:45.143Z,1613476425.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:45.914Z,1613476425.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:46.322Z,1613476426.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:47.140Z,1613476427.140 [Micromodem](INFO): Nmea in: $SNTTA,0.117170,,,,115347.36*41

2021-02-16T11:53:47.185Z,1613476427.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.400009 m, bearing: 30.335223 deg, deltaT: 4.430763 s, approachRate: 0.000000 m/s, LOS rate: 3.346401 deg/s, posRepo size: 4
2021-02-16T11:53:47.187Z,1613476427.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.400009 m,
      bearing: 30.335223 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.346401 deg/s,
      cmd update: 10.039203 deg/s,
      cmd heading: 15.508114 deg,
      new cmd heading: 15.508114 deg.

2021-02-16T11:53:49.613Z,1613476429.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:50.370Z,1613476430.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:50.758Z,1613476430.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:51.580Z,1613476431.580 [Micromodem](INFO): Nmea in: $SNTTA,0.116295,,,,115351.81*43

2021-02-16T11:53:52.012Z,1613476432.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 141.989838 deg, deltaT: 4.866947 s, approachRate: -0.431480 m/s, LOS rate: 22.941408 deg/s, posRepo size: 4
2021-02-16T11:53:52.012Z,1613476432.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.941408 deg/s. Setting heading cmd to target bearing of 141.989838deg and heading rate command to 0 deg/s.
2021-02-16T11:53:54.423Z,1613476434.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:55.205Z,1613476435.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:53:55.623Z,1613476435.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:53:56.432Z,1613476436.432 [Micromodem](INFO): Nmea in: $SNTTA,0.115094,,,,115356.65*4E

2021-02-16T11:53:56.490Z,1613476436.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 91.899102 deg, deltaT: 4.468503 s, approachRate: 0.000000 m/s, LOS rate: -11.209735 deg/s, posRepo size: 4
2021-02-16T11:53:56.492Z,1613476436.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.300018 m,
      bearing: 91.899102 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.209735 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 141.989838 deg,
      new cmd heading: 141.989838 deg.

2021-02-16T11:53:58.885Z,1613476438.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:53:59.650Z,1613476439.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:00.055Z,1613476440.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:00.884Z,1613476440.884 [Micromodem](INFO): Nmea in: $SNTTA,0.114157,,0.120376,,115401.09*51

2021-02-16T11:54:00.942Z,1613476440.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 126.046620 deg, deltaT: 4.453915 s, approachRate: 0.000000 m/s, LOS rate: 7.666854 deg/s, posRepo size: 4
2021-02-16T11:54:00.944Z,1613476440.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.300018 m,
      bearing: 126.046620 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.666854 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 88.542917 deg,
      new cmd heading: 83.516045 deg.

2021-02-16T11:54:03.295Z,1613476443.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:04.094Z,1613476444.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:04.494Z,1613476444.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:05.359Z,1613476445.359 [Micromodem](INFO): Nmea in: $SNTTA,0.113068,,,,115405.54*48

2021-02-16T11:54:05.383Z,1613476445.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.300018 m, bearing: 146.826227 deg, deltaT: 4.434250 s, approachRate: 0.000000 m/s, LOS rate: 4.686160 deg/s, posRepo size: 4
2021-02-16T11:54:05.385Z,1613476445.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.300018 m,
      bearing: 146.826227 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.686160 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 141.753762 deg,
      new cmd heading: 146.865139 deg.

2021-02-16T11:54:07.759Z,1613476447.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:08.537Z,1613476448.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:08.943Z,1613476448.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:09.764Z,1613476449.764 [Micromodem](INFO): Nmea in: $SNTTA,0.111727,,,,115409.98*4A

2021-02-16T11:54:09.818Z,1613476449.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 137.778535 deg, deltaT: 4.477877 s, approachRate: -1.540911 m/s, LOS rate: -2.020532 deg/s, posRepo size: 4
2021-02-16T11:54:09.833Z,1613476449.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 137.778535 deg,
      approachRate: -1.540911 m/s,
      LOS rate: -2.020532 deg/s,
      cmd update: -6.061595 deg/s,
      cmd heading: 195.533468 deg,
      new cmd heading: 199.996028 deg.

2021-02-16T11:54:12.210Z,1613476452.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:12.982Z,1613476452.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:13.388Z,1613476453.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:14.209Z,1613476454.209 [Micromodem](INFO): Nmea in: $SNTTA,0.109946,,,,115414.42*41

2021-02-16T11:54:14.272Z,1613476454.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 139.373289 deg, deltaT: 4.403563 s, approachRate: 0.000000 m/s, LOS rate: 0.362151 deg/s, posRepo size: 4
2021-02-16T11:54:14.274Z,1613476454.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 139.373289 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.362151 deg/s,
      cmd update: 1.086452 deg/s,
      cmd heading: 169.037692 deg,
      new cmd heading: 166.260899 deg.

2021-02-16T11:54:16.645Z,1613476456.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:17.426Z,1613476457.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:17.856Z,1613476457.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:18.668Z,1613476458.668 [Micromodem](INFO): Nmea in: $SNTTA,0.107767,,,,115418.87*47

2021-02-16T11:54:18.692Z,1613476458.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 139.542841 deg, deltaT: 4.431258 s, approachRate: -1.340478 m/s, LOS rate: 0.038263 deg/s, posRepo size: 4
2021-02-16T11:54:18.694Z,1613476458.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 139.542841 deg,
      approachRate: -1.340478 m/s,
      LOS rate: 0.038263 deg/s,
      cmd update: 0.114789 deg/s,
      cmd heading: 173.883284 deg,
      new cmd heading: 174.342325 deg.

2021-02-16T11:54:21.087Z,1613476461.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:21.875Z,1613476461.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:22.270Z,1613476462.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:23.100Z,1613476463.100 [Micromodem](INFO): Nmea in: $SNTTA,0.105466,,,,115423.32*41

2021-02-16T11:54:23.145Z,1613476463.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 137.704701 deg, deltaT: 4.450881 s, approachRate: -0.781870 m/s, LOS rate: -0.412984 deg/s, posRepo size: 4
2021-02-16T11:54:23.151Z,1613476463.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.979996 m,
      bearing: 137.704701 deg,
      approachRate: -0.781870 m/s,
      LOS rate: -0.412984 deg/s,
      cmd update: -1.238951 deg/s,
      cmd heading: 174.394166 deg,
      new cmd heading: 174.442927 deg.

2021-02-16T11:54:25.544Z,1613476465.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:26.324Z,1613476466.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:26.714Z,1613476466.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:27.548Z,1613476467.548 [Micromodem](INFO): Nmea in: $SNTTA,0.103486,,,,115427.77*4C

2021-02-16T11:54:27.601Z,1613476467.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 134.339753 deg, deltaT: 4.454677 s, approachRate: -0.673450 m/s, LOS rate: -0.755374 deg/s, posRepo size: 4
2021-02-16T11:54:27.603Z,1613476467.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 134.339753 deg,
      approachRate: -0.673450 m/s,
      LOS rate: -0.755374 deg/s,
      cmd update: -2.266122 deg/s,
      cmd heading: 168.875252 deg,
      new cmd heading: 168.347531 deg.

2021-02-16T11:54:29.971Z,1613476469.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:30.752Z,1613476470.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:31.163Z,1613476471.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:31.989Z,1613476471.989 [Micromodem](INFO): Nmea in: $SNTTA,0.101542,,,,115432.19*4B

2021-02-16T11:54:32.036Z,1613476472.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 131.325017 deg, deltaT: 4.430443 s, approachRate: -0.663588 m/s, LOS rate: -0.680459 deg/s, posRepo size: 4
2021-02-16T11:54:32.038Z,1613476472.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.040009 m,
      bearing: 131.325017 deg,
      approachRate: -0.663588 m/s,
      LOS rate: -0.680459 deg/s,
      cmd update: -2.041378 deg/s,
      cmd heading: 158.870629 deg,
      new cmd heading: 157.905177 deg.

2021-02-16T11:54:34.438Z,1613476474.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:35.197Z,1613476475.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:35.601Z,1613476475.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:36.424Z,1613476476.424 [Micromodem](INFO): Nmea in: $SNTTA,0.099361,,,,115436.64*42

2021-02-16T11:54:36.475Z,1613476476.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 134.147866 deg, deltaT: 4.457951 s, approachRate: -0.767168 m/s, LOS rate: 0.633217 deg/s, posRepo size: 4
2021-02-16T11:54:36.477Z,1613476476.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.620010 m,
      bearing: 134.147866 deg,
      approachRate: -0.767168 m/s,
      LOS rate: 0.633217 deg/s,
      cmd update: 1.899650 deg/s,
      cmd heading: 149.738433 deg,
      new cmd heading: 148.898606 deg.

2021-02-16T11:54:38.888Z,1613476478.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:39.654Z,1613476479.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:40.050Z,1613476480.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:40.896Z,1613476480.896 [Micromodem](INFO): Nmea in: $SNTTA,0.096888,,,,115441.10*42

2021-02-16T11:54:40.930Z,1613476480.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.140015 m, bearing: 134.857345 deg, deltaT: 4.452814 s, approachRate: -0.781527 m/s, LOS rate: 0.159333 deg/s, posRepo size: 4
2021-02-16T11:54:40.932Z,1613476480.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 134.857345 deg,
      approachRate: -0.781527 m/s,
      LOS rate: 0.159333 deg/s,
      cmd update: 0.477998 deg/s,
      cmd heading: 158.189490 deg,
      new cmd heading: 158.983804 deg.

2021-02-16T11:54:43.297Z,1613476483.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:44.084Z,1613476484.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:44.502Z,1613476484.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:45.320Z,1613476485.320 [Micromodem](INFO): Nmea in: $SNTTA,0.094745,,,,115445.53*4D

2021-02-16T11:54:45.395Z,1613476485.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.960007 m, bearing: 134.588440 deg, deltaT: 4.418251 s, approachRate: -0.719744 m/s, LOS rate: -0.060862 deg/s, posRepo size: 4
2021-02-16T11:54:45.397Z,1613476485.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.960007 m,
      bearing: 134.588440 deg,
      approachRate: -0.719744 m/s,
      LOS rate: -0.060862 deg/s,
      cmd update: -0.182587 deg/s,
      cmd heading: 160.305261 deg,
      new cmd heading: 160.521621 deg.

2021-02-16T11:54:47.758Z,1613476487.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:48.544Z,1613476488.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:48.942Z,1613476488.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:49.768Z,1613476489.768 [Micromodem](INFO): Nmea in: $SNTTA,0.092583,,,,115449.99*49

2021-02-16T11:54:49.790Z,1613476489.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 133.580783 deg, deltaT: 4.459614 s, approachRate: -0.780336 m/s, LOS rate: -0.225952 deg/s, posRepo size: 4
2021-02-16T11:54:49.820Z,1613476489.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.480011 m,
      bearing: 133.580783 deg,
      approachRate: -0.780336 m/s,
      LOS rate: -0.225952 deg/s,
      cmd update: -0.677855 deg/s,
      cmd heading: 159.493887 deg,
      new cmd heading: 159.419394 deg.

2021-02-16T11:54:52.210Z,1613476492.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:52.974Z,1613476492.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:53.390Z,1613476493.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:54.201Z,1613476494.201 [Micromodem](INFO): Nmea in: $SNTTA,0.090176,,,,115454.42*4F

2021-02-16T11:54:54.262Z,1613476494.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.940002 m, bearing: 132.847794 deg, deltaT: 4.441182 s, approachRate: -0.797087 m/s, LOS rate: -0.165044 deg/s, posRepo size: 4
2021-02-16T11:54:54.264Z,1613476494.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.940002 m,
      bearing: 132.847794 deg,
      approachRate: -0.797087 m/s,
      LOS rate: -0.165044 deg/s,
      cmd update: -0.495131 deg/s,
      cmd heading: 156.487921 deg,
      new cmd heading: 156.186098 deg.

2021-02-16T11:54:56.654Z,1613476496.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:54:57.435Z,1613476497.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:54:57.856Z,1613476497.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:54:58.656Z,1613476498.656 [Micromodem](INFO): Nmea in: $SNTTA,0.087988,,,,115458.88*4A

2021-02-16T11:54:58.705Z,1613476498.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 132.203338 deg, deltaT: 4.411269 s, approachRate: -0.761686 m/s, LOS rate: -0.146093 deg/s, posRepo size: 4
2021-02-16T11:54:58.706Z,1613476498.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.580002 m,
      bearing: 132.203338 deg,
      approachRate: -0.761686 m/s,
      LOS rate: -0.146093 deg/s,
      cmd update: -0.438279 deg/s,
      cmd heading: 154.292470 deg,
      new cmd heading: 154.067665 deg.

2021-02-16T11:55:01.093Z,1613476501.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:01.868Z,1613476501.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:02.266Z,1613476502.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:03.092Z,1613476503.092 [Micromodem](INFO): Nmea in: $SNTTA,0.085834,,,,115503.31*43

2021-02-16T11:55:03.132Z,1613476503.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.339996 m, bearing: 133.315949 deg, deltaT: 4.499215 s, approachRate: -0.720127 m/s, LOS rate: 0.247290 deg/s, posRepo size: 4
2021-02-16T11:55:03.134Z,1613476503.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.339996 m,
      bearing: 133.315949 deg,
      approachRate: -0.720127 m/s,
      LOS rate: 0.247290 deg/s,
      cmd update: 0.741870 deg/s,
      cmd heading: 152.322296 deg,
      new cmd heading: 152.153252 deg.

2021-02-16T11:55:05.521Z,1613476505.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:06.334Z,1613476506.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:06.727Z,1613476506.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:07.548Z,1613476507.548 [Micromodem](INFO): Nmea in: $SNTTA,0.083486,,,,115507.78*49

2021-02-16T11:55:07.597Z,1613476507.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.040001 m, bearing: 133.612885 deg, deltaT: 4.392705 s, approachRate: -0.751244 m/s, LOS rate: 0.067597 deg/s, posRepo size: 4
2021-02-16T11:55:07.603Z,1613476507.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.040001 m,
      bearing: 133.612885 deg,
      approachRate: -0.751244 m/s,
      LOS rate: 0.067597 deg/s,
      cmd update: 0.202792 deg/s,
      cmd heading: 155.584062 deg,
      new cmd heading: 155.902515 deg.

2021-02-16T11:55:09.983Z,1613476509.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:10.748Z,1613476510.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:11.155Z,1613476511.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:11.980Z,1613476511.980 [Micromodem](INFO): Nmea in: $SNTTA,0.081318,,,,115512.19*48

2021-02-16T11:55:12.030Z,1613476512.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 132.308974 deg, deltaT: 4.439717 s, approachRate: -0.783833 m/s, LOS rate: -0.293692 deg/s, posRepo size: 4
2021-02-16T11:55:12.036Z,1613476512.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.560005 m,
      bearing: 132.308974 deg,
      approachRate: -0.783833 m/s,
      LOS rate: -0.293692 deg/s,
      cmd update: -0.881077 deg/s,
      cmd heading: 156.484030 deg,
      new cmd heading: 156.575120 deg.

2021-02-16T11:55:14.437Z,1613476514.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:15.198Z,1613476515.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:15.600Z,1613476515.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:16.424Z,1613476516.424 [Micromodem](INFO): Nmea in: $SNTTA,0.079071,,,,115516.64*4D

2021-02-16T11:55:16.500Z,1613476516.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 132.222654 deg, deltaT: 4.475554 s, approachRate: -0.750747 m/s, LOS rate: -0.019287 deg/s, posRepo size: 4
2021-02-16T11:55:16.502Z,1613476516.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 132.222654 deg,
      approachRate: -0.750747 m/s,
      LOS rate: -0.019287 deg/s,
      cmd update: -0.057861 deg/s,
      cmd heading: 152.542609 deg,
      new cmd heading: 152.157989 deg.

2021-02-16T11:55:18.890Z,1613476518.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:19.649Z,1613476519.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:20.042Z,1613476520.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:20.896Z,1613476520.896 [Micromodem](INFO): Nmea in: $SNTTA,0.076918,,,,115521.09*4B

2021-02-16T11:55:20.942Z,1613476520.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.960007 m, bearing: 132.333809 deg, deltaT: 4.413027 s, approachRate: -0.734188 m/s, LOS rate: 0.025188 deg/s, posRepo size: 4
2021-02-16T11:55:20.944Z,1613476520.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 132.333809 deg,
      approachRate: -0.734188 m/s,
      LOS rate: 0.025188 deg/s,
      cmd update: 0.075563 deg/s,
      cmd heading: 152.287036 deg,
      new cmd heading: 152.259806 deg.

2021-02-16T11:55:23.293Z,1613476523.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:24.085Z,1613476524.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:24.489Z,1613476524.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:25.328Z,1613476525.328 [Micromodem](INFO): Nmea in: $SNTTA,0.074633,,,,115525.53*44

2021-02-16T11:55:25.361Z,1613476525.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 132.960014 deg, deltaT: 4.452528 s, approachRate: -0.754629 m/s, LOS rate: 0.140640 deg/s, posRepo size: 4
2021-02-16T11:55:25.362Z,1613476525.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.599998 m,
      bearing: 132.960014 deg,
      approachRate: -0.754629 m/s,
      LOS rate: 0.140640 deg/s,
      cmd update: 0.421921 deg/s,
      cmd heading: 152.623485 deg,
      new cmd heading: 152.656510 deg.

2021-02-16T11:55:27.749Z,1613476527.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:28.545Z,1613476528.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:28.942Z,1613476528.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:29.822Z,1613476529.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.120003 m, bearing: 131.990264 deg, deltaT: 4.459908 s, approachRate: -0.780284 m/s, LOS rate: -0.217437 deg/s, posRepo size: 4
2021-02-16T11:55:29.836Z,1613476529.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.120003 m,
      bearing: 131.990264 deg,
      approachRate: -0.780284 m/s,
      LOS rate: -0.217437 deg/s,
      cmd update: -0.652312 deg/s,
      cmd heading: 154.505216 deg,
      new cmd heading: 154.686864 deg.

2021-02-16T11:55:30.159Z,1613476530.159 [Micromodem](INFO): Nmea in: $SNTTA,0.072304,,,,115530.03*42

2021-02-16T11:55:32.217Z,1613476532.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:32.976Z,1613476532.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:33.376Z,1613476533.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:34.204Z,1613476534.204 [Micromodem](INFO): Nmea in: $SNTTA,0.069903,,,,115534.42*44

2021-02-16T11:55:34.267Z,1613476534.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.640007 m, bearing: 131.764813 deg, deltaT: 4.413251 s, approachRate: -0.788533 m/s, LOS rate: -0.051085 deg/s, posRepo size: 4
2021-02-16T11:55:34.269Z,1613476534.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.640007 m,
      bearing: 131.764813 deg,
      approachRate: -0.788533 m/s,
      LOS rate: -0.051085 deg/s,
      cmd update: -0.153255 deg/s,
      cmd heading: 151.626407 deg,
      new cmd heading: 151.322395 deg.

2021-02-16T11:55:36.670Z,1613476536.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:37.412Z,1613476537.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:37.848Z,1613476537.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:38.640Z,1613476538.640 [Micromodem](INFO): Nmea in: $SNTTA,0.067581,,,,115538.85*4B

2021-02-16T11:55:38.680Z,1613476538.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 132.309534 deg, deltaT: 4.470037 s, approachRate: -0.765097 m/s, LOS rate: 0.121861 deg/s, posRepo size: 4
2021-02-16T11:55:38.681Z,1613476538.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 132.309534 deg,
      approachRate: -0.765097 m/s,
      LOS rate: 0.121861 deg/s,
      cmd update: 0.365582 deg/s,
      cmd heading: 150.941988 deg,
      new cmd heading: 150.878096 deg.

2021-02-16T11:55:41.089Z,1613476541.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:41.863Z,1613476541.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:42.262Z,1613476542.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:43.088Z,1613476543.088 [Micromodem](INFO): Nmea in: $SNTTA,0.065266,,,,115543.30*45

2021-02-16T11:55:43.113Z,1613476543.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 132.564915 deg, deltaT: 4.469415 s, approachRate: -0.792047 m/s, LOS rate: 0.057140 deg/s, posRepo size: 4
2021-02-16T11:55:43.139Z,1613476543.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.680008 m,
      bearing: 132.564915 deg,
      approachRate: -0.792047 m/s,
      LOS rate: 0.057140 deg/s,
      cmd update: 0.171419 deg/s,
      cmd heading: 152.573798 deg,
      new cmd heading: 152.715316 deg.

2021-02-16T11:55:45.534Z,1613476545.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:46.320Z,1613476546.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:46.729Z,1613476546.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:47.544Z,1613476547.544 [Micromodem](INFO): Nmea in: $SNTTA,0.062963,,,,115547.76*4A

2021-02-16T11:55:47.586Z,1613476547.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 131.094908 deg, deltaT: 4.417203 s, approachRate: -0.774247 m/s, LOS rate: -0.332791 deg/s, posRepo size: 4
2021-02-16T11:55:47.588Z,1613476547.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 131.094908 deg,
      approachRate: -0.774247 m/s,
      LOS rate: -0.332791 deg/s,
      cmd update: -0.998374 deg/s,
      cmd heading: 153.329962 deg,
      new cmd heading: 153.406930 deg.

2021-02-16T11:55:49.999Z,1613476549.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:50.758Z,1613476550.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:51.150Z,1613476551.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:51.992Z,1613476551.992 [Micromodem](INFO): Nmea in: $SNTTA,0.060692,,,,115552.20*4E

2021-02-16T11:55:52.041Z,1613476552.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 131.168374 deg, deltaT: 4.454880 s, approachRate: -0.767697 m/s, LOS rate: 0.016491 deg/s, posRepo size: 4
2021-02-16T11:55:52.044Z,1613476552.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.840004 m,
      bearing: 131.168374 deg,
      approachRate: -0.767697 m/s,
      LOS rate: 0.016491 deg/s,
      cmd update: 0.049473 deg/s,
      cmd heading: 148.890484 deg,
      new cmd heading: 148.433808 deg.

2021-02-16T11:55:54.426Z,1613476554.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:55.197Z,1613476555.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:55:55.599Z,1613476555.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:55:56.424Z,1613476556.424 [Micromodem](INFO): Nmea in: $SNTTA,0.058398,,,,115556.64*4E

2021-02-16T11:55:56.449Z,1613476556.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.419998 m, bearing: 131.983898 deg, deltaT: 4.429816 s, approachRate: -0.772042 m/s, LOS rate: 0.184099 deg/s, posRepo size: 4
2021-02-16T11:55:56.451Z,1613476556.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.419998 m,
      bearing: 131.983898 deg,
      approachRate: -0.772042 m/s,
      LOS rate: 0.184099 deg/s,
      cmd update: 0.552297 deg/s,
      cmd heading: 149.110835 deg,
      new cmd heading: 149.131159 deg.

2021-02-16T11:55:58.917Z,1613476558.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:55:59.642Z,1613476559.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:00.049Z,1613476560.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:00.879Z,1613476560.879 [Micromodem](INFO): Nmea in: $SNTTA,0.055997,,,,115601.08*4D

2021-02-16T11:56:00.904Z,1613476560.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 131.708778 deg, deltaT: 4.451653 s, approachRate: -0.808686 m/s, LOS rate: -0.061802 deg/s, posRepo size: 4
2021-02-16T11:56:00.906Z,1613476560.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.820007 m,
      bearing: 131.708778 deg,
      approachRate: -0.808686 m/s,
      LOS rate: -0.061802 deg/s,
      cmd update: -0.185405 deg/s,
      cmd heading: 151.567274 deg,
      new cmd heading: 151.798079 deg.

2021-02-16T11:56:03.316Z,1613476563.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:04.082Z,1613476564.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:04.491Z,1613476564.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:05.315Z,1613476565.315 [Micromodem](INFO): Nmea in: $SNTTA,0.053675,,,,115605.52*43

2021-02-16T11:56:05.375Z,1613476565.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 131.537149 deg, deltaT: 4.442524 s, approachRate: -0.783339 m/s, LOS rate: -0.038633 deg/s, posRepo size: 4
2021-02-16T11:56:05.377Z,1613476565.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.340004 m,
      bearing: 131.537149 deg,
      approachRate: -0.783339 m/s,
      LOS rate: -0.038633 deg/s,
      cmd update: -0.115900 deg/s,
      cmd heading: 150.743555 deg,
      new cmd heading: 150.661498 deg.

2021-02-16T11:56:07.748Z,1613476567.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:08.524Z,1613476568.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:08.939Z,1613476568.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:09.759Z,1613476569.759 [Micromodem](INFO): Nmea in: $SNTTA,0.051359,,,,115609.97*4F

2021-02-16T11:56:09.778Z,1613476569.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 130.739260 deg, deltaT: 4.450789 s, approachRate: -0.781883 m/s, LOS rate: -0.179269 deg/s, posRepo size: 4
2021-02-16T11:56:09.780Z,1613476569.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 130.739260 deg,
      approachRate: -0.781883 m/s,
      LOS rate: -0.179269 deg/s,
      cmd update: -0.537807 deg/s,
      cmd heading: 150.227297 deg,
      new cmd heading: 150.181468 deg.

2021-02-16T11:56:12.186Z,1613476572.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:12.974Z,1613476572.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:13.374Z,1613476573.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:14.200Z,1613476574.200 [Micromodem](INFO): Nmea in: $SNTTA,0.049142,,,,115614.42*4A

2021-02-16T11:56:14.255Z,1613476574.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.560005 m, bearing: 130.596919 deg, deltaT: 4.453764 s, approachRate: -0.740947 m/s, LOS rate: -0.031960 deg/s, posRepo size: 4
2021-02-16T11:56:14.257Z,1613476574.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.560005 m,
      bearing: 130.596919 deg,
      approachRate: -0.740947 m/s,
      LOS rate: -0.031960 deg/s,
      cmd update: -0.095879 deg/s,
      cmd heading: 147.849324 deg,
      new cmd heading: 147.609103 deg.

2021-02-16T11:56:16.634Z,1613476576.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:17.412Z,1613476577.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:17.848Z,1613476577.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:18.640Z,1613476578.640 [Micromodem](INFO): Nmea in: $SNTTA,0.046872,,,,115618.85*48

2021-02-16T11:56:18.694Z,1613476578.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.079994 m, bearing: 130.959233 deg, deltaT: 4.418435 s, approachRate: -0.787612 m/s, LOS rate: 0.082001 deg/s, posRepo size: 4
2021-02-16T11:56:18.701Z,1613476578.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.079994 m,
      bearing: 130.959233 deg,
      approachRate: -0.787612 m/s,
      LOS rate: 0.082001 deg/s,
      cmd update: 0.246002 deg/s,
      cmd heading: 147.422594 deg,
      new cmd heading: 147.380475 deg.

2021-02-16T11:56:21.090Z,1613476581.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:21.866Z,1613476581.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:22.269Z,1613476582.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:23.124Z,1613476583.124 [Micromodem](INFO): Nmea in: $SNTTA,0.044410,,,,115623.34*40

2021-02-16T11:56:23.167Z,1613476583.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 130.369760 deg, deltaT: 4.449698 s, approachRate: -0.822527 m/s, LOS rate: -0.132475 deg/s, posRepo size: 4
2021-02-16T11:56:23.169Z,1613476583.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.419998 m,
      bearing: 130.369760 deg,
      approachRate: -0.822527 m/s,
      LOS rate: -0.132475 deg/s,
      cmd update: -0.397424 deg/s,
      cmd heading: 148.517231 deg,
      new cmd heading: 148.629943 deg.

2021-02-16T11:56:25.517Z,1613476585.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:26.313Z,1613476586.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:26.706Z,1613476586.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:27.541Z,1613476587.541 [Micromodem](INFO): Nmea in: $SNTTA,0.042248,,,,115627.76*4F

2021-02-16T11:56:27.590Z,1613476587.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.180004 m, bearing: 130.689099 deg, deltaT: 4.443810 s, approachRate: -0.729103 m/s, LOS rate: 0.071861 deg/s, posRepo size: 4
2021-02-16T11:56:27.592Z,1613476587.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.180004 m,
      bearing: 130.689099 deg,
      approachRate: -0.729103 m/s,
      LOS rate: 0.071861 deg/s,
      cmd update: 0.215584 deg/s,
      cmd heading: 146.757504 deg,
      new cmd heading: 146.575945 deg.

2021-02-16T11:56:29.981Z,1613476589.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:30.745Z,1613476590.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:31.150Z,1613476591.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:31.976Z,1613476591.976 [Micromodem](INFO): Nmea in: $SNTTA,0.039861,,,,115632.19*4F

2021-02-16T11:56:32.001Z,1613476592.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.579998 m, bearing: 130.235575 deg, deltaT: 4.468953 s, approachRate: -0.805559 m/s, LOS rate: -0.101483 deg/s, posRepo size: 4
2021-02-16T11:56:32.027Z,1613476592.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.579998 m,
      bearing: 130.235575 deg,
      approachRate: -0.805559 m/s,
      LOS rate: -0.101483 deg/s,
      cmd update: -0.304450 deg/s,
      cmd heading: 147.723516 deg,
      new cmd heading: 147.807047 deg.

2021-02-16T11:56:34.431Z,1613476594.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:35.193Z,1613476595.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:35.593Z,1613476595.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:36.420Z,1613476596.420 [Micromodem](INFO): Nmea in: $SNTTA,0.037509,,,,115636.64*4C

2021-02-16T11:56:36.474Z,1613476596.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 130.041187 deg, deltaT: 4.435268 s, approachRate: -0.784620 m/s, LOS rate: -0.043828 deg/s, posRepo size: 4
2021-02-16T11:56:36.476Z,1613476596.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.099998 m,
      bearing: 130.041187 deg,
      approachRate: -0.784620 m/s,
      LOS rate: -0.043828 deg/s,
      cmd update: -0.131483 deg/s,
      cmd heading: 146.371964 deg,
      new cmd heading: 146.243893 deg.

2021-02-16T11:56:38.878Z,1613476598.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:39.634Z,1613476599.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:40.055Z,1613476600.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:40.875Z,1613476600.875 [Micromodem](INFO): Nmea in: $SNTTA,0.035280,,,,115641.08*42

2021-02-16T11:56:40.900Z,1613476600.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 130.240970 deg, deltaT: 4.439531 s, approachRate: -0.756837 m/s, LOS rate: 0.045001 deg/s, posRepo size: 4
2021-02-16T11:56:40.902Z,1613476600.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 130.240970 deg,
      approachRate: -0.756837 m/s,
      LOS rate: 0.045001 deg/s,
      cmd update: 0.135003 deg/s,
      cmd heading: 145.788763 deg,
      new cmd heading: 145.734691 deg.

2021-02-16T11:56:43.299Z,1613476603.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:44.077Z,1613476604.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:44.489Z,1613476604.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:45.311Z,1613476605.311 [Micromodem](INFO): Nmea in: $SNTTA,0.032870,,,,115645.52*4B

2021-02-16T11:56:45.372Z,1613476605.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 130.411056 deg, deltaT: 4.436250 s, approachRate: -0.825021 m/s, LOS rate: 0.038340 deg/s, posRepo size: 4
2021-02-16T11:56:45.374Z,1613476605.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 130.411056 deg,
      approachRate: -0.825021 m/s,
      LOS rate: 0.038340 deg/s,
      cmd update: 0.115020 deg/s,
      cmd heading: 146.387665 deg,
      new cmd heading: 146.448007 deg.

2021-02-16T11:56:47.754Z,1613476607.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:48.520Z,1613476608.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:48.929Z,1613476608.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:49.749Z,1613476609.749 [Micromodem](INFO): Nmea in: $SNTTA,0.030280,,,,115649.96*48

2021-02-16T11:56:49.797Z,1613476609.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 130.113082 deg, deltaT: 4.453657 s, approachRate: -0.875685 m/s, LOS rate: -0.066905 deg/s, posRepo size: 4
2021-02-16T11:56:49.800Z,1613476609.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.179996 m,
      bearing: 130.113082 deg,
      approachRate: -0.875685 m/s,
      LOS rate: -0.066905 deg/s,
      cmd update: -0.200716 deg/s,
      cmd heading: 146.900383 deg,
      new cmd heading: 146.947922 deg.

2021-02-16T11:56:52.189Z,1613476612.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:52.972Z,1613476612.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:53.382Z,1613476613.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:54.200Z,1613476614.200 [Micromodem](INFO): Nmea in: $SNTTA,0.028223,,,,115654.42*4D

2021-02-16T11:56:54.279Z,1613476614.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 130.121811 deg, deltaT: 4.461493 s, approachRate: -0.739663 m/s, LOS rate: 0.001957 deg/s, posRepo size: 4
2021-02-16T11:56:54.281Z,1613476614.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.879997 m,
      bearing: 130.121811 deg,
      approachRate: -0.739663 m/s,
      LOS rate: 0.001957 deg/s,
      cmd update: 0.005870 deg/s,
      cmd heading: 146.009428 deg,
      new cmd heading: 145.918370 deg.

2021-02-16T11:56:56.631Z,1613476616.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:56:57.414Z,1613476617.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:56:57.839Z,1613476617.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:56:58.660Z,1613476618.660 [Micromodem](INFO): Nmea in: $SNTTA,0.026063,,,,115658.86*41

2021-02-16T11:56:58.701Z,1613476618.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 129.074292 deg, deltaT: 4.444959 s, approachRate: -0.715417 m/s, LOS rate: -0.235664 deg/s, posRepo size: 4
2021-02-16T11:56:58.702Z,1613476618.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2021-02-16T11:56:58.708Z,1613476618.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 129.074292 deg,
      approachRate: -0.715417 m/s,
      LOS rate: -0.235664 deg/s,
      cmd update: -0.706993 deg/s,
      cmd heading: 146.035517 deg,
      new cmd heading: 146.038070 deg.

2021-02-16T11:56:59.037Z,1613476619.037 [PowerOnly](INFO): Powering up loadControl
2021-02-16T11:57:01.080Z,1613476621.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:01.860Z,1613476621.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:02.267Z,1613476622.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:03.087Z,1613476623.087 [Micromodem](INFO): Nmea in: $SNTTA,0.023918,,,,115703.30*43

2021-02-16T11:57:03.112Z,1613476623.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.460003 m, bearing: 129.229119 deg, deltaT: 4.406761 s, approachRate: -0.735233 m/s, LOS rate: 0.035134 deg/s, posRepo size: 4
2021-02-16T11:57:03.113Z,1613476623.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.46 m.
2021-02-16T11:57:03.113Z,1613476623.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.46 m.
2021-02-16T11:57:03.113Z,1613476623.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T11:57:03.115Z,1613476623.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.460003 m,
      bearing: 129.229119 deg,
      approachRate: -0.735233 m/s,
      LOS rate: 0.035134 deg/s,
      cmd update: 0.105402 deg/s,
      cmd heading: 142.903933 deg,
      new cmd heading: 142.609331 deg.

2021-02-16T11:57:05.518Z,1613476625.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:06.296Z,1613476626.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:06.702Z,1613476626.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:07.524Z,1613476627.524 [Micromodem](INFO): Nmea in: $SNTTA,0.039582,,,,115707.74*43

2021-02-16T11:57:07.549Z,1613476627.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.160004 m, bearing: 130.479330 deg, deltaT: 4.439152 s, approachRate: -0.743385 m/s, LOS rate: 0.281633 deg/s, posRepo size: 4
2021-02-16T11:57:07.551Z,1613476627.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 130.479330 deg,
      approachRate: -0.743385 m/s,
      LOS rate: 0.281633 deg/s,
      cmd update: 0.844899 deg/s,
      cmd heading: 143.371824 deg,
      new cmd heading: 143.415484 deg.

2021-02-16T11:57:09.969Z,1613476629.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:10.740Z,1613476630.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:11.147Z,1613476631.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:11.971Z,1613476631.971 [Micromodem](INFO): Nmea in: $SNTTA,0.019554,,,,115712.18*44

2021-02-16T11:57:11.997Z,1613476631.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 129.719048 deg, deltaT: 4.445352 s, approachRate: -0.742349 m/s, LOS rate: -0.171029 deg/s, posRepo size: 4
2021-02-16T11:57:11.998Z,1613476631.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.860003 m,
      bearing: 129.719048 deg,
      approachRate: -0.742349 m/s,
      LOS rate: -0.171029 deg/s,
      cmd update: -0.513086 deg/s,
      cmd heading: 147.127570 deg,
      new cmd heading: 147.479736 deg.

2021-02-16T11:57:14.411Z,1613476634.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:15.208Z,1613476635.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:15.590Z,1613476635.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:16.428Z,1613476636.428 [Micromodem](INFO): Nmea in: $SNTTA,0.017333,,,,115716.65*43

2021-02-16T11:57:16.473Z,1613476636.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 126.061168 deg, deltaT: 4.442302 s, approachRate: -0.715846 m/s, LOS rate: -0.823420 deg/s, posRepo size: 4
2021-02-16T11:57:16.474Z,1613476636.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 126.061168 deg,
      approachRate: -0.715846 m/s,
      LOS rate: -0.823420 deg/s,
      cmd update: -2.470260 deg/s,
      cmd heading: 144.848201 deg,
      new cmd heading: 144.617193 deg.

2021-02-16T11:57:18.883Z,1613476638.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:19.628Z,1613476639.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:20.041Z,1613476640.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:20.872Z,1613476640.872 [Micromodem](INFO): Nmea in: $SNTTA,0.015017,,,,115721.07*44

2021-02-16T11:57:20.898Z,1613476640.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 128.418881 deg, deltaT: 4.458725 s, approachRate: -0.753578 m/s, LOS rate: 0.528786 deg/s, posRepo size: 4
2021-02-16T11:57:20.900Z,1613476640.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.320000 m,
      bearing: 128.418881 deg,
      approachRate: -0.753578 m/s,
      LOS rate: 0.528786 deg/s,
      cmd update: 1.586359 deg/s,
      cmd heading: 133.837388 deg,
      new cmd heading: 132.804888 deg.

2021-02-16T11:57:23.280Z,1613476643.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:24.073Z,1613476644.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:24.566Z,1613476644.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:25.324Z,1613476645.324 [Micromodem](INFO): Nmea in: $SNTTA,0.012714,,,,115725.51*40

2021-02-16T11:57:25.402Z,1613476645.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 130.993111 deg, deltaT: 4.431065 s, approachRate: -0.785364 m/s, LOS rate: 0.580951 deg/s, posRepo size: 4
2021-02-16T11:57:25.408Z,1613476645.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 130.993111 deg,
      approachRate: -0.785364 m/s,
      LOS rate: 0.580951 deg/s,
      cmd update: 1.742852 deg/s,
      cmd heading: 140.868558 deg,
      new cmd heading: 141.645287 deg.

2021-02-16T11:57:27.740Z,1613476647.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:28.521Z,1613476648.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:28.930Z,1613476648.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:29.757Z,1613476649.757 [Micromodem](INFO): Nmea in: $SNTTA,0.010526,,0.020401,,115729.96*5F

2021-02-16T11:57:29.778Z,1613476649.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 124.806134 deg, deltaT: 4.488165 s, approachRate: -0.762004 m/s, LOS rate: -1.378509 deg/s, posRepo size: 4
2021-02-16T11:57:29.780Z,1613476649.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 124.806134 deg,
      approachRate: -0.762004 m/s,
      LOS rate: -1.378509 deg/s,
      cmd update: -4.135528 deg/s,
      cmd heading: 148.691069 deg,
      new cmd heading: 149.349834 deg.

2021-02-16T11:57:32.211Z,1613476652.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:32.966Z,1613476652.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:33.376Z,1613476653.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:34.208Z,1613476654.208 [Micromodem](INFO): Nmea in: $SNTTA,0.008260,,,,115734.41*4C

2021-02-16T11:57:34.256Z,1613476654.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 122.598672 deg, deltaT: 4.388069 s, approachRate: -0.765713 m/s, LOS rate: -0.503060 deg/s, posRepo size: 4
2021-02-16T11:57:34.258Z,1613476654.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 122.598672 deg,
      approachRate: -0.765713 m/s,
      LOS rate: -0.503060 deg/s,
      cmd update: -1.509180 deg/s,
      cmd heading: 130.544035 deg,
      new cmd heading: 128.610957 deg.

2021-02-16T11:57:36.636Z,1613476656.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:37.410Z,1613476657.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:37.827Z,1613476657.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:38.638Z,1613476658.638 [Micromodem](INFO): Nmea in: $SNTTA,0.006365,,,,115738.85*42

2021-02-16T11:57:38.695Z,1613476658.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.299998 m, bearing: 130.873255 deg, deltaT: 4.473388 s, approachRate: -0.616982 m/s, LOS rate: 1.849735 deg/s, posRepo size: 4
2021-02-16T11:57:38.697Z,1613476658.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 130.873255 deg,
      approachRate: -0.616982 m/s,
      LOS rate: 1.849735 deg/s,
      cmd update: 5.549206 deg/s,
      cmd heading: 123.798850 deg,
      new cmd heading: 123.139311 deg.

2021-02-16T11:57:41.095Z,1613476661.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:41.865Z,1613476661.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:42.257Z,1613476662.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:43.090Z,1613476663.090 [Micromodem](INFO): Nmea in: $SNTTA,0.004425,,,,115743.33*42

2021-02-16T11:57:43.151Z,1613476663.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 131.625805 deg, deltaT: 4.418932 s, approachRate: -0.651741 m/s, LOS rate: 0.170301 deg/s, posRepo size: 4
2021-02-16T11:57:43.153Z,1613476663.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 131.625805 deg,
      approachRate: -0.651741 m/s,
      LOS rate: 0.170301 deg/s,
      cmd update: 0.510904 deg/s,
      cmd heading: 148.342187 deg,
      new cmd heading: 150.907751 deg.

2021-02-16T11:57:45.533Z,1613476665.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:46.310Z,1613476666.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:46.698Z,1613476666.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:47.532Z,1613476667.532 [Micromodem](INFO): Nmea in: $SNTTA,0.003311,,,,115747.75*43

2021-02-16T11:57:47.583Z,1613476667.583 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T11:57:47.583Z,1613476667.583 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:57:47.583Z,1613476667.583 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T11:57:47.583Z,1613476667.583 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:57:47.584Z,1613476667.584 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T11:57:47.584Z,1613476667.584 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.500001 m 
2021-02-16T11:57:47.584Z,1613476667.584 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T11:57:47.584Z,1613476667.584 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T11:57:47.584Z,1613476667.584 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T11:57:47.586Z,1613476667.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.500001 m, bearing: 140.267470 deg, deltaT: 4.459862 s, approachRate: -0.430506 m/s, LOS rate: 1.937653 deg/s, posRepo size: 4
2021-02-16T11:57:47.592Z,1613476667.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.500001 m,
      bearing: 140.267470 deg,
      approachRate: -0.430506 m/s,
      LOS rate: 1.937653 deg/s,
      cmd update: 5.812959 deg/s,
      cmd heading: 150.612622 deg,
      new cmd heading: 150.848579 deg.

2021-02-16T11:57:47.951Z,1613476667.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T115747: (41.552319, -70.708603)
2021-02-16T11:57:47.951Z,1613476667.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T11:57:47.951Z,1613476667.951 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T11:57:47.952Z,1613476667.952 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T11:57:49.954Z,1613476669.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:50.736Z,1613476670.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:51.142Z,1613476671.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:51.964Z,1613476671.964 [Micromodem](INFO): Nmea in: $SNTTA,0.002823,,,,115752.18*47

2021-02-16T11:57:52.025Z,1613476672.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 153.863644 deg, deltaT: 4.458210 s, approachRate: -0.080750 m/s, LOS rate: 3.049694 deg/s, posRepo size: 4
2021-02-16T11:57:52.026Z,1613476672.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 153.863644 deg,
      approachRate: -0.080750 m/s,
      LOS rate: 3.049694 deg/s,
      cmd update: 9.149081 deg/s,
      cmd heading: 176.620486 deg,
      new cmd heading: 179.095888 deg.

2021-02-16T11:57:54.408Z,1613476674.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:55.182Z,1613476675.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:57:55.598Z,1613476675.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:57:56.408Z,1613476676.408 [Micromodem](INFO): Nmea in: $SNTTA,0.004060,,,,115756.62*47

2021-02-16T11:57:56.514Z,1613476676.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 175.258761 deg, deltaT: 4.437687 s, approachRate: 0.432657 m/s, LOS rate: 4.821232 deg/s, posRepo size: 4
2021-02-16T11:57:56.520Z,1613476676.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 175.258761 deg,
      approachRate: 0.432657 m/s,
      LOS rate: 4.821232 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 217.221574 deg,
      new cmd heading: 221.593572 deg.

2021-02-16T11:57:58.885Z,1613476678.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:57:59.641Z,1613476679.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:00.030Z,1613476680.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:00.868Z,1613476680.868 [Micromodem](INFO): Nmea in: $SNTTA,0.005353,,,,115801.08*44

2021-02-16T11:58:00.912Z,1613476680.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 138.555442 deg, deltaT: 4.461627 s, approachRate: 0.484128 m/s, LOS rate: -8.226443 deg/s, posRepo size: 4
2021-02-16T11:58:00.914Z,1613476680.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 138.555442 deg,
      approachRate: 0.484128 m/s,
      LOS rate: -8.226443 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.711503 deg,
      new cmd heading: 275.733131 deg.

2021-02-16T11:58:03.300Z,1613476683.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:04.086Z,1613476684.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:04.484Z,1613476684.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:05.311Z,1613476685.311 [Micromodem](INFO): Nmea in: $SNTTA,0.006689,,,,115805.53*4F

2021-02-16T11:58:05.384Z,1613476685.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.080001 m, bearing: 229.289095 deg, deltaT: 4.427471 s, approachRate: 0.420105 m/s, LOS rate: 20.493337 deg/s, posRepo size: 4
2021-02-16T11:58:05.385Z,1613476685.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.493337 deg/s. Setting heading cmd to target bearing of 229.289095deg and heading rate command to 0 deg/s.
2021-02-16T11:58:07.749Z,1613476687.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:08.513Z,1613476688.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:08.925Z,1613476688.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:09.740Z,1613476689.740 [Micromodem](INFO): Nmea in: $SNTTA,0.007984,,,,115809.96*49

2021-02-16T11:58:09.773Z,1613476689.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.380001 m, bearing: 205.984503 deg, deltaT: 4.472840 s, approachRate: 0.737786 m/s, LOS rate: -5.210245 deg/s, posRepo size: 4
2021-02-16T11:58:09.774Z,1613476689.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.38 m. Rolling out.
2021-02-16T11:58:09.774Z,1613476689.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T11:58:12.194Z,1613476692.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:12.966Z,1613476692.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:13.379Z,1613476693.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:14.192Z,1613476694.192 [Micromodem](INFO): Nmea in: $SNTTA,0.009814,,,,115814.41*49

2021-02-16T11:58:14.247Z,1613476694.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.820001 m, bearing: 255.053798 deg, deltaT: 4.414078 s, approachRate: 0.326229 m/s, LOS rate: 11.116544 deg/s, posRepo size: 4
2021-02-16T11:58:16.635Z,1613476696.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:17.404Z,1613476697.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:17.842Z,1613476697.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:18.640Z,1613476698.640 [Micromodem](INFO): Nmea in: $SNTTA,0.010190,,,,115818.85*40

2021-02-16T11:58:18.720Z,1613476698.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 250.891454 deg, deltaT: 4.443758 s, approachRate: 0.337552 m/s, LOS rate: -0.936672 deg/s, posRepo size: 4
2021-02-16T11:58:21.077Z,1613476701.077 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:21.862Z,1613476701.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:22.260Z,1613476702.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:23.094Z,1613476703.094 [Micromodem](INFO): Nmea in: $SNTTA,0.011733,,,,115823.31*49

2021-02-16T11:58:23.120Z,1613476703.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.639997 m, bearing: 225.753912 deg, deltaT: 4.442244 s, approachRate: 0.297147 m/s, LOS rate: -5.658749 deg/s, posRepo size: 4
2021-02-16T11:58:25.526Z,1613476705.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:26.296Z,1613476706.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:26.710Z,1613476706.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:27.524Z,1613476707.524 [Micromodem](INFO): Nmea in: $SNTTA,0.013302,,,0.014902,115827.74*58

2021-02-16T11:58:27.564Z,1613476707.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 268.773872 deg, deltaT: 4.450693 s, approachRate: 0.498799 m/s, LOS rate: 9.665902 deg/s, posRepo size: 4
2021-02-16T11:58:29.971Z,1613476709.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:30.738Z,1613476710.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:31.159Z,1613476711.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:31.960Z,1613476711.960 [Micromodem](INFO): Nmea in: $SNTTA,0.015458,,,,115832.18*48

2021-02-16T11:58:32.777Z,1613476712.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:33.572Z,1613476713.572 [PowerOnly](INFO): Powering down loadControl
2021-02-16T11:58:34.392Z,1613476714.392 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T11:58:35.621Z,1613476715.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:36.392Z,1613476716.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:36.802Z,1613476716.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:37.632Z,1613476717.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115837.83*5C

2021-02-16T11:58:37.684Z,1613476717.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 266.975866 deg, deltaT: 10.112051 s, approachRate: 0.640819 m/s, LOS rate: -0.177808 deg/s, posRepo size: 4
2021-02-16T11:58:40.073Z,1613476720.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:40.860Z,1613476720.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:41.255Z,1613476721.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:42.080Z,1613476722.080 [Micromodem](INFO): Nmea in: $SNTTA,0.047640,,,,115842.30*49

2021-02-16T11:58:42.127Z,1613476722.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.040001 m, bearing: 270.940791 deg, deltaT: 4.429823 s, approachRate: 0.609505 m/s, LOS rate: 0.895053 deg/s, posRepo size: 4
2021-02-16T11:58:44.511Z,1613476724.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:45.286Z,1613476725.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:45.703Z,1613476725.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:46.512Z,1613476726.512 [Micromodem](INFO): Nmea in: $SNTTA,0.021343,,,,115846.73*4C

2021-02-16T11:58:46.551Z,1613476726.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 269.397742 deg, deltaT: 4.439317 s, approachRate: 0.635232 m/s, LOS rate: -0.347587 deg/s, posRepo size: 4
2021-02-16T11:58:48.958Z,1613476728.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:49.724Z,1613476729.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:50.130Z,1613476730.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:50.952Z,1613476730.952 [Micromodem](INFO): Nmea in: $SNTTA,0.023220,,,,115851.16*4F

2021-02-16T11:58:50.977Z,1613476730.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 277.091294 deg, deltaT: 4.426030 s, approachRate: 0.623585 m/s, LOS rate: 1.738251 deg/s, posRepo size: 4
2021-02-16T11:58:53.423Z,1613476733.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:54.168Z,1613476734.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:54.574Z,1613476734.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:55.400Z,1613476735.400 [Micromodem](INFO): Nmea in: $SNTTA,0.025121,,,,115855.61*4F

2021-02-16T11:58:55.425Z,1613476735.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.439999 m, bearing: 271.441198 deg, deltaT: 4.469182 s, approachRate: 0.630987 m/s, LOS rate: -1.264235 deg/s, posRepo size: 4
2021-02-16T11:58:57.863Z,1613476737.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:58:58.618Z,1613476738.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:58:59.018Z,1613476739.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:58:59.864Z,1613476739.864 [Micromodem](INFO): Nmea in: $SNTTA,0.028680,,,,115900.06*4E

2021-02-16T11:58:59.912Z,1613476739.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 273.074897 deg, deltaT: 4.421414 s, approachRate: 0.651375 m/s, LOS rate: 0.369497 deg/s, posRepo size: 4
2021-02-16T11:59:02.295Z,1613476742.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:03.056Z,1613476743.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:03.462Z,1613476743.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:04.288Z,1613476744.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115904.50*53

2021-02-16T11:59:04.353Z,1613476744.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 268.981128 deg, deltaT: 4.447299 s, approachRate: 0.661076 m/s, LOS rate: -0.920507 deg/s, posRepo size: 4
2021-02-16T11:59:06.702Z,1613476746.702 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T11:59:06.716Z,1613476746.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:07.506Z,1613476747.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:07.906Z,1613476747.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:08.761Z,1613476748.761 [Micromodem](INFO): Nmea in: $SNTTA,0.030664,,0.059926,,115908.95*50

2021-02-16T11:59:08.854Z,1613476748.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 268.824552 deg, deltaT: 4.475022 s, approachRate: 0.656980 m/s, LOS rate: -0.034989 deg/s, posRepo size: 4
2021-02-16T11:59:11.166Z,1613476751.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:11.952Z,1613476751.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:12.376Z,1613476752.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:13.184Z,1613476753.184 [Micromodem](INFO): Nmea in: $SNTTA,0.032614,,,,115913.39*46

2021-02-16T11:59:13.214Z,1613476753.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 269.611937 deg, deltaT: 4.425098 s, approachRate: 0.650833 m/s, LOS rate: 0.177936 deg/s, posRepo size: 4
2021-02-16T11:59:15.607Z,1613476755.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:16.388Z,1613476756.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:16.801Z,1613476756.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:17.623Z,1613476757.623 [Micromodem](INFO): Nmea in: $SNTTA,0.034845,,,,115917.83*4F

2021-02-16T11:59:17.647Z,1613476757.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.079994 m, bearing: 273.928042 deg, deltaT: 4.451006 s, approachRate: 0.674004 m/s, LOS rate: 0.969692 deg/s, posRepo size: 4
2021-02-16T11:59:20.060Z,1613476760.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:20.858Z,1613476760.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:21.247Z,1613476761.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:22.072Z,1613476762.072 [Micromodem](INFO): Nmea in: $SNTTA,0.036562,,,,115922.30*4B

2021-02-16T11:59:22.097Z,1613476762.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.019997 m, bearing: 268.230326 deg, deltaT: 4.446097 s, approachRate: 0.661255 m/s, LOS rate: -1.281510 deg/s, posRepo size: 4
2021-02-16T11:59:24.507Z,1613476764.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:25.276Z,1613476765.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:25.687Z,1613476765.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:26.504Z,1613476766.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,115926.72*53

2021-02-16T11:59:26.534Z,1613476766.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.959999 m, bearing: 272.693008 deg, deltaT: 4.422434 s, approachRate: 0.664793 m/s, LOS rate: 1.009101 deg/s, posRepo size: 4
2021-02-16T11:59:28.964Z,1613476768.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:29.725Z,1613476769.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:30.131Z,1613476770.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:30.960Z,1613476770.960 [Micromodem](INFO): Nmea in: $SNTTA,0.040422,,,,115931.17*48

2021-02-16T11:59:30.985Z,1613476770.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.780006 m, bearing: 217.497061 deg, deltaT: 4.475255 s, approachRate: 0.630133 m/s, LOS rate: -12.333587 deg/s, posRepo size: 4
2021-02-16T11:59:33.410Z,1613476773.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:34.172Z,1613476774.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:34.569Z,1613476774.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:35.396Z,1613476775.396 [Micromodem](INFO): Nmea in: $SNTTA,0.042479,,,,115935.61*41

2021-02-16T11:59:35.446Z,1613476775.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 264.327447 deg, deltaT: 4.426497 s, approachRate: 0.691291 m/s, LOS rate: 10.579559 deg/s, posRepo size: 4
2021-02-16T11:59:37.870Z,1613476777.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:38.614Z,1613476778.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:39.014Z,1613476779.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:39.870Z,1613476779.870 [Micromodem](INFO): Nmea in: $SNTTA,0.044395,,,,115940.05*42

2021-02-16T11:59:39.903Z,1613476779.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 261.325824 deg, deltaT: 4.453606 s, approachRate: 0.646668 m/s, LOS rate: -0.673976 deg/s, posRepo size: 4
2021-02-16T11:59:42.277Z,1613476782.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:43.053Z,1613476783.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:43.466Z,1613476783.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:44.304Z,1613476784.304 [Micromodem](INFO): Nmea in: $SNTTA,0.046341,,,,115944.50*4D

2021-02-16T11:59:44.326Z,1613476784.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 258.437693 deg, deltaT: 4.453213 s, approachRate: 0.673669 m/s, LOS rate: -0.648550 deg/s, posRepo size: 4
2021-02-16T11:59:46.721Z,1613476786.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:47.515Z,1613476787.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:47.907Z,1613476787.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:48.736Z,1613476788.736 [Micromodem](INFO): Nmea in: $SNTTA,0.048250,,,,115948.96*44

2021-02-16T11:59:48.802Z,1613476788.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.540009 m, bearing: 261.475788 deg, deltaT: 4.439262 s, approachRate: 0.635242 m/s, LOS rate: 0.684369 deg/s, posRepo size: 4
2021-02-16T11:59:51.179Z,1613476791.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:51.940Z,1613476791.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:52.374Z,1613476792.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:53.181Z,1613476793.181 [Micromodem](INFO): Nmea in: $SNTTA,0.050047,,,,115953.38*47

2021-02-16T11:59:53.300Z,1613476793.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.239998 m, bearing: 257.510453 deg, deltaT: 4.420849 s, approachRate: 0.610740 m/s, LOS rate: -0.896962 deg/s, posRepo size: 4
2021-02-16T11:59:55.610Z,1613476795.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T11:59:56.390Z,1613476796.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T11:59:56.797Z,1613476796.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T11:59:57.620Z,1613476797.620 [Micromodem](INFO): Nmea in: $SNTTA,0.051961,,,,115957.83*4F

2021-02-16T11:59:57.670Z,1613476797.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.119995 m, bearing: 258.049547 deg, deltaT: 4.460866 s, approachRate: 0.645614 m/s, LOS rate: 0.120849 deg/s, posRepo size: 4
2021-02-16T12:00:00.074Z,1613476800.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:00.855Z,1613476800.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:01.245Z,1613476801.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:02.080Z,1613476802.080 [Micromodem](INFO): Nmea in: $SNTTA,0.053883,,,,120002.30*47

2021-02-16T12:00:02.122Z,1613476802.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.000008 m, bearing: 249.776576 deg, deltaT: 4.459094 s, approachRate: 0.645874 m/s, LOS rate: -1.855303 deg/s, posRepo size: 4
2021-02-16T12:00:04.493Z,1613476804.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:05.276Z,1613476805.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:05.682Z,1613476805.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:06.512Z,1613476806.512 [Micromodem](INFO): Nmea in: $SNTTA,0.055796,,,,120006.72*48

2021-02-16T12:00:06.536Z,1613476806.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 253.593613 deg, deltaT: 4.411054 s, approachRate: 0.639303 m/s, LOS rate: 0.865335 deg/s, posRepo size: 4
2021-02-16T12:00:08.958Z,1613476808.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:09.720Z,1613476809.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:10.152Z,1613476810.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:10.938Z,1613476810.938 [Micromodem](INFO): Nmea in: $SNTTA,0.057807,,,,120011.16*49

2021-02-16T12:00:11.775Z,1613476811.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:13.368Z,1613476813.368 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:00:14.612Z,1613476814.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:15.378Z,1613476815.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:15.781Z,1613476815.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:16.604Z,1613476816.604 [Micromodem](INFO): Nmea in: $SNTTA,0.060236,,,,120016.82*4F

2021-02-16T12:00:16.666Z,1613476816.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 263.543559 deg, deltaT: 10.143565 s, approachRate: 0.656574 m/s, LOS rate: 0.980912 deg/s, posRepo size: 4
2021-02-16T12:00:19.054Z,1613476819.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:19.465Z,1613476819.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:19.874Z,1613476819.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:20.677Z,1613476820.677 [Micromodem](INFO): Nmea in: $SNTTA,0.062029,,,,120020.91*46

2021-02-16T12:00:21.912Z,1613476821.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:23.096Z,1613476823.096 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:00:24.733Z,1613476824.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:25.521Z,1613476825.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:25.927Z,1613476825.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:26.764Z,1613476826.764 [Micromodem](INFO): Nmea in: $SNTTA,0.064667,,,,120026.96*4D

2021-02-16T12:00:26.786Z,1613476826.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 251.014124 deg, deltaT: 10.145337 s, approachRate: 0.686029 m/s, LOS rate: -1.234995 deg/s, posRepo size: 4
2021-02-16T12:00:29.217Z,1613476829.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:29.965Z,1613476829.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:30.376Z,1613476830.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:31.200Z,1613476831.200 [Micromodem](INFO): Nmea in: $SNTTA,0.066714,,,,120031.41*46

2021-02-16T12:00:31.260Z,1613476831.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 250.412985 deg, deltaT: 4.423965 s, approachRate: 0.623873 m/s, LOS rate: -0.135882 deg/s, posRepo size: 4
2021-02-16T12:00:33.631Z,1613476833.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:34.405Z,1613476834.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:34.848Z,1613476834.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:35.621Z,1613476835.621 [Micromodem](INFO): Nmea in: $SNTTA,0.068751,,,,120035.85*45

2021-02-16T12:00:36.455Z,1613476836.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:38.056Z,1613476838.056 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:00:39.272Z,1613476839.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:40.060Z,1613476840.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:40.483Z,1613476840.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:41.292Z,1613476841.292 [Micromodem](INFO): Nmea in: $SNTTA,0.071248,,,,120041.50*4B

2021-02-16T12:00:41.368Z,1613476841.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 250.781050 deg, deltaT: 10.096144 s, approachRate: 0.701258 m/s, LOS rate: 0.036456 deg/s, posRepo size: 4
2021-02-16T12:00:43.781Z,1613476843.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:44.510Z,1613476844.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:44.910Z,1613476844.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:45.736Z,1613476845.736 [Micromodem](INFO): Nmea in: $SNTTA,0.073113,,,,120045.95*49

2021-02-16T12:00:45.758Z,1613476845.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 222.902144 deg, deltaT: 4.481388 s, approachRate: 0.548937 m/s, LOS rate: -6.221043 deg/s, posRepo size: 4
2021-02-16T12:00:48.166Z,1613476848.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:48.948Z,1613476848.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:48.994Z,1613476848.994 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:00:49.387Z,1613476849.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:50.170Z,1613476850.170 [Micromodem](INFO): Nmea in: $SNTTA,0.074988,,,,120050.39*46

2021-02-16T12:00:51.001Z,1613476851.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:52.583Z,1613476852.583 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:00:53.880Z,1613476853.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:54.604Z,1613476854.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:00:55.022Z,1613476855.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:00:55.855Z,1613476855.855 [Micromodem](INFO): Nmea in: $SNTTA,0.077601,,,,120056.05*42

2021-02-16T12:00:56.655Z,1613476856.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:00:58.257Z,1613476858.257 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:00:59.688Z,1613476859.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:00.264Z,1613476860.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:00.679Z,1613476860.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:01.496Z,1613476861.496 [Micromodem](INFO): Nmea in: $SNTTA,0.080118,,0.088499,,120101.71*5F

2021-02-16T12:01:01.521Z,1613476861.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 247.732437 deg, deltaT: 15.693749 s, approachRate: 0.672880 m/s, LOS rate: 1.582177 deg/s, posRepo size: 4
2021-02-16T12:01:03.909Z,1613476863.909 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T12:01:03.944Z,1613476863.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:04.710Z,1613476864.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:05.114Z,1613476865.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:05.940Z,1613476865.940 [Micromodem](INFO): Nmea in: $SNTTA,0.082209,,,,120106.15*41

2021-02-16T12:01:05.994Z,1613476865.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 247.212441 deg, deltaT: 4.471275 s, approachRate: 0.711207 m/s, LOS rate: -0.116297 deg/s, posRepo size: 4
2021-02-16T12:01:08.394Z,1613476868.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:09.157Z,1613476869.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:09.576Z,1613476869.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:09.968Z,1613476869.968 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:01:10.384Z,1613476870.384 [Micromodem](INFO): Nmea in: $SNTTA,0.084027,,,,120110.60*4C

2021-02-16T12:01:10.423Z,1613476870.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.239998 m, bearing: 248.547196 deg, deltaT: 4.439839 s, approachRate: 0.621643 m/s, LOS rate: 0.300632 deg/s, posRepo size: 4
2021-02-16T12:01:12.838Z,1613476872.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:13.596Z,1613476873.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:14.007Z,1613476874.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:14.025Z,1613476874.025 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:01:14.860Z,1613476874.860 [Micromodem](INFO): Nmea in: $SNTTA,0.085945,,,,120115.04*47

2021-02-16T12:01:14.898Z,1613476874.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 240.516451 deg, deltaT: 4.500638 s, approachRate: 0.839882 m/s, LOS rate: -1.784357 deg/s, posRepo size: 4
2021-02-16T12:01:17.258Z,1613476877.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:18.041Z,1613476878.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:18.446Z,1613476878.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:18.887Z,1613476878.887 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:01:19.277Z,1613476879.277 [Micromodem](INFO): Nmea in: $SNTTA,0.087917,,,,120119.48*46

2021-02-16T12:01:20.131Z,1613476880.131 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:21.680Z,1613476881.680 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:01:22.918Z,1613476882.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:23.368Z,1613476883.368 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T12:01:23.369Z,1613476883.369 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T12:01:23.369Z,1613476883.369 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T12:01:23.369Z,1613476883.369 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:01:23.369Z,1613476883.369 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T12:01:23.716Z,1613476883.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:24.111Z,1613476884.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:24.176Z,1613476884.176 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A
2021-02-16T12:01:24.176Z,1613476884.176 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 4FD261367F6E7BF6D7E9E8775AC033DB80
2021-02-16T12:01:24.176Z,1613476884.176 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T12:01:24.538Z,1613476884.538 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T12:01:24.940Z,1613476884.940 [Micromodem](INFO): Nmea in: $CADRQ,120125,1,10,0,64,1*73

2021-02-16T12:01:24.941Z,1613476884.941 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A*40

2021-02-16T12:01:25.068Z,1613476885.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 239.487742 deg, deltaT: 10.099979 s, approachRate: 0.677229 m/s, LOS rate: -0.101853 deg/s, posRepo size: 4
2021-02-16T12:01:25.358Z,1613476885.358 [Micromodem](INFO): Nmea in: $SNTTA,0.090505,,,,120125.16*4B

2021-02-16T12:01:25.384Z,1613476885.384 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.090505,,,,120125.16*4B

2021-02-16T12:01:26.540Z,1613476886.540 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T12:01:26.944Z,1613476886.944 [Micromodem](INFO): Nmea in: $CADRQ,120126,1,10,0,64,2*73

2021-02-16T12:01:26.945Z,1613476886.945 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4FD261367F6E7BF6D7E9E8775AC033DB80*33

2021-02-16T12:01:27.374Z,1613476887.374 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T12:01:27.420Z,1613476887.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:27.749Z,1613476887.749 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T12:01:28.145Z,1613476888.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:30.175Z,1613476890.175 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T12:01:30.175Z,1613476890.175 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T12:01:30.195Z,1613476890.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:30.569Z,1613476890.569 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,120128.369779,3,0,200,4000,14500,1,1,10,1,2,2,3,81*43

2021-02-16T12:01:30.569Z,1613476890.569 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,120128.369779,3,0,200,4000,14500,1,1,10,1,2,2,3,81*43

2021-02-16T12:01:33.068Z,1613476893.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:35.920Z,1613476895.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:38.684Z,1613476898.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:39.477Z,1613476899.477 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:39.869Z,1613476899.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:40.683Z,1613476900.683 [Micromodem](INFO): Nmea in: $SNTTA,0.097368,,,,120140.92*4E

2021-02-16T12:01:41.509Z,1613476901.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:43.090Z,1613476903.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:01:44.378Z,1613476904.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:45.112Z,1613476905.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:45.545Z,1613476905.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:46.359Z,1613476906.359 [Micromodem](INFO): Nmea in: $SNTTA,0.099865,,,,120146.55*4B

2021-02-16T12:01:47.163Z,1613476907.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:48.753Z,1613476908.753 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:01:49.232Z,1613476909.232 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:01:50.011Z,1613476910.011 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:50.769Z,1613476910.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:51.174Z,1613476911.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:51.987Z,1613476911.987 [Micromodem](INFO): Nmea in: $SNTTA,0.102488,,,,120152.21*41

2021-02-16T12:01:52.860Z,1613476912.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:54.422Z,1613476914.422 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:01:55.708Z,1613476915.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:01:56.441Z,1613476916.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:01:56.875Z,1613476916.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:01:57.655Z,1613476917.655 [Micromodem](INFO): Nmea in: $SNTTA,0.105002,,,,120157.88*46

2021-02-16T12:01:58.488Z,1613476918.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:00.058Z,1613476920.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:02:01.300Z,1613476921.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:02.081Z,1613476922.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:02.506Z,1613476922.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:03.334Z,1613476923.334 [Micromodem](INFO): Nmea in: $SNTTA,0.107659,,,,120203.52*49

2021-02-16T12:02:03.398Z,1613476923.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 249.633934 deg, deltaT: 38.323445 s, approachRate: 0.645036 m/s, LOS rate: 0.264752 deg/s, posRepo size: 4
2021-02-16T12:02:03.399Z,1613476923.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 161.58 m. Resuming terminal guidance.
2021-02-16T12:02:03.399Z,1613476923.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:02:05.738Z,1613476925.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:06.530Z,1613476926.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:06.947Z,1613476926.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:07.763Z,1613476927.763 [Micromodem](INFO): Nmea in: $SNTTA,0.109588,,,,120207.97*45

2021-02-16T12:02:07.793Z,1613476927.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 251.176081 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:02:07.795Z,1613476927.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 251.176081deg and heading rate command to 0 deg/s.
2021-02-16T12:02:10.206Z,1613476930.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:10.976Z,1613476930.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:11.384Z,1613476931.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:12.205Z,1613476932.205 [Micromodem](INFO): Nmea in: $SNTTA,0.111606,,,,120212.42*45

2021-02-16T12:02:13.025Z,1613476933.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:14.614Z,1613476934.614 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:02:15.879Z,1613476935.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:16.630Z,1613476936.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:17.035Z,1613476937.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:17.434Z,1613476937.434 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,12A,0063,E4
7,186,80,80,9A,FF
2021-02-16T12:02:17.860Z,1613476937.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120218.07*51

2021-02-16T12:02:18.676Z,1613476938.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:21.605Z,1613476941.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:24.350Z,1613476944.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:25.110Z,1613476945.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:25.531Z,1613476945.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:25.925Z,1613476945.925 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0DB,000,,E4
7,186,80,80,9A,FF
2021-02-16T12:02:26.346Z,1613476946.346 [Micromodem](INFO): Nmea in: $SNTTA,0.117412,,,,120226.55*45

2021-02-16T12:02:27.141Z,1613476947.141 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:02:27.156Z,1613476947.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:29.569Z,1613476949.569 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T12:02:30.004Z,1613476950.004 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A
2021-02-16T12:02:30.005Z,1613476950.005 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 4FD261367F6E7BF6D7E9E8775AC033DB80
2021-02-16T12:02:30.005Z,1613476950.005 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T12:02:30.136Z,1613476950.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:30.373Z,1613476950.373 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T12:02:30.776Z,1613476950.776 [Micromodem](INFO): Nmea in: $CADRQ,120231,1,10,0,64,1*75

2021-02-16T12:02:30.777Z,1613476950.777 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A*40

2021-02-16T12:02:31.168Z,1613476951.168 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T12:02:31.577Z,1613476951.577 [Micromodem](INFO): Nmea in: $CADRQ,120232,1,10,0,64,2*75

2021-02-16T12:02:31.578Z,1613476951.578 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4FD261367F6E7BF6D7E9E8775AC033DB80*33

2021-02-16T12:02:31.993Z,1613476951.993 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T12:02:32.393Z,1613476952.393 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T12:02:32.864Z,1613476952.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:33.597Z,1613476953.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:34.807Z,1613476954.807 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T12:02:34.808Z,1613476954.808 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T12:02:35.210Z,1613476955.210 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,120233.007502,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4F

2021-02-16T12:02:35.211Z,1613476955.211 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,120233.007502,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4F

2021-02-16T12:02:35.689Z,1613476955.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:38.474Z,1613476958.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:41.283Z,1613476961.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:44.160Z,1613476964.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:44.915Z,1613476964.915 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:45.324Z,1613476965.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:46.126Z,1613476966.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120246.36*58

2021-02-16T12:02:46.556Z,1613476966.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.039993 m, bearing: 236.300831 deg, deltaT: 38.764730 s, approachRate: 0.606737 m/s, LOS rate: -0.383732 deg/s, posRepo size: 2
2021-02-16T12:02:46.557Z,1613476966.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.039993 m,
      bearing: 236.300831 deg,
      approachRate: 0.606737 m/s,
      LOS rate: -0.383732 deg/s,
      cmd update: -1.151195 deg/s,
      cmd heading: 251.176081 deg,
      new cmd heading: 251.176081 deg.

2021-02-16T12:02:49.008Z,1613476969.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:49.752Z,1613476969.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:50.180Z,1613476970.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:50.972Z,1613476970.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120251.20*59

2021-02-16T12:02:51.408Z,1613476971.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.799988 m, bearing: 229.514082 deg, deltaT: 4.825330 s, approachRate: 0.571980 m/s, LOS rate: -1.406484 deg/s, posRepo size: 3
2021-02-16T12:02:51.410Z,1613476971.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.799988 m,
      bearing: 229.514082 deg,
      approachRate: 0.571980 m/s,
      LOS rate: -1.406484 deg/s,
      cmd update: -4.219452 deg/s,
      cmd heading: 245.597758 deg,
      new cmd heading: 245.123537 deg.

2021-02-16T12:02:53.932Z,1613476973.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:54.600Z,1613476974.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:55.006Z,1613476975.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:02:55.850Z,1613476975.850 [Micromodem](INFO): Nmea in: $SNTTA,0.129126,,,,120256.08*45

2021-02-16T12:02:56.261Z,1613476976.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.919998 m, bearing: 234.970474 deg, deltaT: 4.955702 s, approachRate: 0.629580 m/s, LOS rate: 1.101033 deg/s, posRepo size: 4
2021-02-16T12:02:56.263Z,1613476976.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.919998 m,
      bearing: 234.970474 deg,
      approachRate: 0.629580 m/s,
      LOS rate: 1.101033 deg/s,
      cmd update: 3.303099 deg/s,
      cmd heading: 224.688450 deg,
      new cmd heading: 223.380158 deg.

2021-02-16T12:02:58.696Z,1613476978.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:02:59.454Z,1613476979.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:02:59.873Z,1613476979.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:00.691Z,1613476980.691 [Micromodem](INFO): Nmea in: $SNTTA,0.131302,,0.134721,,120300.89*5F

2021-02-16T12:03:01.112Z,1613476981.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.160004 m, bearing: 224.260983 deg, deltaT: 4.769938 s, approachRate: 0.679255 m/s, LOS rate: -2.245205 deg/s, posRepo size: 4
2021-02-16T12:03:01.114Z,1613476981.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.160004 m,
      bearing: 224.260983 deg,
      approachRate: 0.679255 m/s,
      LOS rate: -2.245205 deg/s,
      cmd update: -6.735617 deg/s,
      cmd heading: 240.444888 deg,
      new cmd heading: 241.735561 deg.

2021-02-16T12:03:03.558Z,1613476983.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:04.296Z,1613476984.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:04.724Z,1613476984.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:05.515Z,1613476985.515 [Micromodem](INFO): Nmea in: $SNTTA,0.133489,,,,120305.74*42

2021-02-16T12:03:05.965Z,1613476985.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.339981 m, bearing: 248.810841 deg, deltaT: 4.843083 s, approachRate: 0.656602 m/s, LOS rate: 5.069056 deg/s, posRepo size: 4
2021-02-16T12:03:05.966Z,1613476985.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 248.810841 deg,
      approachRate: 0.656602 m/s,
      LOS rate: 5.069056 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.825233 deg,
      new cmd heading: 205.127813 deg.

2021-02-16T12:03:08.424Z,1613476988.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:09.145Z,1613476989.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:09.550Z,1613476989.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:10.376Z,1613476990.376 [Micromodem](INFO): Nmea in: $SNTTA,0.135715,,,,120310.59*49

2021-02-16T12:03:11.199Z,1613476991.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:12.780Z,1613476992.780 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:03:14.036Z,1613476994.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:14.806Z,1613476994.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:15.206Z,1613476995.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:16.027Z,1613476996.027 [Micromodem](INFO): Nmea in: $SNTTA,0.138111,,,,120316.25*4B

2021-02-16T12:03:16.488Z,1613476996.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.300003 m, bearing: 241.897843 deg, deltaT: 10.519879 s, approachRate: 0.661607 m/s, LOS rate: -0.657137 deg/s, posRepo size: 4
2021-02-16T12:03:16.490Z,1613476996.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.300003 m,
      bearing: 241.897843 deg,
      approachRate: 0.661607 m/s,
      LOS rate: -0.657137 deg/s,
      cmd update: -1.971410 deg/s,
      cmd heading: 333.963068 deg,
      new cmd heading: 338.909840 deg.

2021-02-16T12:03:18.904Z,1613476998.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:19.666Z,1613476999.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:20.073Z,1613477000.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:20.882Z,1613477000.882 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120321.11*5D

2021-02-16T12:03:21.317Z,1613477001.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.360001 m, bearing: 231.318836 deg, deltaT: 4.890462 s, approachRate: 0.625707 m/s, LOS rate: -2.163192 deg/s, posRepo size: 4
2021-02-16T12:03:21.336Z,1613477001.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.360001 m,
      bearing: 231.318836 deg,
      approachRate: 0.625707 m/s,
      LOS rate: -2.163192 deg/s,
      cmd update: -6.489575 deg/s,
      cmd heading: 324.314156 deg,
      new cmd heading: 323.629604 deg.

2021-02-16T12:03:23.714Z,1613477003.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:24.498Z,1613477004.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:24.908Z,1613477004.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:25.716Z,1613477005.716 [Micromodem](INFO): Nmea in: $SNTTA,0.141890,,,,120325.94*4F

2021-02-16T12:03:26.208Z,1613477006.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.119995 m, bearing: 283.802447 deg, deltaT: 4.791453 s, approachRate: 0.576025 m/s, LOS rate: 10.953590 deg/s, posRepo size: 4
2021-02-16T12:03:26.212Z,1613477006.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.119995 m,
      bearing: 283.802447 deg,
      approachRate: 0.576025 m/s,
      LOS rate: 10.953590 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.189705 deg,
      new cmd heading: 290.328049 deg.

2021-02-16T12:03:28.576Z,1613477008.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:29.368Z,1613477009.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:29.759Z,1613477009.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:30.588Z,1613477010.588 [Micromodem](INFO): Nmea in: $SNTTA,0.143257,,,,120330.81*4C

2021-02-16T12:03:31.008Z,1613477011.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.919998 m, bearing: 280.128516 deg, deltaT: 4.846141 s, approachRate: 0.371430 m/s, LOS rate: -0.758115 deg/s, posRepo size: 4
2021-02-16T12:03:31.010Z,1613477011.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.919998 m,
      bearing: 280.128516 deg,
      approachRate: 0.371430 m/s,
      LOS rate: -0.758115 deg/s,
      cmd update: -2.274345 deg/s,
      cmd heading: 351.341490 deg,
      new cmd heading: 355.995547 deg.

2021-02-16T12:03:33.414Z,1613477013.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:34.217Z,1613477014.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:34.607Z,1613477014.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:35.021Z,1613477015.021 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T12:03:35.427Z,1613477015.427 [Micromodem](INFO): Nmea in: $SNTTA,0.144193,,,,120335.66*4C

2021-02-16T12:03:35.482Z,1613477015.482 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A
2021-02-16T12:03:35.482Z,1613477015.482 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 4FD261367F6E7BF6D7E9E8775AC033DB80
2021-02-16T12:03:35.483Z,1613477015.483 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T12:03:35.918Z,1613477015.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.300003 m, bearing: 351.466262 deg, deltaT: 4.952018 s, approachRate: 0.278675 m/s, LOS rate: 14.405793 deg/s, posRepo size: 4
2021-02-16T12:03:35.923Z,1613477015.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.405793 deg/s. Setting heading cmd to target bearing of 351.466262deg and heading rate command to 0 deg/s.
2021-02-16T12:03:36.632Z,1613477016.632 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T12:03:37.047Z,1613477017.047 [Micromodem](INFO): Nmea in: $CADRQ,120336,1,10,0,64,1*73

2021-02-16T12:03:37.047Z,1613477017.047 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60550000005D000004003E0000000000000000151D80030C5669BF92F9E5753C412E3CD16C5A38224917577E7458C9A45F05557AE5940CF8431CD4803A*40

2021-02-16T12:03:37.440Z,1613477017.440 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T12:03:37.868Z,1613477017.868 [Micromodem](INFO): Nmea in: $CADRQ,120338,1,10,0,64,2*7E

2021-02-16T12:03:37.868Z,1613477017.868 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4FD261367F6E7BF6D7E9E8775AC033DB80*33

2021-02-16T12:03:38.243Z,1613477018.243 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T12:03:38.282Z,1613477018.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:38.644Z,1613477018.644 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T12:03:39.046Z,1613477019.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:41.082Z,1613477021.082 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T12:03:41.082Z,1613477021.082 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T12:03:41.201Z,1613477021.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:41.473Z,1613477021.473 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,120339.295739,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-02-16T12:03:41.473Z,1613477021.473 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,120339.295739,3,0,200,4000,14500,1,1,10,1,2,2,3,81*47

2021-02-16T12:03:43.894Z,1613477023.894 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T12:03:43.920Z,1613477023.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:44.308Z,1613477024.308 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T12:03:44.310Z,1613477024.310 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0085.lzma.parts
2021-02-16T12:03:44.311Z,1613477024.311 [Micromodem](INFO): Packets left to send: 0
2021-02-16T12:03:44.726Z,1613477024.726 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216120344.151807,06,4664,36,0268,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,19.9,13.00,22,-10.00,-01,0.18,29,14500,4000*56

2021-02-16T12:03:44.726Z,1613477024.726 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216120344.151807,06,4664,36,0268,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,19.9,13.00,22,-10.00,-01,0.18,29,14500,4000*56

2021-02-16T12:03:44.818Z,1613477024.818 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T12:03:44.818Z,1613477024.818 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T12:03:44.818Z,1613477024.818 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T12:03:44.835Z,1613477024.835 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:03:44.835Z,1613477024.835 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T12:03:46.744Z,1613477026.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:49.604Z,1613477029.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:50.389Z,1613477030.389 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:50.762Z,1613477030.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:51.592Z,1613477031.592 [Micromodem](INFO): Nmea in: $SNTTA,0.142893,,,,120351.83*4A

2021-02-16T12:03:52.020Z,1613477032.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.199982 m, bearing: 7.044014 deg, deltaT: 16.073481 s, approachRate: -0.130651 m/s, LOS rate: 0.969158 deg/s, posRepo size: 4
2021-02-16T12:03:52.021Z,1613477032.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.199982 m,
      bearing: 7.044014 deg,
      approachRate: -0.130651 m/s,
      LOS rate: 0.969158 deg/s,
      cmd update: 2.907473 deg/s,
      cmd heading: 351.466262 deg,
      new cmd heading: 351.466262 deg.

2021-02-16T12:03:54.420Z,1613477034.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:03:55.242Z,1613477035.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:03:55.611Z,1613477035.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:03:56.447Z,1613477036.447 [Micromodem](INFO): Nmea in: $SNTTA,0.141610,,,,120356.68*4E

2021-02-16T12:03:56.880Z,1613477036.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.279984 m, bearing: 6.843042 deg, deltaT: 4.857339 s, approachRate: -0.395278 m/s, LOS rate: -0.041375 deg/s, posRepo size: 4
2021-02-16T12:03:56.882Z,1613477036.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.279984 m,
      bearing: 6.843042 deg,
      approachRate: -0.395278 m/s,
      LOS rate: -0.041375 deg/s,
      cmd update: -0.124125 deg/s,
      cmd heading: 5.577186 deg,
      new cmd heading: 6.709138 deg.

2021-02-16T12:03:59.277Z,1613477039.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:00.054Z,1613477040.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:00.470Z,1613477040.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:01.275Z,1613477041.275 [Micromodem](INFO): Nmea in: $SNTTA,0.140207,,0.141351,,120401.49*56

2021-02-16T12:04:01.708Z,1613477041.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.179993 m, bearing: 68.670230 deg, deltaT: 4.794428 s, approachRate: -0.438007 m/s, LOS rate: 12.895634 deg/s, posRepo size: 4
2021-02-16T12:04:01.708Z,1613477041.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.895634 deg/s. Setting heading cmd to target bearing of 68.670230deg and heading rate command to 0 deg/s.
2021-02-16T12:04:04.108Z,1613477044.108 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:04:04.124Z,1613477044.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:04.906Z,1613477044.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:05.346Z,1613477045.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:06.122Z,1613477046.122 [Micromodem](INFO): Nmea in: $SNTTA,0.138538,,,,120406.35*43

2021-02-16T12:04:06.570Z,1613477046.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.599976 m, bearing: 72.648037 deg, deltaT: 4.857355 s, approachRate: -0.531157 m/s, LOS rate: 0.818924 deg/s, posRepo size: 4
2021-02-16T12:04:06.572Z,1613477046.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.599976 m,
      bearing: 72.648037 deg,
      approachRate: -0.531157 m/s,
      LOS rate: 0.818924 deg/s,
      cmd update: 2.456773 deg/s,
      cmd heading: 68.670230 deg,
      new cmd heading: 68.670230 deg.

2021-02-16T12:04:09.009Z,1613477049.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:09.750Z,1613477049.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:10.159Z,1613477050.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:10.970Z,1613477050.970 [Micromodem](INFO): Nmea in: $SNTTA,0.136794,,,,120411.19*41

2021-02-16T12:04:11.416Z,1613477051.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.019989 m, bearing: 61.738941 deg, deltaT: 4.852651 s, approachRate: -0.531665 m/s, LOS rate: -2.248069 deg/s, posRepo size: 4
2021-02-16T12:04:11.418Z,1613477051.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.019989 m,
      bearing: 61.738941 deg,
      approachRate: -0.531665 m/s,
      LOS rate: -2.248069 deg/s,
      cmd update: -6.744208 deg/s,
      cmd heading: 80.580289 deg,
      new cmd heading: 81.614868 deg.

2021-02-16T12:04:13.850Z,1613477053.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:14.602Z,1613477054.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:15.015Z,1613477055.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:15.855Z,1613477055.855 [Micromodem](INFO): Nmea in: $SNTTA,0.134516,,,,120416.04*40

2021-02-16T12:04:15.856Z,1613477055.856 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T12:04:16.256Z,1613477056.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.539993 m, bearing: 62.312321 deg, deltaT: 4.922444 s, approachRate: -0.706965 m/s, LOS rate: 0.116483 deg/s, posRepo size: 4
2021-02-16T12:04:16.258Z,1613477056.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.539993 m,
      bearing: 62.312321 deg,
      approachRate: -0.706965 m/s,
      LOS rate: 0.116483 deg/s,
      cmd update: 0.349449 deg/s,
      cmd heading: 47.376981 deg,
      new cmd heading: 45.100021 deg.

2021-02-16T12:04:18.674Z,1613477058.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:19.486Z,1613477059.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:19.861Z,1613477059.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:20.684Z,1613477060.684 [Micromodem](INFO): Nmea in: $SNTTA,0.132085,,,,120420.93*42

2021-02-16T12:04:21.103Z,1613477061.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.879990 m, bearing: 61.732950 deg, deltaT: 4.813182 s, approachRate: -0.760412 m/s, LOS rate: -0.120372 deg/s, posRepo size: 4
2021-02-16T12:04:21.105Z,1613477061.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.879990 m,
      bearing: 61.732950 deg,
      approachRate: -0.760412 m/s,
      LOS rate: -0.120372 deg/s,
      cmd update: -0.361115 deg/s,
      cmd heading: 49.058923 deg,
      new cmd heading: 49.188800 deg.

2021-02-16T12:04:23.558Z,1613477063.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:24.298Z,1613477064.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:24.698Z,1613477064.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:25.513Z,1613477065.513 [Micromodem](INFO): Nmea in: $SNTTA,0.129623,,,,120425.74*4E

2021-02-16T12:04:25.964Z,1613477065.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.219986 m, bearing: 62.374093 deg, deltaT: 4.822857 s, approachRate: -0.758887 m/s, LOS rate: 0.132938 deg/s, posRepo size: 4
2021-02-16T12:04:25.966Z,1613477065.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.219986 m,
      bearing: 62.374093 deg,
      approachRate: -0.758887 m/s,
      LOS rate: 0.132938 deg/s,
      cmd update: 0.398815 deg/s,
      cmd heading: 47.315857 deg,
      new cmd heading: 47.170778 deg.

2021-02-16T12:04:28.393Z,1613477068.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:29.158Z,1613477069.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:29.546Z,1613477069.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:30.374Z,1613477070.374 [Micromodem](INFO): Nmea in: $SNTTA,0.127172,,,,120430.60*42

2021-02-16T12:04:30.802Z,1613477070.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 62.775196 deg, deltaT: 4.840339 s, approachRate: -0.768541 m/s, LOS rate: 0.082867 deg/s, posRepo size: 4
2021-02-16T12:04:30.804Z,1613477070.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.499985 m,
      bearing: 62.775196 deg,
      approachRate: -0.768541 m/s,
      LOS rate: 0.082867 deg/s,
      cmd update: 0.248600 deg/s,
      cmd heading: 49.246240 deg,
      new cmd heading: 49.407158 deg.

2021-02-16T12:04:33.230Z,1613477073.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:34.008Z,1613477074.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:34.396Z,1613477074.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:35.230Z,1613477075.230 [Micromodem](INFO): Nmea in: $SNTTA,0.124728,,,,120435.45*4A

2021-02-16T12:04:35.650Z,1613477075.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.899994 m, bearing: 63.935809 deg, deltaT: 4.861191 s, approachRate: -0.740557 m/s, LOS rate: 0.238751 deg/s, posRepo size: 4
2021-02-16T12:04:35.652Z,1613477075.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.899994 m,
      bearing: 63.935809 deg,
      approachRate: -0.740557 m/s,
      LOS rate: 0.238751 deg/s,
      cmd update: 0.716252 deg/s,
      cmd heading: 50.454720 deg,
      new cmd heading: 50.551766 deg.

2021-02-16T12:04:38.071Z,1613477078.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:38.860Z,1613477078.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:39.249Z,1613477079.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:40.069Z,1613477080.069 [Micromodem](INFO): Nmea in: $SNTTA,0.122304,,,,120440.30*46

2021-02-16T12:04:40.502Z,1613477080.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.239990 m, bearing: 64.161691 deg, deltaT: 4.834201 s, approachRate: -0.757106 m/s, LOS rate: 0.046726 deg/s, posRepo size: 4
2021-02-16T12:04:40.504Z,1613477080.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.239990 m,
      bearing: 64.161691 deg,
      approachRate: -0.757106 m/s,
      LOS rate: 0.046726 deg/s,
      cmd update: 0.140177 deg/s,
      cmd heading: 53.917279 deg,
      new cmd heading: 54.210081 deg.

2021-02-16T12:04:42.918Z,1613477082.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:43.702Z,1613477083.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:44.092Z,1613477084.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:44.913Z,1613477084.913 [Micromodem](INFO): Nmea in: $SNTTA,0.119686,,,,120445.14*42

2021-02-16T12:04:45.369Z,1613477085.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 64.767658 deg, deltaT: 4.889968 s, approachRate: -0.809820 m/s, LOS rate: 0.123921 deg/s, posRepo size: 4
2021-02-16T12:04:45.371Z,1613477085.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.279999 m,
      bearing: 64.767658 deg,
      approachRate: -0.809820 m/s,
      LOS rate: 0.123921 deg/s,
      cmd update: 0.371762 deg/s,
      cmd heading: 54.602176 deg,
      new cmd heading: 54.656772 deg.

2021-02-16T12:04:47.764Z,1613477087.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:48.540Z,1613477088.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:48.954Z,1613477088.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:49.768Z,1613477089.768 [Micromodem](INFO): Nmea in: $SNTTA,0.117191,,,,120449.98*45

2021-02-16T12:04:49.806Z,1613477089.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.500015 m, bearing: 64.901441 deg, deltaT: 4.413896 s, approachRate: -0.856383 m/s, LOS rate: 0.030309 deg/s, posRepo size: 4
2021-02-16T12:04:49.808Z,1613477089.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.500015 m,
      bearing: 64.901441 deg,
      approachRate: -0.856383 m/s,
      LOS rate: 0.030309 deg/s,
      cmd update: 0.090928 deg/s,
      cmd heading: 56.244603 deg,
      new cmd heading: 56.396532 deg.

2021-02-16T12:04:52.193Z,1613477092.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:52.984Z,1613477092.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:53.388Z,1613477093.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:54.213Z,1613477094.213 [Micromodem](INFO): Nmea in: $SNTTA,0.114832,,,,120454.42*4D

2021-02-16T12:04:54.283Z,1613477094.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 65.626329 deg, deltaT: 4.469894 s, approachRate: -0.778544 m/s, LOS rate: 0.162171 deg/s, posRepo size: 4
2021-02-16T12:04:54.289Z,1613477094.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.020004 m,
      bearing: 65.626329 deg,
      approachRate: -0.778544 m/s,
      LOS rate: 0.162171 deg/s,
      cmd update: 0.486514 deg/s,
      cmd heading: 56.650678 deg,
      new cmd heading: 56.688788 deg.

2021-02-16T12:04:56.638Z,1613477096.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:04:57.431Z,1613477097.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:04:57.856Z,1613477097.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:04:58.664Z,1613477098.664 [Micromodem](INFO): Nmea in: $SNTTA,0.112593,,,,120458.87*48

2021-02-16T12:04:58.688Z,1613477098.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.020004 m, bearing: 65.715798 deg, deltaT: 4.411183 s, approachRate: 0.000000 m/s, LOS rate: 0.020282 deg/s, posRepo size: 4
2021-02-16T12:04:58.690Z,1613477098.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.020004 m,
      bearing: 65.715798 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.020282 deg/s,
      cmd update: 0.060847 deg/s,
      cmd heading: 58.796774 deg,
      new cmd heading: 58.997737 deg.

2021-02-16T12:05:01.094Z,1613477101.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:01.868Z,1613477101.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:02.270Z,1613477102.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:03.096Z,1613477103.096 [Micromodem](INFO): Nmea in: $SNTTA,0.110254,,,,120503.31*44

2021-02-16T12:05:03.135Z,1613477103.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 66.495020 deg, deltaT: 4.467542 s, approachRate: -1.504187 m/s, LOS rate: 0.174419 deg/s, posRepo size: 4
2021-02-16T12:05:03.137Z,1613477103.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.299988 m,
      bearing: 66.495020 deg,
      approachRate: -1.504187 m/s,
      LOS rate: 0.174419 deg/s,
      cmd update: 0.523256 deg/s,
      cmd heading: 59.068571 deg,
      new cmd heading: 59.092505 deg.

2021-02-16T12:05:05.524Z,1613477105.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:06.333Z,1613477106.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:06.719Z,1613477106.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:07.552Z,1613477107.552 [Micromodem](INFO): Nmea in: $SNTTA,0.107937,,,,120507.77*4A

2021-02-16T12:05:07.596Z,1613477107.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 66.277253 deg, deltaT: 4.419870 s, approachRate: 0.000000 m/s, LOS rate: -0.049270 deg/s, posRepo size: 4
2021-02-16T12:05:07.598Z,1613477107.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.299988 m,
      bearing: 66.277253 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.049270 deg/s,
      cmd update: -0.147810 deg/s,
      cmd heading: 61.374965 deg,
      new cmd heading: 61.608488 deg.

2021-02-16T12:05:09.989Z,1613477109.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:10.753Z,1613477110.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:11.178Z,1613477111.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:11.984Z,1613477111.984 [Micromodem](INFO): Nmea in: $SNTTA,0.105638,,,,120512.20*4E

2021-02-16T12:05:12.024Z,1613477112.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 66.957806 deg, deltaT: 4.459564 s, approachRate: -1.587593 m/s, LOS rate: 0.152605 deg/s, posRepo size: 4
2021-02-16T12:05:12.025Z,1613477112.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 66.957806 deg,
      approachRate: -1.587593 m/s,
      LOS rate: 0.152605 deg/s,
      cmd update: 0.457816 deg/s,
      cmd heading: 60.713914 deg,
      new cmd heading: 60.654535 deg.

2021-02-16T12:05:14.432Z,1613477114.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:15.197Z,1613477115.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:15.613Z,1613477115.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:16.428Z,1613477116.428 [Micromodem](INFO): Nmea in: $SNTTA,0.103380,,,,120516.64*4A

2021-02-16T12:05:16.473Z,1613477116.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 66.689523 deg, deltaT: 4.421661 s, approachRate: -0.759896 m/s, LOS rate: -0.060675 deg/s, posRepo size: 4
2021-02-16T12:05:16.476Z,1613477116.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.860016 m,
      bearing: 66.689523 deg,
      approachRate: -0.759896 m/s,
      LOS rate: -0.060675 deg/s,
      cmd update: -0.182024 deg/s,
      cmd heading: 62.740041 deg,
      new cmd heading: 62.934341 deg.

2021-02-16T12:05:18.890Z,1613477118.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:19.656Z,1613477119.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:20.046Z,1613477120.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:20.884Z,1613477120.884 [Micromodem](INFO): Nmea in: $SNTTA,0.100952,,,,120521.10*4B

2021-02-16T12:05:20.909Z,1613477120.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.199997 m, bearing: 67.540387 deg, deltaT: 4.439703 s, approachRate: -0.824384 m/s, LOS rate: 0.191649 deg/s, posRepo size: 4
2021-02-16T12:05:20.911Z,1613477120.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.199997 m,
      bearing: 67.540387 deg,
      approachRate: -0.824384 m/s,
      LOS rate: 0.191649 deg/s,
      cmd update: 0.574947 deg/s,
      cmd heading: 61.931919 deg,
      new cmd heading: 61.855127 deg.

2021-02-16T12:05:23.307Z,1613477123.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:24.090Z,1613477124.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:24.501Z,1613477124.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:25.359Z,1613477125.359 [Micromodem](INFO): Nmea in: $SNTTA,0.098627,,,,120525.53*45

2021-02-16T12:05:25.411Z,1613477125.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 67.880169 deg, deltaT: 4.454125 s, approachRate: -0.767827 m/s, LOS rate: 0.076285 deg/s, posRepo size: 4
2021-02-16T12:05:25.413Z,1613477125.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.779999 m,
      bearing: 67.880169 deg,
      approachRate: -0.767827 m/s,
      LOS rate: 0.076285 deg/s,
      cmd update: 0.228854 deg/s,
      cmd heading: 64.490655 deg,
      new cmd heading: 64.760587 deg.

2021-02-16T12:05:27.750Z,1613477127.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:28.537Z,1613477128.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:28.949Z,1613477128.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:29.764Z,1613477129.764 [Micromodem](INFO): Nmea in: $SNTTA,0.096172,,,,120529.98*47

2021-02-16T12:05:29.803Z,1613477129.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 67.516488 deg, deltaT: 4.452246 s, approachRate: -0.835534 m/s, LOS rate: -0.081685 deg/s, posRepo size: 4
2021-02-16T12:05:29.805Z,1613477129.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.059998 m,
      bearing: 67.516488 deg,
      approachRate: -0.835534 m/s,
      LOS rate: -0.081685 deg/s,
      cmd update: -0.245054 deg/s,
      cmd heading: 65.510443 deg,
      new cmd heading: 65.604114 deg.

2021-02-16T12:05:32.209Z,1613477132.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:32.981Z,1613477132.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:33.401Z,1613477133.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:34.213Z,1613477134.213 [Micromodem](INFO): Nmea in: $SNTTA,0.093742,,,,120534.42*4C

2021-02-16T12:05:34.264Z,1613477134.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.400009 m, bearing: 67.396612 deg, deltaT: 4.452726 s, approachRate: -0.821966 m/s, LOS rate: -0.026922 deg/s, posRepo size: 4
2021-02-16T12:05:34.266Z,1613477134.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 67.396612 deg,
      approachRate: -0.821966 m/s,
      LOS rate: -0.026922 deg/s,
      cmd update: -0.080766 deg/s,
      cmd heading: 64.423856 deg,
      new cmd heading: 64.316960 deg.

2021-02-16T12:05:36.673Z,1613477136.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:37.437Z,1613477137.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:37.854Z,1613477137.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:38.660Z,1613477138.660 [Micromodem](INFO): Nmea in: $SNTTA,0.091273,,,,120538.88*43

2021-02-16T12:05:38.684Z,1613477138.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 67.734631 deg, deltaT: 4.409074 s, approachRate: -0.830107 m/s, LOS rate: 0.076664 deg/s, posRepo size: 4
2021-02-16T12:05:38.686Z,1613477138.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.740005 m,
      bearing: 67.734631 deg,
      approachRate: -0.830107 m/s,
      LOS rate: 0.076664 deg/s,
      cmd update: 0.229993 deg/s,
      cmd heading: 64.066244 deg,
      new cmd heading: 64.031585 deg.

2021-02-16T12:05:41.087Z,1613477141.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:41.864Z,1613477141.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:42.271Z,1613477142.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:43.092Z,1613477143.092 [Micromodem](INFO): Nmea in: $SNTTA,0.088922,,,,120543.31*4A

2021-02-16T12:05:43.131Z,1613477143.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.199997 m, bearing: 67.968401 deg, deltaT: 4.458446 s, approachRate: -0.794001 m/s, LOS rate: 0.052433 deg/s, posRepo size: 4
2021-02-16T12:05:43.133Z,1613477143.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.199997 m,
      bearing: 67.968401 deg,
      approachRate: -0.794001 m/s,
      LOS rate: 0.052433 deg/s,
      cmd update: 0.157299 deg/s,
      cmd heading: 65.091585 deg,
      new cmd heading: 65.187564 deg.

2021-02-16T12:05:45.532Z,1613477145.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:46.312Z,1613477146.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:46.727Z,1613477146.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:47.540Z,1613477147.540 [Micromodem](INFO): Nmea in: $SNTTA,0.086408,,,,120547.75*45

2021-02-16T12:05:47.592Z,1613477147.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 68.270411 deg, deltaT: 4.451354 s, approachRate: -0.849180 m/s, LOS rate: 0.067847 deg/s, posRepo size: 4
2021-02-16T12:05:47.593Z,1613477147.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.419998 m,
      bearing: 68.270411 deg,
      approachRate: -0.849180 m/s,
      LOS rate: 0.067847 deg/s,
      cmd update: 0.203541 deg/s,
      cmd heading: 65.791205 deg,
      new cmd heading: 65.858224 deg.

2021-02-16T12:05:49.977Z,1613477149.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:50.752Z,1613477150.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:51.173Z,1613477151.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:51.980Z,1613477151.980 [Micromodem](INFO): Nmea in: $SNTTA,0.083968,,,,120552.19*45

2021-02-16T12:05:52.030Z,1613477152.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.760010 m, bearing: 67.968797 deg, deltaT: 4.434605 s, approachRate: -0.825325 m/s, LOS rate: -0.068014 deg/s, posRepo size: 4
2021-02-16T12:05:52.036Z,1613477152.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 67.968797 deg,
      approachRate: -0.825325 m/s,
      LOS rate: -0.068014 deg/s,
      cmd update: -0.204041 deg/s,
      cmd heading: 66.691330 deg,
      new cmd heading: 66.782152 deg.

2021-02-16T12:05:54.429Z,1613477154.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:55.215Z,1613477155.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:05:55.612Z,1613477155.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:05:56.456Z,1613477156.456 [Micromodem](INFO): Nmea in: $SNTTA,0.081397,,,,120556.66*41

2021-02-16T12:05:56.511Z,1613477156.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 68.050759 deg, deltaT: 4.442935 s, approachRate: -0.877800 m/s, LOS rate: 0.018448 deg/s, posRepo size: 4
2021-02-16T12:05:56.513Z,1613477156.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.860001 m,
      bearing: 68.050759 deg,
      approachRate: -0.877800 m/s,
      LOS rate: 0.018448 deg/s,
      cmd update: 0.055343 deg/s,
      cmd heading: 65.781519 deg,
      new cmd heading: 65.685880 deg.

2021-02-16T12:05:58.924Z,1613477158.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:05:59.645Z,1613477159.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:00.048Z,1613477160.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:00.879Z,1613477160.879 [Micromodem](INFO): Nmea in: $SNTTA,0.078943,,0.086275,,120601.08*5D

2021-02-16T12:06:00.904Z,1613477160.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 68.269933 deg, deltaT: 4.447054 s, approachRate: -0.823018 m/s, LOS rate: 0.049285 deg/s, posRepo size: 4
2021-02-16T12:06:00.906Z,1613477160.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 68.269933 deg,
      approachRate: -0.823018 m/s,
      LOS rate: 0.049285 deg/s,
      cmd update: 0.147856 deg/s,
      cmd heading: 66.027629 deg,
      new cmd heading: 66.050600 deg.

2021-02-16T12:06:03.297Z,1613477163.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:04.090Z,1613477164.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:04.495Z,1613477164.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:05.316Z,1613477165.316 [Micromodem](INFO): Nmea in: $SNTTA,0.076408,,,,120605.53*4B

2021-02-16T12:06:05.381Z,1613477165.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.419998 m, bearing: 68.189542 deg, deltaT: 4.447031 s, approachRate: -0.850005 m/s, LOS rate: -0.018078 deg/s, posRepo size: 4
2021-02-16T12:06:05.387Z,1613477165.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 68.189542 deg,
      approachRate: -0.850005 m/s,
      LOS rate: -0.018078 deg/s,
      cmd update: -0.054233 deg/s,
      cmd heading: 66.684566 deg,
      new cmd heading: 66.750917 deg.

2021-02-16T12:06:07.760Z,1613477167.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:08.533Z,1613477168.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:08.935Z,1613477168.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:09.764Z,1613477169.764 [Micromodem](INFO): Nmea in: $SNTTA,0.074020,,,,120609.97*43

2021-02-16T12:06:09.804Z,1613477169.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 68.505288 deg, deltaT: 4.454055 s, approachRate: -0.808252 m/s, LOS rate: 0.070890 deg/s, posRepo size: 4
2021-02-16T12:06:09.809Z,1613477169.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.820000 m,
      bearing: 68.505288 deg,
      approachRate: -0.808252 m/s,
      LOS rate: 0.070890 deg/s,
      cmd update: 0.212669 deg/s,
      cmd heading: 66.442794 deg,
      new cmd heading: 66.420386 deg.

2021-02-16T12:06:12.209Z,1613477172.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:12.977Z,1613477172.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:13.391Z,1613477173.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:14.221Z,1613477174.221 [Micromodem](INFO): Nmea in: $SNTTA,0.071631,,,,120614.42*44

2021-02-16T12:06:14.254Z,1613477174.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 68.998428 deg, deltaT: 4.447819 s, approachRate: -0.809385 m/s, LOS rate: 0.110872 deg/s, posRepo size: 4
2021-02-16T12:06:14.256Z,1613477174.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 68.998428 deg,
      approachRate: -0.809385 m/s,
      LOS rate: 0.110872 deg/s,
      cmd update: 0.332617 deg/s,
      cmd heading: 67.380559 deg,
      new cmd heading: 67.477096 deg.

2021-02-16T12:06:16.654Z,1613477176.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:17.420Z,1613477177.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:17.852Z,1613477177.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:18.672Z,1613477178.672 [Micromodem](INFO): Nmea in: $SNTTA,0.069182,,,,120618.86*46

2021-02-16T12:06:18.702Z,1613477178.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.559998 m, bearing: 68.940234 deg, deltaT: 4.427334 s, approachRate: -0.826683 m/s, LOS rate: -0.013144 deg/s, posRepo size: 4
2021-02-16T12:06:18.704Z,1613477178.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.559998 m,
      bearing: 68.940234 deg,
      approachRate: -0.826683 m/s,
      LOS rate: -0.013144 deg/s,
      cmd update: -0.039432 deg/s,
      cmd heading: 68.864661 deg,
      new cmd heading: 69.011132 deg.

2021-02-16T12:06:21.098Z,1613477181.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:21.864Z,1613477181.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:22.266Z,1613477182.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:23.092Z,1613477183.092 [Micromodem](INFO): Nmea in: $SNTTA,0.066860,,,,120623.30*49

2021-02-16T12:06:23.136Z,1613477183.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.080002 m, bearing: 69.245749 deg, deltaT: 4.451424 s, approachRate: -0.781771 m/s, LOS rate: 0.068633 deg/s, posRepo size: 4
2021-02-16T12:06:23.138Z,1613477183.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.080002 m,
      bearing: 69.245749 deg,
      approachRate: -0.781771 m/s,
      LOS rate: 0.068633 deg/s,
      cmd update: 0.205899 deg/s,
      cmd heading: 68.688975 deg,
      new cmd heading: 68.672443 deg.

2021-02-16T12:06:25.537Z,1613477185.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:26.336Z,1613477186.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:26.727Z,1613477186.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:27.560Z,1613477187.560 [Micromodem](INFO): Nmea in: $SNTTA,0.064417,,,,120627.78*4F

2021-02-16T12:06:27.584Z,1613477187.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.420006 m, bearing: 69.095088 deg, deltaT: 4.447767 s, approachRate: -0.822884 m/s, LOS rate: -0.033873 deg/s, posRepo size: 4
2021-02-16T12:06:27.586Z,1613477187.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.420006 m,
      bearing: 69.095088 deg,
      approachRate: -0.822884 m/s,
      LOS rate: -0.033873 deg/s,
      cmd update: -0.101620 deg/s,
      cmd heading: 69.603949 deg,
      new cmd heading: 69.690971 deg.

2021-02-16T12:06:29.989Z,1613477189.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:30.754Z,1613477190.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:31.158Z,1613477191.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:31.980Z,1613477191.980 [Micromodem](INFO): Nmea in: $SNTTA,0.062008,,,,120632.19*40

2021-02-16T12:06:32.005Z,1613477192.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.820000 m, bearing: 70.081470 deg, deltaT: 4.435271 s, approachRate: -0.811677 m/s, LOS rate: 0.222395 deg/s, posRepo size: 4
2021-02-16T12:06:32.027Z,1613477192.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.820000 m,
      bearing: 70.081470 deg,
      approachRate: -0.811677 m/s,
      LOS rate: 0.222395 deg/s,
      cmd update: 0.667185 deg/s,
      cmd heading: 69.154480 deg,
      new cmd heading: 69.111689 deg.

2021-02-16T12:06:34.433Z,1613477194.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:35.197Z,1613477195.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:35.598Z,1613477195.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:36.424Z,1613477196.424 [Micromodem](INFO): Nmea in: $SNTTA,0.059542,,,,120636.64*4D

2021-02-16T12:06:36.475Z,1613477196.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.099998 m, bearing: 71.034746 deg, deltaT: 4.452440 s, approachRate: -0.835497 m/s, LOS rate: 0.214102 deg/s, posRepo size: 4
2021-02-16T12:06:36.477Z,1613477196.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.099998 m,
      bearing: 71.034746 deg,
      approachRate: -0.835497 m/s,
      LOS rate: 0.214102 deg/s,
      cmd update: 0.642306 deg/s,
      cmd heading: 72.135896 deg,
      new cmd heading: 72.415006 deg.

2021-02-16T12:06:38.882Z,1613477198.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:39.636Z,1613477199.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:40.050Z,1613477200.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:40.892Z,1613477200.892 [Micromodem](INFO): Nmea in: $SNTTA,0.057207,,,,120641.08*4F

2021-02-16T12:06:40.917Z,1613477200.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 70.542658 deg, deltaT: 4.491665 s, approachRate: -0.774767 m/s, LOS rate: -0.109556 deg/s, posRepo size: 4
2021-02-16T12:06:40.919Z,1613477200.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.620003 m,
      bearing: 70.542658 deg,
      approachRate: -0.774767 m/s,
      LOS rate: -0.109556 deg/s,
      cmd update: -0.328667 deg/s,
      cmd heading: 74.994105 deg,
      new cmd heading: 75.260222 deg.

2021-02-16T12:06:43.287Z,1613477203.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:44.125Z,1613477204.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:44.502Z,1613477204.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:45.332Z,1613477205.332 [Micromodem](INFO): Nmea in: $SNTTA,0.054680,,,,120645.57*49

2021-02-16T12:06:45.387Z,1613477205.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.839996 m, bearing: 70.384444 deg, deltaT: 4.386026 s, approachRate: -0.861829 m/s, LOS rate: -0.036072 deg/s, posRepo size: 4
2021-02-16T12:06:45.389Z,1613477205.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.839996 m,
      bearing: 70.384444 deg,
      approachRate: -0.861829 m/s,
      LOS rate: -0.036072 deg/s,
      cmd update: -0.108217 deg/s,
      cmd heading: 73.538858 deg,
      new cmd heading: 73.388760 deg.

2021-02-16T12:06:47.769Z,1613477207.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:48.545Z,1613477208.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:48.941Z,1613477208.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:49.785Z,1613477209.785 [Micromodem](INFO): Nmea in: $SNTTA,0.052247,,,,120649.99*4E

2021-02-16T12:06:49.850Z,1613477209.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 70.019070 deg, deltaT: 4.461127 s, approachRate: -0.820420 m/s, LOS rate: -0.081902 deg/s, posRepo size: 4
2021-02-16T12:06:49.852Z,1613477209.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.180000 m,
      bearing: 70.019070 deg,
      approachRate: -0.820420 m/s,
      LOS rate: -0.081902 deg/s,
      cmd update: -0.245705 deg/s,
      cmd heading: 73.056084 deg,
      new cmd heading: 73.006451 deg.

2021-02-16T12:06:52.202Z,1613477212.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:52.987Z,1613477212.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:53.388Z,1613477213.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:54.221Z,1613477214.221 [Micromodem](INFO): Nmea in: $SNTTA,0.049782,,,,120654.43*43

2021-02-16T12:06:54.280Z,1613477214.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.459999 m, bearing: 70.068937 deg, deltaT: 4.460209 s, approachRate: -0.834042 m/s, LOS rate: 0.011180 deg/s, posRepo size: 4
2021-02-16T12:06:54.282Z,1613477214.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.459999 m,
      bearing: 70.068937 deg,
      approachRate: -0.834042 m/s,
      LOS rate: 0.011180 deg/s,
      cmd update: 0.033541 deg/s,
      cmd heading: 71.962417 deg,
      new cmd heading: 71.858958 deg.

2021-02-16T12:06:56.642Z,1613477216.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:06:57.422Z,1613477217.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:06:57.857Z,1613477217.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:06:58.652Z,1613477218.652 [Micromodem](INFO): Nmea in: $SNTTA,0.047287,,,,120658.86*48

2021-02-16T12:06:58.697Z,1613477218.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.739998 m, bearing: 70.411225 deg, deltaT: 4.419909 s, approachRate: -0.841647 m/s, LOS rate: 0.077442 deg/s, posRepo size: 4
2021-02-16T12:06:58.699Z,1613477218.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.739998 m,
      bearing: 70.411225 deg,
      approachRate: -0.841647 m/s,
      LOS rate: 0.077442 deg/s,
      cmd update: 0.232327 deg/s,
      cmd heading: 72.110392 deg,
      new cmd heading: 72.125219 deg.

2021-02-16T12:07:01.096Z,1613477221.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:01.868Z,1613477221.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:02.266Z,1613477222.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:03.092Z,1613477223.092 [Micromodem](INFO): Nmea in: $SNTTA,0.044734,,,,120703.31*45

2021-02-16T12:07:03.130Z,1613477223.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 70.487306 deg, deltaT: 4.444557 s, approachRate: -0.863977 m/s, LOS rate: 0.017118 deg/s, posRepo size: 4
2021-02-16T12:07:03.132Z,1613477223.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 70.487306 deg,
      approachRate: -0.863977 m/s,
      LOS rate: 0.017118 deg/s,
      cmd update: 0.051354 deg/s,
      cmd heading: 73.145098 deg,
      new cmd heading: 73.243217 deg.

2021-02-16T12:07:05.530Z,1613477225.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:06.308Z,1613477226.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:06.714Z,1613477226.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:07.536Z,1613477227.536 [Micromodem](INFO): Nmea in: $SNTTA,0.042266,,,,120707.75*45

2021-02-16T12:07:07.561Z,1613477227.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 70.966205 deg, deltaT: 4.428460 s, approachRate: -0.826472 m/s, LOS rate: 0.108141 deg/s, posRepo size: 4
2021-02-16T12:07:07.563Z,1613477227.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.240005 m,
      bearing: 70.966205 deg,
      approachRate: -0.826472 m/s,
      LOS rate: 0.108141 deg/s,
      cmd update: 0.324423 deg/s,
      cmd heading: 73.372937 deg,
      new cmd heading: 73.394326 deg.

2021-02-16T12:07:10.064Z,1613477230.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:10.748Z,1613477230.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:11.156Z,1613477231.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:11.984Z,1613477231.984 [Micromodem](INFO): Nmea in: $SNTTA,0.039777,,,,120712.19*42

2021-02-16T12:07:12.012Z,1613477232.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.520004 m, bearing: 70.898695 deg, deltaT: 4.447765 s, approachRate: -0.836375 m/s, LOS rate: -0.015178 deg/s, posRepo size: 4
2021-02-16T12:07:12.015Z,1613477232.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.520004 m,
      bearing: 70.898695 deg,
      approachRate: -0.836375 m/s,
      LOS rate: -0.015178 deg/s,
      cmd update: -0.045535 deg/s,
      cmd heading: 74.815890 deg,
      new cmd heading: 74.951433 deg.

2021-02-16T12:07:14.415Z,1613477234.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:15.196Z,1613477235.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:15.598Z,1613477235.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:16.420Z,1613477236.420 [Micromodem](INFO): Nmea in: $SNTTA,0.037205,,,,120716.64*42

2021-02-16T12:07:16.472Z,1613477236.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 70.647788 deg, deltaT: 4.461921 s, approachRate: -0.874065 m/s, LOS rate: -0.056233 deg/s, posRepo size: 4
2021-02-16T12:07:16.474Z,1613477236.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 70.647788 deg,
      approachRate: -0.874065 m/s,
      LOS rate: -0.056233 deg/s,
      cmd update: -0.168699 deg/s,
      cmd heading: 74.612900 deg,
      new cmd heading: 74.593891 deg.

2021-02-16T12:07:18.907Z,1613477238.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:19.638Z,1613477239.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:20.047Z,1613477240.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:20.880Z,1613477240.880 [Micromodem](INFO): Nmea in: $SNTTA,0.034650,,,,120721.08*4B

2021-02-16T12:07:20.913Z,1613477240.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.779999 m, bearing: 71.266829 deg, deltaT: 4.427350 s, approachRate: -0.867335 m/s, LOS rate: 0.139822 deg/s, posRepo size: 4
2021-02-16T12:07:20.914Z,1613477240.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.779999 m,
      bearing: 71.266829 deg,
      approachRate: -0.867335 m/s,
      LOS rate: 0.139822 deg/s,
      cmd update: 0.419466 deg/s,
      cmd heading: 73.865346 deg,
      new cmd heading: 73.792620 deg.

2021-02-16T12:07:23.301Z,1613477243.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:24.090Z,1613477244.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:24.491Z,1613477244.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:25.333Z,1613477245.333 [Micromodem](INFO): Nmea in: $SNTTA,0.032159,,,,120725.53*49

2021-02-16T12:07:25.385Z,1613477245.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 71.343313 deg, deltaT: 4.466976 s, approachRate: -0.832778 m/s, LOS rate: 0.017122 deg/s, posRepo size: 4
2021-02-16T12:07:25.391Z,1613477245.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.060001 m,
      bearing: 71.343313 deg,
      approachRate: -0.832778 m/s,
      LOS rate: 0.017122 deg/s,
      cmd update: 0.051367 deg/s,
      cmd heading: 75.737439 deg,
      new cmd heading: 75.922160 deg.

2021-02-16T12:07:27.756Z,1613477247.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:28.528Z,1613477248.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:28.940Z,1613477248.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:29.756Z,1613477249.756 [Micromodem](INFO): Nmea in: $SNTTA,0.029715,,,,120729.97*49

2021-02-16T12:07:29.795Z,1613477249.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.339996 m, bearing: 71.296192 deg, deltaT: 4.439759 s, approachRate: -0.837884 m/s, LOS rate: -0.010614 deg/s, posRepo size: 4
2021-02-16T12:07:29.800Z,1613477249.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.339996 m,
      bearing: 71.296192 deg,
      approachRate: -0.837884 m/s,
      LOS rate: -0.010614 deg/s,
      cmd update: -0.031841 deg/s,
      cmd heading: 75.965700 deg,
      new cmd heading: 75.986510 deg.

2021-02-16T12:07:32.256Z,1613477252.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:32.972Z,1613477252.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:33.395Z,1613477253.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:34.207Z,1613477254.207 [Micromodem](INFO): Nmea in: $SNTTA,0.027278,,,,120734.41*4E

2021-02-16T12:07:34.246Z,1613477254.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.739998 m, bearing: 72.006115 deg, deltaT: 4.430056 s, approachRate: -0.812630 m/s, LOS rate: 0.160251 deg/s, posRepo size: 4
2021-02-16T12:07:34.249Z,1613477254.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.739998 m,
      bearing: 72.006115 deg,
      approachRate: -0.812630 m/s,
      LOS rate: 0.160251 deg/s,
      cmd update: 0.480754 deg/s,
      cmd heading: 75.824895 deg,
      new cmd heading: 75.811046 deg.

2021-02-16T12:07:36.645Z,1613477256.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:37.433Z,1613477257.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:37.855Z,1613477257.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:38.656Z,1613477258.656 [Micromodem](INFO): Nmea in: $SNTTA,0.024898,,,,120738.87*4F

2021-02-16T12:07:38.681Z,1613477258.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.080002 m, bearing: 73.076317 deg, deltaT: 4.436667 s, approachRate: -0.824943 m/s, LOS rate: 0.241218 deg/s, posRepo size: 4
2021-02-16T12:07:38.681Z,1613477258.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.08 m.
2021-02-16T12:07:38.683Z,1613477258.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 73.076317 deg,
      approachRate: -0.824943 m/s,
      LOS rate: 0.241218 deg/s,
      cmd update: 0.723653 deg/s,
      cmd heading: 77.961622 deg,
      new cmd heading: 78.166330 deg.

2021-02-16T12:07:39.049Z,1613477259.049 [PowerOnly](INFO): Powering up loadControl
2021-02-16T12:07:41.092Z,1613477261.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:41.866Z,1613477261.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:42.273Z,1613477262.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:43.092Z,1613477263.092 [Micromodem](INFO): Nmea in: $SNTTA,0.022520,,,,120743.31*46

2021-02-16T12:07:43.132Z,1613477263.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.539997 m, bearing: 71.828605 deg, deltaT: 4.459779 s, approachRate: -0.793762 m/s, LOS rate: -0.279770 deg/s, posRepo size: 4
2021-02-16T12:07:43.133Z,1613477263.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.54 m.
2021-02-16T12:07:43.133Z,1613477263.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.54 m.
2021-02-16T12:07:43.133Z,1613477263.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T12:07:43.135Z,1613477263.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.539997 m,
      bearing: 71.828605 deg,
      approachRate: -0.793762 m/s,
      LOS rate: -0.279770 deg/s,
      cmd update: -0.839309 deg/s,
      cmd heading: 81.188897 deg,
      new cmd heading: 81.490728 deg.

2021-02-16T12:07:45.526Z,1613477265.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:46.306Z,1613477266.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:46.710Z,1613477266.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:47.552Z,1613477267.552 [Micromodem](INFO): Nmea in: $SNTTA,0.020094,,,,120747.75*4A

2021-02-16T12:07:47.577Z,1613477267.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.939999 m, bearing: 69.954340 deg, deltaT: 4.429286 s, approachRate: -0.812772 m/s, LOS rate: -0.423153 deg/s, posRepo size: 4
2021-02-16T12:07:47.578Z,1613477267.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.939999 m,
      bearing: 69.954340 deg,
      approachRate: -0.812772 m/s,
      LOS rate: -0.423153 deg/s,
      cmd update: -1.269459 deg/s,
      cmd heading: 77.471481 deg,
      new cmd heading: 77.108482 deg.

2021-02-16T12:07:49.977Z,1613477269.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:50.748Z,1613477270.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:51.153Z,1613477271.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:51.980Z,1613477271.980 [Micromodem](INFO): Nmea in: $SNTTA,0.017697,,,,120752.19*45

2021-02-16T12:07:52.006Z,1613477272.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 71.572234 deg, deltaT: 4.436387 s, approachRate: -0.811471 m/s, LOS rate: 0.364687 deg/s, posRepo size: 4
2021-02-16T12:07:52.032Z,1613477272.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.340000 m,
      bearing: 71.572234 deg,
      approachRate: -0.811471 m/s,
      LOS rate: 0.364687 deg/s,
      cmd update: 1.094062 deg/s,
      cmd heading: 71.839384 deg,
      new cmd heading: 71.299983 deg.

2021-02-16T12:07:54.453Z,1613477274.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:55.197Z,1613477275.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:07:55.597Z,1613477275.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:07:56.424Z,1613477276.424 [Micromodem](INFO): Nmea in: $SNTTA,0.015258,,,,120756.64*4E

2021-02-16T12:07:56.463Z,1613477276.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.679996 m, bearing: 72.255185 deg, deltaT: 4.480733 s, approachRate: -0.816831 m/s, LOS rate: 0.152419 deg/s, posRepo size: 4
2021-02-16T12:07:56.465Z,1613477276.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.679996 m,
      bearing: 72.255185 deg,
      approachRate: -0.816831 m/s,
      LOS rate: 0.152419 deg/s,
      cmd update: 0.457258 deg/s,
      cmd heading: 76.741569 deg,
      new cmd heading: 77.180653 deg.

2021-02-16T12:07:58.887Z,1613477278.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:07:59.636Z,1613477279.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:00.055Z,1613477280.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:00.872Z,1613477280.872 [Micromodem](INFO): Nmea in: $SNTTA,0.012781,,,,120801.08*4F

2021-02-16T12:08:00.898Z,1613477280.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 70.810914 deg, deltaT: 4.420502 s, approachRate: -0.841532 m/s, LOS rate: -0.326721 deg/s, posRepo size: 4
2021-02-16T12:08:00.900Z,1613477280.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.960001 m,
      bearing: 70.810914 deg,
      approachRate: -0.841532 m/s,
      LOS rate: -0.326721 deg/s,
      cmd update: -0.980163 deg/s,
      cmd heading: 78.762880 deg,
      new cmd heading: 78.953074 deg.

2021-02-16T12:08:03.293Z,1613477283.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:04.080Z,1613477284.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:04.503Z,1613477284.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:05.308Z,1613477285.308 [Micromodem](INFO): Nmea in: $SNTTA,0.010494,,,,120805.52*41

2021-02-16T12:08:05.386Z,1613477285.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.540001 m, bearing: 73.445659 deg, deltaT: 4.454664 s, approachRate: -0.767735 m/s, LOS rate: 0.591458 deg/s, posRepo size: 4
2021-02-16T12:08:05.392Z,1613477285.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.540001 m,
      bearing: 73.445659 deg,
      approachRate: -0.767735 m/s,
      LOS rate: 0.591458 deg/s,
      cmd update: 1.774373 deg/s,
      cmd heading: 74.400469 deg,
      new cmd heading: 73.956357 deg.

2021-02-16T12:08:07.741Z,1613477287.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:08.538Z,1613477288.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:08.930Z,1613477288.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:09.780Z,1613477289.780 [Micromodem](INFO): Nmea in: $SNTTA,0.008259,,,,120809.98*45

2021-02-16T12:08:09.851Z,1613477289.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.999999 m, bearing: 73.727466 deg, deltaT: 4.464081 s, approachRate: -0.792997 m/s, LOS rate: 0.063128 deg/s, posRepo size: 4
2021-02-16T12:08:09.853Z,1613477289.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 73.727466 deg,
      approachRate: -0.792997 m/s,
      LOS rate: 0.063128 deg/s,
      cmd update: 0.189383 deg/s,
      cmd heading: 82.328477 deg,
      new cmd heading: 83.093045 deg.

2021-02-16T12:08:12.193Z,1613477292.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:12.973Z,1613477292.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:13.395Z,1613477293.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:14.233Z,1613477294.233 [Micromodem](INFO): Nmea in: $SNTTA,0.005868,,,,120814.41*48

2021-02-16T12:08:14.262Z,1613477294.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.639998 m, bearing: 70.411361 deg, deltaT: 4.451019 s, approachRate: -0.754883 m/s, LOS rate: -0.745021 deg/s, posRepo size: 4
2021-02-16T12:08:14.264Z,1613477294.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.639998 m,
      bearing: 70.411361 deg,
      approachRate: -0.754883 m/s,
      LOS rate: -0.745021 deg/s,
      cmd update: -2.235064 deg/s,
      cmd heading: 83.169675 deg,
      new cmd heading: 83.249231 deg.

2021-02-16T12:08:16.638Z,1613477296.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:17.418Z,1613477297.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:17.849Z,1613477297.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:18.644Z,1613477298.644 [Micromodem](INFO): Nmea in: $SNTTA,0.004140,,,,120818.86*4D

2021-02-16T12:08:18.684Z,1613477298.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.999998 m, bearing: 70.356481 deg, deltaT: 4.423365 s, approachRate: -0.596831 m/s, LOS rate: -0.012407 deg/s, posRepo size: 4
2021-02-16T12:08:18.685Z,1613477298.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 70.356481 deg,
      approachRate: -0.596831 m/s,
      LOS rate: -0.012407 deg/s,
      cmd update: -0.037221 deg/s,
      cmd heading: 73.271625 deg,
      new cmd heading: 72.349925 deg.

2021-02-16T12:08:21.075Z,1613477301.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:21.862Z,1613477301.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:22.265Z,1613477302.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:23.105Z,1613477303.105 [Micromodem](INFO): Nmea in: $SNTTA,0.003071,,,,120823.30*4C

2021-02-16T12:08:23.144Z,1613477303.144 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T12:08:23.145Z,1613477303.145 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T12:08:23.146Z,1613477303.146 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T12:08:23.152Z,1613477303.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 75.211714 deg, deltaT: 4.426614 s, approachRate: -0.352413 m/s, LOS rate: 1.096828 deg/s, posRepo size: 4
2021-02-16T12:08:23.154Z,1613477303.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 75.211714 deg,
      approachRate: -0.352413 m/s,
      LOS rate: 1.096828 deg/s,
      cmd update: 3.290483 deg/s,
      cmd heading: 73.106713 deg,
      new cmd heading: 73.090106 deg.

2021-02-16T12:08:23.507Z,1613477303.507 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T120823: (41.552319, -70.708603)
2021-02-16T12:08:23.507Z,1613477303.507 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T12:08:23.507Z,1613477303.507 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T12:08:23.507Z,1613477303.507 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:08:23.508Z,1613477303.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T12:08:23.508Z,1613477303.508 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:08:23.508Z,1613477303.508 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T12:08:23.508Z,1613477303.508 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T12:08:23.508Z,1613477303.508 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:08:25.531Z,1613477305.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:26.300Z,1613477306.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:26.721Z,1613477306.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:27.532Z,1613477307.532 [Micromodem](INFO): Nmea in: $SNTTA,0.003621,,,,120827.74*4B

2021-02-16T12:08:27.577Z,1613477307.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 62.185594 deg, deltaT: 4.457535 s, approachRate: 0.228826 m/s, LOS rate: -2.922270 deg/s, posRepo size: 4
2021-02-16T12:08:27.578Z,1613477307.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 62.185594 deg,
      approachRate: 0.228826 m/s,
      LOS rate: -2.922270 deg/s,
      cmd update: -8.766809 deg/s,
      cmd heading: 87.772048 deg,
      new cmd heading: 89.148543 deg.

2021-02-16T12:08:29.986Z,1613477309.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:30.749Z,1613477310.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:31.153Z,1613477311.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:31.976Z,1613477311.976 [Micromodem](INFO): Nmea in: $SNTTA,0.005588,,,,120832.19*42

2021-02-16T12:08:32.001Z,1613477312.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.400000 m, bearing: 85.797107 deg, deltaT: 4.447135 s, approachRate: 0.661100 m/s, LOS rate: 5.309376 deg/s, posRepo size: 4
2021-02-16T12:08:32.003Z,1613477312.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.400000 m,
      bearing: 85.797107 deg,
      approachRate: 0.661100 m/s,
      LOS rate: 5.309376 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 48.919505 deg,
      new cmd heading: 45.315716 deg.

2021-02-16T12:08:34.412Z,1613477314.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:35.192Z,1613477315.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:35.601Z,1613477315.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:36.404Z,1613477316.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,120836.63*55

2021-02-16T12:08:37.257Z,1613477317.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:38.853Z,1613477318.853 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:08:40.086Z,1613477320.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:40.861Z,1613477320.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:41.259Z,1613477321.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:42.084Z,1613477322.084 [Micromodem](INFO): Nmea in: $SNTTA,0.010805,,,,120842.30*42

2021-02-16T12:08:42.167Z,1613477322.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 55.283377 deg, deltaT: 10.102494 s, approachRate: 0.783965 m/s, LOS rate: -3.020416 deg/s, posRepo size: 4
2021-02-16T12:08:42.170Z,1613477322.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 55.283377 deg,
      approachRate: 0.783965 m/s,
      LOS rate: -3.020416 deg/s,
      cmd update: -9.061247 deg/s,
      cmd heading: 170.206065 deg,
      new cmd heading: 175.790686 deg.

2021-02-16T12:08:44.517Z,1613477324.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:45.288Z,1613477325.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:45.711Z,1613477325.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:46.524Z,1613477326.524 [Micromodem](INFO): Nmea in: $SNTTA,0.013189,,,,120846.73*4F

2021-02-16T12:08:46.549Z,1613477326.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 85.404433 deg, deltaT: 4.437775 s, approachRate: 0.797698 m/s, LOS rate: 6.787423 deg/s, posRepo size: 4
2021-02-16T12:08:46.549Z,1613477326.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 19.86 m. Rolling out.
2021-02-16T12:08:46.549Z,1613477326.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T12:08:48.952Z,1613477328.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:49.738Z,1613477329.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:50.143Z,1613477330.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:50.968Z,1613477330.968 [Micromodem](INFO): Nmea in: $SNTTA,0.018567,,,,120851.18*4B

2021-02-16T12:08:50.993Z,1613477330.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 131.807474 deg, deltaT: 4.419619 s, approachRate: 1.737706 m/s, LOS rate: 10.499331 deg/s, posRepo size: 4
2021-02-16T12:08:53.394Z,1613477333.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:54.183Z,1613477334.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:54.587Z,1613477334.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:55.420Z,1613477335.420 [Micromodem](INFO): Nmea in: $SNTTA,0.017377,,,,120855.62*4A

2021-02-16T12:08:55.445Z,1613477335.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 95.607417 deg, deltaT: 4.452240 s, approachRate: -0.309955 m/s, LOS rate: -8.130752 deg/s, posRepo size: 4
2021-02-16T12:08:57.878Z,1613477337.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:08:58.628Z,1613477338.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:08:59.025Z,1613477339.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:08:59.872Z,1613477339.872 [Micromodem](INFO): Nmea in: $SNTTA,0.019142,,,,120900.07*42

2021-02-16T12:08:59.913Z,1613477339.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 192.107308 deg, deltaT: 4.510791 s, approachRate: 0.585263 m/s, LOS rate: 21.393119 deg/s, posRepo size: 4
2021-02-16T12:09:02.360Z,1613477342.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:03.065Z,1613477343.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:03.471Z,1613477343.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:04.292Z,1613477344.292 [Micromodem](INFO): Nmea in: $SNTTA,0.020825,,,,120904.51*47

2021-02-16T12:09:04.372Z,1613477344.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.379999 m, bearing: 152.638759 deg, deltaT: 4.392987 s, approachRate: 0.587300 m/s, LOS rate: -8.984444 deg/s, posRepo size: 4
2021-02-16T12:09:06.744Z,1613477346.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:07.514Z,1613477347.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:07.914Z,1613477347.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:08.740Z,1613477348.740 [Micromodem](INFO): Nmea in: $SNTTA,0.022561,,,,120908.95*4C

2021-02-16T12:09:08.777Z,1613477348.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.900002 m, bearing: 147.851780 deg, deltaT: 4.491446 s, approachRate: 0.561067 m/s, LOS rate: -1.065799 deg/s, posRepo size: 4
2021-02-16T12:09:11.198Z,1613477351.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:11.964Z,1613477351.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:12.368Z,1613477352.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:13.192Z,1613477353.192 [Micromodem](INFO): Nmea in: $SNTTA,0.024532,,,,120913.40*4E

2021-02-16T12:09:13.250Z,1613477353.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 150.012360 deg, deltaT: 4.374101 s, approachRate: 0.685855 m/s, LOS rate: 0.493948 deg/s, posRepo size: 4
2021-02-16T12:09:13.589Z,1613477353.589 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:09:15.617Z,1613477355.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:16.401Z,1613477356.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:16.809Z,1613477356.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:17.640Z,1613477357.640 [Micromodem](INFO): Nmea in: $SNTTA,0.026424,,,,120917.84*46

2021-02-16T12:09:17.665Z,1613477357.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 154.384910 deg, deltaT: 4.475070 s, approachRate: 0.670381 m/s, LOS rate: 0.977091 deg/s, posRepo size: 4
2021-02-16T12:09:20.086Z,1613477360.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:20.863Z,1613477360.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:21.256Z,1613477361.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:22.102Z,1613477362.102 [Micromodem](INFO): Nmea in: $SNTTA,0.028445,,,,120922.30*46

2021-02-16T12:09:22.128Z,1613477362.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.840000 m, bearing: 158.775588 deg, deltaT: 4.414673 s, approachRate: 0.665961 m/s, LOS rate: 0.994565 deg/s, posRepo size: 4
2021-02-16T12:09:24.536Z,1613477364.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:25.293Z,1613477365.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:25.693Z,1613477365.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:26.524Z,1613477366.524 [Micromodem](INFO): Nmea in: $SNTTA,0.030462,,,,120926.73*49

2021-02-16T12:09:26.568Z,1613477366.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 149.405935 deg, deltaT: 4.449243 s, approachRate: 0.687757 m/s, LOS rate: -2.105898 deg/s, posRepo size: 4
2021-02-16T12:09:28.969Z,1613477368.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:29.732Z,1613477369.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:30.144Z,1613477370.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:30.980Z,1613477370.980 [Micromodem](INFO): Nmea in: $SNTTA,0.032536,,,,120931.17*4F

2021-02-16T12:09:31.005Z,1613477371.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.019997 m, bearing: 139.488405 deg, deltaT: 4.448044 s, approachRate: 0.701432 m/s, LOS rate: -2.229639 deg/s, posRepo size: 4
2021-02-16T12:09:33.424Z,1613477373.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:34.176Z,1613477374.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:34.587Z,1613477374.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:35.419Z,1613477375.419 [Micromodem](INFO): Nmea in: $SNTTA,0.034461,,,,120935.62*4C

2021-02-16T12:09:35.444Z,1613477375.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 129.577923 deg, deltaT: 4.451595 s, approachRate: 0.660438 m/s, LOS rate: -2.226276 deg/s, posRepo size: 4
2021-02-16T12:09:37.880Z,1613477377.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:38.625Z,1613477378.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:39.027Z,1613477379.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:39.872Z,1613477379.872 [Micromodem](INFO): Nmea in: $SNTTA,0.036847,,,,120940.07*47

2021-02-16T12:09:39.897Z,1613477379.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 128.964517 deg, deltaT: 4.446834 s, approachRate: 0.728608 m/s, LOS rate: -0.137942 deg/s, posRepo size: 4
2021-02-16T12:09:42.275Z,1613477382.275 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:43.069Z,1613477383.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:43.495Z,1613477383.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:44.312Z,1613477384.312 [Micromodem](INFO): Nmea in: $SNTTA,0.038921,,,,120944.51*4F

2021-02-16T12:09:44.371Z,1613477384.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 123.194114 deg, deltaT: 4.435562 s, approachRate: 0.743989 m/s, LOS rate: -1.300941 deg/s, posRepo size: 4
2021-02-16T12:09:46.736Z,1613477386.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:47.508Z,1613477387.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:47.917Z,1613477387.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:48.744Z,1613477388.744 [Micromodem](INFO): Nmea in: $SNTTA,0.041202,,,,120948.95*4F

2021-02-16T12:09:48.788Z,1613477388.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.860001 m, bearing: 125.776772 deg, deltaT: 4.479541 s, approachRate: 0.750075 m/s, LOS rate: 0.576545 deg/s, posRepo size: 4
2021-02-16T12:09:51.171Z,1613477391.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:51.957Z,1613477391.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:52.381Z,1613477392.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:53.204Z,1613477393.204 [Micromodem](INFO): Nmea in: $SNTTA,0.043331,0.065387,,,120953.40*5F

2021-02-16T12:09:53.239Z,1613477393.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 124.361120 deg, deltaT: 4.407901 s, approachRate: 0.735045 m/s, LOS rate: -0.321162 deg/s, posRepo size: 4
2021-02-16T12:09:55.621Z,1613477395.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:09:56.397Z,1613477396.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:09:56.807Z,1613477396.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:09:57.628Z,1613477397.628 [Micromodem](INFO): Nmea in: $SNTTA,0.045475,,,,120957.84*43

2021-02-16T12:09:57.666Z,1613477397.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 126.099308 deg, deltaT: 4.466906 s, approachRate: 0.711901 m/s, LOS rate: 0.389126 deg/s, posRepo size: 4
2021-02-16T12:09:59.768Z,1613477399.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:00.436Z,1613477400.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:00.863Z,1613477400.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:01.673Z,1613477401.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121001.88*5D

2021-02-16T12:10:01.717Z,1613477401.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 121.221583 deg, deltaT: 4.029529 s, approachRate: 0.744506 m/s, LOS rate: -1.210495 deg/s, posRepo size: 4
2021-02-16T12:10:04.104Z,1613477404.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:04.881Z,1613477404.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:05.318Z,1613477405.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:06.112Z,1613477406.112 [Micromodem](INFO): Nmea in: $SNTTA,0.053436,,,,121006.32*42

2021-02-16T12:10:06.157Z,1613477406.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.580009 m, bearing: 119.939829 deg, deltaT: 4.409793 s, approachRate: 0.748335 m/s, LOS rate: -0.290661 deg/s, posRepo size: 4
2021-02-16T12:10:08.566Z,1613477408.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:09.349Z,1613477409.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:09.730Z,1613477409.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:10.573Z,1613477410.573 [Micromodem](INFO): Nmea in: $SNTTA,0.051902,,,,121010.79*42

2021-02-16T12:10:10.618Z,1613477410.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.000000 m, bearing: 120.326159 deg, deltaT: 4.497794 s, approachRate: 0.760371 m/s, LOS rate: 0.085893 deg/s, posRepo size: 4
2021-02-16T12:10:12.999Z,1613477412.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:13.773Z,1613477413.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:14.188Z,1613477414.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:14.996Z,1613477414.996 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121015.21*5B

2021-02-16T12:10:15.035Z,1613477415.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 120.833109 deg, deltaT: 4.479287 s, approachRate: 0.750121 m/s, LOS rate: 0.113177 deg/s, posRepo size: 4
2021-02-16T12:10:17.434Z,1613477417.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:18.213Z,1613477418.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:18.648Z,1613477418.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:19.476Z,1613477419.476 [Micromodem](INFO): Nmea in: $SNTTA,0.056363,,,,121019.65*4C

2021-02-16T12:10:19.531Z,1613477419.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 121.968833 deg, deltaT: 4.382595 s, approachRate: 0.794049 m/s, LOS rate: 0.259144 deg/s, posRepo size: 4
2021-02-16T12:10:21.886Z,1613477421.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:22.656Z,1613477422.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:23.069Z,1613477423.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:23.885Z,1613477423.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121024.10*5B

2021-02-16T12:10:23.967Z,1613477423.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 126.634808 deg, deltaT: 4.438555 s, approachRate: 0.770521 m/s, LOS rate: 1.051238 deg/s, posRepo size: 4
2021-02-16T12:10:26.320Z,1613477426.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:27.108Z,1613477427.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:27.506Z,1613477427.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:28.359Z,1613477428.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121028.55*56

2021-02-16T12:10:28.388Z,1613477428.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 123.887679 deg, deltaT: 4.460902 s, approachRate: 0.780110 m/s, LOS rate: -0.615824 deg/s, posRepo size: 4
2021-02-16T12:10:30.763Z,1613477430.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:31.544Z,1613477431.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:31.949Z,1613477431.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:32.772Z,1613477432.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121032.98*5C

2021-02-16T12:10:32.849Z,1613477432.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 128.665478 deg, deltaT: 4.480410 s, approachRate: 0.790106 m/s, LOS rate: 1.066375 deg/s, posRepo size: 4
2021-02-16T12:10:35.215Z,1613477435.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:35.994Z,1613477435.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:36.394Z,1613477436.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:37.221Z,1613477437.221 [Micromodem](INFO): Nmea in: $SNTTA,0.065737,,,,121037.43*41

2021-02-16T12:10:37.275Z,1613477437.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 128.772015 deg, deltaT: 4.411672 s, approachRate: 0.802417 m/s, LOS rate: 0.024149 deg/s, posRepo size: 4
2021-02-16T12:10:39.673Z,1613477439.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:40.167Z,1613477440.167 [RudderServo](ERROR): getPosition uart error serial timeout
2021-02-16T12:10:40.167Z,1613477440.167 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2021-02-16T12:10:40.167Z,1613477440.167 [RudderServo] Communications Fault, FailCount= 1
2021-02-16T12:10:40.167Z,1613477440.167 [RudderServo](ERROR): Communications Fault
2021-02-16T12:10:40.199Z,1613477440.199 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-02-16T12:10:40.434Z,1613477440.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:40.563Z,1613477440.563 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-02-16T12:10:40.564Z,1613477440.564 [RudderServo](INFO): Powering down
2021-02-16T12:10:40.864Z,1613477440.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:41.306Z,1613477441.306 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:10:41.425Z,1613477441.425 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-16T12:10:41.455Z,1613477441.455 [CBIT](INFO): Clearing failed state for component RudderServo
2021-02-16T12:10:41.455Z,1613477441.455 [RudderServo] No Fault, FailCount= 1
2021-02-16T12:10:41.660Z,1613477441.660 [Micromodem](INFO): Nmea in: $SNTTA,0.068084,,,,121041.87*4A

2021-02-16T12:10:41.701Z,1613477441.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.360001 m, bearing: 125.914250 deg, deltaT: 4.430701 s, approachRate: 0.798971 m/s, LOS rate: -0.644992 deg/s, posRepo size: 4
2021-02-16T12:10:44.114Z,1613477444.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:44.877Z,1613477444.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:45.299Z,1613477445.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:46.128Z,1613477446.128 [Micromodem](INFO): Nmea in: $SNTTA,0.070558,,,,121046.32*4E

2021-02-16T12:10:46.160Z,1613477446.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 130.226559 deg, deltaT: 4.465856 s, approachRate: 0.779247 m/s, LOS rate: 0.965617 deg/s, posRepo size: 4
2021-02-16T12:10:48.542Z,1613477448.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:49.360Z,1613477449.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:49.729Z,1613477449.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:50.564Z,1613477450.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121050.80*51

2021-02-16T12:10:50.618Z,1613477450.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 127.867507 deg, deltaT: 4.407466 s, approachRate: 0.775957 m/s, LOS rate: -0.535240 deg/s, posRepo size: 4
2021-02-16T12:10:52.982Z,1613477452.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:53.783Z,1613477453.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:54.170Z,1613477454.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:55.020Z,1613477455.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121055.22*5C

2021-02-16T12:10:55.051Z,1613477455.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.620003 m, bearing: 187.347472 deg, deltaT: 4.442109 s, approachRate: 0.756396 m/s, LOS rate: 13.390028 deg/s, posRepo size: 4
2021-02-16T12:10:57.425Z,1613477457.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:10:58.306Z,1613477458.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:10:58.619Z,1613477458.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:10:59.876Z,1613477459.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121059.75*52

2021-02-16T12:10:59.910Z,1613477459.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 188.310747 deg, deltaT: 4.854333 s, approachRate: 0.753965 m/s, LOS rate: 0.198436 deg/s, posRepo size: 4
2021-02-16T12:11:02.272Z,1613477462.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:03.068Z,1613477463.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:03.465Z,1613477463.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:04.326Z,1613477464.326 [Micromodem](INFO): Nmea in: $SNTTA,0.080325,,,,121104.51*4F

2021-02-16T12:11:04.362Z,1613477464.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 127.969168 deg, deltaT: 4.468110 s, approachRate: 0.899710 m/s, LOS rate: -13.504945 deg/s, posRepo size: 4
2021-02-16T12:11:06.732Z,1613477466.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:07.501Z,1613477467.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:07.913Z,1613477467.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:08.728Z,1613477468.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121108.94*58

2021-02-16T12:11:08.773Z,1613477468.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 129.961998 deg, deltaT: 4.454812 s, approachRate: 0.767709 m/s, LOS rate: 0.447343 deg/s, posRepo size: 4
2021-02-16T12:11:11.162Z,1613477471.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:11.945Z,1613477471.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:12.374Z,1613477472.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:13.173Z,1613477473.173 [Micromodem](INFO): Nmea in: $SNTTA,0.084587,,,,121113.38*4C

2021-02-16T12:11:13.215Z,1613477473.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 130.335104 deg, deltaT: 4.419246 s, approachRate: 0.760311 m/s, LOS rate: 0.084428 deg/s, posRepo size: 4
2021-02-16T12:11:15.606Z,1613477475.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:16.388Z,1613477476.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:16.799Z,1613477476.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:17.616Z,1613477477.616 [Micromodem](INFO): Nmea in: $SNTTA,0.086699,,,,121117.83*46

2021-02-16T12:11:17.654Z,1613477477.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 128.752672 deg, deltaT: 4.454055 s, approachRate: 0.713958 m/s, LOS rate: -0.355279 deg/s, posRepo size: 4
2021-02-16T12:11:20.050Z,1613477480.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:20.860Z,1613477480.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:21.248Z,1613477481.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:22.084Z,1613477482.084 [Micromodem](INFO): Nmea in: $SNTTA,0.089102,,,,121122.30*42

2021-02-16T12:11:22.109Z,1613477482.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 189.811435 deg, deltaT: 4.434874 s, approachRate: 0.798217 m/s, LOS rate: 13.767868 deg/s, posRepo size: 4
2021-02-16T12:11:24.500Z,1613477484.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:25.276Z,1613477485.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:25.687Z,1613477485.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:26.512Z,1613477486.512 [Micromodem](INFO): Nmea in: $SNTTA,0.091279,,,,121126.72*46

2021-02-16T12:11:26.536Z,1613477486.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.100006 m, bearing: 129.457930 deg, deltaT: 4.437400 s, approachRate: 0.743679 m/s, LOS rate: -13.601097 deg/s, posRepo size: 4
2021-02-16T12:11:28.953Z,1613477488.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:29.406Z,1613477489.406 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:11:29.720Z,1613477489.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:30.133Z,1613477490.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:30.948Z,1613477490.948 [Micromodem](INFO): Nmea in: $SNTTA,0.093511,,,,121131.16*49

2021-02-16T12:11:30.987Z,1613477490.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.460007 m, bearing: 186.862679 deg, deltaT: 4.444467 s, approachRate: 0.755996 m/s, LOS rate: 12.916003 deg/s, posRepo size: 4
2021-02-16T12:11:33.429Z,1613477493.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:34.182Z,1613477494.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:34.571Z,1613477494.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:35.408Z,1613477495.408 [Micromodem](INFO): Nmea in: $SNTTA,0.095838,,,,121135.62*4E

2021-02-16T12:11:35.438Z,1613477495.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.940002 m, bearing: 187.214734 deg, deltaT: 4.444621 s, approachRate: 0.782968 m/s, LOS rate: 0.079209 deg/s, posRepo size: 4
2021-02-16T12:11:37.865Z,1613477497.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:38.608Z,1613477498.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:39.015Z,1613477499.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:39.868Z,1613477499.868 [Micromodem](INFO): Nmea in: $SNTTA,0.098657,,,,121140.05*47

2021-02-16T12:11:39.893Z,1613477499.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.360001 m, bearing: 185.733116 deg, deltaT: 4.450057 s, approachRate: 0.768529 m/s, LOS rate: -0.332944 deg/s, posRepo size: 4
2021-02-16T12:11:42.267Z,1613477502.267 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:43.053Z,1613477503.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:43.462Z,1613477503.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:44.284Z,1613477504.284 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121144.49*50

2021-02-16T12:11:44.382Z,1613477504.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 129.735072 deg, deltaT: 4.449455 s, approachRate: 0.755149 m/s, LOS rate: -12.585371 deg/s, posRepo size: 4
2021-02-16T12:11:44.383Z,1613477504.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.72 m. Resuming terminal guidance.
2021-02-16T12:11:44.383Z,1613477504.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:11:45.507Z,1613477505.507 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:11:46.721Z,1613477506.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:47.496Z,1613477507.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:47.902Z,1613477507.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:48.733Z,1613477508.733 [Micromodem](INFO): Nmea in: $SNTTA,0.102906,,,,121148.94*4E

2021-02-16T12:11:48.777Z,1613477508.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 176.944383 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:11:48.778Z,1613477508.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 176.944383deg and heading rate command to 0 deg/s.
2021-02-16T12:11:49.551Z,1613477509.551 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T12:11:51.171Z,1613477511.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:51.949Z,1613477511.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:52.376Z,1613477512.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:53.176Z,1613477513.176 [Micromodem](INFO): Nmea in: $SNTTA,0.105126,,,,121153.39*4E

2021-02-16T12:11:53.232Z,1613477513.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 129.377880 deg, deltaT: 4.425827 s, approachRate: 0.759173 m/s, LOS rate: -10.747484 deg/s, posRepo size: 2
2021-02-16T12:11:53.239Z,1613477513.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 129.377880 deg,
      approachRate: 0.759173 m/s,
      LOS rate: -10.747484 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 176.944383 deg,
      new cmd heading: 176.944383 deg.

2021-02-16T12:11:54.413Z,1613477514.413 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T12:11:55.620Z,1613477515.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:11:56.401Z,1613477516.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:11:56.803Z,1613477516.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:11:57.640Z,1613477517.640 [Micromodem](INFO): Nmea in: $SNTTA,0.107511,,,,121157.84*4E

2021-02-16T12:11:57.670Z,1613477517.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 143.260131 deg, deltaT: 4.472679 s, approachRate: 0.000000 m/s, LOS rate: 3.103789 deg/s, posRepo size: 3
2021-02-16T12:11:57.672Z,1613477517.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 143.260131 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.103789 deg/s,
      cmd update: 9.311366 deg/s,
      cmd heading: 122.999125 deg,
      new cmd heading: 118.143517 deg.

2021-02-16T12:12:00.065Z,1613477520.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:00.451Z,1613477520.451 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T12:12:00.854Z,1613477520.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:01.241Z,1613477521.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:02.073Z,1613477522.073 [Micromodem](INFO): Nmea in: $SNTTA,0.109457,,,,121202.29*47

2021-02-16T12:12:02.098Z,1613477522.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.859985 m, bearing: 188.666245 deg, deltaT: 4.406143 s, approachRate: 0.000000 m/s, LOS rate: 10.305184 deg/s, posRepo size: 4
2021-02-16T12:12:02.100Z,1613477522.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.859985 m,
      bearing: 188.666245 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 10.305184 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 164.055398 deg,
      new cmd heading: 167.993547 deg.

2021-02-16T12:12:04.562Z,1613477524.562 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-02-16T12:12:04.577Z,1613477524.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:05.275Z,1613477525.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:05.686Z,1613477525.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:06.500Z,1613477526.500 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121206.71*5E

2021-02-16T12:12:06.524Z,1613477526.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 138.252919 deg, deltaT: 4.463347 s, approachRate: 1.935774 m/s, LOS rate: -11.294960 deg/s, posRepo size: 4
2021-02-16T12:12:06.526Z,1613477526.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 138.252919 deg,
      approachRate: 1.935774 m/s,
      LOS rate: -11.294960 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 217.576023 deg,
      new cmd heading: 222.248967 deg.

2021-02-16T12:12:08.958Z,1613477528.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:09.386Z,1613477529.386 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T12:12:09.737Z,1613477529.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:10.129Z,1613477530.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:10.950Z,1613477530.950 [Micromodem](INFO): Nmea in: $SNTTA,0.113253,,,,121211.18*4E

2021-02-16T12:12:11.412Z,1613477531.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 166.194553 deg, deltaT: 4.883757 s, approachRate: 0.749421 m/s, LOS rate: 5.721340 deg/s, posRepo size: 4
2021-02-16T12:12:11.414Z,1613477531.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.160004 m,
      bearing: 166.194553 deg,
      approachRate: 0.749421 m/s,
      LOS rate: 5.721340 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 158.966941 deg,
      new cmd heading: 154.256653 deg.

2021-02-16T12:12:13.771Z,1613477533.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:14.569Z,1613477534.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:14.625Z,1613477534.625 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:12:14.976Z,1613477534.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:15.798Z,1613477535.798 [Micromodem](INFO): Nmea in: $SNTTA,0.115078,,,,121216.01*4C

2021-02-16T12:12:15.865Z,1613477535.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.160004 m, bearing: 186.284312 deg, deltaT: 4.409562 s, approachRate: 0.000000 m/s, LOS rate: 4.555953 deg/s, posRepo size: 4
2021-02-16T12:12:15.866Z,1613477535.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.160004 m,
      bearing: 186.284312 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.555953 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 211.882587 deg,
      new cmd heading: 217.115355 deg.

2021-02-16T12:12:18.250Z,1613477538.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:19.008Z,1613477539.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:19.488Z,1613477539.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:20.241Z,1613477540.241 [Micromodem](INFO): Nmea in: $SNTTA,0.116634,,,,121220.45*44

2021-02-16T12:12:20.276Z,1613477540.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.020004 m, bearing: 178.865292 deg, deltaT: 4.461225 s, approachRate: 1.089387 m/s, LOS rate: -1.663001 deg/s, posRepo size: 4
2021-02-16T12:12:20.278Z,1613477540.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.020004 m,
      bearing: 178.865292 deg,
      approachRate: 1.089387 m/s,
      LOS rate: -1.663001 deg/s,
      cmd update: -4.989002 deg/s,
      cmd heading: 265.369828 deg,
      new cmd heading: 270.056572 deg.

2021-02-16T12:12:22.692Z,1613477542.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:23.457Z,1613477543.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:23.867Z,1613477543.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:24.693Z,1613477544.693 [Micromodem](INFO): Nmea in: $SNTTA,0.117873,,,,121224.90*44

2021-02-16T12:12:24.703Z,1613477544.703 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:12:24.716Z,1613477544.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.020004 m, bearing: 250.499565 deg, deltaT: 4.412744 s, approachRate: 0.000000 m/s, LOS rate: 16.233498 deg/s, posRepo size: 4
2021-02-16T12:12:24.716Z,1613477544.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.233498 deg/s. Setting heading cmd to target bearing of 250.499565deg and heading rate command to 0 deg/s.
2021-02-16T12:12:27.114Z,1613477547.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:27.896Z,1613477547.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:28.307Z,1613477548.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:29.124Z,1613477549.124 [Micromodem](INFO): Nmea in: $SNTTA,0.118477,,,,121229.33*47

2021-02-16T12:12:29.191Z,1613477549.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.020004 m, bearing: 175.657972 deg, deltaT: 4.445918 s, approachRate: 0.000000 m/s, LOS rate: -16.833776 deg/s, posRepo size: 4
2021-02-16T12:12:29.196Z,1613477549.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.833776 deg/s. Setting heading cmd to target bearing of 175.657972deg and heading rate command to 0 deg/s.
2021-02-16T12:12:31.564Z,1613477551.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:32.372Z,1613477552.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:32.747Z,1613477552.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:33.581Z,1613477553.581 [Micromodem](INFO): Nmea in: $SNTTA,0.118814,,,0.121319,121233.81*5B

2021-02-16T12:12:34.002Z,1613477554.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.139999 m, bearing: 268.618363 deg, deltaT: 4.852984 s, approachRate: 0.642902 m/s, LOS rate: 19.155305 deg/s, posRepo size: 4
2021-02-16T12:12:34.003Z,1613477554.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.155305 deg/s. Setting heading cmd to target bearing of 268.618363deg and heading rate command to 0 deg/s.
2021-02-16T12:12:36.441Z,1613477556.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:37.232Z,1613477557.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:37.599Z,1613477557.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:38.425Z,1613477558.425 [Micromodem](INFO): Nmea in: $SNTTA,0.118580,,,,121238.67*4F

2021-02-16T12:12:38.881Z,1613477558.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.840012 m, bearing: 191.812216 deg, deltaT: 4.875938 s, approachRate: -0.061524 m/s, LOS rate: -15.752076 deg/s, posRepo size: 4
2021-02-16T12:12:38.881Z,1613477558.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.752076 deg/s. Setting heading cmd to target bearing of 191.812216deg and heading rate command to 0 deg/s.
2021-02-16T12:12:41.262Z,1613477561.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:42.042Z,1613477562.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:42.460Z,1613477562.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:43.329Z,1613477563.329 [Micromodem](INFO): Nmea in: $SNTTA,0.118697,,,,121243.48*4B

2021-02-16T12:12:43.365Z,1613477563.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.080002 m, bearing: 218.896143 deg, deltaT: 4.447371 s, approachRate: 0.053962 m/s, LOS rate: 6.089874 deg/s, posRepo size: 4
2021-02-16T12:12:43.367Z,1613477563.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.080002 m,
      bearing: 218.896143 deg,
      approachRate: 0.053962 m/s,
      LOS rate: 6.089874 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.812216 deg,
      new cmd heading: 191.812216 deg.

2021-02-16T12:12:45.713Z,1613477565.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:46.482Z,1613477566.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:46.886Z,1613477566.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:47.712Z,1613477567.712 [Micromodem](INFO): Nmea in: $SNTTA,0.118851,,,,121247.92*4C

2021-02-16T12:12:47.760Z,1613477567.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.080002 m, bearing: 223.218191 deg, deltaT: 4.393627 s, approachRate: 0.000000 m/s, LOS rate: 0.983708 deg/s, posRepo size: 4
2021-02-16T12:12:47.762Z,1613477567.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.080002 m,
      bearing: 223.218191 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.983708 deg/s,
      cmd update: 2.951125 deg/s,
      cmd heading: 244.526958 deg,
      new cmd heading: 249.843498 deg.

2021-02-16T12:12:50.166Z,1613477570.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:50.933Z,1613477570.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:51.372Z,1613477571.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:52.149Z,1613477572.149 [Micromodem](INFO): Nmea in: $SNTTA,0.119315,,,,121252.37*4D

2021-02-16T12:12:52.579Z,1613477572.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 277.500149 deg, deltaT: 4.875380 s, approachRate: 0.172294 m/s, LOS rate: 11.133893 deg/s, posRepo size: 4
2021-02-16T12:12:52.581Z,1613477572.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 277.500149 deg,
      approachRate: 0.172294 m/s,
      LOS rate: 11.133893 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.917649 deg,
      new cmd heading: 260.054316 deg.

2021-02-16T12:12:54.995Z,1613477574.995 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:12:55.773Z,1613477575.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:12:56.179Z,1613477576.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:12:57.072Z,1613477577.072 [Micromodem](INFO): Nmea in: $SNTTA,0.119333,,,,121257.21*4B

2021-02-16T12:12:57.097Z,1613477577.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 269.939840 deg, deltaT: 4.508845 s, approachRate: 0.013307 m/s, LOS rate: -1.676773 deg/s, posRepo size: 4
2021-02-16T12:12:57.099Z,1613477577.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 269.939840 deg,
      approachRate: 0.013307 m/s,
      LOS rate: -1.676773 deg/s,
      cmd update: -5.030319 deg/s,
      cmd heading: 313.022697 deg,
      new cmd heading: 317.754406 deg.

2021-02-16T12:12:59.441Z,1613477579.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:00.220Z,1613477580.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:00.622Z,1613477580.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:01.456Z,1613477581.456 [Micromodem](INFO): Nmea in: $SNTTA,0.118931,,,,121301.66*43

2021-02-16T12:13:01.480Z,1613477581.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 304.643239 deg, deltaT: 4.392418 s, approachRate: 0.000000 m/s, LOS rate: 7.900750 deg/s, posRepo size: 4
2021-02-16T12:13:01.482Z,1613477581.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 304.643239 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.900750 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.927340 deg,
      new cmd heading: 288.988715 deg.

2021-02-16T12:13:03.910Z,1613477583.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:04.665Z,1613477584.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:05.091Z,1613477585.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:05.899Z,1613477585.899 [Micromodem](INFO): Nmea in: $SNTTA,0.118146,,,,121306.10*4D

2021-02-16T12:13:05.924Z,1613477585.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 317.811188 deg, deltaT: 4.418272 s, approachRate: 0.000000 m/s, LOS rate: 2.980339 deg/s, posRepo size: 4
2021-02-16T12:13:05.926Z,1613477585.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 317.811188 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.980339 deg/s,
      cmd update: 8.941017 deg/s,
      cmd heading: 343.972885 deg,
      new cmd heading: 348.873181 deg.

2021-02-16T12:13:08.350Z,1613477588.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:09.121Z,1613477589.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:09.510Z,1613477589.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:10.444Z,1613477590.444 [Micromodem](INFO): Nmea in: $SNTTA,0.116931,,,,121310.56*4E

2021-02-16T12:13:10.861Z,1613477590.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.199997 m, bearing: 310.338497 deg, deltaT: 4.979289 s, approachRate: -0.759144 m/s, LOS rate: -1.500755 deg/s, posRepo size: 4
2021-02-16T12:13:10.867Z,1613477590.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.199997 m,
      bearing: 310.338497 deg,
      approachRate: -0.759144 m/s,
      LOS rate: -1.500755 deg/s,
      cmd update: -4.502264 deg/s,
      cmd heading: 28.431494 deg,
      new cmd heading: 31.771501 deg.

2021-02-16T12:13:13.175Z,1613477593.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:13.958Z,1613477593.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:14.442Z,1613477594.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:15.192Z,1613477595.192 [Micromodem](INFO): Nmea in: $SNTTA,0.115101,,,,121315.40*44

2021-02-16T12:13:15.254Z,1613477595.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 309.565347 deg, deltaT: 4.357638 s, approachRate: -0.633366 m/s, LOS rate: -0.177424 deg/s, posRepo size: 4
2021-02-16T12:13:15.260Z,1613477595.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 309.565347 deg,
      approachRate: -0.633366 m/s,
      LOS rate: -0.177424 deg/s,
      cmd update: -0.532272 deg/s,
      cmd heading: 8.873998 deg,
      new cmd heading: 6.974488 deg.

2021-02-16T12:13:17.644Z,1613477597.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:18.421Z,1613477598.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:18.855Z,1613477598.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:19.648Z,1613477599.648 [Micromodem](INFO): Nmea in: $SNTTA,0.113347,,,,121319.86*44

2021-02-16T12:13:19.685Z,1613477599.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 312.266386 deg, deltaT: 4.416697 s, approachRate: 0.000000 m/s, LOS rate: 0.611552 deg/s, posRepo size: 4
2021-02-16T12:13:19.686Z,1613477599.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 312.266386 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.611552 deg/s,
      cmd update: 1.834656 deg/s,
      cmd heading: 6.515544 deg,
      new cmd heading: 6.290984 deg.

2021-02-16T12:13:22.100Z,1613477602.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:22.872Z,1613477602.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:23.265Z,1613477603.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:24.180Z,1613477604.180 [Micromodem](INFO): Nmea in: $SNTTA,0.111551,,,,121324.31*45

2021-02-16T12:13:24.205Z,1613477604.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 311.521786 deg, deltaT: 4.447150 s, approachRate: 0.000000 m/s, LOS rate: -0.167433 deg/s, posRepo size: 4
2021-02-16T12:13:24.207Z,1613477604.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 311.521786 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.167433 deg/s,
      cmd update: -0.502299 deg/s,
      cmd heading: 14.681605 deg,
      new cmd heading: 15.583250 deg.

2021-02-16T12:13:26.534Z,1613477606.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:27.310Z,1613477607.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:27.706Z,1613477607.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:28.536Z,1613477608.536 [Micromodem](INFO): Nmea in: $SNTTA,0.110009,,,,121328.75*40

2021-02-16T12:13:28.560Z,1613477608.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 309.200724 deg, deltaT: 4.429826 s, approachRate: 0.000000 m/s, LOS rate: -0.523962 deg/s, posRepo size: 4
2021-02-16T12:13:28.562Z,1613477608.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 309.200724 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.523962 deg/s,
      cmd update: -1.571887 deg/s,
      cmd heading: 12.454884 deg,
      new cmd heading: 12.247401 deg.

2021-02-16T12:13:30.969Z,1613477610.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:31.744Z,1613477611.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:32.150Z,1613477612.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:32.976Z,1613477612.976 [Micromodem](INFO): Nmea in: $SNTTA,0.108884,,,,121333.19*44

2021-02-16T12:13:33.001Z,1613477613.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 302.156941 deg, deltaT: 4.469288 s, approachRate: -2.067448 m/s, LOS rate: -1.576041 deg/s, posRepo size: 4
2021-02-16T12:13:33.023Z,1613477613.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.199997 m,
      bearing: 302.156941 deg,
      approachRate: -2.067448 m/s,
      LOS rate: -1.576041 deg/s,
      cmd update: -4.728124 deg/s,
      cmd heading: 5.444476 deg,
      new cmd heading: 4.824435 deg.

2021-02-16T12:13:35.435Z,1613477615.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:36.190Z,1613477616.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:36.595Z,1613477616.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:37.493Z,1613477617.493 [Micromodem](INFO): Nmea in: $SNTTA,0.107514,,,,121337.63*46

2021-02-16T12:13:37.517Z,1613477617.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.100006 m, bearing: 310.960727 deg, deltaT: 4.444086 s, approachRate: -0.472536 m/s, LOS rate: 1.981012 deg/s, posRepo size: 4
2021-02-16T12:13:37.519Z,1613477617.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.100006 m,
      bearing: 310.960727 deg,
      approachRate: -0.472536 m/s,
      LOS rate: 1.981012 deg/s,
      cmd update: 5.943035 deg/s,
      cmd heading: 344.401487 deg,
      new cmd heading: 342.228493 deg.

2021-02-16T12:13:39.893Z,1613477619.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:40.652Z,1613477620.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:41.055Z,1613477621.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:41.876Z,1613477621.876 [Micromodem](INFO): Nmea in: $SNTTA,0.106224,,,,121342.09*4D

2021-02-16T12:13:41.901Z,1613477621.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.179993 m, bearing: 308.563959 deg, deltaT: 4.425038 s, approachRate: -0.433898 m/s, LOS rate: -0.541638 deg/s, posRepo size: 4
2021-02-16T12:13:41.903Z,1613477621.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.179993 m,
      bearing: 308.563959 deg,
      approachRate: -0.433898 m/s,
      LOS rate: -0.541638 deg/s,
      cmd update: -1.624914 deg/s,
      cmd heading: 10.723425 deg,
      new cmd heading: 13.189517 deg.

2021-02-16T12:13:44.304Z,1613477624.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:45.076Z,1613477625.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:45.494Z,1613477625.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:46.328Z,1613477626.328 [Micromodem](INFO): Nmea in: $SNTTA,0.104595,,,,121346.52*48

2021-02-16T12:13:46.406Z,1613477626.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.779999 m, bearing: 304.622831 deg, deltaT: 4.443972 s, approachRate: -0.540056 m/s, LOS rate: -0.886848 deg/s, posRepo size: 4
2021-02-16T12:13:46.412Z,1613477626.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.779999 m,
      bearing: 304.622831 deg,
      approachRate: -0.540056 m/s,
      LOS rate: -0.886848 deg/s,
      cmd update: -2.660544 deg/s,
      cmd heading: 3.503047 deg,
      new cmd heading: 2.731156 deg.

2021-02-16T12:13:48.751Z,1613477628.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:49.530Z,1613477629.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:49.927Z,1613477629.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:50.847Z,1613477630.847 [Micromodem](INFO): Nmea in: $SNTTA,0.103415,,,,121350.97*48

2021-02-16T12:13:50.888Z,1613477630.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 298.513746 deg, deltaT: 4.484369 s, approachRate: -0.414774 m/s, LOS rate: -1.362307 deg/s, posRepo size: 4
2021-02-16T12:13:50.890Z,1613477630.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 298.513746 deg,
      approachRate: -0.414774 m/s,
      LOS rate: -1.362307 deg/s,
      cmd update: -4.086920 deg/s,
      cmd heading: 351.582297 deg,
      new cmd heading: 350.311337 deg.

2021-02-16T12:13:51.147Z,1613477631.147 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-63 in onboard configuration file).
2021-02-16T12:13:53.190Z,1613477633.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:53.964Z,1613477633.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:54.385Z,1613477634.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:55.196Z,1613477635.196 [Micromodem](INFO): Nmea in: $SNTTA,0.102110,,,,121355.40*46

2021-02-16T12:13:55.258Z,1613477635.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.059998 m, bearing: 312.631419 deg, deltaT: 4.383060 s, approachRate: -0.424361 m/s, LOS rate: 3.220963 deg/s, posRepo size: 4
2021-02-16T12:13:55.264Z,1613477635.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.059998 m,
      bearing: 312.631419 deg,
      approachRate: -0.424361 m/s,
      LOS rate: 3.220963 deg/s,
      cmd update: 9.662889 deg/s,
      cmd heading: 333.669676 deg,
      new cmd heading: 331.772474 deg.

2021-02-16T12:13:57.637Z,1613477637.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:13:58.425Z,1613477638.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:13:58.850Z,1613477638.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:13:59.648Z,1613477639.648 [Micromodem](INFO): Nmea in: $SNTTA,0.100875,,,,121359.86*48

2021-02-16T12:13:59.693Z,1613477639.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 303.384108 deg, deltaT: 4.472780 s, approachRate: -0.456091 m/s, LOS rate: -2.067464 deg/s, posRepo size: 4
2021-02-16T12:13:59.694Z,1613477639.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 303.384108 deg,
      approachRate: -0.456091 m/s,
      LOS rate: -2.067464 deg/s,
      cmd update: -6.202391 deg/s,
      cmd heading: 16.929908 deg,
      new cmd heading: 21.009570 deg.

2021-02-16T12:14:02.090Z,1613477642.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:02.862Z,1613477642.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:03.263Z,1613477643.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:04.152Z,1613477644.152 [Micromodem](INFO): Nmea in: $SNTTA,0.099364,,,,121404.30*40

2021-02-16T12:14:04.177Z,1613477644.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.860001 m, bearing: 300.425925 deg, deltaT: 4.435435 s, approachRate: -0.486988 m/s, LOS rate: -0.666943 deg/s, posRepo size: 4
2021-02-16T12:14:04.179Z,1613477644.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.860001 m,
      bearing: 300.425925 deg,
      approachRate: -0.486988 m/s,
      LOS rate: -0.666943 deg/s,
      cmd update: -2.000829 deg/s,
      cmd heading: 349.418326 deg,
      new cmd heading: 346.494915 deg.

2021-02-16T12:14:06.567Z,1613477646.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:07.316Z,1613477647.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:07.702Z,1613477647.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:08.536Z,1613477648.536 [Micromodem](INFO): Nmea in: $SNTTA,0.097936,,,,121408.75*4E

2021-02-16T12:14:08.584Z,1613477648.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 302.414630 deg, deltaT: 4.448361 s, approachRate: -0.472082 m/s, LOS rate: 0.447065 deg/s, posRepo size: 4
2021-02-16T12:14:08.586Z,1613477648.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.760010 m,
      bearing: 302.414630 deg,
      approachRate: -0.472082 m/s,
      LOS rate: 0.447065 deg/s,
      cmd update: 1.341194 deg/s,
      cmd heading: 340.518308 deg,
      new cmd heading: 339.658114 deg.

2021-02-16T12:14:10.967Z,1613477650.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:11.745Z,1613477651.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:12.146Z,1613477652.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:12.972Z,1613477652.972 [Micromodem](INFO): Nmea in: $SNTTA,0.096490,,,,121413.18*4F

2021-02-16T12:14:12.997Z,1613477652.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.600006 m, bearing: 301.604215 deg, deltaT: 4.447505 s, approachRate: -0.485666 m/s, LOS rate: -0.182218 deg/s, posRepo size: 4
2021-02-16T12:14:12.999Z,1613477652.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.600006 m,
      bearing: 301.604215 deg,
      approachRate: -0.485666 m/s,
      LOS rate: -0.182218 deg/s,
      cmd update: -0.546654 deg/s,
      cmd heading: 346.477936 deg,
      new cmd heading: 347.013416 deg.

2021-02-16T12:14:15.421Z,1613477655.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:16.194Z,1613477656.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:16.616Z,1613477656.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:17.484Z,1613477657.484 [Micromodem](INFO): Nmea in: $SNTTA,0.095198,,,,121417.63*49

2021-02-16T12:14:17.513Z,1613477657.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 298.373290 deg, deltaT: 4.455863 s, approachRate: -0.484755 m/s, LOS rate: -0.725095 deg/s, posRepo size: 4
2021-02-16T12:14:17.515Z,1613477657.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.440002 m,
      bearing: 298.373290 deg,
      approachRate: -0.484755 m/s,
      LOS rate: -0.725095 deg/s,
      cmd update: -2.175286 deg/s,
      cmd heading: 344.039852 deg,
      new cmd heading: 343.790693 deg.

2021-02-16T12:14:19.882Z,1613477659.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:20.649Z,1613477660.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:21.034Z,1613477661.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:21.888Z,1613477661.888 [Micromodem](INFO): Nmea in: $SNTTA,0.093500,,,,121422.09*40

2021-02-16T12:14:21.947Z,1613477661.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.919998 m, bearing: 298.327691 deg, deltaT: 4.454928 s, approachRate: -0.565667 m/s, LOS rate: -0.010235 deg/s, posRepo size: 4
2021-02-16T12:14:21.949Z,1613477661.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.919998 m,
      bearing: 298.327691 deg,
      approachRate: -0.565667 m/s,
      LOS rate: -0.010235 deg/s,
      cmd update: -0.030706 deg/s,
      cmd heading: 334.420172 deg,
      new cmd heading: 333.456003 deg.

2021-02-16T12:14:24.294Z,1613477664.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:25.081Z,1613477665.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:25.483Z,1613477665.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:26.311Z,1613477666.311 [Micromodem](INFO): Nmea in: $SNTTA,0.091755,,,,121426.52*4A

2021-02-16T12:14:26.382Z,1613477666.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.339996 m, bearing: 296.174406 deg, deltaT: 4.424563 s, approachRate: -0.583109 m/s, LOS rate: -0.486666 deg/s, posRepo size: 4
2021-02-16T12:14:26.388Z,1613477666.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.339996 m,
      bearing: 296.174406 deg,
      approachRate: -0.583109 m/s,
      LOS rate: -0.486666 deg/s,
      cmd update: -1.459999 deg/s,
      cmd heading: 334.283436 deg,
      new cmd heading: 334.269651 deg.

2021-02-16T12:14:28.734Z,1613477668.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:29.539Z,1613477669.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:29.922Z,1613477669.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:30.756Z,1613477670.756 [Micromodem](INFO): Nmea in: $SNTTA,0.089978,,,,121430.98*43

2021-02-16T12:14:30.798Z,1613477670.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 294.890002 deg, deltaT: 4.470231 s, approachRate: -0.590573 m/s, LOS rate: -0.287324 deg/s, posRepo size: 4
2021-02-16T12:14:30.800Z,1613477670.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.699997 m,
      bearing: 294.890002 deg,
      approachRate: -0.590573 m/s,
      LOS rate: -0.287324 deg/s,
      cmd update: -0.861971 deg/s,
      cmd heading: 327.756801 deg,
      new cmd heading: 327.180768 deg.

2021-02-16T12:14:33.222Z,1613477673.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:33.960Z,1613477673.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:34.384Z,1613477674.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:35.203Z,1613477675.203 [Micromodem](INFO): Nmea in: $SNTTA,0.088221,,,,121435.40*45

2021-02-16T12:14:35.236Z,1613477675.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.000000 m, bearing: 294.490382 deg, deltaT: 4.441431 s, approachRate: -0.607911 m/s, LOS rate: -0.089976 deg/s, posRepo size: 4
2021-02-16T12:14:35.239Z,1613477675.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.000000 m,
      bearing: 294.490382 deg,
      approachRate: -0.607911 m/s,
      LOS rate: -0.089976 deg/s,
      cmd update: -0.269927 deg/s,
      cmd heading: 323.947794 deg,
      new cmd heading: 323.591746 deg.

2021-02-16T12:14:37.642Z,1613477677.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:38.406Z,1613477678.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:38.836Z,1613477678.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:39.640Z,1613477679.640 [Micromodem](INFO): Nmea in: $SNTTA,0.086463,,,,121439.85*4E

2021-02-16T12:14:39.703Z,1613477679.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.360001 m, bearing: 294.749382 deg, deltaT: 4.416866 s, approachRate: -0.597709 m/s, LOS rate: 0.058639 deg/s, posRepo size: 4
2021-02-16T12:14:39.705Z,1613477679.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.360001 m,
      bearing: 294.749382 deg,
      approachRate: -0.597709 m/s,
      LOS rate: 0.058639 deg/s,
      cmd update: 0.175917 deg/s,
      cmd heading: 322.748378 deg,
      new cmd heading: 322.631454 deg.

2021-02-16T12:14:42.085Z,1613477682.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:42.865Z,1613477682.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:43.266Z,1613477683.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:44.088Z,1613477684.088 [Micromodem](INFO): Nmea in: $SNTTA,0.084724,,,0.087230,121444.30*58

2021-02-16T12:14:44.127Z,1613477684.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.720001 m, bearing: 293.914979 deg, deltaT: 4.443820 s, approachRate: -0.594083 m/s, LOS rate: -0.187767 deg/s, posRepo size: 4
2021-02-16T12:14:44.129Z,1613477684.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.720001 m,
      bearing: 293.914979 deg,
      approachRate: -0.594083 m/s,
      LOS rate: -0.187767 deg/s,
      cmd update: -0.563301 deg/s,
      cmd heading: 323.529413 deg,
      new cmd heading: 323.603587 deg.

2021-02-16T12:14:46.520Z,1613477686.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:47.313Z,1613477687.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:47.701Z,1613477687.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:48.532Z,1613477688.532 [Micromodem](INFO): Nmea in: $SNTTA,0.082950,,,,121448.75*4E

2021-02-16T12:14:48.556Z,1613477688.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 292.497087 deg, deltaT: 4.429944 s, approachRate: -0.595942 m/s, LOS rate: -0.320070 deg/s, posRepo size: 4
2021-02-16T12:14:48.558Z,1613477688.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.080009 m,
      bearing: 292.497087 deg,
      approachRate: -0.595942 m/s,
      LOS rate: -0.320070 deg/s,
      cmd update: -0.960210 deg/s,
      cmd heading: 321.031843 deg,
      new cmd heading: 320.797007 deg.

2021-02-16T12:14:50.961Z,1613477690.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:51.737Z,1613477691.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:52.158Z,1613477692.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:52.984Z,1613477692.984 [Micromodem](INFO): Nmea in: $SNTTA,0.081180,,,,121453.18*49

2021-02-16T12:14:53.009Z,1613477693.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 292.331878 deg, deltaT: 4.462213 s, approachRate: -0.605082 m/s, LOS rate: -0.037024 deg/s, posRepo size: 4
2021-02-16T12:14:53.011Z,1613477693.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.380005 m,
      bearing: 292.331878 deg,
      approachRate: -0.605082 m/s,
      LOS rate: -0.037024 deg/s,
      cmd update: -0.111072 deg/s,
      cmd heading: 316.751002 deg,
      new cmd heading: 316.355552 deg.

2021-02-16T12:14:55.410Z,1613477695.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:14:56.181Z,1613477696.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:14:56.591Z,1613477696.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:14:57.437Z,1613477697.437 [Micromodem](INFO): Nmea in: $SNTTA,0.079443,,,,121457.62*4D

2021-02-16T12:14:57.466Z,1613477697.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 291.370597 deg, deltaT: 4.431734 s, approachRate: -0.582165 m/s, LOS rate: -0.216909 deg/s, posRepo size: 4
2021-02-16T12:14:57.468Z,1613477697.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.800003 m,
      bearing: 291.370597 deg,
      approachRate: -0.582165 m/s,
      LOS rate: -0.216909 deg/s,
      cmd update: -0.650726 deg/s,
      cmd heading: 316.258743 deg,
      new cmd heading: 316.210194 deg.

2021-02-16T12:14:59.566Z,1613477699.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:00.231Z,1613477700.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:00.636Z,1613477700.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:01.460Z,1613477701.460 [Micromodem](INFO): Nmea in: $SNTTA,0.077682,,,0.080182,121501.67*56

2021-02-16T12:15:01.512Z,1613477701.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 290.992751 deg, deltaT: 4.024950 s, approachRate: -0.670817 m/s, LOS rate: -0.093876 deg/s, posRepo size: 4
2021-02-16T12:15:01.513Z,1613477701.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 290.992751 deg,
      approachRate: -0.670817 m/s,
      LOS rate: -0.093876 deg/s,
      cmd update: -0.281628 deg/s,
      cmd heading: 313.636971 deg,
      new cmd heading: 313.342130 deg.

2021-02-16T12:15:03.903Z,1613477703.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:04.682Z,1613477704.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:05.070Z,1613477705.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:05.909Z,1613477705.909 [Micromodem](INFO): Nmea in: $SNTTA,0.075786,,,,121506.12*49

2021-02-16T12:15:05.954Z,1613477705.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 289.542374 deg, deltaT: 4.454469 s, approachRate: -0.619601 m/s, LOS rate: -0.325600 deg/s, posRepo size: 4
2021-02-16T12:15:05.956Z,1613477705.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 289.542374 deg,
      approachRate: -0.619601 m/s,
      LOS rate: -0.325600 deg/s,
      cmd update: -0.976801 deg/s,
      cmd heading: 312.386949 deg,
      new cmd heading: 312.258294 deg.

2021-02-16T12:15:08.334Z,1613477708.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:09.117Z,1613477709.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:09.530Z,1613477709.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:10.348Z,1613477710.348 [Micromodem](INFO): Nmea in: $SNTTA,0.073951,,,,121510.56*4C

2021-02-16T12:15:10.422Z,1613477710.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.580002 m, bearing: 289.163654 deg, deltaT: 4.451701 s, approachRate: -0.619988 m/s, LOS rate: -0.085073 deg/s, posRepo size: 4
2021-02-16T12:15:10.428Z,1613477710.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.580002 m,
      bearing: 289.163654 deg,
      approachRate: -0.619988 m/s,
      LOS rate: -0.085073 deg/s,
      cmd update: -0.255220 deg/s,
      cmd heading: 308.023388 deg,
      new cmd heading: 307.576538 deg.

2021-02-16T12:15:12.816Z,1613477712.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:13.570Z,1613477713.570 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:13.970Z,1613477713.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:14.788Z,1613477714.788 [Micromodem](INFO): Nmea in: $SNTTA,0.071954,,,,121515.01*4C

2021-02-16T12:15:14.864Z,1613477714.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.760002 m, bearing: 289.434075 deg, deltaT: 4.557327 s, approachRate: -0.618784 m/s, LOS rate: 0.059338 deg/s, posRepo size: 4
2021-02-16T12:15:14.866Z,1613477714.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 289.434075 deg,
      approachRate: -0.618784 m/s,
      LOS rate: 0.059338 deg/s,
      cmd update: 0.178013 deg/s,
      cmd heading: 306.861286 deg,
      new cmd heading: 306.772727 deg.

2021-02-16T12:15:17.225Z,1613477717.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:18.002Z,1613477718.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:18.404Z,1613477718.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:19.235Z,1613477719.235 [Micromodem](INFO): Nmea in: $SNTTA,0.069997,,,,121519.44*47

2021-02-16T12:15:19.254Z,1613477719.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.760002 m, bearing: 288.192237 deg, deltaT: 4.374286 s, approachRate: -0.685826 m/s, LOS rate: -0.283895 deg/s, posRepo size: 4
2021-02-16T12:15:19.257Z,1613477719.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.760002 m,
      bearing: 288.192237 deg,
      approachRate: -0.685826 m/s,
      LOS rate: -0.283895 deg/s,
      cmd update: -0.851685 deg/s,
      cmd heading: 307.640678 deg,
      new cmd heading: 307.704540 deg.

2021-02-16T12:15:21.681Z,1613477721.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:22.450Z,1613477722.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:22.891Z,1613477722.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:23.676Z,1613477723.676 [Micromodem](INFO): Nmea in: $SNTTA,0.068116,,,,121523.89*4F

2021-02-16T12:15:23.725Z,1613477723.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 287.749012 deg, deltaT: 4.372896 s, approachRate: -0.644881 m/s, LOS rate: -0.101357 deg/s, posRepo size: 4
2021-02-16T12:15:23.726Z,1613477723.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 287.749012 deg,
      approachRate: -0.644881 m/s,
      LOS rate: -0.101357 deg/s,
      cmd update: -0.304072 deg/s,
      cmd heading: 303.916039 deg,
      new cmd heading: 303.527953 deg.

2021-02-16T12:15:25.782Z,1613477725.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:26.514Z,1613477726.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:26.903Z,1613477726.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:27.728Z,1613477727.728 [Micromodem](INFO): Nmea in: $SNTTA,0.066409,,,,121527.95*43

2021-02-16T12:15:27.773Z,1613477727.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 287.605660 deg, deltaT: 4.043664 s, approachRate: -0.623198 m/s, LOS rate: -0.035451 deg/s, posRepo size: 4
2021-02-16T12:15:27.779Z,1613477727.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 287.605660 deg,
      approachRate: -0.623198 m/s,
      LOS rate: -0.035451 deg/s,
      cmd update: -0.106353 deg/s,
      cmd heading: 302.687900 deg,
      new cmd heading: 302.546515 deg.

2021-02-16T12:15:30.144Z,1613477730.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:30.924Z,1613477730.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:31.376Z,1613477731.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:32.164Z,1613477732.164 [Micromodem](INFO): Nmea in: $SNTTA,0.064527,,,,121532.36*41

2021-02-16T12:15:32.216Z,1613477732.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 287.291690 deg, deltaT: 4.455741 s, approachRate: -0.632890 m/s, LOS rate: -0.070464 deg/s, posRepo size: 4
2021-02-16T12:15:32.223Z,1613477732.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.600006 m,
      bearing: 287.291690 deg,
      approachRate: -0.632890 m/s,
      LOS rate: -0.070464 deg/s,
      cmd update: -0.211393 deg/s,
      cmd heading: 302.213551 deg,
      new cmd heading: 302.168099 deg.

2021-02-16T12:15:34.602Z,1613477734.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:35.380Z,1613477735.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:35.774Z,1613477735.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:36.609Z,1613477736.609 [Micromodem](INFO): Nmea in: $SNTTA,0.062624,,,,121536.82*4C

2021-02-16T12:15:36.666Z,1613477736.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 286.945017 deg, deltaT: 4.450274 s, approachRate: -0.633669 m/s, LOS rate: -0.077899 deg/s, posRepo size: 4
2021-02-16T12:15:36.669Z,1613477736.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 286.945017 deg,
      approachRate: -0.633669 m/s,
      LOS rate: -0.077899 deg/s,
      cmd update: -0.233698 deg/s,
      cmd heading: 301.276288 deg,
      new cmd heading: 301.178207 deg.

2021-02-16T12:15:39.155Z,1613477739.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:39.873Z,1613477739.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:40.252Z,1613477740.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:41.046Z,1613477741.046 [Micromodem](INFO): Nmea in: $SNTTA,0.060835,,,,121541.31*48

2021-02-16T12:15:41.100Z,1613477741.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 286.477094 deg, deltaT: 4.447603 s, approachRate: -0.607068 m/s, LOS rate: -0.105208 deg/s, posRepo size: 4
2021-02-16T12:15:41.102Z,1613477741.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.080009 m,
      bearing: 286.477094 deg,
      approachRate: -0.607068 m/s,
      LOS rate: -0.105208 deg/s,
      cmd update: -0.315623 deg/s,
      cmd heading: 300.232963 deg,
      new cmd heading: 300.131581 deg.

2021-02-16T12:15:43.489Z,1613477743.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:44.261Z,1613477744.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:44.680Z,1613477744.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:45.488Z,1613477745.488 [Micromodem](INFO): Nmea in: $SNTTA,0.058754,,,,121545.70*4A

2021-02-16T12:15:45.512Z,1613477745.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 285.628211 deg, deltaT: 4.458446 s, approachRate: -0.713255 m/s, LOS rate: -0.190399 deg/s, posRepo size: 4
2021-02-16T12:15:45.514Z,1613477745.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 285.628211 deg,
      approachRate: -0.713255 m/s,
      LOS rate: -0.190399 deg/s,
      cmd update: -0.571197 deg/s,
      cmd heading: 298.833957 deg,
      new cmd heading: 298.703423 deg.

2021-02-16T12:15:47.947Z,1613477747.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:48.702Z,1613477748.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:49.112Z,1613477749.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:49.932Z,1613477749.932 [Micromodem](INFO): Nmea in: $SNTTA,0.056807,,,,121550.14*4B

2021-02-16T12:15:49.981Z,1613477749.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 285.429016 deg, deltaT: 4.454978 s, approachRate: -0.646467 m/s, LOS rate: -0.044713 deg/s, posRepo size: 4
2021-02-16T12:15:49.984Z,1613477749.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.020004 m,
      bearing: 285.429016 deg,
      approachRate: -0.646467 m/s,
      LOS rate: -0.044713 deg/s,
      cmd update: -0.134139 deg/s,
      cmd heading: 296.276899 deg,
      new cmd heading: 296.044999 deg.

2021-02-16T12:15:52.419Z,1613477752.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:53.159Z,1613477753.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:53.581Z,1613477753.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:54.388Z,1613477754.388 [Micromodem](INFO): Nmea in: $SNTTA,0.054805,,,,121554.60*4C

2021-02-16T12:15:54.413Z,1613477754.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.020004 m, bearing: 285.386395 deg, deltaT: 4.430681 s, approachRate: -0.677097 m/s, LOS rate: -0.009619 deg/s, posRepo size: 4
2021-02-16T12:15:54.414Z,1613477754.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.020004 m,
      bearing: 285.386395 deg,
      approachRate: -0.677097 m/s,
      LOS rate: -0.009619 deg/s,
      cmd update: -0.028858 deg/s,
      cmd heading: 295.682018 deg,
      new cmd heading: 295.628052 deg.

2021-02-16T12:15:56.858Z,1613477756.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:15:57.590Z,1613477757.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:15:57.994Z,1613477757.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:15:58.824Z,1613477758.824 [Micromodem](INFO): Nmea in: $SNTTA,0.052925,,0.054106,,121559.03*59

2021-02-16T12:15:58.898Z,1613477758.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.199997 m, bearing: 285.055432 deg, deltaT: 4.438037 s, approachRate: -0.635418 m/s, LOS rate: -0.074574 deg/s, posRepo size: 4
2021-02-16T12:15:58.912Z,1613477758.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.199997 m,
      bearing: 285.055432 deg,
      approachRate: -0.635418 m/s,
      LOS rate: -0.074574 deg/s,
      cmd update: -0.223723 deg/s,
      cmd heading: 295.553940 deg,
      new cmd heading: 295.540994 deg.

2021-02-16T12:16:01.269Z,1613477761.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:02.036Z,1613477762.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:02.443Z,1613477762.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:03.284Z,1613477763.284 [Micromodem](INFO): Nmea in: $SNTTA,0.051007,,,,121603.47*47

2021-02-16T12:16:03.326Z,1613477763.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 284.996036 deg, deltaT: 4.466453 s, approachRate: -0.644806 m/s, LOS rate: -0.013298 deg/s, posRepo size: 4
2021-02-16T12:16:03.328Z,1613477763.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.320000 m,
      bearing: 284.996036 deg,
      approachRate: -0.644806 m/s,
      LOS rate: -0.013298 deg/s,
      cmd update: -0.039894 deg/s,
      cmd heading: 294.555608 deg,
      new cmd heading: 294.462808 deg.

2021-02-16T12:16:05.706Z,1613477765.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:06.554Z,1613477766.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:06.927Z,1613477766.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:07.773Z,1613477767.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 284.331131 deg, deltaT: 4.479103 s, approachRate: -0.642985 m/s, LOS rate: -0.148446 deg/s, posRepo size: 4
2021-02-16T12:16:07.775Z,1613477767.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.440002 m,
      bearing: 284.331131 deg,
      approachRate: -0.642985 m/s,
      LOS rate: -0.148446 deg/s,
      cmd update: -0.445338 deg/s,
      cmd heading: 294.377222 deg,
      new cmd heading: 294.361641 deg.

2021-02-16T12:16:08.124Z,1613477768.124 [Micromodem](INFO): Nmea in: $SNTTA,0.049103,,,,121607.99*4C

2021-02-16T12:16:10.152Z,1613477770.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:10.922Z,1613477770.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:11.338Z,1613477771.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:12.148Z,1613477772.148 [Micromodem](INFO): Nmea in: $SNTTA,0.047208,,,,121612.36*4B

2021-02-16T12:16:12.187Z,1613477772.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 283.836161 deg, deltaT: 4.377206 s, approachRate: -0.630538 m/s, LOS rate: -0.113079 deg/s, posRepo size: 4
2021-02-16T12:16:12.189Z,1613477772.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.680008 m,
      bearing: 283.836161 deg,
      approachRate: -0.630538 m/s,
      LOS rate: -0.113079 deg/s,
      cmd update: -0.339237 deg/s,
      cmd heading: 292.422719 deg,
      new cmd heading: 292.237472 deg.

2021-02-16T12:16:14.605Z,1613477774.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:15.377Z,1613477775.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:15.770Z,1613477775.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:16.600Z,1613477776.600 [Micromodem](INFO): Nmea in: $SNTTA,0.045168,,,,121616.82*47

2021-02-16T12:16:16.638Z,1613477776.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.619995 m, bearing: 283.147022 deg, deltaT: 4.458069 s, approachRate: -0.686399 m/s, LOS rate: -0.154582 deg/s, posRepo size: 4
2021-02-16T12:16:16.640Z,1613477776.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.619995 m,
      bearing: 283.147022 deg,
      approachRate: -0.686399 m/s,
      LOS rate: -0.154582 deg/s,
      cmd update: -0.463747 deg/s,
      cmd heading: 290.912448 deg,
      new cmd heading: 290.771517 deg.

2021-02-16T12:16:19.050Z,1613477779.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:19.938Z,1613477779.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:20.296Z,1613477780.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:21.188Z,1613477781.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 282.795896 deg, deltaT: 4.493530 s, approachRate: -0.707683 m/s, LOS rate: -0.078140 deg/s, posRepo size: 4
2021-02-16T12:16:21.195Z,1613477781.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.440002 m,
      bearing: 282.795896 deg,
      approachRate: -0.707683 m/s,
      LOS rate: -0.078140 deg/s,
      cmd update: -0.234421 deg/s,
      cmd heading: 288.825688 deg,
      new cmd heading: 288.612332 deg.

2021-02-16T12:16:21.480Z,1613477781.480 [Micromodem](INFO): Nmea in: $SNTTA,0.043084,,,,121621.38*47

2021-02-16T12:16:23.525Z,1613477783.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:24.296Z,1613477784.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:24.724Z,1613477784.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:25.528Z,1613477785.528 [Micromodem](INFO): Nmea in: $SNTTA,0.041123,,,,121625.73*42

2021-02-16T12:16:25.553Z,1613477785.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.500000 m, bearing: 282.451572 deg, deltaT: 4.412130 s, approachRate: -0.666345 m/s, LOS rate: -0.078040 deg/s, posRepo size: 4
2021-02-16T12:16:25.554Z,1613477785.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.500000 m,
      bearing: 282.451572 deg,
      approachRate: -0.666345 m/s,
      LOS rate: -0.078040 deg/s,
      cmd update: -0.234121 deg/s,
      cmd heading: 287.791399 deg,
      new cmd heading: 287.693452 deg.

2021-02-16T12:16:27.978Z,1613477787.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:28.749Z,1613477788.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:29.155Z,1613477789.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:29.976Z,1613477789.976 [Micromodem](INFO): Nmea in: $SNTTA,0.039120,,,,121630.19*46

2021-02-16T12:16:30.002Z,1613477790.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.500008 m, bearing: 282.204674 deg, deltaT: 4.482670 s, approachRate: -0.669242 m/s, LOS rate: -0.055078 deg/s, posRepo size: 4
2021-02-16T12:16:30.028Z,1613477790.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.500008 m,
      bearing: 282.204674 deg,
      approachRate: -0.669242 m/s,
      LOS rate: -0.055078 deg/s,
      cmd update: -0.165235 deg/s,
      cmd heading: 286.742820 deg,
      new cmd heading: 286.652003 deg.

2021-02-16T12:16:32.406Z,1613477792.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:33.277Z,1613477793.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:33.631Z,1613477793.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:34.492Z,1613477794.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 282.911462 deg, deltaT: 4.445291 s, approachRate: -0.661375 m/s, LOS rate: 0.158997 deg/s, posRepo size: 4
2021-02-16T12:16:34.494Z,1613477794.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 282.911462 deg,
      approachRate: -0.661375 m/s,
      LOS rate: 0.158997 deg/s,
      cmd update: 0.476991 deg/s,
      cmd heading: 286.007658 deg,
      new cmd heading: 285.937425 deg.

2021-02-16T12:16:34.824Z,1613477794.824 [Micromodem](INFO): Nmea in: $SNTTA,0.037127,,,,121634.72*46

2021-02-16T12:16:36.890Z,1613477796.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:37.628Z,1613477797.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:38.041Z,1613477798.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:38.884Z,1613477798.884 [Micromodem](INFO): Nmea in: $SNTTA,0.035205,,,,121639.07*48

2021-02-16T12:16:38.909Z,1613477798.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.620003 m, bearing: 282.174922 deg, deltaT: 4.416598 s, approachRate: -0.665671 m/s, LOS rate: -0.166766 deg/s, posRepo size: 4
2021-02-16T12:16:38.911Z,1613477798.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.620003 m,
      bearing: 282.174922 deg,
      approachRate: -0.665671 m/s,
      LOS rate: -0.166766 deg/s,
      cmd update: -0.500299 deg/s,
      cmd heading: 288.114250 deg,
      new cmd heading: 288.319193 deg.

2021-02-16T12:16:41.310Z,1613477801.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:42.073Z,1613477802.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:42.489Z,1613477802.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:43.316Z,1613477803.316 [Micromodem](INFO): Nmea in: $SNTTA,0.033212,,,,121643.51*46

2021-02-16T12:16:43.379Z,1613477803.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 281.391581 deg, deltaT: 4.450423 s, approachRate: -0.674095 m/s, LOS rate: -0.176015 deg/s, posRepo size: 4
2021-02-16T12:16:43.381Z,1613477803.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.619995 m,
      bearing: 281.391581 deg,
      approachRate: -0.674095 m/s,
      LOS rate: -0.176015 deg/s,
      cmd update: -0.528045 deg/s,
      cmd heading: 285.889613 deg,
      new cmd heading: 285.672537 deg.

2021-02-16T12:16:45.742Z,1613477805.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:46.666Z,1613477806.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:46.970Z,1613477806.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:47.809Z,1613477807.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 280.874099 deg, deltaT: 4.519226 s, approachRate: -0.677106 m/s, LOS rate: -0.114507 deg/s, posRepo size: 4
2021-02-16T12:16:47.812Z,1613477807.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.560001 m,
      bearing: 280.874099 deg,
      approachRate: -0.677106 m/s,
      LOS rate: -0.114507 deg/s,
      cmd update: -0.343521 deg/s,
      cmd heading: 283.503270 deg,
      new cmd heading: 283.311005 deg.

2021-02-16T12:16:48.173Z,1613477808.173 [Micromodem](INFO): Nmea in: $SNTTA,0.031195,,,,121648.10*46

2021-02-16T12:16:50.219Z,1613477810.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:50.985Z,1613477810.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:51.398Z,1613477811.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:52.213Z,1613477812.213 [Micromodem](INFO): Nmea in: $SNTTA,0.029311,,,,121652.42*4D

2021-02-16T12:16:52.268Z,1613477812.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 281.413356 deg, deltaT: 4.388439 s, approachRate: -0.628926 m/s, LOS rate: 0.122881 deg/s, posRepo size: 4
2021-02-16T12:16:52.270Z,1613477812.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.799999 m,
      bearing: 281.413356 deg,
      approachRate: -0.628926 m/s,
      LOS rate: 0.122881 deg/s,
      cmd update: 0.368644 deg/s,
      cmd heading: 282.004972 deg,
      new cmd heading: 281.846680 deg.

2021-02-16T12:16:54.652Z,1613477814.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:55.430Z,1613477815.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:16:55.860Z,1613477815.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:16:56.659Z,1613477816.659 [Micromodem](INFO): Nmea in: $SNTTA,0.027504,,,,121656.87*4C

2021-02-16T12:16:56.684Z,1613477816.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.039997 m, bearing: 281.992911 deg, deltaT: 4.431120 s, approachRate: -0.622868 m/s, LOS rate: 0.130792 deg/s, posRepo size: 4
2021-02-16T12:16:56.685Z,1613477816.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.039997 m,
      bearing: 281.992911 deg,
      approachRate: -0.622868 m/s,
      LOS rate: 0.130792 deg/s,
      cmd update: 0.392376 deg/s,
      cmd heading: 283.649850 deg,
      new cmd heading: 283.802725 deg.

2021-02-16T12:16:59.094Z,1613477819.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:16:59.938Z,1613477819.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:00.409Z,1613477820.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:01.138Z,1613477821.138 [Micromodem](INFO): Nmea in: $SNTTA,0.025462,,,,121701.38*48

2021-02-16T12:17:01.165Z,1613477821.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 281.010730 deg, deltaT: 4.477558 s, approachRate: -0.683408 m/s, LOS rate: -0.219356 deg/s, posRepo size: 4
2021-02-16T12:17:01.165Z,1613477821.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2021-02-16T12:17:01.167Z,1613477821.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 281.010730 deg,
      approachRate: -0.683408 m/s,
      LOS rate: -0.219356 deg/s,
      cmd update: -0.658069 deg/s,
      cmd heading: 285.403913 deg,
      new cmd heading: 285.571031 deg.

2021-02-16T12:17:01.521Z,1613477821.521 [PowerOnly](INFO): Powering up loadControl
2021-02-16T12:17:03.558Z,1613477823.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:04.344Z,1613477824.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:04.723Z,1613477824.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:05.560Z,1613477825.560 [Micromodem](INFO): Nmea in: $SNTTA,0.023500,,,,121705.78*4B

2021-02-16T12:17:05.604Z,1613477825.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 279.723950 deg, deltaT: 4.420551 s, approachRate: -0.665075 m/s, LOS rate: -0.291090 deg/s, posRepo size: 4
2021-02-16T12:17:05.605Z,1613477825.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.04 m.
2021-02-16T12:17:05.605Z,1613477825.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.04 m.
2021-02-16T12:17:05.605Z,1613477825.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T12:17:05.607Z,1613477825.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.040001 m,
      bearing: 279.723950 deg,
      approachRate: -0.665075 m/s,
      LOS rate: -0.291090 deg/s,
      cmd update: -0.873271 deg/s,
      cmd heading: 282.500685 deg,
      new cmd heading: 282.202432 deg.

2021-02-16T12:17:07.974Z,1613477827.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:08.774Z,1613477828.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:09.162Z,1613477829.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:10.000Z,1613477830.000 [Micromodem](INFO): Nmea in: $SNTTA,0.021536,,,,121710.21*44

2021-02-16T12:17:10.058Z,1613477830.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.099998 m, bearing: 280.471282 deg, deltaT: 4.480182 s, approachRate: -0.656224 m/s, LOS rate: 0.166808 deg/s, posRepo size: 4
2021-02-16T12:17:10.064Z,1613477830.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.099998 m,
      bearing: 280.471282 deg,
      approachRate: -0.656224 m/s,
      LOS rate: 0.166808 deg/s,
      cmd update: 0.500425 deg/s,
      cmd heading: 278.577840 deg,
      new cmd heading: 278.215211 deg.

2021-02-16T12:17:11.609Z,1613477831.609 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:17:12.428Z,1613477832.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:13.276Z,1613477833.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:13.693Z,1613477833.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:14.471Z,1613477834.471 [Micromodem](INFO): Nmea in: $SNTTA,0.019585,,,,121714.71*46

2021-02-16T12:17:14.523Z,1613477834.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 280.549337 deg, deltaT: 4.458632 s, approachRate: -0.645938 m/s, LOS rate: 0.017507 deg/s, posRepo size: 4
2021-02-16T12:17:14.525Z,1613477834.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 280.549337 deg,
      approachRate: -0.645938 m/s,
      LOS rate: 0.017507 deg/s,
      cmd update: 0.052520 deg/s,
      cmd heading: 280.809082 deg,
      new cmd heading: 281.018058 deg.

2021-02-16T12:17:16.882Z,1613477836.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:17.646Z,1613477837.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:18.051Z,1613477838.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:18.883Z,1613477838.883 [Micromodem](INFO): Nmea in: $SNTTA,0.017580,,,,121719.08*4E

2021-02-16T12:17:18.908Z,1613477838.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.160002 m, bearing: 278.798459 deg, deltaT: 4.386247 s, approachRate: -0.697635 m/s, LOS rate: -0.399175 deg/s, posRepo size: 4
2021-02-16T12:17:18.910Z,1613477838.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 278.798459 deg,
      approachRate: -0.697635 m/s,
      LOS rate: -0.399175 deg/s,
      cmd update: -1.197524 deg/s,
      cmd heading: 281.039658 deg,
      new cmd heading: 281.061511 deg.

2021-02-16T12:17:21.314Z,1613477841.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:22.098Z,1613477842.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:22.500Z,1613477842.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:23.324Z,1613477843.324 [Micromodem](INFO): Nmea in: $SNTTA,0.015704,,,,121723.54*42

2021-02-16T12:17:23.398Z,1613477843.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 279.949810 deg, deltaT: 4.446517 s, approachRate: -0.634205 m/s, LOS rate: 0.258933 deg/s, posRepo size: 4
2021-02-16T12:17:23.404Z,1613477843.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.339998 m,
      bearing: 279.949810 deg,
      approachRate: -0.634205 m/s,
      LOS rate: 0.258933 deg/s,
      cmd update: 0.776800 deg/s,
      cmd heading: 275.714910 deg,
      new cmd heading: 275.164634 deg.

2021-02-16T12:17:25.757Z,1613477845.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:26.661Z,1613477846.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:26.965Z,1613477846.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:27.806Z,1613477847.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 280.515623 deg, deltaT: 4.511247 s, approachRate: -0.678304 m/s, LOS rate: 0.125423 deg/s, posRepo size: 4
2021-02-16T12:17:27.808Z,1613477847.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.280001 m,
      bearing: 280.515623 deg,
      approachRate: -0.678304 m/s,
      LOS rate: 0.125423 deg/s,
      cmd update: 0.376268 deg/s,
      cmd heading: 279.215990 deg,
      new cmd heading: 279.496225 deg.

2021-02-16T12:17:28.160Z,1613477848.160 [Micromodem](INFO): Nmea in: $SNTTA,0.013648,,,,121728.10*46

2021-02-16T12:17:30.210Z,1613477850.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:30.977Z,1613477850.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:31.401Z,1613477851.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:32.213Z,1613477852.213 [Micromodem](INFO): Nmea in: $SNTTA,0.011707,,,,121732.42*42

2021-02-16T12:17:32.265Z,1613477852.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.339998 m, bearing: 277.640086 deg, deltaT: 4.414067 s, approachRate: -0.666053 m/s, LOS rate: -0.651448 deg/s, posRepo size: 4
2021-02-16T12:17:32.267Z,1613477852.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.339998 m,
      bearing: 277.640086 deg,
      approachRate: -0.666053 m/s,
      LOS rate: -0.651448 deg/s,
      cmd update: -1.954345 deg/s,
      cmd heading: 280.875428 deg,
      new cmd heading: 281.029386 deg.

2021-02-16T12:17:34.667Z,1613477854.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:35.433Z,1613477855.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:35.855Z,1613477855.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:36.660Z,1613477856.660 [Micromodem](INFO): Nmea in: $SNTTA,0.009806,,,0.059339,121736.87*53

2021-02-16T12:17:36.705Z,1613477856.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 278.106424 deg, deltaT: 4.391684 s, approachRate: -0.655785 m/s, LOS rate: 0.106187 deg/s, posRepo size: 4
2021-02-16T12:17:36.706Z,1613477856.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 278.106424 deg,
      approachRate: -0.655785 m/s,
      LOS rate: 0.106187 deg/s,
      cmd update: 0.318560 deg/s,
      cmd heading: 272.277010 deg,
      new cmd heading: 271.398612 deg.

2021-02-16T12:17:39.103Z,1613477859.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:39.997Z,1613477859.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:40.284Z,1613477860.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:41.148Z,1613477861.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.640002 m, bearing: 278.764445 deg, deltaT: 4.498991 s, approachRate: -0.626806 m/s, LOS rate: 0.146260 deg/s, posRepo size: 4
2021-02-16T12:17:41.149Z,1613477861.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 278.764445 deg,
      approachRate: -0.626806 m/s,
      LOS rate: 0.146260 deg/s,
      cmd update: 0.438779 deg/s,
      cmd heading: 273.710231 deg,
      new cmd heading: 273.835449 deg.

2021-02-16T12:17:41.500Z,1613477861.500 [Micromodem](INFO): Nmea in: $SNTTA,0.007908,,,,121741.44*46

2021-02-16T12:17:43.539Z,1613477863.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:44.325Z,1613477864.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:44.730Z,1613477864.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:45.548Z,1613477865.548 [Micromodem](INFO): Nmea in: $SNTTA,0.006179,,,,121745.76*4C

2021-02-16T12:17:45.597Z,1613477865.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 278.143225 deg, deltaT: 4.421716 s, approachRate: -0.597054 m/s, LOS rate: -0.140493 deg/s, posRepo size: 4
2021-02-16T12:17:45.598Z,1613477865.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 278.143225 deg,
      approachRate: -0.597054 m/s,
      LOS rate: -0.140493 deg/s,
      cmd update: -0.421478 deg/s,
      cmd heading: 275.648337 deg,
      new cmd heading: 275.834889 deg.

2021-02-16T12:17:47.992Z,1613477867.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:48.762Z,1613477868.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:49.167Z,1613477869.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:49.988Z,1613477869.988 [Micromodem](INFO): Nmea in: $SNTTA,0.004547,,,,121750.20*40

2021-02-16T12:17:50.038Z,1613477870.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 278.905830 deg, deltaT: 4.414039 s, approachRate: -0.570906 m/s, LOS rate: 0.172768 deg/s, posRepo size: 4
2021-02-16T12:17:50.044Z,1613477870.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 278.905830 deg,
      approachRate: -0.570906 m/s,
      LOS rate: 0.172768 deg/s,
      cmd update: 0.518304 deg/s,
      cmd heading: 273.785959 deg,
      new cmd heading: 273.596994 deg.

2021-02-16T12:17:52.431Z,1613477872.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:53.272Z,1613477873.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:53.694Z,1613477873.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:54.472Z,1613477874.472 [Micromodem](INFO): Nmea in: $SNTTA,0.003147,,0.013697,,121754.71*57

2021-02-16T12:17:54.504Z,1613477874.504 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T12:17:54.504Z,1613477874.504 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:17:54.504Z,1613477874.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T12:17:54.504Z,1613477874.504 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:17:54.505Z,1613477874.505 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T12:17:54.505Z,1613477874.505 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T12:17:54.505Z,1613477874.505 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T12:17:54.505Z,1613477874.505 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T12:17:54.505Z,1613477874.505 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T12:17:54.528Z,1613477874.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 288.093418 deg, deltaT: 4.505557 s, approachRate: -0.452774 m/s, LOS rate: 2.039168 deg/s, posRepo size: 4
2021-02-16T12:17:54.529Z,1613477874.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 288.093418 deg,
      approachRate: -0.452774 m/s,
      LOS rate: 2.039168 deg/s,
      cmd update: 6.117504 deg/s,
      cmd heading: 276.118088 deg,
      new cmd heading: 276.334661 deg.

2021-02-16T12:17:54.886Z,1613477874.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T121754: (41.552319, -70.708603)
2021-02-16T12:17:54.886Z,1613477874.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T12:17:54.886Z,1613477874.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T12:17:54.886Z,1613477874.886 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:17:54.887Z,1613477874.887 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T12:17:54.887Z,1613477874.887 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:17:54.887Z,1613477874.887 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T12:17:54.887Z,1613477874.887 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T12:17:54.887Z,1613477874.887 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:17:56.908Z,1613477876.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:17:57.648Z,1613477877.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:17:58.046Z,1613477878.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:17:58.880Z,1613477878.880 [Micromodem](INFO): Nmea in: $SNTTA,0.002724,,,,121759.09*43

2021-02-16T12:17:58.933Z,1613477878.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 282.791907 deg, deltaT: 4.396741 s, approachRate: -0.095525 m/s, LOS rate: -1.205782 deg/s, posRepo size: 4
2021-02-16T12:17:58.935Z,1613477878.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 282.791907 deg,
      approachRate: -0.095525 m/s,
      LOS rate: -1.205782 deg/s,
      cmd update: -3.617346 deg/s,
      cmd heading: 302.928912 deg,
      new cmd heading: 305.746922 deg.

2021-02-16T12:18:01.309Z,1613477881.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:02.102Z,1613477882.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:02.490Z,1613477882.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:03.336Z,1613477883.336 [Micromodem](INFO): Nmea in: $SNTTA,0.003607,,0.020695,0.031688,121803.54*46

2021-02-16T12:18:03.372Z,1613477883.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.520000 m, bearing: 291.850322 deg, deltaT: 4.457174 s, approachRate: 0.336536 m/s, LOS rate: 2.032323 deg/s, posRepo size: 4
2021-02-16T12:18:03.374Z,1613477883.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 291.850322 deg,
      approachRate: 0.336536 m/s,
      LOS rate: 2.032323 deg/s,
      cmd update: 6.096968 deg/s,
      cmd heading: 286.740584 deg,
      new cmd heading: 285.205118 deg.

2021-02-16T12:18:05.741Z,1613477885.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:06.601Z,1613477886.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:07.026Z,1613477887.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:07.797Z,1613477887.797 [Micromodem](INFO): Nmea in: $SNTTA,0.005319,,,,121808.04*48

2021-02-16T12:18:07.868Z,1613477887.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 300.563185 deg, deltaT: 4.488096 s, approachRate: 0.508011 m/s, LOS rate: 1.941327 deg/s, posRepo size: 4
2021-02-16T12:18:07.876Z,1613477887.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 300.563185 deg,
      approachRate: 0.508011 m/s,
      LOS rate: 1.941327 deg/s,
      cmd update: 5.823981 deg/s,
      cmd heading: 314.092806 deg,
      new cmd heading: 316.729513 deg.

2021-02-16T12:18:10.207Z,1613477890.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:10.972Z,1613477890.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:11.384Z,1613477891.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:12.213Z,1613477892.213 [Micromodem](INFO): Nmea in: $SNTTA,0.006870,,,,121812.41*45

2021-02-16T12:18:12.280Z,1613477892.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.319998 m, bearing: 290.113514 deg, deltaT: 4.392768 s, approachRate: 0.573669 m/s, LOS rate: -2.378835 deg/s, posRepo size: 4
2021-02-16T12:18:12.282Z,1613477892.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 290.113514 deg,
      approachRate: 0.573669 m/s,
      LOS rate: -2.378835 deg/s,
      cmd update: -7.136505 deg/s,
      cmd heading: 339.638635 deg,
      new cmd heading: 342.320194 deg.

2021-02-16T12:18:14.688Z,1613477894.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:15.417Z,1613477895.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:15.856Z,1613477895.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:16.632Z,1613477896.632 [Micromodem](INFO): Nmea in: $SNTTA,,,,,121816.86*5D

2021-02-16T12:18:17.481Z,1613477897.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:19.057Z,1613477899.057 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:18:20.476Z,1613477900.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:21.101Z,1613477901.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:21.507Z,1613477901.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:22.324Z,1613477902.324 [Micromodem](INFO): Nmea in: $SNTTA,0.045136,,,,121822.54*4E

2021-02-16T12:18:22.389Z,1613477902.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 346.038857 deg, deltaT: 10.114123 s, approachRate: 5.576362 m/s, LOS rate: 5.529431 deg/s, posRepo size: 4
2021-02-16T12:18:22.390Z,1613477902.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 66.72 m. Rolling out.
2021-02-16T12:18:22.390Z,1613477902.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T12:18:24.748Z,1613477904.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:25.521Z,1613477905.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:25.922Z,1613477905.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:26.748Z,1613477906.748 [Micromodem](INFO): Nmea in: $SNTTA,0.012791,,,,121826.96*4D

2021-02-16T12:18:26.785Z,1613477906.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 301.675495 deg, deltaT: 4.455574 s, approachRate: -10.638362 m/s, LOS rate: -9.956824 deg/s, posRepo size: 4
2021-02-16T12:18:29.188Z,1613477909.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:29.962Z,1613477909.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:30.384Z,1613477910.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:31.188Z,1613477911.188 [Micromodem](INFO): Nmea in: $SNTTA,0.014828,,,,121831.40*4B

2021-02-16T12:18:31.236Z,1613477911.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 246.849156 deg, deltaT: 4.444369 s, approachRate: 0.688511 m/s, LOS rate: -12.336135 deg/s, posRepo size: 4
2021-02-16T12:18:33.631Z,1613477913.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:34.419Z,1613477914.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:34.860Z,1613477914.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:35.648Z,1613477915.648 [Micromodem](INFO): Nmea in: $SNTTA,0.016564,,,,121835.86*42

2021-02-16T12:18:35.677Z,1613477915.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 283.888371 deg, deltaT: 4.418553 s, approachRate: 0.597481 m/s, LOS rate: 8.382657 deg/s, posRepo size: 4
2021-02-16T12:18:36.052Z,1613477916.052 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:18:38.073Z,1613477918.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:38.859Z,1613477918.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:39.279Z,1613477919.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:40.088Z,1613477920.088 [Micromodem](INFO): Nmea in: $SNTTA,0.018240,,,,121840.30*42

2021-02-16T12:18:40.114Z,1613477920.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 277.967389 deg, deltaT: 4.484206 s, approachRate: 0.548592 m/s, LOS rate: -1.320408 deg/s, posRepo size: 4
2021-02-16T12:18:42.513Z,1613477922.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:43.296Z,1613477923.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:43.706Z,1613477923.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:44.532Z,1613477924.532 [Micromodem](INFO): Nmea in: $SNTTA,0.019897,,,,121844.74*47

2021-02-16T12:18:44.556Z,1613477924.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 214.249825 deg, deltaT: 4.390988 s, approachRate: 0.573903 m/s, LOS rate: -14.510986 deg/s, posRepo size: 4
2021-02-16T12:18:47.033Z,1613477927.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:47.782Z,1613477927.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:48.180Z,1613477928.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:49.012Z,1613477929.012 [Micromodem](INFO): Nmea in: $SNTTA,0.021634,,,,121849.22*45

2021-02-16T12:18:49.061Z,1613477929.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.580002 m, bearing: 240.002739 deg, deltaT: 4.468505 s, approachRate: 0.577374 m/s, LOS rate: 5.763206 deg/s, posRepo size: 4
2021-02-16T12:18:51.420Z,1613477931.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:52.200Z,1613477932.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:52.602Z,1613477932.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:53.428Z,1613477933.428 [Micromodem](INFO): Nmea in: $SNTTA,0.023578,,,,121853.64*45

2021-02-16T12:18:53.453Z,1613477933.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 234.627325 deg, deltaT: 4.424433 s, approachRate: 1.383227 m/s, LOS rate: -1.214938 deg/s, posRepo size: 4
2021-02-16T12:18:55.897Z,1613477935.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:18:56.636Z,1613477936.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:18:57.050Z,1613477937.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:18:57.883Z,1613477937.883 [Micromodem](INFO): Nmea in: $SNTTA,0.025298,,,,121858.07*44

2021-02-16T12:18:57.908Z,1613477937.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 221.328319 deg, deltaT: 4.464982 s, approachRate: -0.147816 m/s, LOS rate: -2.978513 deg/s, posRepo size: 4
2021-02-16T12:18:59.873Z,1613477939.873 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T12:18:59.875Z,1613477939.875 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T12:19:00.303Z,1613477940.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:01.086Z,1613477941.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:01.493Z,1613477941.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:02.330Z,1613477942.330 [Micromodem](INFO): Nmea in: $SNTTA,0.027214,,,,121902.52*4C

2021-02-16T12:19:02.386Z,1613477942.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.399998 m, bearing: 217.132369 deg, deltaT: 4.440395 s, approachRate: 0.756689 m/s, LOS rate: -0.944950 deg/s, posRepo size: 4
2021-02-16T12:19:04.746Z,1613477944.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:05.525Z,1613477945.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:05.935Z,1613477945.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:06.752Z,1613477946.752 [Micromodem](INFO): Nmea in: $SNTTA,0.029195,,,,121906.96*44

2021-02-16T12:19:06.796Z,1613477946.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.920002 m, bearing: 281.104003 deg, deltaT: 4.480408 s, approachRate: 0.562450 m/s, LOS rate: 14.278082 deg/s, posRepo size: 4
2021-02-16T12:19:09.187Z,1613477949.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:09.969Z,1613477949.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:10.382Z,1613477950.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:11.204Z,1613477951.204 [Micromodem](INFO): Nmea in: $SNTTA,0.031086,,,,121911.41*42

2021-02-16T12:19:11.256Z,1613477951.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 258.558478 deg, deltaT: 4.444549 s, approachRate: 0.647985 m/s, LOS rate: -5.072624 deg/s, posRepo size: 4
2021-02-16T12:19:13.636Z,1613477953.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:14.417Z,1613477954.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:14.859Z,1613477954.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:15.656Z,1613477955.656 [Micromodem](INFO): Nmea in: $SNTTA,0.032967,,,,121915.85*4B

2021-02-16T12:19:15.690Z,1613477955.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 252.902289 deg, deltaT: 4.399131 s, approachRate: 0.654673 m/s, LOS rate: -1.285751 deg/s, posRepo size: 4
2021-02-16T12:19:18.083Z,1613477958.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:18.867Z,1613477958.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:19.293Z,1613477959.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:20.108Z,1613477960.108 [Micromodem](INFO): Nmea in: $SNTTA,0.034799,,,,121920.31*4B

2021-02-16T12:19:20.133Z,1613477960.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 275.717853 deg, deltaT: 4.486723 s, approachRate: 0.588403 m/s, LOS rate: 5.085129 deg/s, posRepo size: 4
2021-02-16T12:19:22.522Z,1613477962.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:23.300Z,1613477963.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:23.723Z,1613477963.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:24.549Z,1613477964.549 [Micromodem](INFO): Nmea in: $SNTTA,0.036654,,,,121924.74*4C

2021-02-16T12:19:24.604Z,1613477964.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 280.934806 deg, deltaT: 4.395041 s, approachRate: 0.641634 m/s, LOS rate: 1.187009 deg/s, posRepo size: 4
2021-02-16T12:19:26.971Z,1613477966.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:27.773Z,1613477967.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:28.151Z,1613477968.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:28.984Z,1613477968.984 [Micromodem](INFO): Nmea in: $SNTTA,0.038614,,,,121929.21*4B

2021-02-16T12:19:29.010Z,1613477969.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.080006 m, bearing: 279.404106 deg, deltaT: 4.448928 s, approachRate: 0.660834 m/s, LOS rate: -0.344060 deg/s, posRepo size: 4
2021-02-16T12:19:31.406Z,1613477971.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:32.279Z,1613477972.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:32.595Z,1613477972.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:33.493Z,1613477973.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 272.864118 deg, deltaT: 4.483262 s, approachRate: 0.588857 m/s, LOS rate: -1.458757 deg/s, posRepo size: 4
2021-02-16T12:19:33.824Z,1613477973.824 [Micromodem](INFO): Nmea in: $SNTTA,0.040394,,,,121933.72*44

2021-02-16T12:19:35.893Z,1613477975.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:36.632Z,1613477976.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:37.039Z,1613477977.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:37.880Z,1613477977.880 [Micromodem](INFO): Nmea in: $SNTTA,0.042298,,,,121938.07*42

2021-02-16T12:19:37.905Z,1613477977.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 272.786390 deg, deltaT: 4.396701 s, approachRate: 0.655036 m/s, LOS rate: -0.017679 deg/s, posRepo size: 4
2021-02-16T12:19:40.283Z,1613477980.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:41.078Z,1613477981.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:41.488Z,1613477981.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:42.310Z,1613477982.310 [Micromodem](INFO): Nmea in: $SNTTA,0.044081,,,,121942.52*43

2021-02-16T12:19:42.379Z,1613477982.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 277.635578 deg, deltaT: 4.454922 s, approachRate: 0.592602 m/s, LOS rate: 1.088501 deg/s, posRepo size: 4
2021-02-16T12:19:44.792Z,1613477984.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:45.525Z,1613477985.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:45.931Z,1613477985.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:46.759Z,1613477986.759 [Micromodem](INFO): Nmea in: $SNTTA,0.045953,,,,121946.96*48

2021-02-16T12:19:46.778Z,1613477986.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 229.935942 deg, deltaT: 4.482883 s, approachRate: 0.629059 m/s, LOS rate: -10.640393 deg/s, posRepo size: 4
2021-02-16T12:19:49.187Z,1613477989.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:49.964Z,1613477989.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:50.380Z,1613477990.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:51.213Z,1613477991.213 [Micromodem](INFO): Nmea in: $SNTTA,0.047718,,0.051018,,121951.40*55

2021-02-16T12:19:51.248Z,1613477991.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 231.669170 deg, deltaT: 4.393385 s, approachRate: 0.600905 m/s, LOS rate: 0.394509 deg/s, posRepo size: 4
2021-02-16T12:19:53.631Z,1613477993.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:54.410Z,1613477994.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:54.841Z,1613477994.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:19:55.636Z,1613477995.636 [Micromodem](INFO): Nmea in: $SNTTA,0.049561,,,,121955.85*49

2021-02-16T12:19:55.696Z,1613477995.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 234.642406 deg, deltaT: 4.452242 s, approachRate: 0.633389 m/s, LOS rate: 0.667806 deg/s, posRepo size: 4
2021-02-16T12:19:58.087Z,1613477998.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:19:58.869Z,1613477998.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:19:59.261Z,1613477999.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:00.128Z,1613478000.128 [Micromodem](INFO): Nmea in: $SNTTA,0.051456,,,,122000.31*40

2021-02-16T12:20:00.178Z,1613478000.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 231.594093 deg, deltaT: 4.450994 s, approachRate: 0.647046 m/s, LOS rate: -0.684861 deg/s, posRepo size: 4
2021-02-16T12:20:02.520Z,1613478002.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:03.301Z,1613478003.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:03.708Z,1613478003.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:04.548Z,1613478004.548 [Micromodem](INFO): Nmea in: $SNTTA,0.053439,,,,122004.74*4E

2021-02-16T12:20:04.580Z,1613478004.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.399994 m, bearing: 229.837641 deg, deltaT: 4.422613 s, approachRate: 0.678330 m/s, LOS rate: -0.397152 deg/s, posRepo size: 4
2021-02-16T12:20:06.988Z,1613478006.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:07.742Z,1613478007.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:08.145Z,1613478008.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:08.972Z,1613478008.972 [Micromodem](INFO): Nmea in: $SNTTA,0.055326,,,,122009.18*46

2021-02-16T12:20:09.021Z,1613478009.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 228.295221 deg, deltaT: 4.444810 s, approachRate: 0.620951 m/s, LOS rate: -0.347016 deg/s, posRepo size: 4
2021-02-16T12:20:11.418Z,1613478011.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:12.194Z,1613478012.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:12.589Z,1613478012.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:13.420Z,1613478013.420 [Micromodem](INFO): Nmea in: $SNTTA,0.057231,,,,122013.63*44

2021-02-16T12:20:13.465Z,1613478013.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 228.248967 deg, deltaT: 4.442620 s, approachRate: 0.634759 m/s, LOS rate: -0.010411 deg/s, posRepo size: 4
2021-02-16T12:20:15.881Z,1613478015.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:16.628Z,1613478016.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:17.051Z,1613478017.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:17.868Z,1613478017.868 [Micromodem](INFO): Nmea in: $SNTTA,0.059059,,,,122018.07*4F

2021-02-16T12:20:17.893Z,1613478017.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 251.107588 deg, deltaT: 4.451056 s, approachRate: 0.620080 m/s, LOS rate: 5.135550 deg/s, posRepo size: 4
2021-02-16T12:20:19.087Z,1613478019.087 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T12:20:20.284Z,1613478020.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:21.090Z,1613478021.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:21.479Z,1613478021.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:22.311Z,1613478022.311 [Micromodem](INFO): Nmea in: $SNTTA,0.060725,,,,122022.53*41

2021-02-16T12:20:22.334Z,1613478022.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.260002 m, bearing: 254.035308 deg, deltaT: 4.449602 s, approachRate: 0.566342 m/s, LOS rate: 0.657973 deg/s, posRepo size: 4
2021-02-16T12:20:24.734Z,1613478024.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:25.516Z,1613478025.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:25.935Z,1613478025.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:26.744Z,1613478026.744 [Micromodem](INFO): Nmea in: $SNTTA,0.062596,,,,122026.95*47

2021-02-16T12:20:26.777Z,1613478026.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 235.769196 deg, deltaT: 4.481438 s, approachRate: 0.629262 m/s, LOS rate: -4.075949 deg/s, posRepo size: 4
2021-02-16T12:20:29.182Z,1613478029.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:29.965Z,1613478029.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:30.381Z,1613478030.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:31.250Z,1613478031.250 [Micromodem](INFO): Nmea in: $SNTTA,0.064504,,,,122031.41*45

2021-02-16T12:20:31.274Z,1613478031.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 235.643111 deg, deltaT: 4.416550 s, approachRate: 0.638506 m/s, LOS rate: -0.028548 deg/s, posRepo size: 4
2021-02-16T12:20:33.633Z,1613478033.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:34.419Z,1613478034.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:34.858Z,1613478034.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:35.640Z,1613478035.640 [Micromodem](INFO): Nmea in: $SNTTA,0.066562,,,,122035.86*48

2021-02-16T12:20:35.665Z,1613478035.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 257.914719 deg, deltaT: 4.440237 s, approachRate: 0.702666 m/s, LOS rate: 5.015860 deg/s, posRepo size: 4
2021-02-16T12:20:38.071Z,1613478038.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:38.860Z,1613478038.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:39.259Z,1613478039.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:40.084Z,1613478040.084 [Micromodem](INFO): Nmea in: $SNTTA,0.068486,,,,122040.30*42

2021-02-16T12:20:40.133Z,1613478040.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.900002 m, bearing: 240.076559 deg, deltaT: 4.450171 s, approachRate: 0.647167 m/s, LOS rate: -4.008421 deg/s, posRepo size: 4
2021-02-16T12:20:42.514Z,1613478042.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:43.292Z,1613478043.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:43.715Z,1613478043.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:44.520Z,1613478044.520 [Micromodem](INFO): Nmea in: $SNTTA,0.070396,,,,122044.73*4E

2021-02-16T12:20:44.544Z,1613478044.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 243.181126 deg, deltaT: 4.469226 s, approachRate: 0.644406 m/s, LOS rate: 0.694654 deg/s, posRepo size: 4
2021-02-16T12:20:46.953Z,1613478046.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:47.747Z,1613478047.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:48.163Z,1613478048.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:48.972Z,1613478048.972 [Micromodem](INFO): Nmea in: $SNTTA,0.072307,,,,122049.18*44

2021-02-16T12:20:49.017Z,1613478049.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 248.848080 deg, deltaT: 4.439583 s, approachRate: 0.648709 m/s, LOS rate: 1.276461 deg/s, posRepo size: 4
2021-02-16T12:20:51.416Z,1613478051.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:52.180Z,1613478052.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:52.591Z,1613478052.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:53.408Z,1613478053.408 [Micromodem](INFO): Nmea in: $SNTTA,0.074210,,,,122053.62*43

2021-02-16T12:20:53.448Z,1613478053.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.480003 m, bearing: 265.918362 deg, deltaT: 4.410806 s, approachRate: 0.639341 m/s, LOS rate: 3.870105 deg/s, posRepo size: 4
2021-02-16T12:20:55.035Z,1613478055.035 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:20:55.877Z,1613478055.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:20:56.629Z,1613478056.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:20:57.035Z,1613478057.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:20:57.880Z,1613478057.880 [Micromodem](INFO): Nmea in: $SNTTA,0.076106,,,,122058.07*4D

2021-02-16T12:20:57.905Z,1613478057.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.360008 m, bearing: 262.813194 deg, deltaT: 4.443442 s, approachRate: 0.648147 m/s, LOS rate: -0.698820 deg/s, posRepo size: 4
2021-02-16T12:21:00.300Z,1613478060.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:01.070Z,1613478061.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:01.481Z,1613478061.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:02.315Z,1613478062.315 [Micromodem](INFO): Nmea in: $SNTTA,0.078057,,,,122102.51*4B

2021-02-16T12:21:02.379Z,1613478062.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.300011 m, bearing: 233.137197 deg, deltaT: 4.451023 s, approachRate: 0.660523 m/s, LOS rate: -6.667231 deg/s, posRepo size: 4
2021-02-16T12:21:04.733Z,1613478064.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:05.514Z,1613478065.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:05.924Z,1613478065.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:06.746Z,1613478066.746 [Micromodem](INFO): Nmea in: $SNTTA,0.080180,,,,122106.95*4B

2021-02-16T12:21:06.786Z,1613478066.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.419998 m, bearing: 237.863933 deg, deltaT: 4.498192 s, approachRate: 0.693609 m/s, LOS rate: 1.050808 deg/s, posRepo size: 4
2021-02-16T12:21:09.179Z,1613478069.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:09.961Z,1613478069.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:10.386Z,1613478070.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:11.193Z,1613478071.193 [Micromodem](INFO): Nmea in: $SNTTA,0.082225,,,0.089047,122111.40*57

2021-02-16T12:21:11.220Z,1613478071.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 249.781029 deg, deltaT: 4.376878 s, approachRate: 0.699130 m/s, LOS rate: 2.722739 deg/s, posRepo size: 4
2021-02-16T12:21:13.622Z,1613478073.622 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:14.400Z,1613478074.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:14.865Z,1613478074.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:15.692Z,1613478075.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 258.348763 deg, deltaT: 4.441302 s, approachRate: 0.000000 m/s, LOS rate: 1.929104 deg/s, posRepo size: 4
2021-02-16T12:21:16.033Z,1613478076.033 [Micromodem](INFO): Nmea in: $SNTTA,0.084116,,,0.086623,122115.91*51

2021-02-16T12:21:18.083Z,1613478078.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:18.859Z,1613478078.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:19.263Z,1613478079.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:20.084Z,1613478080.084 [Micromodem](INFO): Nmea in: $SNTTA,0.086157,,,,122120.30*4C

2021-02-16T12:21:20.134Z,1613478080.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.419998 m, bearing: 256.385221 deg, deltaT: 4.462231 s, approachRate: 1.331172 m/s, LOS rate: -0.440036 deg/s, posRepo size: 4
2021-02-16T12:21:22.519Z,1613478082.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:23.296Z,1613478083.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:23.695Z,1613478083.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:24.527Z,1613478084.527 [Micromodem](INFO): Nmea in: $SNTTA,0.088324,,,,122124.73*47

2021-02-16T12:21:24.552Z,1613478084.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 255.078059 deg, deltaT: 4.437583 s, approachRate: 0.730128 m/s, LOS rate: -0.294566 deg/s, posRepo size: 4
2021-02-16T12:21:26.950Z,1613478086.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:27.738Z,1613478087.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:28.143Z,1613478088.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:28.964Z,1613478088.964 [Micromodem](INFO): Nmea in: $SNTTA,0.090422,,,,122129.17*40

2021-02-16T12:21:28.989Z,1613478088.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.779999 m, bearing: 251.514941 deg, deltaT: 4.471327 s, approachRate: 0.697778 m/s, LOS rate: -0.796882 deg/s, posRepo size: 4
2021-02-16T12:21:31.428Z,1613478091.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:32.176Z,1613478092.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:32.602Z,1613478092.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:33.404Z,1613478093.404 [Micromodem](INFO): Nmea in: $SNTTA,0.092397,,,,122133.61*41

2021-02-16T12:21:33.456Z,1613478093.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.779999 m, bearing: 246.298015 deg, deltaT: 4.403594 s, approachRate: 0.681262 m/s, LOS rate: -1.184697 deg/s, posRepo size: 4
2021-02-16T12:21:35.025Z,1613478095.025 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:21:35.875Z,1613478095.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:36.625Z,1613478096.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:37.025Z,1613478097.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:37.871Z,1613478097.871 [Micromodem](INFO): Nmea in: $SNTTA,0.094477,,,,122138.06*44

2021-02-16T12:21:37.901Z,1613478097.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.899994 m, bearing: 256.267304 deg, deltaT: 4.482480 s, approachRate: 0.696042 m/s, LOS rate: 2.224057 deg/s, posRepo size: 4
2021-02-16T12:21:40.300Z,1613478100.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:41.064Z,1613478101.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:41.492Z,1613478101.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:42.300Z,1613478102.300 [Micromodem](INFO): Nmea in: $SNTTA,0.096570,,,0.099064,122142.50*52

2021-02-16T12:21:42.384Z,1613478102.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.020004 m, bearing: 246.892433 deg, deltaT: 4.424252 s, approachRate: 0.705206 m/s, LOS rate: -2.118973 deg/s, posRepo size: 4
2021-02-16T12:21:44.726Z,1613478104.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:45.132Z,1613478105.132 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:21:45.508Z,1613478105.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:45.919Z,1613478105.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:46.736Z,1613478106.736 [Micromodem](INFO): Nmea in: $SNTTA,0.098525,,,,122146.95*4D

2021-02-16T12:21:46.790Z,1613478106.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.899994 m, bearing: 251.732113 deg, deltaT: 4.464906 s, approachRate: 0.645028 m/s, LOS rate: 1.083938 deg/s, posRepo size: 4
2021-02-16T12:21:49.176Z,1613478109.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:49.957Z,1613478109.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:50.007Z,1613478110.007 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:21:50.375Z,1613478110.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:51.188Z,1613478111.188 [Micromodem](INFO): Nmea in: $SNTTA,0.100421,,,,122151.39*48

2021-02-16T12:21:51.214Z,1613478111.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 251.891885 deg, deltaT: 4.401454 s, approachRate: 0.654334 m/s, LOS rate: 0.036300 deg/s, posRepo size: 4
2021-02-16T12:21:51.214Z,1613478111.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.78 m. Resuming terminal guidance.
2021-02-16T12:21:51.215Z,1613478111.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:21:53.618Z,1613478113.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:54.402Z,1613478114.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:54.807Z,1613478114.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:21:55.632Z,1613478115.632 [Micromodem](INFO): Nmea in: $SNTTA,0.102461,,,,122155.84*4C

2021-02-16T12:21:55.657Z,1613478115.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 242.156215 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:21:55.657Z,1613478115.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 242.156215deg and heading rate command to 0 deg/s.
2021-02-16T12:21:58.065Z,1613478118.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:21:58.860Z,1613478118.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:21:59.258Z,1613478119.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:00.087Z,1613478120.087 [Micromodem](INFO): Nmea in: $SNTTA,0.104387,,,,122200.30*49

2021-02-16T12:22:00.109Z,1613478120.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 231.411290 deg, deltaT: 4.452408 s, approachRate: 0.000000 m/s, LOS rate: -2.413284 deg/s, posRepo size: 2
2021-02-16T12:22:00.110Z,1613478120.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.899994 m,
      bearing: 231.411290 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.413284 deg/s,
      cmd update: -7.239853 deg/s,
      cmd heading: 242.156215 deg,
      new cmd heading: 242.156215 deg.

2021-02-16T12:22:02.533Z,1613478122.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:03.285Z,1613478123.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:03.689Z,1613478123.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:04.516Z,1613478124.516 [Micromodem](INFO): Nmea in: $SNTTA,0.106303,,,,122204.72*45

2021-02-16T12:22:04.564Z,1613478124.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.600006 m, bearing: 211.253557 deg, deltaT: 4.451315 s, approachRate: 1.280523 m/s, LOS rate: -4.528489 deg/s, posRepo size: 3
2021-02-16T12:22:04.566Z,1613478124.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.600006 m,
      bearing: 211.253557 deg,
      approachRate: 1.280523 m/s,
      LOS rate: -4.528489 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 209.958440 deg,
      new cmd heading: 207.094897 deg.

2021-02-16T12:22:04.920Z,1613478124.920 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T12:22:06.950Z,1613478126.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:07.728Z,1613478127.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:08.151Z,1613478128.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:08.964Z,1613478128.964 [Micromodem](INFO): Nmea in: $SNTTA,0.107857,,,,122209.17*40

2021-02-16T12:22:08.989Z,1613478128.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.940018 m, bearing: 220.834373 deg, deltaT: 4.425711 s, approachRate: 0.528731 m/s, LOS rate: 2.164808 deg/s, posRepo size: 4
2021-02-16T12:22:08.991Z,1613478128.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 220.834373 deg,
      approachRate: 0.528731 m/s,
      LOS rate: 2.164808 deg/s,
      cmd update: 6.494425 deg/s,
      cmd heading: 156.849714 deg,
      new cmd heading: 151.824954 deg.

2021-02-16T12:22:10.192Z,1613478130.192 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:22:11.409Z,1613478131.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:12.173Z,1613478132.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:12.577Z,1613478132.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:13.404Z,1613478133.404 [Micromodem](INFO): Nmea in: $SNTTA,0.108984,,,,122213.61*4A

2021-02-16T12:22:13.457Z,1613478133.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 198.388882 deg, deltaT: 4.458617 s, approachRate: 0.349880 m/s, LOS rate: -5.034182 deg/s, posRepo size: 4
2021-02-16T12:22:13.463Z,1613478133.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 198.388882 deg,
      approachRate: 0.349880 m/s,
      LOS rate: -5.034182 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 185.805893 deg,
      new cmd heading: 188.587533 deg.

2021-02-16T12:22:15.868Z,1613478135.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:16.637Z,1613478136.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:17.026Z,1613478137.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:17.888Z,1613478137.888 [Micromodem](INFO): Nmea in: $SNTTA,0.109665,,,,122218.07*40

2021-02-16T12:22:17.913Z,1613478137.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 212.979737 deg, deltaT: 4.460194 s, approachRate: 0.000000 m/s, LOS rate: 3.271350 deg/s, posRepo size: 4
2021-02-16T12:22:17.915Z,1613478137.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 212.979737 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.271350 deg/s,
      cmd update: 9.814050 deg/s,
      cmd heading: 132.345075 deg,
      new cmd heading: 127.198226 deg.

2021-02-16T12:22:20.272Z,1613478140.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:21.060Z,1613478141.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:21.483Z,1613478141.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:22.296Z,1613478142.296 [Micromodem](INFO): Nmea in: $SNTTA,0.109655,,,,122222.50*48

2021-02-16T12:22:22.322Z,1613478142.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 196.113405 deg, deltaT: 4.416113 s, approachRate: 0.271735 m/s, LOS rate: -3.819271 deg/s, posRepo size: 4
2021-02-16T12:22:22.324Z,1613478142.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.700012 m,
      bearing: 196.113405 deg,
      approachRate: 0.271735 m/s,
      LOS rate: -3.819271 deg/s,
      cmd update: -11.457813 deg/s,
      cmd heading: 175.774334 deg,
      new cmd heading: 179.828910 deg.

2021-02-16T12:22:24.728Z,1613478144.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:25.128Z,1613478145.128 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:22:25.509Z,1613478145.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:25.921Z,1613478145.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:26.745Z,1613478146.745 [Micromodem](INFO): Nmea in: $SNTTA,0.108831,,,,122226.95*48

2021-02-16T12:22:26.774Z,1613478146.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 161.467776 deg, deltaT: 4.470719 s, approachRate: -0.348937 m/s, LOS rate: -7.749453 deg/s, posRepo size: 4
2021-02-16T12:22:26.776Z,1613478146.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 161.467776 deg,
      approachRate: -0.348937 m/s,
      LOS rate: -7.749453 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.600589 deg,
      new cmd heading: 120.033047 deg.

2021-02-16T12:22:29.179Z,1613478149.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:29.955Z,1613478149.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:30.377Z,1613478150.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:31.184Z,1613478151.184 [Micromodem](INFO): Nmea in: $SNTTA,0.108075,,,,122231.39*40

2021-02-16T12:22:31.228Z,1613478151.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 91.344723 deg, deltaT: 4.421884 s, approachRate: 0.000000 m/s, LOS rate: -15.858185 deg/s, posRepo size: 4
2021-02-16T12:22:31.230Z,1613478151.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.858185 deg/s. Setting heading cmd to target bearing of 91.344723deg and heading rate command to 0 deg/s.
2021-02-16T12:22:33.616Z,1613478153.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:34.398Z,1613478154.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:34.810Z,1613478154.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:35.635Z,1613478155.635 [Micromodem](INFO): Nmea in: $SNTTA,0.106617,,,,122235.83*49

2021-02-16T12:22:35.660Z,1613478155.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 91.795516 deg, deltaT: 4.454481 s, approachRate: -0.754297 m/s, LOS rate: 0.101200 deg/s, posRepo size: 4
2021-02-16T12:22:35.661Z,1613478155.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 91.795516 deg,
      approachRate: -0.754297 m/s,
      LOS rate: 0.101200 deg/s,
      cmd update: 0.303599 deg/s,
      cmd heading: 91.344723 deg,
      new cmd heading: 91.344723 deg.

2021-02-16T12:22:38.079Z,1613478158.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:38.861Z,1613478158.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:39.256Z,1613478159.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:40.092Z,1613478160.092 [Micromodem](INFO): Nmea in: $SNTTA,0.104859,,,,122240.30*45

2021-02-16T12:22:40.125Z,1613478160.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 88.911516 deg, deltaT: 4.452293 s, approachRate: 0.000000 m/s, LOS rate: -0.647756 deg/s, posRepo size: 4
2021-02-16T12:22:40.126Z,1613478160.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 88.911516 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.647756 deg/s,
      cmd update: -1.943268 deg/s,
      cmd heading: 92.695277 deg,
      new cmd heading: 92.822867 deg.

2021-02-16T12:22:42.502Z,1613478162.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:43.280Z,1613478163.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:43.703Z,1613478163.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:44.508Z,1613478164.508 [Micromodem](INFO): Nmea in: $SNTTA,0.102971,,,,122244.72*4A

2021-02-16T12:22:44.546Z,1613478164.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.080002 m, bearing: 91.577926 deg, deltaT: 4.425334 s, approachRate: -1.288041 m/s, LOS rate: 0.602533 deg/s, posRepo size: 4
2021-02-16T12:22:44.548Z,1613478164.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.080002 m,
      bearing: 91.577926 deg,
      approachRate: -1.288041 m/s,
      LOS rate: 0.602533 deg/s,
      cmd update: 1.807599 deg/s,
      cmd heading: 84.087929 deg,
      new cmd heading: 83.287002 deg.

2021-02-16T12:22:46.946Z,1613478166.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:47.734Z,1613478167.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:48.137Z,1613478168.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:48.971Z,1613478168.971 [Micromodem](INFO): Nmea in: $SNTTA,0.100521,,,,122249.17*4F

2021-02-16T12:22:48.996Z,1613478168.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.600006 m, bearing: 91.267187 deg, deltaT: 4.446657 s, approachRate: -0.782609 m/s, LOS rate: -0.069882 deg/s, posRepo size: 4
2021-02-16T12:22:48.998Z,1613478168.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.600006 m,
      bearing: 91.267187 deg,
      approachRate: -0.782609 m/s,
      LOS rate: -0.069882 deg/s,
      cmd update: -0.209645 deg/s,
      cmd heading: 92.125774 deg,
      new cmd heading: 92.876071 deg.

2021-02-16T12:22:51.404Z,1613478171.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:52.169Z,1613478172.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:52.584Z,1613478172.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:53.425Z,1613478173.425 [Micromodem](INFO): Nmea in: $SNTTA,0.098211,,,,122253.61*41

2021-02-16T12:22:53.450Z,1613478173.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.119995 m, bearing: 91.051360 deg, deltaT: 4.436477 s, approachRate: -0.784409 m/s, LOS rate: -0.048648 deg/s, posRepo size: 4
2021-02-16T12:22:53.452Z,1613478173.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 91.051360 deg,
      approachRate: -0.784409 m/s,
      LOS rate: -0.048648 deg/s,
      cmd update: -0.145945 deg/s,
      cmd heading: 91.195694 deg,
      new cmd heading: 91.104941 deg.

2021-02-16T12:22:55.861Z,1613478175.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:22:56.617Z,1613478176.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:22:57.019Z,1613478177.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:22:57.872Z,1613478177.872 [Micromodem](INFO): Nmea in: $SNTTA,0.095889,,,,122258.05*4E

2021-02-16T12:22:57.906Z,1613478177.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 91.909990 deg, deltaT: 4.451747 s, approachRate: -0.781715 m/s, LOS rate: 0.192875 deg/s, posRepo size: 4
2021-02-16T12:22:57.908Z,1613478177.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 91.909990 deg,
      approachRate: -0.781715 m/s,
      LOS rate: 0.192875 deg/s,
      cmd update: 0.578624 deg/s,
      cmd heading: 90.546563 deg,
      new cmd heading: 90.482103 deg.

2021-02-16T12:23:00.282Z,1613478180.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:01.062Z,1613478181.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:01.473Z,1613478181.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:02.288Z,1613478182.288 [Micromodem](INFO): Nmea in: $SNTTA,0.093470,,,,122302.50*4C

2021-02-16T12:23:02.327Z,1613478182.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 91.670598 deg, deltaT: 4.467086 s, approachRate: -0.805896 m/s, LOS rate: -0.053590 deg/s, posRepo size: 4
2021-02-16T12:23:02.333Z,1613478182.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.039993 m,
      bearing: 91.670598 deg,
      approachRate: -0.805896 m/s,
      LOS rate: -0.053590 deg/s,
      cmd update: -0.160770 deg/s,
      cmd heading: 93.131302 deg,
      new cmd heading: 93.359749 deg.

2021-02-16T12:23:04.741Z,1613478184.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:05.505Z,1613478185.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:05.919Z,1613478185.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:06.732Z,1613478186.732 [Micromodem](INFO): Nmea in: $SNTTA,0.091025,,,,122306.94*46

2021-02-16T12:23:06.781Z,1613478186.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 91.903843 deg, deltaT: 4.432073 s, approachRate: -0.825796 m/s, LOS rate: 0.052626 deg/s, posRepo size: 4
2021-02-16T12:23:06.783Z,1613478186.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 91.903843 deg,
      approachRate: -0.825796 m/s,
      LOS rate: 0.052626 deg/s,
      cmd update: 0.157879 deg/s,
      cmd heading: 92.421586 deg,
      new cmd heading: 92.351689 deg.

2021-02-16T12:23:09.182Z,1613478189.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:09.958Z,1613478189.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:10.379Z,1613478190.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:11.180Z,1613478191.180 [Micromodem](INFO): Nmea in: $SNTTA,0.088573,,,,122311.40*47

2021-02-16T12:23:11.205Z,1613478191.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.720001 m, bearing: 91.703418 deg, deltaT: 4.401227 s, approachRate: -0.831587 m/s, LOS rate: -0.045538 deg/s, posRepo size: 4
2021-02-16T12:23:11.227Z,1613478191.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.720001 m,
      bearing: 91.703418 deg,
      approachRate: -0.831587 m/s,
      LOS rate: -0.045538 deg/s,
      cmd update: -0.136615 deg/s,
      cmd heading: 93.119831 deg,
      new cmd heading: 93.188679 deg.

2021-02-16T12:23:13.621Z,1613478193.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:14.388Z,1613478194.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:14.799Z,1613478194.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:15.630Z,1613478195.630 [Micromodem](INFO): Nmea in: $SNTTA,0.086060,,,,122315.82*44

2021-02-16T12:23:15.693Z,1613478195.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.880005 m, bearing: 91.891883 deg, deltaT: 4.459640 s, approachRate: -0.861055 m/s, LOS rate: 0.042260 deg/s, posRepo size: 4
2021-02-16T12:23:15.694Z,1613478195.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.880005 m,
      bearing: 91.891883 deg,
      approachRate: -0.861055 m/s,
      LOS rate: 0.042260 deg/s,
      cmd update: 0.126781 deg/s,
      cmd heading: 92.510900 deg,
      new cmd heading: 92.447160 deg.

2021-02-16T12:23:18.055Z,1613478198.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:18.861Z,1613478198.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:19.245Z,1613478199.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:20.080Z,1613478200.080 [Micromodem](INFO): Nmea in: $SNTTA,0.083593,,,0.086093,122320.30*5D

2021-02-16T12:23:20.124Z,1613478200.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 92.372790 deg, deltaT: 4.460286 s, approachRate: -0.820576 m/s, LOS rate: 0.107820 deg/s, posRepo size: 4
2021-02-16T12:23:20.125Z,1613478200.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.220001 m,
      bearing: 92.372790 deg,
      approachRate: -0.820576 m/s,
      LOS rate: 0.107820 deg/s,
      cmd update: 0.323459 deg/s,
      cmd heading: 93.074653 deg,
      new cmd heading: 93.131754 deg.

2021-02-16T12:23:22.520Z,1613478202.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:23.297Z,1613478203.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:23.682Z,1613478203.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:24.520Z,1613478204.520 [Micromodem](INFO): Nmea in: $SNTTA,0.081160,,,,122324.73*4E

2021-02-16T12:23:24.568Z,1613478204.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 92.575749 deg, deltaT: 4.456392 s, approachRate: -0.821291 m/s, LOS rate: 0.045543 deg/s, posRepo size: 4
2021-02-16T12:23:24.570Z,1613478204.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.560005 m,
      bearing: 92.575749 deg,
      approachRate: -0.821291 m/s,
      LOS rate: 0.045543 deg/s,
      cmd update: 0.136630 deg/s,
      cmd heading: 94.513986 deg,
      new cmd heading: 94.650169 deg.

2021-02-16T12:23:26.952Z,1613478206.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:27.720Z,1613478207.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:28.132Z,1613478208.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:28.948Z,1613478208.948 [Micromodem](INFO): Nmea in: $SNTTA,0.078645,,,,122329.16*46

2021-02-16T12:23:28.993Z,1613478208.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.779999 m, bearing: 92.243201 deg, deltaT: 4.430294 s, approachRate: -0.853218 m/s, LOS rate: -0.075062 deg/s, posRepo size: 4
2021-02-16T12:23:28.994Z,1613478208.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.779999 m,
      bearing: 92.243201 deg,
      approachRate: -0.853218 m/s,
      LOS rate: -0.075062 deg/s,
      cmd update: -0.225187 deg/s,
      cmd heading: 95.121857 deg,
      new cmd heading: 95.179361 deg.

2021-02-16T12:23:31.423Z,1613478211.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:32.169Z,1613478212.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:32.570Z,1613478212.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:33.400Z,1613478213.400 [Micromodem](INFO): Nmea in: $SNTTA,0.076194,,,,122333.61*48

2021-02-16T12:23:33.440Z,1613478213.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.120003 m, bearing: 91.647328 deg, deltaT: 4.436635 s, approachRate: -0.824949 m/s, LOS rate: -0.134307 deg/s, posRepo size: 4
2021-02-16T12:23:33.441Z,1613478213.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.120003 m,
      bearing: 91.647328 deg,
      approachRate: -0.824949 m/s,
      LOS rate: -0.134307 deg/s,
      cmd update: -0.402922 deg/s,
      cmd heading: 94.122781 deg,
      new cmd heading: 94.025695 deg.

2021-02-16T12:23:35.858Z,1613478215.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:36.612Z,1613478216.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:37.017Z,1613478217.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:37.867Z,1613478217.867 [Micromodem](INFO): Nmea in: $SNTTA,0.073795,,,,122338.05*43

2021-02-16T12:23:37.898Z,1613478217.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.519997 m, bearing: 92.793454 deg, deltaT: 4.451389 s, approachRate: -0.808738 m/s, LOS rate: 0.257476 deg/s, posRepo size: 4
2021-02-16T12:23:37.901Z,1613478217.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.519997 m,
      bearing: 92.793454 deg,
      approachRate: -0.808738 m/s,
      LOS rate: 0.257476 deg/s,
      cmd update: 0.772428 deg/s,
      cmd heading: 92.335751 deg,
      new cmd heading: 92.153125 deg.

2021-02-16T12:23:40.276Z,1613478220.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:41.062Z,1613478221.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:41.468Z,1613478221.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:42.288Z,1613478222.288 [Micromodem](INFO): Nmea in: $SNTTA,0.071291,,,,122342.50*4D

2021-02-16T12:23:42.310Z,1613478222.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.799995 m, bearing: 92.345708 deg, deltaT: 4.446409 s, approachRate: -0.836630 m/s, LOS rate: -0.100698 deg/s, posRepo size: 4
2021-02-16T12:23:42.345Z,1613478222.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 92.345708 deg,
      approachRate: -0.836630 m/s,
      LOS rate: -0.100698 deg/s,
      cmd update: -0.302095 deg/s,
      cmd heading: 95.770432 deg,
      new cmd heading: 96.094940 deg.

2021-02-16T12:23:44.716Z,1613478224.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:45.500Z,1613478225.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:45.906Z,1613478225.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:46.728Z,1613478226.728 [Micromodem](INFO): Nmea in: $SNTTA,0.068940,,,,122346.94*4E

2021-02-16T12:23:46.753Z,1613478226.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 92.069065 deg, deltaT: 4.439047 s, approachRate: -0.810983 m/s, LOS rate: -0.062320 deg/s, posRepo size: 4
2021-02-16T12:23:46.754Z,1613478226.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 92.069065 deg,
      approachRate: -0.810983 m/s,
      LOS rate: -0.062320 deg/s,
      cmd update: -0.186961 deg/s,
      cmd heading: 94.430367 deg,
      new cmd heading: 94.301509 deg.

2021-02-16T12:23:49.191Z,1613478229.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:49.965Z,1613478229.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:50.371Z,1613478230.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:51.196Z,1613478231.196 [Micromodem](INFO): Nmea in: $SNTTA,0.066382,,,,122351.40*4B

2021-02-16T12:23:51.255Z,1613478231.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 92.987104 deg, deltaT: 4.422660 s, approachRate: -0.868255 m/s, LOS rate: 0.207576 deg/s, posRepo size: 4
2021-02-16T12:23:51.257Z,1613478231.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 92.987104 deg,
      approachRate: -0.868255 m/s,
      LOS rate: 0.207576 deg/s,
      cmd update: 0.622729 deg/s,
      cmd heading: 93.599174 deg,
      new cmd heading: 93.509675 deg.

2021-02-16T12:23:53.628Z,1613478233.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:54.398Z,1613478234.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:54.798Z,1613478234.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:23:55.624Z,1613478235.624 [Micromodem](INFO): Nmea in: $SNTTA,0.064026,,,,122355.84*48

2021-02-16T12:23:55.653Z,1613478235.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 93.420971 deg, deltaT: 4.481700 s, approachRate: -0.789879 m/s, LOS rate: 0.096809 deg/s, posRepo size: 4
2021-02-16T12:23:55.655Z,1613478235.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.820007 m,
      bearing: 93.420971 deg,
      approachRate: -0.789879 m/s,
      LOS rate: 0.096809 deg/s,
      cmd update: 0.290426 deg/s,
      cmd heading: 96.376638 deg,
      new cmd heading: 96.638714 deg.

2021-02-16T12:23:58.105Z,1613478238.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:23:58.867Z,1613478238.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:23:59.260Z,1613478239.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:00.084Z,1613478240.084 [Micromodem](INFO): Nmea in: $SNTTA,0.061525,,,,122400.30*43

2021-02-16T12:24:00.126Z,1613478240.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.100006 m, bearing: 94.225356 deg, deltaT: 4.432539 s, approachRate: -0.839248 m/s, LOS rate: 0.181473 deg/s, posRepo size: 4
2021-02-16T12:24:00.132Z,1613478240.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.100006 m,
      bearing: 94.225356 deg,
      approachRate: -0.839248 m/s,
      LOS rate: 0.181473 deg/s,
      cmd update: 0.544418 deg/s,
      cmd heading: 97.668830 deg,
      new cmd heading: 97.797861 deg.

2021-02-16T12:24:02.510Z,1613478242.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:03.283Z,1613478243.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:03.687Z,1613478243.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:04.512Z,1613478244.512 [Micromodem](INFO): Nmea in: $SNTTA,0.059084,,,,122404.72*44

2021-02-16T12:24:04.556Z,1613478244.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.439995 m, bearing: 92.669534 deg, deltaT: 4.424619 s, approachRate: -0.827192 m/s, LOS rate: -0.351628 deg/s, posRepo size: 4
2021-02-16T12:24:04.558Z,1613478244.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.439995 m,
      bearing: 92.669534 deg,
      approachRate: -0.827192 m/s,
      LOS rate: -0.351628 deg/s,
      cmd update: -1.054885 deg/s,
      cmd heading: 100.080235 deg,
      new cmd heading: 100.320500 deg.

2021-02-16T12:24:06.939Z,1613478246.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:07.721Z,1613478247.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:08.131Z,1613478248.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:08.959Z,1613478248.959 [Micromodem](INFO): Nmea in: $SNTTA,0.056730,,0.074686,,122409.16*59

2021-02-16T12:24:08.985Z,1613478248.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 92.716471 deg, deltaT: 4.453973 s, approachRate: -0.781324 m/s, LOS rate: 0.010538 deg/s, posRepo size: 4
2021-02-16T12:24:08.986Z,1613478248.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.959999 m,
      bearing: 92.716471 deg,
      approachRate: -0.781324 m/s,
      LOS rate: 0.010538 deg/s,
      cmd update: 0.031615 deg/s,
      cmd heading: 95.381830 deg,
      new cmd heading: 94.938796 deg.

2021-02-16T12:24:11.442Z,1613478251.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:12.169Z,1613478252.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:12.582Z,1613478252.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:13.400Z,1613478253.400 [Micromodem](INFO): Nmea in: $SNTTA,0.054234,,,,122413.61*44

2021-02-16T12:24:13.440Z,1613478253.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.180008 m, bearing: 92.736504 deg, deltaT: 4.451130 s, approachRate: -0.849221 m/s, LOS rate: 0.004501 deg/s, posRepo size: 4
2021-02-16T12:24:13.442Z,1613478253.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.180008 m,
      bearing: 92.736504 deg,
      approachRate: -0.849221 m/s,
      LOS rate: 0.004501 deg/s,
      cmd update: 0.013502 deg/s,
      cmd heading: 95.522429 deg,
      new cmd heading: 95.535955 deg.

2021-02-16T12:24:15.866Z,1613478255.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:16.608Z,1613478256.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:17.015Z,1613478257.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:17.864Z,1613478257.864 [Micromodem](INFO): Nmea in: $SNTTA,0.051807,,,,122418.04*43

2021-02-16T12:24:17.889Z,1613478257.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.519997 m, bearing: 93.175494 deg, deltaT: 4.438537 s, approachRate: -0.824599 m/s, LOS rate: 0.098904 deg/s, posRepo size: 4
2021-02-16T12:24:17.891Z,1613478257.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.519997 m,
      bearing: 93.175494 deg,
      approachRate: -0.824599 m/s,
      LOS rate: 0.098904 deg/s,
      cmd update: 0.296713 deg/s,
      cmd heading: 95.582357 deg,
      new cmd heading: 95.588279 deg.

2021-02-16T12:24:20.282Z,1613478260.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:21.058Z,1613478261.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:21.458Z,1613478261.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:22.284Z,1613478262.284 [Micromodem](INFO): Nmea in: $SNTTA,0.049292,,,,122422.50*44

2021-02-16T12:24:22.337Z,1613478262.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 93.625098 deg, deltaT: 4.448915 s, approachRate: -0.836159 m/s, LOS rate: 0.101059 deg/s, posRepo size: 4
2021-02-16T12:24:22.344Z,1613478262.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 93.625098 deg,
      approachRate: -0.836159 m/s,
      LOS rate: 0.101059 deg/s,
      cmd update: 0.303178 deg/s,
      cmd heading: 96.902426 deg,
      new cmd heading: 97.031058 deg.

2021-02-16T12:24:24.713Z,1613478264.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:25.496Z,1613478265.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:25.902Z,1613478265.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:26.728Z,1613478266.728 [Micromodem](INFO): Nmea in: $SNTTA,0.046789,,,,122426.93*4F

2021-02-16T12:24:26.782Z,1613478266.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.020004 m, bearing: 92.961333 deg, deltaT: 4.419048 s, approachRate: -0.855386 m/s, LOS rate: -0.150205 deg/s, posRepo size: 4
2021-02-16T12:24:26.783Z,1613478266.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.020004 m,
      bearing: 92.961333 deg,
      approachRate: -0.855386 m/s,
      LOS rate: -0.150205 deg/s,
      cmd update: -0.450616 deg/s,
      cmd heading: 98.243387 deg,
      new cmd heading: 98.382614 deg.

2021-02-16T12:24:29.178Z,1613478269.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:29.940Z,1613478269.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:30.375Z,1613478270.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:31.188Z,1613478271.188 [Micromodem](INFO): Nmea in: $SNTTA,0.044367,,,,122431.39*4F

2021-02-16T12:24:31.213Z,1613478271.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.360001 m, bearing: 94.407073 deg, deltaT: 4.456392 s, approachRate: -0.821293 m/s, LOS rate: 0.324419 deg/s, posRepo size: 4
2021-02-16T12:24:31.232Z,1613478271.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.360001 m,
      bearing: 94.407073 deg,
      approachRate: -0.821293 m/s,
      LOS rate: 0.324419 deg/s,
      cmd update: 0.973258 deg/s,
      cmd heading: 96.235234 deg,
      new cmd heading: 96.039622 deg.

2021-02-16T12:24:33.607Z,1613478273.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:34.390Z,1613478274.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:34.799Z,1613478274.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:35.616Z,1613478275.616 [Micromodem](INFO): Nmea in: $SNTTA,0.041944,,,,122435.83*44

2021-02-16T12:24:35.641Z,1613478275.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 94.403924 deg, deltaT: 4.489611 s, approachRate: -0.801851 m/s, LOS rate: -0.000701 deg/s, posRepo size: 4
2021-02-16T12:24:35.642Z,1613478275.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.760002 m,
      bearing: 94.403924 deg,
      approachRate: -0.801851 m/s,
      LOS rate: -0.000701 deg/s,
      cmd update: -0.002104 deg/s,
      cmd heading: 100.600884 deg,
      new cmd heading: 100.966984 deg.

2021-02-16T12:24:38.053Z,1613478278.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:38.864Z,1613478278.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:39.257Z,1613478279.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:40.084Z,1613478280.084 [Micromodem](INFO): Nmea in: $SNTTA,0.039423,,0.047535,,122440.30*53

2021-02-16T12:24:40.122Z,1613478280.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.980000 m, bearing: 94.072202 deg, deltaT: 4.408763 s, approachRate: -0.857384 m/s, LOS rate: -0.075241 deg/s, posRepo size: 4
2021-02-16T12:24:40.128Z,1613478280.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.980000 m,
      bearing: 94.072202 deg,
      approachRate: -0.857384 m/s,
      LOS rate: -0.075241 deg/s,
      cmd update: -0.225724 deg/s,
      cmd heading: 100.591599 deg,
      new cmd heading: 100.590663 deg.

2021-02-16T12:24:42.491Z,1613478282.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:43.272Z,1613478283.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:43.683Z,1613478283.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:44.516Z,1613478284.516 [Micromodem](INFO): Nmea in: $SNTTA,0.036993,,,,122444.71*45

2021-02-16T12:24:44.550Z,1613478284.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 94.740953 deg, deltaT: 4.443039 s, approachRate: -0.823760 m/s, LOS rate: 0.150516 deg/s, posRepo size: 4
2021-02-16T12:24:44.552Z,1613478284.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.320004 m,
      bearing: 94.740953 deg,
      approachRate: -0.823760 m/s,
      LOS rate: 0.150516 deg/s,
      cmd update: 0.451549 deg/s,
      cmd heading: 99.592341 deg,
      new cmd heading: 99.491746 deg.

2021-02-16T12:24:46.944Z,1613478286.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:47.716Z,1613478287.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:48.122Z,1613478288.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:48.954Z,1613478288.954 [Micromodem](INFO): Nmea in: $SNTTA,0.034599,,,0.037112,122449.15*56

2021-02-16T12:24:49.000Z,1613478289.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.719997 m, bearing: 94.712628 deg, deltaT: 4.454923 s, approachRate: -0.808096 m/s, LOS rate: -0.006358 deg/s, posRepo size: 4
2021-02-16T12:24:49.002Z,1613478289.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.719997 m,
      bearing: 94.712628 deg,
      approachRate: -0.808096 m/s,
      LOS rate: -0.006358 deg/s,
      cmd update: -0.019074 deg/s,
      cmd heading: 101.611253 deg,
      new cmd heading: 101.803036 deg.

2021-02-16T12:24:51.400Z,1613478291.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:52.166Z,1613478292.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:52.585Z,1613478292.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:53.392Z,1613478293.392 [Micromodem](INFO): Nmea in: $SNTTA,0.032205,,,,122453.60*43

2021-02-16T12:24:53.416Z,1613478293.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 94.664455 deg, deltaT: 4.416797 s, approachRate: -0.828654 m/s, LOS rate: -0.010907 deg/s, posRepo size: 4
2021-02-16T12:24:53.418Z,1613478293.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.060001 m,
      bearing: 94.664455 deg,
      approachRate: -0.828654 m/s,
      LOS rate: -0.010907 deg/s,
      cmd update: -0.032721 deg/s,
      cmd heading: 101.527006 deg,
      new cmd heading: 101.518916 deg.

2021-02-16T12:24:55.837Z,1613478295.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:24:56.604Z,1613478296.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:24:57.009Z,1613478297.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:24:57.857Z,1613478297.857 [Micromodem](INFO): Nmea in: $SNTTA,0.029705,,,,122458.04*45

2021-02-16T12:24:57.882Z,1613478297.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.400002 m, bearing: 92.977794 deg, deltaT: 4.481488 s, approachRate: -0.816693 m/s, LOS rate: -0.376362 deg/s, posRepo size: 4
2021-02-16T12:24:57.884Z,1613478297.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.400002 m,
      bearing: 92.977794 deg,
      approachRate: -0.816693 m/s,
      LOS rate: -0.376362 deg/s,
      cmd update: -1.129085 deg/s,
      cmd heading: 101.380373 deg,
      new cmd heading: 101.367001 deg.

2021-02-16T12:25:00.278Z,1613478300.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:01.049Z,1613478301.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:01.467Z,1613478301.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:02.276Z,1613478302.276 [Micromodem](INFO): Nmea in: $SNTTA,0.027089,,,,122502.49*4F

2021-02-16T12:25:02.323Z,1613478302.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.439999 m, bearing: 93.764816 deg, deltaT: 4.427777 s, approachRate: -0.894355 m/s, LOS rate: 0.177747 deg/s, posRepo size: 4
2021-02-16T12:25:02.325Z,1613478302.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.439999 m,
      bearing: 93.764816 deg,
      approachRate: -0.894355 m/s,
      LOS rate: 0.177747 deg/s,
      cmd update: 0.533240 deg/s,
      cmd heading: 96.380886 deg,
      new cmd heading: 95.940514 deg.

2021-02-16T12:25:04.729Z,1613478304.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:05.497Z,1613478305.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:05.910Z,1613478305.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:06.732Z,1613478306.732 [Micromodem](INFO): Nmea in: $SNTTA,0.024619,,,,122506.94*47

2021-02-16T12:25:06.757Z,1613478306.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.719997 m, bearing: 95.675726 deg, deltaT: 4.465792 s, approachRate: -0.832999 m/s, LOS rate: 0.427899 deg/s, posRepo size: 4
2021-02-16T12:25:06.757Z,1613478306.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.72 m.
2021-02-16T12:25:06.783Z,1613478306.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.719997 m,
      bearing: 95.675726 deg,
      approachRate: -0.832999 m/s,
      LOS rate: 0.427899 deg/s,
      cmd update: 1.283698 deg/s,
      cmd heading: 98.746383 deg,
      new cmd heading: 98.970084 deg.

2021-02-16T12:25:07.129Z,1613478307.129 [PowerOnly](INFO): Powering up loadControl
2021-02-16T12:25:09.162Z,1613478309.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:09.936Z,1613478309.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:10.381Z,1613478310.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:11.168Z,1613478311.168 [Micromodem](INFO): Nmea in: $SNTTA,0.021986,,,,122511.37*44

2021-02-16T12:25:11.256Z,1613478311.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.760002 m, bearing: 92.796255 deg, deltaT: 4.407638 s, approachRate: -0.898439 m/s, LOS rate: -0.653291 deg/s, posRepo size: 4
2021-02-16T12:25:11.257Z,1613478311.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.76 m.
2021-02-16T12:25:11.257Z,1613478311.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 32.76 m.
2021-02-16T12:25:11.257Z,1613478311.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T12:25:11.263Z,1613478311.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.760002 m,
      bearing: 92.796255 deg,
      approachRate: -0.898439 m/s,
      LOS rate: -0.653291 deg/s,
      cmd update: -1.959874 deg/s,
      cmd heading: 104.442519 deg,
      new cmd heading: 105.055187 deg.

2021-02-16T12:25:13.598Z,1613478313.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:14.400Z,1613478314.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:14.786Z,1613478314.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:15.620Z,1613478315.620 [Micromodem](INFO): Nmea in: $SNTTA,0.019538,,,,122515.84*4A

2021-02-16T12:25:15.669Z,1613478315.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.799999 m, bearing: 91.055185 deg, deltaT: 4.439893 s, approachRate: -0.891914 m/s, LOS rate: -0.392142 deg/s, posRepo size: 4
2021-02-16T12:25:15.670Z,1613478315.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.799999 m,
      bearing: 91.055185 deg,
      approachRate: -0.891914 m/s,
      LOS rate: -0.392142 deg/s,
      cmd update: -1.176427 deg/s,
      cmd heading: 95.743249 deg,
      new cmd heading: 94.850338 deg.

2021-02-16T12:25:18.071Z,1613478318.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:18.854Z,1613478318.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:19.236Z,1613478319.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:20.080Z,1613478320.080 [Micromodem](INFO): Nmea in: $SNTTA,0.017001,,0.024481,,122520.29*5F

2021-02-16T12:25:20.130Z,1613478320.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 93.842401 deg, deltaT: 4.500925 s, approachRate: -0.786506 m/s, LOS rate: 0.619254 deg/s, posRepo size: 4
2021-02-16T12:25:20.132Z,1613478320.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 93.842401 deg,
      approachRate: -0.786506 m/s,
      LOS rate: 0.619254 deg/s,
      cmd update: 1.857762 deg/s,
      cmd heading: 90.454483 deg,
      new cmd heading: 89.958752 deg.

2021-02-16T12:25:22.502Z,1613478322.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:23.285Z,1613478323.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:23.681Z,1613478323.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:24.511Z,1613478324.511 [Micromodem](INFO): Nmea in: $SNTTA,0.014570,,,,122524.72*40

2021-02-16T12:25:24.536Z,1613478324.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 97.088134 deg, deltaT: 4.405658 s, approachRate: -0.817131 m/s, LOS rate: 0.736719 deg/s, posRepo size: 4
2021-02-16T12:25:24.538Z,1613478324.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.659998 m,
      bearing: 97.088134 deg,
      approachRate: -0.817131 m/s,
      LOS rate: 0.736719 deg/s,
      cmd update: 2.210158 deg/s,
      cmd heading: 98.644003 deg,
      new cmd heading: 99.421768 deg.

2021-02-16T12:25:26.944Z,1613478326.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:27.712Z,1613478327.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:28.118Z,1613478328.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:28.940Z,1613478328.940 [Micromodem](INFO): Nmea in: $SNTTA,0.012272,,,,122529.15*4F

2021-02-16T12:25:28.981Z,1613478328.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.179998 m, bearing: 93.144533 deg, deltaT: 4.442506 s, approachRate: -0.783342 m/s, LOS rate: -0.887697 deg/s, posRepo size: 4
2021-02-16T12:25:28.983Z,1613478328.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.179998 m,
      bearing: 93.144533 deg,
      approachRate: -0.783342 m/s,
      LOS rate: -0.887697 deg/s,
      cmd update: -2.663092 deg/s,
      cmd heading: 108.470904 deg,
      new cmd heading: 109.393811 deg.

2021-02-16T12:25:31.473Z,1613478331.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:32.158Z,1613478332.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:32.564Z,1613478332.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:33.412Z,1613478333.412 [Micromodem](INFO): Nmea in: $SNTTA,0.010069,,,,122533.61*4D

2021-02-16T12:25:33.515Z,1613478333.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.759997 m, bearing: 93.857079 deg, deltaT: 4.480019 s, approachRate: -0.763390 m/s, LOS rate: 0.159050 deg/s, posRepo size: 4
2021-02-16T12:25:33.517Z,1613478333.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 93.857079 deg,
      approachRate: -0.763390 m/s,
      LOS rate: 0.159050 deg/s,
      cmd update: 0.477149 deg/s,
      cmd heading: 96.561418 deg,
      new cmd heading: 95.305501 deg.

2021-02-16T12:25:35.867Z,1613478335.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:36.600Z,1613478336.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:37.011Z,1613478337.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:37.856Z,1613478337.856 [Micromodem](INFO): Nmea in: $SNTTA,0.007976,,,,122538.04*44

2021-02-16T12:25:37.897Z,1613478337.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 99.026043 deg, deltaT: 4.388276 s, approachRate: -0.738330 m/s, LOS rate: 1.177903 deg/s, posRepo size: 4
2021-02-16T12:25:37.898Z,1613478337.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 99.026043 deg,
      approachRate: -0.738330 m/s,
      LOS rate: 1.177903 deg/s,
      cmd update: 3.533709 deg/s,
      cmd heading: 98.659137 deg,
      new cmd heading: 98.880984 deg.

2021-02-16T12:25:40.273Z,1613478340.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:41.051Z,1613478341.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:41.461Z,1613478341.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:42.280Z,1613478342.280 [Micromodem](INFO): Nmea in: $SNTTA,0.005629,,,,122542.49*47

2021-02-16T12:25:42.319Z,1613478342.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 100.596939 deg, deltaT: 4.466862 s, approachRate: -0.738774 m/s, LOS rate: 0.351678 deg/s, posRepo size: 4
2021-02-16T12:25:42.324Z,1613478342.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 100.596939 deg,
      approachRate: -0.738774 m/s,
      LOS rate: 0.351678 deg/s,
      cmd update: 1.055033 deg/s,
      cmd heading: 114.444033 deg,
      new cmd heading: 115.924209 deg.

2021-02-16T12:25:44.742Z,1613478344.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:45.492Z,1613478345.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:45.893Z,1613478345.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:46.724Z,1613478346.724 [Micromodem](INFO): Nmea in: $SNTTA,0.003912,,,,122546.93*45

2021-02-16T12:25:46.749Z,1613478346.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 99.008974 deg, deltaT: 4.413159 s, approachRate: -0.625402 m/s, LOS rate: -0.359825 deg/s, posRepo size: 4
2021-02-16T12:25:46.751Z,1613478346.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 99.008974 deg,
      approachRate: -0.625402 m/s,
      LOS rate: -0.359825 deg/s,
      cmd update: -1.079475 deg/s,
      cmd heading: 119.100098 deg,
      new cmd heading: 119.561162 deg.

2021-02-16T12:25:49.151Z,1613478349.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:49.949Z,1613478349.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:50.360Z,1613478350.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:51.172Z,1613478351.172 [Micromodem](INFO): Nmea in: $SNTTA,0.002806,,,,122551.39*46

2021-02-16T12:25:51.196Z,1613478351.196 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T12:25:51.196Z,1613478351.196 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:25:51.196Z,1613478351.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T12:25:51.196Z,1613478351.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:25:51.196Z,1613478351.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T12:25:51.197Z,1613478351.197 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.319999 m 
2021-02-16T12:25:51.197Z,1613478351.197 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T12:25:51.197Z,1613478351.197 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T12:25:51.197Z,1613478351.197 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T12:25:51.199Z,1613478351.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 125.921094 deg, deltaT: 4.443959 s, approachRate: -0.256528 m/s, LOS rate: 6.055889 deg/s, posRepo size: 4
2021-02-16T12:25:51.201Z,1613478351.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 125.921094 deg,
      approachRate: -0.256528 m/s,
      LOS rate: 6.055889 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 114.303126 deg,
      new cmd heading: 113.824369 deg.

2021-02-16T12:25:51.592Z,1613478351.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T122551: (41.552319, -70.708603)
2021-02-16T12:25:51.592Z,1613478351.592 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T12:25:51.593Z,1613478351.593 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:25:53.630Z,1613478353.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:54.383Z,1613478354.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:54.784Z,1613478354.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:25:55.616Z,1613478355.616 [Micromodem](INFO): Nmea in: $SNTTA,0.005268,,,,122555.82*47

2021-02-16T12:25:55.658Z,1613478355.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 116.184045 deg, deltaT: 4.491820 s, approachRate: 0.828172 m/s, LOS rate: -2.167729 deg/s, posRepo size: 4
2021-02-16T12:25:55.660Z,1613478355.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 116.184045 deg,
      approachRate: 0.828172 m/s,
      LOS rate: -2.167729 deg/s,
      cmd update: -6.503187 deg/s,
      cmd heading: 168.133160 deg,
      new cmd heading: 173.134292 deg.

2021-02-16T12:25:58.037Z,1613478358.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:25:58.850Z,1613478358.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:25:59.233Z,1613478359.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:00.084Z,1613478360.084 [Micromodem](INFO): Nmea in: $SNTTA,0.005675,,,,122600.29*4D

2021-02-16T12:26:00.132Z,1613478360.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 128.031254 deg, deltaT: 4.419025 s, approachRate: 0.122198 m/s, LOS rate: 2.680955 deg/s, posRepo size: 4
2021-02-16T12:26:00.133Z,1613478360.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 128.031254 deg,
      approachRate: 0.122198 m/s,
      LOS rate: 2.680955 deg/s,
      cmd update: 8.042866 deg/s,
      cmd heading: 139.355697 deg,
      new cmd heading: 136.333802 deg.

2021-02-16T12:26:02.486Z,1613478362.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:03.271Z,1613478363.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:03.682Z,1613478363.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:04.486Z,1613478364.486 [Micromodem](INFO): Nmea in: $SNTTA,0.009026,0.045701,,,122604.71*51

2021-02-16T12:26:05.321Z,1613478365.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:06.898Z,1613478366.898 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:26:08.139Z,1613478368.139 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:08.920Z,1613478368.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:09.356Z,1613478369.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:10.148Z,1613478370.148 [Micromodem](INFO): Nmea in: $SNTTA,0.010351,,,,122610.36*45

2021-02-16T12:26:10.198Z,1613478370.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.599998 m, bearing: 143.352721 deg, deltaT: 10.100995 s, approachRate: 0.694981 m/s, LOS rate: 1.516827 deg/s, posRepo size: 4
2021-02-16T12:26:10.200Z,1613478370.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.599998 m,
      bearing: 143.352721 deg,
      approachRate: 0.694981 m/s,
      LOS rate: 1.516827 deg/s,
      cmd update: 4.550482 deg/s,
      cmd heading: 220.564284 deg,
      new cmd heading: 224.056552 deg.

2021-02-16T12:26:12.603Z,1613478372.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:13.366Z,1613478373.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:13.790Z,1613478373.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:14.600Z,1613478374.600 [Micromodem](INFO): Nmea in: $SNTTA,0.012249,,,,122614.81*47

2021-02-16T12:26:14.642Z,1613478374.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 214.895100 deg, deltaT: 4.461030 s, approachRate: 0.632141 m/s, LOS rate: 16.037189 deg/s, posRepo size: 4
2021-02-16T12:26:14.643Z,1613478374.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.037189 deg/s. Setting heading cmd to target bearing of 214.895100deg and heading rate command to 0 deg/s.
2021-02-16T12:26:17.042Z,1613478377.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:17.848Z,1613478377.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:18.216Z,1613478378.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:19.061Z,1613478379.061 [Micromodem](INFO): Nmea in: $SNTTA,0.013821,,,,122619.29*4D

2021-02-16T12:26:19.113Z,1613478379.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 206.082203 deg, deltaT: 4.422472 s, approachRate: 0.515549 m/s, LOS rate: -1.992754 deg/s, posRepo size: 4
2021-02-16T12:26:19.114Z,1613478379.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.700001 m,
      bearing: 206.082203 deg,
      approachRate: 0.515549 m/s,
      LOS rate: -1.992754 deg/s,
      cmd update: -5.978261 deg/s,
      cmd heading: 214.895100 deg,
      new cmd heading: 214.895100 deg.

2021-02-16T12:26:21.475Z,1613478381.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:22.261Z,1613478382.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:22.679Z,1613478382.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:23.491Z,1613478383.491 [Micromodem](INFO): Nmea in: $SNTTA,0.015016,,,,122623.70*42

2021-02-16T12:26:23.556Z,1613478383.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.499998 m, bearing: 237.718259 deg, deltaT: 4.457741 s, approachRate: 0.403791 m/s, LOS rate: 7.096881 deg/s, posRepo size: 4
2021-02-16T12:26:23.557Z,1613478383.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.50 m. Rolling out.
2021-02-16T12:26:23.557Z,1613478383.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T12:26:25.935Z,1613478385.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:26.696Z,1613478386.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:27.102Z,1613478387.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:27.924Z,1613478387.924 [Micromodem](INFO): Nmea in: $SNTTA,0.015654,,,,122628.13*4C

2021-02-16T12:26:27.976Z,1613478387.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 246.079203 deg, deltaT: 4.477544 s, approachRate: 0.241204 m/s, LOS rate: 1.867306 deg/s, posRepo size: 4
2021-02-16T12:26:30.389Z,1613478390.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:31.147Z,1613478391.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:31.551Z,1613478391.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:32.376Z,1613478392.376 [Micromodem](INFO): Nmea in: $SNTTA,0.038977,,0.045396,,122632.58*5A

2021-02-16T12:26:32.443Z,1613478392.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.559998 m, bearing: 205.720517 deg, deltaT: 4.404147 s, approachRate: 7.942513 m/s, LOS rate: -9.163792 deg/s, posRepo size: 4
2021-02-16T12:26:34.837Z,1613478394.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:35.602Z,1613478395.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:36.001Z,1613478396.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:36.826Z,1613478396.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122637.04*59

2021-02-16T12:26:37.629Z,1613478397.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:39.226Z,1613478399.226 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:26:40.480Z,1613478400.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:41.249Z,1613478401.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:41.651Z,1613478401.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:41.664Z,1613478401.664 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:26:42.479Z,1613478402.479 [Micromodem](INFO): Nmea in: $SNTTA,0.020607,,,,122642.69*4D

2021-02-16T12:26:42.504Z,1613478402.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.200001 m, bearing: 223.794249 deg, deltaT: 10.094927 s, approachRate: -2.710272 m/s, LOS rate: 1.790378 deg/s, posRepo size: 4
2021-02-16T12:26:44.903Z,1613478404.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:45.702Z,1613478405.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:46.091Z,1613478406.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:46.928Z,1613478406.928 [Micromodem](INFO): Nmea in: $SNTTA,0.022903,,,,122647.14*4B

2021-02-16T12:26:46.956Z,1613478406.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.320000 m, bearing: 172.949228 deg, deltaT: 4.445799 s, approachRate: 0.701786 m/s, LOS rate: -11.436644 deg/s, posRepo size: 4
2021-02-16T12:26:49.389Z,1613478409.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:50.138Z,1613478410.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:50.557Z,1613478410.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:51.380Z,1613478411.380 [Micromodem](INFO): Nmea in: $SNTTA,0.024799,,,,122651.57*40

2021-02-16T12:26:51.424Z,1613478411.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.320004 m, bearing: 166.070872 deg, deltaT: 4.463018 s, approachRate: 0.672192 m/s, LOS rate: -1.541189 deg/s, posRepo size: 4
2021-02-16T12:26:53.787Z,1613478413.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:54.577Z,1613478414.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:54.982Z,1613478414.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:26:55.824Z,1613478415.824 [Micromodem](INFO): Nmea in: $SNTTA,0.026757,,0.037681,,122656.01*51

2021-02-16T12:26:55.864Z,1613478415.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.319996 m, bearing: 170.583606 deg, deltaT: 4.415111 s, approachRate: 0.679483 m/s, LOS rate: 1.022111 deg/s, posRepo size: 4
2021-02-16T12:26:58.280Z,1613478418.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:26:59.025Z,1613478419.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:26:59.432Z,1613478419.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:00.263Z,1613478420.263 [Micromodem](INFO): Nmea in: $SNTTA,0.028811,,,,122700.46*46

2021-02-16T12:27:00.282Z,1613478420.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 172.352406 deg, deltaT: 4.499273 s, approachRate: 0.653439 m/s, LOS rate: 0.393130 deg/s, posRepo size: 4
2021-02-16T12:27:02.688Z,1613478422.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:03.470Z,1613478423.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:03.878Z,1613478423.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:04.700Z,1613478424.700 [Micromodem](INFO): Nmea in: $SNTTA,0.030872,,,,122704.91*44

2021-02-16T12:27:04.724Z,1613478424.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 164.674167 deg, deltaT: 4.378819 s, approachRate: 0.712521 m/s, LOS rate: -1.753495 deg/s, posRepo size: 4
2021-02-16T12:27:07.149Z,1613478427.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:07.914Z,1613478427.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:08.331Z,1613478428.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:09.140Z,1613478429.140 [Micromodem](INFO): Nmea in: $SNTTA,0.033289,,,,122709.35*4A

2021-02-16T12:27:09.181Z,1613478429.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.800003 m, bearing: 229.746335 deg, deltaT: 4.471891 s, approachRate: 0.764778 m/s, LOS rate: 14.551377 deg/s, posRepo size: 4
2021-02-16T12:27:11.586Z,1613478431.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:12.377Z,1613478432.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:12.763Z,1613478432.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:13.600Z,1613478433.600 [Micromodem](INFO): Nmea in: $SNTTA,0.035094,,,,122713.81*46

2021-02-16T12:27:13.630Z,1613478433.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 227.244874 deg, deltaT: 4.439436 s, approachRate: 0.594670 m/s, LOS rate: -0.563464 deg/s, posRepo size: 4
2021-02-16T12:27:16.019Z,1613478436.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:16.800Z,1613478436.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:17.203Z,1613478437.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:18.033Z,1613478438.033 [Micromodem](INFO): Nmea in: $SNTTA,0.037084,,0.042096,,122718.24*56

2021-02-16T12:27:18.057Z,1613478438.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.439999 m, bearing: 226.223911 deg, deltaT: 4.436130 s, approachRate: 0.676264 m/s, LOS rate: -0.230147 deg/s, posRepo size: 4
2021-02-16T12:27:20.463Z,1613478440.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:21.247Z,1613478441.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:21.646Z,1613478441.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:22.476Z,1613478442.476 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122722.68*56

2021-02-16T12:27:22.514Z,1613478442.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 161.460099 deg, deltaT: 4.467934 s, approachRate: 0.658023 m/s, LOS rate: -14.495248 deg/s, posRepo size: 4
2021-02-16T12:27:24.917Z,1613478444.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:25.684Z,1613478445.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:26.097Z,1613478446.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:26.935Z,1613478446.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.065682,122727.12*4F

2021-02-16T12:27:26.960Z,1613478446.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.320004 m, bearing: 168.474689 deg, deltaT: 4.424827 s, approachRate: 0.664433 m/s, LOS rate: 1.585280 deg/s, posRepo size: 4
2021-02-16T12:27:29.385Z,1613478449.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:30.144Z,1613478450.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:30.534Z,1613478450.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:31.384Z,1613478451.384 [Micromodem](INFO): Nmea in: $SNTTA,0.072050,,,,122731.58*49

2021-02-16T12:27:31.421Z,1613478451.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.380005 m, bearing: 161.261695 deg, deltaT: 4.438895 s, approachRate: 0.689361 m/s, LOS rate: -1.624953 deg/s, posRepo size: 4
2021-02-16T12:27:33.795Z,1613478453.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:34.573Z,1613478454.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:34.978Z,1613478454.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:35.800Z,1613478455.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122736.01*5C

2021-02-16T12:27:35.868Z,1613478455.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 176.554666 deg, deltaT: 4.468661 s, approachRate: 0.711623 m/s, LOS rate: 3.422271 deg/s, posRepo size: 4
2021-02-16T12:27:38.254Z,1613478458.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:39.029Z,1613478459.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:39.423Z,1613478459.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:40.257Z,1613478460.257 [Micromodem](INFO): Nmea in: $SNTTA,0.047122,,,,122740.47*43

2021-02-16T12:27:40.278Z,1613478460.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.680008 m, bearing: 178.412054 deg, deltaT: 4.441688 s, approachRate: 0.702436 m/s, LOS rate: 0.418172 deg/s, posRepo size: 4
2021-02-16T12:27:42.678Z,1613478462.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:43.460Z,1613478463.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:43.893Z,1613478463.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:44.688Z,1613478464.688 [Micromodem](INFO): Nmea in: $SNTTA,0.049300,,,,122744.90*41

2021-02-16T12:27:44.726Z,1613478464.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 231.864295 deg, deltaT: 4.425598 s, approachRate: 0.677873 m/s, LOS rate: 12.077970 deg/s, posRepo size: 4
2021-02-16T12:27:47.123Z,1613478467.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:47.910Z,1613478467.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:48.310Z,1613478468.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:49.137Z,1613478469.137 [Micromodem](INFO): Nmea in: $SNTTA,0.051331,,,,122749.35*48

2021-02-16T12:27:49.193Z,1613478469.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 236.144447 deg, deltaT: 4.434384 s, approachRate: 0.690061 m/s, LOS rate: 0.965219 deg/s, posRepo size: 4
2021-02-16T12:27:51.586Z,1613478471.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:52.377Z,1613478472.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:52.759Z,1613478472.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:53.592Z,1613478473.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122753.82*54

2021-02-16T12:27:53.635Z,1613478473.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 173.211862 deg, deltaT: 4.443846 s, approachRate: 0.688592 m/s, LOS rate: -14.161738 deg/s, posRepo size: 4
2021-02-16T12:27:56.032Z,1613478476.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:27:56.801Z,1613478476.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:27:57.202Z,1613478477.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:27:58.028Z,1613478478.028 [Micromodem](INFO): Nmea in: $SNTTA,0.055120,,,,122758.24*4E

2021-02-16T12:27:58.085Z,1613478478.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 173.128261 deg, deltaT: 4.492769 s, approachRate: 0.641031 m/s, LOS rate: -0.018608 deg/s, posRepo size: 4
2021-02-16T12:28:00.470Z,1613478480.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:01.247Z,1613478481.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:01.641Z,1613478481.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:02.472Z,1613478482.472 [Micromodem](INFO): Nmea in: $SNTTA,0.057289,,,,122802.68*44

2021-02-16T12:28:02.496Z,1613478482.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.860001 m, bearing: 234.071239 deg, deltaT: 4.418504 s, approachRate: 0.719701 m/s, LOS rate: 13.792672 deg/s, posRepo size: 4
2021-02-16T12:28:04.736Z,1613478484.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:05.356Z,1613478485.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:05.738Z,1613478485.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:06.576Z,1613478486.576 [Micromodem](INFO): Nmea in: $SNTTA,0.059417,,,,122806.79*4F

2021-02-16T12:28:06.624Z,1613478486.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.860001 m, bearing: 230.661362 deg, deltaT: 4.105550 s, approachRate: 0.730718 m/s, LOS rate: -0.830553 deg/s, posRepo size: 4
2021-02-16T12:28:08.993Z,1613478488.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:09.781Z,1613478489.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:10.182Z,1613478490.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:11.012Z,1613478491.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122811.22*57

2021-02-16T12:28:11.037Z,1613478491.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 234.083178 deg, deltaT: 4.412004 s, approachRate: 0.652764 m/s, LOS rate: 0.775569 deg/s, posRepo size: 4
2021-02-16T12:28:13.457Z,1613478493.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:14.238Z,1613478494.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:14.634Z,1613478494.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:15.460Z,1613478495.460 [Micromodem](INFO): Nmea in: $SNTTA,0.063225,,,,122815.68*43

2021-02-16T12:28:15.504Z,1613478495.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.800003 m, bearing: 179.998939 deg, deltaT: 4.464286 s, approachRate: 0.685441 m/s, LOS rate: -12.114869 deg/s, posRepo size: 4
2021-02-16T12:28:17.906Z,1613478497.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:18.682Z,1613478498.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:19.070Z,1613478499.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:19.909Z,1613478499.909 [Micromodem](INFO): Nmea in: $SNTTA,0.064981,,,,122820.12*4A

2021-02-16T12:28:19.960Z,1613478499.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.739998 m, bearing: 178.283510 deg, deltaT: 4.422520 s, approachRate: 0.664778 m/s, LOS rate: -0.387885 deg/s, posRepo size: 4
2021-02-16T12:28:22.325Z,1613478502.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:23.125Z,1613478503.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:23.519Z,1613478503.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:24.367Z,1613478504.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122824.56*52

2021-02-16T12:28:24.419Z,1613478504.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.860001 m, bearing: 177.744677 deg, deltaT: 4.459193 s, approachRate: 0.699679 m/s, LOS rate: -0.120837 deg/s, posRepo size: 4
2021-02-16T12:28:26.765Z,1613478506.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:27.555Z,1613478507.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:27.964Z,1613478507.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:28.780Z,1613478508.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122828.99*5D

2021-02-16T12:28:28.857Z,1613478508.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.860008 m, bearing: 239.297071 deg, deltaT: 4.492889 s, approachRate: 0.667724 m/s, LOS rate: 13.699958 deg/s, posRepo size: 4
2021-02-16T12:28:31.222Z,1613478511.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:31.996Z,1613478511.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:32.403Z,1613478512.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:33.225Z,1613478513.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122833.43*50

2021-02-16T12:28:33.272Z,1613478513.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 178.413830 deg, deltaT: 4.427616 s, approachRate: 0.704667 m/s, LOS rate: -13.750796 deg/s, posRepo size: 4
2021-02-16T12:28:35.658Z,1613478515.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:36.440Z,1613478516.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:36.871Z,1613478516.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:37.681Z,1613478517.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122837.91*5B

2021-02-16T12:28:37.705Z,1613478517.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 180.501204 deg, deltaT: 4.397778 s, approachRate: 0.764021 m/s, LOS rate: 0.474643 deg/s, posRepo size: 4
2021-02-16T12:28:40.108Z,1613478520.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:40.885Z,1613478520.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:41.301Z,1613478521.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:42.112Z,1613478522.112 [Micromodem](INFO): Nmea in: $SNTTA,0.075795,,,,122842.32*47

2021-02-16T12:28:42.166Z,1613478522.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.399994 m, bearing: 236.174964 deg, deltaT: 4.461712 s, approachRate: 0.685835 m/s, LOS rate: 12.478116 deg/s, posRepo size: 4
2021-02-16T12:28:44.558Z,1613478524.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:45.350Z,1613478525.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:45.734Z,1613478525.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:46.568Z,1613478526.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122846.79*5B

2021-02-16T12:28:46.606Z,1613478526.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.640007 m, bearing: 177.458601 deg, deltaT: 4.449442 s, approachRate: 0.728184 m/s, LOS rate: -13.196343 deg/s, posRepo size: 4
2021-02-16T12:28:49.002Z,1613478529.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:49.772Z,1613478529.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:50.205Z,1613478530.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:51.003Z,1613478531.003 [Micromodem](INFO): Nmea in: $SNTTA,0.079668,,,,122851.21*48

2021-02-16T12:28:51.028Z,1613478531.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.639999 m, bearing: 179.115373 deg, deltaT: 4.430718 s, approachRate: 0.677089 m/s, LOS rate: 0.373928 deg/s, posRepo size: 4
2021-02-16T12:28:53.432Z,1613478533.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:54.217Z,1613478534.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:54.621Z,1613478534.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:55.464Z,1613478535.464 [Micromodem](INFO): Nmea in: $SNTTA,0.081686,,,,122855.65*4B

2021-02-16T12:28:55.511Z,1613478535.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 178.246504 deg, deltaT: 4.434091 s, approachRate: 0.703640 m/s, LOS rate: -0.195952 deg/s, posRepo size: 4
2021-02-16T12:28:57.901Z,1613478537.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:28:58.668Z,1613478538.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:28:59.066Z,1613478539.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:28:59.900Z,1613478539.900 [Micromodem](INFO): Nmea in: $SNTTA,0.083679,,,,122900.11*4B

2021-02-16T12:28:59.939Z,1613478539.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.700005 m, bearing: 178.405798 deg, deltaT: 4.480515 s, approachRate: 0.656175 m/s, LOS rate: 0.035553 deg/s, posRepo size: 4
2021-02-16T12:29:02.380Z,1613478542.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:03.109Z,1613478543.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:03.510Z,1613478543.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:04.344Z,1613478544.344 [Micromodem](INFO): Nmea in: $SNTTA,0.085734,,,,122904.55*41

2021-02-16T12:29:04.411Z,1613478544.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.760010 m, bearing: 180.274674 deg, deltaT: 4.422397 s, approachRate: 0.691934 m/s, LOS rate: 0.422594 deg/s, posRepo size: 4
2021-02-16T12:29:04.732Z,1613478544.732 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,4D
 expected 18
2021-02-16T12:29:06.755Z,1613478546.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:07.550Z,1613478547.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:07.954Z,1613478547.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:08.776Z,1613478548.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.090735,122908.99*48

2021-02-16T12:29:08.856Z,1613478548.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 235.951125 deg, deltaT: 4.452808 s, approachRate: 0.673729 m/s, LOS rate: 12.503672 deg/s, posRepo size: 4
2021-02-16T12:29:11.228Z,1613478551.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:11.993Z,1613478551.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:12.415Z,1613478552.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:13.221Z,1613478553.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,122913.43*53

2021-02-16T12:29:13.269Z,1613478553.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.059998 m, bearing: 236.881998 deg, deltaT: 4.458230 s, approachRate: 0.740205 m/s, LOS rate: 0.208799 deg/s, posRepo size: 4
2021-02-16T12:29:15.669Z,1613478555.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:16.438Z,1613478556.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:16.862Z,1613478556.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:17.679Z,1613478557.679 [Micromodem](INFO): Nmea in: $SNTTA,0.091841,,,,122917.87*44

2021-02-16T12:29:17.704Z,1613478557.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.000000 m, bearing: 179.822106 deg, deltaT: 4.415212 s, approachRate: 0.665880 m/s, LOS rate: -12.923477 deg/s, posRepo size: 4
2021-02-16T12:29:20.111Z,1613478560.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:20.876Z,1613478560.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:21.287Z,1613478561.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:22.104Z,1613478562.104 [Micromodem](INFO): Nmea in: $SNTTA,0.093854,,,,122922.31*49

2021-02-16T12:29:22.149Z,1613478562.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.940002 m, bearing: 183.437161 deg, deltaT: 4.443260 s, approachRate: 0.661677 m/s, LOS rate: 0.813604 deg/s, posRepo size: 4
2021-02-16T12:29:24.560Z,1613478564.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:25.328Z,1613478565.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:25.732Z,1613478565.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:26.572Z,1613478566.572 [Micromodem](INFO): Nmea in: $SNTTA,0.095880,,,,122926.76*41

2021-02-16T12:29:26.597Z,1613478566.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.000000 m, bearing: 179.738313 deg, deltaT: 4.456894 s, approachRate: 0.686576 m/s, LOS rate: -0.829916 deg/s, posRepo size: 4
2021-02-16T12:29:28.982Z,1613478568.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:29.764Z,1613478569.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:30.171Z,1613478570.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:31.012Z,1613478571.012 [Micromodem](INFO): Nmea in: $SNTTA,0.097859,,,,122931.24*46

2021-02-16T12:29:31.036Z,1613478571.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.000000 m, bearing: 234.887829 deg, deltaT: 4.446454 s, approachRate: 0.000000 m/s, LOS rate: 12.403033 deg/s, posRepo size: 4
2021-02-16T12:29:33.435Z,1613478573.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:34.208Z,1613478574.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:34.624Z,1613478574.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:35.452Z,1613478575.452 [Micromodem](INFO): Nmea in: $SNTTA,0.100534,,,,122935.65*4E

2021-02-16T12:29:35.487Z,1613478575.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 229.345786 deg, deltaT: 4.437598 s, approachRate: 1.392647 m/s, LOS rate: -1.248883 deg/s, posRepo size: 4
2021-02-16T12:29:35.488Z,1613478575.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.18 m. Resuming terminal guidance.
2021-02-16T12:29:35.488Z,1613478575.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:29:37.884Z,1613478577.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:38.658Z,1613478578.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:39.059Z,1613478579.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:39.891Z,1613478579.891 [Micromodem](INFO): Nmea in: $SNTTA,0.101980,,,,122940.10*4C

2021-02-16T12:29:39.916Z,1613478579.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 234.441517 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:29:39.917Z,1613478579.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 234.441517deg and heading rate command to 0 deg/s.
2021-02-16T12:29:42.305Z,1613478582.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:43.098Z,1613478583.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:43.513Z,1613478583.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:44.328Z,1613478584.328 [Micromodem](INFO): Nmea in: $SNTTA,0.104163,,,,122944.53*4F

2021-02-16T12:29:44.398Z,1613478584.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.940002 m, bearing: 237.632117 deg, deltaT: 4.440161 s, approachRate: 0.621598 m/s, LOS rate: 0.718578 deg/s, posRepo size: 2
2021-02-16T12:29:44.404Z,1613478584.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.940002 m,
      bearing: 237.632117 deg,
      approachRate: 0.621598 m/s,
      LOS rate: 0.718578 deg/s,
      cmd update: 2.155733 deg/s,
      cmd heading: 234.441517 deg,
      new cmd heading: 234.441517 deg.

2021-02-16T12:29:46.777Z,1613478586.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:47.541Z,1613478587.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:47.958Z,1613478587.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:48.768Z,1613478588.768 [Micromodem](INFO): Nmea in: $SNTTA,0.105712,,,,122948.98*45

2021-02-16T12:29:48.830Z,1613478588.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.819992 m, bearing: 211.324892 deg, deltaT: 4.453329 s, approachRate: 0.646705 m/s, LOS rate: -5.907317 deg/s, posRepo size: 3
2021-02-16T12:29:48.845Z,1613478588.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.819992 m,
      bearing: 211.324892 deg,
      approachRate: 0.646705 m/s,
      LOS rate: -5.907317 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.041641 deg,
      new cmd heading: 244.947997 deg.

2021-02-16T12:29:51.209Z,1613478591.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:51.990Z,1613478591.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:52.401Z,1613478592.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:53.221Z,1613478593.221 [Micromodem](INFO): Nmea in: $SNTTA,0.107105,,,,122953.43*4B

2021-02-16T12:29:53.269Z,1613478593.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 239.498261 deg, deltaT: 4.457411 s, approachRate: 0.444207 m/s, LOS rate: 6.320568 deg/s, posRepo size: 4
2021-02-16T12:29:53.271Z,1613478593.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.800003 m,
      bearing: 239.498261 deg,
      approachRate: 0.444207 m/s,
      LOS rate: 6.320568 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 190.601475 deg,
      new cmd heading: 185.636847 deg.

2021-02-16T12:29:55.658Z,1613478595.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:29:56.433Z,1613478596.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:29:56.861Z,1613478596.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:29:57.660Z,1613478597.660 [Micromodem](INFO): Nmea in: $SNTTA,0.108737,,,,122957.87*4F

2021-02-16T12:29:57.685Z,1613478597.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 232.708643 deg, deltaT: 4.420026 s, approachRate: 0.529411 m/s, LOS rate: -1.536104 deg/s, posRepo size: 4
2021-02-16T12:29:57.687Z,1613478597.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 232.708643 deg,
      approachRate: 0.529411 m/s,
      LOS rate: -1.536104 deg/s,
      cmd update: -4.608311 deg/s,
      cmd heading: 243.490601 deg,
      new cmd heading: 248.550641 deg.

2021-02-16T12:30:00.108Z,1613478600.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:00.881Z,1613478600.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:01.291Z,1613478601.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:02.108Z,1613478602.108 [Micromodem](INFO): Nmea in: $SNTTA,0.110053,,,,123002.32*45

2021-02-16T12:30:02.148Z,1613478602.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 251.610700 deg, deltaT: 4.471009 s, approachRate: 0.000000 m/s, LOS rate: 4.227694 deg/s, posRepo size: 4
2021-02-16T12:30:02.149Z,1613478602.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 251.610700 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.227694 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 222.828779 deg,
      new cmd heading: 220.981796 deg.

2021-02-16T12:30:04.554Z,1613478604.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:05.323Z,1613478605.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:05.722Z,1613478605.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:06.554Z,1613478606.554 [Micromodem](INFO): Nmea in: $SNTTA,0.111295,,,,123006.76*48

2021-02-16T12:30:06.601Z,1613478606.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 233.525151 deg, deltaT: 4.430189 s, approachRate: 0.000000 m/s, LOS rate: -4.082343 deg/s, posRepo size: 4
2021-02-16T12:30:06.603Z,1613478606.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 233.525151 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.082343 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 276.036649 deg,
      new cmd heading: 281.079289 deg.

2021-02-16T12:30:08.989Z,1613478608.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:09.764Z,1613478609.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:10.179Z,1613478610.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:10.995Z,1613478610.995 [Micromodem](INFO): Nmea in: $SNTTA,0.112660,,,,123011.20*40

2021-02-16T12:30:11.020Z,1613478611.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 234.244288 deg, deltaT: 4.438883 s, approachRate: 1.338172 m/s, LOS rate: 0.162009 deg/s, posRepo size: 4
2021-02-16T12:30:11.022Z,1613478611.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 234.244288 deg,
      approachRate: 1.338172 m/s,
      LOS rate: 0.162009 deg/s,
      cmd update: 0.486026 deg/s,
      cmd heading: 222.770795 deg,
      new cmd heading: 217.958831 deg.

2021-02-16T12:30:13.438Z,1613478613.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:14.209Z,1613478614.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:14.623Z,1613478614.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:15.445Z,1613478615.445 [Micromodem](INFO): Nmea in: $SNTTA,0.113589,,,,123015.65*40

2021-02-16T12:30:15.501Z,1613478615.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 289.155567 deg, deltaT: 4.441012 s, approachRate: 0.000000 m/s, LOS rate: 12.364586 deg/s, posRepo size: 4
2021-02-16T12:30:15.501Z,1613478615.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.364586 deg/s. Setting heading cmd to target bearing of 289.155567deg and heading rate command to 0 deg/s.
2021-02-16T12:30:17.903Z,1613478617.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:18.655Z,1613478618.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:19.056Z,1613478619.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:19.889Z,1613478619.889 [Micromodem](INFO): Nmea in: $SNTTA,0.114621,,,0.117134,123020.09*55

2021-02-16T12:30:19.914Z,1613478619.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 260.449211 deg, deltaT: 4.443499 s, approachRate: 0.000000 m/s, LOS rate: -6.460305 deg/s, posRepo size: 4
2021-02-16T12:30:19.916Z,1613478619.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 260.449211 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.460305 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 289.155567 deg,
      new cmd heading: 289.155567 deg.

2021-02-16T12:30:22.322Z,1613478622.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:23.093Z,1613478623.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:23.511Z,1613478623.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:24.324Z,1613478624.324 [Micromodem](INFO): Nmea in: $SNTTA,0.115771,,,,123024.53*44

2021-02-16T12:30:24.390Z,1613478624.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.080002 m, bearing: 240.705046 deg, deltaT: 4.458993 s, approachRate: 0.000000 m/s, LOS rate: -4.427942 deg/s, posRepo size: 4
2021-02-16T12:30:24.396Z,1613478624.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.080002 m,
      bearing: 240.705046 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.427942 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.653745 deg,
      new cmd heading: 230.524249 deg.

2021-02-16T12:30:26.743Z,1613478626.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:27.541Z,1613478627.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:27.941Z,1613478627.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:28.772Z,1613478628.772 [Micromodem](INFO): Nmea in: $SNTTA,0.116599,,,,123028.98*48

2021-02-16T12:30:28.809Z,1613478628.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.899994 m, bearing: 308.749467 deg, deltaT: 4.440306 s, approachRate: 1.310719 m/s, LOS rate: 15.324264 deg/s, posRepo size: 4
2021-02-16T12:30:28.810Z,1613478628.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.324264 deg/s. Setting heading cmd to target bearing of 308.749467deg and heading rate command to 0 deg/s.
2021-02-16T12:30:31.210Z,1613478631.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:31.986Z,1613478631.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:32.408Z,1613478632.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:33.212Z,1613478633.212 [Micromodem](INFO): Nmea in: $SNTTA,0.117232,,,,123033.42*42

2021-02-16T12:30:33.264Z,1613478633.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.899994 m, bearing: 286.841826 deg, deltaT: 4.464276 s, approachRate: 0.000000 m/s, LOS rate: -4.907322 deg/s, posRepo size: 4
2021-02-16T12:30:33.266Z,1613478633.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.899994 m,
      bearing: 286.841826 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.907322 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.749467 deg,
      new cmd heading: 308.749467 deg.

2021-02-16T12:30:35.652Z,1613478635.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:36.441Z,1613478636.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:36.859Z,1613478636.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:37.670Z,1613478637.670 [Micromodem](INFO): Nmea in: $SNTTA,0.118479,,,,123037.88*46

2021-02-16T12:30:38.080Z,1613478638.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 243.744152 deg, deltaT: 4.862392 s, approachRate: 0.579963 m/s, LOS rate: -8.863472 deg/s, posRepo size: 4
2021-02-16T12:30:38.082Z,1613478638.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 243.744152 deg,
      approachRate: 0.579963 m/s,
      LOS rate: -8.863472 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 250.631126 deg,
      new cmd heading: 246.166717 deg.

2021-02-16T12:30:40.492Z,1613478640.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:41.272Z,1613478641.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:41.678Z,1613478641.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:42.499Z,1613478642.499 [Micromodem](INFO): Nmea in: $SNTTA,0.119855,,,,123042.71*41

2021-02-16T12:30:42.955Z,1613478642.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.819992 m, bearing: 244.907662 deg, deltaT: 4.793382 s, approachRate: 0.438102 m/s, LOS rate: 0.242732 deg/s, posRepo size: 4
2021-02-16T12:30:42.957Z,1613478642.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.819992 m,
      bearing: 244.907662 deg,
      approachRate: 0.438102 m/s,
      LOS rate: 0.242732 deg/s,
      cmd update: 0.728197 deg/s,
      cmd heading: 192.839855 deg,
      new cmd heading: 187.667759 deg.

2021-02-16T12:30:45.385Z,1613478645.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:46.125Z,1613478646.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:46.525Z,1613478646.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:47.358Z,1613478647.358 [Micromodem](INFO): Nmea in: $SNTTA,0.120905,,,,123047.56*4F

2021-02-16T12:30:47.770Z,1613478647.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.379990 m, bearing: 267.465509 deg, deltaT: 4.908665 s, approachRate: 0.317805 m/s, LOS rate: 4.595516 deg/s, posRepo size: 4
2021-02-16T12:30:47.772Z,1613478647.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.379990 m,
      bearing: 267.465509 deg,
      approachRate: 0.317805 m/s,
      LOS rate: 4.595516 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 196.408233 deg,
      new cmd heading: 196.660371 deg.

2021-02-16T12:30:50.197Z,1613478650.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:50.969Z,1613478650.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:51.390Z,1613478651.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:52.207Z,1613478652.207 [Micromodem](INFO): Nmea in: $SNTTA,0.122427,,,,123052.41*42

2021-02-16T12:30:52.628Z,1613478652.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 221.442970 deg, deltaT: 4.828116 s, approachRate: 0.472237 m/s, LOS rate: -9.532194 deg/s, posRepo size: 4
2021-02-16T12:30:52.630Z,1613478652.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.660004 m,
      bearing: 221.442970 deg,
      approachRate: 0.472237 m/s,
      LOS rate: -9.532194 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 254.441159 deg,
      new cmd heading: 258.851471 deg.

2021-02-16T12:30:55.063Z,1613478655.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:30:55.852Z,1613478655.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:30:56.227Z,1613478656.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:30:57.050Z,1613478657.050 [Micromodem](INFO): Nmea in: $SNTTA,0.124348,,0.127105,,123057.29*5F

2021-02-16T12:30:57.486Z,1613478657.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.660004 m, bearing: 235.106859 deg, deltaT: 4.850142 s, approachRate: 0.618539 m/s, LOS rate: 2.817214 deg/s, posRepo size: 4
2021-02-16T12:30:57.488Z,1613478657.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.660004 m,
      bearing: 235.106859 deg,
      approachRate: 0.618539 m/s,
      LOS rate: 2.817214 deg/s,
      cmd update: 8.451643 deg/s,
      cmd heading: 196.285018 deg,
      new cmd heading: 191.730766 deg.

2021-02-16T12:30:59.683Z,1613478659.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:00.263Z,1613478660.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:00.671Z,1613478660.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:01.482Z,1613478661.482 [Micromodem](INFO): Nmea in: $SNTTA,0.125457,,,,123101.70*47

2021-02-16T12:31:01.926Z,1613478661.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.220001 m, bearing: 225.257699 deg, deltaT: 4.415557 s, approachRate: 0.353296 m/s, LOS rate: -2.230559 deg/s, posRepo size: 4
2021-02-16T12:31:01.928Z,1613478661.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.220001 m,
      bearing: 225.257699 deg,
      approachRate: 0.353296 m/s,
      LOS rate: -2.230559 deg/s,
      cmd update: -6.691677 deg/s,
      cmd heading: 233.637637 deg,
      new cmd heading: 237.017440 deg.

2021-02-16T12:31:04.357Z,1613478664.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:05.109Z,1613478665.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:05.519Z,1613478665.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:06.352Z,1613478666.352 [Micromodem](INFO): Nmea in: $SNTTA,0.126925,,,,123106.54*4D

2021-02-16T12:31:06.754Z,1613478666.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.380005 m, bearing: 249.793487 deg, deltaT: 4.889234 s, approachRate: 0.441788 m/s, LOS rate: 5.018330 deg/s, posRepo size: 4
2021-02-16T12:31:06.756Z,1613478666.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.380005 m,
      bearing: 249.793487 deg,
      approachRate: 0.441788 m/s,
      LOS rate: 5.018330 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 200.923894 deg,
      new cmd heading: 198.651226 deg.

2021-02-16T12:31:09.174Z,1613478669.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:09.957Z,1613478669.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:10.382Z,1613478670.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:11.228Z,1613478671.228 [Micromodem](INFO): Nmea in: $SNTTA,0.128560,,,,123111.39*43

2021-02-16T12:31:11.617Z,1613478671.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 196.900584 deg, deltaT: 4.870701 s, approachRate: 0.517380 m/s, LOS rate: -10.859402 deg/s, posRepo size: 4
2021-02-16T12:31:11.620Z,1613478671.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.900009 m,
      bearing: 196.900584 deg,
      approachRate: 0.517380 m/s,
      LOS rate: -10.859402 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 259.380923 deg,
      new cmd heading: 263.345615 deg.

2021-02-16T12:31:14.041Z,1613478674.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:14.858Z,1613478674.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:15.233Z,1613478675.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:15.643Z,1613478675.643 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T12:31:16.036Z,1613478676.036 [Micromodem](INFO): Nmea in: $SNTTA,0.130537,,,,123116.29*4E

2021-02-16T12:31:16.492Z,1613478676.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.839996 m, bearing: 191.030269 deg, deltaT: 4.814427 s, approachRate: 0.610662 m/s, LOS rate: -1.219318 deg/s, posRepo size: 4
2021-02-16T12:31:16.494Z,1613478676.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.839996 m,
      bearing: 191.030269 deg,
      approachRate: 0.610662 m/s,
      LOS rate: -1.219318 deg/s,
      cmd update: -3.657953 deg/s,
      cmd heading: 201.656205 deg,
      new cmd heading: 197.198397 deg.

2021-02-16T12:31:18.897Z,1613478678.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:19.657Z,1613478679.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:20.063Z,1613478680.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:20.877Z,1613478680.877 [Micromodem](INFO): Nmea in: $SNTTA,0.132231,,,,123121.09*4B

2021-02-16T12:31:21.326Z,1613478681.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 230.687863 deg, deltaT: 4.829499 s, approachRate: 0.571487 m/s, LOS rate: 8.211533 deg/s, posRepo size: 4
2021-02-16T12:31:21.328Z,1613478681.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.599991 m,
      bearing: 230.687863 deg,
      approachRate: 0.571487 m/s,
      LOS rate: 8.211533 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 183.989995 deg,
      new cmd heading: 182.527494 deg.

2021-02-16T12:31:23.722Z,1613478683.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:24.518Z,1613478684.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:24.917Z,1613478684.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:25.740Z,1613478685.740 [Micromodem](INFO): Nmea in: $SNTTA,0.133968,,,,123125.95*4C

2021-02-16T12:31:25.770Z,1613478685.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 216.524018 deg, deltaT: 4.495777 s, approachRate: 0.000000 m/s, LOS rate: -3.150478 deg/s, posRepo size: 4
2021-02-16T12:31:25.772Z,1613478685.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.599991 m,
      bearing: 216.524018 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.150478 deg/s,
      cmd update: -9.451433 deg/s,
      cmd heading: 237.851841 deg,
      new cmd heading: 242.119737 deg.

2021-02-16T12:31:28.176Z,1613478688.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:28.950Z,1613478688.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:29.381Z,1613478689.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:30.180Z,1613478690.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,123130.39*56

2021-02-16T12:31:30.600Z,1613478690.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.699982 m, bearing: 186.847802 deg, deltaT: 4.779588 s, approachRate: 1.067036 m/s, LOS rate: -6.208948 deg/s, posRepo size: 4
2021-02-16T12:31:30.602Z,1613478690.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.699982 m,
      bearing: 186.847802 deg,
      approachRate: 1.067036 m/s,
      LOS rate: -6.208948 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 192.570838 deg,
      new cmd heading: 188.838619 deg.

2021-02-16T12:31:33.015Z,1613478693.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:33.800Z,1613478693.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:34.207Z,1613478694.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:35.017Z,1613478695.017 [Micromodem](INFO): Nmea in: $SNTTA,0.137679,,,,123135.24*4C

2021-02-16T12:31:35.452Z,1613478695.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.459991 m, bearing: 209.977623 deg, deltaT: 4.860079 s, approachRate: 0.567894 m/s, LOS rate: 4.759145 deg/s, posRepo size: 4
2021-02-16T12:31:35.453Z,1613478695.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.459991 m,
      bearing: 209.977623 deg,
      approachRate: 0.567894 m/s,
      LOS rate: 4.759145 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.538069 deg,
      new cmd heading: 129.620661 deg.

2021-02-16T12:31:37.886Z,1613478697.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:38.644Z,1613478698.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:39.060Z,1613478699.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:39.867Z,1613478699.867 [Micromodem](INFO): Nmea in: $SNTTA,0.139395,,,,123140.08*49

2021-02-16T12:31:40.692Z,1613478700.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:42.290Z,1613478702.290 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:31:43.518Z,1613478703.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:44.304Z,1613478704.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:44.706Z,1613478704.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:45.522Z,1613478705.522 [Micromodem](INFO): Nmea in: $SNTTA,0.141847,,,,123145.74*4C

2021-02-16T12:31:45.969Z,1613478705.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.880005 m, bearing: 180.855718 deg, deltaT: 10.537807 s, approachRate: 0.609236 m/s, LOS rate: -2.763564 deg/s, posRepo size: 4
2021-02-16T12:31:45.974Z,1613478705.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.880005 m,
      bearing: 180.855718 deg,
      approachRate: 0.609236 m/s,
      LOS rate: -2.763564 deg/s,
      cmd update: -8.290692 deg/s,
      cmd heading: 261.229525 deg,
      new cmd heading: 265.665301 deg.

2021-02-16T12:31:48.406Z,1613478708.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:49.149Z,1613478709.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:49.554Z,1613478709.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:50.389Z,1613478710.389 [Micromodem](INFO): Nmea in: $SNTTA,0.144023,,,,123150.58*49

2021-02-16T12:31:50.418Z,1613478710.418 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-02-16T12:31:50.851Z,1613478710.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.699982 m, bearing: 237.306726 deg, deltaT: 4.827625 s, approachRate: 0.584133 m/s, LOS rate: 11.693329 deg/s, posRepo size: 4
2021-02-16T12:31:50.853Z,1613478710.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.693329 deg/s. Setting heading cmd to target bearing of 237.306726deg and heading rate command to 0 deg/s.
2021-02-16T12:31:53.233Z,1613478713.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:54.014Z,1613478714.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:54.417Z,1613478714.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:31:55.232Z,1613478715.232 [Micromodem](INFO): Nmea in: $SNTTA,0.145839,,,,123155.45*42

2021-02-16T12:31:55.649Z,1613478715.649 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:31:55.666Z,1613478715.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.759979 m, bearing: 258.062059 deg, deltaT: 4.864996 s, approachRate: 0.628983 m/s, LOS rate: 4.266259 deg/s, posRepo size: 4
2021-02-16T12:31:55.668Z,1613478715.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.759979 m,
      bearing: 258.062059 deg,
      approachRate: 0.628983 m/s,
      LOS rate: 4.266259 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.306726 deg,
      new cmd heading: 237.306726 deg.

2021-02-16T12:31:58.081Z,1613478718.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:31:58.860Z,1613478718.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:31:59.263Z,1613478719.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:00.089Z,1613478720.089 [Micromodem](INFO): Nmea in: $SNTTA,0.147538,,,,123200.30*4D

2021-02-16T12:32:00.522Z,1613478720.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.459991 m, bearing: 233.441604 deg, deltaT: 4.817890 s, approachRate: 0.560414 m/s, LOS rate: -5.110215 deg/s, posRepo size: 4
2021-02-16T12:32:00.524Z,1613478720.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.459991 m,
      bearing: 233.441604 deg,
      approachRate: 0.560414 m/s,
      LOS rate: -5.110215 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.131356 deg,
      new cmd heading: 300.033260 deg.

2021-02-16T12:32:02.928Z,1613478722.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:03.700Z,1613478723.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:04.106Z,1613478724.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:04.918Z,1613478724.918 [Micromodem](INFO): Nmea in: $SNTTA,0.148906,,,,123205.14*40

2021-02-16T12:32:05.392Z,1613478725.392 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T12:32:05.405Z,1613478725.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.439987 m, bearing: 247.907426 deg, deltaT: 4.829863 s, approachRate: 0.409949 m/s, LOS rate: 2.995079 deg/s, posRepo size: 4
2021-02-16T12:32:05.406Z,1613478725.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.439987 m,
      bearing: 247.907426 deg,
      approachRate: 0.409949 m/s,
      LOS rate: 2.995079 deg/s,
      cmd update: 8.985238 deg/s,
      cmd heading: 237.171042 deg,
      new cmd heading: 231.640326 deg.

2021-02-16T12:32:07.756Z,1613478727.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:08.548Z,1613478728.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:08.960Z,1613478728.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:09.771Z,1613478729.771 [Micromodem](INFO): Nmea in: $SNTTA,0.149686,,,,123209.98*4E

2021-02-16T12:32:10.204Z,1613478730.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.519989 m, bearing: 309.158349 deg, deltaT: 4.862577 s, approachRate: 0.222105 m/s, LOS rate: 12.596391 deg/s, posRepo size: 4
2021-02-16T12:32:10.205Z,1613478730.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.596391 deg/s. Setting heading cmd to target bearing of 309.158349deg and heading rate command to 0 deg/s.
2021-02-16T12:32:12.634Z,1613478732.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:13.401Z,1613478733.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:13.833Z,1613478733.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:14.618Z,1613478734.618 [Micromodem](INFO): Nmea in: $SNTTA,0.150672,,,,123214.84*4C

2021-02-16T12:32:15.068Z,1613478735.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.019989 m, bearing: 290.799566 deg, deltaT: 4.836047 s, approachRate: 0.310171 m/s, LOS rate: -3.796237 deg/s, posRepo size: 4
2021-02-16T12:32:15.070Z,1613478735.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.019989 m,
      bearing: 290.799566 deg,
      approachRate: 0.310171 m/s,
      LOS rate: -3.796237 deg/s,
      cmd update: -11.388712 deg/s,
      cmd heading: 309.158349 deg,
      new cmd heading: 309.158349 deg.

2021-02-16T12:32:17.477Z,1613478737.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:18.254Z,1613478738.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:18.650Z,1613478738.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:19.475Z,1613478739.475 [Micromodem](INFO): Nmea in: $SNTTA,0.151241,,,,123219.69*47

2021-02-16T12:32:19.904Z,1613478739.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.799988 m, bearing: 321.708385 deg, deltaT: 4.891366 s, approachRate: 0.159464 m/s, LOS rate: 6.319057 deg/s, posRepo size: 4
2021-02-16T12:32:19.906Z,1613478739.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.799988 m,
      bearing: 321.708385 deg,
      approachRate: 0.159464 m/s,
      LOS rate: 6.319057 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 253.543932 deg,
      new cmd heading: 249.234545 deg.

2021-02-16T12:32:22.302Z,1613478742.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:23.097Z,1613478743.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:23.498Z,1613478743.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:24.321Z,1613478744.321 [Micromodem](INFO): Nmea in: $SNTTA,0.151095,,,,123224.53*4B

2021-02-16T12:32:24.761Z,1613478744.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.679993 m, bearing: 234.894795 deg, deltaT: 4.818036 s, approachRate: -0.024905 m/s, LOS rate: -18.018461 deg/s, posRepo size: 4
2021-02-16T12:32:24.762Z,1613478744.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.018461 deg/s. Setting heading cmd to target bearing of 234.894795deg and heading rate command to 0 deg/s.
2021-02-16T12:32:27.182Z,1613478747.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:27.951Z,1613478747.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:28.376Z,1613478748.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:29.169Z,1613478749.169 [Micromodem](INFO): Nmea in: $SNTTA,0.151272,,,,123229.39*41

2021-02-16T12:32:29.596Z,1613478749.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.919998 m, bearing: 318.478361 deg, deltaT: 4.858904 s, approachRate: 0.049395 m/s, LOS rate: 17.202144 deg/s, posRepo size: 4
2021-02-16T12:32:29.597Z,1613478749.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.202144 deg/s. Setting heading cmd to target bearing of 318.478361deg and heading rate command to 0 deg/s.
2021-02-16T12:32:32.005Z,1613478752.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:32.806Z,1613478752.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:33.194Z,1613478753.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:34.017Z,1613478754.017 [Micromodem](INFO): Nmea in: $SNTTA,0.151391,,,,123234.24*4D

2021-02-16T12:32:34.449Z,1613478754.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.039978 m, bearing: 333.539884 deg, deltaT: 4.831487 s, approachRate: 0.024833 m/s, LOS rate: 3.117368 deg/s, posRepo size: 4
2021-02-16T12:32:34.451Z,1613478754.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.039978 m,
      bearing: 333.539884 deg,
      approachRate: 0.024833 m/s,
      LOS rate: 3.117368 deg/s,
      cmd update: 9.352104 deg/s,
      cmd heading: 318.478361 deg,
      new cmd heading: 318.478361 deg.

2021-02-16T12:32:36.904Z,1613478756.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:37.641Z,1613478757.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:38.047Z,1613478758.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:38.868Z,1613478758.868 [Micromodem](INFO): Nmea in: $SNTTA,0.151616,,,,123239.08*44

2021-02-16T12:32:39.294Z,1613478759.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.459991 m, bearing: 315.526463 deg, deltaT: 4.878866 s, approachRate: 0.086088 m/s, LOS rate: -3.692133 deg/s, posRepo size: 4
2021-02-16T12:32:39.296Z,1613478759.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.459991 m,
      bearing: 315.526463 deg,
      approachRate: 0.086088 m/s,
      LOS rate: -3.692133 deg/s,
      cmd update: -11.076399 deg/s,
      cmd heading: 4.069280 deg,
      new cmd heading: 7.597324 deg.

2021-02-16T12:32:41.708Z,1613478761.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:42.484Z,1613478762.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:42.891Z,1613478762.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:43.702Z,1613478763.702 [Micromodem](INFO): Nmea in: $SNTTA,0.151802,,,,123243.92*41

2021-02-16T12:32:44.152Z,1613478764.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.699982 m, bearing: 250.343317 deg, deltaT: 4.840918 s, approachRate: 0.049575 m/s, LOS rate: -13.465038 deg/s, posRepo size: 4
2021-02-16T12:32:44.153Z,1613478764.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.465038 deg/s. Setting heading cmd to target bearing of 250.343317deg and heading rate command to 0 deg/s.
2021-02-16T12:32:46.558Z,1613478766.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:47.350Z,1613478767.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:47.738Z,1613478767.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:48.561Z,1613478768.561 [Micromodem](INFO): Nmea in: $SNTTA,0.151148,,,,123248.79*48

2021-02-16T12:32:49.003Z,1613478769.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.619995 m, bearing: 7.077722 deg, deltaT: 4.823729 s, approachRate: -0.223890 m/s, LOS rate: 24.200033 deg/s, posRepo size: 4
2021-02-16T12:32:49.004Z,1613478769.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.200033 deg/s. Setting heading cmd to target bearing of 7.077722deg and heading rate command to 0 deg/s.
2021-02-16T12:32:51.417Z,1613478771.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:52.198Z,1613478772.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:52.586Z,1613478772.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:53.414Z,1613478773.414 [Micromodem](INFO): Nmea in: $SNTTA,0.150210,,,,123253.63*46

2021-02-16T12:32:53.869Z,1613478773.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.240005 m, bearing: 333.839320 deg, deltaT: 4.895212 s, approachRate: -0.281906 m/s, LOS rate: -6.789981 deg/s, posRepo size: 4
2021-02-16T12:32:53.870Z,1613478773.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.240005 m,
      bearing: 333.839320 deg,
      approachRate: -0.281906 m/s,
      LOS rate: -6.789981 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 7.077722 deg,
      new cmd heading: 7.077722 deg.

2021-02-16T12:32:56.258Z,1613478776.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:32:57.033Z,1613478777.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:32:57.435Z,1613478777.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:32:58.273Z,1613478778.273 [Micromodem](INFO): Nmea in: $SNTTA,0.149751,,,,123258.47*43

2021-02-16T12:32:58.709Z,1613478778.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.580002 m, bearing: 247.660419 deg, deltaT: 4.822707 s, approachRate: -0.136853 m/s, LOS rate: -17.869404 deg/s, posRepo size: 4
2021-02-16T12:32:58.711Z,1613478778.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.869404 deg/s. Setting heading cmd to target bearing of 247.660419deg and heading rate command to 0 deg/s.
2021-02-16T12:33:01.106Z,1613478781.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:01.947Z,1613478781.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:02.365Z,1613478782.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:03.159Z,1613478783.159 [Micromodem](INFO): Nmea in: $SNTTA,0.148904,,,,123303.38*4B

2021-02-16T12:33:03.570Z,1613478783.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.259995 m, bearing: 355.627050 deg, deltaT: 4.909156 s, approachRate: -0.268887 m/s, LOS rate: 21.992910 deg/s, posRepo size: 4
2021-02-16T12:33:03.571Z,1613478783.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.992910 deg/s. Setting heading cmd to target bearing of 355.627050deg and heading rate command to 0 deg/s.
2021-02-16T12:33:05.981Z,1613478785.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:06.779Z,1613478786.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:07.176Z,1613478787.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:07.993Z,1613478787.993 [Micromodem](INFO): Nmea in: $SNTTA,0.147811,,0.148955,,123308.21*58

2021-02-16T12:33:08.431Z,1613478788.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.699997 m, bearing: 262.514113 deg, deltaT: 4.805634 s, approachRate: -0.324618 m/s, LOS rate: -19.375787 deg/s, posRepo size: 4
2021-02-16T12:33:08.432Z,1613478788.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.375787 deg/s. Setting heading cmd to target bearing of 262.514113deg and heading rate command to 0 deg/s.
2021-02-16T12:33:10.859Z,1613478790.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:11.613Z,1613478791.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:12.031Z,1613478792.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:12.860Z,1613478792.860 [Micromodem](INFO): Nmea in: $SNTTA,0.147243,,,,123313.05*43

2021-02-16T12:33:13.282Z,1613478793.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.919983 m, bearing: 291.732051 deg, deltaT: 4.866899 s, approachRate: -0.160269 m/s, LOS rate: 6.003399 deg/s, posRepo size: 4
2021-02-16T12:33:13.284Z,1613478793.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.919983 m,
      bearing: 291.732051 deg,
      approachRate: -0.160269 m/s,
      LOS rate: 6.003399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 262.514113 deg,
      new cmd heading: 262.514113 deg.

2021-02-16T12:33:15.711Z,1613478795.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:16.462Z,1613478796.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:16.887Z,1613478796.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:17.683Z,1613478797.683 [Micromodem](INFO): Nmea in: $SNTTA,0.146908,,,,123317.90*4E

2021-02-16T12:33:18.116Z,1613478798.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.379990 m, bearing: 285.207171 deg, deltaT: 4.842459 s, approachRate: -0.111512 m/s, LOS rate: -1.347431 deg/s, posRepo size: 4
2021-02-16T12:33:18.118Z,1613478798.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.379990 m,
      bearing: 285.207171 deg,
      approachRate: -0.111512 m/s,
      LOS rate: -1.347431 deg/s,
      cmd update: -4.042293 deg/s,
      cmd heading: 320.623515 deg,
      new cmd heading: 325.283847 deg.

2021-02-16T12:33:20.526Z,1613478800.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:21.304Z,1613478801.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:21.710Z,1613478801.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:22.539Z,1613478802.539 [Micromodem](INFO): Nmea in: $SNTTA,0.146882,,,,123322.74*41

2021-02-16T12:33:22.971Z,1613478802.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.320007 m, bearing: 332.765724 deg, deltaT: 4.835973 s, approachRate: -0.012403 m/s, LOS rate: 9.834329 deg/s, posRepo size: 4
2021-02-16T12:33:22.973Z,1613478802.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.320007 m,
      bearing: 332.765724 deg,
      approachRate: -0.012403 m/s,
      LOS rate: 9.834329 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 301.076007 deg,
      new cmd heading: 299.428854 deg.

2021-02-16T12:33:25.440Z,1613478805.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:26.154Z,1613478806.154 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:26.573Z,1613478806.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:27.393Z,1613478807.393 [Micromodem](INFO): Nmea in: $SNTTA,0.146919,,,,123327.59*48

2021-02-16T12:33:27.812Z,1613478807.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.320007 m, bearing: 256.945761 deg, deltaT: 4.889893 s, approachRate: 0.000000 m/s, LOS rate: -15.505445 deg/s, posRepo size: 4
2021-02-16T12:33:27.835Z,1613478807.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.505445 deg/s. Setting heading cmd to target bearing of 256.945761deg and heading rate command to 0 deg/s.
2021-02-16T12:33:30.250Z,1613478810.250 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:31.011Z,1613478811.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:31.410Z,1613478811.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:32.232Z,1613478812.232 [Micromodem](INFO): Nmea in: $SNTTA,0.146048,,,,123332.45*4C

2021-02-16T12:33:32.670Z,1613478812.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.939987 m, bearing: 19.373859 deg, deltaT: 4.837788 s, approachRate: -0.285259 m/s, LOS rate: 25.306628 deg/s, posRepo size: 4
2021-02-16T12:33:32.670Z,1613478812.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.306628 deg/s. Setting heading cmd to target bearing of 19.373859deg and heading rate command to 0 deg/s.
2021-02-16T12:33:35.067Z,1613478815.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:35.861Z,1613478815.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:36.260Z,1613478816.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:37.075Z,1613478817.075 [Micromodem](INFO): Nmea in: $SNTTA,0.144891,,,,123337.30*45

2021-02-16T12:33:37.508Z,1613478817.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.259979 m, bearing: 328.186382 deg, deltaT: 4.825369 s, approachRate: -0.348162 m/s, LOS rate: -10.607992 deg/s, posRepo size: 4
2021-02-16T12:33:37.510Z,1613478817.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.259979 m,
      bearing: 328.186382 deg,
      approachRate: -0.348162 m/s,
      LOS rate: -10.607992 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 19.373859 deg,
      new cmd heading: 19.373859 deg.

2021-02-16T12:33:39.919Z,1613478819.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:40.714Z,1613478820.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:41.114Z,1613478821.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:41.934Z,1613478821.934 [Micromodem](INFO): Nmea in: $SNTTA,0.143834,0.149040,,,123342.15*5E

2021-02-16T12:33:42.391Z,1613478822.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.639999 m, bearing: 352.494452 deg, deltaT: 4.842604 s, approachRate: -0.334527 m/s, LOS rate: 5.019628 deg/s, posRepo size: 4
2021-02-16T12:33:42.393Z,1613478822.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 352.494452 deg,
      approachRate: -0.334527 m/s,
      LOS rate: 5.019628 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.070609 deg,
      new cmd heading: 315.940189 deg.

2021-02-16T12:33:44.773Z,1613478824.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:44.773Z,1613478824.773 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T12:33:44.774Z,1613478824.774 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T12:33:44.774Z,1613478824.774 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T12:33:44.774Z,1613478824.774 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:33:44.774Z,1613478824.774 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T12:33:45.197Z,1613478825.197 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60580000005D000004003E0000000000000000151D80030C5669BF92F9E57647A3A6E1CF1B79D1BBC0B62B454A35A97E672DB4208EDB569432D6A29362
2021-02-16T12:33:45.197Z,1613478825.197 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 315AE84AA4A035F9FAA0AC735CE94B9A00
2021-02-16T12:33:45.197Z,1613478825.197 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T12:33:45.561Z,1613478825.561 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T12:33:45.562Z,1613478825.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:45.949Z,1613478825.949 [Micromodem](INFO): Nmea in: $CADRQ,123346,1,10,0,64,1*77

2021-02-16T12:33:45.949Z,1613478825.949 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,123346,1,10,0,64,1*77

2021-02-16T12:33:46.386Z,1613478826.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:46.774Z,1613478826.774 [Micromodem](INFO): Nmea in: $SNTTA,0.142468,,,,123347.00*4D

2021-02-16T12:33:47.198Z,1613478827.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.539978 m, bearing: 30.479111 deg, deltaT: 4.931132 s, approachRate: -0.425870 m/s, LOS rate: 7.703032 deg/s, posRepo size: 4
2021-02-16T12:33:47.200Z,1613478827.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.539978 m,
      bearing: 30.479111 deg,
      approachRate: -0.425870 m/s,
      LOS rate: 7.703032 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.244014 deg,
      new cmd heading: 23.936894 deg.

2021-02-16T12:33:49.633Z,1613478829.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:50.409Z,1613478830.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:50.804Z,1613478830.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:51.636Z,1613478831.636 [Micromodem](INFO): Nmea in: $SNTTA,0.140810,,,,123351.85*46

2021-02-16T12:33:52.061Z,1613478832.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.079987 m, bearing: 23.760575 deg, deltaT: 4.769304 s, approachRate: -0.515797 m/s, LOS rate: -1.408704 deg/s, posRepo size: 4
2021-02-16T12:33:52.062Z,1613478832.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.079987 m,
      bearing: 23.760575 deg,
      approachRate: -0.515797 m/s,
      LOS rate: -1.408704 deg/s,
      cmd update: -4.226111 deg/s,
      cmd heading: 77.474751 deg,
      new cmd heading: 82.285911 deg.

2021-02-16T12:33:54.548Z,1613478834.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:33:55.259Z,1613478835.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:33:55.663Z,1613478835.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:33:56.469Z,1613478836.469 [Micromodem](INFO): Nmea in: $SNTTA,0.138832,,,,123356.69*4C

2021-02-16T12:33:56.908Z,1613478836.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.019989 m, bearing: 26.058355 deg, deltaT: 4.837134 s, approachRate: -0.632605 m/s, LOS rate: 0.475029 deg/s, posRepo size: 4
2021-02-16T12:33:56.909Z,1613478836.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.019989 m,
      bearing: 26.058355 deg,
      approachRate: -0.632605 m/s,
      LOS rate: 0.475029 deg/s,
      cmd update: 1.425088 deg/s,
      cmd heading: 57.048375 deg,
      new cmd heading: 55.297603 deg.

2021-02-16T12:33:59.342Z,1613478839.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:00.090Z,1613478840.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:00.495Z,1613478840.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:01.309Z,1613478841.309 [Micromodem](INFO): Nmea in: $SNTTA,0.136516,,,,123401.53*45

2021-02-16T12:34:01.748Z,1613478841.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.600006 m, bearing: 27.441545 deg, deltaT: 4.858501 s, approachRate: -0.703917 m/s, LOS rate: 0.284695 deg/s, posRepo size: 4
2021-02-16T12:34:01.750Z,1613478841.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.600006 m,
      bearing: 27.441545 deg,
      approachRate: -0.703917 m/s,
      LOS rate: 0.284695 deg/s,
      cmd update: 0.854084 deg/s,
      cmd heading: 63.941385 deg,
      new cmd heading: 64.537656 deg.

2021-02-16T12:34:04.219Z,1613478844.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:04.940Z,1613478844.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:05.380Z,1613478845.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:06.158Z,1613478846.158 [Micromodem](INFO): Nmea in: $SNTTA,0.133950,,,,123406.38*44

2021-02-16T12:34:06.624Z,1613478846.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.699997 m, bearing: 27.176563 deg, deltaT: 4.907740 s, approachRate: -0.794665 m/s, LOS rate: -0.053993 deg/s, posRepo size: 4
2021-02-16T12:34:06.626Z,1613478846.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.699997 m,
      bearing: 27.176563 deg,
      approachRate: -0.794665 m/s,
      LOS rate: -0.053993 deg/s,
      cmd update: -0.161978 deg/s,
      cmd heading: 68.154745 deg,
      new cmd heading: 68.452546 deg.

2021-02-16T12:34:09.013Z,1613478849.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:09.795Z,1613478849.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:10.257Z,1613478850.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:11.010Z,1613478851.010 [Micromodem](INFO): Nmea in: $SNTTA,0.131682,,,,123411.23*4A

2021-02-16T12:34:11.468Z,1613478851.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.219986 m, bearing: 25.102263 deg, deltaT: 4.791675 s, approachRate: -0.726262 m/s, LOS rate: -0.432897 deg/s, posRepo size: 4
2021-02-16T12:34:11.470Z,1613478851.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.219986 m,
      bearing: 25.102263 deg,
      approachRate: -0.726262 m/s,
      LOS rate: -0.432897 deg/s,
      cmd update: -1.298690 deg/s,
      cmd heading: 67.378595 deg,
      new cmd heading: 67.312376 deg.

2021-02-16T12:34:13.909Z,1613478853.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:14.636Z,1613478854.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:15.052Z,1613478855.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:15.448Z,1613478855.448 [Micromodem](INFO): Nmea in: $CAERR,123416,DATA_TIMEOUT,1*4D

2021-02-16T12:34:15.862Z,1613478855.862 [Micromodem](INFO): Nmea in: $SNTTA,0.129459,,,,123416.07*46

2021-02-16T12:34:16.290Z,1613478856.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.039978 m, bearing: 20.861348 deg, deltaT: 4.832304 s, approachRate: -0.658073 m/s, LOS rate: -0.877618 deg/s, posRepo size: 4
2021-02-16T12:34:16.292Z,1613478856.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.039978 m,
      bearing: 20.861348 deg,
      approachRate: -0.658073 m/s,
      LOS rate: -0.877618 deg/s,
      cmd update: -2.632853 deg/s,
      cmd heading: 61.102968 deg,
      new cmd heading: 60.579451 deg.

2021-02-16T12:34:18.729Z,1613478858.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:19.485Z,1613478859.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:19.901Z,1613478859.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:20.703Z,1613478860.703 [Micromodem](INFO): Nmea in: $SNTTA,0.127649,,,,123420.92*42

2021-02-16T12:34:21.137Z,1613478861.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.339981 m, bearing: 24.627292 deg, deltaT: 4.859945 s, approachRate: -0.555561 m/s, LOS rate: 0.774894 deg/s, posRepo size: 4
2021-02-16T12:34:21.139Z,1613478861.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.339981 m,
      bearing: 24.627292 deg,
      approachRate: -0.555561 m/s,
      LOS rate: 0.774894 deg/s,
      cmd update: 2.324683 deg/s,
      cmd heading: 48.318260 deg,
      new cmd heading: 47.281232 deg.

2021-02-16T12:34:23.621Z,1613478863.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:24.336Z,1613478864.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:24.747Z,1613478864.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:25.554Z,1613478865.554 [Micromodem](INFO): Nmea in: $SNTTA,0.125754,,,,123425.77*43

2021-02-16T12:34:26.004Z,1613478866.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 21.464993 deg, deltaT: 4.949715 s, approachRate: -0.593971 m/s, LOS rate: -0.638885 deg/s, posRepo size: 4
2021-02-16T12:34:26.005Z,1613478866.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.399994 m,
      bearing: 21.464993 deg,
      approachRate: -0.593971 m/s,
      LOS rate: -0.638885 deg/s,
      cmd update: -1.916655 deg/s,
      cmd heading: 59.825004 deg,
      new cmd heading: 60.547443 deg.

2021-02-16T12:34:28.416Z,1613478868.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:29.190Z,1613478869.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:29.585Z,1613478869.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:30.423Z,1613478870.423 [Micromodem](INFO): Nmea in: $SNTTA,0.123465,,,,123430.62*44

2021-02-16T12:34:30.868Z,1613478870.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.099991 m, bearing: 18.043077 deg, deltaT: 4.807035 s, approachRate: -0.686494 m/s, LOS rate: -0.711856 deg/s, posRepo size: 4
2021-02-16T12:34:30.874Z,1613478870.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.099991 m,
      bearing: 18.043077 deg,
      approachRate: -0.686494 m/s,
      LOS rate: -0.711856 deg/s,
      cmd update: -2.135568 deg/s,
      cmd heading: 50.611807 deg,
      new cmd heading: 49.906539 deg.

2021-02-16T12:34:33.293Z,1613478873.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:34.028Z,1613478874.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:34.433Z,1613478874.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:35.280Z,1613478875.280 [Micromodem](INFO): Nmea in: $SNTTA,0.121388,,,,123435.46*41

2021-02-16T12:34:35.305Z,1613478875.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.800003 m, bearing: 19.245742 deg, deltaT: 4.393323 s, approachRate: -0.751137 m/s, LOS rate: 0.273748 deg/s, posRepo size: 4
2021-02-16T12:34:35.307Z,1613478875.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 19.245742 deg,
      approachRate: -0.751137 m/s,
      LOS rate: 0.273748 deg/s,
      cmd update: 0.821245 deg/s,
      cmd heading: 41.220714 deg,
      new cmd heading: 40.349011 deg.

2021-02-16T12:34:37.742Z,1613478877.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:38.478Z,1613478878.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:38.891Z,1613478878.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:39.713Z,1613478879.713 [Micromodem](INFO): Nmea in: $SNTTA,0.119096,,,,123439.91*40

2021-02-16T12:34:40.132Z,1613478880.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 18.328796 deg, deltaT: 4.869218 s, approachRate: -0.702371 m/s, LOS rate: -0.188315 deg/s, posRepo size: 4
2021-02-16T12:34:40.134Z,1613478880.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.380005 m,
      bearing: 18.328796 deg,
      approachRate: -0.702371 m/s,
      LOS rate: -0.188315 deg/s,
      cmd update: -0.564945 deg/s,
      cmd heading: 45.219550 deg,
      new cmd heading: 45.519839 deg.

2021-02-16T12:34:42.570Z,1613478882.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:43.335Z,1613478883.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:43.734Z,1613478883.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:44.564Z,1613478884.564 [Micromodem](INFO): Nmea in: $SNTTA,0.116593,,,,123444.77*4D

2021-02-16T12:34:44.618Z,1613478884.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 20.249026 deg, deltaT: 4.437505 s, approachRate: 0.000000 m/s, LOS rate: 0.432728 deg/s, posRepo size: 4
2021-02-16T12:34:44.620Z,1613478884.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.380005 m,
      bearing: 20.249026 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.432728 deg/s,
      cmd update: 1.298183 deg/s,
      cmd heading: 42.712591 deg,
      new cmd heading: 42.478536 deg.

2021-02-16T12:34:46.990Z,1613478886.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:47.772Z,1613478887.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:48.184Z,1613478888.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:34:49.004Z,1613478889.004 [Micromodem](INFO): Nmea in: $SNTTA,0.114175,,,,123449.21*4D

2021-02-16T12:34:49.066Z,1613478889.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 17.048333 deg, deltaT: 4.427325 s, approachRate: 0.000000 m/s, LOS rate: -0.722941 deg/s, posRepo size: 4
2021-02-16T12:34:49.068Z,1613478889.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.380005 m,
      bearing: 17.048333 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.722941 deg/s,
      cmd update: -2.168822 deg/s,
      cmd heading: 48.438647 deg,
      new cmd heading: 49.024183 deg.

2021-02-16T12:34:50.212Z,1613478890.212 [Micromodem](ERROR): Buffer fill timout failure.
2021-02-16T12:34:50.654Z,1613478890.654 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60580000005D000004003E0000000000000000151D80030C5669BF92F9E57647A3A6E1CF1B79D1BBC0B62B454A35A97E672DB4208EDB569432D6A29362
2021-02-16T12:34:50.654Z,1613478890.654 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 315AE84AA4A035F9FAA0AC735CE94B9A00
2021-02-16T12:34:50.655Z,1613478890.655 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T12:34:51.019Z,1613478891.019 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T12:34:51.413Z,1613478891.413 [Micromodem](INFO): Nmea in: $CADRQ,123452,1,10,0,64,1*75

2021-02-16T12:34:51.414Z,1613478891.414 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60580000005D000004003E0000000000000000151D80030C5669BF92F9E57647A3A6E1CF1B79D1BBC0B62B454A35A97E672DB4208EDB569432D6A29362*3E

2021-02-16T12:34:51.609Z,1613478891.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:51.829Z,1613478891.829 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T12:34:52.216Z,1613478892.216 [Micromodem](INFO): Nmea in: $CADRQ,123452,1,10,0,64,2*76

2021-02-16T12:34:52.217Z,1613478892.217 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,315AE84AA4A035F9FAA0AC735CE94B9A00*3E

2021-02-16T12:34:52.637Z,1613478892.637 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T12:34:52.637Z,1613478892.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:34:53.023Z,1613478893.023 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T12:34:53.024Z,1613478893.024 [Micromodem](ERROR): Response from modem unexpected: $CATXP,81*7B

2021-02-16T12:34:54.273Z,1613478894.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:55.448Z,1613478895.448 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T12:34:55.448Z,1613478895.448 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T12:34:55.870Z,1613478895.870 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,123453.637335,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4B

2021-02-16T12:34:55.870Z,1613478895.870 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,123453.637335,3,0,200,4000,14500,1,1,10,1,2,2,3,81*4B

2021-02-16T12:34:57.126Z,1613478897.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:34:58.277Z,1613478898.277 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T12:34:58.681Z,1613478898.681 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T12:34:58.682Z,1613478898.682 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0088.lzma.parts
2021-02-16T12:34:58.682Z,1613478898.682 [Micromodem](INFO): Packets left to send: 0
2021-02-16T12:34:59.101Z,1613478899.101 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216123458.451972,06,3473,35,0315,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,6.4,5.00,11,-2.00,-01,1.85,41,14500,4000*6E

2021-02-16T12:34:59.101Z,1613478899.101 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216123458.451972,06,3473,35,0315,0150,59,02,02,00,04,1,010,001,0,4,1,0,150,6.4,5.00,11,-2.00,-01,1.85,41,14500,4000*6E

2021-02-16T12:34:59.206Z,1613478899.206 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T12:34:59.206Z,1613478899.206 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T12:34:59.206Z,1613478899.206 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T12:34:59.206Z,1613478899.206 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:34:59.206Z,1613478899.206 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T12:34:59.930Z,1613478899.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:02.476Z,1613478902.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:03.133Z,1613478903.133 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:35:03.943Z,1613478903.943 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:04.372Z,1613478904.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:05.168Z,1613478905.168 [Micromodem](INFO): Nmea in: $SNTTA,0.106200,,,,123505.38*4E

2021-02-16T12:35:05.193Z,1613478905.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.940002 m, bearing: 16.717858 deg, deltaT: 16.132381 s, approachRate: -1.205030 m/s, LOS rate: -0.020485 deg/s, posRepo size: 4
2021-02-16T12:35:05.220Z,1613478905.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.940002 m,
      bearing: 16.717858 deg,
      approachRate: -1.205030 m/s,
      LOS rate: -0.020485 deg/s,
      cmd update: -0.061456 deg/s,
      cmd heading: 13.417004 deg,
      new cmd heading: 12.482994 deg.

2021-02-16T12:35:07.618Z,1613478907.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:08.388Z,1613478908.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:08.782Z,1613478908.782 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:09.620Z,1613478909.620 [Micromodem](INFO): Nmea in: $SNTTA,0.103630,,,,123509.82*41

2021-02-16T12:35:09.671Z,1613478909.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 17.245934 deg, deltaT: 4.484826 s, approachRate: -0.816086 m/s, LOS rate: 0.117747 deg/s, posRepo size: 4
2021-02-16T12:35:09.677Z,1613478909.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 17.245934 deg,
      approachRate: -0.816086 m/s,
      LOS rate: 0.117747 deg/s,
      cmd update: 0.353242 deg/s,
      cmd heading: 13.141950 deg,
      new cmd heading: 13.115374 deg.

2021-02-16T12:35:12.062Z,1613478912.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:12.858Z,1613478912.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:13.234Z,1613478913.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:14.072Z,1613478914.072 [Micromodem](INFO): Nmea in: $SNTTA,0.101159,,,,123514.29*46

2021-02-16T12:35:14.121Z,1613478914.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 16.836871 deg, deltaT: 4.416075 s, approachRate: 0.000000 m/s, LOS rate: -0.092631 deg/s, posRepo size: 4
2021-02-16T12:35:14.130Z,1613478914.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.279999 m,
      bearing: 16.836871 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.092631 deg/s,
      cmd update: -0.277892 deg/s,
      cmd heading: 14.705042 deg,
      new cmd heading: 14.866960 deg.

2021-02-16T12:35:16.480Z,1613478916.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:17.275Z,1613478917.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:17.669Z,1613478917.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:18.500Z,1613478918.500 [Micromodem](INFO): Nmea in: $SNTTA,0.098588,,,,123518.71*4E

2021-02-16T12:35:18.524Z,1613478918.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.720001 m, bearing: 16.938702 deg, deltaT: 4.440646 s, approachRate: -1.702454 m/s, LOS rate: 0.022932 deg/s, posRepo size: 4
2021-02-16T12:35:18.526Z,1613478918.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.720001 m,
      bearing: 16.938702 deg,
      approachRate: -1.702454 m/s,
      LOS rate: 0.022932 deg/s,
      cmd update: 0.068795 deg/s,
      cmd heading: 13.470647 deg,
      new cmd heading: 13.354219 deg.

2021-02-16T12:35:20.925Z,1613478920.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:21.708Z,1613478921.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:22.116Z,1613478922.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:22.940Z,1613478922.940 [Micromodem](INFO): Nmea in: $SNTTA,0.096017,,,,123523.14*48

2021-02-16T12:35:22.965Z,1613478922.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 16.676283 deg, deltaT: 4.440475 s, approachRate: -0.864772 m/s, LOS rate: -0.059097 deg/s, posRepo size: 4
2021-02-16T12:35:22.967Z,1613478922.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.880005 m,
      bearing: 16.676283 deg,
      approachRate: -0.864772 m/s,
      LOS rate: -0.059097 deg/s,
      cmd update: -0.177291 deg/s,
      cmd heading: 13.776125 deg,
      new cmd heading: 13.804977 deg.

2021-02-16T12:35:25.419Z,1613478925.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:26.153Z,1613478926.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:26.575Z,1613478926.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:27.392Z,1613478927.392 [Micromodem](INFO): Nmea in: $SNTTA,0.093511,,,,123527.59*43

2021-02-16T12:35:27.430Z,1613478927.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.039993 m, bearing: 16.318155 deg, deltaT: 4.460525 s, approachRate: -0.860888 m/s, LOS rate: -0.080288 deg/s, posRepo size: 4
2021-02-16T12:35:27.433Z,1613478927.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.039993 m,
      bearing: 16.318155 deg,
      approachRate: -0.860888 m/s,
      LOS rate: -0.080288 deg/s,
      cmd update: -0.240864 deg/s,
      cmd heading: 12.985306 deg,
      new cmd heading: 12.910070 deg.

2021-02-16T12:35:29.837Z,1613478929.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:30.601Z,1613478930.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:31.002Z,1613478931.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:31.864Z,1613478931.864 [Micromodem](INFO): Nmea in: $SNTTA,0.091064,,,,123532.04*4A

2021-02-16T12:35:31.909Z,1613478931.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.440002 m, bearing: 15.317515 deg, deltaT: 4.478381 s, approachRate: -0.803860 m/s, LOS rate: -0.223438 deg/s, posRepo size: 4
2021-02-16T12:35:31.911Z,1613478931.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.440002 m,
      bearing: 15.317515 deg,
      approachRate: -0.803860 m/s,
      LOS rate: -0.223438 deg/s,
      cmd update: -0.670314 deg/s,
      cmd heading: 11.910571 deg,
      new cmd heading: 11.804388 deg.

2021-02-16T12:35:33.034Z,1613478933.034 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T12:35:34.260Z,1613478934.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:35.045Z,1613478935.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:35.453Z,1613478935.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:36.272Z,1613478936.272 [Micromodem](INFO): Nmea in: $SNTTA,0.088662,,,,123536.48*4E

2021-02-16T12:35:36.310Z,1613478936.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.839996 m, bearing: 15.713882 deg, deltaT: 4.421546 s, approachRate: -0.814196 m/s, LOS rate: 0.089644 deg/s, posRepo size: 4
2021-02-16T12:35:36.312Z,1613478936.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.839996 m,
      bearing: 15.713882 deg,
      approachRate: -0.814196 m/s,
      LOS rate: 0.089644 deg/s,
      cmd update: 0.268933 deg/s,
      cmd heading: 8.935897 deg,
      new cmd heading: 8.665243 deg.

2021-02-16T12:35:38.718Z,1613478938.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:39.488Z,1613478939.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:39.896Z,1613478939.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:40.716Z,1613478940.716 [Micromodem](INFO): Nmea in: $SNTTA,0.086114,,,,123540.92*40

2021-02-16T12:35:40.761Z,1613478940.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.000000 m, bearing: 15.855012 deg, deltaT: 4.422410 s, approachRate: -0.868304 m/s, LOS rate: 0.031913 deg/s, posRepo size: 4
2021-02-16T12:35:40.762Z,1613478940.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.000000 m,
      bearing: 15.855012 deg,
      approachRate: -0.868304 m/s,
      LOS rate: 0.031913 deg/s,
      cmd update: 0.095738 deg/s,
      cmd heading: 10.122801 deg,
      new cmd heading: 10.241507 deg.

2021-02-16T12:35:43.155Z,1613478943.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:43.928Z,1613478943.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:44.373Z,1613478944.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:45.176Z,1613478945.176 [Micromodem](INFO): Nmea in: $SNTTA,0.083738,,,,123545.36*46

2021-02-16T12:35:45.201Z,1613478945.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.400002 m, bearing: 16.169983 deg, deltaT: 4.437191 s, approachRate: -0.811324 m/s, LOS rate: 0.070984 deg/s, posRepo size: 4
2021-02-16T12:35:45.202Z,1613478945.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.400002 m,
      bearing: 16.169983 deg,
      approachRate: -0.811324 m/s,
      LOS rate: 0.070984 deg/s,
      cmd update: 0.212953 deg/s,
      cmd heading: 10.548490 deg,
      new cmd heading: 10.590150 deg.

2021-02-16T12:35:47.610Z,1613478947.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:48.388Z,1613478948.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:48.778Z,1613478948.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:49.608Z,1613478949.608 [Micromodem](INFO): Nmea in: $SNTTA,0.081343,,,,123549.82*4F

2021-02-16T12:35:49.646Z,1613478949.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 14.998435 deg, deltaT: 4.487040 s, approachRate: -0.788939 m/s, LOS rate: -0.261096 deg/s, posRepo size: 4
2021-02-16T12:35:49.648Z,1613478949.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.860001 m,
      bearing: 14.998435 deg,
      approachRate: -0.788939 m/s,
      LOS rate: -0.261096 deg/s,
      cmd update: -0.783288 deg/s,
      cmd heading: 11.501838 deg,
      new cmd heading: 11.587875 deg.

2021-02-16T12:35:52.046Z,1613478952.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:52.829Z,1613478952.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:53.225Z,1613478953.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:54.056Z,1613478954.056 [Micromodem](INFO): Nmea in: $SNTTA,0.078828,,,,123554.26*4D

2021-02-16T12:35:54.101Z,1613478954.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 15.156659 deg, deltaT: 4.432370 s, approachRate: -0.852817 m/s, LOS rate: 0.035698 deg/s, posRepo size: 4
2021-02-16T12:35:54.103Z,1613478954.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 15.156659 deg,
      approachRate: -0.852817 m/s,
      LOS rate: 0.035698 deg/s,
      cmd update: 0.107093 deg/s,
      cmd heading: 8.025124 deg,
      new cmd heading: 7.696264 deg.

2021-02-16T12:35:56.493Z,1613478956.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:35:57.271Z,1613478957.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:35:57.666Z,1613478957.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:35:58.496Z,1613478958.496 [Micromodem](INFO): Nmea in: $SNTTA,0.076414,,,,123558.71*4E

2021-02-16T12:35:58.540Z,1613478958.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.419998 m, bearing: 15.739129 deg, deltaT: 4.414070 s, approachRate: -0.829168 m/s, LOS rate: 0.131958 deg/s, posRepo size: 4
2021-02-16T12:35:58.542Z,1613478958.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 15.739129 deg,
      approachRate: -0.829168 m/s,
      LOS rate: 0.131958 deg/s,
      cmd update: 0.395873 deg/s,
      cmd heading: 8.498264 deg,
      new cmd heading: 8.543329 deg.

2021-02-16T12:36:00.929Z,1613478960.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:01.704Z,1613478961.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:02.121Z,1613478962.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:02.948Z,1613478962.948 [Micromodem](INFO): Nmea in: $SNTTA,0.074135,,,,123603.17*47

2021-02-16T12:36:02.973Z,1613478962.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.060005 m, bearing: 14.884939 deg, deltaT: 4.453859 s, approachRate: -0.754400 m/s, LOS rate: -0.191787 deg/s, posRepo size: 4
2021-02-16T12:36:02.975Z,1613478962.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.060005 m,
      bearing: 14.884939 deg,
      approachRate: -0.754400 m/s,
      LOS rate: -0.191787 deg/s,
      cmd update: -0.575360 deg/s,
      cmd heading: 10.261430 deg,
      new cmd heading: 10.427778 deg.

2021-02-16T12:36:05.416Z,1613478965.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:05.520Z,1613478965.520 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-02-16T12:36:05.520Z,1613478965.520 [ThrusterServo] Communications Fault, FailCount= 1
2021-02-16T12:36:05.520Z,1613478965.520 [ThrusterServo](ERROR): Communications Fault
2021-02-16T12:36:05.523Z,1613478965.523 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-02-16T12:36:05.876Z,1613478965.876 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T12:36:05.876Z,1613478965.876 [ThrusterServo](INFO): Powering down
2021-02-16T12:36:06.149Z,1613478966.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:06.553Z,1613478966.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:06.640Z,1613478966.640 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:36:06.761Z,1613478966.761 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T12:36:06.764Z,1613478966.764 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-02-16T12:36:06.765Z,1613478966.765 [ThrusterServo] No Fault, FailCount= 1
2021-02-16T12:36:07.408Z,1613478967.408 [Micromodem](INFO): Nmea in: $SNTTA,0.071893,,,,123607.58*48

2021-02-16T12:36:07.440Z,1613478967.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.639999 m, bearing: 14.405461 deg, deltaT: 4.451250 s, approachRate: -0.768325 m/s, LOS rate: -0.107718 deg/s, posRepo size: 4
2021-02-16T12:36:07.441Z,1613478967.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.639999 m,
      bearing: 14.405461 deg,
      approachRate: -0.768325 m/s,
      LOS rate: -0.107718 deg/s,
      cmd update: -0.323153 deg/s,
      cmd heading: 7.702910 deg,
      new cmd heading: 7.449996 deg.

2021-02-16T12:36:09.803Z,1613478969.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:10.612Z,1613478970.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:11.003Z,1613478971.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:11.854Z,1613478971.854 [Micromodem](INFO): Nmea in: $SNTTA,0.069962,,,,123612.05*42

2021-02-16T12:36:11.879Z,1613478971.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.700005 m, bearing: 14.065532 deg, deltaT: 4.419574 s, approachRate: -0.665221 m/s, LOS rate: -0.076914 deg/s, posRepo size: 4
2021-02-16T12:36:11.881Z,1613478971.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.700005 m,
      bearing: 14.065532 deg,
      approachRate: -0.665221 m/s,
      LOS rate: -0.076914 deg/s,
      cmd update: -0.230743 deg/s,
      cmd heading: 6.273354 deg,
      new cmd heading: 6.126209 deg.

2021-02-16T12:36:14.255Z,1613478974.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:15.041Z,1613478975.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:15.442Z,1613478975.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:16.272Z,1613478976.272 [Micromodem](INFO): Nmea in: $SNTTA,0.068158,,,,123616.48*4F

2021-02-16T12:36:16.294Z,1613478976.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.000008 m, bearing: 13.704914 deg, deltaT: 4.496041 s, approachRate: -0.600528 m/s, LOS rate: -0.080208 deg/s, posRepo size: 4
2021-02-16T12:36:16.296Z,1613478976.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.000008 m,
      bearing: 13.704914 deg,
      approachRate: -0.600528 m/s,
      LOS rate: -0.080208 deg/s,
      cmd update: -0.240624 deg/s,
      cmd heading: 5.235879 deg,
      new cmd heading: 5.149485 deg.

2021-02-16T12:36:18.701Z,1613478978.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:19.495Z,1613478979.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:19.890Z,1613478979.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:20.720Z,1613478980.720 [Micromodem](INFO): Nmea in: $SNTTA,0.066149,,,,123620.93*42

2021-02-16T12:36:20.769Z,1613478980.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.060005 m, bearing: 13.810052 deg, deltaT: 4.392130 s, approachRate: -0.669380 m/s, LOS rate: 0.023938 deg/s, posRepo size: 4
2021-02-16T12:36:20.770Z,1613478980.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.060005 m,
      bearing: 13.810052 deg,
      approachRate: -0.669380 m/s,
      LOS rate: 0.023938 deg/s,
      cmd update: 0.071813 deg/s,
      cmd heading: 4.179043 deg,
      new cmd heading: 4.069125 deg.

2021-02-16T12:36:23.156Z,1613478983.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:23.929Z,1613478983.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:24.337Z,1613478984.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:25.164Z,1613478985.164 [Micromodem](INFO): Nmea in: $SNTTA,0.063872,,,,123625.36*4C

2021-02-16T12:36:25.213Z,1613478985.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 12.959323 deg, deltaT: 4.450097 s, approachRate: -0.768522 m/s, LOS rate: -0.191171 deg/s, posRepo size: 4
2021-02-16T12:36:25.215Z,1613478985.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.640007 m,
      bearing: 12.959323 deg,
      approachRate: -0.768522 m/s,
      LOS rate: -0.191171 deg/s,
      cmd update: -0.573512 deg/s,
      cmd heading: 4.498577 deg,
      new cmd heading: 4.531002 deg.

2021-02-16T12:36:27.614Z,1613478987.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:28.385Z,1613478988.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:28.774Z,1613478988.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:29.608Z,1613478989.608 [Micromodem](INFO): Nmea in: $SNTTA,0.061506,,,,123629.82*43

2021-02-16T12:36:29.670Z,1613478989.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.100006 m, bearing: 13.846717 deg, deltaT: 4.441132 s, approachRate: -0.797094 m/s, LOS rate: 0.199812 deg/s, posRepo size: 4
2021-02-16T12:36:29.676Z,1613478989.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.100006 m,
      bearing: 13.846717 deg,
      approachRate: -0.797094 m/s,
      LOS rate: 0.199812 deg/s,
      cmd update: 0.599437 deg/s,
      cmd heading: 1.951142 deg,
      new cmd heading: 1.683929 deg.

2021-02-16T12:36:32.031Z,1613478992.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:32.841Z,1613478992.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:33.218Z,1613478993.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:34.056Z,1613478994.056 [Micromodem](INFO): Nmea in: $SNTTA,0.059313,,,,123634.28*46

2021-02-16T12:36:34.101Z,1613478994.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 12.817159 deg, deltaT: 4.440728 s, approachRate: -0.756633 m/s, LOS rate: -0.231844 deg/s, posRepo size: 4
2021-02-16T12:36:34.102Z,1613478994.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 12.817159 deg,
      approachRate: -0.756633 m/s,
      LOS rate: -0.231844 deg/s,
      cmd update: -0.695533 deg/s,
      cmd heading: 4.613022 deg,
      new cmd heading: 4.886824 deg.

2021-02-16T12:36:36.478Z,1613478996.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:37.267Z,1613478997.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:37.662Z,1613478997.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:38.492Z,1613478998.492 [Micromodem](INFO): Nmea in: $SNTTA,0.056839,,,0.059314,123638.70*5F

2021-02-16T12:36:38.546Z,1613478998.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.080002 m, bearing: 13.340438 deg, deltaT: 4.446057 s, approachRate: -0.823202 m/s, LOS rate: 0.117695 deg/s, posRepo size: 4
2021-02-16T12:36:38.552Z,1613478998.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.080002 m,
      bearing: 13.340438 deg,
      approachRate: -0.823202 m/s,
      LOS rate: 0.117695 deg/s,
      cmd update: 0.353085 deg/s,
      cmd heading: 1.520564 deg,
      new cmd heading: 1.203154 deg.

2021-02-16T12:36:40.925Z,1613479000.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:41.700Z,1613479001.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:42.114Z,1613479002.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:42.928Z,1613479002.928 [Micromodem](INFO): Nmea in: $SNTTA,0.054425,,,,123643.13*41

2021-02-16T12:36:42.967Z,1613479002.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.419998 m, bearing: 13.082017 deg, deltaT: 4.456644 s, approachRate: -0.821247 m/s, LOS rate: -0.057986 deg/s, posRepo size: 4
2021-02-16T12:36:42.969Z,1613479002.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.419998 m,
      bearing: 13.082017 deg,
      approachRate: -0.821247 m/s,
      LOS rate: -0.057986 deg/s,
      cmd update: -0.173957 deg/s,
      cmd heading: 3.094124 deg,
      new cmd heading: 3.242592 deg.

2021-02-16T12:36:45.401Z,1613479005.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:46.145Z,1613479006.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:46.549Z,1613479006.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:47.396Z,1613479007.396 [Micromodem](INFO): Nmea in: $SNTTA,0.052251,,,,123647.58*49

2021-02-16T12:36:47.437Z,1613479007.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 13.464982 deg, deltaT: 4.449574 s, approachRate: -0.728159 m/s, LOS rate: 0.086068 deg/s, posRepo size: 4
2021-02-16T12:36:47.439Z,1613479007.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.180000 m,
      bearing: 13.464982 deg,
      approachRate: -0.728159 m/s,
      LOS rate: 0.086068 deg/s,
      cmd update: 0.258204 deg/s,
      cmd heading: 2.323594 deg,
      new cmd heading: 2.243409 deg.

2021-02-16T12:36:49.861Z,1613479009.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:50.625Z,1613479010.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:51.000Z,1613479011.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:51.860Z,1613479011.860 [Micromodem](INFO): Nmea in: $SNTTA,0.050025,,,,123652.06*45

2021-02-16T12:36:51.902Z,1613479011.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.879997 m, bearing: 12.990287 deg, deltaT: 4.453416 s, approachRate: -0.741005 m/s, LOS rate: -0.106591 deg/s, posRepo size: 4
2021-02-16T12:36:51.909Z,1613479011.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.879997 m,
      bearing: 12.990287 deg,
      approachRate: -0.741005 m/s,
      LOS rate: -0.106591 deg/s,
      cmd update: -0.319773 deg/s,
      cmd heading: 3.477665 deg,
      new cmd heading: 3.595461 deg.

2021-02-16T12:36:54.262Z,1613479014.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:55.037Z,1613479015.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:55.438Z,1613479015.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:36:56.272Z,1613479016.272 [Micromodem](INFO): Nmea in: $SNTTA,0.047779,,0.058930,,123656.47*55

2021-02-16T12:36:56.324Z,1613479016.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.460007 m, bearing: 12.206256 deg, deltaT: 4.455269 s, approachRate: -0.767628 m/s, LOS rate: -0.175978 deg/s, posRepo size: 4
2021-02-16T12:36:56.326Z,1613479016.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.460007 m,
      bearing: 12.206256 deg,
      approachRate: -0.767628 m/s,
      LOS rate: -0.175978 deg/s,
      cmd update: -0.527935 deg/s,
      cmd heading: 2.051716 deg,
      new cmd heading: 1.919402 deg.

2021-02-16T12:36:58.698Z,1613479018.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:36:59.476Z,1613479019.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:36:59.882Z,1613479019.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:00.708Z,1613479020.708 [Micromodem](INFO): Nmea in: $SNTTA,0.045326,,,,123700.91*49

2021-02-16T12:37:00.752Z,1613479020.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.800011 m, bearing: 12.448433 deg, deltaT: 4.410044 s, approachRate: -0.829923 m/s, LOS rate: 0.054915 deg/s, posRepo size: 4
2021-02-16T12:37:00.754Z,1613479020.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 12.448433 deg,
      approachRate: -0.829923 m/s,
      LOS rate: 0.054915 deg/s,
      cmd update: 0.164745 deg/s,
      cmd heading: 359.731986 deg,
      new cmd heading: 359.492603 deg.

2021-02-16T12:37:03.153Z,1613479023.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:03.926Z,1613479023.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:04.329Z,1613479024.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:05.152Z,1613479025.152 [Micromodem](INFO): Nmea in: $SNTTA,0.042878,,,,123705.36*46

2021-02-16T12:37:05.197Z,1613479025.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 12.461462 deg, deltaT: 4.458474 s, approachRate: -0.834367 m/s, LOS rate: 0.002922 deg/s, posRepo size: 4
2021-02-16T12:37:05.199Z,1613479025.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.080009 m,
      bearing: 12.461462 deg,
      approachRate: -0.834367 m/s,
      LOS rate: 0.002922 deg/s,
      cmd update: 0.008767 deg/s,
      cmd heading: 0.468456 deg,
      new cmd heading: 0.538915 deg.

2021-02-16T12:37:07.610Z,1613479027.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:08.370Z,1613479028.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:08.770Z,1613479028.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:09.596Z,1613479029.596 [Micromodem](INFO): Nmea in: $SNTTA,0.040408,,,,123709.80*4E

2021-02-16T12:37:09.621Z,1613479029.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 13.648666 deg, deltaT: 4.423485 s, approachRate: -0.827404 m/s, LOS rate: 0.268387 deg/s, posRepo size: 4
2021-02-16T12:37:09.622Z,1613479029.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.419998 m,
      bearing: 13.648666 deg,
      approachRate: -0.827404 m/s,
      LOS rate: 0.268387 deg/s,
      cmd update: 0.805160 deg/s,
      cmd heading: 0.507271 deg,
      new cmd heading: 0.510986 deg.

2021-02-16T12:37:12.045Z,1613479032.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:12.840Z,1613479032.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:13.222Z,1613479033.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:14.060Z,1613479034.060 [Micromodem](INFO): Nmea in: $SNTTA,0.037993,,,,123714.27*40

2021-02-16T12:37:14.085Z,1613479034.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.760002 m, bearing: 13.143123 deg, deltaT: 4.460196 s, approachRate: -0.820591 m/s, LOS rate: -0.113346 deg/s, posRepo size: 4
2021-02-16T12:37:14.086Z,1613479034.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.760002 m,
      bearing: 13.143123 deg,
      approachRate: -0.820591 m/s,
      LOS rate: -0.113346 deg/s,
      cmd update: -0.340037 deg/s,
      cmd heading: 4.098536 deg,
      new cmd heading: 4.442965 deg.

2021-02-16T12:37:16.494Z,1613479036.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:17.261Z,1613479037.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:17.658Z,1613479037.658 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:18.504Z,1613479038.504 [Micromodem](INFO): Nmea in: $SNTTA,0.035699,,,,123718.70*49

2021-02-16T12:37:18.548Z,1613479038.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.339996 m, bearing: 13.104360 deg, deltaT: 4.429057 s, approachRate: -0.772175 m/s, LOS rate: -0.008752 deg/s, posRepo size: 4
2021-02-16T12:37:18.550Z,1613479038.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.339996 m,
      bearing: 13.104360 deg,
      approachRate: -0.772175 m/s,
      LOS rate: -0.008752 deg/s,
      cmd update: -0.026256 deg/s,
      cmd heading: 2.592563 deg,
      new cmd heading: 2.435489 deg.

2021-02-16T12:37:20.914Z,1613479040.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:21.696Z,1613479041.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:22.102Z,1613479042.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:22.928Z,1613479042.928 [Micromodem](INFO): Nmea in: $SNTTA,0.033416,,,,123723.13*47

2021-02-16T12:37:22.973Z,1613479042.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 13.369021 deg, deltaT: 4.474114 s, approachRate: -0.764396 m/s, LOS rate: 0.059154 deg/s, posRepo size: 4
2021-02-16T12:37:22.979Z,1613479042.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 13.369021 deg,
      approachRate: -0.764396 m/s,
      LOS rate: 0.059154 deg/s,
      cmd update: 0.177462 deg/s,
      cmd heading: 2.475382 deg,
      new cmd heading: 2.464249 deg.

2021-02-16T12:37:25.403Z,1613479045.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:26.145Z,1613479046.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:26.558Z,1613479046.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:27.420Z,1613479047.420 [Micromodem](INFO): Nmea in: $SNTTA,0.030954,,,,123727.58*44

2021-02-16T12:37:27.459Z,1613479047.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.259998 m, bearing: 12.490119 deg, deltaT: 4.431116 s, approachRate: -0.825978 m/s, LOS rate: -0.198348 deg/s, posRepo size: 4
2021-02-16T12:37:27.460Z,1613479047.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.259998 m,
      bearing: 12.490119 deg,
      approachRate: -0.825978 m/s,
      LOS rate: -0.198348 deg/s,
      cmd update: -0.595043 deg/s,
      cmd heading: 3.263726 deg,
      new cmd heading: 3.346642 deg.

2021-02-16T12:37:29.857Z,1613479049.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:30.589Z,1613479050.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:30.996Z,1613479050.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:31.832Z,1613479051.832 [Micromodem](INFO): Nmea in: $SNTTA,0.028370,,,,123732.02*4A

2021-02-16T12:37:31.886Z,1613479051.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 12.980673 deg, deltaT: 4.456194 s, approachRate: -0.875186 m/s, LOS rate: 0.110084 deg/s, posRepo size: 4
2021-02-16T12:37:31.892Z,1613479051.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 12.980673 deg,
      approachRate: -0.875186 m/s,
      LOS rate: 0.110084 deg/s,
      cmd update: 0.330251 deg/s,
      cmd heading: 0.614476 deg,
      new cmd heading: 0.351317 deg.

2021-02-16T12:37:34.263Z,1613479054.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:35.029Z,1613479055.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:35.457Z,1613479055.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:36.264Z,1613479056.264 [Micromodem](INFO): Nmea in: $SNTTA,0.025788,,,,123736.46*40

2021-02-16T12:37:36.304Z,1613479056.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.520000 m, bearing: 13.076739 deg, deltaT: 4.444164 s, approachRate: -0.864055 m/s, LOS rate: 0.021616 deg/s, posRepo size: 4
2021-02-16T12:37:36.305Z,1613479056.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m.
2021-02-16T12:37:36.306Z,1613479056.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 13.076739 deg,
      approachRate: -0.864055 m/s,
      LOS rate: 0.021616 deg/s,
      cmd update: 0.064848 deg/s,
      cmd heading: 2.083481 deg,
      new cmd heading: 2.219669 deg.

2021-02-16T12:37:36.661Z,1613479056.661 [PowerOnly](INFO): Powering up loadControl
2021-02-16T12:37:38.713Z,1613479058.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:39.478Z,1613479059.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:39.890Z,1613479059.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:40.725Z,1613479060.725 [Micromodem](INFO): Nmea in: $SNTTA,0.023291,,0.028485,,123740.91*5D

2021-02-16T12:37:40.761Z,1613479060.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.740002 m, bearing: 12.621568 deg, deltaT: 4.402582 s, approachRate: -0.858587 m/s, LOS rate: -0.103387 deg/s, posRepo size: 4
2021-02-16T12:37:40.761Z,1613479060.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-02-16T12:37:40.761Z,1613479060.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.74 m.
2021-02-16T12:37:40.761Z,1613479060.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T12:37:40.763Z,1613479060.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 12.621568 deg,
      approachRate: -0.858587 m/s,
      LOS rate: -0.103387 deg/s,
      cmd update: -0.310162 deg/s,
      cmd heading: 2.368977 deg,
      new cmd heading: 2.399225 deg.

2021-02-16T12:37:43.157Z,1613479063.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:43.921Z,1613479063.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:44.336Z,1613479064.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:45.152Z,1613479065.152 [Micromodem](INFO): Nmea in: $SNTTA,0.021089,,,,123745.36*41

2021-02-16T12:37:45.196Z,1613479065.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.440002 m, bearing: 12.564834 deg, deltaT: 4.486009 s, approachRate: -0.735620 m/s, LOS rate: -0.012647 deg/s, posRepo size: 4
2021-02-16T12:37:45.198Z,1613479065.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.440002 m,
      bearing: 12.564834 deg,
      approachRate: -0.735620 m/s,
      LOS rate: -0.012647 deg/s,
      cmd update: -0.037941 deg/s,
      cmd heading: 0.978892 deg,
      new cmd heading: 0.848590 deg.

2021-02-16T12:37:47.606Z,1613479067.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:48.386Z,1613479068.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:48.770Z,1613479068.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:49.608Z,1613479069.608 [Micromodem](INFO): Nmea in: $SNTTA,0.018640,,,0.021165,123749.82*54

2021-02-16T12:37:49.650Z,1613479069.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.720001 m, bearing: 11.623831 deg, deltaT: 4.468511 s, approachRate: -0.832492 m/s, LOS rate: -0.210585 deg/s, posRepo size: 4
2021-02-16T12:37:49.652Z,1613479069.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.720001 m,
      bearing: 11.623831 deg,
      approachRate: -0.832492 m/s,
      LOS rate: -0.210585 deg/s,
      cmd update: -0.631756 deg/s,
      cmd heading: 0.809582 deg,
      new cmd heading: 0.793963 deg.

2021-02-16T12:37:52.046Z,1613479072.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:52.825Z,1613479072.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:53.214Z,1613479073.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:54.048Z,1613479074.048 [Micromodem](INFO): Nmea in: $SNTTA,0.016335,,,,123754.26*40

2021-02-16T12:37:54.094Z,1613479074.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.300001 m, bearing: 12.485611 deg, deltaT: 4.428611 s, approachRate: -0.772251 m/s, LOS rate: 0.194594 deg/s, posRepo size: 4
2021-02-16T12:37:54.107Z,1613479074.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.300001 m,
      bearing: 12.485611 deg,
      approachRate: -0.772251 m/s,
      LOS rate: 0.194594 deg/s,
      cmd update: 0.583781 deg/s,
      cmd heading: 358.007795 deg,
      new cmd heading: 357.742341 deg.

2021-02-16T12:37:56.485Z,1613479076.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:37:57.259Z,1613479077.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:37:57.676Z,1613479077.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:37:58.500Z,1613479078.500 [Micromodem](INFO): Nmea in: $SNTTA,0.014032,,,,123758.70*49

2021-02-16T12:37:58.528Z,1613479078.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 11.960721 deg, deltaT: 4.428288 s, approachRate: -0.785857 m/s, LOS rate: -0.118531 deg/s, posRepo size: 4
2021-02-16T12:37:58.530Z,1613479078.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 11.960721 deg,
      approachRate: -0.785857 m/s,
      LOS rate: -0.118531 deg/s,
      cmd update: -0.355593 deg/s,
      cmd heading: 0.592909 deg,
      new cmd heading: 0.841819 deg.

2021-02-16T12:38:00.938Z,1613479080.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:01.703Z,1613479081.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:02.106Z,1613479082.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:02.937Z,1613479082.937 [Micromodem](INFO): Nmea in: $SNTTA,0.011770,,,,123803.14*4E

2021-02-16T12:38:03.004Z,1613479083.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 13.298517 deg, deltaT: 4.471325 s, approachRate: -0.764874 m/s, LOS rate: 0.299195 deg/s, posRepo size: 4
2021-02-16T12:38:03.006Z,1613479083.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 13.298517 deg,
      approachRate: -0.764874 m/s,
      LOS rate: 0.299195 deg/s,
      cmd update: 0.897584 deg/s,
      cmd heading: 359.002947 deg,
      new cmd heading: 358.849491 deg.

2021-02-16T12:38:05.399Z,1613479085.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:06.150Z,1613479086.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:06.546Z,1613479086.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:07.395Z,1613479087.395 [Micromodem](INFO): Nmea in: $SNTTA,0.009391,,,,123807.58*40

2021-02-16T12:38:07.420Z,1613479087.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.860000 m, bearing: 14.793683 deg, deltaT: 4.419622 s, approachRate: -0.800974 m/s, LOS rate: 0.338302 deg/s, posRepo size: 4
2021-02-16T12:38:07.422Z,1613479087.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 14.793683 deg,
      approachRate: -0.800974 m/s,
      LOS rate: 0.338302 deg/s,
      cmd update: 1.014905 deg/s,
      cmd heading: 2.970028 deg,
      new cmd heading: 3.353680 deg.

2021-02-16T12:38:09.798Z,1613479089.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:10.601Z,1613479090.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:10.990Z,1613479090.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:11.844Z,1613479091.844 [Micromodem](INFO): Nmea in: $SNTTA,0.006958,,,,123812.04*4D

2021-02-16T12:38:11.889Z,1613479091.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 14.795803 deg, deltaT: 4.464933 s, approachRate: -0.819720 m/s, LOS rate: 0.000475 deg/s, posRepo size: 4
2021-02-16T12:38:11.895Z,1613479091.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 14.795803 deg,
      approachRate: -0.819720 m/s,
      LOS rate: 0.000475 deg/s,
      cmd update: 0.001425 deg/s,
      cmd heading: 7.495804 deg,
      new cmd heading: 7.939648 deg.

2021-02-16T12:38:14.248Z,1613479094.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:15.028Z,1613479095.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:15.439Z,1613479095.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:16.263Z,1613479096.263 [Micromodem](INFO): Nmea in: $SNTTA,0.004806,,,,123816.46*47

2021-02-16T12:38:16.282Z,1613479096.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 12.443295 deg, deltaT: 4.420226 s, approachRate: -0.719421 m/s, LOS rate: -0.532215 deg/s, posRepo size: 4
2021-02-16T12:38:16.284Z,1613479096.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 12.443295 deg,
      approachRate: -0.719421 m/s,
      LOS rate: -0.532215 deg/s,
      cmd update: -1.596644 deg/s,
      cmd heading: 7.502116 deg,
      new cmd heading: 7.502686 deg.

2021-02-16T12:38:18.698Z,1613479098.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:19.547Z,1613479099.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:19.911Z,1613479099.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:20.763Z,1613479100.763 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T12:38:20.763Z,1613479100.763 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:38:20.763Z,1613479100.763 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T12:38:20.763Z,1613479100.763 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:38:20.763Z,1613479100.763 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T12:38:20.764Z,1613479100.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.380000 m 
2021-02-16T12:38:20.764Z,1613479100.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T12:38:20.764Z,1613479100.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T12:38:20.764Z,1613479100.764 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T12:38:20.766Z,1613479100.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 9.043173 deg, deltaT: 4.467023 s, approachRate: -0.590998 m/s, LOS rate: -0.761161 deg/s, posRepo size: 4
2021-02-16T12:38:20.768Z,1613479100.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 9.043173 deg,
      approachRate: -0.590998 m/s,
      LOS rate: -0.761161 deg/s,
      cmd update: -2.283482 deg/s,
      cmd heading: 0.405165 deg,
      new cmd heading: 359.703387 deg.

2021-02-16T12:38:21.124Z,1613479101.124 [Micromodem](INFO): Nmea in: $SNTTA,0.003181,,,,123820.98*40

2021-02-16T12:38:21.153Z,1613479101.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T123821: (41.552319, -70.708603)
2021-02-16T12:38:21.153Z,1613479101.153 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T12:38:21.154Z,1613479101.154 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:38:21.545Z,1613479101.545 [UniversalFixResidualReporter](INFO): Fix residual: 3.6 %DT, over the last 500.6 m. Residual distance 17.9 m at bearing 120.8 degrees. Fix at (41.5522, -70.7098) with 0.0 m made good.
2021-02-16T12:38:23.171Z,1613479103.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:23.934Z,1613479103.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:24.363Z,1613479104.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:25.171Z,1613479105.171 [Micromodem](INFO): Nmea in: $SNTTA,0.002545,,,0.043358,123825.37*5A

2021-02-16T12:38:25.201Z,1613479105.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.720000 m, bearing: 3.538361 deg, deltaT: 4.417112 s, approachRate: -0.149419 m/s, LOS rate: -1.246247 deg/s, posRepo size: 4
2021-02-16T12:38:25.203Z,1613479105.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.720000 m,
      bearing: 3.538361 deg,
      approachRate: -0.149419 m/s,
      LOS rate: -1.246247 deg/s,
      cmd update: -3.738741 deg/s,
      cmd heading: 350.268343 deg,
      new cmd heading: 349.277657 deg.

2021-02-16T12:38:27.600Z,1613479107.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:28.389Z,1613479108.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:28.802Z,1613479108.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:29.612Z,1613479109.612 [Micromodem](INFO): Nmea in: $SNTTA,0.004055,,,,123829.83*4C

2021-02-16T12:38:29.671Z,1613479109.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.119999 m, bearing: 346.852606 deg, deltaT: 4.445089 s, approachRate: 0.539921 m/s, LOS rate: -3.753752 deg/s, posRepo size: 4
2021-02-16T12:38:29.677Z,1613479109.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 346.852606 deg,
      approachRate: 0.539921 m/s,
      LOS rate: -3.753752 deg/s,
      cmd update: -11.261255 deg/s,
      cmd heading: 333.649340 deg,
      new cmd heading: 331.931172 deg.

2021-02-16T12:38:32.050Z,1613479112.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:32.842Z,1613479112.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:33.234Z,1613479113.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:34.064Z,1613479114.064 [Micromodem](INFO): Nmea in: $SNTTA,0.005641,,,,123834.28*43

2021-02-16T12:38:34.122Z,1613479114.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 355.528668 deg, deltaT: 4.457839 s, approachRate: 0.551837 m/s, LOS rate: 1.946248 deg/s, posRepo size: 4
2021-02-16T12:38:34.128Z,1613479114.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 355.528668 deg,
      approachRate: 0.551837 m/s,
      LOS rate: 1.946248 deg/s,
      cmd update: 5.838745 deg/s,
      cmd heading: 283.476858 deg,
      new cmd heading: 278.341929 deg.

2021-02-16T12:38:36.497Z,1613479116.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:37.268Z,1613479117.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:37.670Z,1613479117.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:38.496Z,1613479118.496 [Micromodem](INFO): Nmea in: $SNTTA,0.007337,,,,123838.70*44

2021-02-16T12:38:38.536Z,1613479118.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.159998 m, bearing: 356.431345 deg, deltaT: 4.461571 s, approachRate: 0.578272 m/s, LOS rate: 0.202323 deg/s, posRepo size: 4
2021-02-16T12:38:38.537Z,1613479118.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 356.431345 deg,
      approachRate: 0.578272 m/s,
      LOS rate: 0.202323 deg/s,
      cmd update: 0.606969 deg/s,
      cmd heading: 309.517854 deg,
      new cmd heading: 311.906432 deg.

2021-02-16T12:38:40.943Z,1613479120.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:41.722Z,1613479121.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:42.114Z,1613479122.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:42.944Z,1613479122.944 [Micromodem](INFO): Nmea in: $SNTTA,0.009032,,,,123843.16*40

2021-02-16T12:38:42.985Z,1613479122.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.680001 m, bearing: 319.579032 deg, deltaT: 4.438971 s, approachRate: 0.567700 m/s, LOS rate: -8.301994 deg/s, posRepo size: 4
2021-02-16T12:38:42.985Z,1613479122.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.68 m. Rolling out.
2021-02-16T12:38:42.985Z,1613479122.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T12:38:45.434Z,1613479125.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:46.152Z,1613479126.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:46.566Z,1613479126.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:47.400Z,1613479127.400 [Micromodem](INFO): Nmea in: $SNTTA,0.010759,,,,123847.59*4D

2021-02-16T12:38:47.424Z,1613479127.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.260000 m, bearing: 270.008771 deg, deltaT: 4.434408 s, approachRate: 0.581814 m/s, LOS rate: -11.178552 deg/s, posRepo size: 4
2021-02-16T12:38:49.858Z,1613479129.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:50.601Z,1613479130.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:51.002Z,1613479131.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:51.851Z,1613479131.851 [Micromodem](INFO): Nmea in: $SNTTA,0.012969,,,,123852.04*4E

2021-02-16T12:38:51.891Z,1613479131.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 279.752582 deg, deltaT: 4.425957 s, approachRate: 0.772715 m/s, LOS rate: 2.201515 deg/s, posRepo size: 4
2021-02-16T12:38:54.274Z,1613479134.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:55.058Z,1613479135.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:55.446Z,1613479135.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:38:56.276Z,1613479136.276 [Micromodem](INFO): Nmea in: $SNTTA,0.014482,,,,123856.49*4D

2021-02-16T12:38:56.314Z,1613479136.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 339.380516 deg, deltaT: 4.481806 s, approachRate: 0.481949 m/s, LOS rate: 13.304444 deg/s, posRepo size: 4
2021-02-16T12:38:58.717Z,1613479138.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:38:59.498Z,1613479139.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:38:59.907Z,1613479139.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:00.740Z,1613479140.740 [Micromodem](INFO): Nmea in: $SNTTA,0.016767,,,,123900.93*42

2021-02-16T12:39:00.769Z,1613479140.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 332.171579 deg, deltaT: 4.454840 s, approachRate: 0.767703 m/s, LOS rate: -1.618226 deg/s, posRepo size: 4
2021-02-16T12:39:03.147Z,1613479143.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:03.934Z,1613479143.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:04.353Z,1613479144.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:05.160Z,1613479145.160 [Micromodem](INFO): Nmea in: $SNTTA,0.018910,,,,123905.37*49

2021-02-16T12:39:05.205Z,1613479145.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.500000 m, bearing: 335.101703 deg, deltaT: 4.421082 s, approachRate: 0.732853 m/s, LOS rate: 0.662762 deg/s, posRepo size: 4
2021-02-16T12:39:07.631Z,1613479147.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:08.387Z,1613479148.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:08.803Z,1613479148.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:09.612Z,1613479149.612 [Micromodem](INFO): Nmea in: $SNTTA,0.021075,,,,123909.82*4B

2021-02-16T12:39:09.662Z,1613479149.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 278.866187 deg, deltaT: 4.420732 s, approachRate: 0.746483 m/s, LOS rate: -12.720860 deg/s, posRepo size: 4
2021-02-16T12:39:11.212Z,1613479151.212 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:39:12.043Z,1613479152.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:12.861Z,1613479152.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:13.227Z,1613479153.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:14.058Z,1613479154.058 [Micromodem](INFO): Nmea in: $SNTTA,0.023275,,,,123914.29*46

2021-02-16T12:39:14.110Z,1613479154.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 290.689108 deg, deltaT: 4.451333 s, approachRate: 0.727872 m/s, LOS rate: 2.656041 deg/s, posRepo size: 4
2021-02-16T12:39:16.494Z,1613479156.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:17.272Z,1613479157.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:17.683Z,1613479157.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:18.512Z,1613479158.512 [Micromodem](INFO): Nmea in: $SNTTA,0.025554,,,,123918.71*45

2021-02-16T12:39:18.536Z,1613479158.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 291.038759 deg, deltaT: 4.446710 s, approachRate: 0.769107 m/s, LOS rate: 0.078631 deg/s, posRepo size: 4
2021-02-16T12:39:20.951Z,1613479160.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:21.724Z,1613479161.724 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:22.137Z,1613479162.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:22.948Z,1613479162.948 [Micromodem](INFO): Nmea in: $SNTTA,0.027698,,,,123923.16*4D

2021-02-16T12:39:22.993Z,1613479162.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.700001 m, bearing: 293.405748 deg, deltaT: 4.475136 s, approachRate: 0.724002 m/s, LOS rate: 0.528920 deg/s, posRepo size: 4
2021-02-16T12:39:25.406Z,1613479165.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:26.160Z,1613479166.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:26.583Z,1613479166.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:27.404Z,1613479167.404 [Micromodem](INFO): Nmea in: $SNTTA,0.029926,,,,123927.59*46

2021-02-16T12:39:27.429Z,1613479167.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 291.472913 deg, deltaT: 4.428613 s, approachRate: 0.758702 m/s, LOS rate: -0.436442 deg/s, posRepo size: 4
2021-02-16T12:39:29.865Z,1613479169.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:30.621Z,1613479170.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:31.027Z,1613479171.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:31.864Z,1613479171.864 [Micromodem](INFO): Nmea in: $SNTTA,0.032001,,,,123932.06*4E

2021-02-16T12:39:31.909Z,1613479171.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.120003 m, bearing: 287.359063 deg, deltaT: 4.433524 s, approachRate: 0.690197 m/s, LOS rate: -0.927896 deg/s, posRepo size: 4
2021-02-16T12:39:34.263Z,1613479174.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:35.050Z,1613479175.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:35.495Z,1613479175.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:36.318Z,1613479176.318 [Micromodem](INFO): Nmea in: $SNTTA,0.034057,,,0.036532,123936.49*5B

2021-02-16T12:39:36.388Z,1613479176.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 289.594065 deg, deltaT: 4.519352 s, approachRate: 0.690365 m/s, LOS rate: 0.494540 deg/s, posRepo size: 4
2021-02-16T12:39:38.760Z,1613479178.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:39.532Z,1613479179.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:39.942Z,1613479179.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:40.772Z,1613479180.772 [Micromodem](INFO): Nmea in: $SNTTA,0.036173,,,,123940.97*43

2021-02-16T12:39:40.810Z,1613479180.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.419998 m, bearing: 329.464584 deg, deltaT: 4.436318 s, approachRate: 0.716809 m/s, LOS rate: 8.987300 deg/s, posRepo size: 4
2021-02-16T12:39:43.201Z,1613479183.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:43.976Z,1613479183.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:44.391Z,1613479184.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:45.204Z,1613479185.204 [Micromodem](INFO): Nmea in: $SNTTA,0.038307,,,,123945.41*42

2021-02-16T12:39:45.256Z,1613479185.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 279.749221 deg, deltaT: 4.453816 s, approachRate: 0.727468 m/s, LOS rate: -11.162419 deg/s, posRepo size: 4
2021-02-16T12:39:47.644Z,1613479187.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:48.437Z,1613479188.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:48.857Z,1613479188.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:49.656Z,1613479189.656 [Micromodem](INFO): Nmea in: $SNTTA,0.040345,,,,123949.87*4D

2021-02-16T12:39:49.680Z,1613479189.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 284.219580 deg, deltaT: 4.408655 s, approachRate: 0.694089 m/s, LOS rate: 1.013996 deg/s, posRepo size: 4
2021-02-16T12:39:52.091Z,1613479192.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:52.868Z,1613479192.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:53.279Z,1613479193.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:54.096Z,1613479194.096 [Micromodem](INFO): Nmea in: $SNTTA,0.042579,,,,123954.30*46

2021-02-16T12:39:54.136Z,1613479194.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 285.408224 deg, deltaT: 4.463503 s, approachRate: 0.739329 m/s, LOS rate: 0.266303 deg/s, posRepo size: 4
2021-02-16T12:39:56.532Z,1613479196.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:39:57.308Z,1613479197.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:39:57.715Z,1613479197.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:39:58.544Z,1613479198.544 [Micromodem](INFO): Nmea in: $SNTTA,0.044869,,,,123958.74*40

2021-02-16T12:39:58.568Z,1613479198.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.500000 m, bearing: 287.769230 deg, deltaT: 4.421933 s, approachRate: 0.786985 m/s, LOS rate: 0.533931 deg/s, posRepo size: 4
2021-02-16T12:40:00.987Z,1613479200.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:01.752Z,1613479201.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:02.164Z,1613479202.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:02.980Z,1613479202.980 [Micromodem](INFO): Nmea in: $SNTTA,0.046756,,,,124003.19*4A

2021-02-16T12:40:03.023Z,1613479203.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.320000 m, bearing: 286.436468 deg, deltaT: 4.457150 s, approachRate: 0.632691 m/s, LOS rate: -0.299016 deg/s, posRepo size: 4
2021-02-16T12:40:05.426Z,1613479205.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:06.252Z,1613479206.252 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:06.601Z,1613479206.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:07.434Z,1613479207.434 [Micromodem](INFO): Nmea in: $SNTTA,0.048996,,,,124007.69*45

2021-02-16T12:40:07.489Z,1613479207.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 300.960975 deg, deltaT: 4.460677 s, approachRate: 0.753249 m/s, LOS rate: 3.256122 deg/s, posRepo size: 4
2021-02-16T12:40:09.621Z,1613479209.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:10.258Z,1613479210.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:10.642Z,1613479210.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:11.487Z,1613479211.487 [Micromodem](INFO): Nmea in: $SNTTA,0.050948,,,,124011.69*48

2021-02-16T12:40:11.511Z,1613479211.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 284.354026 deg, deltaT: 4.032456 s, approachRate: 0.729085 m/s, LOS rate: -4.118321 deg/s, posRepo size: 4
2021-02-16T12:40:13.911Z,1613479213.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:14.697Z,1613479214.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:15.086Z,1613479215.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:15.920Z,1613479215.920 [Micromodem](INFO): Nmea in: $SNTTA,0.053241,,,,124016.13*43

2021-02-16T12:40:15.959Z,1613479215.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 318.843203 deg, deltaT: 4.444611 s, approachRate: 0.755970 m/s, LOS rate: 7.759774 deg/s, posRepo size: 4
2021-02-16T12:40:18.392Z,1613479218.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:19.125Z,1613479219.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:19.535Z,1613479219.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:20.390Z,1613479220.390 [Micromodem](INFO): Nmea in: $SNTTA,0.055235,,,,124020.56*42

2021-02-16T12:40:20.414Z,1613479220.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 284.216384 deg, deltaT: 4.451854 s, approachRate: 0.673878 m/s, LOS rate: -7.778067 deg/s, posRepo size: 4
2021-02-16T12:40:22.775Z,1613479222.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:23.568Z,1613479223.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:23.992Z,1613479223.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:24.799Z,1613479224.799 [Micromodem](INFO): Nmea in: $SNTTA,0.057298,,,,124025.00*41

2021-02-16T12:40:24.838Z,1613479224.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 301.153887 deg, deltaT: 4.423429 s, approachRate: 0.718898 m/s, LOS rate: 3.829044 deg/s, posRepo size: 4
2021-02-16T12:40:27.259Z,1613479227.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:28.012Z,1613479228.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:28.418Z,1613479228.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:29.261Z,1613479229.261 [Micromodem](INFO): Nmea in: $SNTTA,0.059535,,,,124029.45*42

2021-02-16T12:40:29.282Z,1613479229.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 282.896655 deg, deltaT: 4.481642 s, approachRate: 0.736338 m/s, LOS rate: -4.073782 deg/s, posRepo size: 4
2021-02-16T12:40:31.678Z,1613479231.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:32.468Z,1613479232.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:32.868Z,1613479232.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:33.692Z,1613479233.692 [Micromodem](INFO): Nmea in: $SNTTA,0.061656,,,,124033.90*4C

2021-02-16T12:40:33.736Z,1613479233.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.639999 m, bearing: 284.107511 deg, deltaT: 4.381769 s, approachRate: 0.725734 m/s, LOS rate: 0.276340 deg/s, posRepo size: 4
2021-02-16T12:40:35.788Z,1613479235.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:36.497Z,1613479236.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:36.910Z,1613479236.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:37.733Z,1613479237.733 [Micromodem](INFO): Nmea in: $SNTTA,0.063230,,,,124037.93*4D

2021-02-16T12:40:37.778Z,1613479237.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.040001 m, bearing: 282.646724 deg, deltaT: 4.055527 s, approachRate: 0.591785 m/s, LOS rate: -0.360196 deg/s, posRepo size: 4
2021-02-16T12:40:40.185Z,1613479240.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:40.945Z,1613479240.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:41.367Z,1613479241.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:42.202Z,1613479242.202 [Micromodem](INFO): Nmea in: $SNTTA,0.065417,,,,124042.38*4B

2021-02-16T12:40:42.233Z,1613479242.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 285.610125 deg, deltaT: 4.425939 s, approachRate: 0.732049 m/s, LOS rate: 0.669553 deg/s, posRepo size: 4
2021-02-16T12:40:44.619Z,1613479244.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:45.396Z,1613479245.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:45.858Z,1613479245.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:46.620Z,1613479246.620 [Micromodem](INFO): Nmea in: $SNTTA,0.067569,,,,124046.83*45

2021-02-16T12:40:46.658Z,1613479246.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.520004 m, bearing: 280.674220 deg, deltaT: 4.501399 s, approachRate: 0.719776 m/s, LOS rate: -1.096527 deg/s, posRepo size: 4
2021-02-16T12:40:49.059Z,1613479249.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:49.857Z,1613479249.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:50.241Z,1613479250.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:51.080Z,1613479251.080 [Micromodem](INFO): Nmea in: $SNTTA,0.069828,,0.078540,,124051.29*55

2021-02-16T12:40:51.125Z,1613479251.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 280.285856 deg, deltaT: 4.398174 s, approachRate: 0.777593 m/s, LOS rate: -0.088301 deg/s, posRepo size: 4
2021-02-16T12:40:53.491Z,1613479253.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:54.274Z,1613479254.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:54.687Z,1613479254.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:55.520Z,1613479255.520 [Micromodem](INFO): Nmea in: $SNTTA,0.071840,,,,124055.71*4B

2021-02-16T12:40:55.544Z,1613479255.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.940002 m, bearing: 284.558412 deg, deltaT: 4.455270 s, approachRate: 0.673362 m/s, LOS rate: 0.958989 deg/s, posRepo size: 4
2021-02-16T12:40:57.936Z,1613479257.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:40:58.716Z,1613479258.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:40:59.122Z,1613479259.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:40:59.944Z,1613479259.944 [Micromodem](INFO): Nmea in: $SNTTA,0.074109,,,,124100.15*49

2021-02-16T12:41:00.017Z,1613479260.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.360001 m, bearing: 280.301019 deg, deltaT: 4.450402 s, approachRate: 0.768470 m/s, LOS rate: -0.956631 deg/s, posRepo size: 4
2021-02-16T12:41:02.407Z,1613479262.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:03.168Z,1613479263.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:03.583Z,1613479263.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:04.400Z,1613479264.400 [Micromodem](INFO): Nmea in: $SNTTA,0.076434,,,,124104.60*46

2021-02-16T12:41:04.449Z,1613479264.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.839996 m, bearing: 282.725490 deg, deltaT: 4.430169 s, approachRate: 0.785522 m/s, LOS rate: 0.547264 deg/s, posRepo size: 4
2021-02-16T12:41:06.854Z,1613479266.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:07.612Z,1613479267.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:08.009Z,1613479268.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:08.860Z,1613479268.860 [Micromodem](INFO): Nmea in: $SNTTA,0.078627,,,,124109.05*46

2021-02-16T12:41:08.885Z,1613479268.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 293.602238 deg, deltaT: 4.470709 s, approachRate: 0.724719 m/s, LOS rate: 2.432891 deg/s, posRepo size: 4
2021-02-16T12:41:11.270Z,1613479271.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:12.054Z,1613479272.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:12.453Z,1613479272.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:13.280Z,1613479273.280 [Micromodem](INFO): Nmea in: $SNTTA,0.080776,,,,124113.49*47

2021-02-16T12:41:13.366Z,1613479273.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 297.571480 deg, deltaT: 4.435428 s, approachRate: 0.730481 m/s, LOS rate: 0.894895 deg/s, posRepo size: 4
2021-02-16T12:41:15.717Z,1613479275.717 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:16.494Z,1613479276.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:16.904Z,1613479276.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:17.724Z,1613479277.724 [Micromodem](INFO): Nmea in: $SNTTA,0.082623,,,,124117.93*47

2021-02-16T12:41:17.764Z,1613479277.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 287.916379 deg, deltaT: 4.440628 s, approachRate: 0.621536 m/s, LOS rate: -2.174265 deg/s, posRepo size: 4
2021-02-16T12:41:20.185Z,1613479280.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:20.942Z,1613479280.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:20.965Z,1613479280.965 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:41:21.394Z,1613479281.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:22.180Z,1613479282.180 [Micromodem](INFO): Nmea in: $SNTTA,0.084702,,,,124122.38*44

2021-02-16T12:41:22.205Z,1613479282.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 286.542992 deg, deltaT: 4.414643 s, approachRate: 0.706738 m/s, LOS rate: -0.311098 deg/s, posRepo size: 4
2021-02-16T12:41:24.614Z,1613479284.614 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:25.404Z,1613479285.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:25.855Z,1613479285.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:25.875Z,1613479285.875 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T12:41:26.628Z,1613479286.628 [Micromodem](INFO): Nmea in: $SNTTA,0.087019,,,,124126.84*49

2021-02-16T12:41:26.666Z,1613479286.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 282.900015 deg, deltaT: 4.472046 s, approachRate: 0.778168 m/s, LOS rate: -0.814611 deg/s, posRepo size: 4
2021-02-16T12:41:29.063Z,1613479289.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:29.855Z,1613479289.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:30.258Z,1613479290.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:31.076Z,1613479291.076 [Micromodem](INFO): Nmea in: $SNTTA,0.089233,,,,124131.29*4C

2021-02-16T12:41:31.083Z,1613479291.083 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:41:31.102Z,1613479291.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.980011 m, bearing: 286.114930 deg, deltaT: 4.455785 s, approachRate: 0.740611 m/s, LOS rate: 0.721515 deg/s, posRepo size: 4
2021-02-16T12:41:33.494Z,1613479293.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:34.281Z,1613479294.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:34.681Z,1613479294.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:35.508Z,1613479295.508 [Micromodem](INFO): Nmea in: $SNTTA,0.091304,,,,124135.72*4A

2021-02-16T12:41:35.552Z,1613479295.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.160004 m, bearing: 294.198651 deg, deltaT: 4.444241 s, approachRate: 0.715531 m/s, LOS rate: 1.818920 deg/s, posRepo size: 4
2021-02-16T12:41:35.912Z,1613479295.912 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:41:37.950Z,1613479297.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:38.720Z,1613479298.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:39.126Z,1613479299.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:39.948Z,1613479299.948 [Micromodem](INFO): Nmea in: $SNTTA,0.093330,,,,124140.15*4C

2021-02-16T12:41:39.993Z,1613479299.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 290.169795 deg, deltaT: 4.443400 s, approachRate: 0.675159 m/s, LOS rate: -0.906706 deg/s, posRepo size: 4
2021-02-16T12:41:41.168Z,1613479301.168 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:41:42.443Z,1613479302.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:43.164Z,1613479303.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:43.587Z,1613479303.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:44.396Z,1613479304.396 [Micromodem](INFO): Nmea in: $SNTTA,0.095443,,,,124144.60*4F

2021-02-16T12:41:44.449Z,1613479304.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.280014 m, bearing: 287.673115 deg, deltaT: 4.445049 s, approachRate: 0.701907 m/s, LOS rate: -0.561677 deg/s, posRepo size: 4
2021-02-16T12:41:46.869Z,1613479306.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:47.608Z,1613479307.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:48.015Z,1613479308.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:48.866Z,1613479308.866 [Micromodem](INFO): Nmea in: $SNTTA,0.097827,,,,124149.04*4C

2021-02-16T12:41:48.896Z,1613479308.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.880005 m, bearing: 289.633571 deg, deltaT: 4.455168 s, approachRate: 0.808048 m/s, LOS rate: 0.440041 deg/s, posRepo size: 4
2021-02-16T12:41:50.906Z,1613479310.906 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T12:41:51.285Z,1613479311.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:52.053Z,1613479312.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:52.458Z,1613479312.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:53.288Z,1613479313.288 [Micromodem](INFO): Nmea in: $SNTTA,0.100007,,,,124153.49*4B

2021-02-16T12:41:53.326Z,1613479313.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.180008 m, bearing: 284.425469 deg, deltaT: 4.435540 s, approachRate: 0.743991 m/s, LOS rate: -1.174175 deg/s, posRepo size: 4
2021-02-16T12:41:53.328Z,1613479313.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.18 m. Resuming terminal guidance.
2021-02-16T12:41:53.328Z,1613479313.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:41:55.724Z,1613479315.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:41:56.501Z,1613479316.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:41:56.905Z,1613479316.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:41:57.728Z,1613479317.728 [Micromodem](INFO): Nmea in: $SNTTA,0.101996,,,,124157.94*4F

2021-02-16T12:41:57.752Z,1613479317.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.119995 m, bearing: 285.365795 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:41:57.753Z,1613479317.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 285.365795deg and heading rate command to 0 deg/s.
2021-02-16T12:42:00.184Z,1613479320.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:00.947Z,1613479320.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:01.384Z,1613479321.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:02.176Z,1613479322.176 [Micromodem](INFO): Nmea in: $SNTTA,0.104327,,,,124202.38*4F

2021-02-16T12:42:02.215Z,1613479322.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.659988 m, bearing: 315.237928 deg, deltaT: 4.456311 s, approachRate: 0.794378 m/s, LOS rate: 6.703332 deg/s, posRepo size: 2
2021-02-16T12:42:02.217Z,1613479322.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.659988 m,
      bearing: 315.237928 deg,
      approachRate: 0.794378 m/s,
      LOS rate: 6.703332 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 285.365795 deg,
      new cmd heading: 285.365795 deg.

2021-02-16T12:42:04.609Z,1613479324.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:05.391Z,1613479325.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:05.799Z,1613479325.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:06.314Z,1613479326.314 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:42:06.624Z,1613479326.624 [Micromodem](INFO): Nmea in: $SNTTA,0.106452,,,,124206.82*4D

2021-02-16T12:42:06.654Z,1613479326.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 259.745510 deg, deltaT: 4.538315 s, approachRate: 0.687485 m/s, LOS rate: -12.227538 deg/s, posRepo size: 3
2021-02-16T12:42:06.655Z,1613479326.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.227538 deg/s. Setting heading cmd to target bearing of 259.745510deg and heading rate command to 0 deg/s.
2021-02-16T12:42:09.046Z,1613479329.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:09.854Z,1613479329.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:10.242Z,1613479330.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:11.072Z,1613479331.072 [Micromodem](INFO): Nmea in: $SNTTA,0.108391,,,,124211.29*4C

2021-02-16T12:42:11.117Z,1613479331.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.780014 m, bearing: 270.241543 deg, deltaT: 4.354761 s, approachRate: 0.000000 m/s, LOS rate: 2.410243 deg/s, posRepo size: 4
2021-02-16T12:42:11.119Z,1613479331.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.780014 m,
      bearing: 270.241543 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.410243 deg/s,
      cmd update: 7.230730 deg/s,
      cmd heading: 259.745510 deg,
      new cmd heading: 259.745510 deg.

2021-02-16T12:42:13.494Z,1613479333.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:14.272Z,1613479334.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:14.683Z,1613479334.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:15.508Z,1613479335.508 [Micromodem](INFO): Nmea in: $SNTTA,0.110574,,,,124215.71*41

2021-02-16T12:42:15.532Z,1613479335.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 304.906693 deg, deltaT: 4.448069 s, approachRate: 1.402854 m/s, LOS rate: 7.793303 deg/s, posRepo size: 4
2021-02-16T12:42:15.534Z,1613479335.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 304.906693 deg,
      approachRate: 1.402854 m/s,
      LOS rate: 7.793303 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.061957 deg,
      new cmd heading: 294.918797 deg.

2021-02-16T12:42:17.934Z,1613479337.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:18.727Z,1613479338.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:19.122Z,1613479339.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:19.154Z,1613479339.154 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:42:19.952Z,1613479339.952 [Micromodem](INFO): Nmea in: $SNTTA,0.112603,,,,124220.16*47

2021-02-16T12:42:19.978Z,1613479339.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 315.837701 deg, deltaT: 4.447652 s, approachRate: 0.000000 m/s, LOS rate: 2.457703 deg/s, posRepo size: 4
2021-02-16T12:42:20.004Z,1613479340.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 315.837701 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.457703 deg/s,
      cmd update: 7.373109 deg/s,
      cmd heading: 345.417558 deg,
      new cmd heading: 350.152074 deg.

2021-02-16T12:42:22.417Z,1613479342.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:23.178Z,1613479343.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:23.565Z,1613479343.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:24.393Z,1613479344.393 [Micromodem](INFO): Nmea in: $SNTTA,0.114830,,,,124224.61*4B

2021-02-16T12:42:24.857Z,1613479344.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.440018 m, bearing: 277.508564 deg, deltaT: 4.866130 s, approachRate: 1.319326 m/s, LOS rate: -7.876718 deg/s, posRepo size: 4
2021-02-16T12:42:24.858Z,1613479344.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.440018 m,
      bearing: 277.508564 deg,
      approachRate: 1.319326 m/s,
      LOS rate: -7.876718 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.276084 deg,
      new cmd heading: 24.299825 deg.

2021-02-16T12:42:27.257Z,1613479347.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:28.014Z,1613479348.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:28.431Z,1613479348.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:29.245Z,1613479349.245 [Micromodem](INFO): Nmea in: $SNTTA,0.117106,,,,124229.45*4F

2021-02-16T12:42:29.290Z,1613479349.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 340.523890 deg, deltaT: 4.432059 s, approachRate: 0.907022 m/s, LOS rate: 14.218070 deg/s, posRepo size: 4
2021-02-16T12:42:29.291Z,1613479349.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.218070 deg/s. Setting heading cmd to target bearing of 340.523890deg and heading rate command to 0 deg/s.
2021-02-16T12:42:31.678Z,1613479351.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:32.457Z,1613479352.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:32.869Z,1613479352.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:33.688Z,1613479353.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124233.89*5A

2021-02-16T12:42:33.725Z,1613479353.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 37.902892 deg, deltaT: 4.445693 s, approachRate: 0.000000 m/s, LOS rate: 12.906652 deg/s, posRepo size: 4
2021-02-16T12:42:33.726Z,1613479353.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.906652 deg/s. Setting heading cmd to target bearing of 37.902892deg and heading rate command to 0 deg/s.
2021-02-16T12:42:36.126Z,1613479356.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:36.898Z,1613479356.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:37.307Z,1613479357.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:38.128Z,1613479358.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124238.33*50

2021-02-16T12:42:38.153Z,1613479358.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 328.980187 deg, deltaT: 4.443439 s, approachRate: 0.000000 m/s, LOS rate: -15.511114 deg/s, posRepo size: 4
2021-02-16T12:42:38.153Z,1613479358.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.511114 deg/s. Setting heading cmd to target bearing of 328.980187deg and heading rate command to 0 deg/s.
2021-02-16T12:42:40.557Z,1613479360.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:41.362Z,1613479361.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:41.754Z,1613479361.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:42.570Z,1613479362.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124242.80*55

2021-02-16T12:42:43.004Z,1613479363.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.160004 m, bearing: 4.452143 deg, deltaT: 4.846753 s, approachRate: 1.795019 m/s, LOS rate: 7.318704 deg/s, posRepo size: 4
2021-02-16T12:42:43.006Z,1613479363.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.160004 m,
      bearing: 4.452143 deg,
      approachRate: 1.795019 m/s,
      LOS rate: 7.318704 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.980187 deg,
      new cmd heading: 328.980187 deg.

2021-02-16T12:42:45.415Z,1613479365.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:46.188Z,1613479366.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:46.611Z,1613479366.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:47.406Z,1613479367.406 [Micromodem](INFO): Nmea in: $SNTTA,0.124889,,,,124247.62*4C

2021-02-16T12:42:47.869Z,1613479367.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.380005 m, bearing: 23.190408 deg, deltaT: 4.824194 s, approachRate: 0.460181 m/s, LOS rate: 3.884227 deg/s, posRepo size: 4
2021-02-16T12:42:47.871Z,1613479367.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.380005 m,
      bearing: 23.190408 deg,
      approachRate: 0.460181 m/s,
      LOS rate: 3.884227 deg/s,
      cmd update: 11.652681 deg/s,
      cmd heading: 27.107721 deg,
      new cmd heading: 32.278245 deg.

2021-02-16T12:42:50.272Z,1613479370.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:51.041Z,1613479371.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:51.441Z,1613479371.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:52.272Z,1613479372.272 [Micromodem](INFO): Nmea in: $SNTTA,0.126833,,,,124252.48*43

2021-02-16T12:42:52.309Z,1613479372.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.380005 m, bearing: 349.736285 deg, deltaT: 4.485953 s, approachRate: 0.000000 m/s, LOS rate: -7.457528 deg/s, posRepo size: 4
2021-02-16T12:42:52.311Z,1613479372.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.380005 m,
      bearing: 349.736285 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.457528 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 79.237189 deg,
      new cmd heading: 83.867487 deg.

2021-02-16T12:42:54.716Z,1613479374.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:55.485Z,1613479375.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:42:55.909Z,1613479375.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:42:56.717Z,1613479376.717 [Micromodem](INFO): Nmea in: $SNTTA,0.128680,,,,124256.92*48

2021-02-16T12:42:57.531Z,1613479377.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:42:59.114Z,1613479379.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:43:00.401Z,1613479380.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:01.144Z,1613479381.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:01.546Z,1613479381.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:02.400Z,1613479382.400 [Micromodem](INFO): Nmea in: $SNTTA,0.130308,,,,124302.58*42

2021-02-16T12:43:02.806Z,1613479382.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 55.426910 deg, deltaT: 10.495903 s, approachRate: 0.771729 m/s, LOS rate: 6.258691 deg/s, posRepo size: 4
2021-02-16T12:43:02.808Z,1613479382.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.479996 m,
      bearing: 55.426910 deg,
      approachRate: 0.771729 m/s,
      LOS rate: 6.258691 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 313.086609 deg,
      new cmd heading: 308.506137 deg.

2021-02-16T12:43:05.202Z,1613479385.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:05.984Z,1613479385.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:06.399Z,1613479386.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:07.228Z,1613479387.228 [Micromodem](INFO): Nmea in: $SNTTA,0.131669,,,,124307.42*4F

2021-02-16T12:43:07.261Z,1613479387.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.479996 m, bearing: 39.629594 deg, deltaT: 4.453751 s, approachRate: 0.000000 m/s, LOS rate: -3.546969 deg/s, posRepo size: 4
2021-02-16T12:43:07.262Z,1613479387.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.479996 m,
      bearing: 39.629594 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.546969 deg/s,
      cmd update: -10.640906 deg/s,
      cmd heading: 6.483215 deg,
      new cmd heading: 11.120699 deg.

2021-02-16T12:43:09.695Z,1613479389.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:10.434Z,1613479390.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:10.869Z,1613479390.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:11.647Z,1613479391.647 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124311.87*55

2021-02-16T12:43:12.084Z,1613479392.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.639984 m, bearing: 344.417015 deg, deltaT: 4.808932 s, approachRate: 1.073001 m/s, LOS rate: -11.481258 deg/s, posRepo size: 4
2021-02-16T12:43:12.085Z,1613479392.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.481258 deg/s. Setting heading cmd to target bearing of 344.417015deg and heading rate command to 0 deg/s.
2021-02-16T12:43:14.561Z,1613479394.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:15.281Z,1613479395.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:15.700Z,1613479395.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:16.498Z,1613479396.498 [Micromodem](INFO): Nmea in: $SNTTA,0.136023,,,,124316.72*43

2021-02-16T12:43:16.932Z,1613479396.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.839996 m, bearing: 338.537944 deg, deltaT: 4.863311 s, approachRate: 0.863612 m/s, LOS rate: -1.208862 deg/s, posRepo size: 4
2021-02-16T12:43:16.934Z,1613479396.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.839996 m,
      bearing: 338.537944 deg,
      approachRate: 0.863612 m/s,
      LOS rate: -1.208862 deg/s,
      cmd update: -3.626586 deg/s,
      cmd heading: 344.417015 deg,
      new cmd heading: 344.417015 deg.

2021-02-16T12:43:19.356Z,1613479399.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:20.130Z,1613479400.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:20.530Z,1613479400.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:21.384Z,1613479401.384 [Micromodem](INFO): Nmea in: $SNTTA,0.138336,,,,124321.56*48

2021-02-16T12:43:21.770Z,1613479401.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.660004 m, bearing: 328.278235 deg, deltaT: 4.882579 s, approachRate: 0.577565 m/s, LOS rate: -2.101289 deg/s, posRepo size: 4
2021-02-16T12:43:21.772Z,1613479401.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.660004 m,
      bearing: 328.278235 deg,
      approachRate: 0.577565 m/s,
      LOS rate: -2.101289 deg/s,
      cmd update: -6.303867 deg/s,
      cmd heading: 326.709855 deg,
      new cmd heading: 325.472572 deg.

2021-02-16T12:43:24.217Z,1613479404.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:24.978Z,1613479404.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:25.394Z,1613479405.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:26.215Z,1613479406.215 [Micromodem](INFO): Nmea in: $SNTTA,0.140750,,,,124326.41*42

2021-02-16T12:43:26.630Z,1613479406.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.319977 m, bearing: 310.933406 deg, deltaT: 4.881039 s, approachRate: 0.749835 m/s, LOS rate: -3.553512 deg/s, posRepo size: 4
2021-02-16T12:43:26.632Z,1613479406.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.319977 m,
      bearing: 310.933406 deg,
      approachRate: 0.749835 m/s,
      LOS rate: -3.553512 deg/s,
      cmd update: -10.660534 deg/s,
      cmd heading: 295.949015 deg,
      new cmd heading: 293.922202 deg.

2021-02-16T12:43:29.101Z,1613479409.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:29.832Z,1613479409.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:30.230Z,1613479410.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:31.063Z,1613479411.063 [Micromodem](INFO): Nmea in: $SNTTA,0.143010,,,,124331.27*44

2021-02-16T12:43:31.472Z,1613479411.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.679993 m, bearing: 266.660284 deg, deltaT: 4.806270 s, approachRate: 0.699090 m/s, LOS rate: -9.211535 deg/s, posRepo size: 4
2021-02-16T12:43:31.473Z,1613479411.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.679993 m,
      bearing: 266.660284 deg,
      approachRate: 0.699090 m/s,
      LOS rate: -9.211535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.696768 deg,
      new cmd heading: 240.913888 deg.

2021-02-16T12:43:33.924Z,1613479413.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:34.668Z,1613479414.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:35.083Z,1613479415.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:35.920Z,1613479415.920 [Micromodem](INFO): Nmea in: $SNTTA,0.144906,,,,124336.10*4E

2021-02-16T12:43:36.318Z,1613479416.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.440002 m, bearing: 274.095300 deg, deltaT: 4.862298 s, approachRate: 0.567635 m/s, LOS rate: 1.529116 deg/s, posRepo size: 4
2021-02-16T12:43:36.321Z,1613479416.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.440002 m,
      bearing: 274.095300 deg,
      approachRate: 0.567635 m/s,
      LOS rate: 1.529116 deg/s,
      cmd update: 4.587347 deg/s,
      cmd heading: 186.349957 deg,
      new cmd heading: 182.323813 deg.

2021-02-16T12:43:38.746Z,1613479418.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:39.522Z,1613479419.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:39.925Z,1613479419.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:40.740Z,1613479420.740 [Micromodem](INFO): Nmea in: $SNTTA,0.146382,,,,124340.96*45

2021-02-16T12:43:41.185Z,1613479421.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.599991 m, bearing: 243.470016 deg, deltaT: 4.781535 s, approachRate: 0.451735 m/s, LOS rate: -6.404907 deg/s, posRepo size: 4
2021-02-16T12:43:41.187Z,1613479421.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.599991 m,
      bearing: 243.470016 deg,
      approachRate: 0.451735 m/s,
      LOS rate: -6.404907 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 208.302019 deg,
      new cmd heading: 210.231847 deg.

2021-02-16T12:43:43.594Z,1613479423.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:44.385Z,1613479424.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:44.770Z,1613479424.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:45.595Z,1613479425.595 [Micromodem](INFO): Nmea in: $SNTTA,0.147062,,,,124345.82*49

2021-02-16T12:43:46.020Z,1613479426.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.619980 m, bearing: 221.053841 deg, deltaT: 4.879296 s, approachRate: 0.209044 m/s, LOS rate: -4.594141 deg/s, posRepo size: 4
2021-02-16T12:43:46.022Z,1613479426.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.619980 m,
      bearing: 221.053841 deg,
      approachRate: 0.209044 m/s,
      LOS rate: -4.594141 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.036473 deg,
      new cmd heading: 145.230929 deg.

2021-02-16T12:43:48.434Z,1613479428.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:49.212Z,1613479429.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:49.628Z,1613479429.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:50.451Z,1613479430.451 [Micromodem](INFO): Nmea in: $SNTTA,0.146904,,,,124350.65*4C

2021-02-16T12:43:50.892Z,1613479430.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.860001 m, bearing: 232.484886 deg, deltaT: 4.831711 s, approachRate: 0.049676 m/s, LOS rate: 2.365838 deg/s, posRepo size: 4
2021-02-16T12:43:50.894Z,1613479430.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.860001 m,
      bearing: 232.484886 deg,
      approachRate: 0.049676 m/s,
      LOS rate: 2.365838 deg/s,
      cmd update: 7.097514 deg/s,
      cmd heading: 91.767471 deg,
      new cmd heading: 86.762619 deg.

2021-02-16T12:43:53.280Z,1613479433.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:54.065Z,1613479434.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:54.466Z,1613479434.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:43:55.282Z,1613479435.282 [Micromodem](INFO): Nmea in: $SNTTA,0.145982,,,,124355.50*42

2021-02-16T12:43:55.712Z,1613479435.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.360001 m, bearing: 140.475230 deg, deltaT: 4.847684 s, approachRate: -0.309426 m/s, LOS rate: -18.980126 deg/s, posRepo size: 4
2021-02-16T12:43:55.713Z,1613479435.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.980126 deg/s. Setting heading cmd to target bearing of 140.475230deg and heading rate command to 0 deg/s.
2021-02-16T12:43:58.140Z,1613479438.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:43:58.926Z,1613479438.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:43:59.336Z,1613479439.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:00.136Z,1613479440.136 [Micromodem](INFO): Nmea in: $SNTTA,0.144543,,,,124400.36*45

2021-02-16T12:44:00.560Z,1613479440.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.600006 m, bearing: 148.147472 deg, deltaT: 4.884704 s, approachRate: -0.565028 m/s, LOS rate: 1.570667 deg/s, posRepo size: 4
2021-02-16T12:44:00.561Z,1613479440.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.600006 m,
      bearing: 148.147472 deg,
      approachRate: -0.565028 m/s,
      LOS rate: 1.570667 deg/s,
      cmd update: 4.712000 deg/s,
      cmd heading: 140.475230 deg,
      new cmd heading: 140.475230 deg.

2021-02-16T12:44:03.007Z,1613479443.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:03.756Z,1613479443.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:04.178Z,1613479444.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:04.977Z,1613479444.977 [Micromodem](INFO): Nmea in: $SNTTA,0.142903,,,,124405.19*43

2021-02-16T12:44:05.424Z,1613479445.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.019989 m, bearing: 146.984510 deg, deltaT: 4.794556 s, approachRate: -0.538114 m/s, LOS rate: -0.242559 deg/s, posRepo size: 4
2021-02-16T12:44:05.426Z,1613479445.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.019989 m,
      bearing: 146.984510 deg,
      approachRate: -0.538114 m/s,
      LOS rate: -0.242559 deg/s,
      cmd update: -0.727677 deg/s,
      cmd heading: 163.121499 deg,
      new cmd heading: 165.086921 deg.

2021-02-16T12:44:07.856Z,1613479447.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:08.604Z,1613479448.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:09.020Z,1613479449.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:09.853Z,1613479449.853 [Micromodem](INFO): Nmea in: $SNTTA,0.141191,,,,124410.04*4B

2021-02-16T12:44:10.270Z,1613479450.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.020004 m, bearing: 146.263624 deg, deltaT: 4.894264 s, approachRate: -0.612959 m/s, LOS rate: -0.147292 deg/s, posRepo size: 4
2021-02-16T12:44:10.272Z,1613479450.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.020004 m,
      bearing: 146.263624 deg,
      approachRate: -0.612959 m/s,
      LOS rate: -0.147292 deg/s,
      cmd update: -0.441876 deg/s,
      cmd heading: 159.560199 deg,
      new cmd heading: 159.287786 deg.

2021-02-16T12:44:12.668Z,1613479452.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:13.452Z,1613479453.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:13.863Z,1613479453.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:14.671Z,1613479454.671 [Micromodem](INFO): Nmea in: $SNTTA,0.138310,,,,124414.89*4F

2021-02-16T12:44:15.132Z,1613479455.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 207.239990 m, bearing: 146.469828 deg, deltaT: 4.819897 s, approachRate: -0.784252 m/s, LOS rate: 0.042782 deg/s, posRepo size: 4
2021-02-16T12:44:15.134Z,1613479455.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.239990 m,
      bearing: 146.469828 deg,
      approachRate: -0.784252 m/s,
      LOS rate: 0.042782 deg/s,
      cmd update: 0.128345 deg/s,
      cmd heading: 157.439264 deg,
      new cmd heading: 157.253614 deg.

2021-02-16T12:44:17.509Z,1613479457.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:18.306Z,1613479458.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:18.726Z,1613479458.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:19.523Z,1613479459.523 [Micromodem](INFO): Nmea in: $SNTTA,0.136112,,,,124419.74*4E

2021-02-16T12:44:19.959Z,1613479459.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.999985 m, bearing: 146.803373 deg, deltaT: 4.831804 s, approachRate: -0.670558 m/s, LOS rate: 0.069031 deg/s, posRepo size: 4
2021-02-16T12:44:19.961Z,1613479459.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.999985 m,
      bearing: 146.803373 deg,
      approachRate: -0.670558 m/s,
      LOS rate: 0.069031 deg/s,
      cmd update: 0.207094 deg/s,
      cmd heading: 158.062005 deg,
      new cmd heading: 158.114727 deg.

2021-02-16T12:44:22.404Z,1613479462.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:23.148Z,1613479463.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:23.560Z,1613479463.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:24.393Z,1613479464.393 [Micromodem](INFO): Nmea in: $SNTTA,0.133690,,,,124424.58*46

2021-02-16T12:44:24.798Z,1613479464.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.339981 m, bearing: 147.331675 deg, deltaT: 5.023721 s, approachRate: -0.728544 m/s, LOS rate: 0.105161 deg/s, posRepo size: 4
2021-02-16T12:44:24.800Z,1613479464.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.339981 m,
      bearing: 147.331675 deg,
      approachRate: -0.728544 m/s,
      LOS rate: 0.105161 deg/s,
      cmd update: 0.315484 deg/s,
      cmd heading: 159.088124 deg,
      new cmd heading: 159.149303 deg.

2021-02-16T12:44:27.230Z,1613479467.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:28.001Z,1613479468.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:28.401Z,1613479468.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:29.218Z,1613479469.218 [Micromodem](INFO): Nmea in: $SNTTA,0.131233,,,,124429.44*49

2021-02-16T12:44:29.648Z,1613479469.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.679993 m, bearing: 147.515297 deg, deltaT: 4.685935 s, approachRate: -0.781058 m/s, LOS rate: 0.039186 deg/s, posRepo size: 4
2021-02-16T12:44:29.650Z,1613479469.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.679993 m,
      bearing: 147.515297 deg,
      approachRate: -0.781058 m/s,
      LOS rate: 0.039186 deg/s,
      cmd update: 0.117558 deg/s,
      cmd heading: 160.582839 deg,
      new cmd heading: 160.711180 deg.

2021-02-16T12:44:32.066Z,1613479472.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:32.858Z,1613479472.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:33.263Z,1613479473.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:34.069Z,1613479474.069 [Micromodem](INFO): Nmea in: $SNTTA,0.128739,,,,124434.29*49

2021-02-16T12:44:34.520Z,1613479474.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.959991 m, bearing: 147.114857 deg, deltaT: 4.889681 s, approachRate: -0.760786 m/s, LOS rate: -0.081895 deg/s, posRepo size: 4
2021-02-16T12:44:34.522Z,1613479474.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.959991 m,
      bearing: 147.114857 deg,
      approachRate: -0.760786 m/s,
      LOS rate: -0.081895 deg/s,
      cmd update: -0.245685 deg/s,
      cmd heading: 161.158456 deg,
      new cmd heading: 161.202931 deg.

2021-02-16T12:44:36.929Z,1613479476.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:37.698Z,1613479477.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:38.097Z,1613479478.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:38.915Z,1613479478.915 [Micromodem](INFO): Nmea in: $SNTTA,0.126329,,,,124439.13*46

2021-02-16T12:44:39.381Z,1613479479.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 147.302073 deg, deltaT: 4.793215 s, approachRate: -0.763580 m/s, LOS rate: 0.039058 deg/s, posRepo size: 4
2021-02-16T12:44:39.383Z,1613479479.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 147.302073 deg,
      approachRate: -0.763580 m/s,
      LOS rate: 0.039058 deg/s,
      cmd update: 0.117175 deg/s,
      cmd heading: 159.978278 deg,
      new cmd heading: 159.870158 deg.

2021-02-16T12:44:41.760Z,1613479481.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:42.559Z,1613479482.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:42.963Z,1613479482.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:43.783Z,1613479483.783 [Micromodem](INFO): Nmea in: $SNTTA,0.123678,,,,124443.99*4D

2021-02-16T12:44:43.813Z,1613479483.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 146.770711 deg, deltaT: 4.486910 s, approachRate: 0.000000 m/s, LOS rate: -0.118425 deg/s, posRepo size: 4
2021-02-16T12:44:43.820Z,1613479483.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 146.770711 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.118425 deg/s,
      cmd update: -0.355274 deg/s,
      cmd heading: 160.502071 deg,
      new cmd heading: 160.548657 deg.

2021-02-16T12:44:46.220Z,1613479486.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:46.984Z,1613479486.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:47.402Z,1613479487.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:48.216Z,1613479488.216 [Micromodem](INFO): Nmea in: $SNTTA,0.121215,,,,124448.42*4D

2021-02-16T12:44:48.274Z,1613479488.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 147.574898 deg, deltaT: 4.437883 s, approachRate: 0.000000 m/s, LOS rate: 0.181209 deg/s, posRepo size: 4
2021-02-16T12:44:48.280Z,1613479488.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 147.574898 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.181209 deg/s,
      cmd update: 0.543628 deg/s,
      cmd heading: 158.922896 deg,
      new cmd heading: 158.774285 deg.

2021-02-16T12:44:50.690Z,1613479490.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:51.442Z,1613479491.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:51.862Z,1613479491.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:52.668Z,1613479492.668 [Micromodem](INFO): Nmea in: $SNTTA,0.118950,,,,124452.87*4F

2021-02-16T12:44:52.713Z,1613479492.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 147.309955 deg, deltaT: 4.438050 s, approachRate: 0.000000 m/s, LOS rate: -0.059698 deg/s, posRepo size: 4
2021-02-16T12:44:52.714Z,1613479492.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 147.309955 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.059698 deg/s,
      cmd update: -0.179094 deg/s,
      cmd heading: 161.336445 deg,
      new cmd heading: 161.563181 deg.

2021-02-16T12:44:55.114Z,1613479495.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:44:55.890Z,1613479495.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:44:56.286Z,1613479496.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:44:57.116Z,1613479497.116 [Micromodem](INFO): Nmea in: $SNTTA,0.116392,,,,124457.32*4E

2021-02-16T12:44:57.142Z,1613479497.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 146.805395 deg, deltaT: 4.429491 s, approachRate: 0.000000 m/s, LOS rate: -0.113909 deg/s, posRepo size: 4
2021-02-16T12:44:57.144Z,1613479497.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 146.805395 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.113909 deg/s,
      cmd update: -0.341728 deg/s,
      cmd heading: 160.541987 deg,
      new cmd heading: 160.468530 deg.

2021-02-16T12:44:59.565Z,1613479499.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:00.328Z,1613479500.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:00.730Z,1613479500.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:01.556Z,1613479501.556 [Micromodem](INFO): Nmea in: $SNTTA,0.114365,,,,124501.76*46

2021-02-16T12:45:01.616Z,1613479501.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 148.122310 deg, deltaT: 4.463131 s, approachRate: 0.000000 m/s, LOS rate: 0.295065 deg/s, posRepo size: 4
2021-02-16T12:45:01.617Z,1613479501.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 148.122310 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.295065 deg/s,
      cmd update: 0.885196 deg/s,
      cmd heading: 159.019307 deg,
      new cmd heading: 158.874428 deg.

2021-02-16T12:45:03.993Z,1613479503.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:04.768Z,1613479504.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:05.190Z,1613479505.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:06.027Z,1613479506.027 [Micromodem](INFO): Nmea in: $SNTTA,0.112047,,,,124506.20*47

2021-02-16T12:45:06.052Z,1613479506.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.179993 m, bearing: 147.622368 deg, deltaT: 4.435332 s, approachRate: -4.761762 m/s, LOS rate: -0.112718 deg/s, posRepo size: 4
2021-02-16T12:45:06.054Z,1613479506.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.179993 m,
      bearing: 147.622368 deg,
      approachRate: -4.761762 m/s,
      LOS rate: -0.112718 deg/s,
      cmd update: -0.338155 deg/s,
      cmd heading: 162.949673 deg,
      new cmd heading: 163.325436 deg.

2021-02-16T12:45:08.442Z,1613479508.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:09.212Z,1613479509.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:09.618Z,1613479509.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:10.440Z,1613479510.440 [Micromodem](INFO): Nmea in: $SNTTA,0.109886,,,,124510.65*4E

2021-02-16T12:45:10.488Z,1613479510.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.640015 m, bearing: 147.544135 deg, deltaT: 4.448565 s, approachRate: -0.795757 m/s, LOS rate: -0.017586 deg/s, posRepo size: 4
2021-02-16T12:45:10.490Z,1613479510.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.640015 m,
      bearing: 147.544135 deg,
      approachRate: -0.795757 m/s,
      LOS rate: -0.017586 deg/s,
      cmd update: -0.052758 deg/s,
      cmd heading: 161.446758 deg,
      new cmd heading: 161.307440 deg.

2021-02-16T12:45:12.891Z,1613479512.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:13.656Z,1613479513.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:14.069Z,1613479514.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:14.884Z,1613479514.884 [Micromodem](INFO): Nmea in: $SNTTA,0.107616,,,,124515.09*48

2021-02-16T12:45:14.944Z,1613479514.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.220001 m, bearing: 147.171998 deg, deltaT: 4.433191 s, approachRate: -0.771456 m/s, LOS rate: -0.083943 deg/s, posRepo size: 4
2021-02-16T12:45:14.946Z,1613479514.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.220001 m,
      bearing: 147.171998 deg,
      approachRate: -0.771456 m/s,
      LOS rate: -0.083943 deg/s,
      cmd update: -0.251829 deg/s,
      cmd heading: 161.212439 deg,
      new cmd heading: 161.189954 deg.

2021-02-16T12:45:17.375Z,1613479517.375 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:18.106Z,1613479518.106 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:18.517Z,1613479518.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:19.355Z,1613479519.355 [Micromodem](INFO): Nmea in: $SNTTA,0.105157,,,,124519.54*4C

2021-02-16T12:45:19.416Z,1613479519.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.560013 m, bearing: 147.728235 deg, deltaT: 4.439968 s, approachRate: -0.824328 m/s, LOS rate: 0.125279 deg/s, posRepo size: 4
2021-02-16T12:45:19.418Z,1613479519.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.560013 m,
      bearing: 147.728235 deg,
      approachRate: -0.824328 m/s,
      LOS rate: 0.125279 deg/s,
      cmd update: 0.375838 deg/s,
      cmd heading: 160.094329 deg,
      new cmd heading: 159.978927 deg.

2021-02-16T12:45:21.752Z,1613479521.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:22.549Z,1613479522.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:22.955Z,1613479522.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:23.779Z,1613479523.779 [Micromodem](INFO): Nmea in: $SNTTA,0.102957,,,,124523.98*4A

2021-02-16T12:45:23.802Z,1613479523.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.200012 m, bearing: 147.810498 deg, deltaT: 4.471761 s, approachRate: -0.751382 m/s, LOS rate: 0.018396 deg/s, posRepo size: 4
2021-02-16T12:45:23.804Z,1613479523.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.200012 m,
      bearing: 147.810498 deg,
      approachRate: -0.751382 m/s,
      LOS rate: 0.018396 deg/s,
      cmd update: 0.055188 deg/s,
      cmd heading: 161.773361 deg,
      new cmd heading: 161.916769 deg.

2021-02-16T12:45:26.207Z,1613479526.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:26.988Z,1613479526.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:27.396Z,1613479527.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:28.225Z,1613479528.225 [Micromodem](INFO): Nmea in: $SNTTA,0.100800,,,,124528.42*47

2021-02-16T12:45:28.273Z,1613479528.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 147.449837 deg, deltaT: 4.436961 s, approachRate: -0.716709 m/s, LOS rate: -0.081286 deg/s, posRepo size: 4
2021-02-16T12:45:28.274Z,1613479528.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 147.449837 deg,
      approachRate: -0.716709 m/s,
      LOS rate: -0.081286 deg/s,
      cmd update: -0.243857 deg/s,
      cmd heading: 162.018236 deg,
      new cmd heading: 162.041126 deg.

2021-02-16T12:45:30.670Z,1613479530.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:31.441Z,1613479531.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:31.864Z,1613479531.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:32.664Z,1613479532.664 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124532.88*5D

2021-02-16T12:45:32.703Z,1613479532.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 147.692636 deg, deltaT: 4.426862 s, approachRate: -0.772556 m/s, LOS rate: 0.054847 deg/s, posRepo size: 4
2021-02-16T12:45:32.705Z,1613479532.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.600006 m,
      bearing: 147.692636 deg,
      approachRate: -0.772556 m/s,
      LOS rate: 0.054847 deg/s,
      cmd update: 0.164541 deg/s,
      cmd heading: 160.938666 deg,
      new cmd heading: 160.836736 deg.

2021-02-16T12:45:35.109Z,1613479535.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:35.883Z,1613479535.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:36.334Z,1613479536.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:37.108Z,1613479537.108 [Micromodem](INFO): Nmea in: $SNTTA,0.096386,,,,124537.32*45

2021-02-16T12:45:37.153Z,1613479537.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 148.102366 deg, deltaT: 4.439556 s, approachRate: -0.716290 m/s, LOS rate: 0.092291 deg/s, posRepo size: 4
2021-02-16T12:45:37.155Z,1613479537.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.419998 m,
      bearing: 148.102366 deg,
      approachRate: -0.716290 m/s,
      LOS rate: 0.092291 deg/s,
      cmd update: 0.276872 deg/s,
      cmd heading: 161.666449 deg,
      new cmd heading: 161.739675 deg.

2021-02-16T12:45:39.544Z,1613479539.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:40.320Z,1613479540.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:40.725Z,1613479540.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:41.552Z,1613479541.552 [Micromodem](INFO): Nmea in: $SNTTA,0.094325,,,,124541.75*4C

2021-02-16T12:45:41.576Z,1613479541.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.300003 m, bearing: 147.189976 deg, deltaT: 4.459810 s, approachRate: -0.699580 m/s, LOS rate: -0.204581 deg/s, posRepo size: 4
2021-02-16T12:45:41.578Z,1613479541.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.300003 m,
      bearing: 147.189976 deg,
      approachRate: -0.699580 m/s,
      LOS rate: -0.204581 deg/s,
      cmd update: -0.613742 deg/s,
      cmd heading: 162.906846 deg,
      new cmd heading: 163.014243 deg.

2021-02-16T12:45:43.998Z,1613479543.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:44.765Z,1613479544.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:45.178Z,1613479545.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:45.996Z,1613479545.996 [Micromodem](INFO): Nmea in: $SNTTA,0.092137,,,,124546.20*4C

2021-02-16T12:45:46.086Z,1613479546.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.000000 m, bearing: 147.144473 deg, deltaT: 4.437377 s, approachRate: -0.743683 m/s, LOS rate: -0.010254 deg/s, posRepo size: 4
2021-02-16T12:45:46.088Z,1613479546.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.000000 m,
      bearing: 147.144473 deg,
      approachRate: -0.743683 m/s,
      LOS rate: -0.010254 deg/s,
      cmd update: -0.030763 deg/s,
      cmd heading: 160.185760 deg,
      new cmd heading: 159.900573 deg.

2021-02-16T12:45:48.441Z,1613479548.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:49.214Z,1613479549.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:49.614Z,1613479549.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:50.480Z,1613479550.480 [Micromodem](INFO): Nmea in: $SNTTA,0.090004,,,,124550.65*49

2021-02-16T12:45:50.514Z,1613479550.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 147.818872 deg, deltaT: 4.422293 s, approachRate: -0.719082 m/s, LOS rate: 0.152500 deg/s, posRepo size: 4
2021-02-16T12:45:50.516Z,1613479550.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.820007 m,
      bearing: 147.818872 deg,
      approachRate: -0.719082 m/s,
      LOS rate: 0.152500 deg/s,
      cmd update: 0.457500 deg/s,
      cmd heading: 160.049600 deg,
      new cmd heading: 160.035256 deg.

2021-02-16T12:45:52.898Z,1613479552.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:53.660Z,1613479553.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:54.058Z,1613479554.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:54.904Z,1613479554.904 [Micromodem](INFO): Nmea in: $SNTTA,0.087663,,,,124555.09*47

2021-02-16T12:45:54.938Z,1613479554.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 148.135137 deg, deltaT: 4.478472 s, approachRate: -0.790450 m/s, LOS rate: 0.070619 deg/s, posRepo size: 4
2021-02-16T12:45:54.940Z,1613479554.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.279999 m,
      bearing: 148.135137 deg,
      approachRate: -0.790450 m/s,
      LOS rate: 0.070619 deg/s,
      cmd update: 0.211857 deg/s,
      cmd heading: 162.096702 deg,
      new cmd heading: 162.286740 deg.

2021-02-16T12:45:57.328Z,1613479557.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:45:58.101Z,1613479558.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:45:58.502Z,1613479558.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:45:59.330Z,1613479559.330 [Micromodem](INFO): Nmea in: $SNTTA,0.085582,,,,124559.53*4A

2021-02-16T12:45:59.383Z,1613479559.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 147.601194 deg, deltaT: 4.451023 s, approachRate: -0.700961 m/s, LOS rate: -0.119960 deg/s, posRepo size: 4
2021-02-16T12:45:59.400Z,1613479559.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 147.601194 deg,
      approachRate: -0.700961 m/s,
      LOS rate: -0.119960 deg/s,
      cmd update: -0.359879 deg/s,
      cmd heading: 163.039669 deg,
      new cmd heading: 163.124870 deg.

2021-02-16T12:46:01.765Z,1613479561.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:02.542Z,1613479562.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:02.951Z,1613479562.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:03.776Z,1613479563.776 [Micromodem](INFO): Nmea in: $SNTTA,0.084053,,,,124603.97*46

2021-02-16T12:46:03.802Z,1613479563.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.920006 m, bearing: 147.454481 deg, deltaT: 4.440817 s, approachRate: -0.729595 m/s, LOS rate: -0.033037 deg/s, posRepo size: 4
2021-02-16T12:46:03.804Z,1613479563.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 147.454481 deg,
      approachRate: -0.729595 m/s,
      LOS rate: -0.033037 deg/s,
      cmd update: -0.099112 deg/s,
      cmd heading: 161.445833 deg,
      new cmd heading: 161.301812 deg.

2021-02-16T12:46:06.203Z,1613479566.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:07.001Z,1613479567.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:07.400Z,1613479567.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:08.225Z,1613479568.225 [Micromodem](INFO): Nmea in: $SNTTA,0.081169,,,,124608.43*49

2021-02-16T12:46:08.278Z,1613479568.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.560005 m, bearing: 148.328022 deg, deltaT: 4.434929 s, approachRate: -0.757622 m/s, LOS rate: 0.196968 deg/s, posRepo size: 4
2021-02-16T12:46:08.284Z,1613479568.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.560005 m,
      bearing: 148.328022 deg,
      approachRate: -0.757622 m/s,
      LOS rate: 0.196968 deg/s,
      cmd update: 0.590905 deg/s,
      cmd heading: 161.007074 deg,
      new cmd heading: 160.962529 deg.

2021-02-16T12:46:10.657Z,1613479570.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:11.436Z,1613479571.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:11.860Z,1613479571.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:12.668Z,1613479572.668 [Micromodem](INFO): Nmea in: $SNTTA,0.078916,0.091329,,,124612.87*52

2021-02-16T12:46:12.726Z,1613479572.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 147.852641 deg, deltaT: 4.430181 s, approachRate: -0.758436 m/s, LOS rate: -0.107305 deg/s, posRepo size: 4
2021-02-16T12:46:12.729Z,1613479572.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 147.852641 deg,
      approachRate: -0.758436 m/s,
      LOS rate: -0.107305 deg/s,
      cmd update: -0.321915 deg/s,
      cmd heading: 163.638961 deg,
      new cmd heading: 163.900268 deg.

2021-02-16T12:46:15.097Z,1613479575.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:15.888Z,1613479575.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:16.287Z,1613479576.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:17.119Z,1613479577.119 [Micromodem](INFO): Nmea in: $SNTTA,0.076557,,,,124617.32*40

2021-02-16T12:46:17.144Z,1613479577.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.600006 m, bearing: 147.560677 deg, deltaT: 4.446283 s, approachRate: -0.809663 m/s, LOS rate: -0.065665 deg/s, posRepo size: 4
2021-02-16T12:46:17.146Z,1613479577.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.600006 m,
      bearing: 147.560677 deg,
      approachRate: -0.809663 m/s,
      LOS rate: -0.065665 deg/s,
      cmd update: -0.196994 deg/s,
      cmd heading: 162.207493 deg,
      new cmd heading: 162.074086 deg.

2021-02-16T12:46:19.542Z,1613479579.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:20.329Z,1613479580.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:20.750Z,1613479580.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:21.556Z,1613479581.556 [Micromodem](INFO): Nmea in: $SNTTA,0.074423,,,,124621.76*45

2021-02-16T12:46:21.613Z,1613479581.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.419998 m, bearing: 146.721138 deg, deltaT: 4.448654 s, approachRate: -0.714825 m/s, LOS rate: -0.188718 deg/s, posRepo size: 4
2021-02-16T12:46:21.614Z,1613479581.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.419998 m,
      bearing: 146.721138 deg,
      approachRate: -0.714825 m/s,
      LOS rate: -0.188718 deg/s,
      cmd update: -0.566153 deg/s,
      cmd heading: 161.334885 deg,
      new cmd heading: 161.245587 deg.

2021-02-16T12:46:23.998Z,1613479583.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:24.785Z,1613479584.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:25.188Z,1613479585.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:26.008Z,1613479586.008 [Micromodem](INFO): Nmea in: $SNTTA,0.072401,,,,124626.22*45

2021-02-16T12:46:26.085Z,1613479586.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.420006 m, bearing: 148.371270 deg, deltaT: 4.448919 s, approachRate: -0.674319 m/s, LOS rate: 0.370906 deg/s, posRepo size: 4
2021-02-16T12:46:26.087Z,1613479586.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.420006 m,
      bearing: 148.371270 deg,
      approachRate: -0.674319 m/s,
      LOS rate: 0.370906 deg/s,
      cmd update: 1.112719 deg/s,
      cmd heading: 158.805357 deg,
      new cmd heading: 158.546015 deg.

2021-02-16T12:46:28.436Z,1613479588.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:29.212Z,1613479589.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:29.624Z,1613479589.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:30.447Z,1613479590.447 [Micromodem](INFO): Nmea in: $SNTTA,0.070138,,,,124630.64*4D

2021-02-16T12:46:30.472Z,1613479590.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 148.360369 deg, deltaT: 4.429198 s, approachRate: -0.758602 m/s, LOS rate: -0.002461 deg/s, posRepo size: 4
2021-02-16T12:46:30.474Z,1613479590.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.060005 m,
      bearing: 148.360369 deg,
      approachRate: -0.758602 m/s,
      LOS rate: -0.002461 deg/s,
      cmd update: -0.007383 deg/s,
      cmd heading: 163.733806 deg,
      new cmd heading: 164.195862 deg.

2021-02-16T12:46:32.896Z,1613479592.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:33.662Z,1613479593.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:34.062Z,1613479594.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:34.888Z,1613479594.888 [Micromodem](INFO): Nmea in: $SNTTA,0.067949,,,,124635.10*43

2021-02-16T12:46:34.933Z,1613479594.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.699997 m, bearing: 147.739273 deg, deltaT: 4.431196 s, approachRate: -0.758262 m/s, LOS rate: -0.140165 deg/s, posRepo size: 4
2021-02-16T12:46:34.936Z,1613479594.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.699997 m,
      bearing: 147.739273 deg,
      approachRate: -0.758262 m/s,
      LOS rate: -0.140165 deg/s,
      cmd update: -0.420494 deg/s,
      cmd heading: 163.701088 deg,
      new cmd heading: 163.697800 deg.

2021-02-16T12:46:37.333Z,1613479597.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:38.101Z,1613479598.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:38.519Z,1613479598.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:39.328Z,1613479599.328 [Micromodem](INFO): Nmea in: $SNTTA,0.065693,,,,124639.53*42

2021-02-16T12:46:39.390Z,1613479599.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 147.428923 deg, deltaT: 4.464355 s, approachRate: -0.752628 m/s, LOS rate: -0.069517 deg/s, posRepo size: 4
2021-02-16T12:46:39.396Z,1613479599.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 147.428923 deg,
      approachRate: -0.752628 m/s,
      LOS rate: -0.069517 deg/s,
      cmd update: -0.208552 deg/s,
      cmd heading: 161.823796 deg,
      new cmd heading: 161.639733 deg.

2021-02-16T12:46:41.774Z,1613479601.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:42.545Z,1613479602.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:42.949Z,1613479602.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:43.772Z,1613479603.772 [Micromodem](INFO): Nmea in: $SNTTA,0.063233,,,,124643.98*40

2021-02-16T12:46:43.851Z,1613479603.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.619995 m, bearing: 147.422188 deg, deltaT: 4.454259 s, approachRate: -0.835156 m/s, LOS rate: -0.001512 deg/s, posRepo size: 4
2021-02-16T12:46:43.853Z,1613479603.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.619995 m,
      bearing: 147.422188 deg,
      approachRate: -0.835156 m/s,
      LOS rate: -0.001512 deg/s,
      cmd update: -0.004536 deg/s,
      cmd heading: 160.894882 deg,
      new cmd heading: 160.806153 deg.

2021-02-16T12:46:46.229Z,1613479606.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:46.993Z,1613479606.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:47.407Z,1613479607.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:48.221Z,1613479608.221 [Micromodem](INFO): Nmea in: $SNTTA,0.061192,,,,124648.43*47

2021-02-16T12:46:48.272Z,1613479608.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.559998 m, bearing: 148.952492 deg, deltaT: 4.458839 s, approachRate: -0.686277 m/s, LOS rate: 0.343207 deg/s, posRepo size: 4
2021-02-16T12:46:48.273Z,1613479608.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.559998 m,
      bearing: 148.952492 deg,
      approachRate: -0.686277 m/s,
      LOS rate: 0.343207 deg/s,
      cmd update: 1.029620 deg/s,
      cmd heading: 160.874660 deg,
      new cmd heading: 160.872816 deg.

2021-02-16T12:46:50.654Z,1613479610.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:51.438Z,1613479611.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:51.858Z,1613479611.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:52.671Z,1613479612.671 [Micromodem](INFO): Nmea in: $SNTTA,0.058966,,,,124652.87*4D

2021-02-16T12:46:52.701Z,1613479612.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.260002 m, bearing: 148.817883 deg, deltaT: 4.411328 s, approachRate: -0.748073 m/s, LOS rate: -0.030514 deg/s, posRepo size: 4
2021-02-16T12:46:52.702Z,1613479612.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.260002 m,
      bearing: 148.817883 deg,
      approachRate: -0.748073 m/s,
      LOS rate: -0.030514 deg/s,
      cmd update: -0.091543 deg/s,
      cmd heading: 165.417002 deg,
      new cmd heading: 165.853835 deg.

2021-02-16T12:46:55.130Z,1613479615.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:46:55.882Z,1613479615.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:46:56.283Z,1613479616.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:46:57.111Z,1613479617.111 [Micromodem](INFO): Nmea in: $SNTTA,0.056661,,,,124657.32*40

2021-02-16T12:46:57.153Z,1613479617.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 146.818044 deg, deltaT: 4.469435 s, approachRate: -0.778623 m/s, LOS rate: -0.447448 deg/s, posRepo size: 4
2021-02-16T12:46:57.155Z,1613479617.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.779999 m,
      bearing: 146.818044 deg,
      approachRate: -0.778623 m/s,
      LOS rate: -0.447448 deg/s,
      cmd update: -1.342343 deg/s,
      cmd heading: 165.007847 deg,
      new cmd heading: 164.970574 deg.

2021-02-16T12:46:59.555Z,1613479619.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:00.323Z,1613479620.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:00.729Z,1613479620.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:01.552Z,1613479621.552 [Micromodem](INFO): Nmea in: $SNTTA,0.054329,,,,124701.76*49

2021-02-16T12:47:01.600Z,1613479621.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.360008 m, bearing: 146.576529 deg, deltaT: 4.424906 s, approachRate: -0.772896 m/s, LOS rate: -0.054581 deg/s, posRepo size: 4
2021-02-16T12:47:01.602Z,1613479621.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.360008 m,
      bearing: 146.576529 deg,
      approachRate: -0.772896 m/s,
      LOS rate: -0.054581 deg/s,
      cmd update: -0.163743 deg/s,
      cmd heading: 159.093085 deg,
      new cmd heading: 158.524154 deg.

2021-02-16T12:47:03.986Z,1613479623.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:04.764Z,1613479624.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:05.170Z,1613479625.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:06.008Z,1613479626.008 [Micromodem](INFO): Nmea in: $SNTTA,0.051753,,,,124706.20*41

2021-02-16T12:47:06.033Z,1613479626.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 148.204095 deg, deltaT: 4.426604 s, approachRate: -0.881037 m/s, LOS rate: 0.367678 deg/s, posRepo size: 4
2021-02-16T12:47:06.035Z,1613479626.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.460007 m,
      bearing: 148.204095 deg,
      approachRate: -0.881037 m/s,
      LOS rate: 0.367678 deg/s,
      cmd update: 1.103035 deg/s,
      cmd heading: 158.365222 deg,
      new cmd heading: 158.293879 deg.

2021-02-16T12:47:08.427Z,1613479628.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:09.213Z,1613479629.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:09.622Z,1613479629.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:10.440Z,1613479630.440 [Micromodem](INFO): Nmea in: $SNTTA,0.049487,,,,124710.65*44

2021-02-16T12:47:10.480Z,1613479630.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.040001 m, bearing: 149.130268 deg, deltaT: 4.460947 s, approachRate: -0.766655 m/s, LOS rate: 0.207618 deg/s, posRepo size: 4
2021-02-16T12:47:10.482Z,1613479630.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.040001 m,
      bearing: 149.130268 deg,
      approachRate: -0.766655 m/s,
      LOS rate: 0.207618 deg/s,
      cmd update: 0.622855 deg/s,
      cmd heading: 163.285736 deg,
      new cmd heading: 163.750671 deg.

2021-02-16T12:47:12.884Z,1613479632.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:13.653Z,1613479633.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:14.057Z,1613479634.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:14.884Z,1613479634.884 [Micromodem](INFO): Nmea in: $SNTTA,0.047116,,,0.049603,124715.09*5E

2021-02-16T12:47:14.924Z,1613479634.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.440002 m, bearing: 148.281126 deg, deltaT: 4.447224 s, approachRate: -0.809493 m/s, LOS rate: -0.190938 deg/s, posRepo size: 4
2021-02-16T12:47:14.926Z,1613479634.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.440002 m,
      bearing: 148.281126 deg,
      approachRate: -0.809493 m/s,
      LOS rate: -0.190938 deg/s,
      cmd update: -0.572813 deg/s,
      cmd heading: 166.053168 deg,
      new cmd heading: 166.316256 deg.

2021-02-16T12:47:17.317Z,1613479637.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:18.096Z,1613479638.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:18.514Z,1613479638.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:19.326Z,1613479639.326 [Micromodem](INFO): Nmea in: $SNTTA,0.045052,,,,124719.53*48

2021-02-16T12:47:19.401Z,1613479639.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.380005 m, bearing: 148.035089 deg, deltaT: 4.441274 s, approachRate: -0.688991 m/s, LOS rate: -0.055398 deg/s, posRepo size: 4
2021-02-16T12:47:19.402Z,1613479639.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.380005 m,
      bearing: 148.035089 deg,
      approachRate: -0.688991 m/s,
      LOS rate: -0.055398 deg/s,
      cmd update: -0.166194 deg/s,
      cmd heading: 163.509110 deg,
      new cmd heading: 163.246722 deg.

2021-02-16T12:47:21.773Z,1613479641.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:22.545Z,1613479642.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:22.951Z,1613479642.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:23.776Z,1613479643.776 [Micromodem](INFO): Nmea in: $SNTTA,0.042788,,,,124723.98*41

2021-02-16T12:47:23.854Z,1613479643.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 148.023095 deg, deltaT: 4.465543 s, approachRate: -0.752428 m/s, LOS rate: -0.002686 deg/s, posRepo size: 4
2021-02-16T12:47:23.862Z,1613479643.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.020004 m,
      bearing: 148.023095 deg,
      approachRate: -0.752428 m/s,
      LOS rate: -0.002686 deg/s,
      cmd update: -0.008058 deg/s,
      cmd heading: 162.766321 deg,
      new cmd heading: 162.692881 deg.

2021-02-16T12:47:26.203Z,1613479646.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:26.989Z,1613479646.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:27.395Z,1613479647.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:28.216Z,1613479648.216 [Micromodem](INFO): Nmea in: $SNTTA,0.040477,,,,124728.42*4C

2021-02-16T12:47:28.270Z,1613479648.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 148.183686 deg, deltaT: 4.458720 s, approachRate: -0.793950 m/s, LOS rate: 0.036017 deg/s, posRepo size: 4
2021-02-16T12:47:28.288Z,1613479648.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 148.183686 deg,
      approachRate: -0.793950 m/s,
      LOS rate: 0.036017 deg/s,
      cmd update: 0.108052 deg/s,
      cmd heading: 162.730425 deg,
      new cmd heading: 162.727181 deg.

2021-02-16T12:47:30.659Z,1613479650.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:31.437Z,1613479651.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:31.866Z,1613479651.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:32.668Z,1613479652.668 [Micromodem](INFO): Nmea in: $SNTTA,0.038226,,,,124732.87*43

2021-02-16T12:47:32.706Z,1613479652.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 147.706693 deg, deltaT: 4.403300 s, approachRate: -0.749438 m/s, LOS rate: -0.108326 deg/s, posRepo size: 4
2021-02-16T12:47:32.708Z,1613479652.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.180004 m,
      bearing: 147.706693 deg,
      approachRate: -0.749438 m/s,
      LOS rate: -0.108326 deg/s,
      cmd update: -0.324979 deg/s,
      cmd heading: 163.206647 deg,
      new cmd heading: 163.253317 deg.

2021-02-16T12:47:35.101Z,1613479655.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:35.876Z,1613479655.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:36.279Z,1613479656.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:37.120Z,1613479657.120 [Micromodem](INFO): Nmea in: $SNTTA,0.035953,,,,124737.31*4F

2021-02-16T12:47:37.145Z,1613479657.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.759995 m, bearing: 148.263299 deg, deltaT: 4.441315 s, approachRate: -0.770044 m/s, LOS rate: 0.125325 deg/s, posRepo size: 4
2021-02-16T12:47:37.147Z,1613479657.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.759995 m,
      bearing: 148.263299 deg,
      approachRate: -0.770044 m/s,
      LOS rate: 0.125325 deg/s,
      cmd update: 0.375974 deg/s,
      cmd heading: 161.763359 deg,
      new cmd heading: 161.623726 deg.

2021-02-16T12:47:39.541Z,1613479659.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:40.334Z,1613479660.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:40.737Z,1613479660.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:41.556Z,1613479661.556 [Micromodem](INFO): Nmea in: $SNTTA,0.033905,,,,124741.77*49

2021-02-16T12:47:41.594Z,1613479661.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 149.179897 deg, deltaT: 4.457147 s, approachRate: -0.767306 m/s, LOS rate: 0.205647 deg/s, posRepo size: 4
2021-02-16T12:47:41.596Z,1613479661.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 149.179897 deg,
      approachRate: -0.767306 m/s,
      LOS rate: 0.205647 deg/s,
      cmd update: 0.616940 deg/s,
      cmd heading: 163.439178 deg,
      new cmd heading: 163.597544 deg.

2021-02-16T12:47:43.993Z,1613479663.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:44.761Z,1613479664.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:45.183Z,1613479665.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:46.009Z,1613479666.009 [Micromodem](INFO): Nmea in: $SNTTA,0.031647,,0.049516,,124746.20*56

2021-02-16T12:47:46.050Z,1613479666.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.100002 m, bearing: 148.104032 deg, deltaT: 4.438220 s, approachRate: -0.730022 m/s, LOS rate: -0.242409 deg/s, posRepo size: 4
2021-02-16T12:47:46.052Z,1613479666.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.100002 m,
      bearing: 148.104032 deg,
      approachRate: -0.730022 m/s,
      LOS rate: -0.242409 deg/s,
      cmd update: -0.727227 deg/s,
      cmd heading: 166.176818 deg,
      new cmd heading: 166.448077 deg.

2021-02-16T12:47:48.434Z,1613479668.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:49.210Z,1613479669.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:49.618Z,1613479669.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:50.436Z,1613479670.436 [Micromodem](INFO): Nmea in: $SNTTA,0.029311,,,,124750.64*4F

2021-02-16T12:47:50.477Z,1613479670.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.559998 m, bearing: 147.962388 deg, deltaT: 4.448156 s, approachRate: -0.795836 m/s, LOS rate: -0.031843 deg/s, posRepo size: 4
2021-02-16T12:47:50.478Z,1613479670.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.559998 m,
      bearing: 147.962388 deg,
      approachRate: -0.795836 m/s,
      LOS rate: -0.031843 deg/s,
      cmd update: -0.095530 deg/s,
      cmd heading: 162.944376 deg,
      new cmd heading: 162.637894 deg.

2021-02-16T12:47:52.883Z,1613479672.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:53.648Z,1613479673.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:54.054Z,1613479674.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:54.880Z,1613479674.880 [Micromodem](INFO): Nmea in: $SNTTA,0.027015,,,,124755.08*49

2021-02-16T12:47:54.919Z,1613479674.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.380001 m, bearing: 147.626124 deg, deltaT: 4.462451 s, approachRate: -0.712612 m/s, LOS rate: -0.075354 deg/s, posRepo size: 4
2021-02-16T12:47:54.921Z,1613479674.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.380001 m,
      bearing: 147.626124 deg,
      approachRate: -0.712612 m/s,
      LOS rate: -0.075354 deg/s,
      cmd update: -0.226062 deg/s,
      cmd heading: 162.517712 deg,
      new cmd heading: 162.479733 deg.

2021-02-16T12:47:57.316Z,1613479677.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:47:58.093Z,1613479678.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:47:58.506Z,1613479678.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:47:59.326Z,1613479679.326 [Micromodem](INFO): Nmea in: $SNTTA,0.024938,,,,124759.53*4E

2021-02-16T12:47:59.400Z,1613479679.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.200001 m, bearing: 148.763255 deg, deltaT: 4.421141 s, approachRate: -0.719271 m/s, LOS rate: 0.257203 deg/s, posRepo size: 4
2021-02-16T12:47:59.400Z,1613479679.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.20 m.
2021-02-16T12:47:59.402Z,1613479679.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.200001 m,
      bearing: 148.763255 deg,
      approachRate: -0.719271 m/s,
      LOS rate: 0.257203 deg/s,
      cmd update: 0.771609 deg/s,
      cmd heading: 161.518218 deg,
      new cmd heading: 161.414984 deg.

2021-02-16T12:47:59.721Z,1613479679.721 [PowerOnly](INFO): Powering up loadControl
2021-02-16T12:48:01.755Z,1613479681.755 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:02.536Z,1613479682.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:02.959Z,1613479682.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:03.780Z,1613479683.780 [Micromodem](INFO): Nmea in: $SNTTA,0.022695,,,,124803.97*48

2021-02-16T12:48:03.809Z,1613479683.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.839996 m, bearing: 149.422327 deg, deltaT: 4.485133 s, approachRate: -0.749143 m/s, LOS rate: 0.146946 deg/s, posRepo size: 4
2021-02-16T12:48:03.809Z,1613479683.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.84 m.
2021-02-16T12:48:03.810Z,1613479683.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.84 m.
2021-02-16T12:48:03.810Z,1613479683.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T12:48:03.815Z,1613479683.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.839996 m,
      bearing: 149.422327 deg,
      approachRate: -0.749143 m/s,
      LOS rate: 0.146946 deg/s,
      cmd update: 0.440838 deg/s,
      cmd heading: 164.975929 deg,
      new cmd heading: 165.272963 deg.

2021-02-16T12:48:06.278Z,1613479686.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:06.985Z,1613479686.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:07.392Z,1613479687.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:08.212Z,1613479688.212 [Micromodem](INFO): Nmea in: $SNTTA,0.020514,,,,124808.42*43

2021-02-16T12:48:08.275Z,1613479688.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 147.760556 deg, deltaT: 4.445625 s, approachRate: -0.782792 m/s, LOS rate: -0.373799 deg/s, posRepo size: 4
2021-02-16T12:48:08.278Z,1613479688.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 147.760556 deg,
      approachRate: -0.782792 m/s,
      LOS rate: -0.373799 deg/s,
      cmd update: -1.121398 deg/s,
      cmd heading: 166.935722 deg,
      new cmd heading: 167.114007 deg.

2021-02-16T12:48:10.666Z,1613479690.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:11.448Z,1613479691.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:11.860Z,1613479691.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:12.668Z,1613479692.668 [Micromodem](INFO): Nmea in: $SNTTA,0.018484,,,0.021002,124812.88*52

2021-02-16T12:48:12.707Z,1613479692.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 146.661770 deg, deltaT: 4.397532 s, approachRate: -0.682201 m/s, LOS rate: -0.249864 deg/s, posRepo size: 4
2021-02-16T12:48:12.709Z,1613479692.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.359999 m,
      bearing: 146.661770 deg,
      approachRate: -0.682201 m/s,
      LOS rate: -0.249864 deg/s,
      cmd update: -0.749593 deg/s,
      cmd heading: 162.013357 deg,
      new cmd heading: 161.510700 deg.

2021-02-16T12:48:15.123Z,1613479695.123 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:15.873Z,1613479695.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:16.279Z,1613479696.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:17.108Z,1613479697.108 [Micromodem](INFO): Nmea in: $SNTTA,0.016401,,,,124817.31*49

2021-02-16T12:48:17.134Z,1613479697.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.420002 m, bearing: 151.969756 deg, deltaT: 4.434988 s, approachRate: -0.662910 m/s, LOS rate: 1.196843 deg/s, posRepo size: 4
2021-02-16T12:48:17.136Z,1613479697.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.420002 m,
      bearing: 151.969756 deg,
      approachRate: -0.662910 m/s,
      LOS rate: 1.196843 deg/s,
      cmd update: 3.590530 deg/s,
      cmd heading: 158.682967 deg,
      new cmd heading: 158.359235 deg.

2021-02-16T12:48:19.545Z,1613479699.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:20.318Z,1613479700.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:20.725Z,1613479700.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:21.555Z,1613479701.555 [Micromodem](INFO): Nmea in: $SNTTA,0.014436,,,,124821.75*4A

2021-02-16T12:48:21.580Z,1613479701.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.420002 m, bearing: 153.792064 deg, deltaT: 4.488304 s, approachRate: -0.668404 m/s, LOS rate: 0.406013 deg/s, posRepo size: 4
2021-02-16T12:48:21.582Z,1613479701.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 153.792064 deg,
      approachRate: -0.668404 m/s,
      LOS rate: 0.406013 deg/s,
      cmd update: 1.218038 deg/s,
      cmd heading: 174.798752 deg,
      new cmd heading: 176.197989 deg.

2021-02-16T12:48:23.988Z,1613479703.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:24.757Z,1613479704.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:25.161Z,1613479705.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:25.988Z,1613479705.988 [Micromodem](INFO): Nmea in: $SNTTA,0.012252,,,,124826.19*45

2021-02-16T12:48:26.013Z,1613479706.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 147.371645 deg, deltaT: 4.411250 s, approachRate: -0.761690 m/s, LOS rate: -1.455465 deg/s, posRepo size: 4
2021-02-16T12:48:26.015Z,1613479706.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 147.371645 deg,
      approachRate: -0.761690 m/s,
      LOS rate: -1.455465 deg/s,
      cmd update: -4.366394 deg/s,
      cmd heading: 180.176678 deg,
      new cmd heading: 180.673431 deg.

2021-02-16T12:48:28.444Z,1613479708.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:29.205Z,1613479709.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:29.623Z,1613479709.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:30.436Z,1613479710.436 [Micromodem](INFO): Nmea in: $SNTTA,0.010306,,,,124830.64*4A

2021-02-16T12:48:30.477Z,1613479710.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 146.473311 deg, deltaT: 4.446246 s, approachRate: -0.674726 m/s, LOS rate: -0.202043 deg/s, posRepo size: 4
2021-02-16T12:48:30.479Z,1613479710.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.059998 m,
      bearing: 146.473311 deg,
      approachRate: -0.674726 m/s,
      LOS rate: -0.202043 deg/s,
      cmd update: -0.606130 deg/s,
      cmd heading: 160.762602 deg,
      new cmd heading: 158.904810 deg.

2021-02-16T12:48:32.886Z,1613479712.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:33.644Z,1613479713.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:34.051Z,1613479714.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:34.880Z,1613479714.880 [Micromodem](INFO): Nmea in: $SNTTA,0.008324,,,,124835.08*4C

2021-02-16T12:48:34.905Z,1613479714.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 147.276009 deg, deltaT: 4.506046 s, approachRate: -0.652456 m/s, LOS rate: 0.178138 deg/s, posRepo size: 4
2021-02-16T12:48:34.929Z,1613479714.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 147.276009 deg,
      approachRate: -0.652456 m/s,
      LOS rate: 0.178138 deg/s,
      cmd update: 0.534414 deg/s,
      cmd heading: 158.031369 deg,
      new cmd heading: 157.820765 deg.

2021-02-16T12:48:37.373Z,1613479717.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:38.088Z,1613479718.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:38.499Z,1613479718.499 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:39.328Z,1613479719.328 [Micromodem](INFO): Nmea in: $SNTTA,0.006231,,,,124839.52*44

2021-02-16T12:48:39.381Z,1613479719.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 151.575053 deg, deltaT: 4.383784 s, approachRate: -0.698027 m/s, LOS rate: 0.980670 deg/s, posRepo size: 4
2021-02-16T12:48:39.387Z,1613479719.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 151.575053 deg,
      approachRate: -0.698027 m/s,
      LOS rate: 0.980670 deg/s,
      cmd update: 2.942009 deg/s,
      cmd heading: 160.365238 deg,
      new cmd heading: 160.609115 deg.

2021-02-16T12:48:41.774Z,1613479721.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:42.534Z,1613479722.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:42.947Z,1613479722.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:43.780Z,1613479723.780 [Micromodem](INFO): Nmea in: $SNTTA,0.004278,,,,124843.97*4F

2021-02-16T12:48:43.808Z,1613479723.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.240000 m, bearing: 147.432201 deg, deltaT: 4.488299 s, approachRate: -0.628300 m/s, LOS rate: -0.923034 deg/s, posRepo size: 4
2021-02-16T12:48:43.811Z,1613479723.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 147.432201 deg,
      approachRate: -0.628300 m/s,
      LOS rate: -0.923034 deg/s,
      cmd update: -2.769101 deg/s,
      cmd heading: 173.606942 deg,
      new cmd heading: 174.729321 deg.

2021-02-16T12:48:46.262Z,1613479726.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:46.976Z,1613479726.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:47.397Z,1613479727.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:48.216Z,1613479728.216 [Micromodem](INFO): Nmea in: $SNTTA,0.002951,,,,124848.41*49

2021-02-16T12:48:48.262Z,1613479728.262 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T12:48:48.262Z,1613479728.262 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:48:48.262Z,1613479728.262 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T12:48:48.263Z,1613479728.263 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:48:48.263Z,1613479728.263 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T12:48:48.263Z,1613479728.263 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T12:48:48.263Z,1613479728.263 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T12:48:48.264Z,1613479728.264 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T12:48:48.264Z,1613479728.264 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T12:48:48.266Z,1613479728.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 148.370219 deg, deltaT: 4.403389 s, approachRate: -0.463280 m/s, LOS rate: 0.213022 deg/s, posRepo size: 4
2021-02-16T12:48:48.268Z,1613479728.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 148.370219 deg,
      approachRate: -0.463280 m/s,
      LOS rate: 0.213022 deg/s,
      cmd update: 0.639065 deg/s,
      cmd heading: 161.487406 deg,
      new cmd heading: 160.204576 deg.

2021-02-16T12:48:48.638Z,1613479728.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T124848: (41.552319, -70.708603)
2021-02-16T12:48:48.638Z,1613479728.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T12:48:48.638Z,1613479728.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T12:48:48.638Z,1613479728.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:48:48.638Z,1613479728.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T12:48:48.639Z,1613479728.639 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T12:48:48.639Z,1613479728.639 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T12:48:48.639Z,1613479728.639 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T12:48:48.639Z,1613479728.639 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T12:48:50.665Z,1613479730.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:51.440Z,1613479731.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:51.857Z,1613479731.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:52.676Z,1613479732.676 [Micromodem](INFO): Nmea in: $SNTTA,0.002722,,,,124852.87*42

2021-02-16T12:48:52.706Z,1613479732.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 166.281447 deg, deltaT: 4.436013 s, approachRate: -0.027051 m/s, LOS rate: 4.037686 deg/s, posRepo size: 4
2021-02-16T12:48:52.708Z,1613479732.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 166.281447 deg,
      approachRate: -0.027051 m/s,
      LOS rate: 4.037686 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 164.339379 deg,
      new cmd heading: 164.621095 deg.

2021-02-16T12:48:55.093Z,1613479735.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:48:55.868Z,1613479735.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:48:56.279Z,1613479736.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:48:57.103Z,1613479737.103 [Micromodem](INFO): Nmea in: $SNTTA,0.003534,,,,124857.30*4F

2021-02-16T12:48:57.128Z,1613479737.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 144.919306 deg, deltaT: 4.440258 s, approachRate: 0.283767 m/s, LOS rate: -4.811013 deg/s, posRepo size: 4
2021-02-16T12:48:57.130Z,1613479737.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 144.919306 deg,
      approachRate: 0.283767 m/s,
      LOS rate: -4.811013 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 217.670513 deg,
      new cmd heading: 222.697049 deg.

2021-02-16T12:48:59.540Z,1613479739.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:00.313Z,1613479740.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:00.731Z,1613479740.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:01.551Z,1613479741.551 [Micromodem](INFO): Nmea in: $SNTTA,0.005596,,,,124901.75*42

2021-02-16T12:49:01.575Z,1613479741.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.520000 m, bearing: 139.085806 deg, deltaT: 4.503200 s, approachRate: 0.706165 m/s, LOS rate: -1.295412 deg/s, posRepo size: 4
2021-02-16T12:49:01.577Z,1613479741.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 139.085806 deg,
      approachRate: 0.706165 m/s,
      LOS rate: -1.295412 deg/s,
      cmd update: -3.886237 deg/s,
      cmd heading: 164.155131 deg,
      new cmd heading: 159.285903 deg.

2021-02-16T12:49:03.988Z,1613479743.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:04.752Z,1613479744.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:05.158Z,1613479745.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:05.984Z,1613479745.984 [Micromodem](INFO): Nmea in: $SNTTA,0.006550,,,,124906.18*47

2021-02-16T12:49:06.035Z,1613479746.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 141.222740 deg, deltaT: 4.398904 s, approachRate: 0.231876 m/s, LOS rate: 0.485788 deg/s, posRepo size: 4
2021-02-16T12:49:06.037Z,1613479746.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 141.222740 deg,
      approachRate: 0.231876 m/s,
      LOS rate: 0.485788 deg/s,
      cmd update: 1.457363 deg/s,
      cmd heading: 146.890661 deg,
      new cmd heading: 145.246316 deg.

2021-02-16T12:49:08.414Z,1613479748.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:09.196Z,1613479749.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:09.602Z,1613479749.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:10.424Z,1613479750.424 [Micromodem](INFO): Nmea in: $SNTTA,0.012026,,,,124910.63*4D

2021-02-16T12:49:10.475Z,1613479750.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 154.858598 deg, deltaT: 4.446228 s, approachRate: 1.848758 m/s, LOS rate: 3.066837 deg/s, posRepo size: 4
2021-02-16T12:49:10.476Z,1613479750.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.76 m. Rolling out.
2021-02-16T12:49:10.476Z,1613479750.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T12:49:12.942Z,1613479752.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:13.640Z,1613479753.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:14.047Z,1613479754.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:14.884Z,1613479754.884 [Micromodem](INFO): Nmea in: $SNTTA,0.008908,,,,124915.07*44

2021-02-16T12:49:14.942Z,1613479754.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 177.726276 deg, deltaT: 4.416655 s, approachRate: -0.964530 m/s, LOS rate: 5.177601 deg/s, posRepo size: 4
2021-02-16T12:49:17.295Z,1613479757.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:18.084Z,1613479758.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:18.490Z,1613479758.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:19.359Z,1613479759.359 [Micromodem](INFO): Nmea in: $SNTTA,0.011043,,,,124919.52*46

2021-02-16T12:49:19.406Z,1613479759.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.740000 m, bearing: 187.754715 deg, deltaT: 4.447749 s, approachRate: 0.728458 m/s, LOS rate: 2.254722 deg/s, posRepo size: 4
2021-02-16T12:49:21.746Z,1613479761.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:22.533Z,1613479762.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:22.952Z,1613479762.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:23.776Z,1613479763.776 [Micromodem](INFO): Nmea in: $SNTTA,0.013306,,,,124923.97*46

2021-02-16T12:49:23.853Z,1613479763.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.160000 m, bearing: 190.901124 deg, deltaT: 4.474671 s, approachRate: 0.764302 m/s, LOS rate: 0.703160 deg/s, posRepo size: 4
2021-02-16T12:49:26.261Z,1613479766.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:26.977Z,1613479766.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:27.403Z,1613479767.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:28.204Z,1613479768.204 [Micromodem](INFO): Nmea in: $SNTTA,0.015393,,,,124928.41*4C

2021-02-16T12:49:28.265Z,1613479768.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.280001 m, bearing: 195.505518 deg, deltaT: 4.456878 s, approachRate: 0.700042 m/s, LOS rate: 1.033099 deg/s, posRepo size: 4
2021-02-16T12:49:30.641Z,1613479770.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:31.442Z,1613479771.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:31.852Z,1613479771.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:32.660Z,1613479772.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124932.88*51

2021-02-16T12:49:32.697Z,1613479772.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.399998 m, bearing: 179.217101 deg, deltaT: 4.415765 s, approachRate: 0.706559 m/s, LOS rate: -3.688697 deg/s, posRepo size: 4
2021-02-16T12:49:34.264Z,1613479774.264 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:49:34.661Z,1613479774.661 [PowerOnly](FAULT): loadControl LCB fault: LCB Watchdog Reset. Software Overcurrent.
2021-02-16T12:49:34.661Z,1613479774.661 [PowerOnly] Hardware Fault, FailCount= 1
2021-02-16T12:49:34.661Z,1613479774.661 [PowerOnly](ERROR): Hardware Fault
2021-02-16T12:49:34.907Z,1613479774.907 [CBIT](ERROR): Hardware Fault in component: PowerOnly
2021-02-16T12:49:35.052Z,1613479775.052 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:49:35.102Z,1613479775.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:35.881Z,1613479775.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:36.120Z,1613479776.120 [CBIT](INFO): Clearing failed state for component PowerOnly
2021-02-16T12:49:36.120Z,1613479776.120 [PowerOnly] No Fault, FailCount= 1
2021-02-16T12:49:36.282Z,1613479776.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:37.120Z,1613479777.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124937.32*55

2021-02-16T12:49:37.145Z,1613479777.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.859997 m, bearing: 174.826888 deg, deltaT: 4.441974 s, approachRate: 1.904558 m/s, LOS rate: -0.988347 deg/s, posRepo size: 4
2021-02-16T12:49:37.493Z,1613479777.493 [PowerOnly](INFO): Powering down loadControl
2021-02-16T12:49:39.567Z,1613479779.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:40.328Z,1613479780.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:40.721Z,1613479780.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:41.549Z,1613479781.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124941.76*54

2021-02-16T12:49:42.377Z,1613479782.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:43.938Z,1613479783.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:49:45.185Z,1613479785.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:45.965Z,1613479785.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:46.391Z,1613479786.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:47.180Z,1613479787.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124947.40*57

2021-02-16T12:49:48.018Z,1613479788.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:49.606Z,1613479789.606 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:49:50.875Z,1613479790.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:51.621Z,1613479791.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:52.027Z,1613479792.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:52.857Z,1613479792.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124953.05*53

2021-02-16T12:49:53.661Z,1613479793.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:55.259Z,1613479795.259 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:49:56.492Z,1613479796.492 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:49:57.282Z,1613479797.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:49:57.697Z,1613479797.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:49:58.517Z,1613479798.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,124958.71*5B

2021-02-16T12:49:58.560Z,1613479798.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 185.478076 deg, deltaT: 21.426631 s, approachRate: 0.515247 m/s, LOS rate: 0.497100 deg/s, posRepo size: 4
2021-02-16T12:50:00.933Z,1613479800.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:01.723Z,1613479801.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:02.122Z,1613479802.122 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:02.968Z,1613479802.968 [Micromodem](INFO): Nmea in: $SNTTA,0.032981,,,,125003.15*40

2021-02-16T12:50:03.001Z,1613479803.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 187.904897 deg, deltaT: 4.430799 s, approachRate: 0.839577 m/s, LOS rate: 0.547716 deg/s, posRepo size: 4
2021-02-16T12:50:05.406Z,1613479805.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:06.160Z,1613479806.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:06.566Z,1613479806.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:07.400Z,1613479807.400 [Micromodem](INFO): Nmea in: $SNTTA,0.035265,,,,125007.59*4A

2021-02-16T12:50:07.439Z,1613479807.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.040001 m, bearing: 197.653353 deg, deltaT: 4.465902 s, approachRate: 0.765804 m/s, LOS rate: 2.182864 deg/s, posRepo size: 4
2021-02-16T12:50:09.850Z,1613479809.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:10.610Z,1613479810.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:11.010Z,1613479811.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:11.866Z,1613479811.866 [Micromodem](INFO): Nmea in: $SNTTA,0.037779,,,,125012.04*4C

2021-02-16T12:50:11.891Z,1613479811.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 141.101518 deg, deltaT: 4.425730 s, approachRate: 0.854097 m/s, LOS rate: -12.777967 deg/s, posRepo size: 4
2021-02-16T12:50:14.277Z,1613479814.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:15.053Z,1613479815.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:15.470Z,1613479815.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:16.299Z,1613479816.299 [Micromodem](INFO): Nmea in: $SNTTA,0.040127,,,,125016.48*4D

2021-02-16T12:50:16.318Z,1613479816.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.360008 m, bearing: 192.511668 deg, deltaT: 4.442140 s, approachRate: 0.796914 m/s, LOS rate: 11.573285 deg/s, posRepo size: 4
2021-02-16T12:50:18.729Z,1613479818.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:19.492Z,1613479819.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:19.898Z,1613479819.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:20.724Z,1613479820.724 [Micromodem](INFO): Nmea in: $SNTTA,0.042413,,,,125020.92*4F

2021-02-16T12:50:20.789Z,1613479820.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 138.737890 deg, deltaT: 4.480292 s, approachRate: 0.763342 m/s, LOS rate: -12.002294 deg/s, posRepo size: 4
2021-02-16T12:50:23.176Z,1613479823.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:23.950Z,1613479823.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:24.377Z,1613479824.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:25.173Z,1613479825.173 [Micromodem](INFO): Nmea in: $SNTTA,0.044947,,,,125025.38*40

2021-02-16T12:50:25.227Z,1613479825.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.560005 m, bearing: 146.266657 deg, deltaT: 4.378074 s, approachRate: 0.863394 m/s, LOS rate: 1.719653 deg/s, posRepo size: 4
2021-02-16T12:50:27.617Z,1613479827.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:28.389Z,1613479828.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:28.786Z,1613479828.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:29.620Z,1613479829.620 [Micromodem](INFO): Nmea in: $SNTTA,0.047277,,,,125029.82*46

2021-02-16T12:50:29.666Z,1613479829.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 198.888360 deg, deltaT: 4.480273 s, approachRate: 0.790131 m/s, LOS rate: 11.745200 deg/s, posRepo size: 4
2021-02-16T12:50:32.054Z,1613479832.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:32.853Z,1613479832.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:33.238Z,1613479833.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:34.072Z,1613479834.072 [Micromodem](INFO): Nmea in: $SNTTA,0.049278,,,,125034.29*4A

2021-02-16T12:50:34.097Z,1613479834.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.100006 m, bearing: 191.833636 deg, deltaT: 4.443740 s, approachRate: 0.675107 m/s, LOS rate: -1.587565 deg/s, posRepo size: 4
2021-02-16T12:50:36.490Z,1613479836.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:37.284Z,1613479837.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:37.674Z,1613479837.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:38.508Z,1613479838.508 [Micromodem](INFO): Nmea in: $SNTTA,0.051406,,,,125038.72*4E

2021-02-16T12:50:38.534Z,1613479838.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 196.377706 deg, deltaT: 4.417733 s, approachRate: 0.706243 m/s, LOS rate: 1.028598 deg/s, posRepo size: 4
2021-02-16T12:50:40.956Z,1613479840.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:41.716Z,1613479841.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:42.120Z,1613479842.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:42.952Z,1613479842.952 [Micromodem](INFO): Nmea in: $SNTTA,0.053508,,,,125043.15*4E

2021-02-16T12:50:42.976Z,1613479842.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.459999 m, bearing: 195.850620 deg, deltaT: 4.454567 s, approachRate: 0.727343 m/s, LOS rate: -0.118325 deg/s, posRepo size: 4
2021-02-16T12:50:45.418Z,1613479845.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:46.185Z,1613479846.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:46.579Z,1613479846.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:47.407Z,1613479847.407 [Micromodem](INFO): Nmea in: $SNTTA,0.055654,,,,125047.62*46

2021-02-16T12:50:47.432Z,1613479847.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.640007 m, bearing: 191.969433 deg, deltaT: 4.455232 s, approachRate: 0.713769 m/s, LOS rate: -0.871153 deg/s, posRepo size: 4
2021-02-16T12:50:49.858Z,1613479849.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:50.601Z,1613479850.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:51.006Z,1613479851.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:51.853Z,1613479851.853 [Micromodem](INFO): Nmea in: $SNTTA,0.057880,,,,125052.03*40

2021-02-16T12:50:51.905Z,1613479851.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.000000 m, bearing: 186.406695 deg, deltaT: 4.436627 s, approachRate: 0.757331 m/s, LOS rate: -1.253821 deg/s, posRepo size: 4
2021-02-16T12:50:54.265Z,1613479854.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:55.049Z,1613479855.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:55.450Z,1613479855.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:50:56.331Z,1613479856.331 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125056.48*57

2021-02-16T12:50:56.385Z,1613479856.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 188.510025 deg, deltaT: 4.456303 s, approachRate: 0.713596 m/s, LOS rate: 0.471990 deg/s, posRepo size: 4
2021-02-16T12:50:58.716Z,1613479858.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:50:59.488Z,1613479859.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:50:59.905Z,1613479859.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:00.716Z,1613479860.716 [Micromodem](INFO): Nmea in: $SNTTA,0.062127,,,,125100.92*4C

2021-02-16T12:51:00.764Z,1613479860.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.360008 m, bearing: 191.462920 deg, deltaT: 4.420936 s, approachRate: 0.719306 m/s, LOS rate: 0.667934 deg/s, posRepo size: 4
2021-02-16T12:51:03.173Z,1613479863.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:03.932Z,1613479863.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:04.342Z,1613479864.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:05.164Z,1613479865.164 [Micromodem](INFO): Nmea in: $SNTTA,0.064291,,,,125105.37*4E

2021-02-16T12:51:05.217Z,1613479865.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.600006 m, bearing: 141.175147 deg, deltaT: 4.466451 s, approachRate: 0.725408 m/s, LOS rate: -11.259000 deg/s, posRepo size: 4
2021-02-16T12:51:07.616Z,1613479867.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:08.396Z,1613479868.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:08.785Z,1613479868.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:09.620Z,1613479869.620 [Micromodem](INFO): Nmea in: $SNTTA,0.066952,,,,125109.83*4B

2021-02-16T12:51:09.644Z,1613479869.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.560005 m, bearing: 194.013941 deg, deltaT: 4.417560 s, approachRate: 0.896422 m/s, LOS rate: 11.961081 deg/s, posRepo size: 4
2021-02-16T12:51:12.074Z,1613479872.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:12.861Z,1613479872.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:13.232Z,1613479873.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:14.066Z,1613479874.066 [Micromodem](INFO): Nmea in: $SNTTA,0.068895,,,,125114.29*43

2021-02-16T12:51:14.115Z,1613479874.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 200.980420 deg, deltaT: 4.455980 s, approachRate: 0.659786 m/s, LOS rate: 1.563400 deg/s, posRepo size: 4
2021-02-16T12:51:16.482Z,1613479876.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:17.267Z,1613479877.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:17.675Z,1613479877.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:18.496Z,1613479878.496 [Micromodem](INFO): Nmea in: $SNTTA,0.071018,,,,125118.70*46

2021-02-16T12:51:18.526Z,1613479878.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.619995 m, bearing: 193.698878 deg, deltaT: 4.434968 s, approachRate: 0.703499 m/s, LOS rate: -1.641848 deg/s, posRepo size: 4
2021-02-16T12:51:20.930Z,1613479880.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:21.725Z,1613479881.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:22.114Z,1613479882.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:22.948Z,1613479882.948 [Micromodem](INFO): Nmea in: $SNTTA,0.073130,,,,125123.16*47

2021-02-16T12:51:22.992Z,1613479882.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 192.056751 deg, deltaT: 4.437563 s, approachRate: 0.743652 m/s, LOS rate: -0.370052 deg/s, posRepo size: 4
2021-02-16T12:51:25.420Z,1613479885.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:26.158Z,1613479886.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:26.558Z,1613479886.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:27.396Z,1613479887.396 [Micromodem](INFO): Nmea in: $SNTTA,0.075355,,,,125127.59*4F

2021-02-16T12:51:27.448Z,1613479887.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 190.179446 deg, deltaT: 4.446829 s, approachRate: 0.742103 m/s, LOS rate: -0.422167 deg/s, posRepo size: 4
2021-02-16T12:51:29.512Z,1613479889.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:30.197Z,1613479890.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:30.598Z,1613479890.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:31.428Z,1613479891.428 [Micromodem](INFO): Nmea in: $SNTTA,0.077271,,,,125131.63*44

2021-02-16T12:51:31.466Z,1613479891.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.040009 m, bearing: 194.817158 deg, deltaT: 4.062434 s, approachRate: 0.694167 m/s, LOS rate: 1.141609 deg/s, posRepo size: 4
2021-02-16T12:51:33.918Z,1613479893.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:34.636Z,1613479894.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:35.054Z,1613479895.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:35.893Z,1613479895.893 [Micromodem](INFO): Nmea in: $SNTTA,0.079532,,,,125136.07*4F

2021-02-16T12:51:35.922Z,1613479895.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 143.670898 deg, deltaT: 4.443825 s, approachRate: 0.756104 m/s, LOS rate: -11.509512 deg/s, posRepo size: 4
2021-02-16T12:51:38.296Z,1613479898.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:39.082Z,1613479899.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:39.538Z,1613479899.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:40.316Z,1613479900.316 [Micromodem](INFO): Nmea in: $SNTTA,0.081743,,,,125140.51*4E

2021-02-16T12:51:40.386Z,1613479900.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 191.832515 deg, deltaT: 4.444253 s, approachRate: 0.756033 m/s, LOS rate: 10.836831 deg/s, posRepo size: 4
2021-02-16T12:51:42.742Z,1613479902.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:43.524Z,1613479903.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:43.937Z,1613479903.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:44.752Z,1613479904.752 [Micromodem](INFO): Nmea in: $SNTTA,0.083901,,,,125144.96*4B

2021-02-16T12:51:44.794Z,1613479904.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 192.251862 deg, deltaT: 4.471888 s, approachRate: 0.737944 m/s, LOS rate: 0.093774 deg/s, posRepo size: 4
2021-02-16T12:51:47.186Z,1613479907.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:47.974Z,1613479907.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:48.394Z,1613479908.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:49.272Z,1613479909.272 [Micromodem](INFO): Nmea in: $SNTTA,0.086223,,,,125149.41*42

2021-02-16T12:51:49.314Z,1613479909.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.539993 m, bearing: 190.632820 deg, deltaT: 4.437874 s, approachRate: 0.784157 m/s, LOS rate: -0.364824 deg/s, posRepo size: 4
2021-02-16T12:51:51.650Z,1613479911.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:52.414Z,1613479912.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:52.850Z,1613479912.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:53.640Z,1613479913.640 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125153.85*52

2021-02-16T12:51:53.692Z,1613479913.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.080002 m, bearing: 189.560330 deg, deltaT: 4.422179 s, approachRate: 0.800512 m/s, LOS rate: -0.242525 deg/s, posRepo size: 4
2021-02-16T12:51:56.081Z,1613479916.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:51:56.865Z,1613479916.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:51:57.271Z,1613479917.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:51:58.091Z,1613479918.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125158.30*57

2021-02-16T12:51:58.116Z,1613479918.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.500000 m, bearing: 192.659829 deg, deltaT: 4.431351 s, approachRate: 0.771773 m/s, LOS rate: 0.699448 deg/s, posRepo size: 4
2021-02-16T12:52:00.517Z,1613479920.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:01.300Z,1613479921.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:01.723Z,1613479921.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:02.541Z,1613479922.541 [Micromodem](INFO): Nmea in: $SNTTA,0.093016,,,,125202.74*48

2021-02-16T12:52:02.594Z,1613479922.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.680008 m, bearing: 192.561597 deg, deltaT: 4.482303 s, approachRate: 0.709458 m/s, LOS rate: -0.021915 deg/s, posRepo size: 4
2021-02-16T12:52:04.982Z,1613479924.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:05.754Z,1613479925.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:06.154Z,1613479926.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:06.980Z,1613479926.980 [Micromodem](INFO): Nmea in: $SNTTA,0.095246,,,,125207.19*47

2021-02-16T12:52:07.009Z,1613479927.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.040009 m, bearing: 200.897529 deg, deltaT: 4.398660 s, approachRate: 0.763869 m/s, LOS rate: 1.895107 deg/s, posRepo size: 4
2021-02-16T12:52:09.417Z,1613479929.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:10.193Z,1613479930.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:10.596Z,1613479930.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:11.436Z,1613479931.436 [Micromodem](INFO): Nmea in: $SNTTA,0.097546,,,,125211.63*48

2021-02-16T12:52:11.443Z,1613479931.443 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T12:52:11.462Z,1613479931.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 144.982991 deg, deltaT: 4.499843 s, approachRate: 0.760026 m/s, LOS rate: -12.425887 deg/s, posRepo size: 4
2021-02-16T12:52:13.893Z,1613479933.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:14.634Z,1613479934.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:15.044Z,1613479935.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:15.876Z,1613479935.876 [Micromodem](INFO): Nmea in: $SNTTA,0.099714,,,,125216.07*46

2021-02-16T12:52:15.901Z,1613479935.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.759995 m, bearing: 145.921200 deg, deltaT: 4.391138 s, approachRate: 0.751511 m/s, LOS rate: 0.213660 deg/s, posRepo size: 4
2021-02-16T12:52:16.667Z,1613479936.667 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:52:18.284Z,1613479938.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:19.076Z,1613479939.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:19.509Z,1613479939.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:20.308Z,1613479940.308 [Micromodem](INFO): Nmea in: $SNTTA,0.102100,,0.112013,,125220.51*5E

2021-02-16T12:52:20.337Z,1613479940.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.300018 m, bearing: 195.568875 deg, deltaT: 4.474304 s, approachRate: 0.791190 m/s, LOS rate: 11.096178 deg/s, posRepo size: 4
2021-02-16T12:52:20.338Z,1613479940.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.30 m. Resuming terminal guidance.
2021-02-16T12:52:20.338Z,1613479940.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T12:52:21.521Z,1613479941.521 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T12:52:22.756Z,1613479942.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:23.528Z,1613479943.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:23.931Z,1613479943.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:24.741Z,1613479944.741 [Micromodem](INFO): Nmea in: $SNTTA,0.104296,,,,125224.96*45

2021-02-16T12:52:25.573Z,1613479945.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:27.160Z,1613479947.160 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:52:28.429Z,1613479948.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:29.186Z,1613479949.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:29.582Z,1613479949.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:29.987Z,1613479949.987 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,C26,000,00C
C,189,80,80,72,FF
2021-02-16T12:52:30.400Z,1613479950.401 [Micromodem](INFO): Nmea in: $SNTTA,0.107145,,,,125230.62*45

2021-02-16T12:52:31.234Z,1613479951.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:31.614Z,1613479951.614 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:52:34.066Z,1613479954.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:36.901Z,1613479956.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:37.678Z,1613479957.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:38.066Z,1613479958.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:38.895Z,1613479958.895 [Micromodem](INFO): Nmea in: $SNTTA,0.111339,,,,125239.11*46

2021-02-16T12:52:39.322Z,1613479959.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.159988 m, bearing: 201.643030 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T12:52:39.322Z,1613479959.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 201.643030deg and heading rate command to 0 deg/s.
2021-02-16T12:52:41.705Z,1613479961.705 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T12:52:41.720Z,1613479961.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:42.508Z,1613479962.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:42.915Z,1613479962.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:43.739Z,1613479963.739 [Micromodem](INFO): Nmea in: $SNTTA,0.119486,,,,125243.94*4D

2021-02-16T12:52:43.764Z,1613479963.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.760010 m, bearing: 148.956317 deg, deltaT: 4.437578 s, approachRate: 0.811258 m/s, LOS rate: -11.872854 deg/s, posRepo size: 2
2021-02-16T12:52:43.764Z,1613479963.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.872854 deg/s. Setting heading cmd to target bearing of 148.956317deg and heading rate command to 0 deg/s.
2021-02-16T12:52:46.174Z,1613479966.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:46.957Z,1613479966.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:47.384Z,1613479967.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:48.184Z,1613479968.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125248.39*5C

2021-02-16T12:52:48.233Z,1613479968.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.760010 m, bearing: 173.482707 deg, deltaT: 4.466869 s, approachRate: 0.000000 m/s, LOS rate: 5.490734 deg/s, posRepo size: 3
2021-02-16T12:52:48.236Z,1613479968.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.760010 m,
      bearing: 173.482707 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.490734 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 148.956317 deg,
      new cmd heading: 148.956317 deg.

2021-02-16T12:52:50.618Z,1613479970.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:51.410Z,1613479971.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:51.811Z,1613479971.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:52.623Z,1613479972.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125252.84*51

2021-02-16T12:52:53.055Z,1613479973.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 202.256777 deg, deltaT: 4.798155 s, approachRate: 1.262982 m/s, LOS rate: 5.996903 deg/s, posRepo size: 4
2021-02-16T12:52:53.057Z,1613479973.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 202.256777 deg,
      approachRate: 1.262982 m/s,
      LOS rate: 5.996903 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.893819 deg,
      new cmd heading: 211.785907 deg.

2021-02-16T12:52:55.468Z,1613479975.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:52:56.251Z,1613479976.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:52:56.650Z,1613479976.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:52:56.678Z,1613479976.678 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:52:57.480Z,1613479977.480 [Micromodem](INFO): Nmea in: $SNTTA,0.120087,,,,125257.68*44

2021-02-16T12:52:57.518Z,1613479977.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.819992 m, bearing: 195.641152 deg, deltaT: 4.458540 s, approachRate: 0.000000 m/s, LOS rate: -1.483810 deg/s, posRepo size: 4
2021-02-16T12:52:57.520Z,1613479977.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.819992 m,
      bearing: 195.641152 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.483810 deg/s,
      cmd update: -4.451429 deg/s,
      cmd heading: 260.389580 deg,
      new cmd heading: 265.349384 deg.

2021-02-16T12:52:59.922Z,1613479979.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:00.690Z,1613479980.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:01.135Z,1613479981.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:01.944Z,1613479981.944 [Micromodem](INFO): Nmea in: $SNTTA,0.121596,,,,125302.12*4C

2021-02-16T12:53:01.970Z,1613479981.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.580017 m, bearing: 181.589008 deg, deltaT: 4.448618 s, approachRate: 1.294790 m/s, LOS rate: -3.158766 deg/s, posRepo size: 4
2021-02-16T12:53:01.972Z,1613479981.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.580017 m,
      bearing: 181.589008 deg,
      approachRate: 1.294790 m/s,
      LOS rate: -3.158766 deg/s,
      cmd update: -9.476299 deg/s,
      cmd heading: 240.583649 deg,
      new cmd heading: 238.734618 deg.

2021-02-16T12:53:04.406Z,1613479984.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:05.170Z,1613479985.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:05.568Z,1613479985.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:06.416Z,1613479986.416 [Micromodem](INFO): Nmea in: $SNTTA,0.123466,,,,125306.60*41

2021-02-16T12:53:06.848Z,1613479986.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.620010 m, bearing: 195.272936 deg, deltaT: 4.922781 s, approachRate: 0.414399 m/s, LOS rate: 2.779715 deg/s, posRepo size: 4
2021-02-16T12:53:06.850Z,1613479986.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.620010 m,
      bearing: 195.272936 deg,
      approachRate: 0.414399 m/s,
      LOS rate: 2.779715 deg/s,
      cmd update: 8.339145 deg/s,
      cmd heading: 193.971116 deg,
      new cmd heading: 190.469131 deg.

2021-02-16T12:53:09.274Z,1613479989.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:10.004Z,1613479990.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:10.429Z,1613479990.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:11.241Z,1613479991.241 [Micromodem](INFO): Nmea in: $SNTTA,0.124365,,,,125311.44*42

2021-02-16T12:53:11.290Z,1613479991.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.540009 m, bearing: 239.906898 deg, deltaT: 4.400717 s, approachRate: 0.436292 m/s, LOS rate: 10.142430 deg/s, posRepo size: 4
2021-02-16T12:53:11.292Z,1613479991.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.540009 m,
      bearing: 239.906898 deg,
      approachRate: 0.436292 m/s,
      LOS rate: 10.142430 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 230.695878 deg,
      new cmd heading: 234.137685 deg.

2021-02-16T12:53:13.694Z,1613479993.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:14.453Z,1613479994.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:14.862Z,1613479994.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:15.675Z,1613479995.675 [Micromodem](INFO): Nmea in: $SNTTA,0.125773,,,,125315.89*45

2021-02-16T12:53:16.100Z,1613479996.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.639984 m, bearing: 230.525660 deg, deltaT: 4.863980 s, approachRate: 0.431740 m/s, LOS rate: -1.928716 deg/s, posRepo size: 4
2021-02-16T12:53:16.102Z,1613479996.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.639984 m,
      bearing: 230.525660 deg,
      approachRate: 0.431740 m/s,
      LOS rate: -1.928716 deg/s,
      cmd update: -5.786149 deg/s,
      cmd heading: 289.024976 deg,
      new cmd heading: 293.368940 deg.

2021-02-16T12:53:18.542Z,1613479998.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:19.312Z,1613479999.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:19.702Z,1613479999.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:20.523Z,1613480000.523 [Micromodem](INFO): Nmea in: $SNTTA,0.126785,,,,125320.74*4B

2021-02-16T12:53:20.983Z,1613480000.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.139984 m, bearing: 277.227516 deg, deltaT: 4.829363 s, approachRate: 0.310600 m/s, LOS rate: 9.670397 deg/s, posRepo size: 4
2021-02-16T12:53:20.985Z,1613480000.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.139984 m,
      bearing: 277.227516 deg,
      approachRate: 0.310600 m/s,
      LOS rate: 9.670397 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.058593 deg,
      new cmd heading: 258.681660 deg.

2021-02-16T12:53:23.398Z,1613480003.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:24.156Z,1613480004.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:24.550Z,1613480004.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:25.397Z,1613480005.397 [Micromodem](INFO): Nmea in: $SNTTA,0.127186,,,,125325.59*45

2021-02-16T12:53:25.798Z,1613480005.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 201.918246 deg, deltaT: 4.850182 s, approachRate: 0.123708 m/s, LOS rate: -15.527101 deg/s, posRepo size: 4
2021-02-16T12:53:25.799Z,1613480005.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.527101 deg/s. Setting heading cmd to target bearing of 201.918246deg and heading rate command to 0 deg/s.
2021-02-16T12:53:28.227Z,1613480008.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:28.993Z,1613480008.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:29.405Z,1613480009.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:30.211Z,1613480010.211 [Micromodem](INFO): Nmea in: $SNTTA,0.127024,,,,125330.42*42

2021-02-16T12:53:30.671Z,1613480010.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 303.760287 deg, deltaT: 4.855791 s, approachRate: -0.061783 m/s, LOS rate: 20.973317 deg/s, posRepo size: 4
2021-02-16T12:53:30.672Z,1613480010.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.973317 deg/s. Setting heading cmd to target bearing of 303.760287deg and heading rate command to 0 deg/s.
2021-02-16T12:53:33.065Z,1613480013.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:33.860Z,1613480013.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:34.257Z,1613480014.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:35.070Z,1613480015.070 [Micromodem](INFO): Nmea in: $SNTTA,0.126389,,,,125335.29*4F

2021-02-16T12:53:35.511Z,1613480015.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.419998 m, bearing: 266.860026 deg, deltaT: 4.842133 s, approachRate: -0.210649 m/s, LOS rate: -7.620662 deg/s, posRepo size: 4
2021-02-16T12:53:35.513Z,1613480015.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.419998 m,
      bearing: 266.860026 deg,
      approachRate: -0.210649 m/s,
      LOS rate: -7.620662 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 303.760287 deg,
      new cmd heading: 303.760287 deg.

2021-02-16T12:53:37.937Z,1613480017.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:38.688Z,1613480018.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:39.100Z,1613480019.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:39.906Z,1613480019.906 [Micromodem](INFO): Nmea in: $SNTTA,0.125387,,,,125340.12*48

2021-02-16T12:53:40.337Z,1613480020.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.919983 m, bearing: 323.340827 deg, deltaT: 4.839782 s, approachRate: -0.309934 m/s, LOS rate: 11.670112 deg/s, posRepo size: 4
2021-02-16T12:53:40.356Z,1613480020.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.670112 deg/s. Setting heading cmd to target bearing of 323.340827deg and heading rate command to 0 deg/s.
2021-02-16T12:53:42.774Z,1613480022.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:43.538Z,1613480023.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:43.942Z,1613480023.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:44.768Z,1613480024.768 [Micromodem](INFO): Nmea in: $SNTTA,0.123829,,,,125344.97*48

2021-02-16T12:53:44.790Z,1613480024.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.919983 m, bearing: 321.331167 deg, deltaT: 4.460065 s, approachRate: 0.000000 m/s, LOS rate: -0.450590 deg/s, posRepo size: 4
2021-02-16T12:53:44.825Z,1613480024.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 321.331167 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.450590 deg/s,
      cmd update: -1.351770 deg/s,
      cmd heading: 323.340827 deg,
      new cmd heading: 323.340827 deg.

2021-02-16T12:53:47.218Z,1613480027.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:47.998Z,1613480027.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:48.401Z,1613480028.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:49.208Z,1613480029.208 [Micromodem](INFO): Nmea in: $SNTTA,0.122483,,,,125349.43*41

2021-02-16T12:53:49.661Z,1613480029.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 323.163680 deg, deltaT: 4.868771 s, approachRate: -0.899609 m/s, LOS rate: 0.376381 deg/s, posRepo size: 4
2021-02-16T12:53:49.667Z,1613480029.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 323.163680 deg,
      approachRate: -0.899609 m/s,
      LOS rate: 0.376381 deg/s,
      cmd update: 1.129143 deg/s,
      cmd heading: 316.775019 deg,
      new cmd heading: 316.254604 deg.

2021-02-16T12:53:52.047Z,1613480032.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:52.861Z,1613480032.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:53.294Z,1613480033.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:54.066Z,1613480034.066 [Micromodem](INFO): Nmea in: $SNTTA,0.120911,,,,125354.29*45

2021-02-16T12:53:54.494Z,1613480034.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 325.229429 deg, deltaT: 4.803085 s, approachRate: -0.499678 m/s, LOS rate: 0.430088 deg/s, posRepo size: 4
2021-02-16T12:53:54.496Z,1613480034.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.139999 m,
      bearing: 325.229429 deg,
      approachRate: -0.499678 m/s,
      LOS rate: 0.430088 deg/s,
      cmd update: 1.290264 deg/s,
      cmd heading: 322.211617 deg,
      new cmd heading: 322.667402 deg.

2021-02-16T12:53:56.906Z,1613480036.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:53:57.681Z,1613480037.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:53:58.103Z,1613480038.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:53:58.908Z,1613480038.908 [Micromodem](INFO): Nmea in: $SNTTA,0.118942,,,,125359.11*4E

2021-02-16T12:53:58.953Z,1613480038.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 328.345908 deg, deltaT: 4.444816 s, approachRate: 0.000000 m/s, LOS rate: 0.701149 deg/s, posRepo size: 4
2021-02-16T12:53:58.959Z,1613480038.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.139999 m,
      bearing: 328.345908 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.701149 deg/s,
      cmd update: 2.103447 deg/s,
      cmd heading: 327.946220 deg,
      new cmd heading: 328.485259 deg.

2021-02-16T12:54:01.380Z,1613480041.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:02.126Z,1613480042.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:02.533Z,1613480042.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:03.372Z,1613480043.372 [Micromodem](INFO): Nmea in: $SNTTA,0.116775,,,,125403.56*41

2021-02-16T12:54:03.450Z,1613480043.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 324.727001 deg, deltaT: 4.440609 s, approachRate: 0.000000 m/s, LOS rate: -0.814957 deg/s, posRepo size: 4
2021-02-16T12:54:03.456Z,1613480043.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.139999 m,
      bearing: 324.727001 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.814957 deg/s,
      cmd update: -2.444872 deg/s,
      cmd heading: 337.287006 deg,
      new cmd heading: 338.284461 deg.

2021-02-16T12:54:05.784Z,1613480045.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:06.572Z,1613480046.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:06.981Z,1613480046.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:07.810Z,1613480047.810 [Micromodem](INFO): Nmea in: $SNTTA,0.114581,,,,125408.00*42

2021-02-16T12:54:07.871Z,1613480047.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.660004 m, bearing: 324.299076 deg, deltaT: 4.449286 s, approachRate: -2.130678 m/s, LOS rate: -0.096178 deg/s, posRepo size: 4
2021-02-16T12:54:07.873Z,1613480047.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.660004 m,
      bearing: 324.299076 deg,
      approachRate: -2.130678 m/s,
      LOS rate: -0.096178 deg/s,
      cmd update: -0.288535 deg/s,
      cmd heading: 326.409119 deg,
      new cmd heading: 325.363444 deg.

2021-02-16T12:54:10.240Z,1613480050.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:11.015Z,1613480051.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:11.414Z,1613480051.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:12.245Z,1613480052.245 [Micromodem](INFO): Nmea in: $SNTTA,0.112375,,,,125412.45*43

2021-02-16T12:54:12.281Z,1613480052.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 325.477365 deg, deltaT: 4.492870 s, approachRate: -0.721144 m/s, LOS rate: 0.262258 deg/s, posRepo size: 4
2021-02-16T12:54:12.283Z,1613480052.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 325.477365 deg,
      approachRate: -0.721144 m/s,
      LOS rate: 0.262258 deg/s,
      cmd update: 0.786773 deg/s,
      cmd heading: 325.112701 deg,
      new cmd heading: 325.008051 deg.

2021-02-16T12:54:14.674Z,1613480054.674 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:15.454Z,1613480055.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:15.873Z,1613480055.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:16.684Z,1613480056.684 [Micromodem](INFO): Nmea in: $SNTTA,0.110013,,,,125416.89*46

2021-02-16T12:54:16.736Z,1613480056.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.820007 m, bearing: 323.985898 deg, deltaT: 4.380916 s, approachRate: -0.821744 m/s, LOS rate: -0.340446 deg/s, posRepo size: 4
2021-02-16T12:54:16.738Z,1613480056.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.820007 m,
      bearing: 323.985898 deg,
      approachRate: -0.821744 m/s,
      LOS rate: -0.340446 deg/s,
      cmd update: -1.021339 deg/s,
      cmd heading: 328.555952 deg,
      new cmd heading: 328.903455 deg.

2021-02-16T12:54:19.126Z,1613480059.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:19.899Z,1613480059.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:20.316Z,1613480060.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:21.132Z,1613480061.132 [Micromodem](INFO): Nmea in: $SNTTA,0.107919,,,,125421.33*46

2021-02-16T12:54:21.181Z,1613480061.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.699997 m, bearing: 324.222933 deg, deltaT: 4.454502 s, approachRate: -0.700417 m/s, LOS rate: 0.053212 deg/s, posRepo size: 4
2021-02-16T12:54:21.187Z,1613480061.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.699997 m,
      bearing: 324.222933 deg,
      approachRate: -0.700417 m/s,
      LOS rate: 0.053212 deg/s,
      cmd update: 0.159637 deg/s,
      cmd heading: 324.001720 deg,
      new cmd heading: 323.565498 deg.

2021-02-16T12:54:23.597Z,1613480063.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:24.362Z,1613480064.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:24.757Z,1613480064.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:25.592Z,1613480065.592 [Micromodem](INFO): Nmea in: $SNTTA,0.105822,,,,125425.79*47

2021-02-16T12:54:25.654Z,1613480065.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.699997 m, bearing: 323.392710 deg, deltaT: 4.453796 s, approachRate: 0.000000 m/s, LOS rate: -0.186408 deg/s, posRepo size: 4
2021-02-16T12:54:25.660Z,1613480065.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.699997 m,
      bearing: 323.392710 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.186408 deg/s,
      cmd update: -0.559224 deg/s,
      cmd heading: 324.712681 deg,
      new cmd heading: 324.783822 deg.

2021-02-16T12:54:28.015Z,1613480068.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:28.790Z,1613480068.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:29.190Z,1613480069.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:30.020Z,1613480070.020 [Micromodem](INFO): Nmea in: $SNTTA,0.103450,,,,125430.22*42

2021-02-16T12:54:30.045Z,1613480070.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 323.710505 deg, deltaT: 4.438047 s, approachRate: -1.514180 m/s, LOS rate: 0.071607 deg/s, posRepo size: 4
2021-02-16T12:54:30.067Z,1613480070.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 323.710505 deg,
      approachRate: -1.514180 m/s,
      LOS rate: 0.071607 deg/s,
      cmd update: 0.214821 deg/s,
      cmd heading: 322.239642 deg,
      new cmd heading: 322.007470 deg.

2021-02-16T12:54:32.453Z,1613480072.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:33.236Z,1613480073.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:33.639Z,1613480073.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:34.516Z,1613480074.516 [Micromodem](INFO): Nmea in: $SNTTA,0.101086,,,,125434.67*4A

2021-02-16T12:54:34.664Z,1613480074.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.440018 m, bearing: 323.959834 deg, deltaT: 4.438061 s, approachRate: -0.797641 m/s, LOS rate: 0.056180 deg/s, posRepo size: 4
2021-02-16T12:54:34.666Z,1613480074.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 323.959834 deg,
      approachRate: -0.797641 m/s,
      LOS rate: 0.056180 deg/s,
      cmd update: 0.168539 deg/s,
      cmd heading: 323.196373 deg,
      new cmd heading: 323.321193 deg.

2021-02-16T12:54:36.908Z,1613480076.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:37.674Z,1613480077.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:38.078Z,1613480078.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:38.900Z,1613480078.900 [Micromodem](INFO): Nmea in: $SNTTA,0.098909,,,,125439.11*49

2021-02-16T12:54:38.940Z,1613480078.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 323.487595 deg, deltaT: 4.438439 s, approachRate: -0.743509 m/s, LOS rate: -0.106398 deg/s, posRepo size: 4
2021-02-16T12:54:38.942Z,1613480078.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.139999 m,
      bearing: 323.487595 deg,
      approachRate: -0.743509 m/s,
      LOS rate: -0.106398 deg/s,
      cmd update: -0.319193 deg/s,
      cmd heading: 323.944453 deg,
      new cmd heading: 324.014827 deg.

2021-02-16T12:54:41.344Z,1613480081.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:42.122Z,1613480082.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:42.537Z,1613480082.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:43.356Z,1613480083.356 [Micromodem](INFO): Nmea in: $SNTTA,0.096549,,,,125443.55*42

2021-02-16T12:54:43.409Z,1613480083.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.660004 m, bearing: 323.215480 deg, deltaT: 4.455016 s, approachRate: -0.781141 m/s, LOS rate: -0.061081 deg/s, posRepo size: 4
2021-02-16T12:54:43.415Z,1613480083.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.660004 m,
      bearing: 323.215480 deg,
      approachRate: -0.781141 m/s,
      LOS rate: -0.061081 deg/s,
      cmd update: -0.183242 deg/s,
      cmd heading: 322.523704 deg,
      new cmd heading: 322.384456 deg.

2021-02-16T12:54:45.793Z,1613480085.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:46.561Z,1613480086.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:46.966Z,1613480086.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:47.792Z,1613480087.792 [Micromodem](INFO): Nmea in: $SNTTA,0.094277,,,,125447.99*4E

2021-02-16T12:54:47.864Z,1613480087.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 322.602812 deg, deltaT: 4.446359 s, approachRate: -0.782662 m/s, LOS rate: -0.137791 deg/s, posRepo size: 4
2021-02-16T12:54:47.866Z,1613480087.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 322.602812 deg,
      approachRate: -0.782662 m/s,
      LOS rate: -0.137791 deg/s,
      cmd update: -0.413373 deg/s,
      cmd heading: 321.708176 deg,
      new cmd heading: 321.628986 deg.

2021-02-16T12:54:50.237Z,1613480090.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:51.004Z,1613480091.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:51.417Z,1613480091.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:52.257Z,1613480092.257 [Micromodem](INFO): Nmea in: $SNTTA,0.092016,,,,125452.44*49

2021-02-16T12:54:52.278Z,1613480092.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.820007 m, bearing: 321.933235 deg, deltaT: 4.468895 s, approachRate: -0.751864 m/s, LOS rate: -0.149831 deg/s, posRepo size: 4
2021-02-16T12:54:52.280Z,1613480092.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.820007 m,
      bearing: 321.933235 deg,
      approachRate: -0.751864 m/s,
      LOS rate: -0.149831 deg/s,
      cmd update: -0.449492 deg/s,
      cmd heading: 319.869123 deg,
      new cmd heading: 319.701470 deg.

2021-02-16T12:54:54.681Z,1613480094.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:55.452Z,1613480095.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:54:55.867Z,1613480095.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:54:56.680Z,1613480096.680 [Micromodem](INFO): Nmea in: $SNTTA,0.089879,,,,125456.88*46

2021-02-16T12:54:56.727Z,1613480096.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.639999 m, bearing: 322.423396 deg, deltaT: 4.403266 s, approachRate: -0.722193 m/s, LOS rate: 0.111318 deg/s, posRepo size: 4
2021-02-16T12:54:56.729Z,1613480096.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.639999 m,
      bearing: 322.423396 deg,
      approachRate: -0.722193 m/s,
      LOS rate: 0.111318 deg/s,
      cmd update: 0.333953 deg/s,
      cmd heading: 317.882819 deg,
      new cmd heading: 317.687169 deg.

2021-02-16T12:54:59.119Z,1613480099.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:54:59.897Z,1613480099.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:00.305Z,1613480100.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:01.124Z,1613480101.124 [Micromodem](INFO): Nmea in: $SNTTA,0.087809,,0.090540,,125501.33*5A

2021-02-16T12:55:01.163Z,1613480101.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 322.786790 deg, deltaT: 4.455992 s, approachRate: -0.700180 m/s, LOS rate: 0.081552 deg/s, posRepo size: 4
2021-02-16T12:55:01.165Z,1613480101.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 322.786790 deg,
      approachRate: -0.700180 m/s,
      LOS rate: 0.081552 deg/s,
      cmd update: 0.244655 deg/s,
      cmd heading: 319.372219 deg,
      new cmd heading: 319.509623 deg.

2021-02-16T12:55:03.562Z,1613480103.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:04.345Z,1613480104.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:04.753Z,1613480104.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:05.576Z,1613480105.576 [Micromodem](INFO): Nmea in: $SNTTA,0.085797,,,0.088311,125505.78*50

2021-02-16T12:55:05.624Z,1613480105.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 322.499212 deg, deltaT: 4.418524 s, approachRate: -0.692542 m/s, LOS rate: -0.065085 deg/s, posRepo size: 4
2021-02-16T12:55:05.625Z,1613480105.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.459991 m,
      bearing: 322.499212 deg,
      approachRate: -0.692542 m/s,
      LOS rate: -0.065085 deg/s,
      cmd update: -0.195254 deg/s,
      cmd heading: 320.453190 deg,
      new cmd heading: 320.564202 deg.

2021-02-16T12:55:08.024Z,1613480108.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:08.786Z,1613480108.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:09.186Z,1613480109.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:10.032Z,1613480110.032 [Micromodem](INFO): Nmea in: $SNTTA,0.083535,,,,125510.22*4A

2021-02-16T12:55:10.068Z,1613480110.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 323.107098 deg, deltaT: 4.467327 s, approachRate: -0.752124 m/s, LOS rate: 0.136074 deg/s, posRepo size: 4
2021-02-16T12:55:10.070Z,1613480110.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 323.107098 deg,
      approachRate: -0.752124 m/s,
      LOS rate: 0.136074 deg/s,
      cmd update: 0.408222 deg/s,
      cmd heading: 319.581649 deg,
      new cmd heading: 319.496871 deg.

2021-02-16T12:55:12.466Z,1613480112.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:13.229Z,1613480113.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:13.630Z,1613480113.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:14.456Z,1613480114.456 [Micromodem](INFO): Nmea in: $SNTTA,0.081423,,,,125514.66*4A

2021-02-16T12:55:14.498Z,1613480114.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.919998 m, bearing: 322.552241 deg, deltaT: 4.436420 s, approachRate: -0.716796 m/s, LOS rate: -0.125069 deg/s, posRepo size: 4
2021-02-16T12:55:14.500Z,1613480114.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.919998 m,
      bearing: 322.552241 deg,
      approachRate: -0.716796 m/s,
      LOS rate: -0.125069 deg/s,
      cmd update: -0.375206 deg/s,
      cmd heading: 321.394410 deg,
      new cmd heading: 321.567623 deg.

2021-02-16T12:55:16.896Z,1613480116.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:17.668Z,1613480117.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:18.085Z,1613480118.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:18.900Z,1613480118.900 [Micromodem](INFO): Nmea in: $SNTTA,0.079195,,,,125519.10*49

2021-02-16T12:55:18.939Z,1613480118.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.559998 m, bearing: 321.962768 deg, deltaT: 4.449820 s, approachRate: -0.755087 m/s, LOS rate: -0.132471 deg/s, posRepo size: 4
2021-02-16T12:55:18.941Z,1613480118.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.559998 m,
      bearing: 321.962768 deg,
      approachRate: -0.755087 m/s,
      LOS rate: -0.132471 deg/s,
      cmd update: -0.397413 deg/s,
      cmd heading: 319.726315 deg,
      new cmd heading: 319.569013 deg.

2021-02-16T12:55:19.760Z,1613480119.760 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T12:55:19.760Z,1613480119.760 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T12:55:19.760Z,1613480119.760 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T12:55:19.760Z,1613480119.760 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T12:55:19.761Z,1613480119.761 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T12:55:19.761Z,1613480119.761 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T12:55:19.761Z,1613480119.761 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T12:55:19.762Z,1613480119.762 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T12:55:19.762Z,1613480119.762 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T12:55:19.762Z,1613480119.762 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T12:55:19.764Z,1613480119.764 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613474720.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T12:55:19.764Z,1613480119.764 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T12:55:21.327Z,1613480121.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:22.112Z,1613480122.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:22.519Z,1613480122.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:23.363Z,1613480123.363 [Micromodem](INFO): Nmea in: $SNTTA,0.077223,,,,125523.54*40

2021-02-16T12:55:23.408Z,1613480123.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 321.427746 deg, deltaT: 4.427927 s, approachRate: -0.663966 m/s, LOS rate: -0.120829 deg/s, posRepo size: 4
2021-02-16T12:55:23.409Z,1613480123.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.620003 m,
      bearing: 321.427746 deg,
      approachRate: -0.663966 m/s,
      LOS rate: -0.120829 deg/s,
      cmd update: -0.362487 deg/s,
      cmd heading: 317.965012 deg,
      new cmd heading: 317.783916 deg.

2021-02-16T12:55:25.768Z,1613480125.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:26.557Z,1613480126.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:26.967Z,1613480126.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:27.813Z,1613480127.813 [Micromodem](INFO): Nmea in: $SNTTA,0.075122,,,,125527.99*45

2021-02-16T12:55:27.872Z,1613480127.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 320.648121 deg, deltaT: 4.477169 s, approachRate: -0.710270 m/s, LOS rate: -0.174133 deg/s, posRepo size: 4
2021-02-16T12:55:27.874Z,1613480127.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 320.648121 deg,
      approachRate: -0.710270 m/s,
      LOS rate: -0.174133 deg/s,
      cmd update: -0.522401 deg/s,
      cmd heading: 316.342089 deg,
      new cmd heading: 316.187419 deg.

2021-02-16T12:55:30.217Z,1613480130.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:31.007Z,1613480131.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:31.427Z,1613480131.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:32.237Z,1613480132.237 [Micromodem](INFO): Nmea in: $SNTTA,0.073187,,,,125532.44*48

2021-02-16T12:55:32.286Z,1613480132.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 320.359149 deg, deltaT: 4.444953 s, approachRate: -0.647925 m/s, LOS rate: -0.065011 deg/s, posRepo size: 4
2021-02-16T12:55:32.288Z,1613480132.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.560005 m,
      bearing: 320.359149 deg,
      approachRate: -0.647925 m/s,
      LOS rate: -0.065011 deg/s,
      cmd update: -0.195034 deg/s,
      cmd heading: 314.022130 deg,
      new cmd heading: 313.804996 deg.

2021-02-16T12:55:34.678Z,1613480134.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:35.461Z,1613480135.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:35.883Z,1613480135.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:36.685Z,1613480136.685 [Micromodem](INFO): Nmea in: $SNTTA,0.071345,,,,125536.89*43

2021-02-16T12:55:36.730Z,1613480136.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.860001 m, bearing: 318.707937 deg, deltaT: 4.423119 s, approachRate: -0.610430 m/s, LOS rate: -0.373314 deg/s, posRepo size: 4
2021-02-16T12:55:36.732Z,1613480136.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.860001 m,
      bearing: 318.707937 deg,
      approachRate: -0.610430 m/s,
      LOS rate: -0.373314 deg/s,
      cmd update: -1.119942 deg/s,
      cmd heading: 313.159473 deg,
      new cmd heading: 313.074187 deg.

2021-02-16T12:55:39.114Z,1613480139.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:39.892Z,1613480139.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:40.294Z,1613480140.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:41.120Z,1613480141.120 [Micromodem](INFO): Nmea in: $SNTTA,0.069271,,,,125541.33*4D

2021-02-16T12:55:41.145Z,1613480141.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 322.852660 deg, deltaT: 4.422658 s, approachRate: -0.705459 m/s, LOS rate: 0.937156 deg/s, posRepo size: 4
2021-02-16T12:55:41.146Z,1613480141.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 322.852660 deg,
      approachRate: -0.705459 m/s,
      LOS rate: 0.937156 deg/s,
      cmd update: 2.811469 deg/s,
      cmd heading: 308.201905 deg,
      new cmd heading: 307.726042 deg.

2021-02-16T12:55:43.556Z,1613480143.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:44.349Z,1613480144.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:44.757Z,1613480144.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:45.559Z,1613480145.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125545.78*53

2021-02-16T12:55:46.401Z,1613480146.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:47.966Z,1613480147.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:55:49.214Z,1613480149.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:49.994Z,1613480149.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:50.399Z,1613480150.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:51.212Z,1613480151.212 [Micromodem](INFO): Nmea in: $SNTTA,0.071071,,0.080952,,125551.43*58

2021-02-16T12:55:52.045Z,1613480152.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:53.642Z,1613480153.642 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:55:54.885Z,1613480154.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:55.293Z,1613480155.293 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T12:55:55.661Z,1613480155.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:55:55.778Z,1613480155.778 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T12:55:55.778Z,1613480155.778 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T12:55:55.778Z,1613480155.778 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T12:55:55.779Z,1613480155.779 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T12:55:55.779Z,1613480155.779 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T12:55:55.779Z,1613480155.779 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T12:55:55.779Z,1613480155.779 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T12:55:55.959Z,1613480155.959 [Radio_Surface](INFO): Powering up
2021-02-16T12:55:56.110Z,1613480156.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:55:56.925Z,1613480156.925 [CTD_Seabird](ERROR): Salinity reading out of range: 26.218559 psu
2021-02-16T12:55:56.949Z,1613480156.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125557.09*56

2021-02-16T12:55:57.387Z,1613480157.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:55:57.925Z,1613480157.925 [CTD_Seabird](ERROR): Salinity reading out of range: 11.680747 psu
2021-02-16T12:55:58.930Z,1613480158.930 [CTD_Seabird](ERROR): Salinity reading out of range: 7.834842 psu
2021-02-16T12:55:58.949Z,1613480158.949 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:55:59.933Z,1613480159.933 [CTD_Seabird](ERROR): Salinity reading out of range: 18.581402 psu
2021-02-16T12:56:00.194Z,1613480160.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:00.941Z,1613480160.941 [CTD_Seabird](ERROR): Salinity reading out of range: 16.230164 psu
2021-02-16T12:56:00.986Z,1613480160.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:01.357Z,1613480161.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:01.591Z,1613480161.591 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T12:56:01.774Z,1613480161.774 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T12:56:01.945Z,1613480161.945 [CTD_Seabird](ERROR): Salinity reading out of range: 21.782566 psu
2021-02-16T12:56:02.187Z,1613480162.187 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125602.42*5A

2021-02-16T12:56:02.949Z,1613480162.949 [CTD_Seabird](ERROR): Salinity reading out of range: 16.140837 psu
2021-02-16T12:56:03.043Z,1613480163.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:03.953Z,1613480163.953 [CTD_Seabird](ERROR): Salinity reading out of range: 25.197439 psu
2021-02-16T12:56:04.587Z,1613480164.587 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:04.957Z,1613480164.957 [CTD_Seabird](ERROR): Salinity reading out of range: 17.927868 psu
2021-02-16T12:56:05.830Z,1613480165.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:05.964Z,1613480165.964 [CTD_Seabird](ERROR): Salinity reading out of range: 21.677151 psu
2021-02-16T12:56:06.612Z,1613480166.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:06.965Z,1613480166.965 [CTD_Seabird](ERROR): Salinity reading out of range: 23.238552 psu
2021-02-16T12:56:07.026Z,1613480167.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:07.041Z,1613480167.041 [NAL9602](INFO): SBD MO Status=0, MOMSN=13425, MT Status=0, MTMSN=0
2021-02-16T12:56:07.041Z,1613480167.041 [NAL9602](INFO): No messages in MT queue
2021-02-16T12:56:07.828Z,1613480167.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125608.04*52

2021-02-16T12:56:07.969Z,1613480167.969 [CTD_Seabird](ERROR): Salinity reading out of range: 14.399611 psu
2021-02-16T12:56:08.669Z,1613480168.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:08.973Z,1613480168.973 [CTD_Seabird](ERROR): Salinity reading out of range: 26.006615 psu
2021-02-16T12:56:09.977Z,1613480169.977 [CTD_Seabird](ERROR): Salinity reading out of range: 16.546789 psu
2021-02-16T12:56:10.248Z,1613480170.248 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:10.981Z,1613480170.981 [CTD_Seabird](ERROR): Salinity reading out of range: 18.528217 psu
2021-02-16T12:56:11.496Z,1613480171.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:11.986Z,1613480171.986 [CTD_Seabird](ERROR): Salinity reading out of range: 24.682983 psu
2021-02-16T12:56:12.267Z,1613480172.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:12.674Z,1613480172.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:12.989Z,1613480172.989 [CTD_Seabird](ERROR): Salinity reading out of range: 20.483135 psu
2021-02-16T12:56:13.187Z,1613480173.187 [BuoyancyServo](FAULT): Overload Error
2021-02-16T12:56:13.187Z,1613480173.187 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T12:56:13.187Z,1613480173.187 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T12:56:13.239Z,1613480173.239 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T12:56:13.480Z,1613480173.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125613.70*5B

2021-02-16T12:56:13.993Z,1613480173.993 [CTD_Seabird](ERROR): Salinity reading out of range: 14.954483 psu
2021-02-16T12:56:14.317Z,1613480174.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:14.997Z,1613480174.997 [CTD_Seabird](ERROR): Salinity reading out of range: 23.187763 psu
2021-02-16T12:56:15.142Z,1613480175.142 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T12:56:15.142Z,1613480175.142 [BuoyancyServo](INFO): Powering down
2021-02-16T12:56:15.913Z,1613480175.913 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:15.971Z,1613480175.971 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T12:56:15.972Z,1613480175.972 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T12:56:16.001Z,1613480176.001 [CTD_Seabird](ERROR): Salinity reading out of range: 12.730117 psu
2021-02-16T12:56:16.402Z,1613480176.402 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:56:16.407Z,1613480176.407 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T12:56:17.005Z,1613480177.005 [CTD_Seabird](ERROR): Salinity reading out of range: 18.055904 psu
2021-02-16T12:56:17.184Z,1613480177.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:17.926Z,1613480177.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:18.012Z,1613480178.012 [CTD_Seabird](ERROR): Salinity reading out of range: 13.403051 psu
2021-02-16T12:56:18.346Z,1613480178.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:19.013Z,1613480179.013 [CTD_Seabird](ERROR): Salinity reading out of range: 19.229424 psu
2021-02-16T12:56:19.149Z,1613480179.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125619.36*53

2021-02-16T12:56:19.997Z,1613480179.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:20.017Z,1613480180.017 [CTD_Seabird](ERROR): Salinity reading out of range: 11.293026 psu
2021-02-16T12:56:21.023Z,1613480181.023 [CTD_Seabird](ERROR): Salinity reading out of range: 16.096024 psu
2021-02-16T12:56:21.578Z,1613480181.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:22.026Z,1613480182.026 [CTD_Seabird](ERROR): Salinity reading out of range: 8.096537 psu
2021-02-16T12:56:22.814Z,1613480182.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:23.029Z,1613480183.029 [CTD_Seabird](ERROR): Salinity reading out of range: 5.915822 psu
2021-02-16T12:56:23.582Z,1613480183.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:23.987Z,1613480183.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:24.033Z,1613480184.033 [CTD_Seabird](ERROR): Salinity reading out of range: 17.611006 psu
2021-02-16T12:56:24.797Z,1613480184.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125625.01*58

2021-02-16T12:56:25.037Z,1613480185.037 [CTD_Seabird](ERROR): Salinity reading out of range: 15.273368 psu
2021-02-16T12:56:25.625Z,1613480185.625 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:26.041Z,1613480186.041 [CTD_Seabird](ERROR): Salinity reading out of range: 11.401074 psu
2021-02-16T12:56:27.045Z,1613480187.045 [CTD_Seabird](ERROR): Salinity reading out of range: 7.457101 psu
2021-02-16T12:56:27.233Z,1613480187.233 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:28.049Z,1613480188.049 [CTD_Seabird](ERROR): Salinity reading out of range: 10.504429 psu
2021-02-16T12:56:28.448Z,1613480188.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:29.053Z,1613480189.053 [CTD_Seabird](ERROR): Salinity reading out of range: 15.336069 psu
2021-02-16T12:56:29.250Z,1613480189.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:29.638Z,1613480189.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:30.058Z,1613480190.058 [CTD_Seabird](ERROR): Salinity reading out of range: 27.783981 psu
2021-02-16T12:56:30.467Z,1613480190.467 [Micromodem](INFO): Nmea in: $SNTTA,0.058035,,,,125630.68*46

2021-02-16T12:56:31.065Z,1613480191.065 [CTD_Seabird](ERROR): Salinity reading out of range: 5.386271 psu
2021-02-16T12:56:31.298Z,1613480191.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:31.719Z,1613480191.719 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T12:56:32.065Z,1613480192.065 [CTD_Seabird](ERROR): Salinity reading out of range: 14.434776 psu
2021-02-16T12:56:32.894Z,1613480192.894 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:33.069Z,1613480193.069 [CTD_Seabird](ERROR): Salinity reading out of range: 19.549427 psu
2021-02-16T12:56:34.073Z,1613480194.073 [CTD_Seabird](ERROR): Salinity reading out of range: 11.575546 psu
2021-02-16T12:56:34.158Z,1613480194.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:34.563Z,1613480194.563 [BuoyancyServo](FAULT): Overload Error
2021-02-16T12:56:34.563Z,1613480194.563 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T12:56:34.563Z,1613480194.563 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T12:56:34.604Z,1613480194.604 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T12:56:34.898Z,1613480194.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:35.079Z,1613480195.079 [CTD_Seabird](ERROR): Salinity reading out of range: 15.725184 psu
2021-02-16T12:56:35.295Z,1613480195.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:36.092Z,1613480196.092 [CTD_Seabird](ERROR): Salinity reading out of range: 17.017500 psu
2021-02-16T12:56:36.122Z,1613480196.122 [Micromodem](INFO): Nmea in: $SNTTA,0.058056,,,,125636.33*4B

2021-02-16T12:56:36.563Z,1613480196.563 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T12:56:36.580Z,1613480196.580 [BuoyancyServo](INFO): Powering down
2021-02-16T12:56:36.953Z,1613480196.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:36.969Z,1613480196.969 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2021-02-16T12:56:37.086Z,1613480197.086 [CTD_Seabird](ERROR): Salinity reading out of range: 13.207557 psu
2021-02-16T12:56:37.440Z,1613480197.440 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T12:56:37.440Z,1613480197.440 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T12:56:37.746Z,1613480197.746 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:56:37.748Z,1613480197.748 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T12:56:38.089Z,1613480198.089 [CTD_Seabird](ERROR): Salinity reading out of range: 11.935060 psu
2021-02-16T12:56:38.524Z,1613480198.524 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:39.095Z,1613480199.095 [CTD_Seabird](ERROR): Salinity reading out of range: 27.607967 psu
2021-02-16T12:56:39.783Z,1613480199.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:40.097Z,1613480200.097 [CTD_Seabird](ERROR): Salinity reading out of range: 10.315808 psu
2021-02-16T12:56:40.551Z,1613480200.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:40.955Z,1613480200.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:41.102Z,1613480201.102 [CTD_Seabird](ERROR): Salinity reading out of range: 21.552773 psu
2021-02-16T12:56:41.770Z,1613480201.770 [Micromodem](INFO): Nmea in: $SNTTA,0.057736,,,,125641.98*44

2021-02-16T12:56:42.105Z,1613480202.105 [CTD_Seabird](ERROR): Salinity reading out of range: 21.156153 psu
2021-02-16T12:56:42.596Z,1613480202.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:43.109Z,1613480203.109 [CTD_Seabird](ERROR): Salinity reading out of range: 17.470907 psu
2021-02-16T12:56:44.113Z,1613480204.113 [CTD_Seabird](ERROR): Salinity reading out of range: 26.348679 psu
2021-02-16T12:56:44.188Z,1613480204.188 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:45.117Z,1613480205.117 [CTD_Seabird](ERROR): Salinity reading out of range: 11.266253 psu
2021-02-16T12:56:45.428Z,1613480205.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:46.121Z,1613480206.121 [CTD_Seabird](ERROR): Salinity reading out of range: 7.221822 psu
2021-02-16T12:56:46.202Z,1613480206.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:46.625Z,1613480206.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:47.125Z,1613480207.125 [CTD_Seabird](ERROR): Salinity reading out of range: 23.457205 psu
2021-02-16T12:56:47.421Z,1613480207.421 [Micromodem](INFO): Nmea in: $SNTTA,0.057604,,,,125647.63*46

2021-02-16T12:56:48.129Z,1613480208.129 [CTD_Seabird](ERROR): Salinity reading out of range: 14.405375 psu
2021-02-16T12:56:48.260Z,1613480208.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:49.133Z,1613480209.133 [CTD_Seabird](ERROR): Salinity reading out of range: 19.890676 psu
2021-02-16T12:56:49.854Z,1613480209.854 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:56:51.074Z,1613480211.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:51.141Z,1613480211.141 [CTD_Seabird](ERROR): Salinity reading out of range: 27.654064 psu
2021-02-16T12:56:51.889Z,1613480211.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:52.145Z,1613480212.145 [CTD_Seabird](ERROR): Salinity reading out of range: 26.854334 psu
2021-02-16T12:56:52.271Z,1613480212.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:53.096Z,1613480213.096 [Micromodem](INFO): Nmea in: $SNTTA,0.057628,,,,125653.32*49

2021-02-16T12:56:53.149Z,1613480213.149 [CTD_Seabird](ERROR): Salinity reading out of range: 21.380606 psu
2021-02-16T12:56:53.163Z,1613480213.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.579994 m, bearing: 49.244066 deg, deltaT: 72.018500 s, approachRate: -0.238272 m/s, LOS rate: 1.199573 deg/s, posRepo size: 4
2021-02-16T12:56:53.165Z,1613480213.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.579994 m,
      bearing: 49.244066 deg,
      approachRate: -0.238272 m/s,
      LOS rate: 1.199573 deg/s,
      cmd update: 3.598718 deg/s,
      cmd heading: 150.681335 deg,
      new cmd heading: 151.862507 deg.

2021-02-16T12:56:54.153Z,1613480214.153 [CTD_Seabird](ERROR): Salinity reading out of range: 21.983658 psu
2021-02-16T12:56:55.529Z,1613480215.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:56.162Z,1613480216.162 [CTD_Seabird](ERROR): Salinity reading out of range: 19.057795 psu
2021-02-16T12:56:56.301Z,1613480216.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:56:56.456Z,1613480216.456 [BuoyancyServo](FAULT): Overload Error
2021-02-16T12:56:56.456Z,1613480216.456 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T12:56:56.456Z,1613480216.456 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T12:56:56.499Z,1613480216.499 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T12:56:56.725Z,1613480216.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:56:57.165Z,1613480217.165 [CTD_Seabird](ERROR): Salinity reading out of range: 22.799669 psu
2021-02-16T12:56:57.520Z,1613480217.520 [Micromodem](INFO): Nmea in: $SNTTA,0.058248,,,,125657.73*45

2021-02-16T12:56:58.169Z,1613480218.169 [CTD_Seabird](ERROR): Salinity reading out of range: 22.976145 psu
2021-02-16T12:56:58.419Z,1613480218.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:56:58.436Z,1613480218.436 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T12:56:58.436Z,1613480218.436 [BuoyancyServo](INFO): Powering down
2021-02-16T12:56:58.748Z,1613480218.748 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T12:56:59.173Z,1613480219.173 [CTD_Seabird](ERROR): Salinity reading out of range: 22.614315 psu
2021-02-16T12:56:59.230Z,1613480219.230 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T12:56:59.230Z,1613480219.230 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T12:56:59.591Z,1613480219.591 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:56:59.592Z,1613480219.592 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T12:56:59.940Z,1613480219.940 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:01.181Z,1613480221.181 [CTD_Seabird](ERROR): Salinity reading out of range: 19.304808 psu
2021-02-16T12:57:01.214Z,1613480221.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:01.973Z,1613480221.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:02.185Z,1613480222.185 [CTD_Seabird](ERROR): Salinity reading out of range: 17.399700 psu
2021-02-16T12:57:02.375Z,1613480222.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:03.180Z,1613480223.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125703.41*59

2021-02-16T12:57:03.189Z,1613480223.189 [CTD_Seabird](ERROR): Salinity reading out of range: 22.205172 psu
2021-02-16T12:57:04.053Z,1613480224.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:05.593Z,1613480225.593 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:06.843Z,1613480226.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:06.868Z,1613480226.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T12:57:07.618Z,1613480227.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:08.030Z,1613480228.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:08.865Z,1613480228.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125709.05*53

2021-02-16T12:57:09.667Z,1613480229.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:11.268Z,1613480231.268 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:12.480Z,1613480232.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:13.273Z,1613480233.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:13.678Z,1613480233.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:14.528Z,1613480234.528 [Micromodem](INFO): Nmea in: $SNTTA,0.057684,,0.059040,,125714.70*5D

2021-02-16T12:57:15.308Z,1613480235.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:16.909Z,1613480236.909 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:17.799Z,1613480237.799 [BuoyancyServo](FAULT): Overload Error
2021-02-16T12:57:17.799Z,1613480237.799 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T12:57:17.799Z,1613480237.799 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T12:57:17.849Z,1613480237.849 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T12:57:18.149Z,1613480238.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:18.929Z,1613480238.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:19.338Z,1613480239.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:19.769Z,1613480239.769 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T12:57:19.769Z,1613480239.769 [BuoyancyServo](INFO): Powering down
2021-02-16T12:57:20.142Z,1613480240.142 [Micromodem](INFO): Nmea in: $SNTTA,0.057091,,,,125720.36*4C

2021-02-16T12:57:20.619Z,1613480240.619 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T12:57:20.619Z,1613480240.619 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T12:57:20.987Z,1613480240.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:21.012Z,1613480241.012 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:57:21.019Z,1613480241.019 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T12:57:22.560Z,1613480242.560 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:23.375Z,1613480243.375 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,125724.00,A,4133.10934,N,07042.47398,W,1.244,169.24,160221,,,A*7C
2021-02-16T12:57:23.377Z,1613480243.377 [NAL9602](INFO): GPS fix at 20210216T125724: (41.551822, -70.707900)
2021-02-16T12:57:23.413Z,1613480243.413 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T12:57:23.413Z,1613480243.413 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T12:57:23.851Z,1613480243.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:24.580Z,1613480244.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:24.988Z,1613480244.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:25.795Z,1613480245.795 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125726.01*5A

2021-02-16T12:57:26.673Z,1613480246.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:28.234Z,1613480248.234 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:29.458Z,1613480249.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:30.242Z,1613480250.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:30.653Z,1613480250.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:31.462Z,1613480251.462 [Micromodem](INFO): Nmea in: $SNTTA,0.057143,,,,125731.67*46

2021-02-16T12:57:32.289Z,1613480252.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:35.567Z,1613480255.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:35.646Z,1613480255.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:38.093Z,1613480258.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:38.548Z,1613480258.548 [BuoyancyServo](FAULT): Overload Error
2021-02-16T12:57:38.548Z,1613480258.548 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T12:57:38.548Z,1613480258.548 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T12:57:38.556Z,1613480258.556 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T12:57:38.887Z,1613480258.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:39.279Z,1613480259.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:39.293Z,1613480259.293 [NAL9602](INFO): SBD MO Status=1, MOMSN=13426, MT Status=0, MTMSN=0
2021-02-16T12:57:39.353Z,1613480259.353 [NAL9602](INFO): Sent 99 bytes from file Logs/20210216T042015/Courier0091.lzma
2021-02-16T12:57:39.353Z,1613480259.353 [NAL9602](INFO): Packets left to send: 0
2021-02-16T12:57:40.092Z,1613480260.092 [Micromodem](INFO): Nmea in: $SNTTA,0.056770,,,,125740.32*47

2021-02-16T12:57:42.007Z,1613480262.007 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T12:57:42.176Z,1613480262.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:42.201Z,1613480262.201 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T12:57:42.201Z,1613480262.201 [BuoyancyServo](INFO): Powering down
2021-02-16T12:57:42.365Z,1613480262.365 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:42.884Z,1613480262.884 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T12:57:42.884Z,1613480262.884 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T12:57:43.219Z,1613480263.219 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T12:57:43.232Z,1613480263.232 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T12:57:44.790Z,1613480264.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:45.591Z,1613480265.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:45.000Z,1613480266.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:46.804Z,1613480266.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125747.02*5E

2021-02-16T12:57:47.637Z,1613480267.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:49.223Z,1613480269.223 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:50.029Z,1613480270.029 [NAL9602](INFO): SBD MO Status=1, MOMSN=13427, MT Status=0, MTMSN=0
2021-02-16T12:57:50.083Z,1613480270.083 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:57:50.083Z,1613480270.083 [NAL9602](INFO): Packets left to send: 8
2021-02-16T12:57:50.657Z,1613480270.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:53.085Z,1613480273.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:53.190Z,1613480273.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:53.487Z,1613480273.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:57:54.300Z,1613480274.300 [Micromodem](INFO): Nmea in: $SNTTA,0.055535,,,,125754.52*44

2021-02-16T12:57:55.933Z,1613480275.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:56.713Z,1613480276.713 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:57:58.779Z,1613480278.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:57:59.536Z,1613480279.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:57:59.942Z,1613480279.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:00.345Z,1613480280.345 [NAL9602](INFO): SBD MO Status=1, MOMSN=13428, MT Status=0, MTMSN=0
2021-02-16T12:58:00.405Z,1613480280.405 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:58:00.405Z,1613480280.405 [NAL9602](INFO): Packets left to send: 7
2021-02-16T12:58:00.750Z,1613480280.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125800.97*5E

2021-02-16T12:58:03.651Z,1613480283.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:03.799Z,1613480283.799 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:06.258Z,1613480286.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:07.017Z,1613480287.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:07.429Z,1613480287.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:08.236Z,1613480288.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125808.45*59

2021-02-16T12:58:09.070Z,1613480289.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:10.652Z,1613480290.652 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:11.889Z,1613480291.889 [NAL9602](INFO): SBD MO Status=1, MOMSN=13429, MT Status=0, MTMSN=0
2021-02-16T12:58:11.943Z,1613480291.943 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:58:11.943Z,1613480291.943 [NAL9602](INFO): Packets left to send: 6
2021-02-16T12:58:11.994Z,1613480291.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:12.689Z,1613480292.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:14.761Z,1613480294.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:14.880Z,1613480294.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:16.020Z,1613480296.020 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:17.155Z,1613480297.155 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T12:58:17.274Z,1613480297.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:18.045Z,1613480298.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:18.451Z,1613480298.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:19.260Z,1613480299.260 [Micromodem](INFO): Nmea in: $SNTTA,0.055355,,,,125819.48*49

2021-02-16T12:58:20.095Z,1613480300.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:21.680Z,1613480301.680 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:22.893Z,1613480302.893 [NAL9602](INFO): SBD MO Status=1, MOMSN=13430, MT Status=0, MTMSN=0
2021-02-16T12:58:22.947Z,1613480302.947 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:58:22.947Z,1613480302.947 [NAL9602](INFO): Packets left to send: 5
2021-02-16T12:58:23.007Z,1613480303.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:23.726Z,1613480303.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:25.816Z,1613480305.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:25.943Z,1613480305.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:27.084Z,1613480307.084 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:28.339Z,1613480308.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:29.105Z,1613480309.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:29.535Z,1613480309.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:30.318Z,1613480310.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125830.54*52

2021-02-16T12:58:31.154Z,1613480311.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:32.741Z,1613480312.741 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:34.002Z,1613480314.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:34.813Z,1613480314.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:35.211Z,1613480315.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:36.025Z,1613480316.025 [Micromodem](INFO): Nmea in: $SNTTA,0.053377,,,,125836.24*48

2021-02-16T12:58:36.904Z,1613480316.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:38.440Z,1613480318.440 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:39.679Z,1613480319.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:40.081Z,1613480320.081 [NAL9602](INFO): SBD MO Status=2, MOMSN=13431, MT Status=2, MTMSN=0
2021-02-16T12:58:40.081Z,1613480320.081 [NAL9602](ERROR): Failed to initiate SBD session. Error code: 2
2021-02-16T12:58:40.462Z,1613480320.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:40.885Z,1613480320.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:41.697Z,1613480321.697 [Micromodem](INFO): Nmea in: $SNTTA,0.053196,,,,125841.89*42

2021-02-16T12:58:42.496Z,1613480322.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:44.096Z,1613480324.096 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:58:45.092Z,1613480325.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:47.540Z,1613480327.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:47.655Z,1613480327.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:47.935Z,1613480327.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:48.760Z,1613480328.760 [Micromodem](INFO): Nmea in: $SNTTA,0.052656,,,,125848.97*4E

2021-02-16T12:58:48.798Z,1613480328.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 217.863609 deg, deltaT: 115.655120 s, approachRate: -0.066404 m/s, LOS rate: 1.457951 deg/s, posRepo size: 4
2021-02-16T12:58:48.800Z,1613480328.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.900009 m,
      bearing: 217.863609 deg,
      approachRate: -0.066404 m/s,
      LOS rate: 1.457951 deg/s,
      cmd update: 4.373854 deg/s,
      cmd heading: 206.884362 deg,
      new cmd heading: 208.339234 deg.

2021-02-16T12:58:51.201Z,1613480331.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:51.980Z,1613480331.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:52.295Z,1613480332.295 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T12:58:52.383Z,1613480332.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:53.204Z,1613480333.204 [Micromodem](INFO): Nmea in: $SNTTA,0.052752,,,,125853.41*4A

2021-02-16T12:58:53.264Z,1613480333.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.900009 m, bearing: 209.587360 deg, deltaT: 4.487478 s, approachRate: 0.000000 m/s, LOS rate: -1.844299 deg/s, posRepo size: 4
2021-02-16T12:58:53.266Z,1613480333.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.900009 m,
      bearing: 209.587360 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.844299 deg/s,
      cmd update: -5.532895 deg/s,
      cmd heading: 226.503303 deg,
      new cmd heading: 228.175261 deg.

2021-02-16T12:58:55.652Z,1613480335.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:58:56.418Z,1613480336.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:58:56.841Z,1613480336.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:58:57.648Z,1613480337.648 [Micromodem](INFO): Nmea in: $SNTTA,0.054066,,,,125857.85*40

2021-02-16T12:58:57.697Z,1613480337.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.660004 m, bearing: 216.432261 deg, deltaT: 4.402150 s, approachRate: -0.054520 m/s, LOS rate: 1.554900 deg/s, posRepo size: 4
2021-02-16T12:58:57.699Z,1613480337.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.660004 m,
      bearing: 216.432261 deg,
      approachRate: -0.054520 m/s,
      LOS rate: 1.554900 deg/s,
      cmd update: 4.664699 deg/s,
      cmd heading: 202.146816 deg,
      new cmd heading: 199.979177 deg.

2021-02-16T12:59:00.096Z,1613480340.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:00.885Z,1613480340.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:00.894Z,1613480340.894 [NAL9602](INFO): SBD MO Status=1, MOMSN=13431, MT Status=0, MTMSN=0
2021-02-16T12:59:00.956Z,1613480340.956 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:59:00.957Z,1613480340.957 [NAL9602](INFO): Packets left to send: 4
2021-02-16T12:59:01.281Z,1613480341.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:03.980Z,1613480343.980 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125902.31*51

2021-02-16T12:59:04.020Z,1613480344.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.080002 m, bearing: 209.266601 deg, deltaT: 6.524489 s, approachRate: 0.064373 m/s, LOS rate: -1.098272 deg/s, posRepo size: 4
2021-02-16T12:59:04.022Z,1613480344.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.080002 m,
      bearing: 209.266601 deg,
      approachRate: 0.064373 m/s,
      LOS rate: -1.098272 deg/s,
      cmd update: -3.294815 deg/s,
      cmd heading: 232.581440 deg,
      new cmd heading: 233.587638 deg.

2021-02-16T12:59:06.430Z,1613480346.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:07.193Z,1613480347.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:07.601Z,1613480347.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:08.408Z,1613480348.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125908.63*5C

2021-02-16T12:59:09.254Z,1613480349.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:10.846Z,1613480350.846 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:59:12.066Z,1613480352.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:12.880Z,1613480352.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:13.263Z,1613480353.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:14.076Z,1613480354.076 [Micromodem](INFO): Nmea in: $SNTTA,0.060577,,,,125914.31*4B

2021-02-16T12:59:14.096Z,1613480354.096 [NAL9602](INFO): SBD MO Status=1, MOMSN=13432, MT Status=0, MTMSN=0
2021-02-16T12:59:14.147Z,1613480354.147 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:59:14.147Z,1613480354.147 [NAL9602](INFO): Packets left to send: 3
2021-02-16T12:59:14.736Z,1613480354.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:17.384Z,1613480357.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:17.497Z,1613480357.497 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:59:19.956Z,1613480359.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:20.727Z,1613480360.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:21.137Z,1613480361.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:21.417Z,1613480361.417 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004653
2021-02-16T12:59:21.582Z,1613480361.582 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T12:59:21.582Z,1613480361.582 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T12:59:21.582Z,1613480361.582 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T12:59:21.583Z,1613480361.583 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:59:21.583Z,1613480361.583 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T12:59:21.956Z,1613480361.956 [Micromodem](INFO): Nmea in: $SNTTA,0.052907,,,,125922.16*41

2021-02-16T12:59:21.994Z,1613480361.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.020004 m, bearing: 227.542698 deg, deltaT: 17.770161 s, approachRate: -0.003376 m/s, LOS rate: 1.028471 deg/s, posRepo size: 4
2021-02-16T12:59:21.996Z,1613480361.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.020004 m,
      bearing: 227.542698 deg,
      approachRate: -0.003376 m/s,
      LOS rate: 1.028471 deg/s,
      cmd update: 3.085413 deg/s,
      cmd heading: 174.018757 deg,
      new cmd heading: 172.648022 deg.

2021-02-16T12:59:24.390Z,1613480364.390 [NAL9602](INFO): SBD MO Status=1, MOMSN=13433, MT Status=0, MTMSN=0
2021-02-16T12:59:24.455Z,1613480364.455 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:59:24.456Z,1613480364.456 [NAL9602](INFO): Packets left to send: 2
2021-02-16T12:59:24.519Z,1613480364.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:25.166Z,1613480365.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:25.433Z,1613480365.433 [DataOverHttps](INFO): Sending 1583 bytes from file Logs/20210216T042015/Express0083.lzma
2021-02-16T12:59:25.585Z,1613480365.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:26.403Z,1613480366.403 [Micromodem](INFO): Nmea in: $SNTTA,0.052883,,,,125926.60*49

2021-02-16T12:59:26.433Z,1613480366.433 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0083.lzma.bak
2021-02-16T12:59:26.433Z,1613480366.433 [DataOverHttps](INFO): SBD MOMSN=81770
2021-02-16T12:59:26.440Z,1613480366.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 222.002404 deg, deltaT: 4.438861 s, approachRate: 0.067586 m/s, LOS rate: -1.248134 deg/s, posRepo size: 4
2021-02-16T12:59:26.442Z,1613480366.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 222.002404 deg,
      approachRate: 0.067586 m/s,
      LOS rate: -1.248134 deg/s,
      cmd update: -3.744403 deg/s,
      cmd heading: 187.714367 deg,
      new cmd heading: 189.018349 deg.

2021-02-16T12:59:28.885Z,1613480368.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:29.610Z,1613480369.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:30.015Z,1613480370.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:30.908Z,1613480370.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125931.04*57

2021-02-16T12:59:31.061Z,1613480371.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 215.470366 deg, deltaT: 4.584362 s, approachRate: 0.026175 m/s, LOS rate: -1.424852 deg/s, posRepo size: 4
2021-02-16T12:59:31.071Z,1613480371.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.440002 m,
      bearing: 215.470366 deg,
      approachRate: 0.026175 m/s,
      LOS rate: -1.424852 deg/s,
      cmd update: -4.274556 deg/s,
      cmd heading: 170.564096 deg,
      new cmd heading: 168.827318 deg.

2021-02-16T12:59:33.289Z,1613480373.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:34.065Z,1613480374.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:34.494Z,1613480374.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:35.292Z,1613480375.292 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125935.50*52

2021-02-16T12:59:35.310Z,1613480375.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 195.064042 deg, deltaT: 4.391554 s, approachRate: 0.081974 m/s, LOS rate: -4.646721 deg/s, posRepo size: 4
2021-02-16T12:59:35.366Z,1613480375.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.799995 m,
      bearing: 195.064042 deg,
      approachRate: 0.081974 m/s,
      LOS rate: -4.646721 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 151.808985 deg,
      new cmd heading: 150.418891 deg.

2021-02-16T12:59:35.475Z,1613480375.475 [DataOverHttps](INFO): Sending 185 bytes from file Logs/20210216T042015/Express0086.lzma
2021-02-16T12:59:36.477Z,1613480376.477 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0086.lzma.bak
2021-02-16T12:59:36.477Z,1613480376.477 [DataOverHttps](INFO): SBD MOMSN=81777
2021-02-16T12:59:37.781Z,1613480377.781 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:38.504Z,1613480378.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:38.912Z,1613480378.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:39.744Z,1613480379.744 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125939.94*56

2021-02-16T12:59:39.776Z,1613480379.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.520004 m, bearing: 155.672688 deg, deltaT: 4.393316 s, approachRate: 0.163887 m/s, LOS rate: -8.966201 deg/s, posRepo size: 4
2021-02-16T12:59:39.778Z,1613480379.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.520004 m,
      bearing: 155.672688 deg,
      approachRate: 0.163887 m/s,
      LOS rate: -8.966201 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 99.525032 deg,
      new cmd heading: 94.367084 deg.

2021-02-16T12:59:42.286Z,1613480382.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:42.962Z,1613480382.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:43.356Z,1613480383.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:44.175Z,1613480384.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125944.39*5B

2021-02-16T12:59:45.012Z,1613480385.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:45.523Z,1613480385.523 [DataOverHttps](INFO): Sending 218 bytes from file Logs/20210216T042015/Express0089.lzma
2021-02-16T12:59:46.526Z,1613480386.526 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0089.lzma.bak
2021-02-16T12:59:46.526Z,1613480386.526 [DataOverHttps](INFO): SBD MOMSN=81781
2021-02-16T12:59:46.601Z,1613480386.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:59:46.906Z,1613480386.906 [CTD_Seabird](ERROR): Salinity reading out of range: 26.721355 psu
2021-02-16T12:59:47.841Z,1613480387.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:47.910Z,1613480387.910 [CTD_Seabird](ERROR): Salinity reading out of range: 27.852942 psu
2021-02-16T12:59:48.619Z,1613480388.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:49.016Z,1613480389.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:49.837Z,1613480389.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125950.05*51

2021-02-16T12:59:50.677Z,1613480390.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:52.249Z,1613480392.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:59:53.507Z,1613480393.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:54.279Z,1613480394.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:54.672Z,1613480394.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T12:59:55.077Z,1613480395.077 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T12:59:55.485Z,1613480395.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,125955.71*57

2021-02-16T12:59:55.570Z,1613480395.570 [DataOverHttps](INFO): Sending 1306 bytes from file Logs/20210216T042015/Express0092.lzma
2021-02-16T12:59:56.301Z,1613480396.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:56.569Z,1613480396.569 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0092.lzma.bak
2021-02-16T12:59:56.569Z,1613480396.569 [DataOverHttps](INFO): SBD MOMSN=81784
2021-02-16T12:59:57.900Z,1613480397.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T12:59:57.938Z,1613480397.938 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T12:59:57.939Z,1613480397.939 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T12:59:59.142Z,1613480399.142 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T12:59:59.926Z,1613480399.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T12:59:59.937Z,1613480399.937 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,130000.00,A,4133.13379,N,07042.46376,W,0.467,10.05,160221,,,A*42
2021-02-16T12:59:59.972Z,1613480399.972 [NAL9602](INFO): GPS fix at 20210216T130000: (41.552230, -70.707729)
2021-02-16T13:00:00.049Z,1613480400.049 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T13:00:00.052Z,1613480400.052 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T13:00:00.052Z,1613480400.052 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T13:00:00.052Z,1613480400.052 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T13:00:00.052Z,1613480400.052 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T13:00:00.052Z,1613480400.052 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T13:00:00.343Z,1613480400.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:00.760Z,1613480400.760 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T13:00:00.760Z,1613480400.760 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T13:00:00.760Z,1613480400.760 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T13:00:00.760Z,1613480400.760 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T13:00:00.760Z,1613480400.760 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T13:00:00.761Z,1613480400.761 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T13:00:00.761Z,1613480400.761 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T13:00:01.157Z,1613480401.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130001.36*58

2021-02-16T13:00:01.970Z,1613480401.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:03.555Z,1613480403.555 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:04.786Z,1613480404.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:05.576Z,1613480405.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:05.985Z,1613480405.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:06.793Z,1613480406.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130007.01*5A

2021-02-16T13:00:07.628Z,1613480407.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:09.229Z,1613480409.229 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:10.487Z,1613480410.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:11.256Z,1613480411.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:11.643Z,1613480411.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:12.466Z,1613480412.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130012.69*50

2021-02-16T13:00:13.297Z,1613480413.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:14.884Z,1613480414.884 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:16.112Z,1613480416.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:16.892Z,1613480416.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:17.294Z,1613480417.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:17.697Z,1613480417.697 [NAL9602](INFO): SBD MO Status=0, MOMSN=13434, MT Status=0, MTMSN=0
2021-02-16T13:00:17.697Z,1613480417.697 [NAL9602](INFO): No messages in MT queue
2021-02-16T13:00:18.106Z,1613480418.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130018.32*54

2021-02-16T13:00:18.949Z,1613480418.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:20.522Z,1613480420.522 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:21.787Z,1613480421.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:22.546Z,1613480422.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:22.950Z,1613480422.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:23.781Z,1613480423.781 [Micromodem](INFO): Nmea in: $SNTTA,0.063255,,,,130023.98*45

2021-02-16T13:00:24.595Z,1613480424.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:26.254Z,1613480426.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:27.418Z,1613480427.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:28.229Z,1613480428.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:28.606Z,1613480428.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:29.484Z,1613480429.484 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130029.66*57

2021-02-16T13:00:30.276Z,1613480430.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:31.847Z,1613480431.847 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:33.100Z,1613480433.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:33.884Z,1613480433.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:34.269Z,1613480434.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:35.101Z,1613480435.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130035.31*58

2021-02-16T13:00:35.914Z,1613480435.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:37.490Z,1613480437.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:38.730Z,1613480438.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:39.513Z,1613480439.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:39.917Z,1613480439.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:40.760Z,1613480440.760 [Micromodem](INFO): Nmea in: $SNTTA,0.062931,,,,130040.94*44

2021-02-16T13:00:40.792Z,1613480440.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 217.156658 deg, deltaT: 60.948398 s, approachRate: 0.224452 m/s, LOS rate: 1.008787 deg/s, posRepo size: 4
2021-02-16T13:00:40.794Z,1613480440.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.200005 m,
      bearing: 217.156658 deg,
      approachRate: 0.224452 m/s,
      LOS rate: 1.008787 deg/s,
      cmd update: 3.026362 deg/s,
      cmd heading: 87.618313 deg,
      new cmd heading: 82.123405 deg.

2021-02-16T13:00:43.206Z,1613480443.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:43.973Z,1613480443.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:44.428Z,1613480444.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:45.256Z,1613480445.256 [Micromodem](INFO): Nmea in: $SNTTA,0.064602,,,,130045.41*40

2021-02-16T13:00:46.073Z,1613480446.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:47.267Z,1613480447.267 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:48.464Z,1613480448.464 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T13:00:48.945Z,1613480448.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:49.676Z,1613480449.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:50.087Z,1613480450.087 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:50.907Z,1613480450.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130051.11*58

2021-02-16T13:00:51.785Z,1613480451.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:53.312Z,1613480453.312 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:00:54.548Z,1613480454.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:55.356Z,1613480455.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:00:55.749Z,1613480455.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:00:56.564Z,1613480456.564 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130056.79*51

2021-02-16T13:00:57.418Z,1613480457.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:00:58.976Z,1613480458.976 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:00.218Z,1613480460.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:00.988Z,1613480460.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:01.204Z,1613480461.204 [CTD_Seabird](ERROR): Failed to parse device response: 0.04,2.77787,3250.20
2021-02-16T13:01:01.393Z,1613480461.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:02.222Z,1613480462.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130102.42*59

2021-02-16T13:01:03.071Z,1613480463.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:04.640Z,1613480464.640 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:05.932Z,1613480465.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:06.678Z,1613480466.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:07.071Z,1613480467.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:07.913Z,1613480467.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130108.11*55

2021-02-16T13:01:08.721Z,1613480468.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:10.312Z,1613480470.312 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:11.575Z,1613480471.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:12.321Z,1613480472.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:12.754Z,1613480472.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:13.538Z,1613480473.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130113.75*5D

2021-02-16T13:01:14.408Z,1613480474.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:15.956Z,1613480475.956 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:17.189Z,1613480477.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:17.972Z,1613480477.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:18.388Z,1613480478.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:19.199Z,1613480479.199 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130119.40*51

2021-02-16T13:01:19.837Z,1613480479.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:21.261Z,1613480481.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:22.491Z,1613480482.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:23.276Z,1613480483.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:23.703Z,1613480483.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:24.508Z,1613480484.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130124.71*5D

2021-02-16T13:01:24.548Z,1613480484.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 249.835561 deg, deltaT: 43.786876 s, approachRate: 0.400120 m/s, LOS rate: 0.746317 deg/s, posRepo size: 4
2021-02-16T13:01:24.550Z,1613480484.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.720009 m,
      bearing: 249.835561 deg,
      approachRate: 0.400120 m/s,
      LOS rate: 0.746317 deg/s,
      cmd update: 2.238952 deg/s,
      cmd heading: 220.132644 deg,
      new cmd heading: 221.423884 deg.

2021-02-16T13:01:26.949Z,1613480486.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:27.720Z,1613480487.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:28.125Z,1613480488.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:28.937Z,1613480488.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130129.15*52

2021-02-16T13:01:29.775Z,1613480489.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:31.360Z,1613480491.360 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:32.613Z,1613480492.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:33.392Z,1613480493.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:33.786Z,1613480493.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:34.608Z,1613480494.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130134.82*50

2021-02-16T13:01:35.472Z,1613480495.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:37.020Z,1613480497.020 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:38.289Z,1613480498.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:39.037Z,1613480499.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:39.472Z,1613480499.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:40.267Z,1613480500.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130140.47*5A

2021-02-16T13:01:41.122Z,1613480501.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:42.676Z,1613480502.676 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:43.992Z,1613480503.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:44.697Z,1613480504.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:45.135Z,1613480505.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:45.914Z,1613480505.914 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130146.13*5D

2021-02-16T13:01:46.776Z,1613480506.776 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:48.372Z,1613480508.372 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:49.598Z,1613480509.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:50.358Z,1613480510.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:50.763Z,1613480510.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:51.573Z,1613480511.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130151.79*57

2021-02-16T13:01:52.401Z,1613480512.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:54.008Z,1613480514.008 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:01:55.266Z,1613480515.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:56.037Z,1613480516.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:01:56.425Z,1613480516.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:01:57.249Z,1613480517.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130157.47*5C

2021-02-16T13:01:58.072Z,1613480518.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:01:59.666Z,1613480519.666 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:02:00.909Z,1613480520.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:01.678Z,1613480521.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:02.099Z,1613480522.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:02.897Z,1613480522.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130203.11*5D

2021-02-16T13:02:03.767Z,1613480523.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:05.321Z,1613480525.321 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:02:06.561Z,1613480526.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:06.949Z,1613480526.949 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T13:02:07.368Z,1613480527.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:07.743Z,1613480527.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:08.572Z,1613480528.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130208.80*5E

2021-02-16T13:02:09.410Z,1613480529.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:10.967Z,1613480530.967 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:02:12.229Z,1613480532.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:12.997Z,1613480532.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:13.406Z,1613480533.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:14.213Z,1613480534.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130214.43*5C

2021-02-16T13:02:15.067Z,1613480535.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:16.640Z,1613480536.640 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:02:17.904Z,1613480537.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:18.649Z,1613480538.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:19.051Z,1613480539.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:19.884Z,1613480539.884 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130220.08*54

2021-02-16T13:02:20.698Z,1613480540.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:21.894Z,1613480541.894 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:02:22.290Z,1613480542.290 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:02:23.512Z,1613480543.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:24.302Z,1613480544.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:24.708Z,1613480544.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:25.540Z,1613480545.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130225.73*5D

2021-02-16T13:02:25.568Z,1613480545.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 275.190671 deg, deltaT: 61.016961 s, approachRate: -0.189783 m/s, LOS rate: 0.415542 deg/s, posRepo size: 4
2021-02-16T13:02:25.570Z,1613480545.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 275.190671 deg,
      approachRate: -0.189783 m/s,
      LOS rate: 0.415542 deg/s,
      cmd update: 1.246626 deg/s,
      cmd heading: 356.747147 deg,
      new cmd heading: 357.711123 deg.

2021-02-16T13:02:27.977Z,1613480547.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:28.749Z,1613480548.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:29.159Z,1613480549.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:29.983Z,1613480549.983 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130230.18*54

2021-02-16T13:02:30.008Z,1613480550.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.120003 m, bearing: 288.789960 deg, deltaT: 4.459856 s, approachRate: -0.228708 m/s, LOS rate: 3.049266 deg/s, posRepo size: 4
2021-02-16T13:02:30.010Z,1613480550.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.120003 m,
      bearing: 288.789960 deg,
      approachRate: -0.228708 m/s,
      LOS rate: 3.049266 deg/s,
      cmd update: 9.147800 deg/s,
      cmd heading: 2.306946 deg,
      new cmd heading: 2.817978 deg.

2021-02-16T13:02:31.993Z,1613480551.993 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T13:02:32.409Z,1613480552.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:33.190Z,1613480553.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:33.603Z,1613480553.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:34.420Z,1613480554.420 [Micromodem](INFO): Nmea in: $SNTTA,0.065927,,,,130234.62*4C

2021-02-16T13:02:34.458Z,1613480554.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.700005 m, bearing: 282.246721 deg, deltaT: 4.441744 s, approachRate: -0.094557 m/s, LOS rate: -1.473124 deg/s, posRepo size: 4
2021-02-16T13:02:34.460Z,1613480554.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.700005 m,
      bearing: 282.246721 deg,
      approachRate: -0.094557 m/s,
      LOS rate: -1.473124 deg/s,
      cmd update: -4.419371 deg/s,
      cmd heading: 42.938910 deg,
      new cmd heading: 46.767831 deg.

2021-02-16T13:02:36.905Z,1613480556.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:37.262Z,1613480557.262 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T13:02:37.644Z,1613480557.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:38.055Z,1613480558.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:38.888Z,1613480558.888 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130239.07*53

2021-02-16T13:02:38.913Z,1613480558.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.159996 m, bearing: 271.017726 deg, deltaT: 4.458094 s, approachRate: -0.121130 m/s, LOS rate: -2.518788 deg/s, posRepo size: 4
2021-02-16T13:02:38.915Z,1613480558.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.159996 m,
      bearing: 271.017726 deg,
      approachRate: -0.121130 m/s,
      LOS rate: -2.518788 deg/s,
      cmd update: -7.556365 deg/s,
      cmd heading: 23.254632 deg,
      new cmd heading: 21.400396 deg.

2021-02-16T13:02:41.297Z,1613480561.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:42.077Z,1613480562.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:42.482Z,1613480562.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:43.315Z,1613480563.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130243.51*5D

2021-02-16T13:02:43.384Z,1613480563.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 222.578994 deg, deltaT: 4.440810 s, approachRate: 0.067558 m/s, LOS rate: -10.907635 deg/s, posRepo size: 4
2021-02-16T13:02:43.386Z,1613480563.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.460007 m,
      bearing: 222.578994 deg,
      approachRate: 0.067558 m/s,
      LOS rate: -10.907635 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 349.819358 deg,
      new cmd heading: 346.395093 deg.

2021-02-16T13:02:43.633Z,1613480563.633 [CTD_Seabird](ERROR): Salinity reading out of range: 22.755224 psu
2021-02-16T13:02:45.742Z,1613480565.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:46.520Z,1613480566.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:46.931Z,1613480566.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:47.752Z,1613480567.752 [Micromodem](INFO): Nmea in: $SNTTA,0.066172,,,,130247.95*4B

2021-02-16T13:02:47.797Z,1613480567.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.239998 m, bearing: 224.671218 deg, deltaT: 4.404482 s, approachRate: 0.177090 m/s, LOS rate: 0.475021 deg/s, posRepo size: 4
2021-02-16T13:02:47.803Z,1613480567.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.239998 m,
      bearing: 224.671218 deg,
      approachRate: 0.177090 m/s,
      LOS rate: 0.475021 deg/s,
      cmd update: 1.425064 deg/s,
      cmd heading: 296.725345 deg,
      new cmd heading: 291.273085 deg.

2021-02-16T13:02:50.194Z,1613480570.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:50.970Z,1613480570.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:51.396Z,1613480571.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:52.208Z,1613480572.208 [Micromodem](INFO): Nmea in: $SNTTA,0.066680,,,,130252.40*4D

2021-02-16T13:02:52.260Z,1613480572.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 248.112468 deg, deltaT: 4.448130 s, approachRate: 0.134890 m/s, LOS rate: 5.269911 deg/s, posRepo size: 4
2021-02-16T13:02:52.261Z,1613480572.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 248.112468 deg,
      approachRate: 0.134890 m/s,
      LOS rate: 5.269911 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.064195 deg,
      new cmd heading: 303.702594 deg.

2021-02-16T13:02:53.462Z,1613480573.462 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -9.14 mm (2 active estimators).
2021-02-16T13:02:54.627Z,1613480574.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:55.408Z,1613480575.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:02:55.824Z,1613480575.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:02:56.651Z,1613480576.651 [Micromodem](INFO): Nmea in: $SNTTA,0.066614,,,0.069126,130256.84*58

2021-02-16T13:02:56.676Z,1613480576.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 291.879637 deg, deltaT: 4.493544 s, approachRate: 0.000000 m/s, LOS rate: 9.740011 deg/s, posRepo size: 4
2021-02-16T13:02:56.677Z,1613480576.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 291.879637 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.740011 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 356.891432 deg,
      new cmd heading: 1.676024 deg.

2021-02-16T13:02:59.070Z,1613480579.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:02:59.872Z,1613480579.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:00.263Z,1613480580.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:01.096Z,1613480581.096 [Micromodem](INFO): Nmea in: $SNTTA,0.066387,,,,130301.30*4F

2021-02-16T13:03:01.145Z,1613480581.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.360008 m, bearing: 306.203801 deg, deltaT: 4.400893 s, approachRate: -0.109068 m/s, LOS rate: 3.254831 deg/s, posRepo size: 4
2021-02-16T13:03:01.151Z,1613480581.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.360008 m,
      bearing: 306.203801 deg,
      approachRate: -0.109068 m/s,
      LOS rate: 3.254831 deg/s,
      cmd update: 9.764493 deg/s,
      cmd heading: 49.797682 deg,
      new cmd heading: 55.311982 deg.

2021-02-16T13:03:03.519Z,1613480583.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:04.296Z,1613480584.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:04.709Z,1613480584.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:05.512Z,1613480585.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130305.73*5E

2021-02-16T13:03:06.392Z,1613480586.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:07.943Z,1613480587.943 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:03:09.170Z,1613480589.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:09.957Z,1613480589.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:10.363Z,1613480590.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:11.188Z,1613480591.188 [Micromodem](INFO): Nmea in: $SNTTA,0.063801,,,0.066307,130311.39*5D

2021-02-16T13:03:11.245Z,1613480591.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.400009 m, bearing: 299.213485 deg, deltaT: 10.121010 s, approachRate: -0.391265 m/s, LOS rate: -0.690674 deg/s, posRepo size: 4
2021-02-16T13:03:11.252Z,1613480591.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.400009 m,
      bearing: 299.213485 deg,
      approachRate: -0.391265 m/s,
      LOS rate: -0.690674 deg/s,
      cmd update: -2.072021 deg/s,
      cmd heading: 148.569464 deg,
      new cmd heading: 152.856614 deg.

2021-02-16T13:03:13.623Z,1613480593.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:14.405Z,1613480594.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:14.808Z,1613480594.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:15.632Z,1613480595.632 [Micromodem](INFO): Nmea in: $SNTTA,0.062633,,,,130315.83*4C

2021-02-16T13:03:15.700Z,1613480595.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.839996 m, bearing: 244.637842 deg, deltaT: 4.444718 s, approachRate: -0.350981 m/s, LOS rate: -12.278764 deg/s, posRepo size: 4
2021-02-16T13:03:15.701Z,1613480595.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.278764 deg/s. Setting heading cmd to target bearing of 244.637842deg and heading rate command to 0 deg/s.
2021-02-16T13:03:18.071Z,1613480598.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:18.864Z,1613480598.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:19.254Z,1613480599.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:20.084Z,1613480600.084 [Micromodem](INFO): Nmea in: $SNTTA,0.062228,,,,130320.29*44

2021-02-16T13:03:20.135Z,1613480600.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.239998 m, bearing: 252.238831 deg, deltaT: 4.447930 s, approachRate: -0.134894 m/s, LOS rate: 1.708882 deg/s, posRepo size: 4
2021-02-16T13:03:20.137Z,1613480600.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.239998 m,
      bearing: 252.238831 deg,
      approachRate: -0.134894 m/s,
      LOS rate: 1.708882 deg/s,
      cmd update: 5.126647 deg/s,
      cmd heading: 244.637842 deg,
      new cmd heading: 244.637842 deg.

2021-02-16T13:03:22.448Z,1613480602.448 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239441
2021-02-16T13:03:22.527Z,1613480602.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:23.311Z,1613480603.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:23.695Z,1613480603.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:24.536Z,1613480604.536 [Micromodem](INFO): Nmea in: $SNTTA,0.062463,,,,130324.74*41

2021-02-16T13:03:24.561Z,1613480604.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 249.373430 deg, deltaT: 4.447652 s, approachRate: 0.121414 m/s, LOS rate: -0.644250 deg/s, posRepo size: 4
2021-02-16T13:03:24.562Z,1613480604.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.780006 m,
      bearing: 249.373430 deg,
      approachRate: 0.121414 m/s,
      LOS rate: -0.644250 deg/s,
      cmd update: -1.932751 deg/s,
      cmd heading: 267.429706 deg,
      new cmd heading: 269.560869 deg.

2021-02-16T13:03:26.962Z,1613480606.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:27.728Z,1613480607.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:28.134Z,1613480608.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:28.964Z,1613480608.964 [Micromodem](INFO): Nmea in: $SNTTA,0.063583,,,,130329.16*46

2021-02-16T13:03:28.989Z,1613480608.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 241.901040 deg, deltaT: 4.418756 s, approachRate: 0.353040 m/s, LOS rate: -1.691062 deg/s, posRepo size: 4
2021-02-16T13:03:28.991Z,1613480608.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 241.901040 deg,
      approachRate: 0.353040 m/s,
      LOS rate: -1.691062 deg/s,
      cmd update: -5.073186 deg/s,
      cmd heading: 258.885687 deg,
      new cmd heading: 258.067111 deg.

2021-02-16T13:03:31.419Z,1613480611.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:32.178Z,1613480612.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:32.578Z,1613480612.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:33.412Z,1613480613.412 [Micromodem](INFO): Nmea in: $SNTTA,0.063720,,,,130333.61*46

2021-02-16T13:03:33.457Z,1613480613.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.459999 m, bearing: 256.119117 deg, deltaT: 4.455175 s, approachRate: 0.026934 m/s, LOS rate: 3.191362 deg/s, posRepo size: 4
2021-02-16T13:03:33.458Z,1613480613.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.459999 m,
      bearing: 256.119117 deg,
      approachRate: 0.026934 m/s,
      LOS rate: 3.191362 deg/s,
      cmd update: 9.574086 deg/s,
      cmd heading: 236.364596 deg,
      new cmd heading: 234.071623 deg.

2021-02-16T13:03:35.896Z,1613480615.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:36.621Z,1613480616.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:37.033Z,1613480617.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:37.880Z,1613480617.880 [Micromodem](INFO): Nmea in: $SNTTA,0.063873,,,,130338.05*46

2021-02-16T13:03:37.905Z,1613480617.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 270.886067 deg, deltaT: 4.447187 s, approachRate: 0.040477 m/s, LOS rate: 3.320515 deg/s, posRepo size: 4
2021-02-16T13:03:37.932Z,1613480617.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.640007 m,
      bearing: 270.886067 deg,
      approachRate: 0.040477 m/s,
      LOS rate: 3.320515 deg/s,
      cmd update: 9.961545 deg/s,
      cmd heading: 279.056806 deg,
      new cmd heading: 283.283114 deg.

2021-02-16T13:03:40.280Z,1613480620.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:41.065Z,1613480621.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:41.471Z,1613480621.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:42.292Z,1613480622.292 [Micromodem](INFO): Nmea in: $SNTTA,0.063419,,,,130342.50*4B

2021-02-16T13:03:42.338Z,1613480622.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.980003 m, bearing: 312.654778 deg, deltaT: 4.484996 s, approachRate: -0.147158 m/s, LOS rate: 9.312987 deg/s, posRepo size: 4
2021-02-16T13:03:42.340Z,1613480622.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.980003 m,
      bearing: 312.654778 deg,
      approachRate: -0.147158 m/s,
      LOS rate: 9.312987 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 323.734604 deg,
      new cmd heading: 327.570695 deg.

2021-02-16T13:03:44.726Z,1613480624.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:45.510Z,1613480625.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:45.927Z,1613480625.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:46.748Z,1613480626.748 [Micromodem](INFO): Nmea in: $SNTTA,0.062437,,,,130346.94*4A

2021-02-16T13:03:46.773Z,1613480626.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 306.135472 deg, deltaT: 4.383300 s, approachRate: -0.342208 m/s, LOS rate: -1.487305 deg/s, posRepo size: 4
2021-02-16T13:03:46.774Z,1613480626.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 306.135472 deg,
      approachRate: -0.342208 m/s,
      LOS rate: -1.487305 deg/s,
      cmd update: -4.461917 deg/s,
      cmd heading: 16.329105 deg,
      new cmd heading: 21.621021 deg.

2021-02-16T13:03:48.879Z,1613480628.879 [Radio_Surface](INFO): Powering down
2021-02-16T13:03:49.166Z,1613480629.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:49.949Z,1613480629.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:50.384Z,1613480630.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:51.176Z,1613480631.176 [Micromodem](INFO): Nmea in: $SNTTA,0.061033,,,,130351.38*49

2021-02-16T13:03:51.215Z,1613480631.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 310.811173 deg, deltaT: 4.456636 s, approachRate: -0.471209 m/s, LOS rate: 1.049155 deg/s, posRepo size: 4
2021-02-16T13:03:51.217Z,1613480631.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 310.811173 deg,
      approachRate: -0.471209 m/s,
      LOS rate: 1.049155 deg/s,
      cmd update: 3.147465 deg/s,
      cmd heading: 356.463255 deg,
      new cmd heading: 354.540147 deg.

2021-02-16T13:03:53.631Z,1613480633.631 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:54.402Z,1613480634.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:54.803Z,1613480634.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:55.651Z,1613480635.651 [Micromodem](INFO): Nmea in: $SNTTA,0.059126,,,,130355.83*43

2021-02-16T13:03:55.675Z,1613480635.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.500000 m, bearing: 315.465893 deg, deltaT: 4.472336 s, approachRate: -0.643958 m/s, LOS rate: 1.040780 deg/s, posRepo size: 4
2021-02-16T13:03:55.677Z,1613480635.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.500000 m,
      bearing: 315.465893 deg,
      approachRate: -0.643958 m/s,
      LOS rate: 1.040780 deg/s,
      cmd update: 3.122341 deg/s,
      cmd heading: 10.554401 deg,
      new cmd heading: 11.856674 deg.

2021-02-16T13:03:58.089Z,1613480638.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:03:58.607Z,1613480638.607 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T13:03:58.866Z,1613480638.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:03:59.253Z,1613480639.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:03:59.611Z,1613480639.611 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T13:04:00.080Z,1613480640.080 [Micromodem](INFO): Nmea in: $SNTTA,0.057408,,,,130400.30*4B

2021-02-16T13:04:00.105Z,1613480640.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.740005 m, bearing: 315.275276 deg, deltaT: 4.420953 s, approachRate: -0.624299 m/s, LOS rate: -0.043117 deg/s, posRepo size: 4
2021-02-16T13:04:00.127Z,1613480640.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.740005 m,
      bearing: 315.275276 deg,
      approachRate: -0.624299 m/s,
      LOS rate: -0.043117 deg/s,
      cmd update: -0.129350 deg/s,
      cmd heading: 24.368920 deg,
      new cmd heading: 25.680028 deg.

2021-02-16T13:04:02.502Z,1613480642.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:03.285Z,1613480643.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:03.691Z,1613480643.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:04.512Z,1613480644.512 [Micromodem](INFO): Nmea in: $SNTTA,0.055659,,,,130404.72*4D

2021-02-16T13:04:04.556Z,1613480644.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 315.047912 deg, deltaT: 4.426253 s, approachRate: -0.582886 m/s, LOS rate: -0.051367 deg/s, posRepo size: 4
2021-02-16T13:04:04.558Z,1613480644.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.160004 m,
      bearing: 315.047912 deg,
      approachRate: -0.582886 m/s,
      LOS rate: -0.051367 deg/s,
      cmd update: -0.154101 deg/s,
      cmd heading: 23.796333 deg,
      new cmd heading: 23.738863 deg.

2021-02-16T13:04:06.972Z,1613480646.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:07.729Z,1613480647.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:08.141Z,1613480648.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:08.960Z,1613480648.960 [Micromodem](INFO): Nmea in: $SNTTA,0.054136,,,,130409.16*4D

2021-02-16T13:04:09.003Z,1613480649.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.059998 m, bearing: 311.063153 deg, deltaT: 4.467319 s, approachRate: -0.470082 m/s, LOS rate: -0.891980 deg/s, posRepo size: 4
2021-02-16T13:04:09.005Z,1613480649.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 311.063153 deg,
      approachRate: -0.470082 m/s,
      LOS rate: -0.891980 deg/s,
      cmd update: -2.675940 deg/s,
      cmd heading: 23.108500 deg,
      new cmd heading: 23.042672 deg.

2021-02-16T13:04:11.428Z,1613480651.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:12.170Z,1613480652.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:12.574Z,1613480652.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:13.408Z,1613480653.408 [Micromodem](INFO): Nmea in: $SNTTA,0.053123,,,,130413.60*44

2021-02-16T13:04:13.457Z,1613480653.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 357.997945 deg, deltaT: 4.446191 s, approachRate: -0.337367 m/s, LOS rate: 10.556180 deg/s, posRepo size: 4
2021-02-16T13:04:13.458Z,1613480653.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.559998 m,
      bearing: 357.997945 deg,
      approachRate: -0.337367 m/s,
      LOS rate: 10.556180 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 11.242994 deg,
      new cmd heading: 10.047175 deg.

2021-02-16T13:04:15.863Z,1613480655.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:16.623Z,1613480656.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:17.023Z,1613480657.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:17.874Z,1613480657.874 [Micromodem](INFO): Nmea in: $SNTTA,0.052293,,,,130418.05*45

2021-02-16T13:04:17.899Z,1613480657.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 6.203708 deg, deltaT: 4.417650 s, approachRate: -0.298800 m/s, LOS rate: 1.857493 deg/s, posRepo size: 4
2021-02-16T13:04:17.901Z,1613480657.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.240005 m,
      bearing: 6.203708 deg,
      approachRate: -0.298800 m/s,
      LOS rate: 1.857493 deg/s,
      cmd update: 5.572478 deg/s,
      cmd heading: 64.447635 deg,
      new cmd heading: 69.914607 deg.

2021-02-16T13:04:20.273Z,1613480660.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:21.056Z,1613480661.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:21.479Z,1613480661.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:22.300Z,1613480662.300 [Micromodem](INFO): Nmea in: $SNTTA,0.052093,,,,130422.49*46

2021-02-16T13:04:22.327Z,1613480662.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 358.030812 deg, deltaT: 4.454997 s, approachRate: -0.013469 m/s, LOS rate: -1.834543 deg/s, posRepo size: 4
2021-02-16T13:04:22.329Z,1613480662.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.180000 m,
      bearing: 358.030812 deg,
      approachRate: -0.013469 m/s,
      LOS rate: -1.834543 deg/s,
      cmd update: -5.503630 deg/s,
      cmd heading: 89.272795 deg,
      new cmd heading: 91.656489 deg.

2021-02-16T13:04:24.719Z,1613480664.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:25.518Z,1613480665.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:25.908Z,1613480665.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:26.752Z,1613480666.752 [Micromodem](INFO): Nmea in: $SNTTA,0.051927,,,,130426.95*46

2021-02-16T13:04:26.777Z,1613480666.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.939995 m, bearing: 27.307303 deg, deltaT: 4.480800 s, approachRate: -0.053563 m/s, LOS rate: 6.533767 deg/s, posRepo size: 4
2021-02-16T13:04:26.778Z,1613480666.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.939995 m,
      bearing: 27.307303 deg,
      approachRate: -0.053563 m/s,
      LOS rate: 6.533767 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 64.710321 deg,
      new cmd heading: 62.425599 deg.

2021-02-16T13:04:29.163Z,1613480669.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:29.944Z,1613480669.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:30.386Z,1613480670.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:31.188Z,1613480671.188 [Micromodem](INFO): Nmea in: $SNTTA,0.052862,,,,130431.37*4B

2021-02-16T13:04:31.213Z,1613480671.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 10.442859 deg, deltaT: 4.412315 s, approachRate: 0.326360 m/s, LOS rate: -3.822131 deg/s, posRepo size: 4
2021-02-16T13:04:31.215Z,1613480671.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.379997 m,
      bearing: 10.442859 deg,
      approachRate: 0.326360 m/s,
      LOS rate: -3.822131 deg/s,
      cmd update: -11.466392 deg/s,
      cmd heading: 117.871402 deg,
      new cmd heading: 122.929582 deg.

2021-02-16T13:04:33.612Z,1613480673.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:34.393Z,1613480674.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:34.811Z,1613480674.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:35.636Z,1613480675.636 [Micromodem](INFO): Nmea in: $SNTTA,0.054310,,,,130435.82*49

2021-02-16T13:04:35.680Z,1613480675.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 37.005200 deg, deltaT: 4.438338 s, approachRate: 0.500189 m/s, LOS rate: 5.984750 deg/s, posRepo size: 4
2021-02-16T13:04:35.682Z,1613480675.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.600006 m,
      bearing: 37.005200 deg,
      approachRate: 0.500189 m/s,
      LOS rate: 5.984750 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 67.004207 deg,
      new cmd heading: 62.046231 deg.

2021-02-16T13:04:38.058Z,1613480678.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:38.861Z,1613480678.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:39.248Z,1613480679.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:40.084Z,1613480680.084 [Micromodem](INFO): Nmea in: $SNTTA,0.055901,,0.064150,,130440.29*59

2021-02-16T13:04:40.133Z,1613480680.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.940002 m, bearing: 34.140824 deg, deltaT: 4.451709 s, approachRate: 0.525640 m/s, LOS rate: -0.643433 deg/s, posRepo size: 4
2021-02-16T13:04:40.139Z,1613480680.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 34.140824 deg,
      approachRate: 0.525640 m/s,
      LOS rate: -0.643433 deg/s,
      cmd update: -1.930299 deg/s,
      cmd heading: 120.451320 deg,
      new cmd heading: 125.872056 deg.

2021-02-16T13:04:42.494Z,1613480682.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:43.276Z,1613480683.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:43.690Z,1613480683.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:44.508Z,1613480684.508 [Micromodem](INFO): Nmea in: $SNTTA,0.057694,,,,130444.71*49

2021-02-16T13:04:44.556Z,1613480684.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.760010 m, bearing: 115.053430 deg, deltaT: 4.448221 s, approachRate: 0.633963 m/s, LOS rate: 18.189880 deg/s, posRepo size: 4
2021-02-16T13:04:44.557Z,1613480684.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.189880 deg/s. Setting heading cmd to target bearing of 115.053430deg and heading rate command to 0 deg/s.
2021-02-16T13:04:47.006Z,1613480687.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:47.735Z,1613480687.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:48.125Z,1613480688.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:48.961Z,1613480688.961 [Micromodem](INFO): Nmea in: $SNTTA,0.059772,,,,130449.16*42

2021-02-16T13:04:49.020Z,1613480689.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 74.103338 deg, deltaT: 4.422624 s, approachRate: 0.719028 m/s, LOS rate: -9.259230 deg/s, posRepo size: 4
2021-02-16T13:04:49.022Z,1613480689.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.940002 m,
      bearing: 74.103338 deg,
      approachRate: 0.719028 m/s,
      LOS rate: -9.259230 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.053430 deg,
      new cmd heading: 115.053430 deg.

2021-02-16T13:04:51.416Z,1613480691.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:52.188Z,1613480692.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:52.591Z,1613480692.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:53.402Z,1613480693.402 [Micromodem](INFO): Nmea in: $SNTTA,0.062005,,,,130453.62*45

2021-02-16T13:04:54.232Z,1613480694.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:55.805Z,1613480695.805 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:04:57.062Z,1613480697.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:04:57.833Z,1613480697.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:04:58.250Z,1613480698.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:04:59.056Z,1613480699.056 [Micromodem](INFO): Nmea in: $SNTTA,0.065005,,,,130459.26*48

2021-02-16T13:04:59.095Z,1613480699.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.680008 m, bearing: 77.694358 deg, deltaT: 10.123706 s, approachRate: 0.764543 m/s, LOS rate: 0.354714 deg/s, posRepo size: 4
2021-02-16T13:04:59.097Z,1613480699.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.680008 m,
      bearing: 77.694358 deg,
      approachRate: 0.764543 m/s,
      LOS rate: 0.354714 deg/s,
      cmd update: 1.064142 deg/s,
      cmd heading: 353.667342 deg,
      new cmd heading: 348.543426 deg.

2021-02-16T13:04:59.489Z,1613480699.489 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T13:04:59.490Z,1613480699.490 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T13:04:59.490Z,1613480699.490 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T13:04:59.490Z,1613480699.490 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T13:04:59.490Z,1613480699.490 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T13:04:59.954Z,1613480699.954 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B605E0000005D00000400610000000000000000151D80030C5669BF92F9E56B4442315CE221C0CDC59DF4241CDF09F19AE7ECA126E571BB7B4317097F97
2021-02-16T13:04:59.955Z,1613480699.955 [Micromodem](INFO): Outgoing frame #2, 36 bytes: C32599B8EC4E4BB73E549AFD55A6DCFCB69B3BF68E1C40D36B91DF7AE4D495BB9199B99B
2021-02-16T13:04:59.955Z,1613480699.955 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T13:05:00.320Z,1613480700.320 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T13:05:00.708Z,1613480700.708 [Micromodem](INFO): Nmea in: $CADRQ,130501,1,10,0,64,1*70

2021-02-16T13:05:00.709Z,1613480700.709 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B605E0000005D00000400610000000000000000151D80030C5669BF92F9E56B4442315CE221C0CDC59DF4241CDF09F19AE7ECA126E571BB7B4317097F97*40

2021-02-16T13:05:01.112Z,1613480701.112 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T13:05:01.513Z,1613480701.513 [Micromodem](INFO): Nmea in: $CADRQ,130502,1,10,0,64,2*70

2021-02-16T13:05:01.514Z,1613480701.514 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,C32599B8EC4E4BB73E549AFD55A6DCFCB69B3BF68E1C40D36B91DF7AE4D495BB9199B99B*37

2021-02-16T13:05:01.703Z,1613480701.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:01.912Z,1613480701.912 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,36*4E

2021-02-16T13:05:02.317Z,1613480702.317 [Micromodem](INFO): Nmea in: $CATXP,100*43

2021-02-16T13:05:02.317Z,1613480702.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:04.352Z,1613480704.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:04.741Z,1613480704.741 [Micromodem](INFO): Nmea in: $CATXF,100*55

2021-02-16T13:05:04.742Z,1613480704.742 [Micromodem](ERROR): Response from modem unexpected: $CATXF,100*55

2021-02-16T13:05:05.158Z,1613480705.158 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,130502.950229,3,0,200,4000,14500,1,1,10,1,2,2,3,100*76

2021-02-16T13:05:05.158Z,1613480705.158 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,130502.950229,3,0,200,4000,14500,1,1,10,1,2,2,3,100*76

2021-02-16T13:05:07.304Z,1613480707.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:07.564Z,1613480707.564 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T13:05:07.980Z,1613480707.980 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T13:05:07.981Z,1613480707.981 [Micromodem](INFO): Sent 92 bytes from file Logs/20210216T042015/Courier0094.lzma.parts
2021-02-16T13:05:07.981Z,1613480707.981 [Micromodem](INFO): Packets left to send: 0
2021-02-16T13:05:08.398Z,1613480708.398 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216130507.702695,06,3748,35,0219,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.6,7.00,18,-4.00,-01,-1.10,32,14500,4000*71

2021-02-16T13:05:08.399Z,1613480708.399 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216130507.702695,06,3748,35,0219,0150,37,02,02,00,04,1,010,001,0,4,1,0,150,16.6,7.00,18,-4.00,-01,-1.10,32,14500,4000*71

2021-02-16T13:05:08.485Z,1613480708.485 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T13:05:08.485Z,1613480708.485 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T13:05:08.485Z,1613480708.485 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T13:05:08.486Z,1613480708.486 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T13:05:08.486Z,1613480708.486 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T13:05:10.020Z,1613480710.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:12.876Z,1613480712.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:13.623Z,1613480713.623 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:14.030Z,1613480714.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:14.876Z,1613480714.876 [Micromodem](INFO): Nmea in: $SNTTA,0.071728,,,,130515.05*4D

2021-02-16T13:05:14.922Z,1613480714.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.700005 m, bearing: 10.270719 deg, deltaT: 15.793212 s, approachRate: 0.634450 m/s, LOS rate: -4.269153 deg/s, posRepo size: 4
2021-02-16T13:05:14.928Z,1613480714.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.700005 m,
      bearing: 10.270719 deg,
      approachRate: 0.634450 m/s,
      LOS rate: -4.269153 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 10.482247 deg,
      new cmd heading: 10.963646 deg.

2021-02-16T13:05:17.286Z,1613480717.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:18.074Z,1613480718.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:18.479Z,1613480718.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:19.312Z,1613480719.312 [Micromodem](INFO): Nmea in: $SNTTA,0.072633,,,,130519.51*48

2021-02-16T13:05:19.381Z,1613480719.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 48.082199 deg, deltaT: 4.432463 s, approachRate: 0.351950 m/s, LOS rate: 8.530580 deg/s, posRepo size: 4
2021-02-16T13:05:19.389Z,1613480719.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.260010 m,
      bearing: 48.082199 deg,
      approachRate: 0.351950 m/s,
      LOS rate: 8.530580 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.292713 deg,
      new cmd heading: 311.541364 deg.

2021-02-16T13:05:21.733Z,1613480721.733 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:22.527Z,1613480722.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:22.930Z,1613480722.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:23.756Z,1613480723.756 [Micromodem](INFO): Nmea in: $SNTTA,0.073192,,,,130523.96*47

2021-02-16T13:05:23.813Z,1613480723.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.800003 m, bearing: 39.515243 deg, deltaT: 4.483340 s, approachRate: 0.120444 m/s, LOS rate: -1.910842 deg/s, posRepo size: 4
2021-02-16T13:05:23.820Z,1613480723.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.800003 m,
      bearing: 39.515243 deg,
      approachRate: 0.120444 m/s,
      LOS rate: -1.910842 deg/s,
      cmd update: -5.732527 deg/s,
      cmd heading: 10.694286 deg,
      new cmd heading: 16.227606 deg.

2021-02-16T13:05:26.179Z,1613480726.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:26.966Z,1613480726.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:27.396Z,1613480727.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:28.197Z,1613480728.197 [Micromodem](INFO): Nmea in: $SNTTA,0.072802,,,,130528.40*46

2021-02-16T13:05:28.265Z,1613480728.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 346.219803 deg, deltaT: 4.426587 s, approachRate: -0.149100 m/s, LOS rate: -12.039849 deg/s, posRepo size: 4
2021-02-16T13:05:28.266Z,1613480728.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.039849 deg/s. Setting heading cmd to target bearing of 346.219803deg and heading rate command to 0 deg/s.
2021-02-16T13:05:30.642Z,1613480730.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:31.429Z,1613480731.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:31.841Z,1613480731.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:32.644Z,1613480732.644 [Micromodem](INFO): Nmea in: $SNTTA,0.072559,,,,130532.86*44

2021-02-16T13:05:32.687Z,1613480732.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 340.779229 deg, deltaT: 4.435199 s, approachRate: -0.094697 m/s, LOS rate: -1.226681 deg/s, posRepo size: 4
2021-02-16T13:05:32.689Z,1613480732.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.720001 m,
      bearing: 340.779229 deg,
      approachRate: -0.094697 m/s,
      LOS rate: -1.226681 deg/s,
      cmd update: -3.680043 deg/s,
      cmd heading: 346.219803 deg,
      new cmd heading: 346.219803 deg.

2021-02-16T13:05:35.092Z,1613480735.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:35.869Z,1613480735.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:36.273Z,1613480736.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:37.096Z,1613480737.096 [Micromodem](INFO): Nmea in: $SNTTA,0.071976,,,,130537.30*4E

2021-02-16T13:05:37.136Z,1613480737.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.879997 m, bearing: 340.783109 deg, deltaT: 4.485221 s, approachRate: -0.187283 m/s, LOS rate: 0.000865 deg/s, posRepo size: 4
2021-02-16T13:05:37.137Z,1613480737.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.879997 m,
      bearing: 340.783109 deg,
      approachRate: -0.187283 m/s,
      LOS rate: 0.000865 deg/s,
      cmd update: 0.002595 deg/s,
      cmd heading: 329.677749 deg,
      new cmd heading: 328.163677 deg.

2021-02-16T13:05:39.528Z,1613480739.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:40.292Z,1613480740.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:40.698Z,1613480740.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:41.527Z,1613480741.527 [Micromodem](INFO): Nmea in: $SNTTA,0.071180,,,,130541.72*48

2021-02-16T13:05:41.552Z,1613480741.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.619995 m, bearing: 265.140212 deg, deltaT: 4.394158 s, approachRate: -0.286745 m/s, LOS rate: -17.214423 deg/s, posRepo size: 4
2021-02-16T13:05:41.552Z,1613480741.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.214423 deg/s. Setting heading cmd to target bearing of 265.140212deg and heading rate command to 0 deg/s.
2021-02-16T13:05:42.744Z,1613480742.744 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T13:05:43.958Z,1613480743.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:44.754Z,1613480744.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:45.153Z,1613480745.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:45.975Z,1613480745.975 [Micromodem](INFO): Nmea in: $SNTTA,0.070434,,,,130546.18*48

2021-02-16T13:05:46.000Z,1613480746.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.540009 m, bearing: 262.948896 deg, deltaT: 4.460754 s, approachRate: -0.242109 m/s, LOS rate: -0.491243 deg/s, posRepo size: 4
2021-02-16T13:05:46.002Z,1613480746.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.540009 m,
      bearing: 262.948896 deg,
      approachRate: -0.242109 m/s,
      LOS rate: -0.491243 deg/s,
      cmd update: -1.473730 deg/s,
      cmd heading: 265.140212 deg,
      new cmd heading: 265.140212 deg.

2021-02-16T13:05:48.436Z,1613480748.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:49.187Z,1613480749.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:49.590Z,1613480749.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:50.420Z,1613480750.420 [Micromodem](INFO): Nmea in: $SNTTA,0.069263,,,,130550.62*4E

2021-02-16T13:05:50.498Z,1613480750.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.739998 m, bearing: 271.973871 deg, deltaT: 4.441307 s, approachRate: -0.405289 m/s, LOS rate: 2.032054 deg/s, posRepo size: 4
2021-02-16T13:05:50.504Z,1613480750.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.739998 m,
      bearing: 271.973871 deg,
      approachRate: -0.405289 m/s,
      LOS rate: 2.032054 deg/s,
      cmd update: 6.096162 deg/s,
      cmd heading: 258.618121 deg,
      new cmd heading: 257.902716 deg.

2021-02-16T13:05:52.876Z,1613480752.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:53.632Z,1613480753.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:54.041Z,1613480754.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:54.871Z,1613480754.871 [Micromodem](INFO): Nmea in: $SNTTA,0.068053,,,,130555.06*49

2021-02-16T13:05:54.896Z,1613480754.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 266.634739 deg, deltaT: 4.451074 s, approachRate: -0.444836 m/s, LOS rate: -1.199515 deg/s, posRepo size: 4
2021-02-16T13:05:54.898Z,1613480754.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 266.634739 deg,
      approachRate: -0.444836 m/s,
      LOS rate: -1.199515 deg/s,
      cmd update: -3.598546 deg/s,
      cmd heading: 285.849784 deg,
      new cmd heading: 288.388774 deg.

2021-02-16T13:05:57.298Z,1613480757.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:05:58.085Z,1613480758.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:05:58.474Z,1613480758.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:05:59.308Z,1613480759.308 [Micromodem](INFO): Nmea in: $SNTTA,0.066542,,,,130559.51*4C

2021-02-16T13:05:59.384Z,1613480759.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 263.961212 deg, deltaT: 4.451684 s, approachRate: -0.525645 m/s, LOS rate: -0.600565 deg/s, posRepo size: 4
2021-02-16T13:05:59.386Z,1613480759.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 263.961212 deg,
      approachRate: -0.525645 m/s,
      LOS rate: -0.600565 deg/s,
      cmd update: -1.801696 deg/s,
      cmd heading: 269.920884 deg,
      new cmd heading: 268.199321 deg.

2021-02-16T13:06:01.731Z,1613480761.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:02.512Z,1613480762.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:02.918Z,1613480762.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:03.740Z,1613480763.740 [Micromodem](INFO): Nmea in: $SNTTA,0.064742,,,,130603.94*49

2021-02-16T13:06:03.796Z,1613480763.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 264.493338 deg, deltaT: 4.463979 s, approachRate: -0.564520 m/s, LOS rate: 0.119205 deg/s, posRepo size: 4
2021-02-16T13:06:03.797Z,1613480763.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.899994 m,
      bearing: 264.493338 deg,
      approachRate: -0.564520 m/s,
      LOS rate: 0.119205 deg/s,
      cmd update: 0.357613 deg/s,
      cmd heading: 261.844170 deg,
      new cmd heading: 261.121697 deg.

2021-02-16T13:06:06.194Z,1613480766.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:06.956Z,1613480766.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:07.397Z,1613480767.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:08.191Z,1613480768.191 [Micromodem](INFO): Nmea in: $SNTTA,0.062951,,,,130608.39*4F

2021-02-16T13:06:08.221Z,1613480768.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 264.014733 deg, deltaT: 4.412500 s, approachRate: -0.598298 m/s, LOS rate: -0.108466 deg/s, posRepo size: 4
2021-02-16T13:06:08.224Z,1613480768.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.260002 m,
      bearing: 264.014733 deg,
      approachRate: -0.598298 m/s,
      LOS rate: -0.108466 deg/s,
      cmd update: -0.325397 deg/s,
      cmd heading: 263.421880 deg,
      new cmd heading: 263.572204 deg.

2021-02-16T13:06:10.638Z,1613480770.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:11.427Z,1613480771.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:11.840Z,1613480771.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:12.648Z,1613480772.648 [Micromodem](INFO): Nmea in: $SNTTA,0.061126,,,,130612.86*4B

2021-02-16T13:06:12.673Z,1613480772.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 263.694397 deg, deltaT: 4.435530 s, approachRate: -0.622247 m/s, LOS rate: -0.072220 deg/s, posRepo size: 4
2021-02-16T13:06:12.674Z,1613480772.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.500008 m,
      bearing: 263.694397 deg,
      approachRate: -0.622247 m/s,
      LOS rate: -0.072220 deg/s,
      cmd update: -0.216661 deg/s,
      cmd heading: 261.976785 deg,
      new cmd heading: 261.836553 deg.

2021-02-16T13:06:15.067Z,1613480775.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:15.857Z,1613480775.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:16.258Z,1613480776.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:17.092Z,1613480777.092 [Micromodem](INFO): Nmea in: $SNTTA,0.059418,,,,130617.29*48

2021-02-16T13:06:17.137Z,1613480777.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 263.934683 deg, deltaT: 4.434479 s, approachRate: -0.581807 m/s, LOS rate: 0.054186 deg/s, posRepo size: 4
2021-02-16T13:06:17.139Z,1613480777.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 263.934683 deg,
      approachRate: -0.581807 m/s,
      LOS rate: 0.054186 deg/s,
      cmd update: 0.162558 deg/s,
      cmd heading: 261.015655 deg,
      new cmd heading: 260.916051 deg.

2021-02-16T13:06:19.542Z,1613480779.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:20.288Z,1613480780.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:20.701Z,1613480780.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:21.527Z,1613480781.527 [Micromodem](INFO): Nmea in: $SNTTA,0.057486,,,,130621.72*4A

2021-02-16T13:06:21.556Z,1613480781.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.040001 m, bearing: 264.269008 deg, deltaT: 4.455800 s, approachRate: -0.646348 m/s, LOS rate: 0.075031 deg/s, posRepo size: 4
2021-02-16T13:06:21.557Z,1613480781.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.040001 m,
      bearing: 264.269008 deg,
      approachRate: -0.646348 m/s,
      LOS rate: 0.075031 deg/s,
      cmd update: 0.225094 deg/s,
      cmd heading: 261.739972 deg,
      new cmd heading: 261.808558 deg.

2021-02-16T13:06:23.950Z,1613480783.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:24.734Z,1613480784.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:25.137Z,1613480785.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:25.980Z,1613480785.980 [Micromodem](INFO): Nmea in: $SNTTA,0.055850,,,,130626.16*4A

2021-02-16T13:06:26.012Z,1613480786.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.580002 m, bearing: 264.174614 deg, deltaT: 4.434405 s, approachRate: -0.554753 m/s, LOS rate: -0.021287 deg/s, posRepo size: 4
2021-02-16T13:06:26.013Z,1613480786.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.580002 m,
      bearing: 264.174614 deg,
      approachRate: -0.554753 m/s,
      LOS rate: -0.021287 deg/s,
      cmd update: -0.063860 deg/s,
      cmd heading: 262.738136 deg,
      new cmd heading: 262.837944 deg.

2021-02-16T13:06:28.424Z,1613480788.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:29.182Z,1613480789.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:29.604Z,1613480789.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:29.695Z,1613480789.695 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T13:06:29.696Z,1613480789.696 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T13:06:29.696Z,1613480789.696 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T13:06:29.836Z,1613480789.836 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T13:06:30.071Z,1613480790.071 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T13:06:30.408Z,1613480790.408 [Micromodem](INFO): Nmea in: $SNTTA,0.054044,,,,130630.61*41

2021-02-16T13:06:30.445Z,1613480790.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 264.204913 deg, deltaT: 4.522518 s, approachRate: -0.597012 m/s, LOS rate: 0.006700 deg/s, posRepo size: 4
2021-02-16T13:06:30.446Z,1613480790.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.880005 m,
      bearing: 264.204913 deg,
      approachRate: -0.597012 m/s,
      LOS rate: 0.006700 deg/s,
      cmd update: 0.020099 deg/s,
      cmd heading: 262.449331 deg,
      new cmd heading: 262.426715 deg.

2021-02-16T13:06:30.979Z,1613480790.979 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T13:06:30.979Z,1613480790.979 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T13:06:32.902Z,1613480792.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:33.627Z,1613480793.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:34.026Z,1613480794.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:34.868Z,1613480794.868 [Micromodem](INFO): Nmea in: $SNTTA,0.052329,,,,130635.06*4B

2021-02-16T13:06:34.893Z,1613480794.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 264.185761 deg, deltaT: 4.367950 s, approachRate: -0.590667 m/s, LOS rate: -0.004385 deg/s, posRepo size: 4
2021-02-16T13:06:34.895Z,1613480794.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 264.185761 deg,
      approachRate: -0.590667 m/s,
      LOS rate: -0.004385 deg/s,
      cmd update: -0.013154 deg/s,
      cmd heading: 262.536797 deg,
      new cmd heading: 262.545856 deg.

2021-02-16T13:06:37.289Z,1613480797.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:38.069Z,1613480798.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:38.470Z,1613480798.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:39.296Z,1613480799.296 [Micromodem](INFO): Nmea in: $SNTTA,0.050573,,,,130639.50*4F

2021-02-16T13:06:39.338Z,1613480799.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.659996 m, bearing: 263.725652 deg, deltaT: 4.458141 s, approachRate: -0.592177 m/s, LOS rate: -0.103206 deg/s, posRepo size: 4
2021-02-16T13:06:39.340Z,1613480799.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.659996 m,
      bearing: 263.725652 deg,
      approachRate: -0.592177 m/s,
      LOS rate: -0.103206 deg/s,
      cmd update: -0.309619 deg/s,
      cmd heading: 262.477996 deg,
      new cmd heading: 262.472397 deg.

2021-02-16T13:06:41.721Z,1613480801.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:42.516Z,1613480802.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:42.914Z,1613480802.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:43.745Z,1613480803.745 [Micromodem](INFO): Nmea in: $SNTTA,0.048717,0.050723,,,130643.95*5F

2021-02-16T13:06:43.782Z,1613480803.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.900002 m, bearing: 262.967447 deg, deltaT: 4.413677 s, approachRate: -0.625328 m/s, LOS rate: -0.171785 deg/s, posRepo size: 4
2021-02-16T13:06:43.784Z,1613480803.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.900002 m,
      bearing: 262.967447 deg,
      approachRate: -0.625328 m/s,
      LOS rate: -0.171785 deg/s,
      cmd update: -0.515356 deg/s,
      cmd heading: 261.110199 deg,
      new cmd heading: 260.970318 deg.

2021-02-16T13:06:46.198Z,1613480806.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:46.957Z,1613480806.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:47.358Z,1613480807.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:47.380Z,1613480807.380 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T13:06:48.184Z,1613480808.184 [Micromodem](INFO): Nmea in: $SNTTA,0.046953,,,,130648.39*4F

2021-02-16T13:06:48.239Z,1613480808.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.260010 m, bearing: 262.599163 deg, deltaT: 4.499057 s, approachRate: -0.586788 m/s, LOS rate: -0.081858 deg/s, posRepo size: 4
2021-02-16T13:06:48.242Z,1613480808.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 262.599163 deg,
      approachRate: -0.586788 m/s,
      LOS rate: -0.081858 deg/s,
      cmd update: -0.245574 deg/s,
      cmd heading: 258.804854 deg,
      new cmd heading: 258.580908 deg.

2021-02-16T13:06:50.609Z,1613480810.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:51.402Z,1613480811.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:51.828Z,1613480811.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:52.632Z,1613480812.632 [Micromodem](INFO): Nmea in: $SNTTA,0.045264,,0.055290,,130652.83*5C

2021-02-16T13:06:52.670Z,1613480812.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.680000 m, bearing: 262.068648 deg, deltaT: 4.435079 s, approachRate: -0.581728 m/s, LOS rate: -0.119618 deg/s, posRepo size: 4
2021-02-16T13:06:52.672Z,1613480812.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.680000 m,
      bearing: 262.068648 deg,
      approachRate: -0.581728 m/s,
      LOS rate: -0.119618 deg/s,
      cmd update: -0.358853 deg/s,
      cmd heading: 257.711543 deg,
      new cmd heading: 257.609712 deg.

2021-02-16T13:06:55.132Z,1613480815.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:06:55.874Z,1613480815.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:06:56.262Z,1613480816.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:06:57.132Z,1613480817.132 [Micromodem](INFO): Nmea in: $SNTTA,0.043444,,,,130657.30*46

2021-02-16T13:06:57.161Z,1613480817.161 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:06:57.174Z,1613480817.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.980003 m, bearing: 262.594600 deg, deltaT: 4.418036 s, approachRate: -0.611131 m/s, LOS rate: 0.119047 deg/s, posRepo size: 4
2021-02-16T13:06:57.176Z,1613480817.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.980003 m,
      bearing: 262.594600 deg,
      approachRate: -0.611131 m/s,
      LOS rate: 0.119047 deg/s,
      cmd update: 0.357140 deg/s,
      cmd heading: 256.130145 deg,
      new cmd heading: 255.946520 deg.

2021-02-16T13:06:59.508Z,1613480819.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:00.289Z,1613480820.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:00.694Z,1613480820.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:01.520Z,1613480821.520 [Micromodem](INFO): Nmea in: $SNTTA,0.041674,,,,130701.72*41

2021-02-16T13:07:01.566Z,1613480821.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 263.196559 deg, deltaT: 4.477139 s, approachRate: -0.603065 m/s, LOS rate: 0.134452 deg/s, posRepo size: 4
2021-02-16T13:07:01.572Z,1613480821.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.279999 m,
      bearing: 263.196559 deg,
      approachRate: -0.603065 m/s,
      LOS rate: 0.134452 deg/s,
      cmd update: 0.403355 deg/s,
      cmd heading: 257.736262 deg,
      new cmd heading: 257.881554 deg.

2021-02-16T13:07:02.344Z,1613480822.344 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:07:03.951Z,1613480823.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:04.728Z,1613480824.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:05.133Z,1613480825.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:05.964Z,1613480825.964 [Micromodem](INFO): Nmea in: $SNTTA,0.039974,,,,130706.16*44

2021-02-16T13:07:05.989Z,1613480825.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.700005 m, bearing: 263.859196 deg, deltaT: 4.396801 s, approachRate: -0.586789 m/s, LOS rate: 0.150709 deg/s, posRepo size: 4
2021-02-16T13:07:05.991Z,1613480825.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.700005 m,
      bearing: 263.859196 deg,
      approachRate: -0.586789 m/s,
      LOS rate: 0.150709 deg/s,
      cmd update: 0.452127 deg/s,
      cmd heading: 259.509643 deg,
      new cmd heading: 259.684352 deg.

2021-02-16T13:07:08.390Z,1613480828.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:09.180Z,1613480829.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:09.578Z,1613480829.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:10.424Z,1613480830.424 [Micromodem](INFO): Nmea in: $SNTTA,0.038142,,,,130710.61*4F

2021-02-16T13:07:10.458Z,1613480830.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.000004 m, bearing: 264.041180 deg, deltaT: 4.474283 s, approachRate: -0.603449 m/s, LOS rate: 0.040673 deg/s, posRepo size: 4
2021-02-16T13:07:10.460Z,1613480830.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.000004 m,
      bearing: 264.041180 deg,
      approachRate: -0.603449 m/s,
      LOS rate: 0.040673 deg/s,
      cmd update: 0.122020 deg/s,
      cmd heading: 261.532680 deg,
      new cmd heading: 261.725858 deg.

2021-02-16T13:07:12.440Z,1613480832.440 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:07:12.877Z,1613480832.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:13.616Z,1613480833.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:14.031Z,1613480834.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:14.872Z,1613480834.872 [Micromodem](INFO): Nmea in: $SNTTA,0.036351,,0.037482,,130715.04*53

2021-02-16T13:07:14.926Z,1613480834.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 264.155380 deg, deltaT: 4.428243 s, approachRate: -0.596176 m/s, LOS rate: 0.025789 deg/s, posRepo size: 4
2021-02-16T13:07:14.932Z,1613480834.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 264.155380 deg,
      approachRate: -0.596176 m/s,
      LOS rate: 0.025789 deg/s,
      cmd update: 0.077368 deg/s,
      cmd heading: 262.073012 deg,
      new cmd heading: 262.130022 deg.

2021-02-16T13:07:17.265Z,1613480837.265 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:07:17.313Z,1613480837.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:18.066Z,1613480838.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:18.484Z,1613480838.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:19.300Z,1613480839.300 [Micromodem](INFO): Nmea in: $SNTTA,0.034571,,0.053527,,130719.50*54

2021-02-16T13:07:19.339Z,1613480839.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.660004 m, bearing: 264.176062 deg, deltaT: 4.459096 s, approachRate: -0.605501 m/s, LOS rate: 0.004638 deg/s, posRepo size: 4
2021-02-16T13:07:19.341Z,1613480839.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 264.176062 deg,
      approachRate: -0.605501 m/s,
      LOS rate: 0.004638 deg/s,
      cmd update: 0.013914 deg/s,
      cmd heading: 262.418003 deg,
      new cmd heading: 262.450557 deg.

2021-02-16T13:07:21.719Z,1613480841.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:22.181Z,1613480842.181 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T13:07:22.504Z,1613480842.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:22.914Z,1613480842.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:23.750Z,1613480843.750 [Micromodem](INFO): Nmea in: $SNTTA,0.032780,,,,130723.93*40

2021-02-16T13:07:23.784Z,1613480843.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 263.728412 deg, deltaT: 4.433796 s, approachRate: -0.608959 m/s, LOS rate: -0.100963 deg/s, posRepo size: 4
2021-02-16T13:07:23.785Z,1613480843.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.960003 m,
      bearing: 263.728412 deg,
      approachRate: -0.608959 m/s,
      LOS rate: -0.100963 deg/s,
      cmd update: -0.302890 deg/s,
      cmd heading: 262.479697 deg,
      new cmd heading: 262.485648 deg.

2021-02-16T13:07:26.177Z,1613480846.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:26.961Z,1613480846.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:27.359Z,1613480847.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:28.184Z,1613480848.184 [Micromodem](INFO): Nmea in: $SNTTA,0.031099,,,,130728.39*47

2021-02-16T13:07:28.206Z,1613480848.206 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:07:28.219Z,1613480848.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.439999 m, bearing: 263.615959 deg, deltaT: 4.430617 s, approachRate: -0.568771 m/s, LOS rate: -0.025381 deg/s, posRepo size: 4
2021-02-16T13:07:28.221Z,1613480848.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.439999 m,
      bearing: 263.615959 deg,
      approachRate: -0.568771 m/s,
      LOS rate: -0.025381 deg/s,
      cmd update: -0.076142 deg/s,
      cmd heading: 261.137715 deg,
      new cmd heading: 261.005516 deg.

2021-02-16T13:07:30.599Z,1613480850.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:31.397Z,1613480851.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:31.802Z,1613480851.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:32.640Z,1613480852.640 [Micromodem](INFO): Nmea in: $SNTTA,0.029249,,,,130732.83*4B

2021-02-16T13:07:32.662Z,1613480852.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.680000 m, bearing: 263.024984 deg, deltaT: 4.496337 s, approachRate: -0.613833 m/s, LOS rate: -0.131435 deg/s, posRepo size: 4
2021-02-16T13:07:32.664Z,1613480852.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.680000 m,
      bearing: 263.024984 deg,
      approachRate: -0.613833 m/s,
      LOS rate: -0.131435 deg/s,
      cmd update: -0.394304 deg/s,
      cmd heading: 260.795668 deg,
      new cmd heading: 260.766143 deg.

2021-02-16T13:07:34.792Z,1613480854.792 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:35.451Z,1613480855.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:35.883Z,1613480855.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:36.676Z,1613480856.676 [Micromodem](INFO): Nmea in: $SNTTA,0.027677,0.043365,,,130736.88*5A

2021-02-16T13:07:36.698Z,1613480856.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.279999 m, bearing: 264.327173 deg, deltaT: 3.997806 s, approachRate: -0.600330 m/s, LOS rate: 0.325726 deg/s, posRepo size: 4
2021-02-16T13:07:36.700Z,1613480856.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.279999 m,
      bearing: 264.327173 deg,
      approachRate: -0.600330 m/s,
      LOS rate: 0.325726 deg/s,
      cmd update: 0.977178 deg/s,
      cmd heading: 259.217682 deg,
      new cmd heading: 259.051338 deg.

2021-02-16T13:07:37.136Z,1613480857.136 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:07:39.161Z,1613480859.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:39.897Z,1613480859.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:40.287Z,1613480860.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:41.128Z,1613480861.128 [Micromodem](INFO): Nmea in: $SNTTA,0.025885,,,,130741.33*42

2021-02-16T13:07:41.162Z,1613480861.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.579998 m, bearing: 263.442199 deg, deltaT: 4.468171 s, approachRate: -0.604274 m/s, LOS rate: -0.198062 deg/s, posRepo size: 4
2021-02-16T13:07:41.163Z,1613480861.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.58 m.
2021-02-16T13:07:41.165Z,1613480861.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.579998 m,
      bearing: 263.442199 deg,
      approachRate: -0.604274 m/s,
      LOS rate: -0.198062 deg/s,
      cmd update: -0.594185 deg/s,
      cmd heading: 263.579948 deg,
      new cmd heading: 263.991987 deg.

2021-02-16T13:07:41.505Z,1613480861.505 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:07:42.328Z,1613480862.328 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:07:43.529Z,1613480863.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:44.326Z,1613480864.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:44.748Z,1613480864.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:45.552Z,1613480865.552 [Micromodem](INFO): Nmea in: $SNTTA,0.024288,,,,130745.76*41

2021-02-16T13:07:45.574Z,1613480865.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.239998 m, bearing: 265.386099 deg, deltaT: 4.459692 s, approachRate: -0.524700 m/s, LOS rate: 0.435882 deg/s, posRepo size: 4
2021-02-16T13:07:45.574Z,1613480865.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.24 m.
2021-02-16T13:07:45.575Z,1613480865.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.24 m.
2021-02-16T13:07:45.575Z,1613480865.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:07:45.577Z,1613480865.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.239998 m,
      bearing: 265.386099 deg,
      approachRate: -0.524700 m/s,
      LOS rate: 0.435882 deg/s,
      cmd update: 1.307646 deg/s,
      cmd heading: 260.930058 deg,
      new cmd heading: 260.708130 deg.

2021-02-16T13:07:47.984Z,1613480867.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:48.764Z,1613480868.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:49.197Z,1613480869.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:49.996Z,1613480869.996 [Micromodem](INFO): Nmea in: $SNTTA,0.022565,,,,130750.19*4E

2021-02-16T13:07:50.086Z,1613480870.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.600002 m, bearing: 265.085898 deg, deltaT: 4.383038 s, approachRate: -0.602321 m/s, LOS rate: -0.068491 deg/s, posRepo size: 4
2021-02-16T13:07:50.099Z,1613480870.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.600002 m,
      bearing: 265.085898 deg,
      approachRate: -0.602321 m/s,
      LOS rate: -0.068491 deg/s,
      cmd update: -0.205474 deg/s,
      cmd heading: 266.666731 deg,
      new cmd heading: 267.308848 deg.

2021-02-16T13:07:52.113Z,1613480872.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:52.809Z,1613480872.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:53.218Z,1613480873.218 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:54.040Z,1613480874.040 [Micromodem](INFO): Nmea in: $SNTTA,0.020901,,,,130754.24*48

2021-02-16T13:07:54.066Z,1613480874.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 263.272346 deg, deltaT: 4.047422 s, approachRate: -0.607795 m/s, LOS rate: -0.448076 deg/s, posRepo size: 4
2021-02-16T13:07:54.068Z,1613480874.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.139997 m,
      bearing: 263.272346 deg,
      approachRate: -0.607795 m/s,
      LOS rate: -0.448076 deg/s,
      cmd update: -1.344227 deg/s,
      cmd heading: 265.835112 deg,
      new cmd heading: 265.746523 deg.

2021-02-16T13:07:56.481Z,1613480876.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:07:57.255Z,1613480877.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:07:57.314Z,1613480877.314 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:07:57.666Z,1613480877.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:07:58.491Z,1613480878.491 [Micromodem](INFO): Nmea in: $SNTTA,0.019147,,,,130758.69*4D

2021-02-16T13:07:58.510Z,1613480878.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.500000 m, bearing: 262.183997 deg, deltaT: 4.509039 s, approachRate: -0.585490 m/s, LOS rate: -0.241371 deg/s, posRepo size: 4
2021-02-16T13:07:58.512Z,1613480878.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.500000 m,
      bearing: 262.183997 deg,
      approachRate: -0.585490 m/s,
      LOS rate: -0.241371 deg/s,
      cmd update: -0.724112 deg/s,
      cmd heading: 259.773784 deg,
      new cmd heading: 259.281126 deg.

2021-02-16T13:08:00.916Z,1613480880.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:01.697Z,1613480881.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:02.128Z,1613480882.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:02.924Z,1613480882.924 [Micromodem](INFO): Nmea in: $SNTTA,0.017273,,,,130803.13*4B

2021-02-16T13:08:03.011Z,1613480883.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 262.816964 deg, deltaT: 4.394992 s, approachRate: -0.641640 m/s, LOS rate: 0.144020 deg/s, posRepo size: 4
2021-02-16T13:08:03.013Z,1613480883.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 262.816964 deg,
      approachRate: -0.641640 m/s,
      LOS rate: 0.144020 deg/s,
      cmd update: 0.432060 deg/s,
      cmd heading: 256.594328 deg,
      new cmd heading: 256.252421 deg.

2021-02-16T13:08:05.362Z,1613480885.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:06.144Z,1613480886.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:06.542Z,1613480886.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:07.380Z,1613480887.380 [Micromodem](INFO): Nmea in: $SNTTA,0.015528,,,,130807.57*44

2021-02-16T13:08:07.405Z,1613480887.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.099997 m, bearing: 262.475045 deg, deltaT: 4.436122 s, approachRate: -0.581589 m/s, LOS rate: -0.077076 deg/s, posRepo size: 4
2021-02-16T13:08:07.407Z,1613480887.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.099997 m,
      bearing: 262.475045 deg,
      approachRate: -0.581589 m/s,
      LOS rate: -0.077076 deg/s,
      cmd update: -0.231228 deg/s,
      cmd heading: 258.512712 deg,
      new cmd heading: 258.698621 deg.

2021-02-16T13:08:09.802Z,1613480889.802 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:10.599Z,1613480890.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:10.989Z,1613480890.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:11.853Z,1613480891.853 [Micromodem](INFO): Nmea in: $SNTTA,0.013669,,0.115244,,130812.03*58

2021-02-16T13:08:11.878Z,1613480891.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 263.268904 deg, deltaT: 4.440703 s, approachRate: -0.635034 m/s, LOS rate: 0.178769 deg/s, posRepo size: 4
2021-02-16T13:08:11.880Z,1613480891.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.280001 m,
      bearing: 263.268904 deg,
      approachRate: -0.635034 m/s,
      LOS rate: 0.178769 deg/s,
      cmd update: 0.536306 deg/s,
      cmd heading: 257.486282 deg,
      new cmd heading: 257.378859 deg.

2021-02-16T13:08:14.290Z,1613480894.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:15.030Z,1613480895.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:15.431Z,1613480895.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:16.261Z,1613480896.261 [Micromodem](INFO): Nmea in: $SNTTA,0.011978,,,,130816.46*49

2021-02-16T13:08:16.313Z,1613480896.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.700001 m, bearing: 263.609430 deg, deltaT: 4.482521 s, approachRate: -0.575569 m/s, LOS rate: 0.075967 deg/s, posRepo size: 4
2021-02-16T13:08:16.319Z,1613480896.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.700001 m,
      bearing: 263.609430 deg,
      approachRate: -0.575569 m/s,
      LOS rate: 0.075967 deg/s,
      cmd update: 0.227902 deg/s,
      cmd heading: 259.891226 deg,
      new cmd heading: 260.113788 deg.

2021-02-16T13:08:18.692Z,1613480898.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:19.468Z,1613480899.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:19.874Z,1613480899.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:20.696Z,1613480900.696 [Micromodem](INFO): Nmea in: $SNTTA,0.010258,,,,130820.90*4F

2021-02-16T13:08:20.738Z,1613480900.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 261.810467 deg, deltaT: 4.422375 s, approachRate: -0.583397 m/s, LOS rate: -0.406787 deg/s, posRepo size: 4
2021-02-16T13:08:20.744Z,1613480900.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.120001 m,
      bearing: 261.810467 deg,
      approachRate: -0.583397 m/s,
      LOS rate: -0.406787 deg/s,
      cmd update: -1.220360 deg/s,
      cmd heading: 260.898220 deg,
      new cmd heading: 260.994357 deg.

2021-02-16T13:08:23.193Z,1613480903.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:23.912Z,1613480903.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:24.317Z,1613480904.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:25.144Z,1613480905.144 [Micromodem](INFO): Nmea in: $SNTTA,0.008668,,,,130825.34*4A

2021-02-16T13:08:25.203Z,1613480905.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 261.594415 deg, deltaT: 4.441444 s, approachRate: -0.526857 m/s, LOS rate: -0.048645 deg/s, posRepo size: 4
2021-02-16T13:08:25.205Z,1613480905.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 261.594415 deg,
      approachRate: -0.526857 m/s,
      LOS rate: -0.048645 deg/s,
      cmd update: -0.145934 deg/s,
      cmd heading: 255.499967 deg,
      new cmd heading: 254.936966 deg.

2021-02-16T13:08:27.581Z,1613480907.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:28.361Z,1613480908.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:28.780Z,1613480908.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:29.592Z,1613480909.592 [Micromodem](INFO): Nmea in: $SNTTA,0.007060,,0.038429,,130829.79*54

2021-02-16T13:08:29.630Z,1613480909.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.380001 m, bearing: 262.035126 deg, deltaT: 4.465918 s, approachRate: -0.537403 m/s, LOS rate: 0.098683 deg/s, posRepo size: 4
2021-02-16T13:08:29.632Z,1613480909.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.380001 m,
      bearing: 262.035126 deg,
      approachRate: -0.537403 m/s,
      LOS rate: 0.098683 deg/s,
      cmd update: 0.296050 deg/s,
      cmd heading: 254.845357 deg,
      new cmd heading: 254.786380 deg.

2021-02-16T13:08:32.035Z,1613480912.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:32.817Z,1613480912.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:33.217Z,1613480913.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:34.040Z,1613480914.040 [Micromodem](INFO): Nmea in: $SNTTA,0.005503,,,,130834.25*49

2021-02-16T13:08:34.131Z,1613480914.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 258.170769 deg, deltaT: 4.424480 s, approachRate: -0.528876 m/s, LOS rate: -0.873404 deg/s, posRepo size: 4
2021-02-16T13:08:34.133Z,1613480914.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 258.170769 deg,
      approachRate: -0.528876 m/s,
      LOS rate: -0.873404 deg/s,
      cmd update: -2.620211 deg/s,
      cmd heading: 256.154677 deg,
      new cmd heading: 256.296409 deg.

2021-02-16T13:08:36.481Z,1613480916.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:37.269Z,1613480917.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:37.650Z,1613480917.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:38.484Z,1613480918.484 [Micromodem](INFO): Nmea in: $SNTTA,0.004357,,,,130838.70*43

2021-02-16T13:08:38.518Z,1613480918.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 257.870541 deg, deltaT: 4.510584 s, approachRate: -0.385759 m/s, LOS rate: -0.066561 deg/s, posRepo size: 4
2021-02-16T13:08:38.520Z,1613480918.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 257.870541 deg,
      approachRate: -0.385759 m/s,
      LOS rate: -0.066561 deg/s,
      cmd update: -0.199682 deg/s,
      cmd heading: 244.335924 deg,
      new cmd heading: 243.393728 deg.

2021-02-16T13:08:40.929Z,1613480920.929 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:41.689Z,1613480921.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:42.146Z,1613480922.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:42.924Z,1613480922.924 [Micromodem](INFO): Nmea in: $SNTTA,0.003024,,,0.008031,130843.12*5F

2021-02-16T13:08:42.980Z,1613480922.980 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.380000 m 
2021-02-16T13:08:42.981Z,1613480922.981 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:08:42.982Z,1613480922.982 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:08:42.982Z,1613480922.982 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:08:42.988Z,1613480922.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 275.879182 deg, deltaT: 4.348553 s, approachRate: -0.441526 m/s, LOS rate: 4.141295 deg/s, posRepo size: 4
2021-02-16T13:08:42.990Z,1613480922.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 275.879182 deg,
      approachRate: -0.441526 m/s,
      LOS rate: 4.141295 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.466848 deg,
      new cmd heading: 243.372485 deg.

2021-02-16T13:08:43.350Z,1613480923.350 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T130843: (41.552319, -70.708603)
2021-02-16T13:08:43.350Z,1613480923.350 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:08:43.351Z,1613480923.351 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:08:45.358Z,1613480925.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:46.138Z,1613480926.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:46.540Z,1613480926.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:47.364Z,1613480927.364 [Micromodem](INFO): Nmea in: $SNTTA,0.002660,,,,130847.57*49

2021-02-16T13:08:47.389Z,1613480927.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 249.704121 deg, deltaT: 4.460227 s, approachRate: -0.067261 m/s, LOS rate: -5.868549 deg/s, posRepo size: 4
2021-02-16T13:08:47.391Z,1613480927.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 249.704121 deg,
      approachRate: -0.067261 m/s,
      LOS rate: -5.868549 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 296.992442 deg,
      new cmd heading: 302.002742 deg.

2021-02-16T13:08:49.799Z,1613480929.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:50.576Z,1613480930.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:50.981Z,1613480930.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:51.828Z,1613480931.828 [Micromodem](INFO): Nmea in: $SNTTA,0.003519,,,,130852.00*43

2021-02-16T13:08:51.878Z,1613480931.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.220001 m, bearing: 215.032756 deg, deltaT: 4.455035 s, approachRate: 0.255890 m/s, LOS rate: -7.782512 deg/s, posRepo size: 4
2021-02-16T13:08:51.884Z,1613480931.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 215.032756 deg,
      approachRate: 0.255890 m/s,
      LOS rate: -7.782512 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.531984 deg,
      new cmd heading: 238.112868 deg.

2021-02-16T13:08:54.276Z,1613480934.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:55.022Z,1613480935.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:55.445Z,1613480935.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:08:56.257Z,1613480936.257 [Micromodem](INFO): Nmea in: $SNTTA,0.004404,,,,130856.45*4C

2021-02-16T13:08:56.313Z,1613480936.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.779999 m, bearing: 236.190756 deg, deltaT: 4.462044 s, approachRate: 0.349615 m/s, LOS rate: 4.741773 deg/s, posRepo size: 4
2021-02-16T13:08:56.319Z,1613480936.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.779999 m,
      bearing: 236.190756 deg,
      approachRate: 0.349615 m/s,
      LOS rate: 4.741773 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.987370 deg,
      new cmd heading: 184.892542 deg.

2021-02-16T13:08:58.672Z,1613480938.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:08:59.486Z,1613480939.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:08:59.873Z,1613480939.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:00.715Z,1613480940.715 [Micromodem](INFO): Nmea in: $SNTTA,0.008069,,,,130900.92*47

2021-02-16T13:09:00.734Z,1613480940.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 272.187546 deg, deltaT: 4.429973 s, approachRate: 0.772015 m/s, LOS rate: 8.125736 deg/s, posRepo size: 4
2021-02-16T13:09:00.736Z,1613480940.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 272.187546 deg,
      approachRate: 0.772015 m/s,
      LOS rate: 8.125736 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.146748 deg,
      new cmd heading: 248.130912 deg.

2021-02-16T13:09:03.149Z,1613480943.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:03.908Z,1613480943.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:04.315Z,1613480944.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:05.136Z,1613480945.136 [Micromodem](INFO): Nmea in: $SNTTA,0.009399,,,,130905.34*43

2021-02-16T13:09:05.170Z,1613480945.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 247.821010 deg, deltaT: 4.429535 s, approachRate: 0.487636 m/s, LOS rate: -5.500924 deg/s, posRepo size: 4
2021-02-16T13:09:05.191Z,1613480945.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.36 m. Rolling out.
2021-02-16T13:09:05.191Z,1613480945.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:09:07.338Z,1613480947.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:07.949Z,1613480947.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:08.364Z,1613480948.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:09.176Z,1613480949.176 [Micromodem](INFO): Nmea in: $SNTTA,0.008550,,,,130909.38*41

2021-02-16T13:09:09.236Z,1613480949.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.960001 m, bearing: 249.263328 deg, deltaT: 4.038035 s, approachRate: 0.148587 m/s, LOS rate: 0.357183 deg/s, posRepo size: 4
2021-02-16T13:09:11.601Z,1613480951.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:12.397Z,1613480952.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:12.802Z,1613480952.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:13.624Z,1613480953.624 [Micromodem](INFO): Nmea in: $SNTTA,0.044584,,,,130913.83*4B

2021-02-16T13:09:13.670Z,1613480953.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.120001 m, bearing: 265.986418 deg, deltaT: 4.496646 s, approachRate: 0.480358 m/s, LOS rate: 3.719014 deg/s, posRepo size: 4
2021-02-16T13:09:16.028Z,1613480956.028 [PowerOnly](INFO): Powering down loadControl
2021-02-16T13:09:16.110Z,1613480956.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:16.855Z,1613480956.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:17.252Z,1613480957.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:18.084Z,1613480958.084 [Micromodem](INFO): Nmea in: $SNTTA,0.011831,,,,130918.28*42

2021-02-16T13:09:18.168Z,1613480958.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 311.125307 deg, deltaT: 4.375150 s, approachRate: 0.534838 m/s, LOS rate: 10.317107 deg/s, posRepo size: 4
2021-02-16T13:09:20.512Z,1613480960.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:21.294Z,1613480961.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:21.686Z,1613480961.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:22.520Z,1613480962.520 [Micromodem](INFO): Nmea in: $SNTTA,0.012966,,,,130922.72*44

2021-02-16T13:09:22.542Z,1613480962.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.440001 m, bearing: 269.362498 deg, deltaT: 4.493668 s, approachRate: 0.440620 m/s, LOS rate: -9.293702 deg/s, posRepo size: 4
2021-02-16T13:09:24.692Z,1613480964.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:25.332Z,1613480965.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:25.743Z,1613480965.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:26.556Z,1613480966.556 [Micromodem](INFO): Nmea in: $SNTTA,0.013787,,,,130926.76*44

2021-02-16T13:09:26.589Z,1613480966.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.700001 m, bearing: 270.541635 deg, deltaT: 4.111781 s, approachRate: 0.306437 m/s, LOS rate: 0.286770 deg/s, posRepo size: 4
2021-02-16T13:09:29.005Z,1613480969.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:29.770Z,1613480969.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:30.183Z,1613480970.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:31.004Z,1613480971.004 [Micromodem](INFO): Nmea in: $SNTTA,0.015597,,,,130931.20*44

2021-02-16T13:09:31.028Z,1613480971.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 327.027026 deg, deltaT: 4.323966 s, approachRate: 0.610550 m/s, LOS rate: 13.063329 deg/s, posRepo size: 4
2021-02-16T13:09:33.460Z,1613480973.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:34.231Z,1613480974.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:34.614Z,1613480974.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:35.456Z,1613480975.456 [Micromodem](INFO): Nmea in: $SNTTA,0.017102,,,0.064353,130935.66*51

2021-02-16T13:09:35.492Z,1613480975.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 327.856757 deg, deltaT: 4.473822 s, approachRate: 0.469398 m/s, LOS rate: 0.185464 deg/s, posRepo size: 4
2021-02-16T13:09:37.890Z,1613480977.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:38.657Z,1613480978.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:39.061Z,1613480979.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:39.884Z,1613480979.884 [Micromodem](INFO): Nmea in: $SNTTA,0.018801,,,,130940.09*46

2021-02-16T13:09:39.923Z,1613480979.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 330.027391 deg, deltaT: 4.440265 s, approachRate: 0.567533 m/s, LOS rate: 0.488852 deg/s, posRepo size: 4
2021-02-16T13:09:42.322Z,1613480982.322 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:43.112Z,1613480983.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:43.507Z,1613480983.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:44.336Z,1613480984.336 [Micromodem](INFO): Nmea in: $SNTTA,0.022603,,,,130944.54*4F

2021-02-16T13:09:44.388Z,1613480984.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 324.646596 deg, deltaT: 4.442716 s, approachRate: 0.540210 m/s, LOS rate: -1.211150 deg/s, posRepo size: 4
2021-02-16T13:09:46.747Z,1613480986.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:47.541Z,1613480987.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:47.958Z,1613480987.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:48.772Z,1613480988.772 [Micromodem](INFO): Nmea in: $SNTTA,0.024261,,,,130948.97*4A

2021-02-16T13:09:48.809Z,1613480988.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.060001 m, bearing: 324.925568 deg, deltaT: 4.448532 s, approachRate: 0.606942 m/s, LOS rate: 0.062711 deg/s, posRepo size: 4
2021-02-16T13:09:51.219Z,1613480991.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:51.984Z,1613480991.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:52.393Z,1613480992.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:53.227Z,1613480993.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,130953.41*56

2021-02-16T13:09:53.297Z,1613480993.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 321.532412 deg, deltaT: 4.465827 s, approachRate: 0.550850 m/s, LOS rate: -0.759805 deg/s, posRepo size: 4
2021-02-16T13:09:55.636Z,1613480995.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:09:56.438Z,1613480996.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:09:56.861Z,1613480996.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:09:57.668Z,1613480997.668 [Micromodem](INFO): Nmea in: $SNTTA,0.025427,,,,130957.87*40

2021-02-16T13:09:57.690Z,1613480997.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.279999 m, bearing: 335.301336 deg, deltaT: 4.420540 s, approachRate: 0.624358 m/s, LOS rate: 3.114760 deg/s, posRepo size: 4
2021-02-16T13:10:00.137Z,1613481000.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:00.889Z,1613481000.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:01.278Z,1613481001.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:02.134Z,1613481002.134 [Micromodem](INFO): Nmea in: $SNTTA,0.027166,,,,131002.32*44

2021-02-16T13:10:02.168Z,1613481002.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.279999 m, bearing: 312.470800 deg, deltaT: 4.451160 s, approachRate: 0.673982 m/s, LOS rate: -5.129120 deg/s, posRepo size: 4
2021-02-16T13:10:04.523Z,1613481004.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:05.318Z,1613481005.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:05.727Z,1613481005.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:06.572Z,1613481006.572 [Micromodem](INFO): Nmea in: $SNTTA,0.029011,,,,131006.75*4C

2021-02-16T13:10:06.590Z,1613481006.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 296.444608 deg, deltaT: 4.461943 s, approachRate: 0.632012 m/s, LOS rate: -3.591752 deg/s, posRepo size: 4
2021-02-16T13:10:08.990Z,1613481008.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:09.766Z,1613481009.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:10.183Z,1613481010.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:11.008Z,1613481011.008 [Micromodem](INFO): Nmea in: $SNTTA,0.030794,,,,131011.19*42

2021-02-16T13:10:11.033Z,1613481011.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.739998 m, bearing: 296.083837 deg, deltaT: 4.401452 s, approachRate: 0.599801 m/s, LOS rate: -0.081966 deg/s, posRepo size: 4
2021-02-16T13:10:13.432Z,1613481013.432 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:14.204Z,1613481014.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:14.623Z,1613481014.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:15.454Z,1613481015.454 [Micromodem](INFO): Nmea in: $SNTTA,0.032680,,,,131015.63*4D

2021-02-16T13:10:15.489Z,1613481015.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.560001 m, bearing: 293.217999 deg, deltaT: 4.469314 s, approachRate: 0.630970 m/s, LOS rate: -0.641226 deg/s, posRepo size: 4
2021-02-16T13:10:17.887Z,1613481017.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:18.657Z,1613481018.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:19.058Z,1613481019.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:19.884Z,1613481019.884 [Micromodem](INFO): Nmea in: $SNTTA,0.034574,,,,131020.09*49

2021-02-16T13:10:19.933Z,1613481019.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 314.147857 deg, deltaT: 4.406839 s, approachRate: 0.544608 m/s, LOS rate: 4.749404 deg/s, posRepo size: 4
2021-02-16T13:10:22.324Z,1613481022.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:23.114Z,1613481023.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:23.498Z,1613481023.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:24.332Z,1613481024.332 [Micromodem](INFO): Nmea in: $SNTTA,0.036468,,,,131024.54*4B

2021-02-16T13:10:24.374Z,1613481024.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.199997 m, bearing: 298.785068 deg, deltaT: 4.480102 s, approachRate: 0.723197 m/s, LOS rate: -3.429116 deg/s, posRepo size: 4
2021-02-16T13:10:26.759Z,1613481026.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:27.537Z,1613481027.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:27.949Z,1613481027.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:28.768Z,1613481028.768 [Micromodem](INFO): Nmea in: $SNTTA,0.038259,,,,131028.97*42

2021-02-16T13:10:28.806Z,1613481028.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.540001 m, bearing: 309.385795 deg, deltaT: 4.430775 s, approachRate: 0.528125 m/s, LOS rate: 2.392522 deg/s, posRepo size: 4
2021-02-16T13:10:31.212Z,1613481031.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:31.980Z,1613481031.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:32.386Z,1613481032.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:33.208Z,1613481033.208 [Micromodem](INFO): Nmea in: $SNTTA,0.040237,,,,131033.41*44

2021-02-16T13:10:33.284Z,1613481033.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 312.189423 deg, deltaT: 4.486615 s, approachRate: 0.668656 m/s, LOS rate: 0.624887 deg/s, posRepo size: 4
2021-02-16T13:10:35.655Z,1613481035.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:36.424Z,1613481036.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:36.856Z,1613481036.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:37.664Z,1613481037.664 [Micromodem](INFO): Nmea in: $SNTTA,0.042224,,,,131037.85*48

2021-02-16T13:10:37.701Z,1613481037.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.479996 m, bearing: 301.082088 deg, deltaT: 4.434439 s, approachRate: 0.662991 m/s, LOS rate: -2.504789 deg/s, posRepo size: 4
2021-02-16T13:10:40.145Z,1613481040.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:40.869Z,1613481040.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:41.295Z,1613481041.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:42.124Z,1613481042.124 [Micromodem](INFO): Nmea in: $SNTTA,0.044098,,,,131042.30*47

2021-02-16T13:10:42.158Z,1613481042.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 306.695247 deg, deltaT: 4.388544 s, approachRate: 0.642584 m/s, LOS rate: 1.279048 deg/s, posRepo size: 4
2021-02-16T13:10:44.530Z,1613481044.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:45.316Z,1613481045.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:45.729Z,1613481045.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:46.544Z,1613481046.544 [Micromodem](INFO): Nmea in: $SNTTA,0.045924,,,,131046.75*4D

2021-02-16T13:10:46.577Z,1613481046.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.059998 m, bearing: 305.583073 deg, deltaT: 4.482091 s, approachRate: 0.615783 m/s, LOS rate: -0.248137 deg/s, posRepo size: 4
2021-02-16T13:10:48.976Z,1613481048.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:49.761Z,1613481049.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:50.171Z,1613481050.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:50.992Z,1613481050.992 [Micromodem](INFO): Nmea in: $SNTTA,0.047708,,,,131051.19*43

2021-02-16T13:10:51.017Z,1613481051.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 310.559358 deg, deltaT: 4.417370 s, approachRate: 0.611224 m/s, LOS rate: 1.126527 deg/s, posRepo size: 4
2021-02-16T13:10:53.418Z,1613481053.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:54.200Z,1613481054.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:54.607Z,1613481054.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:55.428Z,1613481055.428 [Micromodem](INFO): Nmea in: $SNTTA,0.049629,,,,131055.63*46

2021-02-16T13:10:55.466Z,1613481055.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 301.276229 deg, deltaT: 4.465217 s, approachRate: 0.644985 m/s, LOS rate: -2.078987 deg/s, posRepo size: 4
2021-02-16T13:10:57.919Z,1613481057.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:10:58.644Z,1613481058.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:10:59.050Z,1613481059.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:10:59.872Z,1613481059.872 [Micromodem](INFO): Nmea in: $SNTTA,0.051310,,,,131100.07*43

2021-02-16T13:10:59.925Z,1613481059.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.099998 m, bearing: 296.871140 deg, deltaT: 4.411437 s, approachRate: 0.557641 m/s, LOS rate: -0.998561 deg/s, posRepo size: 4
2021-02-16T13:11:02.324Z,1613481062.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:03.125Z,1613481063.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:03.511Z,1613481063.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:04.340Z,1613481064.340 [Micromodem](INFO): Nmea in: $SNTTA,0.053388,,,,131104.56*40

2021-02-16T13:11:04.389Z,1613481064.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.220001 m, bearing: 303.401210 deg, deltaT: 4.460416 s, approachRate: 0.699487 m/s, LOS rate: 1.464005 deg/s, posRepo size: 4
2021-02-16T13:11:06.761Z,1613481066.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:07.537Z,1613481067.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:07.943Z,1613481067.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:08.768Z,1613481068.768 [Micromodem](INFO): Nmea in: $SNTTA,0.055071,,,0.057627,131108.97*5D

2021-02-16T13:11:08.826Z,1613481068.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.739998 m, bearing: 294.944862 deg, deltaT: 4.460391 s, approachRate: 0.564972 m/s, LOS rate: -1.895876 deg/s, posRepo size: 4
2021-02-16T13:11:11.215Z,1613481071.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:11.982Z,1613481071.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:12.396Z,1613481072.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:13.229Z,1613481073.229 [Micromodem](INFO): Nmea in: $SNTTA,0.057112,,0.058312,,131113.41*56

2021-02-16T13:11:13.291Z,1613481073.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 298.671878 deg, deltaT: 4.472478 s, approachRate: 0.684186 m/s, LOS rate: 0.833322 deg/s, posRepo size: 4
2021-02-16T13:11:15.627Z,1613481075.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:16.439Z,1613481076.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:16.875Z,1613481076.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:17.664Z,1613481077.664 [Micromodem](INFO): Nmea in: $SNTTA,0.059038,,0.076562,,131117.87*52

2021-02-16T13:11:17.701Z,1613481077.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.680000 m, bearing: 300.803717 deg, deltaT: 4.446960 s, approachRate: 0.647633 m/s, LOS rate: 0.479392 deg/s, posRepo size: 4
2021-02-16T13:11:20.157Z,1613481080.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:20.869Z,1613481080.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:21.287Z,1613481081.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:22.128Z,1613481082.128 [Micromodem](INFO): Nmea in: $SNTTA,0.060832,,,,131122.30*4E

2021-02-16T13:11:22.182Z,1613481082.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.440002 m, bearing: 294.622805 deg, deltaT: 4.401035 s, approachRate: 0.627126 m/s, LOS rate: -1.404422 deg/s, posRepo size: 4
2021-02-16T13:11:24.529Z,1613481084.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:25.308Z,1613481085.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:25.714Z,1613481085.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:26.540Z,1613481086.540 [Micromodem](INFO): Nmea in: $SNTTA,0.062689,,,,131126.74*46

2021-02-16T13:11:26.577Z,1613481086.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 292.872255 deg, deltaT: 4.459365 s, approachRate: 0.618923 m/s, LOS rate: -0.392556 deg/s, posRepo size: 4
2021-02-16T13:11:28.980Z,1613481088.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:29.752Z,1613481089.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:30.159Z,1613481090.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:30.988Z,1613481090.988 [Micromodem](INFO): Nmea in: $SNTTA,0.064484,0.074971,,,131131.18*51

2021-02-16T13:11:31.028Z,1613481091.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.899994 m, bearing: 293.686059 deg, deltaT: 4.430451 s, approachRate: 0.609416 m/s, LOS rate: 0.183684 deg/s, posRepo size: 4
2021-02-16T13:11:33.436Z,1613481093.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:34.196Z,1613481094.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:34.603Z,1613481094.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:35.424Z,1613481095.424 [Micromodem](INFO): Nmea in: $SNTTA,0.066241,,,,131135.62*47

2021-02-16T13:11:35.462Z,1613481095.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.540009 m, bearing: 300.040156 deg, deltaT: 4.459308 s, approachRate: 0.592023 m/s, LOS rate: 1.424907 deg/s, posRepo size: 4
2021-02-16T13:11:37.888Z,1613481097.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:38.640Z,1613481098.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:39.057Z,1613481099.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:39.876Z,1613481099.876 [Micromodem](INFO): Nmea in: $SNTTA,0.068066,,,,131140.07*4F

2021-02-16T13:11:39.921Z,1613481099.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 286.049743 deg, deltaT: 4.417481 s, approachRate: 0.611207 m/s, LOS rate: -3.167057 deg/s, posRepo size: 4
2021-02-16T13:11:42.353Z,1613481102.353 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:43.120Z,1613481103.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:43.500Z,1613481103.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:44.340Z,1613481104.340 [Micromodem](INFO): Nmea in: $SNTTA,0.070033,,,,131144.55*45

2021-02-16T13:11:44.384Z,1613481104.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.240005 m, bearing: 287.849416 deg, deltaT: 4.463035 s, approachRate: 0.672188 m/s, LOS rate: 0.403240 deg/s, posRepo size: 4
2021-02-16T13:11:46.736Z,1613481106.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:47.534Z,1613481107.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:47.955Z,1613481107.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:48.770Z,1613481108.770 [Micromodem](INFO): Nmea in: $SNTTA,0.071993,,,,131149.02*48

2021-02-16T13:11:48.844Z,1613481108.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.120003 m, bearing: 288.108608 deg, deltaT: 4.437636 s, approachRate: 0.648994 m/s, LOS rate: 0.058408 deg/s, posRepo size: 4
2021-02-16T13:11:51.216Z,1613481111.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:51.990Z,1613481111.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:52.397Z,1613481112.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:53.284Z,1613481113.284 [Micromodem](INFO): Nmea in: $SNTTA,0.073911,,,,131153.42*4F

2021-02-16T13:11:53.329Z,1613481113.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.000000 m, bearing: 292.807177 deg, deltaT: 4.461866 s, approachRate: 0.645469 m/s, LOS rate: 1.053050 deg/s, posRepo size: 4
2021-02-16T13:11:55.629Z,1613481115.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:11:56.416Z,1613481116.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:11:56.852Z,1613481116.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:11:57.644Z,1613481117.644 [Micromodem](INFO): Nmea in: $SNTTA,0.075684,,,,131157.84*44

2021-02-16T13:11:57.680Z,1613481117.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.639999 m, bearing: 296.260357 deg, deltaT: 4.447956 s, approachRate: 0.593531 m/s, LOS rate: 0.776352 deg/s, posRepo size: 4
2021-02-16T13:12:00.133Z,1613481120.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:00.866Z,1613481120.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:01.270Z,1613481121.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:02.122Z,1613481122.122 [Micromodem](INFO): Nmea in: $SNTTA,0.077549,,,,131202.29*40

2021-02-16T13:12:02.156Z,1613481122.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 300.593156 deg, deltaT: 4.397779 s, approachRate: 0.641234 m/s, LOS rate: 0.985224 deg/s, posRepo size: 4
2021-02-16T13:12:04.527Z,1613481124.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:05.309Z,1613481125.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:05.719Z,1613481125.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:06.536Z,1613481126.536 [Micromodem](INFO): Nmea in: $SNTTA,0.079453,,,,131206.74*48

2021-02-16T13:12:06.578Z,1613481126.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.340004 m, bearing: 297.756769 deg, deltaT: 4.490818 s, approachRate: 0.641308 m/s, LOS rate: -0.631597 deg/s, posRepo size: 4
2021-02-16T13:12:08.977Z,1613481128.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:09.748Z,1613481129.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:10.159Z,1613481130.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:10.976Z,1613481130.976 [Micromodem](INFO): Nmea in: $SNTTA,0.081308,,,,131211.18*4A

2021-02-16T13:12:11.037Z,1613481131.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 291.299672 deg, deltaT: 4.396632 s, approachRate: 0.627752 m/s, LOS rate: -1.468646 deg/s, posRepo size: 4
2021-02-16T13:12:13.418Z,1613481133.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:14.203Z,1613481134.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:14.599Z,1613481134.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:15.428Z,1613481135.428 [Micromodem](INFO): Nmea in: $SNTTA,0.083411,,,,131215.63*4F

2021-02-16T13:12:15.452Z,1613481135.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 284.377904 deg, deltaT: 4.464662 s, approachRate: 0.698822 m/s, LOS rate: -1.550345 deg/s, posRepo size: 4
2021-02-16T13:12:17.885Z,1613481137.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:18.637Z,1613481138.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:19.042Z,1613481139.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:19.872Z,1613481139.872 [Micromodem](INFO): Nmea in: $SNTTA,0.085241,,,,131220.07*4E

2021-02-16T13:12:19.917Z,1613481139.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.039993 m, bearing: 288.659668 deg, deltaT: 4.432574 s, approachRate: 0.636197 m/s, LOS rate: 0.965977 deg/s, posRepo size: 4
2021-02-16T13:12:22.345Z,1613481142.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:23.109Z,1613481143.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:23.486Z,1613481143.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:24.336Z,1613481144.336 [Micromodem](INFO): Nmea in: $SNTTA,0.087254,,,,131224.54*4A

2021-02-16T13:12:24.377Z,1613481144.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.040009 m, bearing: 293.221360 deg, deltaT: 4.458120 s, approachRate: 0.672933 m/s, LOS rate: 1.023232 deg/s, posRepo size: 4
2021-02-16T13:12:26.753Z,1613481146.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:27.530Z,1613481147.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:27.931Z,1613481147.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:28.756Z,1613481148.756 [Micromodem](INFO): Nmea in: $SNTTA,0.089203,,,,131228.96*44

2021-02-16T13:12:28.802Z,1613481148.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.980011 m, bearing: 284.934892 deg, deltaT: 4.456093 s, approachRate: 0.659771 m/s, LOS rate: -1.859581 deg/s, posRepo size: 4
2021-02-16T13:12:31.393Z,1613481151.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:31.968Z,1613481151.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:32.385Z,1613481152.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:33.204Z,1613481153.204 [Micromodem](INFO): Nmea in: $SNTTA,0.091192,,,,131233.40*47

2021-02-16T13:12:33.293Z,1613481153.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.979996 m, bearing: 291.377646 deg, deltaT: 4.439280 s, approachRate: 0.675782 m/s, LOS rate: 1.451306 deg/s, posRepo size: 4
2021-02-16T13:12:35.635Z,1613481155.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:36.418Z,1613481156.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:36.852Z,1613481156.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:37.264Z,1613481157.264 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T13:12:37.648Z,1613481157.648 [Micromodem](INFO): Nmea in: $SNTTA,0.093150,,,,131237.85*46

2021-02-16T13:12:37.670Z,1613481157.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.919998 m, bearing: 287.761990 deg, deltaT: 4.455372 s, approachRate: 0.659878 m/s, LOS rate: -0.811527 deg/s, posRepo size: 4
2021-02-16T13:12:40.128Z,1613481160.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:40.866Z,1613481160.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:41.271Z,1613481161.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:42.122Z,1613481162.122 [Micromodem](INFO): Nmea in: $SNTTA,0.095146,,,,131242.30*4B

2021-02-16T13:12:42.156Z,1613481162.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.860001 m, bearing: 284.121062 deg, deltaT: 4.407293 s, approachRate: 0.667077 m/s, LOS rate: -0.826114 deg/s, posRepo size: 4
2021-02-16T13:12:44.576Z,1613481164.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:45.301Z,1613481165.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:45.705Z,1613481165.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:46.528Z,1613481166.528 [Micromodem](INFO): Nmea in: $SNTTA,0.097087,,,,131246.73*46

2021-02-16T13:12:46.570Z,1613481166.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.800003 m, bearing: 282.316853 deg, deltaT: 4.514463 s, approachRate: 0.651241 m/s, LOS rate: -0.399651 deg/s, posRepo size: 4
2021-02-16T13:12:48.969Z,1613481168.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:49.744Z,1613481169.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:50.155Z,1613481170.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:50.996Z,1613481170.996 [Micromodem](INFO): Nmea in: $SNTTA,0.099150,,,,131251.20*43

2021-02-16T13:12:51.021Z,1613481171.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.160004 m, bearing: 283.326137 deg, deltaT: 4.387730 s, approachRate: 3.500671 m/s, LOS rate: 0.230024 deg/s, posRepo size: 4
2021-02-16T13:12:51.022Z,1613481171.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 161.16 m. Resuming terminal guidance.
2021-02-16T13:12:51.022Z,1613481171.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T13:12:53.427Z,1613481173.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:54.190Z,1613481174.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:54.594Z,1613481174.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:55.432Z,1613481175.432 [Micromodem](INFO): Nmea in: $SNTTA,0.101136,,,,131255.62*41

2021-02-16T13:12:55.470Z,1613481175.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.860001 m, bearing: 294.125158 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T13:12:55.471Z,1613481175.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 294.125158deg and heading rate command to 0 deg/s.
2021-02-16T13:12:57.904Z,1613481177.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:12:58.638Z,1613481178.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:12:59.038Z,1613481179.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:12:59.880Z,1613481179.880 [Micromodem](INFO): Nmea in: $SNTTA,0.103082,,,,131300.07*4F

2021-02-16T13:12:59.924Z,1613481179.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.799988 m, bearing: 292.914903 deg, deltaT: 4.427828 s, approachRate: 0.663980 m/s, LOS rate: -0.273329 deg/s, posRepo size: 2
2021-02-16T13:12:59.925Z,1613481179.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.799988 m,
      bearing: 292.914903 deg,
      approachRate: 0.663980 m/s,
      LOS rate: -0.273329 deg/s,
      cmd update: -0.819988 deg/s,
      cmd heading: 294.125158 deg,
      new cmd heading: 294.125158 deg.

2021-02-16T13:13:02.314Z,1613481182.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:03.110Z,1613481183.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:03.482Z,1613481183.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:04.320Z,1613481184.320 [Micromodem](INFO): Nmea in: $SNTTA,0.105031,,,,131304.54*43

2021-02-16T13:13:04.368Z,1613481184.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.799988 m, bearing: 290.241184 deg, deltaT: 4.430521 s, approachRate: 0.000000 m/s, LOS rate: -0.603477 deg/s, posRepo size: 3
2021-02-16T13:13:04.370Z,1613481184.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.799988 m,
      bearing: 290.241184 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.603477 deg/s,
      cmd update: -1.810432 deg/s,
      cmd heading: 290.480204 deg,
      new cmd heading: 290.114565 deg.

2021-02-16T13:13:06.729Z,1613481186.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:07.521Z,1613481187.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:07.926Z,1613481187.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:08.751Z,1613481188.751 [Micromodem](INFO): Nmea in: $SNTTA,0.107036,,,,131308.95*47

2021-02-16T13:13:08.770Z,1613481188.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.679993 m, bearing: 267.645252 deg, deltaT: 4.485032 s, approachRate: 1.311028 m/s, LOS rate: -5.038076 deg/s, posRepo size: 4
2021-02-16T13:13:08.772Z,1613481188.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.679993 m,
      bearing: 267.645252 deg,
      approachRate: 1.311028 m/s,
      LOS rate: -5.038076 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 282.358368 deg,
      new cmd heading: 281.695841 deg.

2021-02-16T13:13:11.196Z,1613481191.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:11.969Z,1613481191.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:12.398Z,1613481192.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:13.200Z,1613481193.200 [Micromodem](INFO): Nmea in: $SNTTA,0.108888,,,,131313.40*47

2021-02-16T13:13:13.242Z,1613481193.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.559998 m, bearing: 288.801736 deg, deltaT: 4.403086 s, approachRate: 0.654088 m/s, LOS rate: 4.804922 deg/s, posRepo size: 4
2021-02-16T13:13:13.272Z,1613481193.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.559998 m,
      bearing: 288.801736 deg,
      approachRate: 0.654088 m/s,
      LOS rate: 4.804922 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 229.519583 deg,
      new cmd heading: 224.339794 deg.

2021-02-16T13:13:15.628Z,1613481195.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:16.408Z,1613481196.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:16.833Z,1613481196.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:17.636Z,1613481197.636 [Micromodem](INFO): Nmea in: $SNTTA,0.110413,,,,131317.84*4C

2021-02-16T13:13:17.670Z,1613481197.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.779999 m, bearing: 261.468630 deg, deltaT: 4.486687 s, approachRate: 0.494797 m/s, LOS rate: -6.092046 deg/s, posRepo size: 4
2021-02-16T13:13:17.672Z,1613481197.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.779999 m,
      bearing: 261.468630 deg,
      approachRate: 0.494797 m/s,
      LOS rate: -6.092046 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 283.265677 deg,
      new cmd heading: 287.874577 deg.

2021-02-16T13:13:18.048Z,1613481198.048 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:13:20.128Z,1613481200.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:20.867Z,1613481200.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:21.266Z,1613481201.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:22.103Z,1613481202.103 [Micromodem](INFO): Nmea in: $SNTTA,0.111785,,,,131322.30*48

2021-02-16T13:13:22.902Z,1613481202.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:24.488Z,1613481204.488 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:13:25.748Z,1613481205.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:26.519Z,1613481206.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:26.914Z,1613481206.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:27.317Z,1613481207.317 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F0,80,63,E4
C,185,80,80,6F,FF
2021-02-16T13:13:27.733Z,1613481207.733 [Micromodem](INFO): Nmea in: $SNTTA,0.113706,,,,131327.95*4B

2021-02-16T13:13:28.552Z,1613481208.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:31.407Z,1613481211.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:34.255Z,1613481214.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:34.998Z,1613481214.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:35.402Z,1613481215.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:36.248Z,1613481216.248 [Micromodem](INFO): Nmea in: $SNTTA,0.115967,,,,131336.43*4F

2021-02-16T13:13:36.276Z,1613481216.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.419998 m, bearing: 204.290671 deg, deltaT: 18.608746 s, approachRate: 0.464298 m/s, LOS rate: -3.072639 deg/s, posRepo size: 4
2021-02-16T13:13:36.277Z,1613481216.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.419998 m,
      bearing: 204.290671 deg,
      approachRate: 0.464298 m/s,
      LOS rate: -3.072639 deg/s,
      cmd update: -9.217917 deg/s,
      cmd heading: 59.913943 deg,
      new cmd heading: 55.396159 deg.

2021-02-16T13:13:38.648Z,1613481218.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:39.548Z,1613481219.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:39.873Z,1613481219.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:41.113Z,1613481221.113 [Micromodem](INFO): Nmea in: $SNTTA,0.116245,,,,131340.98*40

2021-02-16T13:13:41.184Z,1613481221.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.360001 m, bearing: 239.646203 deg, deltaT: 4.802421 s, approachRate: -0.012493 m/s, LOS rate: 7.362023 deg/s, posRepo size: 4
2021-02-16T13:13:41.186Z,1613481221.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.360001 m,
      bearing: 239.646203 deg,
      approachRate: -0.012493 m/s,
      LOS rate: 7.362023 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 15.818527 deg,
      new cmd heading: 11.235370 deg.

2021-02-16T13:13:43.524Z,1613481223.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:44.319Z,1613481224.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:44.715Z,1613481224.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:45.548Z,1613481225.548 [Micromodem](INFO): Nmea in: $SNTTA,0.115896,,,,131345.75*41

2021-02-16T13:13:45.570Z,1613481225.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.360001 m, bearing: 182.684925 deg, deltaT: 4.488821 s, approachRate: 0.000000 m/s, LOS rate: -12.689586 deg/s, posRepo size: 4
2021-02-16T13:13:45.571Z,1613481225.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.689586 deg/s. Setting heading cmd to target bearing of 182.684925deg and heading rate command to 0 deg/s.
2021-02-16T13:13:47.970Z,1613481227.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:48.748Z,1613481228.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:49.154Z,1613481229.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:49.976Z,1613481229.976 [Micromodem](INFO): Nmea in: $SNTTA,0.115730,,,,131350.18*4D

2021-02-16T13:13:50.001Z,1613481230.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.580002 m, bearing: 148.327721 deg, deltaT: 4.423820 s, approachRate: -0.176318 m/s, LOS rate: -7.766411 deg/s, posRepo size: 4
2021-02-16T13:13:50.003Z,1613481230.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.580002 m,
      bearing: 148.327721 deg,
      approachRate: -0.176318 m/s,
      LOS rate: -7.766411 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.684925 deg,
      new cmd heading: 182.684925 deg.

2021-02-16T13:13:52.466Z,1613481232.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:53.192Z,1613481233.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:53.603Z,1613481233.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:54.432Z,1613481234.432 [Micromodem](INFO): Nmea in: $SNTTA,0.115699,,,,131354.62*46

2021-02-16T13:13:54.550Z,1613481234.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.580002 m, bearing: 179.796301 deg, deltaT: 4.433220 s, approachRate: 0.000000 m/s, LOS rate: 7.098357 deg/s, posRepo size: 4
2021-02-16T13:13:54.555Z,1613481234.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.580002 m,
      bearing: 179.796301 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.098357 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 129.487544 deg,
      new cmd heading: 123.491216 deg.

2021-02-16T13:13:56.897Z,1613481236.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:13:57.636Z,1613481237.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:13:58.050Z,1613481238.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:13:58.880Z,1613481238.880 [Micromodem](INFO): Nmea in: $SNTTA,0.114940,,,,131359.07*42

2021-02-16T13:13:58.905Z,1613481238.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 186.257182 deg, deltaT: 4.453405 s, approachRate: -0.282928 m/s, LOS rate: 1.450773 deg/s, posRepo size: 4
2021-02-16T13:13:58.907Z,1613481238.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.320007 m,
      bearing: 186.257182 deg,
      approachRate: -0.282928 m/s,
      LOS rate: 1.450773 deg/s,
      cmd update: 4.352320 deg/s,
      cmd heading: 182.833018 deg,
      new cmd heading: 187.762882 deg.

2021-02-16T13:14:01.323Z,1613481241.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:02.110Z,1613481242.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:02.509Z,1613481242.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:03.317Z,1613481243.317 [Micromodem](INFO): Nmea in: $SNTTA,0.113796,,,,131403.54*4E

2021-02-16T13:14:03.743Z,1613481243.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 110.378036 deg, deltaT: 4.884535 s, approachRate: -0.356224 m/s, LOS rate: -15.534569 deg/s, posRepo size: 4
2021-02-16T13:14:03.744Z,1613481243.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.534569 deg/s. Setting heading cmd to target bearing of 110.378036deg and heading rate command to 0 deg/s.
2021-02-16T13:14:06.178Z,1613481246.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:06.932Z,1613481246.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:07.349Z,1613481247.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:08.160Z,1613481248.160 [Micromodem](INFO): Nmea in: $SNTTA,0.112687,,,,131408.36*41

2021-02-16T13:14:08.208Z,1613481248.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 140.801508 deg, deltaT: 4.407695 s, approachRate: 0.000000 m/s, LOS rate: 6.902354 deg/s, posRepo size: 4
2021-02-16T13:14:08.210Z,1613481248.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.580017 m,
      bearing: 140.801508 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.902354 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 110.378036 deg,
      new cmd heading: 110.378036 deg.

2021-02-16T13:14:10.605Z,1613481250.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:11.383Z,1613481251.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:11.783Z,1613481251.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:12.612Z,1613481252.612 [Micromodem](INFO): Nmea in: $SNTTA,0.112001,,,0.114520,131412.81*53

2021-02-16T13:14:12.676Z,1613481252.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.940002 m, bearing: 185.256491 deg, deltaT: 4.484385 s, approachRate: -0.588713 m/s, LOS rate: 9.913284 deg/s, posRepo size: 4
2021-02-16T13:14:12.678Z,1613481252.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.940002 m,
      bearing: 185.256491 deg,
      approachRate: -0.588713 m/s,
      LOS rate: 9.913284 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 164.052178 deg,
      new cmd heading: 168.981046 deg.

2021-02-16T13:14:15.057Z,1613481255.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:15.847Z,1613481255.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:16.222Z,1613481256.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:17.056Z,1613481257.056 [Micromodem](INFO): Nmea in: $SNTTA,0.110796,,,0.113315,131417.28*59

2021-02-16T13:14:17.486Z,1613481257.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 103.326870 deg, deltaT: 4.897596 s, approachRate: -0.392029 m/s, LOS rate: -16.728539 deg/s, posRepo size: 4
2021-02-16T13:14:17.487Z,1613481257.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.728539 deg/s. Setting heading cmd to target bearing of 103.326870deg and heading rate command to 0 deg/s.
2021-02-16T13:14:19.890Z,1613481259.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:20.670Z,1613481260.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:21.110Z,1613481261.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:21.896Z,1613481261.896 [Micromodem](INFO): Nmea in: $SNTTA,0.109083,,,,131422.10*45

2021-02-16T13:14:21.937Z,1613481261.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 108.047951 deg, deltaT: 4.335523 s, approachRate: 0.000000 m/s, LOS rate: 1.088930 deg/s, posRepo size: 4
2021-02-16T13:14:21.938Z,1613481261.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 108.047951 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.088930 deg/s,
      cmd update: 3.266790 deg/s,
      cmd heading: 103.326870 deg,
      new cmd heading: 103.326870 deg.

2021-02-16T13:14:24.340Z,1613481264.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:25.141Z,1613481265.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:25.519Z,1613481265.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:26.343Z,1613481266.343 [Micromodem](INFO): Nmea in: $SNTTA,0.108025,,,,131426.57*4F

2021-02-16T13:14:26.770Z,1613481266.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.059998 m, bearing: 168.410035 deg, deltaT: 4.876405 s, approachRate: -0.812075 m/s, LOS rate: 12.378398 deg/s, posRepo size: 4
2021-02-16T13:14:26.771Z,1613481266.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.378398 deg/s. Setting heading cmd to target bearing of 168.410035deg and heading rate command to 0 deg/s.
2021-02-16T13:14:29.199Z,1613481269.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:29.956Z,1613481269.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:30.367Z,1613481270.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:31.184Z,1613481271.184 [Micromodem](INFO): Nmea in: $SNTTA,0.106769,,,,131431.38*41

2021-02-16T13:14:31.238Z,1613481271.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 103.539043 deg, deltaT: 4.442532 s, approachRate: -0.459196 m/s, LOS rate: -14.602256 deg/s, posRepo size: 4
2021-02-16T13:14:31.256Z,1613481271.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.602256 deg/s. Setting heading cmd to target bearing of 103.539043deg and heading rate command to 0 deg/s.
2021-02-16T13:14:33.613Z,1613481273.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:34.405Z,1613481274.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:34.842Z,1613481274.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:35.636Z,1613481275.636 [Micromodem](INFO): Nmea in: $SNTTA,0.105223,,,,131435.83*4D

2021-02-16T13:14:35.671Z,1613481275.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 109.252626 deg, deltaT: 4.435952 s, approachRate: -0.527511 m/s, LOS rate: 1.288017 deg/s, posRepo size: 4
2021-02-16T13:14:35.673Z,1613481275.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 109.252626 deg,
      approachRate: -0.527511 m/s,
      LOS rate: 1.288017 deg/s,
      cmd update: 3.864052 deg/s,
      cmd heading: 103.539043 deg,
      new cmd heading: 103.539043 deg.

2021-02-16T13:14:38.115Z,1613481278.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:38.865Z,1613481278.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:39.261Z,1613481279.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:40.120Z,1613481280.120 [Micromodem](INFO): Nmea in: $SNTTA,0.103232,,,,131440.29*49

2021-02-16T13:14:40.154Z,1613481280.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 106.650323 deg, deltaT: 4.436445 s, approachRate: -0.662690 m/s, LOS rate: -0.586574 deg/s, posRepo size: 4
2021-02-16T13:14:40.156Z,1613481280.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.740005 m,
      bearing: 106.650323 deg,
      approachRate: -0.662690 m/s,
      LOS rate: -0.586574 deg/s,
      cmd update: -1.759721 deg/s,
      cmd heading: 120.666190 deg,
      new cmd heading: 122.415802 deg.

2021-02-16T13:14:42.521Z,1613481282.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:43.301Z,1613481283.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:43.720Z,1613481283.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:44.528Z,1613481284.528 [Micromodem](INFO): Nmea in: $SNTTA,0.101312,,,,131444.73*43

2021-02-16T13:14:44.565Z,1613481284.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.620010 m, bearing: 108.564457 deg, deltaT: 4.482225 s, approachRate: -0.696082 m/s, LOS rate: 0.427050 deg/s, posRepo size: 4
2021-02-16T13:14:44.566Z,1613481284.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.620010 m,
      bearing: 108.564457 deg,
      approachRate: -0.696082 m/s,
      LOS rate: 0.427050 deg/s,
      cmd update: 1.281149 deg/s,
      cmd heading: 112.800917 deg,
      new cmd heading: 112.108375 deg.

2021-02-16T13:14:46.969Z,1613481286.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:47.745Z,1613481287.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:48.142Z,1613481288.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:48.977Z,1613481288.977 [Micromodem](INFO): Nmea in: $SNTTA,0.098756,,,,131449.17*49

2021-02-16T13:14:49.033Z,1613481289.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.899994 m, bearing: 108.839727 deg, deltaT: 4.378645 s, approachRate: -0.849582 m/s, LOS rate: 0.062867 deg/s, posRepo size: 4
2021-02-16T13:14:49.035Z,1613481289.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.899994 m,
      bearing: 108.839727 deg,
      approachRate: -0.849582 m/s,
      LOS rate: 0.062867 deg/s,
      cmd update: 0.188600 deg/s,
      cmd heading: 118.431894 deg,
      new cmd heading: 119.029851 deg.

2021-02-16T13:14:51.404Z,1613481291.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:52.188Z,1613481292.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:52.603Z,1613481292.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:53.416Z,1613481293.416 [Micromodem](INFO): Nmea in: $SNTTA,0.096477,,,,131453.62*4E

2021-02-16T13:14:53.454Z,1613481293.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.539993 m, bearing: 108.076248 deg, deltaT: 4.464729 s, approachRate: -0.752565 m/s, LOS rate: -0.171002 deg/s, posRepo size: 4
2021-02-16T13:14:53.456Z,1613481293.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.539993 m,
      bearing: 108.076248 deg,
      approachRate: -0.752565 m/s,
      LOS rate: -0.171002 deg/s,
      cmd update: -0.513007 deg/s,
      cmd heading: 119.273156 deg,
      new cmd heading: 119.353702 deg.

2021-02-16T13:14:55.873Z,1613481295.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:14:56.641Z,1613481296.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:14:57.038Z,1613481297.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:14:57.065Z,1613481297.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:14:57.875Z,1613481297.875 [Micromodem](INFO): Nmea in: $SNTTA,0.093935,,,,131458.07*48

2021-02-16T13:14:57.900Z,1613481297.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.760010 m, bearing: 107.685398 deg, deltaT: 4.498968 s, approachRate: -0.840189 m/s, LOS rate: -0.086876 deg/s, posRepo size: 4
2021-02-16T13:14:57.902Z,1613481297.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.760010 m,
      bearing: 107.685398 deg,
      approachRate: -0.840189 m/s,
      LOS rate: -0.086876 deg/s,
      cmd update: -0.260627 deg/s,
      cmd heading: 116.965096 deg,
      new cmd heading: 116.773037 deg.

2021-02-16T13:15:00.302Z,1613481300.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:01.089Z,1613481301.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:01.479Z,1613481301.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:02.308Z,1613481302.308 [Micromodem](INFO): Nmea in: $SNTTA,0.091385,,,,131502.52*45

2021-02-16T13:15:02.361Z,1613481302.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 108.076624 deg, deltaT: 4.395652 s, approachRate: -0.887242 m/s, LOS rate: 0.089003 deg/s, posRepo size: 4
2021-02-16T13:15:02.367Z,1613481302.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.860001 m,
      bearing: 108.076624 deg,
      approachRate: -0.887242 m/s,
      LOS rate: 0.089003 deg/s,
      cmd update: 0.267009 deg/s,
      cmd heading: 115.819463 deg,
      new cmd heading: 115.704968 deg.

2021-02-16T13:15:04.728Z,1613481304.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:05.512Z,1613481305.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:05.924Z,1613481305.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:06.768Z,1613481306.768 [Micromodem](INFO): Nmea in: $SNTTA,0.088818,,,,131506.98*40

2021-02-16T13:15:06.816Z,1613481306.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.020004 m, bearing: 108.243650 deg, deltaT: 4.425605 s, approachRate: -0.867677 m/s, LOS rate: 0.037741 deg/s, posRepo size: 4
2021-02-16T13:15:06.825Z,1613481306.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.020004 m,
      bearing: 108.243650 deg,
      approachRate: -0.867677 m/s,
      LOS rate: 0.037741 deg/s,
      cmd update: 0.113222 deg/s,
      cmd heading: 117.002154 deg,
      new cmd heading: 117.125155 deg.

2021-02-16T13:15:09.222Z,1613481309.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:09.956Z,1613481309.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:10.361Z,1613481310.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:11.184Z,1613481311.184 [Micromodem](INFO): Nmea in: $SNTTA,0.086170,,,,131511.38*45

2021-02-16T13:15:11.276Z,1613481311.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 108.045526 deg, deltaT: 4.427301 s, approachRate: -0.894448 m/s, LOS rate: -0.044750 deg/s, posRepo size: 4
2021-02-16T13:15:11.277Z,1613481311.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 108.045526 deg,
      approachRate: -0.894448 m/s,
      LOS rate: -0.044750 deg/s,
      cmd update: -0.134251 deg/s,
      cmd heading: 117.503425 deg,
      new cmd heading: 117.559204 deg.

2021-02-16T13:15:13.627Z,1613481313.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:14.410Z,1613481314.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:14.857Z,1613481314.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:15.639Z,1613481315.639 [Micromodem](INFO): Nmea in: $SNTTA,0.083691,,,,131515.84*4B

2021-02-16T13:15:15.658Z,1613481315.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.400002 m, bearing: 108.463356 deg, deltaT: 4.483406 s, approachRate: -0.816346 m/s, LOS rate: 0.093195 deg/s, posRepo size: 4
2021-02-16T13:15:15.660Z,1613481315.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.400002 m,
      bearing: 108.463356 deg,
      approachRate: -0.816346 m/s,
      LOS rate: 0.093195 deg/s,
      cmd update: 0.279584 deg/s,
      cmd heading: 116.901517 deg,
      new cmd heading: 116.848303 deg.

2021-02-16T13:15:18.114Z,1613481318.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:18.861Z,1613481318.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:19.258Z,1613481319.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:20.103Z,1613481320.103 [Micromodem](INFO): Nmea in: $SNTTA,0.080982,,,,131520.29*44

2021-02-16T13:15:20.152Z,1613481320.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.320000 m, bearing: 107.355547 deg, deltaT: 4.405159 s, approachRate: -0.926187 m/s, LOS rate: -0.251480 deg/s, posRepo size: 4
2021-02-16T13:15:20.154Z,1613481320.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 107.355547 deg,
      approachRate: -0.926187 m/s,
      LOS rate: -0.251480 deg/s,
      cmd update: -0.754440 deg/s,
      cmd heading: 118.133117 deg,
      new cmd heading: 118.268657 deg.

2021-02-16T13:15:22.529Z,1613481322.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:23.293Z,1613481323.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:23.694Z,1613481323.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:24.520Z,1613481324.520 [Micromodem](INFO): Nmea in: $SNTTA,0.078533,,,,131524.72*4F

2021-02-16T13:15:24.557Z,1613481324.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.599998 m, bearing: 108.829222 deg, deltaT: 4.488161 s, approachRate: -0.828848 m/s, LOS rate: 0.328347 deg/s, posRepo size: 4
2021-02-16T13:15:24.559Z,1613481324.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.599998 m,
      bearing: 108.829222 deg,
      approachRate: -0.828848 m/s,
      LOS rate: 0.328347 deg/s,
      cmd update: 0.985041 deg/s,
      cmd heading: 114.747153 deg,
      new cmd heading: 114.443631 deg.

2021-02-16T13:15:26.960Z,1613481326.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:27.737Z,1613481327.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:28.138Z,1613481328.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:28.972Z,1613481328.972 [Micromodem](INFO): Nmea in: $SNTTA,0.075964,,,,131529.16*43

2021-02-16T13:15:28.997Z,1613481328.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.760002 m, bearing: 108.861707 deg, deltaT: 4.404991 s, approachRate: -0.871738 m/s, LOS rate: 0.007374 deg/s, posRepo size: 4
2021-02-16T13:15:28.998Z,1613481328.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.760002 m,
      bearing: 108.861707 deg,
      approachRate: -0.871738 m/s,
      LOS rate: 0.007374 deg/s,
      cmd update: 0.022123 deg/s,
      cmd heading: 119.086138 deg,
      new cmd heading: 119.516375 deg.

2021-02-16T13:15:31.418Z,1613481331.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:32.176Z,1613481332.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:32.595Z,1613481332.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:33.404Z,1613481333.404 [Micromodem](INFO): Nmea in: $SNTTA,0.073602,,,,131533.60*40

2021-02-16T13:15:33.456Z,1613481333.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.220001 m, bearing: 108.677892 deg, deltaT: 4.482004 s, approachRate: -0.789825 m/s, LOS rate: -0.041012 deg/s, posRepo size: 4
2021-02-16T13:15:33.457Z,1613481333.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 108.677892 deg,
      approachRate: -0.789825 m/s,
      LOS rate: -0.041012 deg/s,
      cmd update: -0.123035 deg/s,
      cmd heading: 119.185210 deg,
      new cmd heading: 119.194443 deg.

2021-02-16T13:15:35.899Z,1613481335.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:36.641Z,1613481336.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:37.041Z,1613481337.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:37.872Z,1613481337.872 [Micromodem](INFO): Nmea in: $SNTTA,0.071328,,,,131538.07*45

2021-02-16T13:15:37.916Z,1613481337.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.799995 m, bearing: 107.306056 deg, deltaT: 4.425284 s, approachRate: -0.772833 m/s, LOS rate: -0.310000 deg/s, posRepo size: 4
2021-02-16T13:15:37.918Z,1613481337.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 107.306056 deg,
      approachRate: -0.772833 m/s,
      LOS rate: -0.310000 deg/s,
      cmd update: -0.929999 deg/s,
      cmd heading: 118.642201 deg,
      new cmd heading: 118.585144 deg.

2021-02-16T13:15:40.310Z,1613481340.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:41.073Z,1613481341.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:41.470Z,1613481341.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:42.300Z,1613481342.300 [Micromodem](INFO): Nmea in: $SNTTA,0.068911,,,,131542.50*42

2021-02-16T13:15:42.344Z,1613481342.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 107.672734 deg, deltaT: 4.433295 s, approachRate: -0.812035 m/s, LOS rate: 0.082710 deg/s, posRepo size: 4
2021-02-16T13:15:42.346Z,1613481342.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 107.672734 deg,
      approachRate: -0.812035 m/s,
      LOS rate: 0.082710 deg/s,
      cmd update: 0.248131 deg/s,
      cmd heading: 114.504361 deg,
      new cmd heading: 114.091865 deg.

2021-02-16T13:15:44.740Z,1613481344.740 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:45.509Z,1613481345.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:45.926Z,1613481345.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:46.740Z,1613481346.740 [Micromodem](INFO): Nmea in: $SNTTA,0.066497,,,,131546.94*43

2021-02-16T13:15:46.776Z,1613481346.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.540009 m, bearing: 109.855479 deg, deltaT: 4.456546 s, approachRate: -0.821263 m/s, LOS rate: 0.489784 deg/s, posRepo size: 4
2021-02-16T13:15:46.778Z,1613481346.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.540009 m,
      bearing: 109.855479 deg,
      approachRate: -0.821263 m/s,
      LOS rate: 0.489784 deg/s,
      cmd update: 1.469351 deg/s,
      cmd heading: 115.610189 deg,
      new cmd heading: 115.714035 deg.

2021-02-16T13:15:49.211Z,1613481349.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:49.963Z,1613481349.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:50.361Z,1613481350.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:51.188Z,1613481351.188 [Micromodem](INFO): Nmea in: $SNTTA,0.064078,,,,131551.39*45

2021-02-16T13:15:51.223Z,1613481351.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.940002 m, bearing: 110.362080 deg, deltaT: 4.422128 s, approachRate: -0.814089 m/s, LOS rate: 0.114561 deg/s, posRepo size: 4
2021-02-16T13:15:51.246Z,1613481351.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.940002 m,
      bearing: 110.362080 deg,
      approachRate: -0.814089 m/s,
      LOS rate: 0.114561 deg/s,
      cmd update: 0.343682 deg/s,
      cmd heading: 122.107816 deg,
      new cmd heading: 122.758579 deg.

2021-02-16T13:15:53.604Z,1613481353.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:54.396Z,1613481354.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:54.814Z,1613481354.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:15:55.627Z,1613481355.627 [Micromodem](INFO): Nmea in: $SNTTA,0.061591,,,,131555.82*46

2021-02-16T13:15:55.646Z,1613481355.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.159996 m, bearing: 107.566580 deg, deltaT: 4.513096 s, approachRate: -0.837564 m/s, LOS rate: -0.619420 deg/s, posRepo size: 4
2021-02-16T13:15:55.648Z,1613481355.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.159996 m,
      bearing: 107.566580 deg,
      approachRate: -0.837564 m/s,
      LOS rate: -0.619420 deg/s,
      cmd update: -1.858259 deg/s,
      cmd heading: 123.657527 deg,
      new cmd heading: 123.780341 deg.

2021-02-16T13:15:58.092Z,1613481358.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:15:58.858Z,1613481358.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:15:59.254Z,1613481359.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:00.096Z,1613481360.096 [Micromodem](INFO): Nmea in: $SNTTA,0.059054,,,,131600.29*43

2021-02-16T13:16:00.149Z,1613481360.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.380005 m, bearing: 107.630230 deg, deltaT: 4.370145 s, approachRate: -0.864958 m/s, LOS rate: 0.014565 deg/s, posRepo size: 4
2021-02-16T13:16:00.151Z,1613481360.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.380005 m,
      bearing: 107.630230 deg,
      approachRate: -0.864958 m/s,
      LOS rate: 0.014565 deg/s,
      cmd update: 0.043695 deg/s,
      cmd heading: 115.529335 deg,
      new cmd heading: 114.626335 deg.

2021-02-16T13:16:02.183Z,1613481362.183 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:02.888Z,1613481362.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:03.291Z,1613481363.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:04.135Z,1613481364.135 [Micromodem](INFO): Nmea in: $SNTTA,0.056677,,,,131604.32*45

2021-02-16T13:16:04.169Z,1613481364.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 108.769622 deg, deltaT: 4.039640 s, approachRate: -0.876316 m/s, LOS rate: 0.282053 deg/s, posRepo size: 4
2021-02-16T13:16:04.171Z,1613481364.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.840004 m,
      bearing: 108.769622 deg,
      approachRate: -0.876316 m/s,
      LOS rate: 0.282053 deg/s,
      cmd update: 0.846158 deg/s,
      cmd heading: 115.705845 deg,
      new cmd heading: 115.726236 deg.

2021-02-16T13:16:06.542Z,1613481366.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:07.330Z,1613481367.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:07.736Z,1613481367.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:08.556Z,1613481368.556 [Micromodem](INFO): Nmea in: $SNTTA,0.054056,,,,131608.76*4E

2021-02-16T13:16:08.571Z,1613481368.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.940002 m, bearing: 110.021001 deg, deltaT: 4.494050 s, approachRate: -0.867814 m/s, LOS rate: 0.278452 deg/s, posRepo size: 4
2021-02-16T13:16:08.573Z,1613481368.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 110.021001 deg,
      approachRate: -0.867814 m/s,
      LOS rate: 0.278452 deg/s,
      cmd update: 0.835357 deg/s,
      cmd heading: 119.493920 deg,
      new cmd heading: 119.825532 deg.

2021-02-16T13:16:10.990Z,1613481370.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:11.785Z,1613481371.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:12.174Z,1613481372.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:13.033Z,1613481373.033 [Micromodem](INFO): Nmea in: $SNTTA,0.051603,,,,131613.21*45

2021-02-16T13:16:13.118Z,1613481373.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.220001 m, bearing: 109.410239 deg, deltaT: 4.415161 s, approachRate: -0.842552 m/s, LOS rate: -0.138333 deg/s, posRepo size: 4
2021-02-16T13:16:13.124Z,1613481373.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.220001 m,
      bearing: 109.410239 deg,
      approachRate: -0.842552 m/s,
      LOS rate: -0.138333 deg/s,
      cmd update: -0.414999 deg/s,
      cmd heading: 123.183261 deg,
      new cmd heading: 123.619116 deg.

2021-02-16T13:16:15.444Z,1613481375.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:16.217Z,1613481376.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:16.617Z,1613481376.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:17.464Z,1613481377.464 [Micromodem](INFO): Nmea in: $SNTTA,0.049105,,,,131617.65*49

2021-02-16T13:16:17.500Z,1613481377.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.500000 m, bearing: 108.887887 deg, deltaT: 4.486465 s, approachRate: -0.829161 m/s, LOS rate: -0.116428 deg/s, posRepo size: 4
2021-02-16T13:16:17.501Z,1613481377.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 108.887887 deg,
      approachRate: -0.829161 m/s,
      LOS rate: -0.116428 deg/s,
      cmd update: -0.349285 deg/s,
      cmd heading: 121.330896 deg,
      new cmd heading: 121.148296 deg.

2021-02-16T13:16:19.909Z,1613481379.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:20.656Z,1613481380.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:21.066Z,1613481381.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:21.888Z,1613481381.888 [Micromodem](INFO): Nmea in: $SNTTA,0.046572,,,,131622.09*4E

2021-02-16T13:16:21.933Z,1613481381.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.659996 m, bearing: 108.925419 deg, deltaT: 4.384880 s, approachRate: -0.875738 m/s, LOS rate: 0.008559 deg/s, posRepo size: 4
2021-02-16T13:16:21.935Z,1613481381.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.659996 m,
      bearing: 108.925419 deg,
      approachRate: -0.875738 m/s,
      LOS rate: 0.008559 deg/s,
      cmd update: 0.025678 deg/s,
      cmd heading: 119.787392 deg,
      new cmd heading: 119.628477 deg.

2021-02-16T13:16:24.331Z,1613481384.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:25.119Z,1613481385.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:25.506Z,1613481385.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:26.344Z,1613481386.344 [Micromodem](INFO): Nmea in: $SNTTA,0.043908,,,0.050311,131626.55*5F

2021-02-16T13:16:26.389Z,1613481386.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.639999 m, bearing: 108.248164 deg, deltaT: 4.449631 s, approachRate: -0.903445 m/s, LOS rate: -0.152205 deg/s, posRepo size: 4
2021-02-16T13:16:26.390Z,1613481386.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.639999 m,
      bearing: 108.248164 deg,
      approachRate: -0.903445 m/s,
      LOS rate: -0.152205 deg/s,
      cmd update: -0.456614 deg/s,
      cmd heading: 119.901773 deg,
      new cmd heading: 119.913476 deg.

2021-02-16T13:16:28.772Z,1613481388.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:29.549Z,1613481389.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:29.964Z,1613481389.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:30.781Z,1613481390.781 [Micromodem](INFO): Nmea in: $SNTTA,0.041431,,,,131630.98*44

2021-02-16T13:16:30.841Z,1613481390.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.920002 m, bearing: 109.368711 deg, deltaT: 4.458762 s, approachRate: -0.834312 m/s, LOS rate: 0.251314 deg/s, posRepo size: 4
2021-02-16T13:16:30.860Z,1613481390.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.920002 m,
      bearing: 109.368711 deg,
      approachRate: -0.834312 m/s,
      LOS rate: 0.251314 deg/s,
      cmd update: 0.753941 deg/s,
      cmd heading: 117.873206 deg,
      new cmd heading: 117.662420 deg.

2021-02-16T13:16:33.253Z,1613481393.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:33.994Z,1613481393.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:34.394Z,1613481394.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:35.233Z,1613481395.233 [Micromodem](INFO): Nmea in: $SNTTA,0.038724,,,,131635.42*4F

2021-02-16T13:16:35.303Z,1613481395.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 109.202827 deg, deltaT: 4.470764 s, approachRate: -0.899174 m/s, LOS rate: -0.037104 deg/s, posRepo size: 4
2021-02-16T13:16:35.305Z,1613481395.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 109.202827 deg,
      approachRate: -0.899174 m/s,
      LOS rate: -0.037104 deg/s,
      cmd update: -0.111313 deg/s,
      cmd heading: 121.240650 deg,
      new cmd heading: 121.585315 deg.

2021-02-16T13:16:37.641Z,1613481397.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:38.432Z,1613481398.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:38.882Z,1613481398.882 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:39.671Z,1613481399.671 [Micromodem](INFO): Nmea in: $SNTTA,0.036265,,,,131639.86*45

2021-02-16T13:16:39.690Z,1613481399.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 108.479660 deg, deltaT: 4.417435 s, approachRate: -0.882868 m/s, LOS rate: -0.163707 deg/s, posRepo size: 4
2021-02-16T13:16:39.692Z,1613481399.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.999996 m,
      bearing: 108.479660 deg,
      approachRate: -0.882868 m/s,
      LOS rate: -0.163707 deg/s,
      cmd update: -0.491122 deg/s,
      cmd heading: 120.746661 deg,
      new cmd heading: 120.700973 deg.

2021-02-16T13:16:42.161Z,1613481402.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:42.878Z,1613481402.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:43.282Z,1613481403.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:44.148Z,1613481404.148 [Micromodem](INFO): Nmea in: $SNTTA,0.033657,,,,131644.31*43

2021-02-16T13:16:44.200Z,1613481404.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 108.251347 deg, deltaT: 4.434757 s, approachRate: -0.920004 m/s, LOS rate: -0.051483 deg/s, posRepo size: 4
2021-02-16T13:16:44.202Z,1613481404.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 108.251347 deg,
      approachRate: -0.920004 m/s,
      LOS rate: -0.051483 deg/s,
      cmd update: -0.154448 deg/s,
      cmd heading: 118.576513 deg,
      new cmd heading: 118.330178 deg.

2021-02-16T13:16:46.541Z,1613481406.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:47.320Z,1613481407.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:47.737Z,1613481407.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:48.548Z,1613481408.548 [Micromodem](INFO): Nmea in: $SNTTA,0.031093,,,,131648.75*43

2021-02-16T13:16:48.585Z,1613481408.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 109.057644 deg, deltaT: 4.487012 s, approachRate: -0.829061 m/s, LOS rate: 0.179696 deg/s, posRepo size: 4
2021-02-16T13:16:48.587Z,1613481408.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 109.057644 deg,
      approachRate: -0.829061 m/s,
      LOS rate: 0.179696 deg/s,
      cmd update: 0.539087 deg/s,
      cmd heading: 117.882885 deg,
      new cmd heading: 117.821731 deg.

2021-02-16T13:16:50.986Z,1613481410.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:51.764Z,1613481411.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:52.191Z,1613481412.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:53.013Z,1613481413.013 [Micromodem](INFO): Nmea in: $SNTTA,0.028339,,,,131653.19*48

2021-02-16T13:16:53.096Z,1613481413.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 109.636981 deg, deltaT: 4.402777 s, approachRate: -0.885804 m/s, LOS rate: 0.131584 deg/s, posRepo size: 4
2021-02-16T13:16:53.106Z,1613481413.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.299999 m,
      bearing: 109.636981 deg,
      approachRate: -0.885804 m/s,
      LOS rate: 0.131584 deg/s,
      cmd update: 0.394753 deg/s,
      cmd heading: 120.262718 deg,
      new cmd heading: 120.521465 deg.

2021-02-16T13:16:55.463Z,1613481415.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:16:56.225Z,1613481416.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:16:56.614Z,1613481416.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:16:57.448Z,1613481417.448 [Micromodem](INFO): Nmea in: $SNTTA,0.025943,,,,131657.65*4D

2021-02-16T13:16:57.487Z,1613481417.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 108.915412 deg, deltaT: 4.503342 s, approachRate: -0.866024 m/s, LOS rate: -0.160230 deg/s, posRepo size: 4
2021-02-16T13:16:57.487Z,1613481417.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m.
2021-02-16T13:16:57.489Z,1613481417.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.399998 m,
      bearing: 108.915412 deg,
      approachRate: -0.866024 m/s,
      LOS rate: -0.160230 deg/s,
      cmd update: -0.480689 deg/s,
      cmd heading: 122.031702 deg,
      new cmd heading: 122.190212 deg.

2021-02-16T13:16:57.873Z,1613481417.873 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:16:59.902Z,1613481419.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:00.652Z,1613481420.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:01.062Z,1613481421.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:01.884Z,1613481421.884 [Micromodem](INFO): Nmea in: $SNTTA,0.023405,,,,131702.08*4E

2021-02-16T13:17:01.930Z,1613481421.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.920002 m, bearing: 107.774764 deg, deltaT: 4.395435 s, approachRate: -0.791730 m/s, LOS rate: -0.259508 deg/s, posRepo size: 4
2021-02-16T13:17:01.931Z,1613481421.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.92 m.
2021-02-16T13:17:01.931Z,1613481421.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.92 m.
2021-02-16T13:17:01.931Z,1613481421.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:17:01.933Z,1613481421.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.920002 m,
      bearing: 107.774764 deg,
      approachRate: -0.791730 m/s,
      LOS rate: -0.259508 deg/s,
      cmd update: -0.778523 deg/s,
      cmd heading: 119.917271 deg,
      new cmd heading: 119.702852 deg.

2021-02-16T13:17:04.314Z,1613481424.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:05.114Z,1613481425.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:05.502Z,1613481425.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:06.336Z,1613481426.336 [Micromodem](INFO): Nmea in: $SNTTA,0.021046,,,,131706.54*42

2021-02-16T13:17:06.385Z,1613481426.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.020002 m, bearing: 108.708546 deg, deltaT: 4.431221 s, approachRate: -0.880118 m/s, LOS rate: 0.210728 deg/s, posRepo size: 4
2021-02-16T13:17:06.386Z,1613481426.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.020002 m,
      bearing: 108.708546 deg,
      approachRate: -0.880118 m/s,
      LOS rate: 0.210728 deg/s,
      cmd update: 0.632184 deg/s,
      cmd heading: 116.452747 deg,
      new cmd heading: 116.102025 deg.

2021-02-16T13:17:08.753Z,1613481428.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:09.547Z,1613481429.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:09.951Z,1613481429.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:10.776Z,1613481430.776 [Micromodem](INFO): Nmea in: $SNTTA,0.018462,,,,131710.98*4D

2021-02-16T13:17:10.850Z,1613481430.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 110.629523 deg, deltaT: 4.460118 s, approachRate: -0.793702 m/s, LOS rate: 0.430701 deg/s, posRepo size: 4
2021-02-16T13:17:10.856Z,1613481430.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.480000 m,
      bearing: 110.629523 deg,
      approachRate: -0.793702 m/s,
      LOS rate: 0.430701 deg/s,
      cmd update: 1.292103 deg/s,
      cmd heading: 119.272352 deg,
      new cmd heading: 119.555408 deg.

2021-02-16T13:17:13.284Z,1613481433.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:13.986Z,1613481433.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:14.405Z,1613481434.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:15.216Z,1613481435.216 [Micromodem](INFO): Nmea in: $SNTTA,0.016207,,,,131715.41*47

2021-02-16T13:17:15.314Z,1613481435.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 109.355625 deg, deltaT: 4.452213 s, approachRate: -0.822064 m/s, LOS rate: -0.286127 deg/s, posRepo size: 4
2021-02-16T13:17:15.320Z,1613481435.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.819998 m,
      bearing: 109.355625 deg,
      approachRate: -0.822064 m/s,
      LOS rate: -0.286127 deg/s,
      cmd update: -0.858381 deg/s,
      cmd heading: 124.980124 deg,
      new cmd heading: 125.628922 deg.

2021-02-16T13:17:17.661Z,1613481437.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:18.436Z,1613481438.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:18.857Z,1613481438.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:19.660Z,1613481439.660 [Micromodem](INFO): Nmea in: $SNTTA,0.013650,,,,131719.86*43

2021-02-16T13:17:19.706Z,1613481439.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 105.618965 deg, deltaT: 4.459601 s, approachRate: -0.807247 m/s, LOS rate: -0.837891 deg/s, posRepo size: 4
2021-02-16T13:17:19.712Z,1613481439.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 105.618965 deg,
      approachRate: -0.807247 m/s,
      LOS rate: -0.837891 deg/s,
      cmd update: -2.513673 deg/s,
      cmd heading: 121.122221 deg,
      new cmd heading: 120.778633 deg.

2021-02-16T13:17:22.136Z,1613481442.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:22.877Z,1613481442.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:23.283Z,1613481443.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:24.128Z,1613481444.128 [Micromodem](INFO): Nmea in: $SNTTA,0.011317,,,0.013803,131724.30*53

2021-02-16T13:17:24.198Z,1613481444.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.680002 m, bearing: 112.298624 deg, deltaT: 4.388738 s, approachRate: -0.806609 m/s, LOS rate: 1.522000 deg/s, posRepo size: 4
2021-02-16T13:17:24.200Z,1613481444.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.680002 m,
      bearing: 112.298624 deg,
      approachRate: -0.806609 m/s,
      LOS rate: 1.522000 deg/s,
      cmd update: 4.565999 deg/s,
      cmd heading: 110.090064 deg,
      new cmd heading: 108.825508 deg.

2021-02-16T13:17:26.523Z,1613481446.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:27.319Z,1613481447.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:27.727Z,1613481447.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:28.552Z,1613481448.552 [Micromodem](INFO): Nmea in: $SNTTA,0.008848,,,0.026042,131728.75*5C

2021-02-16T13:17:28.575Z,1613481448.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.019999 m, bearing: 111.020620 deg, deltaT: 4.497672 s, approachRate: -0.813755 m/s, LOS rate: -0.284148 deg/s, posRepo size: 4
2021-02-16T13:17:28.577Z,1613481448.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 111.020620 deg,
      approachRate: -0.813755 m/s,
      LOS rate: -0.284148 deg/s,
      cmd update: -0.852443 deg/s,
      cmd heading: 130.585059 deg,
      new cmd heading: 132.372493 deg.

2021-02-16T13:17:30.985Z,1613481450.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:31.773Z,1613481451.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:32.171Z,1613481452.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:32.996Z,1613481452.996 [Micromodem](INFO): Nmea in: $SNTTA,0.006626,,,,131733.20*42

2021-02-16T13:17:33.021Z,1613481453.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.660001 m, bearing: 105.835823 deg, deltaT: 4.418848 s, approachRate: -0.760379 m/s, LOS rate: -1.173337 deg/s, posRepo size: 4
2021-02-16T13:17:33.023Z,1613481453.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 105.835823 deg,
      approachRate: -0.760379 m/s,
      LOS rate: -1.173337 deg/s,
      cmd update: -3.520010 deg/s,
      cmd heading: 126.810541 deg,
      new cmd heading: 126.461184 deg.

2021-02-16T13:17:35.466Z,1613481455.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:36.204Z,1613481456.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:36.611Z,1613481456.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:37.432Z,1613481457.432 [Micromodem](INFO): Nmea in: $SNTTA,0.004524,,,,131737.63*42

2021-02-16T13:17:37.462Z,1613481457.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.600000 m, bearing: 107.810814 deg, deltaT: 4.444178 s, approachRate: -0.688541 m/s, LOS rate: 0.444399 deg/s, posRepo size: 4
2021-02-16T13:17:37.464Z,1613481457.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.600000 m,
      bearing: 107.810814 deg,
      approachRate: -0.688541 m/s,
      LOS rate: 0.444399 deg/s,
      cmd update: 1.333198 deg/s,
      cmd heading: 111.229364 deg,
      new cmd heading: 109.736028 deg.

2021-02-16T13:17:39.905Z,1613481459.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:40.648Z,1613481460.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:41.060Z,1613481461.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:41.881Z,1613481461.881 [Micromodem](INFO): Nmea in: $SNTTA,0.003088,,0.013382,,131742.08*5C

2021-02-16T13:17:41.924Z,1613481461.924 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:17:41.924Z,1613481461.924 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:17:41.924Z,1613481461.924 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:17:41.924Z,1613481461.924 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:17:41.924Z,1613481461.924 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:17:41.925Z,1613481461.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-02-16T13:17:41.925Z,1613481461.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:17:41.925Z,1613481461.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:17:41.925Z,1613481461.925 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:17:41.927Z,1613481461.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 137.445126 deg, deltaT: 4.422887 s, approachRate: -0.393408 m/s, LOS rate: 6.700219 deg/s, posRepo size: 4
2021-02-16T13:17:41.929Z,1613481461.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 137.445126 deg,
      approachRate: -0.393408 m/s,
      LOS rate: 6.700219 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.149346 deg,
      new cmd heading: 117.747740 deg.

2021-02-16T13:17:42.303Z,1613481462.303 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T131742: (41.552319, -70.708603)
2021-02-16T13:17:42.303Z,1613481462.303 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:17:42.303Z,1613481462.303 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:17:42.303Z,1613481462.303 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:17:42.303Z,1613481462.303 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:17:42.304Z,1613481462.304 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:17:42.304Z,1613481462.304 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:17:42.304Z,1613481462.304 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:17:42.304Z,1613481462.304 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:17:44.329Z,1613481464.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:45.120Z,1613481465.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:45.498Z,1613481465.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:46.336Z,1613481466.336 [Micromodem](INFO): Nmea in: $SNTTA,0.003174,,,,131746.55*47

2021-02-16T13:17:46.380Z,1613481466.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.740000 m, bearing: 112.978494 deg, deltaT: 4.451568 s, approachRate: -0.026957 m/s, LOS rate: -5.496183 deg/s, posRepo size: 4
2021-02-16T13:17:46.382Z,1613481466.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.740000 m,
      bearing: 112.978494 deg,
      approachRate: -0.026957 m/s,
      LOS rate: -5.496183 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.569927 deg,
      new cmd heading: 175.969436 deg.

2021-02-16T13:17:48.743Z,1613481468.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:49.538Z,1613481469.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:49.950Z,1613481469.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:50.768Z,1613481470.768 [Micromodem](INFO): Nmea in: $SNTTA,0.004196,,,,131750.97*45

2021-02-16T13:17:50.806Z,1613481470.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.359998 m, bearing: 87.660212 deg, deltaT: 4.451956 s, approachRate: 0.363885 m/s, LOS rate: -5.687002 deg/s, posRepo size: 4
2021-02-16T13:17:50.808Z,1613481470.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.359998 m,
      bearing: 87.660212 deg,
      approachRate: 0.363885 m/s,
      LOS rate: -5.687002 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 117.146117 deg,
      new cmd heading: 112.053065 deg.

2021-02-16T13:17:53.222Z,1613481473.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:53.986Z,1613481473.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:54.386Z,1613481474.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:55.229Z,1613481475.229 [Micromodem](INFO): Nmea in: $SNTTA,0.005915,,,,131755.41*49

2021-02-16T13:17:55.273Z,1613481475.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 114.110796 deg, deltaT: 4.475779 s, approachRate: 0.576436 m/s, LOS rate: 5.909716 deg/s, posRepo size: 4
2021-02-16T13:17:55.295Z,1613481475.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 114.110796 deg,
      approachRate: 0.576436 m/s,
      LOS rate: 5.909716 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 63.574852 deg,
      new cmd heading: 58.453431 deg.

2021-02-16T13:17:57.697Z,1613481477.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:17:58.445Z,1613481478.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:17:58.865Z,1613481478.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:17:59.668Z,1613481479.668 [Micromodem](INFO): Nmea in: $SNTTA,0.010058,,,,131759.87*4B

2021-02-16T13:17:59.690Z,1613481479.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.800002 m, bearing: 115.953239 deg, deltaT: 4.411844 s, approachRate: 1.101581 m/s, LOS rate: 0.417613 deg/s, posRepo size: 4
2021-02-16T13:17:59.692Z,1613481479.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 115.953239 deg,
      approachRate: 1.101581 m/s,
      LOS rate: 0.417613 deg/s,
      cmd update: 1.252839 deg/s,
      cmd heading: 116.655341 deg,
      new cmd heading: 121.699661 deg.

2021-02-16T13:18:02.149Z,1613481482.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:02.873Z,1613481482.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:03.276Z,1613481483.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:04.140Z,1613481484.140 [Micromodem](INFO): Nmea in: $SNTTA,0.010489,,,,131804.30*48

2021-02-16T13:18:04.175Z,1613481484.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.899998 m, bearing: 82.607743 deg, deltaT: 4.423013 s, approachRate: 0.474788 m/s, LOS rate: -7.539090 deg/s, posRepo size: 4
2021-02-16T13:18:04.195Z,1613481484.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.90 m. Rolling out.
2021-02-16T13:18:04.195Z,1613481484.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:18:06.199Z,1613481486.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:06.910Z,1613481486.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:07.315Z,1613481487.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:08.160Z,1613481488.160 [Micromodem](INFO): Nmea in: $SNTTA,0.012687,,,,131808.34*4E

2021-02-16T13:18:08.194Z,1613481488.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 102.048805 deg, deltaT: 4.049250 s, approachRate: 0.800149 m/s, LOS rate: 4.801151 deg/s, posRepo size: 4
2021-02-16T13:18:08.480Z,1613481488.480 [CTD_Seabird](ERROR): Failed to parse device response: 5.14,1.5726,
2021-02-16T13:18:10.564Z,1613481490.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:11.352Z,1613481491.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:11.770Z,1613481491.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:12.588Z,1613481492.588 [Micromodem](INFO): Nmea in: $SNTTA,0.014963,,,,131812.78*4E

2021-02-16T13:18:12.664Z,1613481492.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.560001 m, bearing: 154.585281 deg, deltaT: 4.496113 s, approachRate: 0.760657 m/s, LOS rate: 11.684866 deg/s, posRepo size: 4
2021-02-16T13:18:15.035Z,1613481495.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:15.808Z,1613481495.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:16.202Z,1613481496.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:17.032Z,1613481497.032 [Micromodem](INFO): Nmea in: $SNTTA,0.017532,,,,131817.24*49

2021-02-16T13:18:17.118Z,1613481497.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.460001 m, bearing: 157.738479 deg, deltaT: 4.385866 s, approachRate: 0.889220 m/s, LOS rate: 0.718945 deg/s, posRepo size: 4
2021-02-16T13:18:19.127Z,1613481499.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:19.858Z,1613481499.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:20.249Z,1613481500.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:21.084Z,1613481501.084 [Micromodem](INFO): Nmea in: $SNTTA,0.019818,,,,131821.29*4A

2021-02-16T13:18:21.167Z,1613481501.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.880001 m, bearing: 149.615977 deg, deltaT: 4.039891 s, approachRate: 0.846557 m/s, LOS rate: -2.010575 deg/s, posRepo size: 4
2021-02-16T13:18:23.487Z,1613481503.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:24.282Z,1613481504.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:24.688Z,1613481504.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:25.508Z,1613481505.508 [Micromodem](INFO): Nmea in: $SNTTA,0.024503,,,,131825.71*4A

2021-02-16T13:18:25.554Z,1613481505.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 152.098436 deg, deltaT: 4.509868 s, approachRate: 0.838162 m/s, LOS rate: 0.550451 deg/s, posRepo size: 4
2021-02-16T13:18:27.965Z,1613481507.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:28.732Z,1613481508.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:29.134Z,1613481509.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:29.956Z,1613481509.956 [Micromodem](INFO): Nmea in: $SNTTA,0.036355,,,,131830.16*49

2021-02-16T13:18:30.002Z,1613481510.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.380001 m, bearing: 146.136911 deg, deltaT: 4.373116 s, approachRate: 0.850652 m/s, LOS rate: -1.363221 deg/s, posRepo size: 4
2021-02-16T13:18:32.378Z,1613481512.378 [PowerOnly](INFO): Powering down loadControl
2021-02-16T13:18:32.403Z,1613481512.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:33.185Z,1613481513.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:33.589Z,1613481513.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:34.404Z,1613481514.404 [Micromodem](INFO): Nmea in: $SNTTA,0.027466,,,,131834.61*4A

2021-02-16T13:18:34.517Z,1613481514.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.399998 m, bearing: 140.335758 deg, deltaT: 4.472306 s, approachRate: 0.898864 m/s, LOS rate: -1.297128 deg/s, posRepo size: 4
2021-02-16T13:18:36.862Z,1613481516.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:37.616Z,1613481517.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:38.024Z,1613481518.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:38.868Z,1613481518.868 [Micromodem](INFO): Nmea in: $SNTTA,0.029900,,,,131839.05*46

2021-02-16T13:18:38.917Z,1613481518.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 152.577519 deg, deltaT: 4.441261 s, approachRate: 0.810581 m/s, LOS rate: 2.756371 deg/s, posRepo size: 4
2021-02-16T13:18:41.284Z,1613481521.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:42.062Z,1613481522.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:42.461Z,1613481522.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:43.292Z,1613481523.292 [Micromodem](INFO): Nmea in: $SNTTA,0.032471,,,,131843.49*42

2021-02-16T13:18:43.332Z,1613481523.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.900002 m, bearing: 150.710105 deg, deltaT: 4.452013 s, approachRate: 0.876009 m/s, LOS rate: -0.419454 deg/s, posRepo size: 4
2021-02-16T13:18:45.718Z,1613481525.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:46.500Z,1613481526.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:46.913Z,1613481526.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:47.740Z,1613481527.740 [Micromodem](INFO): Nmea in: $SNTTA,0.035080,,,,131847.93*4C

2021-02-16T13:18:47.755Z,1613481527.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 138.651297 deg, deltaT: 4.438017 s, approachRate: 0.865250 m/s, LOS rate: -2.717161 deg/s, posRepo size: 4
2021-02-16T13:18:50.176Z,1613481530.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:50.946Z,1613481530.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:51.350Z,1613481531.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:52.161Z,1613481532.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131852.37*56

2021-02-16T13:18:53.009Z,1613481533.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:54.578Z,1613481534.578 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:18:55.854Z,1613481535.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:18:56.600Z,1613481536.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:18:57.005Z,1613481537.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:18:57.829Z,1613481537.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,131858.03*5B

2021-02-16T13:18:58.646Z,1613481538.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:00.253Z,1613481540.253 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:19:01.464Z,1613481541.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:02.263Z,1613481542.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:02.690Z,1613481542.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:03.492Z,1613481543.492 [Micromodem](INFO): Nmea in: $SNTTA,0.044146,,0.053209,,131903.69*56

2021-02-16T13:19:03.528Z,1613481543.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.419998 m, bearing: 144.088769 deg, deltaT: 15.818656 s, approachRate: 0.864802 m/s, LOS rate: 0.343738 deg/s, posRepo size: 4
2021-02-16T13:19:05.928Z,1613481545.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:06.700Z,1613481546.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:07.128Z,1613481547.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:07.928Z,1613481547.928 [Micromodem](INFO): Nmea in: $SNTTA,0.046655,,,,131908.13*44

2021-02-16T13:19:07.967Z,1613481547.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 152.133871 deg, deltaT: 4.375192 s, approachRate: 0.850249 m/s, LOS rate: 1.838800 deg/s, posRepo size: 4
2021-02-16T13:19:10.366Z,1613481550.366 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:11.144Z,1613481551.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:11.555Z,1613481551.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:12.392Z,1613481552.392 [Micromodem](INFO): Nmea in: $SNTTA,0.049439,,,,131912.57*48

2021-02-16T13:19:12.417Z,1613481552.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.340004 m, bearing: 153.239392 deg, deltaT: 4.462460 s, approachRate: 0.941186 m/s, LOS rate: 0.247738 deg/s, posRepo size: 4
2021-02-16T13:19:14.807Z,1613481554.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:15.588Z,1613481555.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:15.994Z,1613481555.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:16.831Z,1613481556.831 [Micromodem](INFO): Nmea in: $SNTTA,0.052024,,,,131917.01*4C

2021-02-16T13:19:16.876Z,1613481556.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 153.146857 deg, deltaT: 4.413229 s, approachRate: 0.870110 m/s, LOS rate: -0.020968 deg/s, posRepo size: 4
2021-02-16T13:19:19.281Z,1613481559.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:20.037Z,1613481560.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:20.457Z,1613481560.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:21.268Z,1613481561.268 [Micromodem](INFO): Nmea in: $SNTTA,0.054694,,,,131921.47*40

2021-02-16T13:19:21.312Z,1613481561.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.139999 m, bearing: 151.864256 deg, deltaT: 4.479503 s, approachRate: 0.884026 m/s, LOS rate: -0.286326 deg/s, posRepo size: 4
2021-02-16T13:19:23.685Z,1613481563.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:24.485Z,1613481564.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:24.884Z,1613481564.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:25.712Z,1613481565.712 [Micromodem](INFO): Nmea in: $SNTTA,0.057306,,,,131925.91*42

2021-02-16T13:19:25.749Z,1613481565.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.100006 m, bearing: 157.718767 deg, deltaT: 4.424128 s, approachRate: 0.895093 m/s, LOS rate: 1.323314 deg/s, posRepo size: 4
2021-02-16T13:19:28.160Z,1613481568.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:28.927Z,1613481568.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:29.326Z,1613481569.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:30.156Z,1613481570.156 [Micromodem](INFO): Nmea in: $SNTTA,0.059861,,,,131930.35*4C

2021-02-16T13:19:30.205Z,1613481570.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.940002 m, bearing: 155.169836 deg, deltaT: 4.418481 s, approachRate: 0.869076 m/s, LOS rate: -0.576879 deg/s, posRepo size: 4
2021-02-16T13:19:32.586Z,1613481572.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:33.371Z,1613481573.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:33.770Z,1613481573.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:34.596Z,1613481574.596 [Micromodem](INFO): Nmea in: $SNTTA,0.062493,,,,131934.80*4F

2021-02-16T13:19:34.638Z,1613481574.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 153.503720 deg, deltaT: 4.495772 s, approachRate: 0.880827 m/s, LOS rate: -0.370596 deg/s, posRepo size: 4
2021-02-16T13:19:37.032Z,1613481577.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:37.813Z,1613481577.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:38.214Z,1613481578.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:39.040Z,1613481579.040 [Micromodem](INFO): Nmea in: $SNTTA,0.064951,,,,131939.24*49

2021-02-16T13:19:39.131Z,1613481579.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.620003 m, bearing: 150.567149 deg, deltaT: 4.397897 s, approachRate: 0.845859 m/s, LOS rate: -0.667722 deg/s, posRepo size: 4
2021-02-16T13:19:41.489Z,1613481581.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:42.262Z,1613481582.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:42.670Z,1613481582.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:43.488Z,1613481583.488 [Micromodem](INFO): Nmea in: $SNTTA,0.067565,,,,131943.69*45

2021-02-16T13:19:43.530Z,1613481583.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.520004 m, bearing: 145.025953 deg, deltaT: 4.525885 s, approachRate: 0.861710 m/s, LOS rate: -1.224334 deg/s, posRepo size: 4
2021-02-16T13:19:45.938Z,1613481585.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:46.696Z,1613481586.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:47.128Z,1613481587.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:47.937Z,1613481587.937 [Micromodem](INFO): Nmea in: $SNTTA,0.070133,,,,131948.12*43

2021-02-16T13:19:48.753Z,1613481588.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:50.330Z,1613481590.330 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:19:51.560Z,1613481591.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:52.352Z,1613481592.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:52.767Z,1613481592.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:53.580Z,1613481593.580 [Micromodem](INFO): Nmea in: $SNTTA,0.073343,,,,131953.78*43

2021-02-16T13:19:53.617Z,1613481593.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.160004 m, bearing: 143.272001 deg, deltaT: 10.058199 s, approachRate: 0.859001 m/s, LOS rate: -0.174380 deg/s, posRepo size: 4
2021-02-16T13:19:56.014Z,1613481596.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:19:56.800Z,1613481596.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:19:57.203Z,1613481597.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:19:58.028Z,1613481598.028 [Micromodem](INFO): Nmea in: $SNTTA,0.075743,,,,131958.23*44

2021-02-16T13:19:58.071Z,1613481598.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.760002 m, bearing: 159.025696 deg, deltaT: 4.406033 s, approachRate: 0.817061 m/s, LOS rate: 3.575483 deg/s, posRepo size: 4
2021-02-16T13:20:00.130Z,1613481600.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:00.861Z,1613481600.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:01.283Z,1613481601.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:02.087Z,1613481602.087 [Micromodem](INFO): Nmea in: $SNTTA,0.078047,,,,132002.29*45

2021-02-16T13:20:02.172Z,1613481602.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 154.499863 deg, deltaT: 4.089799 s, approachRate: 0.836226 m/s, LOS rate: -1.106615 deg/s, posRepo size: 4
2021-02-16T13:20:04.484Z,1613481604.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:05.280Z,1613481605.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:05.683Z,1613481605.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:06.493Z,1613481606.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132006.71*5E

2021-02-16T13:20:07.332Z,1613481607.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:08.936Z,1613481608.936 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:20:10.191Z,1613481610.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:10.933Z,1613481610.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:11.338Z,1613481611.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:12.150Z,1613481612.150 [Micromodem](INFO): Nmea in: $SNTTA,0.084424,,,,132012.36*48

2021-02-16T13:20:12.985Z,1613481612.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:14.567Z,1613481614.567 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:20:15.853Z,1613481615.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:16.592Z,1613481616.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:16.999Z,1613481616.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:17.840Z,1613481617.840 [Micromodem](INFO): Nmea in: $SNTTA,0.087691,,,,132018.02*4A

2021-02-16T13:20:17.883Z,1613481617.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.700012 m, bearing: 134.434106 deg, deltaT: 15.705924 s, approachRate: 0.924493 m/s, LOS rate: -1.277592 deg/s, posRepo size: 4
2021-02-16T13:20:19.925Z,1613481619.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:20.734Z,1613481620.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:21.143Z,1613481621.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:21.948Z,1613481621.948 [Micromodem](INFO): Nmea in: $SNTTA,0.089995,,,,132022.16*43

2021-02-16T13:20:22.002Z,1613481622.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.119995 m, bearing: 133.324227 deg, deltaT: 4.155136 s, approachRate: 0.823074 m/s, LOS rate: -0.267110 deg/s, posRepo size: 4
2021-02-16T13:20:24.342Z,1613481624.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:25.135Z,1613481625.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:25.518Z,1613481625.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:26.356Z,1613481626.356 [Micromodem](INFO): Nmea in: $SNTTA,0.092505,,,,132026.56*4C

2021-02-16T13:20:26.404Z,1613481626.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 160.417416 deg, deltaT: 4.399733 s, approachRate: 0.668223 m/s, LOS rate: 6.157917 deg/s, posRepo size: 4
2021-02-16T13:20:28.768Z,1613481628.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:29.557Z,1613481629.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:29.962Z,1613481629.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:30.082Z,1613481630.082 [CTD_Seabird](ERROR): Failed to parse device response: 5.61,1.5620,2.718.82
2021-02-16T13:20:30.774Z,1613481630.774 [Micromodem](INFO): Nmea in: $SNTTA,0.094484,,,,132030.98*47

2021-02-16T13:20:31.604Z,1613481631.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:33.196Z,1613481633.196 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:20:34.478Z,1613481634.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:35.220Z,1613481635.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:35.645Z,1613481635.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:36.444Z,1613481636.444 [Micromodem](INFO): Nmea in: $SNTTA,0.097836,,,,132036.65*45

2021-02-16T13:20:36.469Z,1613481636.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.940002 m, bearing: 158.561926 deg, deltaT: 10.141293 s, approachRate: 0.875628 m/s, LOS rate: -0.182964 deg/s, posRepo size: 4
2021-02-16T13:20:38.909Z,1613481638.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:39.656Z,1613481639.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:40.080Z,1613481640.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:40.891Z,1613481640.891 [Micromodem](INFO): Nmea in: $SNTTA,0.100435,,,,132041.08*4E

2021-02-16T13:20:40.928Z,1613481640.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.620010 m, bearing: 134.910634 deg, deltaT: 4.373843 s, approachRate: 1.069999 m/s, LOS rate: -5.407440 deg/s, posRepo size: 4
2021-02-16T13:20:40.929Z,1613481640.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.62 m. Resuming terminal guidance.
2021-02-16T13:20:40.929Z,1613481640.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T13:20:43.326Z,1613481643.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:44.122Z,1613481644.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:44.185Z,1613481644.185 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T13:20:44.507Z,1613481644.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:45.331Z,1613481645.331 [Micromodem](INFO): Nmea in: $SNTTA,0.102998,,,,132045.55*4A

2021-02-16T13:20:46.193Z,1613481646.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:47.410Z,1613481647.410 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:20:49.005Z,1613481649.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:49.758Z,1613481649.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:50.166Z,1613481650.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:50.994Z,1613481650.994 [Micromodem](INFO): Nmea in: $SNTTA,0.106207,,,,132051.19*4E

2021-02-16T13:20:51.048Z,1613481651.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 129.259486 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T13:20:51.049Z,1613481651.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 129.259486deg and heading rate command to 0 deg/s.
2021-02-16T13:20:53.433Z,1613481653.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:54.210Z,1613481654.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:54.612Z,1613481654.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:55.443Z,1613481655.443 [Micromodem](INFO): Nmea in: $SNTTA,0.108720,,,,132055.64*4E

2021-02-16T13:20:55.467Z,1613481655.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 138.463248 deg, deltaT: 4.457686 s, approachRate: 0.847977 m/s, LOS rate: 2.064695 deg/s, posRepo size: 2
2021-02-16T13:20:55.469Z,1613481655.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 138.463248 deg,
      approachRate: 0.847977 m/s,
      LOS rate: 2.064695 deg/s,
      cmd update: 6.194085 deg/s,
      cmd heading: 129.259486 deg,
      new cmd heading: 129.259486 deg.

2021-02-16T13:20:57.932Z,1613481657.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:20:58.666Z,1613481658.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:20:59.060Z,1613481659.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:20:59.895Z,1613481659.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132100.09*56

2021-02-16T13:20:59.923Z,1613481659.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 111.914473 deg, deltaT: 4.452727 s, approachRate: 0.000000 m/s, LOS rate: -5.962363 deg/s, posRepo size: 3
2021-02-16T13:20:59.925Z,1613481659.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 111.914473 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.962363 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 156.816498 deg,
      new cmd heading: 159.358501 deg.

2021-02-16T13:21:02.350Z,1613481662.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:03.092Z,1613481663.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:03.503Z,1613481663.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:04.328Z,1613481664.328 [Micromodem](INFO): Nmea in: $SNTTA,0.113121,,,,132104.52*43

2021-02-16T13:21:04.377Z,1613481664.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 147.123053 deg, deltaT: 4.437779 s, approachRate: 0.000000 m/s, LOS rate: 7.933829 deg/s, posRepo size: 4
2021-02-16T13:21:04.378Z,1613481664.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 147.123053 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.933829 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 103.565128 deg,
      new cmd heading: 98.447416 deg.

2021-02-16T13:21:06.777Z,1613481666.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:07.543Z,1613481667.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:07.947Z,1613481667.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:08.772Z,1613481668.772 [Micromodem](INFO): Nmea in: $SNTTA,0.115891,,,,132108.97*42

2021-02-16T13:21:08.856Z,1613481668.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 189.948790 deg, deltaT: 4.457323 s, approachRate: 0.000000 m/s, LOS rate: 9.607950 deg/s, posRepo size: 4
2021-02-16T13:21:08.858Z,1613481668.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 189.948790 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.607950 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 157.103790 deg,
      new cmd heading: 162.289650 deg.

2021-02-16T13:21:11.220Z,1613481671.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:11.990Z,1613481671.990 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:12.392Z,1613481672.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:13.216Z,1613481673.216 [Micromodem](INFO): Nmea in: $SNTTA,0.125981,,,,132113.42*43

2021-02-16T13:21:13.281Z,1613481673.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 118.151809 deg, deltaT: 4.484775 s, approachRate: 2.782744 m/s, LOS rate: -16.009048 deg/s, posRepo size: 4
2021-02-16T13:21:13.281Z,1613481673.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.009048 deg/s. Setting heading cmd to target bearing of 118.151809deg and heading rate command to 0 deg/s.
2021-02-16T13:21:15.652Z,1613481675.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:16.429Z,1613481676.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:16.860Z,1613481676.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:17.652Z,1613481677.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132117.86*57

2021-02-16T13:21:17.687Z,1613481677.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 150.005817 deg, deltaT: 4.408426 s, approachRate: 0.000000 m/s, LOS rate: 7.225710 deg/s, posRepo size: 4
2021-02-16T13:21:17.689Z,1613481677.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.459991 m,
      bearing: 150.005817 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.225710 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 118.151809 deg,
      new cmd heading: 118.151809 deg.

2021-02-16T13:21:20.155Z,1613481680.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:20.869Z,1613481680.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:21.285Z,1613481681.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:22.124Z,1613481682.124 [Micromodem](INFO): Nmea in: $SNTTA,0.121938,,,,132122.30*42

2021-02-16T13:21:22.183Z,1613481682.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.459991 m, bearing: 164.520638 deg, deltaT: 4.410162 s, approachRate: 0.000000 m/s, LOS rate: 3.291222 deg/s, posRepo size: 4
2021-02-16T13:21:22.185Z,1613481682.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.459991 m,
      bearing: 164.520638 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.291222 deg/s,
      cmd update: 9.873665 deg/s,
      cmd heading: 171.156194 deg,
      new cmd heading: 176.544338 deg.

2021-02-16T13:21:24.534Z,1613481684.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:25.323Z,1613481685.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:25.723Z,1613481685.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:26.546Z,1613481686.546 [Micromodem](INFO): Nmea in: $SNTTA,0.124011,,,,132126.75*40

2021-02-16T13:21:26.986Z,1613481686.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.059998 m, bearing: 166.143491 deg, deltaT: 4.846186 s, approachRate: 1.980940 m/s, LOS rate: 0.334872 deg/s, posRepo size: 4
2021-02-16T13:21:26.988Z,1613481686.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.059998 m,
      bearing: 166.143491 deg,
      approachRate: 1.980940 m/s,
      LOS rate: 0.334872 deg/s,
      cmd update: 1.004617 deg/s,
      cmd heading: 219.015735 deg,
      new cmd heading: 223.211134 deg.

2021-02-16T13:21:29.555Z,1613481689.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:30.183Z,1613481690.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:30.571Z,1613481690.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:31.399Z,1613481691.399 [Micromodem](INFO): Nmea in: $SNTTA,0.125881,,,,132131.61*43

2021-02-16T13:21:31.862Z,1613481691.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.879990 m, bearing: 172.729105 deg, deltaT: 4.862205 s, approachRate: 0.579982 m/s, LOS rate: 1.354450 deg/s, posRepo size: 4
2021-02-16T13:21:31.868Z,1613481691.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.879990 m,
      bearing: 172.729105 deg,
      approachRate: 0.579982 m/s,
      LOS rate: 1.354450 deg/s,
      cmd update: 4.063350 deg/s,
      cmd heading: 223.900267 deg,
      new cmd heading: 224.341464 deg.

2021-02-16T13:21:34.253Z,1613481694.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:35.034Z,1613481695.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:35.423Z,1613481695.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:36.247Z,1613481696.247 [Micromodem](INFO): Nmea in: $SNTTA,0.127280,,,,132136.46*48

2021-02-16T13:21:36.661Z,1613481696.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.859985 m, bearing: 237.863278 deg, deltaT: 4.890752 s, approachRate: 0.404845 m/s, LOS rate: 13.317824 deg/s, posRepo size: 4
2021-02-16T13:21:36.662Z,1613481696.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.317824 deg/s. Setting heading cmd to target bearing of 237.863278deg and heading rate command to 0 deg/s.
2021-02-16T13:21:37.885Z,1613481697.885 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:21:39.120Z,1613481699.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:39.866Z,1613481699.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:40.273Z,1613481700.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:41.174Z,1613481701.174 [Micromodem](INFO): Nmea in: $SNTTA,0.127993,,,,132141.29*48

2021-02-16T13:21:41.538Z,1613481701.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.999985 m, bearing: 179.461800 deg, deltaT: 4.909678 s, approachRate: 0.232194 m/s, LOS rate: -11.895175 deg/s, posRepo size: 4
2021-02-16T13:21:41.538Z,1613481701.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.895175 deg/s. Setting heading cmd to target bearing of 179.461800deg and heading rate command to 0 deg/s.
2021-02-16T13:21:43.958Z,1613481703.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:44.706Z,1613481704.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:45.130Z,1613481705.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:45.931Z,1613481705.931 [Micromodem](INFO): Nmea in: $SNTTA,0.127974,,,,132146.13*4F

2021-02-16T13:21:46.374Z,1613481706.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.759995 m, bearing: 286.545697 deg, deltaT: 4.752642 s, approachRate: -0.050496 m/s, LOS rate: 22.531447 deg/s, posRepo size: 4
2021-02-16T13:21:46.375Z,1613481706.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.531447 deg/s. Setting heading cmd to target bearing of 286.545697deg and heading rate command to 0 deg/s.
2021-02-16T13:21:48.782Z,1613481708.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:49.553Z,1613481709.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:49.958Z,1613481709.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:50.773Z,1613481710.773 [Micromodem](INFO): Nmea in: $SNTTA,0.127548,,,,132150.98*48

2021-02-16T13:21:51.242Z,1613481711.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 254.835369 deg, deltaT: 4.811660 s, approachRate: -0.112226 m/s, LOS rate: -6.590310 deg/s, posRepo size: 4
2021-02-16T13:21:51.250Z,1613481711.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 254.835369 deg,
      approachRate: -0.112226 m/s,
      LOS rate: -6.590310 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.545697 deg,
      new cmd heading: 286.545697 deg.

2021-02-16T13:21:53.216Z,1613481713.216 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:21:53.608Z,1613481713.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:54.485Z,1613481714.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:54.826Z,1613481714.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:21:56.035Z,1613481716.035 [Micromodem](INFO): Nmea in: $SNTTA,0.127593,,,,132155.91*42

2021-02-16T13:21:56.060Z,1613481716.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.339981 m, bearing: 171.801674 deg, deltaT: 4.869164 s, approachRate: 0.024641 m/s, LOS rate: -17.052967 deg/s, posRepo size: 4
2021-02-16T13:21:56.061Z,1613481716.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.052967 deg/s. Setting heading cmd to target bearing of 171.801674deg and heading rate command to 0 deg/s.
2021-02-16T13:21:58.065Z,1613481718.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:21:58.486Z,1613481718.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:21:59.257Z,1613481719.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:21:59.654Z,1613481719.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:00.487Z,1613481720.487 [Micromodem](INFO): Nmea in: $SNTTA,0.127563,,,,132200.69*49

2021-02-16T13:22:00.908Z,1613481720.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.159988 m, bearing: 285.991140 deg, deltaT: 4.844648 s, approachRate: -0.037153 m/s, LOS rate: 23.570230 deg/s, posRepo size: 4
2021-02-16T13:22:00.909Z,1613481720.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.570230 deg/s. Setting heading cmd to target bearing of 285.991140deg and heading rate command to 0 deg/s.
2021-02-16T13:22:03.317Z,1613481723.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:04.116Z,1613481724.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:04.503Z,1613481724.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:05.327Z,1613481725.327 [Micromodem](INFO): Nmea in: $SNTTA,0.127062,,,,132205.54*46

2021-02-16T13:22:05.754Z,1613481725.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.499985 m, bearing: 255.927735 deg, deltaT: 4.849395 s, approachRate: -0.136100 m/s, LOS rate: -6.199414 deg/s, posRepo size: 4
2021-02-16T13:22:05.757Z,1613481725.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.499985 m,
      bearing: 255.927735 deg,
      approachRate: -0.136100 m/s,
      LOS rate: -6.199414 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.991140 deg,
      new cmd heading: 285.991140 deg.

2021-02-16T13:22:06.949Z,1613481726.949 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:22:07.894Z,1613481727.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:08.200Z,1613481728.200 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:22:08.560Z,1613481728.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:08.973Z,1613481728.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:09.772Z,1613481729.772 [Micromodem](INFO): Nmea in: $SNTTA,0.127087,,,,132209.99*40

2021-02-16T13:22:10.291Z,1613481730.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.619995 m, bearing: 179.507931 deg, deltaT: 4.434439 s, approachRate: 0.027063 m/s, LOS rate: -17.233252 deg/s, posRepo size: 4
2021-02-16T13:22:10.292Z,1613481730.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.233252 deg/s. Setting heading cmd to target bearing of 179.507931deg and heading rate command to 0 deg/s.
2021-02-16T13:22:12.596Z,1613481732.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:13.018Z,1613481733.018 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:22:13.395Z,1613481733.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:13.797Z,1613481733.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:14.640Z,1613481734.640 [Micromodem](INFO): Nmea in: $SNTTA,0.126799,,,,132214.82*4F

2021-02-16T13:22:14.662Z,1613481734.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.019974 m, bearing: 286.927259 deg, deltaT: 4.522708 s, approachRate: -0.132669 m/s, LOS rate: 23.751109 deg/s, posRepo size: 4
2021-02-16T13:22:14.663Z,1613481734.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.751109 deg/s. Setting heading cmd to target bearing of 286.927259deg and heading rate command to 0 deg/s.
2021-02-16T13:22:17.067Z,1613481737.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:17.897Z,1613481737.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:17.953Z,1613481737.953 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:22:18.244Z,1613481738.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:19.460Z,1613481739.460 [Micromodem](INFO): Nmea in: $SNTTA,0.126343,,,,132219.32*4A

2021-02-16T13:22:19.475Z,1613481739.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.479980 m, bearing: 260.737554 deg, deltaT: 4.855971 s, approachRate: -0.111202 m/s, LOS rate: -5.393299 deg/s, posRepo size: 4
2021-02-16T13:22:19.477Z,1613481739.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.479980 m,
      bearing: 260.737554 deg,
      approachRate: -0.111202 m/s,
      LOS rate: -5.393299 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.927259 deg,
      new cmd heading: 286.927259 deg.

2021-02-16T13:22:21.913Z,1613481741.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:22.715Z,1613481742.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:23.117Z,1613481743.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:23.952Z,1613481743.952 [Micromodem](INFO): Nmea in: $SNTTA,0.126221,,,,132224.14*45

2021-02-16T13:22:23.984Z,1613481743.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 184.663522 deg, deltaT: 4.421093 s, approachRate: -0.040712 m/s, LOS rate: -17.207065 deg/s, posRepo size: 4
2021-02-16T13:22:23.985Z,1613481743.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.207065 deg/s. Setting heading cmd to target bearing of 184.663522deg and heading rate command to 0 deg/s.
2021-02-16T13:22:26.346Z,1613481746.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:27.125Z,1613481747.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:27.539Z,1613481747.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:27.957Z,1613481747.957 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:22:28.343Z,1613481748.343 [Micromodem](INFO): Nmea in: $SNTTA,0.126194,,,,132228.55*41

2021-02-16T13:22:28.770Z,1613481748.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.119980 m, bearing: 295.389508 deg, deltaT: 4.809990 s, approachRate: -0.037424 m/s, LOS rate: 23.020003 deg/s, posRepo size: 4
2021-02-16T13:22:28.771Z,1613481748.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.020003 deg/s. Setting heading cmd to target bearing of 295.389508deg and heading rate command to 0 deg/s.
2021-02-16T13:22:31.234Z,1613481751.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:31.982Z,1613481751.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:32.378Z,1613481752.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:33.208Z,1613481753.208 [Micromodem](INFO): Nmea in: $SNTTA,0.125707,,,,132233.41*41

2021-02-16T13:22:33.298Z,1613481753.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.119980 m, bearing: 292.008673 deg, deltaT: 4.487585 s, approachRate: 0.000000 m/s, LOS rate: -0.753375 deg/s, posRepo size: 4
2021-02-16T13:22:33.306Z,1613481753.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.119980 m,
      bearing: 292.008673 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.753375 deg/s,
      cmd update: -2.260125 deg/s,
      cmd heading: 295.389508 deg,
      new cmd heading: 295.389508 deg.

2021-02-16T13:22:35.669Z,1613481755.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:36.500Z,1613481756.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:36.874Z,1613481756.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:38.062Z,1613481758.062 [Micromodem](INFO): Nmea in: $SNTTA,0.125592,,,,132237.93*44

2021-02-16T13:22:38.136Z,1613481758.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.399994 m, bearing: 185.596211 deg, deltaT: 4.788213 s, approachRate: -0.150366 m/s, LOS rate: -22.223836 deg/s, posRepo size: 4
2021-02-16T13:22:38.137Z,1613481758.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.223836 deg/s. Setting heading cmd to target bearing of 185.596211deg and heading rate command to 0 deg/s.
2021-02-16T13:22:40.472Z,1613481760.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:41.276Z,1613481761.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:41.670Z,1613481761.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:42.490Z,1613481762.490 [Micromodem](INFO): Nmea in: $SNTTA,0.125534,,,,132242.70*47

2021-02-16T13:22:42.956Z,1613481762.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.160004 m, bearing: 297.123310 deg, deltaT: 4.833232 s, approachRate: -0.049654 m/s, LOS rate: 23.075056 deg/s, posRepo size: 4
2021-02-16T13:22:42.957Z,1613481762.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.075056 deg/s. Setting heading cmd to target bearing of 297.123310deg and heading rate command to 0 deg/s.
2021-02-16T13:22:45.350Z,1613481765.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:46.132Z,1613481766.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:46.518Z,1613481766.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:47.348Z,1613481767.348 [Micromodem](INFO): Nmea in: $SNTTA,0.124812,,,,132247.56*4E

2021-02-16T13:22:47.772Z,1613481767.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.080002 m, bearing: 307.163606 deg, deltaT: 4.866895 s, approachRate: -0.221908 m/s, LOS rate: 2.062978 deg/s, posRepo size: 4
2021-02-16T13:22:47.773Z,1613481767.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.080002 m,
      bearing: 307.163606 deg,
      approachRate: -0.221908 m/s,
      LOS rate: 2.062978 deg/s,
      cmd update: 6.188933 deg/s,
      cmd heading: 297.123310 deg,
      new cmd heading: 297.123310 deg.

2021-02-16T13:22:50.298Z,1613481770.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:50.993Z,1613481770.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:51.387Z,1613481771.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:52.197Z,1613481772.197 [Micromodem](INFO): Nmea in: $SNTTA,0.123795,,,,132252.42*48

2021-02-16T13:22:52.618Z,1613481772.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 314.542642 deg, deltaT: 4.904368 s, approachRate: -0.318083 m/s, LOS rate: 1.504584 deg/s, posRepo size: 4
2021-02-16T13:22:52.620Z,1613481772.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.520004 m,
      bearing: 314.542642 deg,
      approachRate: -0.318083 m/s,
      LOS rate: 1.504584 deg/s,
      cmd update: 4.513754 deg/s,
      cmd heading: 327.473964 deg,
      new cmd heading: 329.593723 deg.

2021-02-16T13:22:55.051Z,1613481775.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:22:55.835Z,1613481775.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:22:56.214Z,1613481776.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:22:57.043Z,1613481777.043 [Micromodem](INFO): Nmea in: $SNTTA,0.122638,,,,132257.26*48

2021-02-16T13:22:57.460Z,1613481777.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 301.112496 deg, deltaT: 4.851105 s, approachRate: -0.358679 m/s, LOS rate: -2.768472 deg/s, posRepo size: 4
2021-02-16T13:22:57.462Z,1613481777.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.780014 m,
      bearing: 301.112496 deg,
      approachRate: -0.358679 m/s,
      LOS rate: -2.768472 deg/s,
      cmd update: -8.305414 deg/s,
      cmd heading: 349.353924 deg,
      new cmd heading: 350.873966 deg.

2021-02-16T13:22:59.890Z,1613481779.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:00.656Z,1613481780.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:01.067Z,1613481781.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:01.976Z,1613481781.976 [Micromodem](INFO): Nmea in: $SNTTA,0.121122,,,,132302.08*4A

2021-02-16T13:23:02.010Z,1613481782.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.780014 m, bearing: 300.075619 deg, deltaT: 4.362481 s, approachRate: 0.000000 m/s, LOS rate: -0.237681 deg/s, posRepo size: 4
2021-02-16T13:23:02.012Z,1613481782.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.780014 m,
      bearing: 300.075619 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.237681 deg/s,
      cmd update: -0.713042 deg/s,
      cmd heading: 313.099776 deg,
      new cmd heading: 308.766684 deg.

2021-02-16T13:23:04.336Z,1613481784.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:05.115Z,1613481785.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:05.506Z,1613481785.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:06.327Z,1613481786.327 [Micromodem](INFO): Nmea in: $SNTTA,0.119436,,,,132306.54*4C

2021-02-16T13:23:06.755Z,1613481786.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 301.776691 deg, deltaT: 4.897190 s, approachRate: -0.980158 m/s, LOS rate: 0.347357 deg/s, posRepo size: 4
2021-02-16T13:23:06.773Z,1613481786.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 301.776691 deg,
      approachRate: -0.980158 m/s,
      LOS rate: 0.347357 deg/s,
      cmd update: 1.042070 deg/s,
      cmd heading: 309.609804 deg,
      new cmd heading: 309.344533 deg.

2021-02-16T13:23:09.190Z,1613481789.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:09.954Z,1613481789.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:10.358Z,1613481790.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:11.180Z,1613481791.180 [Micromodem](INFO): Nmea in: $SNTTA,0.117547,,,,132311.38*49

2021-02-16T13:23:11.256Z,1613481791.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.979996 m, bearing: 301.071023 deg, deltaT: 4.419300 s, approachRate: 0.000000 m/s, LOS rate: -0.159679 deg/s, posRepo size: 4
2021-02-16T13:23:11.263Z,1613481791.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.979996 m,
      bearing: 301.071023 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.159679 deg/s,
      cmd update: -0.479036 deg/s,
      cmd heading: 314.214602 deg,
      new cmd heading: 314.683330 deg.

2021-02-16T13:23:13.634Z,1613481793.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:14.401Z,1613481794.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:14.817Z,1613481794.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:15.632Z,1613481795.632 [Micromodem](INFO): Nmea in: $SNTTA,0.115621,,,,132315.83*4C

2021-02-16T13:23:15.691Z,1613481795.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.280014 m, bearing: 300.468955 deg, deltaT: 4.511100 s, approachRate: -1.263546 m/s, LOS rate: -0.133464 deg/s, posRepo size: 4
2021-02-16T13:23:15.706Z,1613481795.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.280014 m,
      bearing: 300.468955 deg,
      approachRate: -1.263546 m/s,
      LOS rate: -0.133464 deg/s,
      cmd update: -0.400391 deg/s,
      cmd heading: 312.051459 deg,
      new cmd heading: 311.873015 deg.

2021-02-16T13:23:18.132Z,1613481798.132 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:18.865Z,1613481798.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:19.250Z,1613481799.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:19.267Z,1613481799.267 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:23:20.092Z,1613481800.092 [Micromodem](INFO): Nmea in: $SNTTA,0.113658,,,,132320.29*42

2021-02-16T13:23:20.153Z,1613481800.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 300.829426 deg, deltaT: 4.401840 s, approachRate: -0.681537 m/s, LOS rate: 0.081891 deg/s, posRepo size: 4
2021-02-16T13:23:20.155Z,1613481800.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 300.829426 deg,
      approachRate: -0.681537 m/s,
      LOS rate: 0.081891 deg/s,
      cmd update: 0.245672 deg/s,
      cmd heading: 310.289089 deg,
      new cmd heading: 310.115138 deg.

2021-02-16T13:23:22.499Z,1613481802.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:23.285Z,1613481803.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:23.686Z,1613481803.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:24.512Z,1613481804.512 [Micromodem](INFO): Nmea in: $SNTTA,0.111854,,,,132324.71*4B

2021-02-16T13:23:24.548Z,1613481804.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.580002 m, bearing: 300.154138 deg, deltaT: 4.458456 s, approachRate: -0.605590 m/s, LOS rate: -0.151462 deg/s, posRepo size: 4
2021-02-16T13:23:24.550Z,1613481804.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.580002 m,
      bearing: 300.154138 deg,
      approachRate: -0.605590 m/s,
      LOS rate: -0.151462 deg/s,
      cmd update: -0.454386 deg/s,
      cmd heading: 311.379817 deg,
      new cmd heading: 311.475477 deg.

2021-02-16T13:23:26.962Z,1613481806.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:27.733Z,1613481807.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:28.155Z,1613481808.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:28.976Z,1613481808.976 [Micromodem](INFO): Nmea in: $SNTTA,0.109930,,,,132329.16*4D

2021-02-16T13:23:29.014Z,1613481809.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 299.382655 deg, deltaT: 4.444282 s, approachRate: -0.648021 m/s, LOS rate: -0.173590 deg/s, posRepo size: 4
2021-02-16T13:23:29.020Z,1613481809.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.700012 m,
      bearing: 299.382655 deg,
      approachRate: -0.648021 m/s,
      LOS rate: -0.173590 deg/s,
      cmd update: -0.520770 deg/s,
      cmd heading: 309.351806 deg,
      new cmd heading: 309.173750 deg.

2021-02-16T13:23:31.410Z,1613481811.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:32.169Z,1613481812.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:32.585Z,1613481812.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:33.400Z,1613481813.400 [Micromodem](INFO): Nmea in: $SNTTA,0.108127,,,,132333.59*42

2021-02-16T13:23:33.409Z,1613481813.409 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:23:33.450Z,1613481813.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.000000 m, bearing: 300.094087 deg, deltaT: 4.401574 s, approachRate: -0.613420 m/s, LOS rate: 0.161631 deg/s, posRepo size: 4
2021-02-16T13:23:33.452Z,1613481813.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.000000 m,
      bearing: 300.094087 deg,
      approachRate: -0.613420 m/s,
      LOS rate: 0.161631 deg/s,
      cmd update: 0.484894 deg/s,
      cmd heading: 307.059598 deg,
      new cmd heading: 306.837512 deg.

2021-02-16T13:23:35.897Z,1613481815.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:36.612Z,1613481816.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:37.019Z,1613481817.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:37.868Z,1613481817.868 [Micromodem](INFO): Nmea in: $SNTTA,0.106149,,,,132338.04*47

2021-02-16T13:23:37.959Z,1613481817.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.060013 m, bearing: 299.148297 deg, deltaT: 4.452030 s, approachRate: -0.660370 m/s, LOS rate: -0.212440 deg/s, posRepo size: 4
2021-02-16T13:23:37.962Z,1613481817.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.060013 m,
      bearing: 299.148297 deg,
      approachRate: -0.660370 m/s,
      LOS rate: -0.212440 deg/s,
      cmd update: -0.637320 deg/s,
      cmd heading: 309.216414 deg,
      new cmd heading: 309.450875 deg.

2021-02-16T13:23:40.289Z,1613481820.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:41.068Z,1613481821.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:41.484Z,1613481821.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:42.308Z,1613481822.308 [Micromodem](INFO): Nmea in: $SNTTA,0.104323,,,,132342.50*47

2021-02-16T13:23:42.369Z,1613481822.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.300003 m, bearing: 298.773812 deg, deltaT: 4.512049 s, approachRate: -0.611698 m/s, LOS rate: -0.082997 deg/s, posRepo size: 4
2021-02-16T13:23:42.370Z,1613481822.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 298.773812 deg,
      approachRate: -0.611698 m/s,
      LOS rate: -0.082997 deg/s,
      cmd update: -0.248990 deg/s,
      cmd heading: 306.338358 deg,
      new cmd heading: 306.095236 deg.

2021-02-16T13:23:44.738Z,1613481824.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:45.501Z,1613481825.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:45.912Z,1613481825.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:46.732Z,1613481826.732 [Micromodem](INFO): Nmea in: $SNTTA,0.102541,,,,132346.93*48

2021-02-16T13:23:46.754Z,1613481826.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 298.251357 deg, deltaT: 4.354693 s, approachRate: -0.620024 m/s, LOS rate: -0.119975 deg/s, posRepo size: 4
2021-02-16T13:23:46.756Z,1613481826.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 298.251357 deg,
      approachRate: -0.620024 m/s,
      LOS rate: -0.119975 deg/s,
      cmd update: -0.359925 deg/s,
      cmd heading: 305.254059 deg,
      new cmd heading: 305.151392 deg.

2021-02-16T13:23:49.192Z,1613481829.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:49.957Z,1613481829.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:50.350Z,1613481830.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:51.180Z,1613481831.180 [Micromodem](INFO): Nmea in: $SNTTA,0.100693,,,,132351.38*41

2021-02-16T13:23:51.230Z,1613481831.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.899994 m, bearing: 298.563824 deg, deltaT: 4.449102 s, approachRate: -0.606863 m/s, LOS rate: 0.070232 deg/s, posRepo size: 4
2021-02-16T13:23:51.233Z,1613481831.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.899994 m,
      bearing: 298.563824 deg,
      approachRate: -0.606863 m/s,
      LOS rate: 0.070232 deg/s,
      cmd update: 0.210695 deg/s,
      cmd heading: 303.658518 deg,
      new cmd heading: 303.494926 deg.

2021-02-16T13:23:53.601Z,1613481833.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:54.389Z,1613481834.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:54.804Z,1613481834.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:23:55.684Z,1613481835.684 [Micromodem](INFO): Nmea in: $SNTTA,0.098906,,,,132355.82*47

2021-02-16T13:23:55.707Z,1613481835.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.200012 m, bearing: 298.493774 deg, deltaT: 4.494510 s, approachRate: -0.600729 m/s, LOS rate: -0.015586 deg/s, posRepo size: 4
2021-02-16T13:23:55.709Z,1613481835.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 298.493774 deg,
      approachRate: -0.600729 m/s,
      LOS rate: -0.015586 deg/s,
      cmd update: -0.046757 deg/s,
      cmd heading: 304.608055 deg,
      new cmd heading: 304.697587 deg.

2021-02-16T13:23:58.143Z,1613481838.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:23:58.862Z,1613481838.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:23:59.250Z,1613481839.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:00.087Z,1613481840.087 [Micromodem](INFO): Nmea in: $SNTTA,0.097099,,,,132400.29*41

2021-02-16T13:24:00.175Z,1613481840.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.440002 m, bearing: 298.881510 deg, deltaT: 4.386556 s, approachRate: -0.629197 m/s, LOS rate: 0.088392 deg/s, posRepo size: 4
2021-02-16T13:24:00.177Z,1613481840.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.440002 m,
      bearing: 298.881510 deg,
      approachRate: -0.629197 m/s,
      LOS rate: 0.088392 deg/s,
      cmd update: 0.265176 deg/s,
      cmd heading: 304.402784 deg,
      new cmd heading: 304.379435 deg.

2021-02-16T13:24:02.496Z,1613481842.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:03.280Z,1613481843.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:03.695Z,1613481843.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:04.515Z,1613481844.515 [Micromodem](INFO): Nmea in: $SNTTA,0.095128,,,,132404.71*41

2021-02-16T13:24:04.534Z,1613481844.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.500000 m, bearing: 297.054599 deg, deltaT: 4.502645 s, approachRate: -0.652950 m/s, LOS rate: -0.405742 deg/s, posRepo size: 4
2021-02-16T13:24:04.536Z,1613481844.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 297.054599 deg,
      approachRate: -0.652950 m/s,
      LOS rate: -0.405742 deg/s,
      cmd update: -1.217226 deg/s,
      cmd heading: 305.596897 deg,
      new cmd heading: 305.692229 deg.

2021-02-16T13:24:06.950Z,1613481846.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:07.725Z,1613481847.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:08.151Z,1613481848.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:09.033Z,1613481849.033 [Micromodem](INFO): Nmea in: $SNTTA,0.093360,,,,132409.15*46

2021-02-16T13:24:09.062Z,1613481849.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.860001 m, bearing: 297.513205 deg, deltaT: 4.390791 s, approachRate: -0.601258 m/s, LOS rate: 0.104447 deg/s, posRepo size: 4
2021-02-16T13:24:09.064Z,1613481849.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.860001 m,
      bearing: 297.513205 deg,
      approachRate: -0.601258 m/s,
      LOS rate: 0.104447 deg/s,
      cmd update: 0.313342 deg/s,
      cmd heading: 300.272196 deg,
      new cmd heading: 299.647792 deg.

2021-02-16T13:24:11.454Z,1613481851.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:12.169Z,1613481852.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:12.574Z,1613481852.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:13.400Z,1613481853.400 [Micromodem](INFO): Nmea in: $SNTTA,0.091452,,,0.093944,132413.60*56

2021-02-16T13:24:13.442Z,1613481853.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.979996 m, bearing: 298.132921 deg, deltaT: 4.468129 s, approachRate: -0.644566 m/s, LOS rate: 0.138697 deg/s, posRepo size: 4
2021-02-16T13:24:13.448Z,1613481853.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.979996 m,
      bearing: 298.132921 deg,
      approachRate: -0.644566 m/s,
      LOS rate: 0.138697 deg/s,
      cmd update: 0.416091 deg/s,
      cmd heading: 301.677379 deg,
      new cmd heading: 301.805401 deg.

2021-02-16T13:24:15.890Z,1613481855.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:16.618Z,1613481856.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:17.024Z,1613481857.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:17.868Z,1613481857.868 [Micromodem](INFO): Nmea in: $SNTTA,0.089699,,,,132418.05*4F

2021-02-16T13:24:17.893Z,1613481857.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.339996 m, bearing: 298.081640 deg, deltaT: 4.436824 s, approachRate: -0.595020 m/s, LOS rate: -0.011558 deg/s, posRepo size: 4
2021-02-16T13:24:17.895Z,1613481857.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.339996 m,
      bearing: 298.081640 deg,
      approachRate: -0.595020 m/s,
      LOS rate: -0.011558 deg/s,
      cmd update: -0.034674 deg/s,
      cmd heading: 303.521828 deg,
      new cmd heading: 303.699276 deg.

2021-02-16T13:24:20.288Z,1613481860.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:21.096Z,1613481861.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:21.484Z,1613481861.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:22.372Z,1613481862.372 [Micromodem](INFO): Nmea in: $SNTTA,0.087803,,,,132422.52*47

2021-02-16T13:24:22.418Z,1613481862.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 297.429494 deg, deltaT: 4.436583 s, approachRate: -0.635623 m/s, LOS rate: -0.146993 deg/s, posRepo size: 4
2021-02-16T13:24:22.420Z,1613481862.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 297.429494 deg,
      approachRate: -0.635623 m/s,
      LOS rate: -0.146993 deg/s,
      cmd update: -0.440979 deg/s,
      cmd heading: 303.367857 deg,
      new cmd heading: 303.350157 deg.

2021-02-16T13:24:24.413Z,1613481864.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:25.145Z,1613481865.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:25.523Z,1613481865.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:26.334Z,1613481866.334 [Micromodem](INFO): Nmea in: $SNTTA,0.086158,,,,132426.57*40

2021-02-16T13:24:26.382Z,1613481866.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.060013 m, bearing: 297.745158 deg, deltaT: 4.036695 s, approachRate: -0.609407 m/s, LOS rate: 0.078199 deg/s, posRepo size: 4
2021-02-16T13:24:26.389Z,1613481866.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 297.745158 deg,
      approachRate: -0.609407 m/s,
      LOS rate: 0.078199 deg/s,
      cmd update: 0.234596 deg/s,
      cmd heading: 301.587732 deg,
      new cmd heading: 301.394315 deg.

2021-02-16T13:24:28.763Z,1613481868.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:29.541Z,1613481869.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:29.951Z,1613481869.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:30.768Z,1613481870.768 [Micromodem](INFO): Nmea in: $SNTTA,0.084368,,,,132430.97*48

2021-02-16T13:24:30.828Z,1613481870.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.360008 m, bearing: 297.143582 deg, deltaT: 4.448018 s, approachRate: -0.607013 m/s, LOS rate: -0.135246 deg/s, posRepo size: 4
2021-02-16T13:24:30.834Z,1613481870.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.360008 m,
      bearing: 297.143582 deg,
      approachRate: -0.607013 m/s,
      LOS rate: -0.135246 deg/s,
      cmd update: -0.405737 deg/s,
      cmd heading: 302.630226 deg,
      new cmd heading: 302.732499 deg.

2021-02-16T13:24:33.231Z,1613481873.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:33.984Z,1613481873.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:34.392Z,1613481874.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:35.348Z,1613481875.348 [Micromodem](INFO): Nmea in: $SNTTA,0.082377,,,,132435.41*4E

2021-02-16T13:24:35.397Z,1613481875.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 296.919853 deg, deltaT: 4.582259 s, approachRate: -0.654701 m/s, LOS rate: -0.048825 deg/s, posRepo size: 4
2021-02-16T13:24:35.398Z,1613481875.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.360001 m,
      bearing: 296.919853 deg,
      approachRate: -0.654701 m/s,
      LOS rate: -0.048825 deg/s,
      cmd update: -0.146476 deg/s,
      cmd heading: 300.771029 deg,
      new cmd heading: 300.597865 deg.

2021-02-16T13:24:37.888Z,1613481877.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:38.593Z,1613481878.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:38.992Z,1613481878.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:39.816Z,1613481879.816 [Micromodem](INFO): Nmea in: $SNTTA,0.080555,,0.081705,,132440.02*5A

2021-02-16T13:24:39.877Z,1613481879.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.659996 m, bearing: 297.105798 deg, deltaT: 4.449393 s, approachRate: -0.606825 m/s, LOS rate: 0.041791 deg/s, posRepo size: 4
2021-02-16T13:24:39.878Z,1613481879.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 297.105798 deg,
      approachRate: -0.606825 m/s,
      LOS rate: 0.041791 deg/s,
      cmd update: 0.125373 deg/s,
      cmd heading: 300.118963 deg,
      new cmd heading: 300.055456 deg.

2021-02-16T13:24:42.265Z,1613481882.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:43.013Z,1613481883.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:43.414Z,1613481883.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:44.245Z,1613481884.245 [Micromodem](INFO): Nmea in: $SNTTA,0.078738,,,,132444.44*47

2021-02-16T13:24:44.302Z,1613481884.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.959999 m, bearing: 296.477393 deg, deltaT: 4.458269 s, approachRate: -0.605616 m/s, LOS rate: -0.140953 deg/s, posRepo size: 4
2021-02-16T13:24:44.304Z,1613481884.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.959999 m,
      bearing: 296.477393 deg,
      approachRate: -0.605616 m/s,
      LOS rate: -0.140953 deg/s,
      cmd update: -0.422858 deg/s,
      cmd heading: 300.677624 deg,
      new cmd heading: 300.730776 deg.

2021-02-16T13:24:46.660Z,1613481886.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:47.453Z,1613481887.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:47.869Z,1613481887.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:48.684Z,1613481888.684 [Micromodem](INFO): Nmea in: $SNTTA,0.076741,,,,132448.88*4B

2021-02-16T13:24:48.721Z,1613481888.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.960007 m, bearing: 295.819099 deg, deltaT: 4.429559 s, approachRate: -0.677267 m/s, LOS rate: -0.148614 deg/s, posRepo size: 4
2021-02-16T13:24:48.723Z,1613481888.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 295.819099 deg,
      approachRate: -0.677267 m/s,
      LOS rate: -0.148614 deg/s,
      cmd update: -0.445841 deg/s,
      cmd heading: 298.802878 deg,
      new cmd heading: 298.629350 deg.

2021-02-16T13:24:51.272Z,1613481891.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:51.918Z,1613481891.918 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:52.319Z,1613481892.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:53.140Z,1613481893.140 [Micromodem](INFO): Nmea in: $SNTTA,0.074725,,,,132453.34*46

2021-02-16T13:24:53.230Z,1613481893.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.900009 m, bearing: 295.552339 deg, deltaT: 4.412352 s, approachRate: -0.693507 m/s, LOS rate: -0.060458 deg/s, posRepo size: 4
2021-02-16T13:24:53.238Z,1613481893.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.900009 m,
      bearing: 295.552339 deg,
      approachRate: -0.693507 m/s,
      LOS rate: -0.060458 deg/s,
      cmd update: -0.181373 deg/s,
      cmd heading: 296.835646 deg,
      new cmd heading: 296.610099 deg.

2021-02-16T13:24:55.566Z,1613481895.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:24:56.340Z,1613481896.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:24:56.763Z,1613481896.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:24:57.568Z,1613481897.568 [Micromodem](INFO): Nmea in: $SNTTA,0.072988,,,,132457.77*4A

2021-02-16T13:24:57.604Z,1613481897.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.320000 m, bearing: 296.577278 deg, deltaT: 4.480150 s, approachRate: -0.575876 m/s, LOS rate: 0.228773 deg/s, posRepo size: 4
2021-02-16T13:24:57.606Z,1613481897.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 296.577278 deg,
      approachRate: -0.575876 m/s,
      LOS rate: 0.228773 deg/s,
      cmd update: 0.686320 deg/s,
      cmd heading: 296.023740 deg,
      new cmd heading: 295.950408 deg.

2021-02-16T13:25:00.018Z,1613481900.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:00.784Z,1613481900.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:01.191Z,1613481901.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:02.016Z,1613481902.016 [Micromodem](INFO): Nmea in: $SNTTA,0.071091,,,,132502.21*4A

2021-02-16T13:25:02.065Z,1613481902.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.440002 m, bearing: 295.344401 deg, deltaT: 4.408431 s, approachRate: -0.653293 m/s, LOS rate: -0.279663 deg/s, posRepo size: 4
2021-02-16T13:25:02.071Z,1613481902.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.440002 m,
      bearing: 295.344401 deg,
      approachRate: -0.653293 m/s,
      LOS rate: -0.279663 deg/s,
      cmd update: -0.838990 deg/s,
      cmd heading: 299.051822 deg,
      new cmd heading: 299.362933 deg.

2021-02-16T13:25:04.119Z,1613481904.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:04.881Z,1613481904.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:05.253Z,1613481905.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:06.142Z,1613481906.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.919998 m, bearing: 295.425735 deg, deltaT: 4.062114 s, approachRate: -0.620368 m/s, LOS rate: 0.020023 deg/s, posRepo size: 4
2021-02-16T13:25:06.148Z,1613481906.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 295.425735 deg,
      approachRate: -0.620368 m/s,
      LOS rate: 0.020023 deg/s,
      cmd update: 0.060068 deg/s,
      cmd heading: 295.643542 deg,
      new cmd heading: 295.250936 deg.

2021-02-16T13:25:06.456Z,1613481906.456 [Micromodem](INFO): Nmea in: $SNTTA,0.069388,,,,132506.31*4D

2021-02-16T13:25:08.480Z,1613481908.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:09.288Z,1613481909.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:09.674Z,1613481909.674 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:10.512Z,1613481910.512 [Micromodem](INFO): Nmea in: $SNTTA,0.067380,,0.101188,,132510.72*54

2021-02-16T13:25:10.538Z,1613481910.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 295.132365 deg, deltaT: 4.494869 s, approachRate: -0.667426 m/s, LOS rate: -0.065268 deg/s, posRepo size: 4
2021-02-16T13:25:10.560Z,1613481910.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.920006 m,
      bearing: 295.132365 deg,
      approachRate: -0.667426 m/s,
      LOS rate: -0.065268 deg/s,
      cmd update: -0.195803 deg/s,
      cmd heading: 295.913366 deg,
      new cmd heading: 295.935708 deg.

2021-02-16T13:25:12.948Z,1613481912.948 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:13.730Z,1613481913.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:14.151Z,1613481914.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:14.952Z,1613481914.952 [Micromodem](INFO): Nmea in: $SNTTA,0.065465,,,,132515.16*42

2021-02-16T13:25:14.978Z,1613481914.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 292.959682 deg, deltaT: 4.403705 s, approachRate: -0.653996 m/s, LOS rate: -0.493376 deg/s, posRepo size: 4
2021-02-16T13:25:14.980Z,1613481914.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.040001 m,
      bearing: 292.959682 deg,
      approachRate: -0.653996 m/s,
      LOS rate: -0.493376 deg/s,
      cmd update: -1.480129 deg/s,
      cmd heading: 295.050544 deg,
      new cmd heading: 294.971321 deg.

2021-02-16T13:25:17.396Z,1613481917.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:18.165Z,1613481918.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:18.585Z,1613481918.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:19.393Z,1613481919.393 [Micromodem](INFO): Nmea in: $SNTTA,0.063632,,,0.066143,132519.59*5B

2021-02-16T13:25:19.417Z,1613481919.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 293.318977 deg, deltaT: 4.445718 s, approachRate: -0.620823 m/s, LOS rate: 0.080818 deg/s, posRepo size: 4
2021-02-16T13:25:19.418Z,1613481919.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.279999 m,
      bearing: 293.318977 deg,
      approachRate: -0.620823 m/s,
      LOS rate: 0.080818 deg/s,
      cmd update: 0.242455 deg/s,
      cmd heading: 288.470351 deg,
      new cmd heading: 287.881295 deg.

2021-02-16T13:25:21.834Z,1613481921.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:22.607Z,1613481922.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:23.030Z,1613481923.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:23.860Z,1613481923.860 [Micromodem](INFO): Nmea in: $SNTTA,0.061684,,,,132524.03*4D

2021-02-16T13:25:23.897Z,1613481923.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.340004 m, bearing: 293.418097 deg, deltaT: 4.441154 s, approachRate: -0.661989 m/s, LOS rate: 0.022318 deg/s, posRepo size: 4
2021-02-16T13:25:23.899Z,1613481923.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.340004 m,
      bearing: 293.418097 deg,
      approachRate: -0.661989 m/s,
      LOS rate: 0.022318 deg/s,
      cmd update: 0.066955 deg/s,
      cmd heading: 289.547113 deg,
      new cmd heading: 289.653122 deg.

2021-02-16T13:25:26.280Z,1613481926.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:27.045Z,1613481927.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:27.457Z,1613481927.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:28.276Z,1613481928.276 [Micromodem](INFO): Nmea in: $SNTTA,0.060035,,,,132528.47*4C

2021-02-16T13:25:28.316Z,1613481928.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 293.839847 deg, deltaT: 4.435902 s, approachRate: -0.568091 m/s, LOS rate: 0.095077 deg/s, posRepo size: 4
2021-02-16T13:25:28.317Z,1613481928.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.820007 m,
      bearing: 293.839847 deg,
      approachRate: -0.568091 m/s,
      LOS rate: 0.095077 deg/s,
      cmd update: 0.285230 deg/s,
      cmd heading: 289.844122 deg,
      new cmd heading: 289.872224 deg.

2021-02-16T13:25:30.719Z,1613481930.719 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:31.553Z,1613481931.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:31.901Z,1613481931.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:32.746Z,1613481932.746 [Micromodem](INFO): Nmea in: $SNTTA,0.058191,,,,132532.98*41

2021-02-16T13:25:32.783Z,1613481932.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 293.181717 deg, deltaT: 4.457859 s, approachRate: -0.605673 m/s, LOS rate: -0.147634 deg/s, posRepo size: 4
2021-02-16T13:25:32.789Z,1613481932.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 293.181717 deg,
      approachRate: -0.605673 m/s,
      LOS rate: -0.147634 deg/s,
      cmd update: -0.442901 deg/s,
      cmd heading: 291.115670 deg,
      new cmd heading: 291.238018 deg.

2021-02-16T13:25:35.166Z,1613481935.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:35.937Z,1613481935.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:36.338Z,1613481936.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:37.164Z,1613481937.164 [Micromodem](INFO): Nmea in: $SNTTA,0.056419,,,,132537.36*4B

2021-02-16T13:25:37.223Z,1613481937.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.420006 m, bearing: 294.424457 deg, deltaT: 4.401645 s, approachRate: -0.613406 m/s, LOS rate: 0.282335 deg/s, posRepo size: 4
2021-02-16T13:25:37.225Z,1613481937.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.420006 m,
      bearing: 294.424457 deg,
      approachRate: -0.613406 m/s,
      LOS rate: 0.282335 deg/s,
      cmd update: 0.847006 deg/s,
      cmd heading: 289.166245 deg,
      new cmd heading: 288.959211 deg.

2021-02-16T13:25:39.589Z,1613481939.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:40.381Z,1613481940.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:40.784Z,1613481940.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:41.615Z,1613481941.615 [Micromodem](INFO): Nmea in: $SNTTA,0.054560,,0.063654,,132541.81*57

2021-02-16T13:25:41.635Z,1613481941.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.600006 m, bearing: 294.351237 deg, deltaT: 4.509669 s, approachRate: -0.625323 m/s, LOS rate: -0.016236 deg/s, posRepo size: 4
2021-02-16T13:25:41.637Z,1613481941.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.600006 m,
      bearing: 294.351237 deg,
      approachRate: -0.625323 m/s,
      LOS rate: -0.016236 deg/s,
      cmd update: -0.048708 deg/s,
      cmd heading: 292.965037 deg,
      new cmd heading: 293.299173 deg.

2021-02-16T13:25:44.080Z,1613481944.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:44.862Z,1613481944.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:45.257Z,1613481945.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:46.097Z,1613481946.097 [Micromodem](INFO): Nmea in: $SNTTA,0.052619,,,0.067512,132546.29*5C

2021-02-16T13:25:46.154Z,1613481946.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 294.091608 deg, deltaT: 4.416726 s, approachRate: -0.652066 m/s, LOS rate: -0.058783 deg/s, posRepo size: 4
2021-02-16T13:25:46.156Z,1613481946.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 294.091608 deg,
      approachRate: -0.652066 m/s,
      LOS rate: -0.058783 deg/s,
      cmd update: -0.176350 deg/s,
      cmd heading: 292.748697 deg,
      new cmd heading: 292.725666 deg.

2021-02-16T13:25:48.496Z,1613481948.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:49.271Z,1613481949.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:49.675Z,1613481949.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:50.516Z,1613481950.516 [Micromodem](INFO): Nmea in: $SNTTA,0.050706,,,,132550.70*43

2021-02-16T13:25:50.549Z,1613481950.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 294.396535 deg, deltaT: 4.477938 s, approachRate: -0.629756 m/s, LOS rate: 0.068095 deg/s, posRepo size: 4
2021-02-16T13:25:50.551Z,1613481950.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 294.396535 deg,
      approachRate: -0.629756 m/s,
      LOS rate: 0.068095 deg/s,
      cmd update: 0.204286 deg/s,
      cmd heading: 291.959028 deg,
      new cmd heading: 291.890340 deg.

2021-02-16T13:25:52.939Z,1613481952.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:53.718Z,1613481953.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:54.129Z,1613481954.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:54.960Z,1613481954.960 [Micromodem](INFO): Nmea in: $SNTTA,0.048875,,,,132555.14*46

2021-02-16T13:25:54.986Z,1613481954.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.140007 m, bearing: 294.906531 deg, deltaT: 4.371191 s, approachRate: -0.631406 m/s, LOS rate: 0.116672 deg/s, posRepo size: 4
2021-02-16T13:25:54.988Z,1613481954.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.140007 m,
      bearing: 294.906531 deg,
      approachRate: -0.631406 m/s,
      LOS rate: 0.116672 deg/s,
      cmd update: 0.350017 deg/s,
      cmd heading: 292.852001 deg,
      new cmd heading: 292.944907 deg.

2021-02-16T13:25:57.394Z,1613481957.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:25:58.217Z,1613481958.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:25:58.565Z,1613481958.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:25:59.410Z,1613481959.410 [Micromodem](INFO): Nmea in: $SNTTA,0.046896,,,,132559.64*4E

2021-02-16T13:25:59.457Z,1613481959.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 294.141960 deg, deltaT: 4.490379 s, approachRate: -0.668097 m/s, LOS rate: -0.170269 deg/s, posRepo size: 4
2021-02-16T13:25:59.459Z,1613481959.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.139999 m,
      bearing: 294.141960 deg,
      approachRate: -0.668097 m/s,
      LOS rate: -0.170269 deg/s,
      cmd update: -0.510806 deg/s,
      cmd heading: 294.423742 deg,
      new cmd heading: 294.576278 deg.

2021-02-16T13:26:01.863Z,1613481961.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:02.601Z,1613481962.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:03.002Z,1613481963.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:03.853Z,1613481963.853 [Micromodem](INFO): Nmea in: $SNTTA,0.044930,,,,132604.03*4B

2021-02-16T13:26:03.878Z,1613481963.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 293.186580 deg, deltaT: 4.428453 s, approachRate: -0.663889 m/s, LOS rate: -0.215737 deg/s, posRepo size: 4
2021-02-16T13:26:03.880Z,1613481963.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 293.186580 deg,
      approachRate: -0.663889 m/s,
      LOS rate: -0.215737 deg/s,
      cmd update: -0.647210 deg/s,
      cmd heading: 292.163720 deg,
      new cmd heading: 291.942914 deg.

2021-02-16T13:26:06.289Z,1613481966.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:07.048Z,1613481967.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:07.454Z,1613481967.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:08.276Z,1613481968.276 [Micromodem](INFO): Nmea in: $SNTTA,0.042940,,,,132608.47*46

2021-02-16T13:26:08.316Z,1613481968.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.260010 m, bearing: 292.137518 deg, deltaT: 4.450281 s, approachRate: -0.660630 m/s, LOS rate: -0.235729 deg/s, posRepo size: 4
2021-02-16T13:26:08.318Z,1613481968.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 292.137518 deg,
      approachRate: -0.660630 m/s,
      LOS rate: -0.235729 deg/s,
      cmd update: -0.707188 deg/s,
      cmd heading: 289.280887 deg,
      new cmd heading: 289.011571 deg.

2021-02-16T13:26:10.714Z,1613481970.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:11.553Z,1613481971.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:11.911Z,1613481971.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:12.738Z,1613481972.738 [Micromodem](INFO): Nmea in: $SNTTA,0.040922,,,,132612.98*49

2021-02-16T13:26:12.782Z,1613481972.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 292.550608 deg, deltaT: 4.439002 s, approachRate: -0.702862 m/s, LOS rate: 0.093059 deg/s, posRepo size: 4
2021-02-16T13:26:12.788Z,1613481972.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.140003 m,
      bearing: 292.550608 deg,
      approachRate: -0.702862 m/s,
      LOS rate: 0.093059 deg/s,
      cmd update: 0.279178 deg/s,
      cmd heading: 286.141647 deg,
      new cmd heading: 285.828415 deg.

2021-02-16T13:26:15.166Z,1613481975.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:15.939Z,1613481975.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:16.345Z,1613481976.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:17.165Z,1613481977.165 [Micromodem](INFO): Nmea in: $SNTTA,0.039165,,,,132617.36*4D

2021-02-16T13:26:17.218Z,1613481977.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.440002 m, bearing: 292.891653 deg, deltaT: 4.423832 s, approachRate: -0.610331 m/s, LOS rate: 0.077093 deg/s, posRepo size: 4
2021-02-16T13:26:17.220Z,1613481977.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.440002 m,
      bearing: 292.891653 deg,
      approachRate: -0.610331 m/s,
      LOS rate: 0.077093 deg/s,
      cmd update: 0.231278 deg/s,
      cmd heading: 287.373312 deg,
      new cmd heading: 287.503839 deg.

2021-02-16T13:26:19.601Z,1613481979.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:20.380Z,1613481980.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:20.780Z,1613481980.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:21.620Z,1613481981.620 [Micromodem](INFO): Nmea in: $SNTTA,0.037268,,,,132621.81*44

2021-02-16T13:26:21.661Z,1613481981.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.680000 m, bearing: 292.241392 deg, deltaT: 4.523749 s, approachRate: -0.610114 m/s, LOS rate: -0.143744 deg/s, posRepo size: 4
2021-02-16T13:26:21.663Z,1613481981.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.680000 m,
      bearing: 292.241392 deg,
      approachRate: -0.610114 m/s,
      LOS rate: -0.143744 deg/s,
      cmd update: -0.431232 deg/s,
      cmd heading: 288.421420 deg,
      new cmd heading: 288.508995 deg.

2021-02-16T13:26:23.217Z,1613481983.217 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T13:26:23.219Z,1613481983.219 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T13:26:24.062Z,1613481984.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:24.854Z,1613481984.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:25.232Z,1613481985.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:26.076Z,1613481986.076 [Micromodem](INFO): Nmea in: $SNTTA,0.035453,,,,132626.28*4C

2021-02-16T13:26:26.155Z,1613481986.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.980000 m, bearing: 292.783791 deg, deltaT: 4.360357 s, approachRate: -0.619216 m/s, LOS rate: 0.124393 deg/s, posRepo size: 4
2021-02-16T13:26:26.157Z,1613481986.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.980000 m,
      bearing: 292.783791 deg,
      approachRate: -0.619216 m/s,
      LOS rate: 0.124393 deg/s,
      cmd update: 0.373180 deg/s,
      cmd heading: 286.539359 deg,
      new cmd heading: 286.320379 deg.

2021-02-16T13:26:28.156Z,1613481988.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:28.869Z,1613481988.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:29.273Z,1613481989.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:30.126Z,1613481990.126 [Micromodem](INFO): Nmea in: $SNTTA,0.033822,,,,132630.29*46

2021-02-16T13:26:30.161Z,1613481990.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.520000 m, bearing: 292.441625 deg, deltaT: 4.082799 s, approachRate: -0.602528 m/s, LOS rate: -0.083807 deg/s, posRepo size: 4
2021-02-16T13:26:30.162Z,1613481990.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.520000 m,
      bearing: 292.441625 deg,
      approachRate: -0.602528 m/s,
      LOS rate: -0.083807 deg/s,
      cmd update: -0.251420 deg/s,
      cmd heading: 288.059320 deg,
      new cmd heading: 288.223840 deg.

2021-02-16T13:26:32.534Z,1613481992.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:33.314Z,1613481993.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:33.713Z,1613481993.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:34.596Z,1613481994.596 [Micromodem](INFO): Nmea in: $SNTTA,0.032050,,,0.037689,132634.74*5B

2021-02-16T13:26:34.712Z,1613481994.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 292.982959 deg, deltaT: 4.456092 s, approachRate: -0.592447 m/s, LOS rate: 0.121482 deg/s, posRepo size: 4
2021-02-16T13:26:34.714Z,1613481994.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.880001 m,
      bearing: 292.982959 deg,
      approachRate: -0.592447 m/s,
      LOS rate: 0.121482 deg/s,
      cmd update: 0.364445 deg/s,
      cmd heading: 286.936533 deg,
      new cmd heading: 286.804274 deg.

2021-02-16T13:26:36.989Z,1613481996.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:37.753Z,1613481997.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:38.166Z,1613481998.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:38.984Z,1613481998.984 [Micromodem](INFO): Nmea in: $SNTTA,0.030390,,,,132639.18*4C

2021-02-16T13:26:39.009Z,1613481999.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 293.467848 deg, deltaT: 4.388809 s, approachRate: -0.560517 m/s, LOS rate: 0.110483 deg/s, posRepo size: 4
2021-02-16T13:26:39.011Z,1613481999.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 293.467848 deg,
      approachRate: -0.560517 m/s,
      LOS rate: 0.110483 deg/s,
      cmd update: 0.331449 deg/s,
      cmd heading: 288.536041 deg,
      new cmd heading: 288.694336 deg.

2021-02-16T13:26:41.453Z,1613482001.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:42.196Z,1613482002.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:42.602Z,1613482002.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:43.446Z,1613482003.446 [Micromodem](INFO): Nmea in: $SNTTA,0.028456,,,,132643.62*48

2021-02-16T13:26:43.498Z,1613482003.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 293.254281 deg, deltaT: 4.539272 s, approachRate: -0.647680 m/s, LOS rate: -0.047049 deg/s, posRepo size: 4
2021-02-16T13:26:43.501Z,1613482003.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.480003 m,
      bearing: 293.254281 deg,
      approachRate: -0.647680 m/s,
      LOS rate: -0.047049 deg/s,
      cmd update: -0.141146 deg/s,
      cmd heading: 290.034113 deg,
      new cmd heading: 290.167690 deg.

2021-02-16T13:26:45.893Z,1613482005.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:46.662Z,1613482006.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:47.049Z,1613482007.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:47.888Z,1613482007.888 [Micromodem](INFO): Nmea in: $SNTTA,0.026700,,,,132648.09*40

2021-02-16T13:26:47.933Z,1613482007.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.840000 m, bearing: 293.701686 deg, deltaT: 4.350027 s, approachRate: -0.606894 m/s, LOS rate: 0.102851 deg/s, posRepo size: 4
2021-02-16T13:26:47.933Z,1613482007.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.84 m.
2021-02-16T13:26:47.935Z,1613482007.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.840000 m,
      bearing: 293.701686 deg,
      approachRate: -0.606894 m/s,
      LOS rate: 0.102851 deg/s,
      cmd update: 0.308553 deg/s,
      cmd heading: 289.417370 deg,
      new cmd heading: 289.351191 deg.

2021-02-16T13:26:48.280Z,1613482008.280 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:26:50.323Z,1613482010.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:51.113Z,1613482011.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:51.490Z,1613482011.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:52.332Z,1613482012.332 [Micromodem](INFO): Nmea in: $SNTTA,0.024799,,,,132652.54*41

2021-02-16T13:26:52.382Z,1613482012.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 292.737400 deg, deltaT: 4.454450 s, approachRate: -0.646545 m/s, LOS rate: -0.216477 deg/s, posRepo size: 4
2021-02-16T13:26:52.382Z,1613482012.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.96 m.
2021-02-16T13:26:52.382Z,1613482012.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.96 m.
2021-02-16T13:26:52.383Z,1613482012.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:26:52.385Z,1613482012.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.959999 m,
      bearing: 292.737400 deg,
      approachRate: -0.646545 m/s,
      LOS rate: -0.216477 deg/s,
      cmd update: -0.649431 deg/s,
      cmd heading: 290.791764 deg,
      new cmd heading: 290.934802 deg.

2021-02-16T13:26:53.162Z,1613482013.162 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:26:54.744Z,1613482014.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:55.550Z,1613482015.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:26:55.938Z,1613482015.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:26:56.776Z,1613482016.776 [Micromodem](INFO): Nmea in: $SNTTA,0.022788,,,,132656.97*4C

2021-02-16T13:26:56.817Z,1613482016.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.959999 m, bearing: 291.575066 deg, deltaT: 4.472232 s, approachRate: -0.670806 m/s, LOS rate: -0.259900 deg/s, posRepo size: 4
2021-02-16T13:26:56.824Z,1613482016.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.959999 m,
      bearing: 291.575066 deg,
      approachRate: -0.670806 m/s,
      LOS rate: -0.259900 deg/s,
      cmd update: -0.779701 deg/s,
      cmd heading: 287.887279 deg,
      new cmd heading: 287.612646 deg.

2021-02-16T13:26:59.216Z,1613482019.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:26:59.977Z,1613482019.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:00.383Z,1613482020.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:01.212Z,1613482021.212 [Micromodem](INFO): Nmea in: $SNTTA,0.020852,,,0.034984,132701.40*53

2021-02-16T13:27:01.286Z,1613482021.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 291.605774 deg, deltaT: 4.414128 s, approachRate: -0.652450 m/s, LOS rate: 0.006957 deg/s, posRepo size: 4
2021-02-16T13:27:01.292Z,1613482021.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.080000 m,
      bearing: 291.605774 deg,
      approachRate: -0.652450 m/s,
      LOS rate: 0.006957 deg/s,
      cmd update: 0.020871 deg/s,
      cmd heading: 284.445563 deg,
      new cmd heading: 284.069979 deg.

2021-02-16T13:27:03.254Z,1613482023.254 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:27:03.641Z,1613482023.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:04.421Z,1613482024.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:04.854Z,1613482024.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:05.648Z,1613482025.648 [Micromodem](INFO): Nmea in: $SNTTA,0.019103,,,,132705.85*45

2021-02-16T13:27:05.670Z,1613482025.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 291.873272 deg, deltaT: 4.476198 s, approachRate: -0.589786 m/s, LOS rate: 0.059760 deg/s, posRepo size: 4
2021-02-16T13:27:05.692Z,1613482025.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 291.873272 deg,
      approachRate: -0.589786 m/s,
      LOS rate: 0.059760 deg/s,
      cmd update: 0.179280 deg/s,
      cmd heading: 284.538901 deg,
      new cmd heading: 284.547108 deg.

2021-02-16T13:27:08.162Z,1613482028.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:08.866Z,1613482028.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:09.270Z,1613482029.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:10.112Z,1613482030.112 [Micromodem](INFO): Nmea in: $SNTTA,0.017089,,,,132710.29*4A

2021-02-16T13:27:10.165Z,1613482030.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.440001 m, bearing: 292.513288 deg, deltaT: 4.407595 s, approachRate: -0.680643 m/s, LOS rate: 0.145208 deg/s, posRepo size: 4
2021-02-16T13:27:10.166Z,1613482030.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 292.513288 deg,
      approachRate: -0.680643 m/s,
      LOS rate: 0.145208 deg/s,
      cmd update: 0.435623 deg/s,
      cmd heading: 285.329722 deg,
      new cmd heading: 285.415180 deg.

2021-02-16T13:27:12.522Z,1613482032.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:13.321Z,1613482033.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:13.368Z,1613482033.368 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T13:27:13.715Z,1613482033.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:14.586Z,1613482034.586 [Micromodem](INFO): Nmea in: $SNTTA,0.015097,,,,132714.75*4A

2021-02-16T13:27:14.606Z,1613482034.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 292.138638 deg, deltaT: 4.473077 s, approachRate: -0.670679 m/s, LOS rate: -0.083757 deg/s, posRepo size: 4
2021-02-16T13:27:14.608Z,1613482034.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 292.138638 deg,
      approachRate: -0.670679 m/s,
      LOS rate: -0.083757 deg/s,
      cmd update: -0.251270 deg/s,
      cmd heading: 287.278506 deg,
      new cmd heading: 287.472205 deg.

2021-02-16T13:27:16.967Z,1613482036.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:17.769Z,1613482037.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:18.172Z,1613482038.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:19.004Z,1613482039.004 [Micromodem](INFO): Nmea in: $SNTTA,0.013124,,,,132719.19*42

2021-02-16T13:27:19.034Z,1613482039.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 293.164942 deg, deltaT: 4.424930 s, approachRate: -0.664418 m/s, LOS rate: 0.231937 deg/s, posRepo size: 4
2021-02-16T13:27:19.036Z,1613482039.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.499998 m,
      bearing: 293.164942 deg,
      approachRate: -0.664418 m/s,
      LOS rate: 0.231937 deg/s,
      cmd update: 0.695810 deg/s,
      cmd heading: 286.170706 deg,
      new cmd heading: 286.054075 deg.

2021-02-16T13:27:21.427Z,1613482041.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:22.192Z,1613482042.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:22.598Z,1613482042.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:23.439Z,1613482043.439 [Micromodem](INFO): Nmea in: $SNTTA,0.011047,,,,132723.62*41

2021-02-16T13:27:23.445Z,1613482043.445 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:27:23.462Z,1613482043.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 291.855704 deg, deltaT: 4.457260 s, approachRate: -0.713443 m/s, LOS rate: -0.293732 deg/s, posRepo size: 4
2021-02-16T13:27:23.464Z,1613482043.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 291.855704 deg,
      approachRate: -0.713443 m/s,
      LOS rate: -0.293732 deg/s,
      cmd update: -0.881195 deg/s,
      cmd heading: 289.283305 deg,
      new cmd heading: 289.574584 deg.

2021-02-16T13:27:25.919Z,1613482045.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:26.636Z,1613482046.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:27.049Z,1613482047.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:27.876Z,1613482047.876 [Micromodem](INFO): Nmea in: $SNTTA,0.009170,,,,132728.06*44

2021-02-16T13:27:27.902Z,1613482047.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 290.669492 deg, deltaT: 4.427113 s, approachRate: -0.636983 m/s, LOS rate: -0.267943 deg/s, posRepo size: 4
2021-02-16T13:27:27.904Z,1613482047.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 290.669492 deg,
      approachRate: -0.636983 m/s,
      LOS rate: -0.267943 deg/s,
      cmd update: -0.803828 deg/s,
      cmd heading: 285.382184 deg,
      new cmd heading: 285.002512 deg.

2021-02-16T13:27:30.308Z,1613482050.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:31.117Z,1613482051.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:31.492Z,1613482051.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:32.326Z,1613482052.326 [Micromodem](INFO): Nmea in: $SNTTA,0.007381,,,,132732.54*4A

2021-02-16T13:27:32.351Z,1613482052.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 289.152807 deg, deltaT: 4.461587 s, approachRate: -0.591718 m/s, LOS rate: -0.339943 deg/s, posRepo size: 4
2021-02-16T13:27:32.353Z,1613482052.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 289.152807 deg,
      approachRate: -0.591718 m/s,
      LOS rate: -0.339943 deg/s,
      cmd update: -1.019829 deg/s,
      cmd heading: 281.795791 deg,
      new cmd heading: 281.459489 deg.

2021-02-16T13:27:34.748Z,1613482054.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:35.528Z,1613482055.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:35.941Z,1613482055.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:36.756Z,1613482056.756 [Micromodem](INFO): Nmea in: $SNTTA,0.005769,,,,132736.95*43

2021-02-16T13:27:36.799Z,1613482056.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.339999 m, bearing: 283.820151 deg, deltaT: 4.443094 s, approachRate: -0.567172 m/s, LOS rate: -1.200212 deg/s, posRepo size: 4
2021-02-16T13:27:36.801Z,1613482056.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.339999 m,
      bearing: 283.820151 deg,
      approachRate: -0.567172 m/s,
      LOS rate: -1.200212 deg/s,
      cmd update: -3.600637 deg/s,
      cmd heading: 277.268649 deg,
      new cmd heading: 276.832922 deg.

2021-02-16T13:27:38.375Z,1613482058.375 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:27:39.221Z,1613482059.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:39.979Z,1613482059.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:40.403Z,1613482060.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:41.220Z,1613482061.220 [Micromodem](INFO): Nmea in: $SNTTA,0.004214,,,,132741.40*45

2021-02-16T13:27:41.298Z,1613482061.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.059999 m, bearing: 281.437426 deg, deltaT: 4.487149 s, approachRate: -0.508118 m/s, LOS rate: -0.531011 deg/s, posRepo size: 4
2021-02-16T13:27:41.300Z,1613482061.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 281.437426 deg,
      approachRate: -0.508118 m/s,
      LOS rate: -0.531011 deg/s,
      cmd update: -1.593033 deg/s,
      cmd heading: 261.126842 deg,
      new cmd heading: 259.529790 deg.

2021-02-16T13:27:43.645Z,1613482063.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:44.441Z,1613482064.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:44.523Z,1613482064.523 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:27:44.864Z,1613482064.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:45.668Z,1613482065.668 [Micromodem](INFO): Nmea in: $SNTTA,0.002780,,,,132745.87*44

2021-02-16T13:27:45.704Z,1613482065.704 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:27:45.704Z,1613482065.704 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:27:45.704Z,1613482065.704 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:27:45.705Z,1613482065.705 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:27:45.708Z,1613482065.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 299.354897 deg, deltaT: 4.442301 s, approachRate: -0.459221 m/s, LOS rate: 4.033376 deg/s, posRepo size: 4
2021-02-16T13:27:45.710Z,1613482065.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 299.354897 deg,
      approachRate: -0.459221 m/s,
      LOS rate: 4.033376 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 254.043557 deg,
      new cmd heading: 253.395827 deg.

2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T132746: (41.552319, -70.708603)
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:27:46.148Z,1613482066.148 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:27:48.212Z,1613482068.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:48.886Z,1613482068.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:49.303Z,1613482069.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:50.132Z,1613482070.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132750.31*5E

2021-02-16T13:27:50.167Z,1613482070.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 269.584015 deg, deltaT: 4.398957 s, approachRate: 0.000000 m/s, LOS rate: -6.767714 deg/s, posRepo size: 4
2021-02-16T13:27:50.169Z,1613482070.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 269.584015 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.767714 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 306.878719 deg,
      new cmd heading: 312.431575 deg.

2021-02-16T13:27:52.531Z,1613482072.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:53.329Z,1613482073.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:53.393Z,1613482073.393 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:27:53.732Z,1613482073.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:54.559Z,1613482074.559 [Micromodem](INFO): Nmea in: $SNTTA,0.003372,,,,132754.76*42

2021-02-16T13:27:54.578Z,1613482074.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 274.780395 deg, deltaT: 4.479755 s, approachRate: 0.241085 m/s, LOS rate: 1.159970 deg/s, posRepo size: 4
2021-02-16T13:27:54.580Z,1613482074.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 274.780395 deg,
      approachRate: 0.241085 m/s,
      LOS rate: 1.159970 deg/s,
      cmd update: 3.479910 deg/s,
      cmd heading: 253.123589 deg,
      new cmd heading: 248.389132 deg.

2021-02-16T13:27:57.005Z,1613482077.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:27:57.773Z,1613482077.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:27:58.186Z,1613482078.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:27:59.012Z,1613482079.012 [Micromodem](INFO): Nmea in: $SNTTA,0.004752,0.019120,0.013120,,132759.20*47

2021-02-16T13:27:59.037Z,1613482079.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.960000 m, bearing: 241.036174 deg, deltaT: 4.438161 s, approachRate: 0.419093 m/s, LOS rate: -7.603199 deg/s, posRepo size: 4
2021-02-16T13:27:59.039Z,1613482079.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.960000 m,
      bearing: 241.036174 deg,
      approachRate: 0.419093 m/s,
      LOS rate: -7.603199 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.554455 deg,
      new cmd heading: 270.015122 deg.

2021-02-16T13:28:01.440Z,1613482081.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:02.217Z,1613482082.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:02.622Z,1613482082.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:03.444Z,1613482083.444 [Micromodem](INFO): Nmea in: $SNTTA,0.011323,,,,132803.64*4B

2021-02-16T13:28:03.489Z,1613482083.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.800003 m, bearing: 281.070644 deg, deltaT: 4.456000 s, approachRate: 2.208259 m/s, LOS rate: 8.984397 deg/s, posRepo size: 4
2021-02-16T13:28:03.490Z,1613482083.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.800003 m,
      bearing: 281.070644 deg,
      approachRate: 2.208259 m/s,
      LOS rate: 8.984397 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.168457 deg,
      new cmd heading: 210.105381 deg.

2021-02-16T13:28:05.892Z,1613482085.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:06.656Z,1613482086.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:07.091Z,1613482087.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:07.899Z,1613482087.899 [Micromodem](INFO): Nmea in: $SNTTA,0.007575,,,,132808.08*48

2021-02-16T13:28:07.925Z,1613482087.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.400001 m, bearing: 256.345797 deg, deltaT: 4.421320 s, approachRate: -1.221355 m/s, LOS rate: -5.592187 deg/s, posRepo size: 4
2021-02-16T13:28:07.927Z,1613482087.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 256.345797 deg,
      approachRate: -1.221355 m/s,
      LOS rate: -5.592187 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 268.358711 deg,
      new cmd heading: 273.466847 deg.

2021-02-16T13:28:10.318Z,1613482090.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:11.100Z,1613482091.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:11.510Z,1613482091.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:12.331Z,1613482092.331 [Micromodem](INFO): Nmea in: $SNTTA,0.009027,,,,132812.53*41

2021-02-16T13:28:12.354Z,1613482092.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 210.225464 deg, deltaT: 4.462001 s, approachRate: 0.497534 m/s, LOS rate: -10.336245 deg/s, posRepo size: 4
2021-02-16T13:28:12.356Z,1613482092.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.619998 m,
      bearing: 210.225464 deg,
      approachRate: 0.497534 m/s,
      LOS rate: -10.336245 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 214.863597 deg,
      new cmd heading: 210.097413 deg.

2021-02-16T13:28:14.752Z,1613482094.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:15.544Z,1613482095.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:15.949Z,1613482095.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:16.789Z,1613482096.789 [Micromodem](INFO): Nmea in: $SNTTA,0.010544,,,,132816.97*45

2021-02-16T13:28:16.854Z,1613482096.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 222.076894 deg, deltaT: 4.466711 s, approachRate: 0.537308 m/s, LOS rate: 2.653279 deg/s, posRepo size: 4
2021-02-16T13:28:16.860Z,1613482096.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 222.076894 deg,
      approachRate: 0.537308 m/s,
      LOS rate: 2.653279 deg/s,
      cmd update: 7.959837 deg/s,
      cmd heading: 161.214248 deg,
      new cmd heading: 156.100099 deg.

2021-02-16T13:28:19.220Z,1613482099.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:19.989Z,1613482099.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:20.399Z,1613482100.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:21.223Z,1613482101.223 [Micromodem](INFO): Nmea in: $SNTTA,0.012103,,,,132821.41*4F

2021-02-16T13:28:21.261Z,1613482101.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.299999 m, bearing: 247.706509 deg, deltaT: 4.446323 s, approachRate: 0.512783 m/s, LOS rate: 5.764227 deg/s, posRepo size: 4
2021-02-16T13:28:21.264Z,1613482101.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.299999 m,
      bearing: 247.706509 deg,
      approachRate: 0.512783 m/s,
      LOS rate: 5.764227 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 196.606260 deg,
      new cmd heading: 199.683079 deg.

2021-02-16T13:28:22.847Z,1613482102.847 [PowerOnly](INFO): Powering down loadControl
2021-02-16T13:28:23.638Z,1613482103.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:24.508Z,1613482104.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:24.866Z,1613482104.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:25.725Z,1613482105.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.280001 m, bearing: 226.748893 deg, deltaT: 4.413366 s, approachRate: 0.448637 m/s, LOS rate: -4.748669 deg/s, posRepo size: 4
2021-02-16T13:28:25.725Z,1613482105.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.28 m. Rolling out.
2021-02-16T13:28:25.725Z,1613482105.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:28:26.063Z,1613482106.063 [Micromodem](INFO): Nmea in: $SNTTA,0.013439,,,,132825.93*49

2021-02-16T13:28:28.197Z,1613482108.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:28.876Z,1613482108.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:29.283Z,1613482109.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:30.144Z,1613482110.144 [Micromodem](INFO): Nmea in: $SNTTA,0.014603,,,,132830.30*48

2021-02-16T13:28:30.206Z,1613482110.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.020000 m, bearing: 223.326163 deg, deltaT: 4.440640 s, approachRate: 0.391835 m/s, LOS rate: -0.770774 deg/s, posRepo size: 4
2021-02-16T13:28:32.549Z,1613482112.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:33.325Z,1613482113.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:33.745Z,1613482113.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:34.552Z,1613482114.552 [Micromodem](INFO): Nmea in: $SNTTA,0.016188,,,,132834.75*4B

2021-02-16T13:28:34.594Z,1613482114.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 211.284648 deg, deltaT: 4.458637 s, approachRate: 0.551738 m/s, LOS rate: -2.700716 deg/s, posRepo size: 4
2021-02-16T13:28:36.983Z,1613482116.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:37.782Z,1613482117.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:38.195Z,1613482118.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:39.022Z,1613482119.022 [Micromodem](INFO): Nmea in: $SNTTA,0.037351,,0.024997,,132839.21*5D

2021-02-16T13:28:39.074Z,1613482119.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 268.182351 deg, deltaT: 4.399861 s, approachRate: 0.463651 m/s, LOS rate: 12.931705 deg/s, posRepo size: 4
2021-02-16T13:28:41.438Z,1613482121.438 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:42.236Z,1613482122.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:42.614Z,1613482122.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:43.452Z,1613482123.452 [Micromodem](INFO): Nmea in: $SNTTA,0.018978,,,,132843.66*40

2021-02-16T13:28:43.500Z,1613482123.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.679998 m, bearing: 291.534768 deg, deltaT: 4.491473 s, approachRate: 0.480911 m/s, LOS rate: 5.199278 deg/s, posRepo size: 4
2021-02-16T13:28:45.890Z,1613482125.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:46.653Z,1613482126.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:47.057Z,1613482127.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:47.880Z,1613482127.880 [Micromodem](INFO): Nmea in: $SNTTA,0.047284,,,,132848.08*41

2021-02-16T13:28:47.933Z,1613482127.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.139997 m, bearing: 276.391637 deg, deltaT: 4.400514 s, approachRate: 0.559025 m/s, LOS rate: -3.441219 deg/s, posRepo size: 4
2021-02-16T13:28:50.326Z,1613482130.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:51.117Z,1613482131.117 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:51.501Z,1613482131.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:52.323Z,1613482132.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132852.54*50

2021-02-16T13:28:53.212Z,1613482133.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:54.732Z,1613482134.732 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:28:56.034Z,1613482136.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:28:56.753Z,1613482136.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:28:57.157Z,1613482137.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:28:57.984Z,1613482137.984 [Micromodem](INFO): Nmea in: $SNTTA,0.026782,,,,132858.18*45

2021-02-16T13:28:58.029Z,1613482138.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.200001 m, bearing: 287.284177 deg, deltaT: 10.100816 s, approachRate: 0.599952 m/s, LOS rate: 1.078382 deg/s, posRepo size: 4
2021-02-16T13:29:00.427Z,1613482140.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:01.200Z,1613482141.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:01.608Z,1613482141.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:02.448Z,1613482142.448 [Micromodem](INFO): Nmea in: $SNTTA,0.026484,,,,132902.63*42

2021-02-16T13:29:02.472Z,1613482142.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.900002 m, bearing: 287.686994 deg, deltaT: 4.463886 s, approachRate: 0.604854 m/s, LOS rate: 0.090239 deg/s, posRepo size: 4
2021-02-16T13:29:04.909Z,1613482144.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:05.640Z,1613482145.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:06.053Z,1613482146.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:06.866Z,1613482146.866 [Micromodem](INFO): Nmea in: $SNTTA,0.028290,,,,132907.07*48

2021-02-16T13:29:07.712Z,1613482147.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:09.287Z,1613482149.287 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:29:10.528Z,1613482150.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:11.308Z,1613482151.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:11.701Z,1613482151.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:12.533Z,1613482152.533 [Micromodem](INFO): Nmea in: $SNTTA,,,,,132912.73*50

2021-02-16T13:29:13.352Z,1613482153.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:14.931Z,1613482154.931 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:29:16.193Z,1613482156.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:16.952Z,1613482156.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:17.357Z,1613482157.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:18.189Z,1613482158.189 [Micromodem](INFO): Nmea in: $SNTTA,0.032817,,,,132918.38*44

2021-02-16T13:29:18.288Z,1613482158.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.380005 m, bearing: 288.022001 deg, deltaT: 15.730540 s, approachRate: 0.602650 m/s, LOS rate: 0.021297 deg/s, posRepo size: 4
2021-02-16T13:29:20.602Z,1613482160.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:21.404Z,1613482161.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:21.820Z,1613482161.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:22.628Z,1613482162.628 [Micromodem](INFO): Nmea in: $SNTTA,0.034544,,,,132922.83*40

2021-02-16T13:29:22.664Z,1613482162.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.959999 m, bearing: 273.072192 deg, deltaT: 4.512114 s, approachRate: 0.571793 m/s, LOS rate: -3.313261 deg/s, posRepo size: 4
2021-02-16T13:29:25.118Z,1613482165.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:25.860Z,1613482165.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:26.253Z,1613482166.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:27.088Z,1613482167.088 [Micromodem](INFO): Nmea in: $SNTTA,0.036284,,,,132927.29*4C

2021-02-16T13:29:27.169Z,1613482167.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 272.927748 deg, deltaT: 4.381453 s, approachRate: 0.602540 m/s, LOS rate: -0.032967 deg/s, posRepo size: 4
2021-02-16T13:29:29.497Z,1613482169.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:30.291Z,1613482170.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:30.689Z,1613482170.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:31.516Z,1613482171.516 [Micromodem](INFO): Nmea in: $SNTTA,0.037866,,,,132931.72*42

2021-02-16T13:29:31.558Z,1613482171.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.939999 m, bearing: 275.941664 deg, deltaT: 4.490688 s, approachRate: 0.521078 m/s, LOS rate: 0.671148 deg/s, posRepo size: 4
2021-02-16T13:29:33.965Z,1613482173.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:34.730Z,1613482174.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:35.152Z,1613482175.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:35.963Z,1613482175.963 [Micromodem](INFO): Nmea in: $SNTTA,0.039653,,,,132936.16*41

2021-02-16T13:29:35.988Z,1613482175.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 275.250586 deg, deltaT: 4.406493 s, approachRate: 0.612733 m/s, LOS rate: -0.156832 deg/s, posRepo size: 4
2021-02-16T13:29:38.433Z,1613482178.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:39.174Z,1613482179.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:39.578Z,1613482179.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:40.404Z,1613482180.404 [Micromodem](INFO): Nmea in: $SNTTA,0.041432,,,,132940.60*4B

2021-02-16T13:29:40.450Z,1613482180.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 275.688811 deg, deltaT: 4.467032 s, approachRate: 0.590995 m/s, LOS rate: 0.098102 deg/s, posRepo size: 4
2021-02-16T13:29:42.883Z,1613482182.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:43.633Z,1613482183.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:44.029Z,1613482184.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:44.860Z,1613482184.860 [Micromodem](INFO): Nmea in: $SNTTA,0.043128,,,,132945.06*42

2021-02-16T13:29:45.668Z,1613482185.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:47.259Z,1613482187.259 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:29:48.513Z,1613482188.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:49.276Z,1613482189.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:49.677Z,1613482189.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:50.508Z,1613482190.508 [Micromodem](INFO): Nmea in: $SNTTA,0.045301,,,,132950.70*48

2021-02-16T13:29:50.544Z,1613482190.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 278.011212 deg, deltaT: 10.148183 s, approachRate: 0.573502 m/s, LOS rate: 0.228849 deg/s, posRepo size: 4
2021-02-16T13:29:52.944Z,1613482192.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:53.716Z,1613482193.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:54.133Z,1613482194.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:54.964Z,1613482194.964 [Micromodem](INFO): Nmea in: $SNTTA,0.047315,,,,132955.14*48

2021-02-16T13:29:54.000Z,1613482195.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 270.386863 deg, deltaT: 4.363371 s, approachRate: 0.701292 m/s, LOS rate: -1.747353 deg/s, posRepo size: 4
2021-02-16T13:29:57.376Z,1613482197.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:29:58.160Z,1613482198.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:29:58.571Z,1613482198.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:29:59.396Z,1613482199.396 [Micromodem](INFO): Nmea in: $SNTTA,0.049090,,,,132959.59*4D

2021-02-16T13:29:59.422Z,1613482199.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.799995 m, bearing: 277.073618 deg, deltaT: 4.474808 s, approachRate: 0.589969 m/s, LOS rate: 1.494311 deg/s, posRepo size: 4
2021-02-16T13:30:01.849Z,1613482201.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:02.611Z,1613482202.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:03.010Z,1613482203.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:03.868Z,1613482203.868 [Micromodem](INFO): Nmea in: $SNTTA,0.051036,,,,133004.04*40

2021-02-16T13:30:03.893Z,1613482203.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 271.050702 deg, deltaT: 4.435454 s, approachRate: 0.662841 m/s, LOS rate: -1.357903 deg/s, posRepo size: 4
2021-02-16T13:30:06.283Z,1613482206.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:07.052Z,1613482207.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:07.454Z,1613482207.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:08.294Z,1613482208.294 [Micromodem](INFO): Nmea in: $SNTTA,0.052981,,,,133008.48*42

2021-02-16T13:30:08.318Z,1613482208.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 266.391011 deg, deltaT: 4.447242 s, approachRate: 0.647593 m/s, LOS rate: -1.047771 deg/s, posRepo size: 4
2021-02-16T13:30:10.705Z,1613482210.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:11.502Z,1613482211.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:11.897Z,1613482211.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:12.728Z,1613482212.728 [Micromodem](INFO): Nmea in: $SNTTA,0.054838,,,,133012.93*4A

2021-02-16T13:30:12.750Z,1613482212.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.440010 m, bearing: 268.077521 deg, deltaT: 4.474206 s, approachRate: 0.630281 m/s, LOS rate: 0.376941 deg/s, posRepo size: 4
2021-02-16T13:30:15.189Z,1613482215.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:15.936Z,1613482215.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:16.345Z,1613482216.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:17.171Z,1613482217.171 [Micromodem](INFO): Nmea in: $SNTTA,0.056669,,,,133017.36*48

2021-02-16T13:30:17.206Z,1613482217.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.139999 m, bearing: 266.545646 deg, deltaT: 4.399754 s, approachRate: 0.613668 m/s, LOS rate: -0.348173 deg/s, posRepo size: 4
2021-02-16T13:30:19.603Z,1613482219.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:20.380Z,1613482220.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:20.807Z,1613482220.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:21.612Z,1613482221.612 [Micromodem](INFO): Nmea in: $SNTTA,0.058464,,,,133021.80*41

2021-02-16T13:30:21.650Z,1613482221.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 271.277519 deg, deltaT: 4.473958 s, approachRate: 0.616904 m/s, LOS rate: 1.057648 deg/s, posRepo size: 4
2021-02-16T13:30:24.045Z,1613482224.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:24.859Z,1613482224.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:25.232Z,1613482225.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:26.069Z,1613482226.069 [Micromodem](INFO): Nmea in: $SNTTA,0.060313,,,,133026.29*49

2021-02-16T13:30:26.170Z,1613482226.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.660004 m, bearing: 259.959513 deg, deltaT: 4.402895 s, approachRate: 0.626861 m/s, LOS rate: -2.570583 deg/s, posRepo size: 4
2021-02-16T13:30:28.474Z,1613482228.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:29.288Z,1613482229.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:29.679Z,1613482229.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:30.508Z,1613482230.508 [Micromodem](INFO): Nmea in: $SNTTA,0.062157,,,,133030.71*43

2021-02-16T13:30:30.549Z,1613482230.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.419998 m, bearing: 263.688332 deg, deltaT: 4.522046 s, approachRate: 0.610342 m/s, LOS rate: 0.824587 deg/s, posRepo size: 4
2021-02-16T13:30:32.945Z,1613482232.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:33.717Z,1613482233.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:34.137Z,1613482234.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:34.944Z,1613482234.944 [Micromodem](INFO): Nmea in: $SNTTA,0.063889,,,,133035.14*4E

2021-02-16T13:30:34.993Z,1613482234.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 266.477344 deg, deltaT: 4.360458 s, approachRate: 0.605443 m/s, LOS rate: 0.639615 deg/s, posRepo size: 4
2021-02-16T13:30:37.388Z,1613482237.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:38.161Z,1613482238.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:38.561Z,1613482238.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:39.388Z,1613482239.388 [Micromodem](INFO): Nmea in: $SNTTA,0.065787,,,,133039.59*4C

2021-02-16T13:30:39.488Z,1613482239.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 260.291379 deg, deltaT: 4.478514 s, approachRate: 0.602876 m/s, LOS rate: -1.381254 deg/s, posRepo size: 4
2021-02-16T13:30:41.865Z,1613482241.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:42.600Z,1613482242.600 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:43.005Z,1613482243.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:43.857Z,1613482243.857 [Micromodem](INFO): Nmea in: $SNTTA,0.067407,,,,133044.02*41

2021-02-16T13:30:43.882Z,1613482243.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 256.639468 deg, deltaT: 4.434995 s, approachRate: 0.554679 m/s, LOS rate: -0.823431 deg/s, posRepo size: 4
2021-02-16T13:30:46.286Z,1613482246.286 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:47.044Z,1613482247.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:47.467Z,1613482247.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:48.320Z,1613482248.320 [Micromodem](INFO): Nmea in: $SNTTA,0.069147,,,,133048.47*43

2021-02-16T13:30:48.397Z,1613482248.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.860008 m, bearing: 275.624306 deg, deltaT: 4.441583 s, approachRate: 0.594386 m/s, LOS rate: 4.274340 deg/s, posRepo size: 4
2021-02-16T13:30:50.708Z,1613482250.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:51.508Z,1613482251.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:51.898Z,1613482251.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:52.736Z,1613482252.736 [Micromodem](INFO): Nmea in: $SNTTA,0.070947,,,,133052.93*41

2021-02-16T13:30:52.772Z,1613482252.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.560005 m, bearing: 267.291803 deg, deltaT: 4.437339 s, approachRate: 0.608472 m/s, LOS rate: -1.877815 deg/s, posRepo size: 4
2021-02-16T13:30:55.193Z,1613482255.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:30:55.934Z,1613482255.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:30:56.338Z,1613482256.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:30:57.168Z,1613482257.168 [Micromodem](INFO): Nmea in: $SNTTA,0.072578,,,,133057.36*49

2021-02-16T13:30:57.218Z,1613482257.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.959999 m, bearing: 241.257581 deg, deltaT: 4.429031 s, approachRate: 0.541878 m/s, LOS rate: -5.878086 deg/s, posRepo size: 4
2021-02-16T13:30:59.588Z,1613482259.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:00.376Z,1613482260.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:00.793Z,1613482260.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:01.604Z,1613482261.604 [Micromodem](INFO): Nmea in: $SNTTA,0.074394,,,,133101.80*44

2021-02-16T13:31:01.641Z,1613482261.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 267.918432 deg, deltaT: 4.479342 s, approachRate: 0.642953 m/s, LOS rate: 5.951957 deg/s, posRepo size: 4
2021-02-16T13:31:04.042Z,1613482264.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:04.850Z,1613482264.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:05.246Z,1613482265.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:06.065Z,1613482266.065 [Micromodem](INFO): Nmea in: $SNTTA,0.076212,,,,133106.28*4C

2021-02-16T13:31:06.130Z,1613482266.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.480003 m, bearing: 268.822476 deg, deltaT: 4.410438 s, approachRate: 0.598580 m/s, LOS rate: 0.204978 deg/s, posRepo size: 4
2021-02-16T13:31:08.486Z,1613482268.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:09.268Z,1613482269.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:09.671Z,1613482269.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:10.496Z,1613482270.496 [Micromodem](INFO): Nmea in: $SNTTA,0.077926,,,,133110.69*43

2021-02-16T13:31:10.530Z,1613482270.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.060005 m, bearing: 258.573367 deg, deltaT: 4.510156 s, approachRate: 0.572043 m/s, LOS rate: -2.272451 deg/s, posRepo size: 4
2021-02-16T13:31:12.931Z,1613482272.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:13.714Z,1613482273.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:14.134Z,1613482274.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:14.947Z,1613482274.947 [Micromodem](INFO): Nmea in: $SNTTA,0.079526,,,,133115.14*4E

2021-02-16T13:31:14.972Z,1613482274.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 255.340366 deg, deltaT: 4.398529 s, approachRate: 0.531995 m/s, LOS rate: -0.735019 deg/s, posRepo size: 4
2021-02-16T13:31:17.386Z,1613482277.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:18.152Z,1613482278.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:18.557Z,1613482278.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:19.384Z,1613482279.384 [Micromodem](INFO): Nmea in: $SNTTA,0.081340,,,,133119.58*4B

2021-02-16T13:31:19.432Z,1613482279.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.099998 m, bearing: 254.427579 deg, deltaT: 4.451488 s, approachRate: 0.606538 m/s, LOS rate: -0.205052 deg/s, posRepo size: 4
2021-02-16T13:31:21.832Z,1613482281.832 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:22.217Z,1613482282.217 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:31:22.598Z,1613482282.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:23.002Z,1613482283.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:23.864Z,1613482283.864 [Micromodem](INFO): Nmea in: $SNTTA,0.083131,,,,133124.02*4C

2021-02-16T13:31:23.889Z,1613482283.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.800003 m, bearing: 248.532224 deg, deltaT: 4.448717 s, approachRate: 0.606918 m/s, LOS rate: -1.325181 deg/s, posRepo size: 4
2021-02-16T13:31:26.281Z,1613482286.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:27.047Z,1613482287.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:27.448Z,1613482287.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:28.292Z,1613482288.292 [Micromodem](INFO): Nmea in: $SNTTA,0.085489,,,,133128.47*41

2021-02-16T13:31:28.344Z,1613482288.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.459991 m, bearing: 257.424366 deg, deltaT: 4.455192 s, approachRate: 0.821511 m/s, LOS rate: 1.995905 deg/s, posRepo size: 4
2021-02-16T13:31:30.691Z,1613482290.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:31.485Z,1613482291.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:31.896Z,1613482291.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:32.712Z,1613482292.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133132.91*57

2021-02-16T13:31:32.746Z,1613482292.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.139999 m, bearing: 253.922856 deg, deltaT: 4.418965 s, approachRate: 0.380181 m/s, LOS rate: -0.792382 deg/s, posRepo size: 4
2021-02-16T13:31:35.178Z,1613482295.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:35.933Z,1613482295.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:36.340Z,1613482296.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:37.164Z,1613482297.164 [Micromodem](INFO): Nmea in: $SNTTA,0.088411,,,,133137.36*45

2021-02-16T13:31:37.199Z,1613482297.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.779999 m, bearing: 259.440118 deg, deltaT: 4.437751 s, approachRate: 0.594896 m/s, LOS rate: 1.243257 deg/s, posRepo size: 4
2021-02-16T13:31:39.584Z,1613482299.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:40.372Z,1613482300.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:40.778Z,1613482300.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:41.600Z,1613482301.600 [Micromodem](INFO): Nmea in: $SNTTA,0.090196,,,,133141.80*4A

2021-02-16T13:31:41.637Z,1613482301.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.479996 m, bearing: 261.585290 deg, deltaT: 4.473264 s, approachRate: 0.603585 m/s, LOS rate: 0.479554 deg/s, posRepo size: 4
2021-02-16T13:31:44.044Z,1613482304.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:44.837Z,1613482304.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:45.222Z,1613482305.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:46.060Z,1613482306.060 [Micromodem](INFO): Nmea in: $SNTTA,0.092103,,,,133146.26*4F

2021-02-16T13:31:46.140Z,1613482306.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 252.761095 deg, deltaT: 4.424914 s, approachRate: 0.637302 m/s, LOS rate: -1.994207 deg/s, posRepo size: 4
2021-02-16T13:31:48.484Z,1613482308.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:49.266Z,1613482309.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:49.668Z,1613482309.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:50.495Z,1613482310.495 [Micromodem](INFO): Nmea in: $SNTTA,0.093759,,,,133150.69*4B

2021-02-16T13:31:50.514Z,1613482310.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.820007 m, bearing: 252.847347 deg, deltaT: 4.491110 s, approachRate: 0.561109 m/s, LOS rate: 0.019205 deg/s, posRepo size: 4
2021-02-16T13:31:52.926Z,1613482312.926 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:53.704Z,1613482313.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:54.132Z,1613482314.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:54.936Z,1613482314.936 [Micromodem](INFO): Nmea in: $SNTTA,0.095725,,,,133155.13*4E

2021-02-16T13:31:54.986Z,1613482314.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.700012 m, bearing: 250.810092 deg, deltaT: 4.373191 s, approachRate: 0.658559 m/s, LOS rate: -0.465851 deg/s, posRepo size: 4
2021-02-16T13:31:57.393Z,1613482317.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:31:58.153Z,1613482318.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:31:58.553Z,1613482318.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:31:59.393Z,1613482319.393 [Micromodem](INFO): Nmea in: $SNTTA,0.097531,,,,133159.58*48

2021-02-16T13:31:59.446Z,1613482319.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 265.569175 deg, deltaT: 4.481626 s, approachRate: 0.615847 m/s, LOS rate: 3.293243 deg/s, posRepo size: 4
2021-02-16T13:32:01.829Z,1613482321.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:02.599Z,1613482322.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:02.998Z,1613482322.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:03.852Z,1613482323.852 [Micromodem](INFO): Nmea in: $SNTTA,0.099178,,,,133204.03*4A

2021-02-16T13:32:03.876Z,1613482323.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 243.528209 deg, deltaT: 4.438478 s, approachRate: 0.554242 m/s, LOS rate: -4.965884 deg/s, posRepo size: 4
2021-02-16T13:32:06.273Z,1613482326.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:07.042Z,1613482327.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:07.445Z,1613482327.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:08.275Z,1613482328.275 [Micromodem](INFO): Nmea in: $SNTTA,0.100865,,,,133208.47*42

2021-02-16T13:32:08.300Z,1613482328.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.380005 m, bearing: 256.368145 deg, deltaT: 4.468974 s, approachRate: 0.550463 m/s, LOS rate: 2.873128 deg/s, posRepo size: 4
2021-02-16T13:32:08.300Z,1613482328.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.38 m. Resuming terminal guidance.
2021-02-16T13:32:08.300Z,1613482328.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T13:32:10.697Z,1613482330.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:11.480Z,1613482331.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:11.886Z,1613482331.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:12.707Z,1613482332.707 [Micromodem](INFO): Nmea in: $SNTTA,0.102551,,,,133212.91*4A

2021-02-16T13:32:13.520Z,1613482333.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:15.126Z,1613482335.126 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:16.400Z,1613482336.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:17.143Z,1613482337.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:17.547Z,1613482337.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:18.375Z,1613482338.375 [Micromodem](INFO): Nmea in: $SNTTA,0.104719,,,,133218.57*42

2021-02-16T13:32:19.205Z,1613482339.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:20.772Z,1613482340.772 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:22.018Z,1613482342.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:22.800Z,1613482342.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:23.199Z,1613482343.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:24.028Z,1613482344.028 [Micromodem](INFO): Nmea in: $SNTTA,0.106969,,,,133224.22*44

2021-02-16T13:32:24.107Z,1613482344.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.620010 m, bearing: 238.226972 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T13:32:24.110Z,1613482344.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 238.226972deg and heading rate command to 0 deg/s.
2021-02-16T13:32:26.452Z,1613482346.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:27.259Z,1613482347.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:27.647Z,1613482347.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:28.481Z,1613482348.481 [Micromodem](INFO): Nmea in: $SNTTA,0.109268,,,,133228.68*43

2021-02-16T13:32:29.307Z,1613482349.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:30.888Z,1613482350.888 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:32.173Z,1613482352.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:32.892Z,1613482352.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:33.312Z,1613482353.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:34.136Z,1613482354.136 [Micromodem](INFO): Nmea in: $SNTTA,0.110905,,,,133234.32*49

2021-02-16T13:32:34.945Z,1613482354.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:36.529Z,1613482356.529 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:37.760Z,1613482357.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:38.548Z,1613482358.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:38.955Z,1613482358.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:39.764Z,1613482359.764 [Micromodem](INFO): Nmea in: $SNTTA,0.113080,,,,133239.97*4C

2021-02-16T13:32:40.584Z,1613482360.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:42.200Z,1613482362.200 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:43.431Z,1613482363.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:44.209Z,1613482364.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:44.611Z,1613482364.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:45.424Z,1613482365.424 [Micromodem](INFO): Nmea in: $SNTTA,0.115209,,,,133245.64*4E

2021-02-16T13:32:46.271Z,1613482366.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:47.860Z,1613482367.860 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:32:49.127Z,1613482369.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:49.875Z,1613482369.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:50.275Z,1613482370.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:51.112Z,1613482371.112 [Micromodem](INFO): Nmea in: $SNTTA,0.117331,,,,133251.30*42

2021-02-16T13:32:51.506Z,1613482371.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.160019 m, bearing: 207.748687 deg, deltaT: 27.551219 s, approachRate: 0.564041 m/s, LOS rate: -1.106241 deg/s, posRepo size: 2
2021-02-16T13:32:51.508Z,1613482371.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.160019 m,
      bearing: 207.748687 deg,
      approachRate: 0.564041 m/s,
      LOS rate: -1.106241 deg/s,
      cmd update: -3.318723 deg/s,
      cmd heading: 238.226972 deg,
      new cmd heading: 238.226972 deg.

2021-02-16T13:32:53.947Z,1613482373.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:54.713Z,1613482374.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:55.129Z,1613482375.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:32:55.937Z,1613482375.937 [Micromodem](INFO): Nmea in: $SNTTA,0.119139,,,,133256.14*47

2021-02-16T13:32:56.370Z,1613482376.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.860016 m, bearing: 193.358680 deg, deltaT: 4.777942 s, approachRate: 0.565096 m/s, LOS rate: -3.011758 deg/s, posRepo size: 3
2021-02-16T13:32:56.372Z,1613482376.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.860016 m,
      bearing: 193.358680 deg,
      approachRate: 0.565096 m/s,
      LOS rate: -3.011758 deg/s,
      cmd update: -9.035275 deg/s,
      cmd heading: 222.356892 deg,
      new cmd heading: 221.039987 deg.

2021-02-16T13:32:58.795Z,1613482378.795 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:32:59.556Z,1613482379.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:32:59.962Z,1613482379.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:00.776Z,1613482380.776 [Micromodem](INFO): Nmea in: $SNTTA,0.121033,,,,133300.98*41

2021-02-16T13:33:01.255Z,1613482381.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.679993 m, bearing: 178.533823 deg, deltaT: 4.816891 s, approachRate: 0.585435 m/s, LOS rate: -3.077682 deg/s, posRepo size: 4
2021-02-16T13:33:01.261Z,1613482381.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.679993 m,
      bearing: 178.533823 deg,
      approachRate: 0.585435 m/s,
      LOS rate: -3.077682 deg/s,
      cmd update: -9.233045 deg/s,
      cmd heading: 178.835003 deg,
      new cmd heading: 174.652936 deg.

2021-02-16T13:33:03.611Z,1613482383.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:04.409Z,1613482384.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:04.814Z,1613482384.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:05.652Z,1613482385.652 [Micromodem](INFO): Nmea in: $SNTTA,0.122329,,,0.124823,133305.83*55

2021-02-16T13:33:06.072Z,1613482386.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.539993 m, bearing: 196.259748 deg, deltaT: 4.896027 s, approachRate: 0.379900 m/s, LOS rate: 3.620472 deg/s, posRepo size: 4
2021-02-16T13:33:06.074Z,1613482386.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.539993 m,
      bearing: 196.259748 deg,
      approachRate: 0.379900 m/s,
      LOS rate: 3.620472 deg/s,
      cmd update: 10.861415 deg/s,
      cmd heading: 133.814858 deg,
      new cmd heading: 130.070803 deg.

2021-02-16T13:33:08.498Z,1613482388.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:09.284Z,1613482389.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:09.663Z,1613482389.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:10.493Z,1613482390.493 [Micromodem](INFO): Nmea in: $SNTTA,0.123132,,,,133310.71*45

2021-02-16T13:33:10.918Z,1613482390.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.800003 m, bearing: 154.405770 deg, deltaT: 4.831233 s, approachRate: 0.260805 m/s, LOS rate: -8.663209 deg/s, posRepo size: 4
2021-02-16T13:33:10.920Z,1613482390.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.800003 m,
      bearing: 154.405770 deg,
      approachRate: 0.260805 m/s,
      LOS rate: -8.663209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 186.506764 deg,
      new cmd heading: 190.860594 deg.

2021-02-16T13:33:13.338Z,1613482393.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:14.129Z,1613482394.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:14.510Z,1613482394.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:15.340Z,1613482395.340 [Micromodem](INFO): Nmea in: $SNTTA,0.123290,,,,133315.55*4D

2021-02-16T13:33:15.758Z,1613482395.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.919998 m, bearing: 112.590464 deg, deltaT: 4.865167 s, approachRate: 0.024664 m/s, LOS rate: -8.594834 deg/s, posRepo size: 4
2021-02-16T13:33:15.776Z,1613482395.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.919998 m,
      bearing: 112.590464 deg,
      approachRate: 0.024664 m/s,
      LOS rate: -8.594834 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 128.124818 deg,
      new cmd heading: 123.617714 deg.

2021-02-16T13:33:18.192Z,1613482398.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:18.952Z,1613482398.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:19.371Z,1613482399.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:20.170Z,1613482400.170 [Micromodem](INFO): Nmea in: $SNTTA,0.123371,,,,133320.38*4E

2021-02-16T13:33:20.606Z,1613482400.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 136.935922 deg, deltaT: 4.856916 s, approachRate: 0.024706 m/s, LOS rate: 5.012534 deg/s, posRepo size: 4
2021-02-16T13:33:20.608Z,1613482400.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.039993 m,
      bearing: 136.935922 deg,
      approachRate: 0.024706 m/s,
      LOS rate: 5.012534 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 69.917616 deg,
      new cmd heading: 65.449512 deg.

2021-02-16T13:33:23.040Z,1613482403.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:23.805Z,1613482403.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:24.224Z,1613482404.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:25.020Z,1613482405.020 [Micromodem](INFO): Nmea in: $SNTTA,0.122994,,,,133325.23*41

2021-02-16T13:33:25.897Z,1613482405.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:27.434Z,1613482407.434 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:33:28.664Z,1613482408.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:29.459Z,1613482409.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:29.870Z,1613482409.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:30.278Z,1613482410.278 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,502,0,63,E4
D,188,80,80,81,FF
2021-02-16T13:33:30.674Z,1613482410.674 [Micromodem](INFO): Nmea in: $SNTTA,0.121344,,,,133330.88*40

2021-02-16T13:33:31.497Z,1613482411.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:34.358Z,1613482414.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:37.179Z,1613482417.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:37.959Z,1613482417.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:38.365Z,1613482418.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:39.182Z,1613482419.182 [Micromodem](INFO): Nmea in: $SNTTA,0.119104,,0.121872,,133339.38*5E

2021-02-16T13:33:39.991Z,1613482419.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:41.582Z,1613482421.582 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:33:42.826Z,1613482422.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:43.605Z,1613482423.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:44.015Z,1613482424.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:44.850Z,1613482424.850 [Micromodem](INFO): Nmea in: $SNTTA,0.118808,,,,133345.03*48

2021-02-16T13:33:45.270Z,1613482425.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.040009 m, bearing: 113.535543 deg, deltaT: 24.672836 s, approachRate: -0.243182 m/s, LOS rate: -0.948427 deg/s, posRepo size: 4
2021-02-16T13:33:45.272Z,1613482425.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.040009 m,
      bearing: 113.535543 deg,
      approachRate: -0.243182 m/s,
      LOS rate: -0.948427 deg/s,
      cmd update: -2.845280 deg/s,
      cmd heading: 6.018453 deg,
      new cmd heading: 10.358433 deg.

2021-02-16T13:33:47.657Z,1613482427.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:48.456Z,1613482428.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:48.864Z,1613482428.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:49.670Z,1613482429.670 [Micromodem](INFO): Nmea in: $SNTTA,0.119464,,,,133349.88*40

2021-02-16T13:33:50.152Z,1613482430.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.279999 m, bearing: 168.897901 deg, deltaT: 4.772210 s, approachRate: 0.050289 m/s, LOS rate: 11.600989 deg/s, posRepo size: 4
2021-02-16T13:33:50.153Z,1613482430.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.600989 deg/s. Setting heading cmd to target bearing of 168.897901deg and heading rate command to 0 deg/s.
2021-02-16T13:33:52.505Z,1613482432.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:53.297Z,1613482433.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:53.706Z,1613482433.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:54.514Z,1613482434.514 [Micromodem](INFO): Nmea in: $SNTTA,0.120470,,,,133354.72*46

2021-02-16T13:33:55.344Z,1613482435.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:56.934Z,1613482436.934 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:33:58.200Z,1613482438.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:33:58.948Z,1613482438.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:33:59.359Z,1613482439.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:33:59.758Z,1613482439.758 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
D,187,80,80,C8,FF
2021-02-16T13:34:00.172Z,1613482440.172 [Micromodem](INFO): Nmea in: $SNTTA,0.122159,,,,133400.37*4D

2021-02-16T13:34:00.993Z,1613482440.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:03.858Z,1613482443.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:06.650Z,1613482446.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:07.432Z,1613482447.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:07.862Z,1613482447.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:08.652Z,1613482448.652 [Micromodem](INFO): Nmea in: $SNTTA,0.124717,,,,133408.86*45

2021-02-16T13:34:09.140Z,1613482449.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.259995 m, bearing: 190.418434 deg, deltaT: 18.981846 s, approachRate: 0.420401 m/s, LOS rate: 1.133743 deg/s, posRepo size: 4
2021-02-16T13:34:09.141Z,1613482449.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.259995 m,
      bearing: 190.418434 deg,
      approachRate: 0.420401 m/s,
      LOS rate: 1.133743 deg/s,
      cmd update: 3.401229 deg/s,
      cmd heading: 168.897901 deg,
      new cmd heading: 168.897901 deg.

2021-02-16T13:34:11.487Z,1613482451.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:12.285Z,1613482452.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:12.691Z,1613482452.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:13.528Z,1613482453.528 [Micromodem](INFO): Nmea in: $SNTTA,0.125612,,,,133413.71*42

2021-02-16T13:34:13.559Z,1613482453.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.459991 m, bearing: 165.809112 deg, deltaT: 4.519288 s, approachRate: 0.265528 m/s, LOS rate: -5.445398 deg/s, posRepo size: 4
2021-02-16T13:34:13.561Z,1613482453.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.459991 m,
      bearing: 165.809112 deg,
      approachRate: 0.265528 m/s,
      LOS rate: -5.445398 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 184.269057 deg,
      new cmd heading: 185.536804 deg.

2021-02-16T13:34:15.947Z,1613482455.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:16.730Z,1613482456.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:17.137Z,1613482457.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:17.948Z,1613482457.948 [Micromodem](INFO): Nmea in: $SNTTA,0.126063,,,,133418.16*4B

2021-02-16T13:34:18.376Z,1613482458.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.119980 m, bearing: 128.908838 deg, deltaT: 4.787796 s, approachRate: 0.137848 m/s, LOS rate: -7.707153 deg/s, posRepo size: 4
2021-02-16T13:34:18.377Z,1613482458.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.119980 m,
      bearing: 128.908838 deg,
      approachRate: 0.137848 m/s,
      LOS rate: -7.707153 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.816859 deg,
      new cmd heading: 121.991551 deg.

2021-02-16T13:34:20.785Z,1613482460.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:21.578Z,1613482461.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:21.979Z,1613482461.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:22.796Z,1613482462.796 [Micromodem](INFO): Nmea in: $SNTTA,0.126172,,,,133423.00*45

2021-02-16T13:34:23.260Z,1613482463.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 129.422782 deg, deltaT: 4.895213 s, approachRate: 0.036772 m/s, LOS rate: 0.104989 deg/s, posRepo size: 4
2021-02-16T13:34:23.263Z,1613482463.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 129.422782 deg,
      approachRate: 0.036772 m/s,
      LOS rate: 0.104989 deg/s,
      cmd update: 0.314968 deg/s,
      cmd heading: 68.122469 deg,
      new cmd heading: 63.390233 deg.

2021-02-16T13:34:25.645Z,1613482465.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:26.420Z,1613482466.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:26.856Z,1613482466.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:27.652Z,1613482467.652 [Micromodem](INFO): Nmea in: $SNTTA,0.125587,,,,133427.84*40

2021-02-16T13:34:27.690Z,1613482467.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.299988 m, bearing: 144.207177 deg, deltaT: 4.413503 s, approachRate: 0.000000 m/s, LOS rate: 3.349810 deg/s, posRepo size: 4
2021-02-16T13:34:27.692Z,1613482467.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 144.207177 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.349810 deg/s,
      cmd update: 10.049429 deg/s,
      cmd heading: 69.513477 deg,
      new cmd heading: 69.642192 deg.

2021-02-16T13:34:30.153Z,1613482470.153 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:30.868Z,1613482470.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:31.291Z,1613482471.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:32.105Z,1613482472.105 [Micromodem](INFO): Nmea in: $SNTTA,0.124416,,,,133432.29*4B

2021-02-16T13:34:32.510Z,1613482472.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.480011 m, bearing: 58.120299 deg, deltaT: 4.876174 s, approachRate: -0.578318 m/s, LOS rate: -17.654594 deg/s, posRepo size: 4
2021-02-16T13:34:32.510Z,1613482472.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.654594 deg/s. Setting heading cmd to target bearing of 58.120299deg and heading rate command to 0 deg/s.
2021-02-16T13:34:34.946Z,1613482474.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:35.713Z,1613482475.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:36.135Z,1613482476.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:36.932Z,1613482476.932 [Micromodem](INFO): Nmea in: $SNTTA,0.122327,,,,133437.14*43

2021-02-16T13:34:37.393Z,1613482477.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.300003 m, bearing: 58.105157 deg, deltaT: 4.822532 s, approachRate: -0.659406 m/s, LOS rate: -0.003140 deg/s, posRepo size: 4
2021-02-16T13:34:37.395Z,1613482477.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.300003 m,
      bearing: 58.105157 deg,
      approachRate: -0.659406 m/s,
      LOS rate: -0.003140 deg/s,
      cmd update: -0.009420 deg/s,
      cmd heading: 58.120299 deg,
      new cmd heading: 58.120299 deg.

2021-02-16T13:34:39.787Z,1613482479.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:40.562Z,1613482480.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:40.973Z,1613482480.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:41.779Z,1613482481.779 [Micromodem](INFO): Nmea in: $SNTTA,0.120395,,,,133441.99*4C

2021-02-16T13:34:42.256Z,1613482482.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 60.931496 deg, deltaT: 4.833864 s, approachRate: -0.595794 m/s, LOS rate: 0.584696 deg/s, posRepo size: 4
2021-02-16T13:34:42.259Z,1613482482.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 60.931496 deg,
      approachRate: -0.595794 m/s,
      LOS rate: 0.584696 deg/s,
      cmd update: 1.754087 deg/s,
      cmd heading: 58.074735 deg,
      new cmd heading: 58.070390 deg.

2021-02-16T13:34:44.615Z,1613482484.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:45.407Z,1613482485.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:45.848Z,1613482485.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:46.641Z,1613482486.641 [Micromodem](INFO): Nmea in: $SNTTA,0.117688,,,,133446.83*4D

2021-02-16T13:34:46.690Z,1613482486.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 60.324777 deg, deltaT: 4.468847 s, approachRate: 0.000000 m/s, LOS rate: -0.135766 deg/s, posRepo size: 4
2021-02-16T13:34:46.692Z,1613482486.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 60.324777 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.135766 deg/s,
      cmd update: -0.407299 deg/s,
      cmd heading: 65.950028 deg,
      new cmd heading: 66.662712 deg.

2021-02-16T13:34:49.120Z,1613482489.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:49.870Z,1613482489.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:50.283Z,1613482490.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:51.108Z,1613482491.108 [Micromodem](INFO): Nmea in: $SNTTA,0.114963,,,,133451.29*42

2021-02-16T13:34:51.190Z,1613482491.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.420013 m, bearing: 58.504723 deg, deltaT: 4.424947 s, approachRate: 0.000000 m/s, LOS rate: -0.411317 deg/s, posRepo size: 4
2021-02-16T13:34:51.196Z,1613482491.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.420013 m,
      bearing: 58.504723 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.411317 deg/s,
      cmd update: -1.233950 deg/s,
      cmd heading: 64.154914 deg,
      new cmd heading: 63.951545 deg.

2021-02-16T13:34:53.529Z,1613482493.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:54.304Z,1613482494.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:54.727Z,1613482494.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:55.536Z,1613482495.536 [Micromodem](INFO): Nmea in: $SNTTA,0.112520,,,,133455.73*44

2021-02-16T13:34:55.558Z,1613482495.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.600006 m, bearing: 59.169546 deg, deltaT: 4.474720 s, approachRate: -2.641508 m/s, LOS rate: 0.148573 deg/s, posRepo size: 4
2021-02-16T13:34:55.560Z,1613482495.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.600006 m,
      bearing: 59.169546 deg,
      approachRate: -2.641508 m/s,
      LOS rate: 0.148573 deg/s,
      cmd update: 0.445719 deg/s,
      cmd heading: 58.611683 deg,
      new cmd heading: 58.149092 deg.

2021-02-16T13:34:57.963Z,1613482497.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:34:58.739Z,1613482498.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:34:59.145Z,1613482499.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:34:59.972Z,1613482499.972 [Micromodem](INFO): Nmea in: $SNTTA,0.109878,,,,133500.16*4C

2021-02-16T13:35:00.025Z,1613482500.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.640015 m, bearing: 60.412374 deg, deltaT: 4.393982 s, approachRate: -0.901231 m/s, LOS rate: 0.282848 deg/s, posRepo size: 4
2021-02-16T13:35:00.029Z,1613482500.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.640015 m,
      bearing: 60.412374 deg,
      approachRate: -0.901231 m/s,
      LOS rate: 0.282848 deg/s,
      cmd update: 0.848543 deg/s,
      cmd heading: 60.568948 deg,
      new cmd heading: 60.769704 deg.

2021-02-16T13:35:02.400Z,1613482502.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:03.186Z,1613482503.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:03.591Z,1613482503.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:04.412Z,1613482504.412 [Micromodem](INFO): Nmea in: $SNTTA,0.107333,,,,133504.61*42

2021-02-16T13:35:04.454Z,1613482504.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 60.593866 deg, deltaT: 4.476071 s, approachRate: -0.857898 m/s, LOS rate: 0.040547 deg/s, posRepo size: 4
2021-02-16T13:35:04.456Z,1613482504.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.800003 m,
      bearing: 60.593866 deg,
      approachRate: -0.857898 m/s,
      LOS rate: 0.040547 deg/s,
      cmd update: 0.121641 deg/s,
      cmd heading: 64.366046 deg,
      new cmd heading: 64.709543 deg.

2021-02-16T13:35:06.895Z,1613482506.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:07.628Z,1613482507.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:08.053Z,1613482508.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:08.454Z,1613482508.454 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T13:35:08.454Z,1613482508.454 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T13:35:08.455Z,1613482508.455 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T13:35:08.455Z,1613482508.455 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T13:35:08.455Z,1613482508.455 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T13:35:08.877Z,1613482508.877 [Micromodem](INFO): Nmea in: $SNTTA,0.104672,,,,133509.10*4A

2021-02-16T13:35:08.936Z,1613482508.936 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60610000005D000004003E0000000000000000151D80030C5669BF92F9E588D0708838AFA4FC0F8F58BBFB6E4A98A56D3562002DCCEFC1956443682A2A
2021-02-16T13:35:08.936Z,1613482508.936 [Micromodem](INFO): Outgoing frame #2, 17 bytes: 53A8DE8EDECC315C95D12048BD958D5200
2021-02-16T13:35:08.937Z,1613482508.937 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T13:35:09.292Z,1613482509.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 61.181242 deg, deltaT: 4.960111 s, approachRate: -0.798371 m/s, LOS rate: 0.118420 deg/s, posRepo size: 4
2021-02-16T13:35:09.294Z,1613482509.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.839996 m,
      bearing: 61.181242 deg,
      approachRate: -0.798371 m/s,
      LOS rate: 0.118420 deg/s,
      cmd update: 0.355260 deg/s,
      cmd heading: 64.966465 deg,
      new cmd heading: 65.003714 deg.

2021-02-16T13:35:10.068Z,1613482510.068 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T13:35:10.468Z,1613482510.468 [Micromodem](INFO): Nmea in: $CADRQ,133510,1,10,0,64,1*73

2021-02-16T13:35:10.469Z,1613482510.469 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60610000005D000004003E0000000000000000151D80030C5669BF92F9E588D0708838AFA4FC0F8F58BBFB6E4A98A56D3562002DCCEFC1956443682A2A*30

2021-02-16T13:35:10.883Z,1613482510.883 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T13:35:11.288Z,1613482511.288 [Micromodem](INFO): Nmea in: $CADRQ,133511,1,10,0,64,2*71

2021-02-16T13:35:11.289Z,1613482511.289 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,53A8DE8EDECC315C95D12048BD958D5200*39

2021-02-16T13:35:11.669Z,1613482511.669 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T13:35:11.736Z,1613482511.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:12.100Z,1613482512.100 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T13:35:12.482Z,1613482512.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:14.495Z,1613482514.495 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T13:35:14.495Z,1613482514.495 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T13:35:14.557Z,1613482514.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:14.906Z,1613482514.906 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,133512.701547,3,0,200,4000,14500,1,1,10,1,2,2,3,81*49

2021-02-16T13:35:14.906Z,1613482514.906 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,133512.701547,3,0,200,4000,14500,1,1,10,1,2,2,3,81*49

2021-02-16T13:35:17.326Z,1613482517.326 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T13:35:17.380Z,1613482517.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:17.728Z,1613482517.728 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T13:35:17.729Z,1613482517.729 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0097.lzma.parts
2021-02-16T13:35:17.729Z,1613482517.729 [Micromodem](INFO): Packets left to send: 0
2021-02-16T13:35:18.148Z,1613482518.148 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216133517.502539,06,5377,37,0275,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,16.2,7.00,14,-4.00,-01,1.41,35,14500,4000*5A

2021-02-16T13:35:18.148Z,1613482518.148 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216133517.502539,06,5377,37,0275,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,16.2,7.00,14,-4.00,-01,1.41,35,14500,4000*5A

2021-02-16T13:35:18.279Z,1613482518.279 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T13:35:18.279Z,1613482518.279 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T13:35:18.279Z,1613482518.279 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T13:35:18.279Z,1613482518.279 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T13:35:18.280Z,1613482518.280 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T13:35:20.198Z,1613482520.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:23.035Z,1613482523.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:23.808Z,1613482523.808 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:24.202Z,1613482524.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:25.036Z,1613482525.036 [Micromodem](INFO): Nmea in: $SNTTA,0.095001,,,,133525.23*4F

2021-02-16T13:35:25.074Z,1613482525.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 60.138211 deg, deltaT: 15.608268 s, approachRate: -0.930276 m/s, LOS rate: -0.066826 deg/s, posRepo size: 4
2021-02-16T13:35:25.107Z,1613482525.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.319992 m,
      bearing: 60.138211 deg,
      approachRate: -0.930276 m/s,
      LOS rate: -0.066826 deg/s,
      cmd update: -0.200477 deg/s,
      cmd heading: 70.521452 deg,
      new cmd heading: 70.682092 deg.

2021-02-16T13:35:27.505Z,1613482527.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:28.241Z,1613482528.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:28.650Z,1613482528.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:29.468Z,1613482529.468 [Micromodem](INFO): Nmea in: $SNTTA,0.092443,,,,133529.67*46

2021-02-16T13:35:29.511Z,1613482529.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.480011 m, bearing: 59.695778 deg, deltaT: 4.497750 s, approachRate: -0.853756 m/s, LOS rate: -0.098367 deg/s, posRepo size: 4
2021-02-16T13:35:29.513Z,1613482529.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.480011 m,
      bearing: 59.695778 deg,
      approachRate: -0.853756 m/s,
      LOS rate: -0.098367 deg/s,
      cmd update: -0.295102 deg/s,
      cmd heading: 69.620931 deg,
      new cmd heading: 69.541345 deg.

2021-02-16T13:35:31.923Z,1613482531.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:32.677Z,1613482532.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:33.113Z,1613482533.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:33.912Z,1613482533.912 [Micromodem](INFO): Nmea in: $SNTTA,0.089583,,,,133534.10*4D

2021-02-16T13:35:33.950Z,1613482533.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.220001 m, bearing: 59.550404 deg, deltaT: 4.428988 s, approachRate: -0.961847 m/s, LOS rate: -0.032823 deg/s, posRepo size: 4
2021-02-16T13:35:33.953Z,1613482533.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.220001 m,
      bearing: 59.550404 deg,
      approachRate: -0.961847 m/s,
      LOS rate: -0.032823 deg/s,
      cmd update: -0.098470 deg/s,
      cmd heading: 68.312891 deg,
      new cmd heading: 68.193591 deg.

2021-02-16T13:35:36.342Z,1613482536.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:37.124Z,1613482537.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:37.531Z,1613482537.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:38.348Z,1613482538.348 [Micromodem](INFO): Nmea in: $SNTTA,0.086880,,,,133538.55*41

2021-02-16T13:35:38.386Z,1613482538.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.139999 m, bearing: 61.770018 deg, deltaT: 4.422131 s, approachRate: -0.922633 m/s, LOS rate: 0.501933 deg/s, posRepo size: 4
2021-02-16T13:35:38.388Z,1613482538.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.139999 m,
      bearing: 61.770018 deg,
      approachRate: -0.922633 m/s,
      LOS rate: 0.501933 deg/s,
      cmd update: 1.505799 deg/s,
      cmd heading: 67.877629 deg,
      new cmd heading: 67.836331 deg.

2021-02-16T13:35:40.775Z,1613482540.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:41.560Z,1613482541.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:41.983Z,1613482541.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:42.788Z,1613482542.788 [Micromodem](INFO): Nmea in: $SNTTA,0.084155,,,,133542.98*4E

2021-02-16T13:35:42.860Z,1613482542.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.000000 m, bearing: 60.624295 deg, deltaT: 4.441291 s, approachRate: -0.932161 m/s, LOS rate: -0.257971 deg/s, posRepo size: 4
2021-02-16T13:35:42.861Z,1613482542.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.000000 m,
      bearing: 60.624295 deg,
      approachRate: -0.932161 m/s,
      LOS rate: -0.257971 deg/s,
      cmd update: -0.773912 deg/s,
      cmd heading: 74.571184 deg,
      new cmd heading: 75.239703 deg.

2021-02-16T13:35:45.260Z,1613482545.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:46.013Z,1613482546.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:46.409Z,1613482546.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:47.241Z,1613482547.241 [Micromodem](INFO): Nmea in: $SNTTA,0.081538,,,,133547.44*40

2021-02-16T13:35:47.334Z,1613482547.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 59.459720 deg, deltaT: 4.464368 s, approachRate: -0.860143 m/s, LOS rate: -0.260860 deg/s, posRepo size: 4
2021-02-16T13:35:47.336Z,1613482547.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.160004 m,
      bearing: 59.459720 deg,
      approachRate: -0.860143 m/s,
      LOS rate: -0.260860 deg/s,
      cmd update: -0.782580 deg/s,
      cmd heading: 71.116763 deg,
      new cmd heading: 70.761535 deg.

2021-02-16T13:35:49.655Z,1613482549.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:50.487Z,1613482550.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:50.866Z,1613482550.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:51.728Z,1613482551.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.840004 m, bearing: 59.171513 deg, deltaT: 4.440059 s, approachRate: -0.972960 m/s, LOS rate: -0.064911 deg/s, posRepo size: 4
2021-02-16T13:35:51.730Z,1613482551.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 59.171513 deg,
      approachRate: -0.972960 m/s,
      LOS rate: -0.064911 deg/s,
      cmd update: -0.194732 deg/s,
      cmd heading: 67.647655 deg,
      new cmd heading: 67.322266 deg.

2021-02-16T13:35:52.083Z,1613482552.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133551.94*53

2021-02-16T13:35:52.088Z,1613482552.088 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T13:35:54.166Z,1613482554.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:54.898Z,1613482554.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:55.298Z,1613482555.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:35:56.141Z,1613482556.141 [Micromodem](INFO): Nmea in: $SNTTA,0.076083,,,,133556.32*4C

2021-02-16T13:35:56.194Z,1613482556.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.940002 m, bearing: 59.209872 deg, deltaT: 4.399299 s, approachRate: -0.886505 m/s, LOS rate: 0.008719 deg/s, posRepo size: 4
2021-02-16T13:35:56.196Z,1613482556.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.940002 m,
      bearing: 59.209872 deg,
      approachRate: -0.886505 m/s,
      LOS rate: 0.008719 deg/s,
      cmd update: 0.026158 deg/s,
      cmd heading: 66.789386 deg,
      new cmd heading: 66.696122 deg.

2021-02-16T13:35:58.563Z,1613482558.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:35:59.342Z,1613482559.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:35:59.748Z,1613482559.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:00.572Z,1613482560.572 [Micromodem](INFO): Nmea in: $SNTTA,0.073422,,,,133600.77*47

2021-02-16T13:36:00.610Z,1613482560.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.980003 m, bearing: 59.038994 deg, deltaT: 4.484292 s, approachRate: -0.883082 m/s, LOS rate: -0.038106 deg/s, posRepo size: 4
2021-02-16T13:36:00.612Z,1613482560.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 59.038994 deg,
      approachRate: -0.883082 m/s,
      LOS rate: -0.038106 deg/s,
      cmd update: -0.114317 deg/s,
      cmd heading: 66.906680 deg,
      new cmd heading: 66.917427 deg.

2021-02-16T13:36:03.018Z,1613482563.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:03.782Z,1613482563.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:04.187Z,1613482564.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:05.021Z,1613482565.021 [Micromodem](INFO): Nmea in: $SNTTA,0.070688,,,,133605.21*40

2021-02-16T13:36:05.046Z,1613482565.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.840004 m, bearing: 59.254275 deg, deltaT: 4.422105 s, approachRate: -0.936206 m/s, LOS rate: 0.048683 deg/s, posRepo size: 4
2021-02-16T13:36:05.048Z,1613482565.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.840004 m,
      bearing: 59.254275 deg,
      approachRate: -0.936206 m/s,
      LOS rate: 0.048683 deg/s,
      cmd update: 0.146049 deg/s,
      cmd heading: 66.401132 deg,
      new cmd heading: 66.352625 deg.

2021-02-16T13:36:07.467Z,1613482567.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:08.231Z,1613482568.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:08.636Z,1613482568.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:09.459Z,1613482569.459 [Micromodem](INFO): Nmea in: $SNTTA,0.068046,,,,133609.66*42

2021-02-16T13:36:09.484Z,1613482569.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 59.483496 deg, deltaT: 4.457051 s, approachRate: -0.875018 m/s, LOS rate: 0.051429 deg/s, posRepo size: 4
2021-02-16T13:36:09.485Z,1613482569.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 59.483496 deg,
      approachRate: -0.875018 m/s,
      LOS rate: 0.051429 deg/s,
      cmd update: 0.154287 deg/s,
      cmd heading: 67.051794 deg,
      new cmd heading: 67.111126 deg.

2021-02-16T13:36:11.919Z,1613482571.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:12.668Z,1613482572.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:13.079Z,1613482573.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:13.900Z,1613482573.900 [Micromodem](INFO): Nmea in: $SNTTA,0.065509,,,,133614.09*44

2021-02-16T13:36:13.925Z,1613482573.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.100006 m, bearing: 58.941869 deg, deltaT: 4.410956 s, approachRate: -0.870559 m/s, LOS rate: -0.122791 deg/s, posRepo size: 4
2021-02-16T13:36:13.927Z,1613482573.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.100006 m,
      bearing: 58.941869 deg,
      approachRate: -0.870559 m/s,
      LOS rate: -0.122791 deg/s,
      cmd update: -0.368374 deg/s,
      cmd heading: 67.732648 deg,
      new cmd heading: 67.799733 deg.

2021-02-16T13:36:16.339Z,1613482576.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:17.128Z,1613482577.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:17.518Z,1613482577.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:18.364Z,1613482578.364 [Micromodem](INFO): Nmea in: $SNTTA,0.062814,,,,133618.55*47

2021-02-16T13:36:18.394Z,1613482578.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 57.866442 deg, deltaT: 4.478954 s, approachRate: -0.897532 m/s, LOS rate: -0.240107 deg/s, posRepo size: 4
2021-02-16T13:36:18.396Z,1613482578.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 57.866442 deg,
      approachRate: -0.897532 m/s,
      LOS rate: -0.240107 deg/s,
      cmd update: -0.720320 deg/s,
      cmd heading: 66.084192 deg,
      new cmd heading: 65.926099 deg.

2021-02-16T13:36:20.789Z,1613482580.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:21.556Z,1613482581.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:21.983Z,1613482581.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:22.788Z,1613482582.788 [Micromodem](INFO): Nmea in: $SNTTA,0.059980,,,,133622.98*4B

2021-02-16T13:36:22.828Z,1613482582.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.820007 m, bearing: 58.553723 deg, deltaT: 4.464793 s, approachRate: -0.954130 m/s, LOS rate: 0.153933 deg/s, posRepo size: 4
2021-02-16T13:36:22.838Z,1613482582.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.820007 m,
      bearing: 58.553723 deg,
      approachRate: -0.954130 m/s,
      LOS rate: 0.153933 deg/s,
      cmd update: 0.461800 deg/s,
      cmd heading: 62.868108 deg,
      new cmd heading: 62.594127 deg.

2021-02-16T13:36:25.259Z,1613482585.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:26.005Z,1613482586.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:26.423Z,1613482586.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:27.233Z,1613482587.233 [Micromodem](INFO): Nmea in: $SNTTA,0.057454,,,,133627.43*42

2021-02-16T13:36:27.297Z,1613482587.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 58.613152 deg, deltaT: 4.452168 s, approachRate: -0.862504 m/s, LOS rate: 0.013348 deg/s, posRepo size: 4
2021-02-16T13:36:27.298Z,1613482587.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.979996 m,
      bearing: 58.613152 deg,
      approachRate: -0.862504 m/s,
      LOS rate: 0.013348 deg/s,
      cmd update: 0.040045 deg/s,
      cmd heading: 64.925927 deg,
      new cmd heading: 65.115583 deg.

2021-02-16T13:36:29.657Z,1613482589.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:30.444Z,1613482590.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:30.865Z,1613482590.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:31.682Z,1613482591.682 [Micromodem](INFO): Nmea in: $SNTTA,0.054567,,,,133631.87*4F

2021-02-16T13:36:31.702Z,1613482591.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.659996 m, bearing: 58.873833 deg, deltaT: 4.411773 s, approachRate: -0.979198 m/s, LOS rate: 0.059088 deg/s, posRepo size: 4
2021-02-16T13:36:31.704Z,1613482591.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.659996 m,
      bearing: 58.873833 deg,
      approachRate: -0.979198 m/s,
      LOS rate: 0.059088 deg/s,
      cmd update: 0.177263 deg/s,
      cmd heading: 65.102601 deg,
      new cmd heading: 65.118806 deg.

2021-02-16T13:36:34.166Z,1613482594.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:34.903Z,1613482594.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:35.294Z,1613482595.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:36.148Z,1613482596.148 [Micromodem](INFO): Nmea in: $SNTTA,0.051672,,,,133636.33*45

2021-02-16T13:36:36.207Z,1613482596.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.339996 m, bearing: 59.670766 deg, deltaT: 4.413901 s, approachRate: -0.978726 m/s, LOS rate: 0.180551 deg/s, posRepo size: 4
2021-02-16T13:36:36.209Z,1613482596.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.339996 m,
      bearing: 59.670766 deg,
      approachRate: -0.978726 m/s,
      LOS rate: 0.180551 deg/s,
      cmd update: 0.541652 deg/s,
      cmd heading: 65.885022 deg,
      new cmd heading: 65.972776 deg.

2021-02-16T13:36:38.232Z,1613482598.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:38.928Z,1613482598.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:39.341Z,1613482599.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:40.160Z,1613482600.160 [Micromodem](INFO): Nmea in: $SNTTA,0.049262,,,,133640.35*4E

2021-02-16T13:36:40.213Z,1613482600.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.680000 m, bearing: 58.760568 deg, deltaT: 4.051347 s, approachRate: -0.903402 m/s, LOS rate: -0.224665 deg/s, posRepo size: 4
2021-02-16T13:36:40.214Z,1613482600.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 58.760568 deg,
      approachRate: -0.903402 m/s,
      LOS rate: -0.224665 deg/s,
      cmd update: -0.673996 deg/s,
      cmd heading: 68.077272 deg,
      new cmd heading: 68.323064 deg.

2021-02-16T13:36:42.587Z,1613482602.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:43.374Z,1613482603.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:43.777Z,1613482603.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:44.600Z,1613482604.600 [Micromodem](INFO): Nmea in: $SNTTA,0.046664,,,,133644.80*49

2021-02-16T13:36:44.642Z,1613482604.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.840004 m, bearing: 57.653231 deg, deltaT: 4.494127 s, approachRate: -0.854448 m/s, LOS rate: -0.246397 deg/s, posRepo size: 4
2021-02-16T13:36:44.648Z,1613482604.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.840004 m,
      bearing: 57.653231 deg,
      approachRate: -0.854448 m/s,
      LOS rate: -0.246397 deg/s,
      cmd update: -0.739190 deg/s,
      cmd heading: 65.052535 deg,
      new cmd heading: 64.785842 deg.

2021-02-16T13:36:47.068Z,1613482607.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:47.847Z,1613482607.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:48.238Z,1613482608.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:49.060Z,1613482609.060 [Micromodem](INFO): Nmea in: $SNTTA,0.043810,,,,133649.27*41

2021-02-16T13:36:49.136Z,1613482609.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.580002 m, bearing: 57.351186 deg, deltaT: 4.399997 s, approachRate: -0.968183 m/s, LOS rate: -0.068647 deg/s, posRepo size: 4
2021-02-16T13:36:49.137Z,1613482609.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.580002 m,
      bearing: 57.351186 deg,
      approachRate: -0.968183 m/s,
      LOS rate: -0.068647 deg/s,
      cmd update: -0.205940 deg/s,
      cmd heading: 61.792413 deg,
      new cmd heading: 61.438785 deg.

2021-02-16T13:36:51.513Z,1613482611.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:52.271Z,1613482612.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:52.685Z,1613482612.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:53.496Z,1613482613.496 [Micromodem](INFO): Nmea in: $SNTTA,0.041158,,,,133653.70*4F

2021-02-16T13:36:53.538Z,1613482613.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.560005 m, bearing: 58.298547 deg, deltaT: 4.508634 s, approachRate: -0.891622 m/s, LOS rate: 0.210121 deg/s, posRepo size: 4
2021-02-16T13:36:53.540Z,1613482613.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.560005 m,
      bearing: 58.298547 deg,
      approachRate: -0.891622 m/s,
      LOS rate: 0.210121 deg/s,
      cmd update: 0.630364 deg/s,
      cmd heading: 60.863907 deg,
      new cmd heading: 60.787305 deg.

2021-02-16T13:36:55.944Z,1613482615.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:36:56.047Z,1613482616.047 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@5242"
2021-02-16T13:36:56.048Z,1613482616.048 [ThrusterServo] Communications Fault, FailCount= 1
2021-02-16T13:36:56.048Z,1613482616.048 [ThrusterServo](ERROR): Communications Fault
2021-02-16T13:36:56.051Z,1613482616.051 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-02-16T13:36:56.432Z,1613482616.432 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T13:36:56.432Z,1613482616.432 [ThrusterServo](INFO): Powering down
2021-02-16T13:36:56.709Z,1613482616.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:36:57.151Z,1613482617.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:36:57.317Z,1613482617.317 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T13:36:57.436Z,1613482617.436 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T13:36:57.440Z,1613482617.440 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-02-16T13:36:57.440Z,1613482617.440 [ThrusterServo] No Fault, FailCount= 1
2021-02-16T13:36:57.940Z,1613482617.940 [Micromodem](INFO): Nmea in: $SNTTA,0.038517,,,,133658.14*47

2021-02-16T13:36:57.988Z,1613482617.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.600002 m, bearing: 58.360756 deg, deltaT: 4.393380 s, approachRate: -0.901357 m/s, LOS rate: 0.014160 deg/s, posRepo size: 4
2021-02-16T13:36:57.989Z,1613482617.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 58.360756 deg,
      approachRate: -0.901357 m/s,
      LOS rate: 0.014160 deg/s,
      cmd update: 0.042479 deg/s,
      cmd heading: 63.633213 deg,
      new cmd heading: 63.903351 deg.

2021-02-16T13:37:00.394Z,1613482620.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:01.169Z,1613482621.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:01.558Z,1613482621.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:02.408Z,1613482622.408 [Micromodem](INFO): Nmea in: $SNTTA,0.036299,,,,133702.59*4F

2021-02-16T13:37:02.446Z,1613482622.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.300003 m, bearing: 57.689697 deg, deltaT: 4.447144 s, approachRate: -0.742049 m/s, LOS rate: -0.150897 deg/s, posRepo size: 4
2021-02-16T13:37:02.448Z,1613482622.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.300003 m,
      bearing: 57.689697 deg,
      approachRate: -0.742049 m/s,
      LOS rate: -0.150897 deg/s,
      cmd update: -0.452690 deg/s,
      cmd heading: 63.821450 deg,
      new cmd heading: 63.840798 deg.

2021-02-16T13:37:04.839Z,1613482624.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:05.601Z,1613482625.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:06.002Z,1613482626.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:06.868Z,1613482626.868 [Micromodem](INFO): Nmea in: $SNTTA,0.034081,0.061443,,,133707.03*56

2021-02-16T13:37:06.914Z,1613482626.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.939999 m, bearing: 56.189559 deg, deltaT: 4.450155 s, approachRate: -0.755031 m/s, LOS rate: -0.337098 deg/s, posRepo size: 4
2021-02-16T13:37:06.916Z,1613482626.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 56.189559 deg,
      approachRate: -0.755031 m/s,
      LOS rate: -0.337098 deg/s,
      cmd update: -1.011294 deg/s,
      cmd heading: 61.801447 deg,
      new cmd heading: 61.592607 deg.

2021-02-16T13:37:09.304Z,1613482629.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:10.040Z,1613482630.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:10.447Z,1613482630.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:11.280Z,1613482631.280 [Micromodem](INFO): Nmea in: $SNTTA,0.031732,,0.056681,,133711.46*52

2021-02-16T13:37:11.333Z,1613482631.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.399998 m, bearing: 56.736694 deg, deltaT: 4.452360 s, approachRate: -0.795084 m/s, LOS rate: 0.122887 deg/s, posRepo size: 4
2021-02-16T13:37:11.339Z,1613482631.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.399998 m,
      bearing: 56.736694 deg,
      approachRate: -0.795084 m/s,
      LOS rate: 0.122887 deg/s,
      cmd update: 0.368660 deg/s,
      cmd heading: 57.294754 deg,
      new cmd heading: 56.865733 deg.

2021-02-16T13:37:13.708Z,1613482633.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:14.485Z,1613482634.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:14.889Z,1613482634.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:15.716Z,1613482635.716 [Micromodem](INFO): Nmea in: $SNTTA,0.029035,,0.030185,,133715.91*56

2021-02-16T13:37:15.758Z,1613482635.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.380001 m, bearing: 56.969358 deg, deltaT: 4.452107 s, approachRate: -0.902942 m/s, LOS rate: 0.052259 deg/s, posRepo size: 4
2021-02-16T13:37:15.760Z,1613482635.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.380001 m,
      bearing: 56.969358 deg,
      approachRate: -0.902942 m/s,
      LOS rate: 0.052259 deg/s,
      cmd update: 0.156778 deg/s,
      cmd heading: 58.934595 deg,
      new cmd heading: 59.082596 deg.

2021-02-16T13:37:18.180Z,1613482638.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:18.940Z,1613482638.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:19.355Z,1613482639.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:20.164Z,1613482640.164 [Micromodem](INFO): Nmea in: $SNTTA,0.026217,,,,133720.37*40

2021-02-16T13:37:20.216Z,1613482640.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.119999 m, bearing: 57.703665 deg, deltaT: 4.395371 s, approachRate: -0.969202 m/s, LOS rate: 0.167064 deg/s, posRepo size: 4
2021-02-16T13:37:20.216Z,1613482640.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.12 m.
2021-02-16T13:37:20.218Z,1613482640.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.119999 m,
      bearing: 57.703665 deg,
      approachRate: -0.969202 m/s,
      LOS rate: 0.167064 deg/s,
      cmd update: 0.501191 deg/s,
      cmd heading: 59.624283 deg,
      new cmd heading: 59.696376 deg.

2021-02-16T13:37:20.574Z,1613482640.574 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:37:22.599Z,1613482642.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:23.378Z,1613482643.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:23.785Z,1613482643.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:24.604Z,1613482644.604 [Micromodem](INFO): Nmea in: $SNTTA,0.023439,,,,133724.80*47

2021-02-16T13:37:24.648Z,1613482644.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 56.904912 deg, deltaT: 4.493717 s, approachRate: -0.921286 m/s, LOS rate: -0.177749 deg/s, posRepo size: 4
2021-02-16T13:37:24.648Z,1613482644.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.98 m.
2021-02-16T13:37:24.649Z,1613482644.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.98 m.
2021-02-16T13:37:24.649Z,1613482644.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:37:24.650Z,1613482644.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.980000 m,
      bearing: 56.904912 deg,
      approachRate: -0.921286 m/s,
      LOS rate: -0.177749 deg/s,
      cmd update: -0.533247 deg/s,
      cmd heading: 61.871440 deg,
      new cmd heading: 62.075854 deg.

2021-02-16T13:37:27.034Z,1613482647.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:27.848Z,1613482647.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:28.228Z,1613482648.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:29.070Z,1613482649.070 [Micromodem](INFO): Nmea in: $SNTTA,0.020778,,,,133729.27*42

2021-02-16T13:37:29.142Z,1613482649.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 55.207248 deg, deltaT: 4.418853 s, approachRate: -0.909738 m/s, LOS rate: -0.384187 deg/s, posRepo size: 4
2021-02-16T13:37:29.148Z,1613482649.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.959999 m,
      bearing: 55.207248 deg,
      approachRate: -0.909738 m/s,
      LOS rate: -0.384187 deg/s,
      cmd update: -1.152560 deg/s,
      cmd heading: 59.511743 deg,
      new cmd heading: 59.257266 deg.

2021-02-16T13:37:31.484Z,1613482651.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:32.270Z,1613482652.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:32.672Z,1613482652.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:33.496Z,1613482653.496 [Micromodem](INFO): Nmea in: $SNTTA,0.018258,,,,133733.69*4F

2021-02-16T13:37:33.542Z,1613482653.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 56.748319 deg, deltaT: 4.507018 s, approachRate: -0.838692 m/s, LOS rate: 0.341927 deg/s, posRepo size: 4
2021-02-16T13:37:33.544Z,1613482653.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.180000 m,
      bearing: 56.748319 deg,
      approachRate: -0.838692 m/s,
      LOS rate: 0.341927 deg/s,
      cmd update: 1.025781 deg/s,
      cmd heading: 54.317204 deg,
      new cmd heading: 53.890270 deg.

2021-02-16T13:37:35.930Z,1613482655.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:36.706Z,1613482656.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:37.125Z,1613482657.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:37.936Z,1613482657.936 [Micromodem](INFO): Nmea in: $SNTTA,0.016134,,,,133738.13*4E

2021-02-16T13:37:37.986Z,1613482657.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 57.218674 deg, deltaT: 4.383115 s, approachRate: -0.711823 m/s, LOS rate: 0.107310 deg/s, posRepo size: 4
2021-02-16T13:37:37.992Z,1613482657.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.059999 m,
      bearing: 57.218674 deg,
      approachRate: -0.711823 m/s,
      LOS rate: 0.107310 deg/s,
      cmd update: 0.321931 deg/s,
      cmd heading: 58.800037 deg,
      new cmd heading: 59.256053 deg.

2021-02-16T13:37:40.403Z,1613482660.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:41.165Z,1613482661.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:41.560Z,1613482661.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:42.388Z,1613482662.388 [Micromodem](INFO): Nmea in: $SNTTA,0.013008,,,,133742.59*46

2021-02-16T13:37:42.446Z,1613482662.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.320000 m, bearing: 55.437862 deg, deltaT: 4.455478 s, approachRate: -1.063859 m/s, LOS rate: -0.399690 deg/s, posRepo size: 4
2021-02-16T13:37:42.452Z,1613482662.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.320000 m,
      bearing: 55.437862 deg,
      approachRate: -1.063859 m/s,
      LOS rate: -0.399690 deg/s,
      cmd update: -1.199071 deg/s,
      cmd heading: 60.238577 deg,
      new cmd heading: 60.378982 deg.

2021-02-16T13:37:44.822Z,1613482664.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:45.594Z,1613482665.594 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:46.010Z,1613482666.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:46.831Z,1613482666.831 [Micromodem](INFO): Nmea in: $SNTTA,0.010312,,,,133747.02*46

2021-02-16T13:37:46.877Z,1613482666.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.240002 m, bearing: 55.659720 deg, deltaT: 4.433465 s, approachRate: -0.920273 m/s, LOS rate: 0.050042 deg/s, posRepo size: 4
2021-02-16T13:37:46.879Z,1613482666.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 55.659720 deg,
      approachRate: -0.920273 m/s,
      LOS rate: 0.050042 deg/s,
      cmd update: 0.150125 deg/s,
      cmd heading: 54.922531 deg,
      new cmd heading: 54.403191 deg.

2021-02-16T13:37:49.281Z,1613482669.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:50.037Z,1613482670.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:50.442Z,1613482670.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:51.272Z,1613482671.272 [Micromodem](INFO): Nmea in: $SNTTA,0.007980,,,,133751.46*46

2021-02-16T13:37:51.345Z,1613482671.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 55.736673 deg, deltaT: 4.457822 s, approachRate: -0.780651 m/s, LOS rate: 0.017262 deg/s, posRepo size: 4
2021-02-16T13:37:51.352Z,1613482671.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 55.736673 deg,
      approachRate: -0.780651 m/s,
      LOS rate: 0.017262 deg/s,
      cmd update: 0.051787 deg/s,
      cmd heading: 55.592363 deg,
      new cmd heading: 55.657462 deg.

2021-02-16T13:37:53.705Z,1613482673.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:54.488Z,1613482674.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:54.885Z,1613482674.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:37:55.712Z,1613482675.712 [Micromodem](INFO): Nmea in: $SNTTA,0.005319,,,,133755.91*40

2021-02-16T13:37:55.754Z,1613482675.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 54.730791 deg, deltaT: 4.426122 s, approachRate: -0.921800 m/s, LOS rate: -0.227260 deg/s, posRepo size: 4
2021-02-16T13:37:55.760Z,1613482675.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 54.730791 deg,
      approachRate: -0.921800 m/s,
      LOS rate: -0.227260 deg/s,
      cmd update: -0.681781 deg/s,
      cmd heading: 55.821370 deg,
      new cmd heading: 55.843467 deg.

2021-02-16T13:37:58.191Z,1613482678.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:37:58.924Z,1613482678.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:37:59.347Z,1613482679.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:00.152Z,1613482680.152 [Micromodem](INFO): Nmea in: $SNTTA,0.004909,,,,133800.35*4B

2021-02-16T13:38:00.202Z,1613482680.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 52.686054 deg, deltaT: 4.431203 s, approachRate: -0.148944 m/s, LOS rate: -0.461441 deg/s, posRepo size: 4
2021-02-16T13:38:00.204Z,1613482680.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 52.686054 deg,
      approachRate: -0.148944 m/s,
      LOS rate: -0.461441 deg/s,
      cmd update: -1.384322 deg/s,
      cmd heading: 52.808445 deg,
      new cmd heading: 52.497905 deg.

2021-02-16T13:38:02.575Z,1613482682.575 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:03.387Z,1613482683.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:03.779Z,1613482683.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:04.612Z,1613482684.612 [Micromodem](INFO): Nmea in: $SNTTA,0.002337,,,,133804.81*41

2021-02-16T13:38:04.632Z,1613482684.632 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:38:04.632Z,1613482684.632 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:38:04.632Z,1613482684.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.360000 m 
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:38:04.633Z,1613482684.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:38:04.660Z,1613482684.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 60.693457 deg, deltaT: 4.452385 s, approachRate: -0.822031 m/s, LOS rate: 1.798452 deg/s, posRepo size: 4
2021-02-16T13:38:04.661Z,1613482684.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 60.693457 deg,
      approachRate: -0.822031 m/s,
      LOS rate: 1.798452 deg/s,
      cmd update: 5.395357 deg/s,
      cmd heading: 46.622712 deg,
      new cmd heading: 46.041113 deg.

2021-02-16T13:38:05.031Z,1613482685.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T133805: (41.552319, -70.708603)
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:38:05.032Z,1613482685.032 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:38:07.035Z,1613482687.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:07.822Z,1613482687.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:08.217Z,1613482688.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:09.048Z,1613482689.048 [Micromodem](INFO): Nmea in: $SNTTA,0.004189,,,,133809.25*43

2021-02-16T13:38:09.134Z,1613482689.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 48.457979 deg, deltaT: 4.467652 s, approachRate: 0.658064 m/s, LOS rate: -2.738682 deg/s, posRepo size: 4
2021-02-16T13:38:09.140Z,1613482689.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 48.457979 deg,
      approachRate: 0.658064 m/s,
      LOS rate: -2.738682 deg/s,
      cmd update: -8.216046 deg/s,
      cmd heading: 70.704360 deg,
      new cmd heading: 73.160489 deg.

2021-02-16T13:38:11.518Z,1613482691.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:12.263Z,1613482692.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:12.675Z,1613482692.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:13.490Z,1613482693.490 [Micromodem](INFO): Nmea in: $SNTTA,0.007832,,,,133813.69*4A

2021-02-16T13:38:13.539Z,1613482693.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.700000 m, bearing: 65.034923 deg, deltaT: 4.482172 s, approachRate: 1.204773 m/s, LOS rate: 3.698418 deg/s, posRepo size: 4
2021-02-16T13:38:13.541Z,1613482693.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 65.034923 deg,
      approachRate: 1.204773 m/s,
      LOS rate: 3.698418 deg/s,
      cmd update: 11.095253 deg/s,
      cmd heading: 33.876643 deg,
      new cmd heading: 30.773401 deg.

2021-02-16T13:38:15.922Z,1613482695.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:16.702Z,1613482696.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:17.134Z,1613482697.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:17.932Z,1613482697.932 [Micromodem](INFO): Nmea in: $SNTTA,0.011095,,0.030732,,133818.13*55

2021-02-16T13:38:17.958Z,1613482697.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.179998 m, bearing: 67.538386 deg, deltaT: 4.367496 s, approachRate: 0.796795 m/s, LOS rate: 0.573203 deg/s, posRepo size: 4
2021-02-16T13:38:17.984Z,1613482697.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.179998 m,
      bearing: 67.538386 deg,
      approachRate: 0.796795 m/s,
      LOS rate: 0.573203 deg/s,
      cmd update: 1.719609 deg/s,
      cmd heading: 82.379552 deg,
      new cmd heading: 87.094758 deg.

2021-02-16T13:38:20.381Z,1613482700.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:21.149Z,1613482701.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:21.570Z,1613482701.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:22.376Z,1613482702.376 [Micromodem](INFO): Nmea in: $SNTTA,0.011409,,,,133822.57*46

2021-02-16T13:38:22.430Z,1613482702.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.280001 m, bearing: 56.739884 deg, deltaT: 4.467802 s, approachRate: 0.470030 m/s, LOS rate: -2.416961 deg/s, posRepo size: 4
2021-02-16T13:38:22.431Z,1613482702.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.28 m. Rolling out.
2021-02-16T13:38:22.435Z,1613482702.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:38:24.854Z,1613482704.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:25.595Z,1613482705.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:25.993Z,1613482705.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:26.823Z,1613482706.823 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133827.02*50

2021-02-16T13:38:26.892Z,1613482706.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 102.900031 deg, deltaT: 4.444014 s, approachRate: 0.823579 m/s, LOS rate: 10.387039 deg/s, posRepo size: 4
2021-02-16T13:38:29.283Z,1613482709.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:30.034Z,1613482710.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:30.438Z,1613482710.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:31.268Z,1613482711.268 [Micromodem](INFO): Nmea in: $SNTTA,0.016252,,,,133831.46*4B

2021-02-16T13:38:31.310Z,1613482711.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 134.780137 deg, deltaT: 4.442061 s, approachRate: 0.769913 m/s, LOS rate: 7.176872 deg/s, posRepo size: 4
2021-02-16T13:38:33.698Z,1613482713.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:34.476Z,1613482714.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:34.883Z,1613482714.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:35.704Z,1613482715.704 [Micromodem](INFO): Nmea in: $SNTTA,0.018419,,,,133835.90*43

2021-02-16T13:38:35.738Z,1613482715.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 80.317704 deg, deltaT: 4.438868 s, approachRate: 0.716398 m/s, LOS rate: -12.269442 deg/s, posRepo size: 4
2021-02-16T13:38:38.160Z,1613482718.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:38.920Z,1613482718.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:39.327Z,1613482719.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:40.176Z,1613482720.176 [Micromodem](INFO): Nmea in: $SNTTA,0.020862,,0.024406,,133840.35*5F

2021-02-16T13:38:40.242Z,1613482720.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 131.540387 deg, deltaT: 4.439542 s, approachRate: 0.851440 m/s, LOS rate: 11.537830 deg/s, posRepo size: 4
2021-02-16T13:38:42.577Z,1613482722.577 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:43.364Z,1613482723.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:43.778Z,1613482723.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:44.608Z,1613482724.608 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133844.79*59

2021-02-16T13:38:44.624Z,1613482724.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.159996 m, bearing: 71.166582 deg, deltaT: 4.503339 s, approachRate: 0.852699 m/s, LOS rate: -13.406453 deg/s, posRepo size: 4
2021-02-16T13:38:47.066Z,1613482727.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:47.813Z,1613482727.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:48.233Z,1613482728.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:49.051Z,1613482729.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133849.24*5C

2021-02-16T13:38:49.089Z,1613482729.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 72.485628 deg, deltaT: 4.438040 s, approachRate: 0.838208 m/s, LOS rate: 0.297214 deg/s, posRepo size: 4
2021-02-16T13:38:51.470Z,1613482731.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:52.258Z,1613482732.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:52.670Z,1613482732.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:53.484Z,1613482733.484 [Micromodem](INFO): Nmea in: $SNTTA,0.028317,,,,133853.68*4E

2021-02-16T13:38:53.523Z,1613482733.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 73.716073 deg, deltaT: 4.439816 s, approachRate: 0.837873 m/s, LOS rate: 0.277139 deg/s, posRepo size: 4
2021-02-16T13:38:55.099Z,1613482735.099 [PowerOnly](INFO): Powering down loadControl
2021-02-16T13:38:55.924Z,1613482735.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:38:56.706Z,1613482736.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:38:57.129Z,1613482737.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:38:57.928Z,1613482737.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133858.13*58

2021-02-16T13:38:57.953Z,1613482737.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 144.979398 deg, deltaT: 4.377468 s, approachRate: 0.863513 m/s, LOS rate: 16.279577 deg/s, posRepo size: 4
2021-02-16T13:39:00.377Z,1613482740.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:01.145Z,1613482741.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:01.545Z,1613482741.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:02.377Z,1613482742.377 [Micromodem](INFO): Nmea in: $SNTTA,0.033596,,,,133902.57*42

2021-02-16T13:39:02.417Z,1613482742.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.340000 m, bearing: 143.650749 deg, deltaT: 4.474375 s, approachRate: 0.885040 m/s, LOS rate: -0.296946 deg/s, posRepo size: 4
2021-02-16T13:39:04.813Z,1613482744.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:05.584Z,1613482745.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:06.007Z,1613482746.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:06.827Z,1613482746.827 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133907.01*50

2021-02-16T13:39:06.871Z,1613482746.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 134.500754 deg, deltaT: 4.432733 s, approachRate: 0.879818 m/s, LOS rate: -2.064188 deg/s, posRepo size: 4
2021-02-16T13:39:09.269Z,1613482749.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:10.034Z,1613482750.034 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:10.439Z,1613482750.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:11.265Z,1613482751.265 [Micromodem](INFO): Nmea in: $SNTTA,0.038728,,,0.048572,133911.46*5E

2021-02-16T13:39:11.300Z,1613482751.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.260006 m, bearing: 129.066123 deg, deltaT: 4.456851 s, approachRate: 0.901984 m/s, LOS rate: -1.219388 deg/s, posRepo size: 4
2021-02-16T13:39:13.718Z,1613482753.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:14.494Z,1613482754.494 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:14.883Z,1613482754.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:15.712Z,1613482755.712 [Micromodem](INFO): Nmea in: $SNTTA,,,,,133915.92*59

2021-02-16T13:39:15.734Z,1613482755.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.039997 m, bearing: 125.128205 deg, deltaT: 4.421420 s, approachRate: 0.854927 m/s, LOS rate: -0.890646 deg/s, posRepo size: 4
2021-02-16T13:39:18.175Z,1613482758.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:18.922Z,1613482758.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:19.329Z,1613482759.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:20.152Z,1613482760.152 [Micromodem](INFO): Nmea in: $SNTTA,0.043820,,,,133920.35*41

2021-02-16T13:39:20.215Z,1613482760.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 128.943549 deg, deltaT: 4.431128 s, approachRate: 0.866598 m/s, LOS rate: 0.861032 deg/s, posRepo size: 4
2021-02-16T13:39:22.297Z,1613482762.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:22.964Z,1613482762.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:23.366Z,1613482763.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:24.192Z,1613482764.192 [Micromodem](INFO): Nmea in: $SNTTA,0.046160,,,,133924.39*41

2021-02-16T13:39:24.252Z,1613482764.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 137.133833 deg, deltaT: 4.101911 s, approachRate: 0.848384 m/s, LOS rate: 1.996700 deg/s, posRepo size: 4
2021-02-16T13:39:26.606Z,1613482766.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:27.402Z,1613482767.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:27.863Z,1613482767.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:28.632Z,1613482768.632 [Micromodem](INFO): Nmea in: $SNTTA,0.048691,,,,133928.83*4B

2021-02-16T13:39:28.674Z,1613482768.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.199997 m, bearing: 134.246917 deg, deltaT: 4.431680 s, approachRate: 0.866488 m/s, LOS rate: -0.651427 deg/s, posRepo size: 4
2021-02-16T13:39:31.073Z,1613482771.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:31.885Z,1613482771.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:32.263Z,1613482772.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:33.112Z,1613482773.112 [Micromodem](INFO): Nmea in: $SNTTA,0.051485,,,,133933.31*47

2021-02-16T13:39:33.165Z,1613482773.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.400002 m, bearing: 129.906619 deg, deltaT: 4.405210 s, approachRate: 0.953418 m/s, LOS rate: -0.985265 deg/s, posRepo size: 4
2021-02-16T13:39:35.501Z,1613482775.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:36.295Z,1613482776.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:36.712Z,1613482776.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:37.520Z,1613482777.520 [Micromodem](INFO): Nmea in: $SNTTA,0.053834,,,,133937.72*40

2021-02-16T13:39:37.554Z,1613482777.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.940002 m, bearing: 130.287989 deg, deltaT: 4.480521 s, approachRate: 0.790087 m/s, LOS rate: 0.085117 deg/s, posRepo size: 4
2021-02-16T13:39:39.960Z,1613482779.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:40.732Z,1613482780.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:41.138Z,1613482781.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:41.968Z,1613482781.968 [Micromodem](INFO): Nmea in: $SNTTA,0.056361,,,,133942.16*4E

2021-02-16T13:39:41.993Z,1613482781.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.779999 m, bearing: 139.016452 deg, deltaT: 4.442444 s, approachRate: 0.864388 m/s, LOS rate: 1.964788 deg/s, posRepo size: 4
2021-02-16T13:39:44.398Z,1613482784.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:45.182Z,1613482785.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:45.582Z,1613482785.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:46.424Z,1613482786.424 [Micromodem](INFO): Nmea in: $SNTTA,0.059077,,,,133946.60*40

2021-02-16T13:39:46.462Z,1613482786.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 133.719121 deg, deltaT: 4.435627 s, approachRate: 0.892773 m/s, LOS rate: -1.194269 deg/s, posRepo size: 4
2021-02-16T13:39:48.869Z,1613482788.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:49.622Z,1613482789.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:50.042Z,1613482790.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:50.868Z,1613482790.868 [Micromodem](INFO): Nmea in: $SNTTA,0.061793,,,,133951.04*42

2021-02-16T13:39:50.893Z,1613482790.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.880005 m, bearing: 126.561971 deg, deltaT: 4.432891 s, approachRate: 0.933928 m/s, LOS rate: -1.614556 deg/s, posRepo size: 4
2021-02-16T13:39:53.294Z,1613482793.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:54.068Z,1613482794.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:54.471Z,1613482794.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:55.308Z,1613482795.308 [Micromodem](INFO): Nmea in: $SNTTA,0.064350,,,,133955.50*49

2021-02-16T13:39:55.340Z,1613482795.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 133.710365 deg, deltaT: 4.443374 s, approachRate: 0.850705 m/s, LOS rate: 1.608776 deg/s, posRepo size: 4
2021-02-16T13:39:57.722Z,1613482797.722 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:39:58.520Z,1613482798.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:39:58.923Z,1613482798.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:39:59.744Z,1613482799.744 [Micromodem](INFO): Nmea in: $SNTTA,0.066985,,,,133959.94*4D

2021-02-16T13:39:59.777Z,1613482799.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.619995 m, bearing: 130.220835 deg, deltaT: 4.441495 s, approachRate: 0.891590 m/s, LOS rate: -0.785666 deg/s, posRepo size: 4
2021-02-16T13:40:02.196Z,1613482802.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:02.957Z,1613482802.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:03.358Z,1613482803.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:04.184Z,1613482804.184 [Micromodem](INFO): Nmea in: $SNTTA,0.069684,,,,134004.38*4C

2021-02-16T13:40:04.244Z,1613482804.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.700005 m, bearing: 132.425798 deg, deltaT: 4.448391 s, approachRate: 0.917188 m/s, LOS rate: 0.495676 deg/s, posRepo size: 4
2021-02-16T13:40:06.618Z,1613482806.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:07.413Z,1613482807.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:07.807Z,1613482807.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:08.636Z,1613482808.636 [Micromodem](INFO): Nmea in: $SNTTA,0.072276,,,,134008.84*44

2021-02-16T13:40:08.659Z,1613482808.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.540001 m, bearing: 130.222433 deg, deltaT: 4.479452 s, approachRate: 0.857247 m/s, LOS rate: -0.491883 deg/s, posRepo size: 4
2021-02-16T13:40:11.113Z,1613482811.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:11.862Z,1613482811.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:12.256Z,1613482812.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:13.100Z,1613482813.100 [Micromodem](INFO): Nmea in: $SNTTA,0.074916,,,,134013.29*42

2021-02-16T13:40:13.166Z,1613482813.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 111.005826 deg, deltaT: 4.397264 s, approachRate: 0.900562 m/s, LOS rate: -4.370128 deg/s, posRepo size: 4
2021-02-16T13:40:15.506Z,1613482815.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:16.289Z,1613482816.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:16.712Z,1613482816.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:17.516Z,1613482817.516 [Micromodem](INFO): Nmea in: $SNTTA,0.077542,,,,134017.71*45

2021-02-16T13:40:17.542Z,1613482817.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.460007 m, bearing: 120.748647 deg, deltaT: 4.511873 s, approachRate: 0.877684 m/s, LOS rate: 2.159374 deg/s, posRepo size: 4
2021-02-16T13:40:19.950Z,1613482819.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:20.728Z,1613482820.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:21.138Z,1613482821.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:21.963Z,1613482821.963 [Micromodem](INFO): Nmea in: $SNTTA,0.080297,,,,134022.15*46

2021-02-16T13:40:21.988Z,1613482821.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.600006 m, bearing: 136.731043 deg, deltaT: 4.371172 s, approachRate: 0.947114 m/s, LOS rate: 3.656319 deg/s, posRepo size: 4
2021-02-16T13:40:24.390Z,1613482824.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:25.190Z,1613482825.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:25.579Z,1613482825.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:26.411Z,1613482826.411 [Micromodem](INFO): Nmea in: $SNTTA,0.082998,,,,134026.61*47

2021-02-16T13:40:26.435Z,1613482826.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.620003 m, bearing: 125.512239 deg, deltaT: 4.558207 s, approachRate: 0.881925 m/s, LOS rate: -2.461232 deg/s, posRepo size: 4
2021-02-16T13:40:28.881Z,1613482828.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:29.616Z,1613482829.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:30.025Z,1613482830.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:30.877Z,1613482830.877 [Micromodem](INFO): Nmea in: $SNTTA,0.085637,,,,134031.04*4F

2021-02-16T13:40:31.662Z,1613482831.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:33.259Z,1613482833.259 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:40:34.524Z,1613482834.524 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:35.275Z,1613482835.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:35.682Z,1613482835.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:36.521Z,1613482836.521 [Micromodem](INFO): Nmea in: $SNTTA,0.089158,,0.104515,,134036.70*53

2021-02-16T13:40:36.565Z,1613482836.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.820007 m, bearing: 92.197104 deg, deltaT: 9.993212 s, approachRate: 1.020693 m/s, LOS rate: -3.333776 deg/s, posRepo size: 4
2021-02-16T13:40:38.933Z,1613482838.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:39.716Z,1613482839.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:40.145Z,1613482840.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:40.960Z,1613482840.960 [Micromodem](INFO): Nmea in: $SNTTA,0.091623,,,,134041.14*49

2021-02-16T13:40:40.988Z,1613482840.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.520004 m, bearing: 113.909701 deg, deltaT: 4.439643 s, approachRate: 0.608156 m/s, LOS rate: 4.890618 deg/s, posRepo size: 4
2021-02-16T13:40:43.382Z,1613482843.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:44.169Z,1613482844.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:44.571Z,1613482844.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:45.392Z,1613482845.392 [Micromodem](INFO): Nmea in: $SNTTA,0.094120,,,,134045.59*45

2021-02-16T13:40:45.416Z,1613482845.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 115.073880 deg, deltaT: 4.484786 s, approachRate: 0.856227 m/s, LOS rate: 0.259584 deg/s, posRepo size: 4
2021-02-16T13:40:47.853Z,1613482847.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:48.615Z,1613482848.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:49.011Z,1613482849.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:49.868Z,1613482849.868 [Micromodem](INFO): Nmea in: $SNTTA,0.096636,,,,134050.04*4B

2021-02-16T13:40:49.909Z,1613482849.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 105.765582 deg, deltaT: 4.452392 s, approachRate: 1.024168 m/s, LOS rate: -2.090628 deg/s, posRepo size: 4
2021-02-16T13:40:52.284Z,1613482852.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:53.048Z,1613482853.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:53.455Z,1613482853.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:54.268Z,1613482854.268 [Micromodem](INFO): Nmea in: $SNTTA,0.099278,,,,134054.47*49

2021-02-16T13:40:55.146Z,1613482855.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:56.684Z,1613482856.684 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:40:57.965Z,1613482857.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:40:58.721Z,1613482858.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:40:59.147Z,1613482859.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:40:59.944Z,1613482859.944 [Micromodem](INFO): Nmea in: $SNTTA,0.102827,,,,134100.15*4D

2021-02-16T13:40:59.969Z,1613482859.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.440002 m, bearing: 129.418356 deg, deltaT: 10.059889 s, approachRate: 0.846928 m/s, LOS rate: 2.351196 deg/s, posRepo size: 4
2021-02-16T13:40:59.969Z,1613482859.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.44 m. Resuming terminal guidance.
2021-02-16T13:40:59.969Z,1613482859.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T13:41:02.365Z,1613482862.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:03.148Z,1613482863.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:03.553Z,1613482863.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:04.380Z,1613482864.380 [Micromodem](INFO): Nmea in: $SNTTA,0.105381,,,,134104.57*4F

2021-02-16T13:41:04.434Z,1613482864.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.000000 m, bearing: 108.972731 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T13:41:04.435Z,1613482864.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 108.972731deg and heading rate command to 0 deg/s.
2021-02-16T13:41:06.862Z,1613482866.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:07.598Z,1613482867.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:07.998Z,1613482867.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:08.872Z,1613482868.872 [Micromodem](INFO): Nmea in: $SNTTA,0.108109,,0.112859,,134109.02*55

2021-02-16T13:41:08.898Z,1613482868.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.300003 m, bearing: 128.169319 deg, deltaT: 4.433058 s, approachRate: 0.744408 m/s, LOS rate: 4.330326 deg/s, posRepo size: 2
2021-02-16T13:41:08.900Z,1613482868.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.300003 m,
      bearing: 128.169319 deg,
      approachRate: 0.744408 m/s,
      LOS rate: 4.330326 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.972731 deg,
      new cmd heading: 108.972731 deg.

2021-02-16T13:41:11.289Z,1613482871.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:12.049Z,1613482872.049 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:12.441Z,1613482872.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:13.289Z,1613482873.289 [Micromodem](INFO): Nmea in: $SNTTA,0.110507,0.116237,0.115362,,134113.47*46

2021-02-16T13:41:13.350Z,1613482873.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 89.821072 deg, deltaT: 4.455337 s, approachRate: 0.808021 m/s, LOS rate: -8.607261 deg/s, posRepo size: 3
2021-02-16T13:41:13.356Z,1613482873.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 89.821072 deg,
      approachRate: 0.808021 m/s,
      LOS rate: -8.607261 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 162.425113 deg,
      new cmd heading: 167.777665 deg.

2021-02-16T13:41:15.686Z,1613482875.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:16.497Z,1613482876.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:16.886Z,1613482876.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:17.720Z,1613482877.720 [Micromodem](INFO): Nmea in: $SNTTA,0.112842,,,,134117.92*46

2021-02-16T13:41:17.754Z,1613482877.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 133.698426 deg, deltaT: 4.447177 s, approachRate: 0.000000 m/s, LOS rate: 9.866339 deg/s, posRepo size: 4
2021-02-16T13:41:17.756Z,1613482877.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 133.698426 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.866339 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 109.047647 deg,
      new cmd heading: 104.216255 deg.

2021-02-16T13:41:20.200Z,1613482880.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:20.924Z,1613482880.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:21.342Z,1613482881.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:22.152Z,1613482882.152 [Micromodem](INFO): Nmea in: $SNTTA,0.114655,,,,134122.35*43

2021-02-16T13:41:22.201Z,1613482882.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 136.500907 deg, deltaT: 4.420731 s, approachRate: 0.000000 m/s, LOS rate: 0.633941 deg/s, posRepo size: 4
2021-02-16T13:41:22.203Z,1613482882.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 136.500907 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.633941 deg/s,
      cmd update: 1.901822 deg/s,
      cmd heading: 162.066132 deg,
      new cmd heading: 167.243497 deg.

2021-02-16T13:41:24.576Z,1613482884.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:25.368Z,1613482885.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:25.776Z,1613482885.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:26.596Z,1613482886.596 [Micromodem](INFO): Nmea in: $SNTTA,0.116355,,,,134126.79*48

2021-02-16T13:41:26.632Z,1613482886.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 131.771629 deg, deltaT: 4.485414 s, approachRate: 0.000000 m/s, LOS rate: -1.054368 deg/s, posRepo size: 4
2021-02-16T13:41:26.634Z,1613482886.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 131.771629 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.054368 deg/s,
      cmd update: -3.163105 deg/s,
      cmd heading: 170.558758 deg,
      new cmd heading: 171.312575 deg.

2021-02-16T13:41:29.038Z,1613482889.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:29.851Z,1613482889.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:30.223Z,1613482890.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:31.047Z,1613482891.047 [Micromodem](INFO): Nmea in: $SNTTA,0.118101,,,,134131.28*47

2021-02-16T13:41:31.474Z,1613482891.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.180008 m, bearing: 191.129621 deg, deltaT: 4.874977 s, approachRate: 2.313857 m/s, LOS rate: 12.176055 deg/s, posRepo size: 4
2021-02-16T13:41:31.475Z,1613482891.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.176055 deg/s. Setting heading cmd to target bearing of 191.129621deg and heading rate command to 0 deg/s.
2021-02-16T13:41:33.893Z,1613482893.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:34.665Z,1613482894.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:35.070Z,1613482895.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:35.884Z,1613482895.884 [Micromodem](INFO): Nmea in: $SNTTA,0.119465,,,,134136.09*45

2021-02-16T13:41:36.327Z,1613482896.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.220016 m, bearing: 209.126104 deg, deltaT: 4.775652 s, approachRate: 0.427169 m/s, LOS rate: 3.768382 deg/s, posRepo size: 4
2021-02-16T13:41:36.329Z,1613482896.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.220016 m,
      bearing: 209.126104 deg,
      approachRate: 0.427169 m/s,
      LOS rate: 3.768382 deg/s,
      cmd update: 11.305146 deg/s,
      cmd heading: 191.129621 deg,
      new cmd heading: 191.129621 deg.

2021-02-16T13:41:38.736Z,1613482898.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:39.527Z,1613482899.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:39.920Z,1613482899.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:40.741Z,1613482900.741 [Micromodem](INFO): Nmea in: $SNTTA,0.120619,,,,134140.95*42

2021-02-16T13:41:41.180Z,1613482901.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.900009 m, bearing: 144.873654 deg, deltaT: 4.847003 s, approachRate: 0.346604 m/s, LOS rate: -13.256119 deg/s, posRepo size: 4
2021-02-16T13:41:41.181Z,1613482901.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.256119 deg/s. Setting heading cmd to target bearing of 144.873654deg and heading rate command to 0 deg/s.
2021-02-16T13:41:43.563Z,1613482903.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:44.375Z,1613482904.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:44.870Z,1613482904.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:45.668Z,1613482905.668 [Micromodem](INFO): Nmea in: $SNTTA,0.120956,,,,134145.80*47

2021-02-16T13:41:45.700Z,1613482905.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.320007 m, bearing: 255.825418 deg, deltaT: 4.535130 s, approachRate: 0.092610 m/s, LOS rate: 24.464957 deg/s, posRepo size: 4
2021-02-16T13:41:45.701Z,1613482905.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.464957 deg/s. Setting heading cmd to target bearing of 255.825418deg and heading rate command to 0 deg/s.
2021-02-16T13:41:48.157Z,1613482908.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:48.893Z,1613482908.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:48.936Z,1613482908.936 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:41:49.304Z,1613482909.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:50.123Z,1613482910.123 [Micromodem](INFO): Nmea in: $SNTTA,0.120597,,,,134150.32*4B

2021-02-16T13:41:50.538Z,1613482910.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.720016 m, bearing: 268.290787 deg, deltaT: 4.886351 s, approachRate: -0.122789 m/s, LOS rate: 2.551059 deg/s, posRepo size: 4
2021-02-16T13:41:50.540Z,1613482910.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.720016 m,
      bearing: 268.290787 deg,
      approachRate: -0.122789 m/s,
      LOS rate: 2.551059 deg/s,
      cmd update: 7.653177 deg/s,
      cmd heading: 255.825418 deg,
      new cmd heading: 255.825418 deg.

2021-02-16T13:41:52.959Z,1613482912.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:53.742Z,1613482913.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:54.144Z,1613482914.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:54.159Z,1613482914.159 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:41:54.968Z,1613482914.968 [Micromodem](INFO): Nmea in: $SNTTA,0.119893,,,,134155.17*4A

2021-02-16T13:41:55.398Z,1613482915.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.639999 m, bearing: 262.613834 deg, deltaT: 4.816188 s, approachRate: -0.224247 m/s, LOS rate: -1.178723 deg/s, posRepo size: 4
2021-02-16T13:41:55.400Z,1613482915.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.639999 m,
      bearing: 262.613834 deg,
      approachRate: -0.224247 m/s,
      LOS rate: -1.178723 deg/s,
      cmd update: -3.536170 deg/s,
      cmd heading: 292.684357 deg,
      new cmd heading: 295.779669 deg.

2021-02-16T13:41:57.819Z,1613482917.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:41:58.589Z,1613482918.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:41:58.992Z,1613482918.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:41:59.057Z,1613482919.057 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T13:41:59.823Z,1613482919.823 [Micromodem](INFO): Nmea in: $SNTTA,0.118650,,,,134200.01*4E

2021-02-16T13:41:59.889Z,1613482919.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 260.935411 deg, deltaT: 4.453992 s, approachRate: -0.431074 m/s, LOS rate: -0.376836 deg/s, posRepo size: 4
2021-02-16T13:41:59.891Z,1613482919.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.720001 m,
      bearing: 260.935411 deg,
      approachRate: -0.431074 m/s,
      LOS rate: -0.376836 deg/s,
      cmd update: -1.130507 deg/s,
      cmd heading: 276.934583 deg,
      new cmd heading: 275.372056 deg.

2021-02-16T13:42:02.273Z,1613482922.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:03.035Z,1613482923.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:03.435Z,1613482923.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:04.280Z,1613482924.280 [Micromodem](INFO): Nmea in: $SNTTA,0.117297,,,,134204.46*49

2021-02-16T13:42:04.315Z,1613482924.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 264.390858 deg, deltaT: 4.455268 s, approachRate: -0.444417 m/s, LOS rate: 0.775587 deg/s, posRepo size: 4
2021-02-16T13:42:04.316Z,1613482924.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 264.390858 deg,
      approachRate: -0.444417 m/s,
      LOS rate: 0.775587 deg/s,
      cmd update: 2.326761 deg/s,
      cmd heading: 271.897808 deg,
      new cmd heading: 271.431884 deg.

2021-02-16T13:42:05.096Z,1613482925.096 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:42:06.701Z,1613482926.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:07.478Z,1613482927.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:07.895Z,1613482927.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:08.704Z,1613482928.704 [Micromodem](INFO): Nmea in: $SNTTA,0.115724,,,,134208.90*41

2021-02-16T13:42:08.738Z,1613482928.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 264.960687 deg, deltaT: 4.460073 s, approachRate: 0.000000 m/s, LOS rate: 0.127762 deg/s, posRepo size: 4
2021-02-16T13:42:08.740Z,1613482928.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 264.960687 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.127762 deg/s,
      cmd update: 0.383287 deg/s,
      cmd heading: 282.238077 deg,
      new cmd heading: 283.148175 deg.

2021-02-16T13:42:09.919Z,1613482929.919 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:42:11.165Z,1613482931.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:11.922Z,1613482931.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:12.322Z,1613482932.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:13.173Z,1613482933.173 [Micromodem](INFO): Nmea in: $SNTTA,0.114121,,,,134213.35*46

2021-02-16T13:42:13.225Z,1613482933.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 263.215820 deg, deltaT: 4.401023 s, approachRate: 0.000000 m/s, LOS rate: -0.396469 deg/s, posRepo size: 4
2021-02-16T13:42:13.226Z,1613482933.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 263.215820 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.396469 deg/s,
      cmd update: -1.189406 deg/s,
      cmd heading: 283.929135 deg,
      new cmd heading: 284.107807 deg.

2021-02-16T13:42:13.971Z,1613482933.971 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T13:42:15.573Z,1613482935.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:16.371Z,1613482936.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:16.778Z,1613482936.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:17.600Z,1613482937.600 [Micromodem](INFO): Nmea in: $SNTTA,0.112543,,,,134217.79*4C

2021-02-16T13:42:17.637Z,1613482937.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 261.514502 deg, deltaT: 4.485029 s, approachRate: 0.000000 m/s, LOS rate: -0.379333 deg/s, posRepo size: 4
2021-02-16T13:42:17.639Z,1613482937.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 261.514502 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.379333 deg/s,
      cmd update: -1.137998 deg/s,
      cmd heading: 278.605817 deg,
      new cmd heading: 278.125984 deg.

2021-02-16T13:42:20.038Z,1613482940.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:20.809Z,1613482940.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:21.209Z,1613482941.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:22.036Z,1613482942.036 [Micromodem](INFO): Nmea in: $SNTTA,0.110791,,,,134222.23*4A

2021-02-16T13:42:22.061Z,1613482942.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 262.154436 deg, deltaT: 4.410603 s, approachRate: 0.000000 m/s, LOS rate: 0.145090 deg/s, posRepo size: 4
2021-02-16T13:42:22.063Z,1613482942.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 262.154436 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.145090 deg/s,
      cmd update: 0.435270 deg/s,
      cmd heading: 273.577592 deg,
      new cmd heading: 273.113091 deg.

2021-02-16T13:42:24.070Z,1613482944.070 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T13:42:24.464Z,1613482944.464 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:25.267Z,1613482945.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:25.654Z,1613482945.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:26.488Z,1613482946.488 [Micromodem](INFO): Nmea in: $SNTTA,0.109024,,,,134226.69*41

2021-02-16T13:42:26.529Z,1613482946.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.740005 m, bearing: 263.302153 deg, deltaT: 4.494808 s, approachRate: 0.000000 m/s, LOS rate: 0.255343 deg/s, posRepo size: 4
2021-02-16T13:42:26.530Z,1613482946.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.740005 m,
      bearing: 263.302153 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.255343 deg/s,
      cmd update: 0.766029 deg/s,
      cmd heading: 275.536918 deg,
      new cmd heading: 275.700075 deg.

2021-02-16T13:42:28.897Z,1613482948.897 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T13:42:28.912Z,1613482948.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:29.692Z,1613482949.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:30.133Z,1613482950.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:30.924Z,1613482950.924 [Micromodem](INFO): Nmea in: $SNTTA,0.107395,,,,134231.11*4F

2021-02-16T13:42:30.950Z,1613482950.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 261.883523 deg, deltaT: 4.367884 s, approachRate: -3.392946 m/s, LOS rate: -0.324787 deg/s, posRepo size: 4
2021-02-16T13:42:30.972Z,1613482950.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 261.883523 deg,
      approachRate: -3.392946 m/s,
      LOS rate: -0.324787 deg/s,
      cmd update: -0.974360 deg/s,
      cmd heading: 278.882540 deg,
      new cmd heading: 279.210681 deg.

2021-02-16T13:42:33.382Z,1613482953.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:34.141Z,1613482954.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:34.543Z,1613482954.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:35.375Z,1613482955.375 [Micromodem](INFO): Nmea in: $SNTTA,0.105499,,,,134235.56*41

2021-02-16T13:42:35.404Z,1613482955.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.040009 m, bearing: 261.730855 deg, deltaT: 4.466988 s, approachRate: -0.644731 m/s, LOS rate: -0.034177 deg/s, posRepo size: 4
2021-02-16T13:42:35.410Z,1613482955.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.040009 m,
      bearing: 261.730855 deg,
      approachRate: -0.644731 m/s,
      LOS rate: -0.034177 deg/s,
      cmd update: -0.102531 deg/s,
      cmd heading: 274.529677 deg,
      new cmd heading: 274.126180 deg.

2021-02-16T13:42:37.809Z,1613482957.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:38.584Z,1613482958.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:38.988Z,1613482958.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:39.844Z,1613482959.844 [Micromodem](INFO): Nmea in: $SNTTA,0.103771,,,,134240.01*42

2021-02-16T13:42:39.901Z,1613482959.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.459991 m, bearing: 261.931635 deg, deltaT: 4.448419 s, approachRate: -0.579985 m/s, LOS rate: 0.045135 deg/s, posRepo size: 4
2021-02-16T13:42:39.903Z,1613482959.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.459991 m,
      bearing: 261.931635 deg,
      approachRate: -0.579985 m/s,
      LOS rate: 0.045135 deg/s,
      cmd update: 0.135406 deg/s,
      cmd heading: 274.073588 deg,
      new cmd heading: 274.026236 deg.

2021-02-16T13:42:42.260Z,1613482962.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:43.024Z,1613482963.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:43.430Z,1613482963.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:44.265Z,1613482964.265 [Micromodem](INFO): Nmea in: $SNTTA,0.101969,,,,134244.45*43

2021-02-16T13:42:44.323Z,1613482964.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.820007 m, bearing: 261.097286 deg, deltaT: 4.511230 s, approachRate: -0.585203 m/s, LOS rate: -0.184949 deg/s, posRepo size: 4
2021-02-16T13:42:44.325Z,1613482964.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.820007 m,
      bearing: 261.097286 deg,
      approachRate: -0.585203 m/s,
      LOS rate: -0.184949 deg/s,
      cmd update: -0.554848 deg/s,
      cmd heading: 274.683892 deg,
      new cmd heading: 274.734576 deg.

2021-02-16T13:42:46.695Z,1613482966.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:47.473Z,1613482967.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:47.874Z,1613482967.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:48.704Z,1613482968.704 [Micromodem](INFO): Nmea in: $SNTTA,0.100300,,,,134248.90*43

2021-02-16T13:42:48.748Z,1613482968.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 261.287958 deg, deltaT: 4.382722 s, approachRate: -0.588679 m/s, LOS rate: 0.043505 deg/s, posRepo size: 4
2021-02-16T13:42:48.750Z,1613482968.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 261.287958 deg,
      approachRate: -0.588679 m/s,
      LOS rate: 0.043505 deg/s,
      cmd update: 0.130516 deg/s,
      cmd heading: 272.252488 deg,
      new cmd heading: 272.018638 deg.

2021-02-16T13:42:51.165Z,1613482971.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:51.917Z,1613482971.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:52.318Z,1613482972.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:53.144Z,1613482973.144 [Micromodem](INFO): Nmea in: $SNTTA,0.098518,,,,134253.34*48

2021-02-16T13:42:53.192Z,1613482973.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.600006 m, bearing: 261.230857 deg, deltaT: 4.450517 s, approachRate: -0.593186 m/s, LOS rate: -0.012830 deg/s, posRepo size: 4
2021-02-16T13:42:53.194Z,1613482973.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.600006 m,
      bearing: 261.230857 deg,
      approachRate: -0.593186 m/s,
      LOS rate: -0.012830 deg/s,
      cmd update: -0.038490 deg/s,
      cmd heading: 272.833964 deg,
      new cmd heading: 272.887501 deg.

2021-02-16T13:42:55.606Z,1613482975.606 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:42:56.374Z,1613482976.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:42:56.761Z,1613482976.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:42:57.596Z,1613482977.596 [Micromodem](INFO): Nmea in: $SNTTA,0.096743,,,,134257.80*41

2021-02-16T13:42:57.642Z,1613482977.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 260.886725 deg, deltaT: 4.456683 s, approachRate: -0.592372 m/s, LOS rate: -0.077217 deg/s, posRepo size: 4
2021-02-16T13:42:57.648Z,1613482977.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 260.886725 deg,
      approachRate: -0.592372 m/s,
      LOS rate: -0.077217 deg/s,
      cmd update: -0.231651 deg/s,
      cmd heading: 272.662644 deg,
      new cmd heading: 272.646877 deg.

2021-02-16T13:43:00.019Z,1613482980.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:00.804Z,1613482980.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:01.205Z,1613482981.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:02.032Z,1613482982.032 [Micromodem](INFO): Nmea in: $SNTTA,0.094859,,,,134302.23*4F

2021-02-16T13:43:02.074Z,1613482982.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.080002 m, bearing: 260.405771 deg, deltaT: 4.403571 s, approachRate: -0.654012 m/s, LOS rate: -0.109219 deg/s, posRepo size: 4
2021-02-16T13:43:02.076Z,1613482982.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.080002 m,
      bearing: 260.405771 deg,
      approachRate: -0.654012 m/s,
      LOS rate: -0.109219 deg/s,
      cmd update: -0.327658 deg/s,
      cmd heading: 271.644938 deg,
      new cmd heading: 271.541093 deg.

2021-02-16T13:43:04.476Z,1613482984.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:05.253Z,1613482985.253 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:05.650Z,1613482985.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:06.480Z,1613482986.480 [Micromodem](INFO): Nmea in: $SNTTA,0.093071,,,,134306.68*41

2021-02-16T13:43:06.529Z,1613482986.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.440002 m, bearing: 260.832630 deg, deltaT: 4.500955 s, approachRate: -0.586542 m/s, LOS rate: 0.094838 deg/s, posRepo size: 4
2021-02-16T13:43:06.531Z,1613482986.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.440002 m,
      bearing: 260.832630 deg,
      approachRate: -0.586542 m/s,
      LOS rate: 0.094838 deg/s,
      cmd update: 0.284513 deg/s,
      cmd heading: 270.166887 deg,
      new cmd heading: 270.038337 deg.

2021-02-16T13:43:08.932Z,1613482988.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:09.689Z,1613482989.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:10.126Z,1613482990.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:10.939Z,1613482990.939 [Micromodem](INFO): Nmea in: $SNTTA,0.091269,,,,134311.11*40

2021-02-16T13:43:10.970Z,1613482990.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.740005 m, bearing: 260.629364 deg, deltaT: 4.368568 s, approachRate: -0.618051 m/s, LOS rate: -0.046529 deg/s, posRepo size: 4
2021-02-16T13:43:10.972Z,1613482990.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.740005 m,
      bearing: 260.629364 deg,
      approachRate: -0.618051 m/s,
      LOS rate: -0.046529 deg/s,
      cmd update: -0.139588 deg/s,
      cmd heading: 271.411437 deg,
      new cmd heading: 271.541849 deg.

2021-02-16T13:43:13.374Z,1613482993.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:14.142Z,1613482994.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:14.551Z,1613482994.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:15.368Z,1613482995.368 [Micromodem](INFO): Nmea in: $SNTTA,0.089391,,,,134315.57*49

2021-02-16T13:43:15.406Z,1613482995.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.919998 m, bearing: 260.657313 deg, deltaT: 4.473458 s, approachRate: -0.630386 m/s, LOS rate: 0.006248 deg/s, posRepo size: 4
2021-02-16T13:43:15.408Z,1613482995.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.919998 m,
      bearing: 260.657313 deg,
      approachRate: -0.630386 m/s,
      LOS rate: 0.006248 deg/s,
      cmd update: 0.018743 deg/s,
      cmd heading: 270.786991 deg,
      new cmd heading: 270.728172 deg.

2021-02-16T13:43:17.783Z,1613482997.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:18.576Z,1613482998.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:18.987Z,1613482998.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:19.804Z,1613482999.804 [Micromodem](INFO): Nmea in: $SNTTA,0.087805,,,,134320.00*45

2021-02-16T13:43:19.867Z,1613482999.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.520004 m, bearing: 260.068332 deg, deltaT: 4.436834 s, approachRate: -0.540925 m/s, LOS rate: -0.132748 deg/s, posRepo size: 4
2021-02-16T13:43:19.869Z,1613482999.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.520004 m,
      bearing: 260.068332 deg,
      approachRate: -0.540925 m/s,
      LOS rate: -0.132748 deg/s,
      cmd update: -0.398244 deg/s,
      cmd heading: 270.870156 deg,
      new cmd heading: 270.878347 deg.

2021-02-16T13:43:22.266Z,1613483002.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:23.032Z,1613483003.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:23.426Z,1613483003.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:24.265Z,1613483004.265 [Micromodem](INFO): Nmea in: $SNTTA,0.085965,,,,134324.45*45

2021-02-16T13:43:24.305Z,1613483004.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.820007 m, bearing: 260.095379 deg, deltaT: 4.518454 s, approachRate: -0.597549 m/s, LOS rate: 0.005986 deg/s, posRepo size: 4
2021-02-16T13:43:24.306Z,1613483004.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 260.095379 deg,
      approachRate: -0.597549 m/s,
      LOS rate: 0.005986 deg/s,
      cmd update: 0.017958 deg/s,
      cmd heading: 269.074108 deg,
      new cmd heading: 268.925623 deg.

2021-02-16T13:43:26.689Z,1613483006.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:27.484Z,1613483007.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:27.888Z,1613483007.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:28.727Z,1613483008.727 [Micromodem](INFO): Nmea in: $SNTTA,0.084307,,,,134328.91*4F

2021-02-16T13:43:28.746Z,1613483008.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.300003 m, bearing: 260.045300 deg, deltaT: 4.383596 s, approachRate: -0.574871 m/s, LOS rate: -0.011424 deg/s, posRepo size: 4
2021-02-16T13:43:28.748Z,1613483008.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.300003 m,
      bearing: 260.045300 deg,
      approachRate: -0.574871 m/s,
      LOS rate: -0.011424 deg/s,
      cmd update: -0.034273 deg/s,
      cmd heading: 269.152695 deg,
      new cmd heading: 269.160568 deg.

2021-02-16T13:43:31.187Z,1613483011.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:31.920Z,1613483011.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:32.325Z,1613483012.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:33.160Z,1613483013.160 [Micromodem](INFO): Nmea in: $SNTTA,0.082469,,,,134333.34*43

2021-02-16T13:43:33.209Z,1613483013.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 259.418945 deg, deltaT: 4.418791 s, approachRate: -0.638184 m/s, LOS rate: -0.141748 deg/s, posRepo size: 4
2021-02-16T13:43:33.211Z,1613483013.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.480003 m,
      bearing: 259.418945 deg,
      approachRate: -0.638184 m/s,
      LOS rate: -0.141748 deg/s,
      cmd update: -0.425245 deg/s,
      cmd heading: 269.000716 deg,
      new cmd heading: 268.984721 deg.

2021-02-16T13:43:35.571Z,1613483015.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:36.372Z,1613483016.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:36.785Z,1613483016.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:37.600Z,1613483017.600 [Micromodem](INFO): Nmea in: $SNTTA,0.080743,,,,134337.80*41

2021-02-16T13:43:37.638Z,1613483017.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.900002 m, bearing: 259.277068 deg, deltaT: 4.586540 s, approachRate: -0.562516 m/s, LOS rate: -0.030933 deg/s, posRepo size: 4
2021-02-16T13:43:37.640Z,1613483017.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.900002 m,
      bearing: 259.277068 deg,
      approachRate: -0.562516 m/s,
      LOS rate: -0.030933 deg/s,
      cmd update: -0.092800 deg/s,
      cmd heading: 267.051088 deg,
      new cmd heading: 266.918800 deg.

2021-02-16T13:43:40.035Z,1613483020.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:40.821Z,1613483020.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:41.219Z,1613483021.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:42.044Z,1613483022.044 [Micromodem](INFO): Nmea in: $SNTTA,0.078874,,,,134342.24*41

2021-02-16T13:43:42.102Z,1613483022.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 259.611638 deg, deltaT: 4.301256 s, approachRate: -0.655622 m/s, LOS rate: 0.077784 deg/s, posRepo size: 4
2021-02-16T13:43:42.117Z,1613483022.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 259.611638 deg,
      approachRate: -0.655622 m/s,
      LOS rate: 0.077784 deg/s,
      cmd update: 0.233353 deg/s,
      cmd heading: 266.651751 deg,
      new cmd heading: 266.608660 deg.

2021-02-16T13:43:44.486Z,1613483024.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:45.260Z,1613483025.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:45.659Z,1613483025.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:46.493Z,1613483026.493 [Micromodem](INFO): Nmea in: $SNTTA,0.077061,,0.086498,,134346.68*5B

2021-02-16T13:43:46.508Z,1613483026.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 259.553172 deg, deltaT: 4.514315 s, approachRate: -0.598097 m/s, LOS rate: -0.012951 deg/s, posRepo size: 4
2021-02-16T13:43:46.510Z,1613483026.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 259.553172 deg,
      approachRate: -0.598097 m/s,
      LOS rate: -0.012951 deg/s,
      cmd update: -0.038854 deg/s,
      cmd heading: 267.705238 deg,
      new cmd heading: 267.789896 deg.

2021-02-16T13:43:48.982Z,1613483028.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:49.702Z,1613483029.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:50.130Z,1613483030.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:50.928Z,1613483030.928 [Micromodem](INFO): Nmea in: $SNTTA,0.075423,,,,134351.12*45

2021-02-16T13:43:50.977Z,1613483030.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 259.168359 deg, deltaT: 4.373590 s, approachRate: -0.562467 m/s, LOS rate: -0.087986 deg/s, posRepo size: 4
2021-02-16T13:43:50.979Z,1613483030.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.920006 m,
      bearing: 259.168359 deg,
      approachRate: -0.562467 m/s,
      LOS rate: -0.087986 deg/s,
      cmd update: -0.263957 deg/s,
      cmd heading: 267.535316 deg,
      new cmd heading: 267.517482 deg.

2021-02-16T13:43:53.377Z,1613483033.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:54.144Z,1613483034.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:54.547Z,1613483034.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:55.372Z,1613483035.372 [Micromodem](INFO): Nmea in: $SNTTA,0.073398,,,,134355.57*41

2021-02-16T13:43:55.410Z,1613483035.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 259.383892 deg, deltaT: 4.503192 s, approachRate: -0.666196 m/s, LOS rate: 0.047862 deg/s, posRepo size: 4
2021-02-16T13:43:55.412Z,1613483035.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.919998 m,
      bearing: 259.383892 deg,
      approachRate: -0.666196 m/s,
      LOS rate: 0.047862 deg/s,
      cmd update: 0.143587 deg/s,
      cmd heading: 266.347752 deg,
      new cmd heading: 266.244085 deg.

2021-02-16T13:43:57.830Z,1613483037.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:43:58.584Z,1613483038.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:43:59.008Z,1613483039.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:43:59.832Z,1613483039.832 [Micromodem](INFO): Nmea in: $SNTTA,0.071537,,,,134400.01*44

2021-02-16T13:43:59.878Z,1613483039.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 259.257944 deg, deltaT: 4.420621 s, approachRate: -0.624345 m/s, LOS rate: -0.028491 deg/s, posRepo size: 4
2021-02-16T13:43:59.884Z,1613483039.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 259.257944 deg,
      approachRate: -0.624345 m/s,
      LOS rate: -0.028491 deg/s,
      cmd update: -0.085474 deg/s,
      cmd heading: 266.982542 deg,
      new cmd heading: 267.045663 deg.

2021-02-16T13:44:02.264Z,1613483042.264 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:03.028Z,1613483043.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:03.445Z,1613483043.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:04.265Z,1613483044.265 [Micromodem](INFO): Nmea in: $SNTTA,0.069624,,,,134404.45*48

2021-02-16T13:44:04.307Z,1613483044.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.280006 m, bearing: 258.875016 deg, deltaT: 4.437622 s, approachRate: -0.648996 m/s, LOS rate: -0.086291 deg/s, posRepo size: 4
2021-02-16T13:44:04.313Z,1613483044.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.280006 m,
      bearing: 258.875016 deg,
      approachRate: -0.648996 m/s,
      LOS rate: -0.086291 deg/s,
      cmd update: -0.258874 deg/s,
      cmd heading: 266.602899 deg,
      new cmd heading: 266.566419 deg.

2021-02-16T13:44:06.697Z,1613483046.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:07.472Z,1613483047.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:07.880Z,1613483047.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:08.707Z,1613483048.707 [Micromodem](INFO): Nmea in: $SNTTA,0.067961,,,,134408.89*44

2021-02-16T13:44:08.736Z,1613483048.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 258.698879 deg, deltaT: 4.432055 s, approachRate: -0.568586 m/s, LOS rate: -0.039742 deg/s, posRepo size: 4
2021-02-16T13:44:08.739Z,1613483048.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.760002 m,
      bearing: 258.698879 deg,
      approachRate: -0.568586 m/s,
      LOS rate: -0.039742 deg/s,
      cmd update: -0.119225 deg/s,
      cmd heading: 265.455660 deg,
      new cmd heading: 265.346018 deg.

2021-02-16T13:44:11.196Z,1613483051.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:11.926Z,1613483051.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:12.322Z,1613483052.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:13.168Z,1613483053.168 [Micromodem](INFO): Nmea in: $SNTTA,0.066201,,,,134413.35*45

2021-02-16T13:44:13.212Z,1613483053.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.120003 m, bearing: 258.164731 deg, deltaT: 4.432404 s, approachRate: -0.595613 m/s, LOS rate: -0.120510 deg/s, posRepo size: 4
2021-02-16T13:44:13.213Z,1613483053.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.120003 m,
      bearing: 258.164731 deg,
      approachRate: -0.595613 m/s,
      LOS rate: -0.120510 deg/s,
      cmd update: -0.361529 deg/s,
      cmd heading: 264.927191 deg,
      new cmd heading: 264.871476 deg.

2021-02-16T13:44:15.569Z,1613483055.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:16.366Z,1613483056.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:16.767Z,1613483056.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:17.593Z,1613483057.593 [Micromodem](INFO): Nmea in: $SNTTA,0.064348,,0.077878,,134417.79*5E

2021-02-16T13:44:17.608Z,1613483057.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 258.002801 deg, deltaT: 4.518387 s, approachRate: -0.610838 m/s, LOS rate: -0.035838 deg/s, posRepo size: 4
2021-02-16T13:44:17.609Z,1613483057.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.360001 m,
      bearing: 258.002801 deg,
      approachRate: -0.610838 m/s,
      LOS rate: -0.035838 deg/s,
      cmd update: -0.107514 deg/s,
      cmd heading: 263.295769 deg,
      new cmd heading: 263.168956 deg.

2021-02-16T13:44:20.029Z,1613483060.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:20.808Z,1613483060.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:21.233Z,1613483061.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:22.040Z,1613483062.040 [Micromodem](INFO): Nmea in: $SNTTA,0.062423,,,,134422.23*42

2021-02-16T13:44:22.131Z,1613483062.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 259.126421 deg, deltaT: 4.390669 s, approachRate: -0.655936 m/s, LOS rate: 0.255911 deg/s, posRepo size: 4
2021-02-16T13:44:22.133Z,1613483062.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 259.126421 deg,
      approachRate: -0.655936 m/s,
      LOS rate: 0.255911 deg/s,
      cmd update: 0.767733 deg/s,
      cmd heading: 262.823491 deg,
      new cmd heading: 262.772143 deg.

2021-02-16T13:44:24.472Z,1613483064.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:25.256Z,1613483065.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:25.663Z,1613483065.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:26.480Z,1613483066.480 [Micromodem](INFO): Nmea in: $SNTTA,0.060345,,,,134426.68*4C

2021-02-16T13:44:26.522Z,1613483066.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 258.736172 deg, deltaT: 4.496717 s, approachRate: -0.693840 m/s, LOS rate: -0.086785 deg/s, posRepo size: 4
2021-02-16T13:44:26.524Z,1613483066.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 258.736172 deg,
      approachRate: -0.693840 m/s,
      LOS rate: -0.086785 deg/s,
      cmd update: -0.260356 deg/s,
      cmd heading: 266.275804 deg,
      new cmd heading: 266.564652 deg.

2021-02-16T13:44:28.924Z,1613483068.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:29.692Z,1613483069.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:30.142Z,1613483070.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:30.920Z,1613483070.920 [Micromodem](INFO): Nmea in: $SNTTA,0.058680,,,,134431.11*43

2021-02-16T13:44:30.976Z,1613483070.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 258.559434 deg, deltaT: 4.363792 s, approachRate: -0.577480 m/s, LOS rate: -0.040501 deg/s, posRepo size: 4
2021-02-16T13:44:30.979Z,1613483070.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.839996 m,
      bearing: 258.559434 deg,
      approachRate: -0.577480 m/s,
      LOS rate: -0.040501 deg/s,
      cmd update: -0.121503 deg/s,
      cmd heading: 265.138618 deg,
      new cmd heading: 265.025960 deg.

2021-02-16T13:44:33.362Z,1613483073.362 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:34.148Z,1613483074.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:34.548Z,1613483074.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:35.372Z,1613483075.372 [Micromodem](INFO): Nmea in: $SNTTA,0.056770,,,,134435.57*45

2021-02-16T13:44:35.410Z,1613483075.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.959999 m, bearing: 258.050557 deg, deltaT: 4.466818 s, approachRate: -0.644754 m/s, LOS rate: -0.113924 deg/s, posRepo size: 4
2021-02-16T13:44:35.412Z,1613483075.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.959999 m,
      bearing: 258.050557 deg,
      approachRate: -0.644754 m/s,
      LOS rate: -0.113924 deg/s,
      cmd update: -0.341771 deg/s,
      cmd heading: 264.595883 deg,
      new cmd heading: 264.543727 deg.

2021-02-16T13:44:37.803Z,1613483077.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:38.580Z,1613483078.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:38.993Z,1613483078.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:39.832Z,1613483079.832 [Micromodem](INFO): Nmea in: $SNTTA,0.054932,,,,134440.00*4F

2021-02-16T13:44:39.881Z,1613483079.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.259995 m, bearing: 259.178030 deg, deltaT: 4.457988 s, approachRate: -0.605655 m/s, LOS rate: 0.252911 deg/s, posRepo size: 4
2021-02-16T13:44:39.883Z,1613483079.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.259995 m,
      bearing: 259.178030 deg,
      approachRate: -0.605655 m/s,
      LOS rate: 0.252911 deg/s,
      cmd update: 0.758732 deg/s,
      cmd heading: 263.073394 deg,
      new cmd heading: 262.921132 deg.

2021-02-16T13:44:42.258Z,1613483082.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:43.030Z,1613483083.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:43.429Z,1613483083.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:44.268Z,1613483084.268 [Micromodem](INFO): Nmea in: $SNTTA,0.052974,,,,134444.45*4E

2021-02-16T13:44:44.318Z,1613483084.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 257.599929 deg, deltaT: 4.456231 s, approachRate: -0.659747 m/s, LOS rate: -0.354134 deg/s, posRepo size: 4
2021-02-16T13:44:44.324Z,1613483084.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.320007 m,
      bearing: 257.599929 deg,
      approachRate: -0.659747 m/s,
      LOS rate: -0.354134 deg/s,
      cmd update: -1.062401 deg/s,
      cmd heading: 266.456925 deg,
      new cmd heading: 266.778233 deg.

2021-02-16T13:44:46.697Z,1613483086.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:47.473Z,1613483087.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:47.874Z,1613483087.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:48.700Z,1613483088.700 [Micromodem](INFO): Nmea in: $SNTTA,0.051256,,,,134448.90*42

2021-02-16T13:44:48.736Z,1613483088.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 258.164130 deg, deltaT: 4.426795 s, approachRate: -0.582817 m/s, LOS rate: 0.127451 deg/s, posRepo size: 4
2021-02-16T13:44:48.738Z,1613483088.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 258.164130 deg,
      approachRate: -0.582817 m/s,
      LOS rate: 0.127451 deg/s,
      cmd update: 0.382354 deg/s,
      cmd heading: 261.753859 deg,
      new cmd heading: 261.313781 deg.

2021-02-16T13:44:51.191Z,1613483091.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:51.912Z,1613483091.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:52.329Z,1613483092.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:53.144Z,1613483093.144 [Micromodem](INFO): Nmea in: $SNTTA,0.049335,,,,134453.34*4B

2021-02-16T13:44:53.214Z,1613483093.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 257.836281 deg, deltaT: 4.444456 s, approachRate: -0.674997 m/s, LOS rate: -0.073766 deg/s, posRepo size: 4
2021-02-16T13:44:53.221Z,1613483093.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.740005 m,
      bearing: 257.836281 deg,
      approachRate: -0.674997 m/s,
      LOS rate: -0.073766 deg/s,
      cmd update: -0.221298 deg/s,
      cmd heading: 263.451661 deg,
      new cmd heading: 263.624304 deg.

2021-02-16T13:44:55.568Z,1613483095.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:44:56.362Z,1613483096.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:44:56.766Z,1613483096.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:44:57.588Z,1613483097.588 [Micromodem](INFO): Nmea in: $SNTTA,0.047441,,,,134457.78*4D

2021-02-16T13:44:57.610Z,1613483097.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.980003 m, bearing: 257.338660 deg, deltaT: 4.473746 s, approachRate: -0.616933 m/s, LOS rate: -0.111231 deg/s, posRepo size: 4
2021-02-16T13:44:57.636Z,1613483097.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.980003 m,
      bearing: 257.338660 deg,
      approachRate: -0.616933 m/s,
      LOS rate: -0.111231 deg/s,
      cmd update: -0.333694 deg/s,
      cmd heading: 262.461170 deg,
      new cmd heading: 262.378748 deg.

2021-02-16T13:45:00.027Z,1613483100.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:00.805Z,1613483100.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:01.261Z,1613483101.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:02.032Z,1613483102.032 [Micromodem](INFO): Nmea in: $SNTTA,0.045735,,,,134502.23*40

2021-02-16T13:45:02.122Z,1613483102.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.400009 m, bearing: 257.315165 deg, deltaT: 4.382293 s, approachRate: -0.588732 m/s, LOS rate: -0.005362 deg/s, posRepo size: 4
2021-02-16T13:45:02.128Z,1613483102.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.400009 m,
      bearing: 257.315165 deg,
      approachRate: -0.588732 m/s,
      LOS rate: -0.005362 deg/s,
      cmd update: -0.016085 deg/s,
      cmd heading: 260.998176 deg,
      new cmd heading: 260.831493 deg.

2021-02-16T13:45:04.128Z,1613483104.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:04.857Z,1613483104.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:05.268Z,1613483105.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:06.084Z,1613483106.084 [Micromodem](INFO): Nmea in: $SNTTA,0.044110,,,,134506.28*4F

2021-02-16T13:45:06.109Z,1613483106.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.940010 m, bearing: 257.653805 deg, deltaT: 4.055897 s, approachRate: -0.606524 m/s, LOS rate: 0.083493 deg/s, posRepo size: 4
2021-02-16T13:45:06.111Z,1613483106.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.940010 m,
      bearing: 257.653805 deg,
      approachRate: -0.606524 m/s,
      LOS rate: 0.083493 deg/s,
      cmd update: 0.250480 deg/s,
      cmd heading: 260.932938 deg,
      new cmd heading: 260.926002 deg.

2021-02-16T13:45:08.501Z,1613483108.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:09.293Z,1613483109.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:09.699Z,1613483109.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:10.521Z,1613483110.521 [Micromodem](INFO): Nmea in: $SNTTA,0.042294,,0.043437,,134510.72*57

2021-02-16T13:45:10.542Z,1613483110.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.240005 m, bearing: 256.534201 deg, deltaT: 4.516207 s, approachRate: -0.597848 m/s, LOS rate: -0.247908 deg/s, posRepo size: 4
2021-02-16T13:45:10.544Z,1613483110.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.240005 m,
      bearing: 256.534201 deg,
      approachRate: -0.597848 m/s,
      LOS rate: -0.247908 deg/s,
      cmd update: -0.743725 deg/s,
      cmd heading: 262.061578 deg,
      new cmd heading: 262.151315 deg.

2021-02-16T13:45:12.959Z,1613483112.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:13.728Z,1613483113.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:14.142Z,1613483114.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:14.964Z,1613483114.964 [Micromodem](INFO): Nmea in: $SNTTA,0.040429,,0.050122,,134515.15*52

2021-02-16T13:45:15.018Z,1613483115.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.480003 m, bearing: 256.238372 deg, deltaT: 4.356294 s, approachRate: -0.633567 m/s, LOS rate: -0.067908 deg/s, posRepo size: 4
2021-02-16T13:45:15.021Z,1613483115.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 256.238372 deg,
      approachRate: -0.633567 m/s,
      LOS rate: -0.067908 deg/s,
      cmd update: -0.203725 deg/s,
      cmd heading: 258.814189 deg,
      new cmd heading: 258.466683 deg.

2021-02-16T13:45:17.406Z,1613483117.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:18.173Z,1613483118.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:18.578Z,1613483118.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:19.400Z,1613483119.400 [Micromodem](INFO): Nmea in: $SNTTA,0.038698,,,,134519.60*41

2021-02-16T13:45:19.488Z,1613483119.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.900009 m, bearing: 256.500077 deg, deltaT: 4.501984 s, approachRate: -0.573079 m/s, LOS rate: 0.058131 deg/s, posRepo size: 4
2021-02-16T13:45:19.490Z,1613483119.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 256.500077 deg,
      approachRate: -0.573079 m/s,
      LOS rate: 0.058131 deg/s,
      cmd update: 0.174393 deg/s,
      cmd heading: 257.898588 deg,
      new cmd heading: 257.809382 deg.

2021-02-16T13:45:21.889Z,1613483121.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:22.616Z,1613483122.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:23.027Z,1613483123.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:23.868Z,1613483123.868 [Micromodem](INFO): Nmea in: $SNTTA,0.036869,,,,134524.04*43

2021-02-16T13:45:23.893Z,1613483123.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.080002 m, bearing: 256.319787 deg, deltaT: 4.412529 s, approachRate: -0.639091 m/s, LOS rate: -0.040859 deg/s, posRepo size: 4
2021-02-16T13:45:23.919Z,1613483123.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.080002 m,
      bearing: 256.319787 deg,
      approachRate: -0.639091 m/s,
      LOS rate: -0.040859 deg/s,
      cmd update: -0.122576 deg/s,
      cmd heading: 258.669494 deg,
      new cmd heading: 258.744118 deg.

2021-02-16T13:45:26.291Z,1613483126.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:27.066Z,1613483127.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:27.500Z,1613483127.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:28.297Z,1613483128.297 [Micromodem](INFO): Nmea in: $SNTTA,0.034943,,,,134528.49*4D

2021-02-16T13:45:28.338Z,1613483128.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.260002 m, bearing: 257.705059 deg, deltaT: 4.448867 s, approachRate: -0.633869 m/s, LOS rate: 0.311376 deg/s, posRepo size: 4
2021-02-16T13:45:28.340Z,1613483128.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.260002 m,
      bearing: 257.705059 deg,
      approachRate: -0.633869 m/s,
      LOS rate: 0.311376 deg/s,
      cmd update: 0.934129 deg/s,
      cmd heading: 258.124664 deg,
      new cmd heading: 258.072224 deg.

2021-02-16T13:45:30.732Z,1613483130.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:31.507Z,1613483131.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:31.910Z,1613483131.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:32.740Z,1613483132.740 [Micromodem](INFO): Nmea in: $SNTTA,0.033206,,,,134532.93*4C

2021-02-16T13:45:32.777Z,1613483132.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 257.118728 deg, deltaT: 4.437548 s, approachRate: -0.594925 m/s, LOS rate: -0.132129 deg/s, posRepo size: 4
2021-02-16T13:45:32.778Z,1613483132.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.619995 m,
      bearing: 257.118728 deg,
      approachRate: -0.594925 m/s,
      LOS rate: -0.132129 deg/s,
      cmd update: -0.396388 deg/s,
      cmd heading: 262.258613 deg,
      new cmd heading: 262.670759 deg.

2021-02-16T13:45:35.187Z,1613483135.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:35.948Z,1613483135.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:36.361Z,1613483136.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:37.181Z,1613483137.181 [Micromodem](INFO): Nmea in: $SNTTA,0.031341,,0.054992,,134537.37*5A

2021-02-16T13:45:37.229Z,1613483137.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.860001 m, bearing: 256.307029 deg, deltaT: 4.445177 s, approachRate: -0.620896 m/s, LOS rate: -0.182602 deg/s, posRepo size: 4
2021-02-16T13:45:37.231Z,1613483137.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.860001 m,
      bearing: 256.307029 deg,
      approachRate: -0.620896 m/s,
      LOS rate: -0.182602 deg/s,
      cmd update: -0.547807 deg/s,
      cmd heading: 260.494324 deg,
      new cmd heading: 260.319012 deg.

2021-02-16T13:45:39.610Z,1613483139.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:40.396Z,1613483140.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:40.803Z,1613483140.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:41.623Z,1613483141.623 [Micromodem](INFO): Nmea in: $SNTTA,0.029542,,,,134541.82*44

2021-02-16T13:45:41.642Z,1613483141.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 255.838614 deg, deltaT: 4.472883 s, approachRate: -0.617051 m/s, LOS rate: -0.104723 deg/s, posRepo size: 4
2021-02-16T13:45:41.644Z,1613483141.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 255.838614 deg,
      approachRate: -0.617051 m/s,
      LOS rate: -0.104723 deg/s,
      cmd update: -0.314169 deg/s,
      cmd heading: 258.050330 deg,
      new cmd heading: 257.834117 deg.

2021-02-16T13:45:44.070Z,1613483144.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:44.861Z,1613483144.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:45.247Z,1613483145.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:46.091Z,1613483146.091 [Micromodem](INFO): Nmea in: $SNTTA,0.027375,,,,134546.28*4F

2021-02-16T13:45:46.180Z,1613483146.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.920002 m, bearing: 256.346015 deg, deltaT: 4.389934 s, approachRate: -0.724385 m/s, LOS rate: 0.115583 deg/s, posRepo size: 4
2021-02-16T13:45:46.182Z,1613483146.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.920002 m,
      bearing: 256.346015 deg,
      approachRate: -0.724385 m/s,
      LOS rate: 0.115583 deg/s,
      cmd update: 0.346749 deg/s,
      cmd heading: 256.664297 deg,
      new cmd heading: 256.500603 deg.

2021-02-16T13:45:48.494Z,1613483148.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:49.281Z,1613483149.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:49.693Z,1613483149.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:50.516Z,1613483150.516 [Micromodem](INFO): Nmea in: $SNTTA,0.025618,,,,134550.70*49

2021-02-16T13:45:50.547Z,1613483150.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.220001 m, bearing: 256.847515 deg, deltaT: 4.513417 s, approachRate: -0.598217 m/s, LOS rate: 0.111113 deg/s, posRepo size: 4
2021-02-16T13:45:50.548Z,1613483150.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.22 m.
2021-02-16T13:45:50.550Z,1613483150.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.220001 m,
      bearing: 256.847515 deg,
      approachRate: -0.598217 m/s,
      LOS rate: 0.111113 deg/s,
      cmd update: 0.333339 deg/s,
      cmd heading: 258.229329 deg,
      new cmd heading: 258.359072 deg.

2021-02-16T13:45:50.913Z,1613483150.913 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:45:52.962Z,1613483152.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:53.741Z,1613483153.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:54.156Z,1613483154.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:54.964Z,1613483154.964 [Micromodem](INFO): Nmea in: $SNTTA,0.023876,,,,134555.16*4C

2021-02-16T13:45:55.005Z,1613483155.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.579998 m, bearing: 257.249294 deg, deltaT: 4.403679 s, approachRate: -0.599499 m/s, LOS rate: 0.091237 deg/s, posRepo size: 4
2021-02-16T13:45:55.006Z,1613483155.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.58 m.
2021-02-16T13:45:55.006Z,1613483155.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.58 m.
2021-02-16T13:45:55.006Z,1613483155.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:45:55.008Z,1613483155.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.579998 m,
      bearing: 257.249294 deg,
      approachRate: -0.599499 m/s,
      LOS rate: 0.091237 deg/s,
      cmd update: 0.273711 deg/s,
      cmd heading: 259.695887 deg,
      new cmd heading: 259.840127 deg.

2021-02-16T13:45:57.409Z,1613483157.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:45:58.174Z,1613483158.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:45:58.575Z,1613483158.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:45:59.400Z,1613483159.400 [Micromodem](INFO): Nmea in: $SNTTA,0.022209,,,,134559.60*42

2021-02-16T13:45:59.448Z,1613483159.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.119999 m, bearing: 256.571821 deg, deltaT: 4.496147 s, approachRate: -0.547135 m/s, LOS rate: -0.150679 deg/s, posRepo size: 4
2021-02-16T13:45:59.450Z,1613483159.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.119999 m,
      bearing: 256.571821 deg,
      approachRate: -0.547135 m/s,
      LOS rate: -0.150679 deg/s,
      cmd update: -0.452036 deg/s,
      cmd heading: 260.924715 deg,
      new cmd heading: 261.030329 deg.

2021-02-16T13:46:01.873Z,1613483161.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:02.617Z,1613483162.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:03.036Z,1613483163.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:03.884Z,1613483163.884 [Micromodem](INFO): Nmea in: $SNTTA,0.020351,,,0.046357,134604.04*58

2021-02-16T13:46:03.909Z,1613483163.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 256.245284 deg, deltaT: 4.405945 s, approachRate: -0.626426 m/s, LOS rate: -0.074113 deg/s, posRepo size: 4
2021-02-16T13:46:03.931Z,1613483163.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 256.245284 deg,
      approachRate: -0.626426 m/s,
      LOS rate: -0.074113 deg/s,
      cmd update: -0.222339 deg/s,
      cmd heading: 258.930063 deg,
      new cmd heading: 258.733541 deg.

2021-02-16T13:46:06.304Z,1613483166.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:07.056Z,1613483167.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:07.469Z,1613483167.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:08.288Z,1613483168.288 [Micromodem](INFO): Nmea in: $SNTTA,0.018689,,,,134608.48*4A

2021-02-16T13:46:08.313Z,1613483168.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.839996 m, bearing: 256.633648 deg, deltaT: 4.414827 s, approachRate: -0.570804 m/s, LOS rate: 0.087968 deg/s, posRepo size: 4
2021-02-16T13:46:08.314Z,1613483168.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 256.633648 deg,
      approachRate: -0.570804 m/s,
      LOS rate: 0.087968 deg/s,
      cmd update: 0.263905 deg/s,
      cmd heading: 257.947572 deg,
      new cmd heading: 257.854382 deg.

2021-02-16T13:46:10.708Z,1613483170.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:11.522Z,1613483171.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:11.905Z,1613483171.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:12.761Z,1613483172.761 [Micromodem](INFO): Nmea in: $SNTTA,0.016873,,,,134612.95*44

2021-02-16T13:46:12.785Z,1613483172.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.140001 m, bearing: 255.458637 deg, deltaT: 4.472198 s, approachRate: -0.603729 m/s, LOS rate: -0.262737 deg/s, posRepo size: 4
2021-02-16T13:46:12.786Z,1613483172.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.140001 m,
      bearing: 255.458637 deg,
      approachRate: -0.603729 m/s,
      LOS rate: -0.262737 deg/s,
      cmd update: -0.788211 deg/s,
      cmd heading: 259.126755 deg,
      new cmd heading: 259.238415 deg.

2021-02-16T13:46:15.185Z,1613483175.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:15.952Z,1613483175.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:16.358Z,1613483176.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:17.181Z,1613483177.181 [Micromodem](INFO): Nmea in: $SNTTA,0.015275,,0.027982,,134617.37*5E

2021-02-16T13:46:17.232Z,1613483177.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.740000 m, bearing: 254.370206 deg, deltaT: 4.413348 s, approachRate: -0.543805 m/s, LOS rate: -0.246623 deg/s, posRepo size: 4
2021-02-16T13:46:17.235Z,1613483177.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.740000 m,
      bearing: 254.370206 deg,
      approachRate: -0.543805 m/s,
      LOS rate: -0.246623 deg/s,
      cmd update: -0.739868 deg/s,
      cmd heading: 255.648309 deg,
      new cmd heading: 255.288843 deg.

2021-02-16T13:46:19.620Z,1613483179.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:20.393Z,1613483180.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:20.806Z,1613483180.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:21.628Z,1613483181.628 [Micromodem](INFO): Nmea in: $SNTTA,0.013349,,,0.033523,134621.82*5F

2021-02-16T13:46:21.662Z,1613483181.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.860001 m, bearing: 255.227750 deg, deltaT: 4.510258 s, approachRate: -0.638544 m/s, LOS rate: 0.190132 deg/s, posRepo size: 4
2021-02-16T13:46:21.664Z,1613483181.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.860001 m,
      bearing: 255.227750 deg,
      approachRate: -0.638544 m/s,
      LOS rate: 0.190132 deg/s,
      cmd update: 0.570396 deg/s,
      cmd heading: 252.308183 deg,
      new cmd heading: 252.032036 deg.

2021-02-16T13:46:24.135Z,1613483184.135 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:24.857Z,1613483184.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:25.244Z,1613483185.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:26.088Z,1613483186.088 [Micromodem](INFO): Nmea in: $SNTTA,0.011751,,0.028451,,134626.28*59

2021-02-16T13:46:26.153Z,1613483186.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 255.527649 deg, deltaT: 4.376455 s, approachRate: -0.548389 m/s, LOS rate: 0.068526 deg/s, posRepo size: 4
2021-02-16T13:46:26.155Z,1613483186.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 255.527649 deg,
      approachRate: -0.548389 m/s,
      LOS rate: 0.068526 deg/s,
      cmd update: 0.205577 deg/s,
      cmd heading: 254.804481 deg,
      new cmd heading: 255.082525 deg.

2021-02-16T13:46:28.489Z,1613483188.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:29.278Z,1613483189.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:29.689Z,1613483189.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:30.512Z,1613483190.512 [Micromodem](INFO): Nmea in: $SNTTA,0.009825,,,,134630.70*42

2021-02-16T13:46:30.534Z,1613483190.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.520001 m, bearing: 257.230607 deg, deltaT: 4.500855 s, approachRate: -0.653209 m/s, LOS rate: 0.378363 deg/s, posRepo size: 4
2021-02-16T13:46:30.536Z,1613483190.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.520001 m,
      bearing: 257.230607 deg,
      approachRate: -0.653209 m/s,
      LOS rate: 0.378363 deg/s,
      cmd update: 1.135089 deg/s,
      cmd heading: 255.729741 deg,
      new cmd heading: 255.805347 deg.

2021-02-16T13:46:32.962Z,1613483192.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:33.722Z,1613483193.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:34.147Z,1613483194.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:34.956Z,1613483194.956 [Micromodem](INFO): Nmea in: $SNTTA,0.007719,,,0.010256,134635.15*54

2021-02-16T13:46:35.042Z,1613483195.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.339997 m, bearing: 259.065660 deg, deltaT: 4.381811 s, approachRate: -0.725728 m/s, LOS rate: 0.418789 deg/s, posRepo size: 4
2021-02-16T13:46:35.060Z,1613483195.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 259.065660 deg,
      approachRate: -0.725728 m/s,
      LOS rate: 0.418789 deg/s,
      cmd update: 1.256366 deg/s,
      cmd heading: 260.703561 deg,
      new cmd heading: 261.264248 deg.

2021-02-16T13:46:37.411Z,1613483197.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:38.182Z,1613483198.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:38.606Z,1613483198.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:39.416Z,1613483199.416 [Micromodem](INFO): Nmea in: $SNTTA,0.005966,,,,134639.60*40

2021-02-16T13:46:39.474Z,1613483199.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 256.447375 deg, deltaT: 4.529261 s, approachRate: -0.609371 m/s, LOS rate: -0.578082 deg/s, posRepo size: 4
2021-02-16T13:46:39.476Z,1613483199.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 256.447375 deg,
      approachRate: -0.609371 m/s,
      LOS rate: -0.578082 deg/s,
      cmd update: -1.734246 deg/s,
      cmd heading: 266.346753 deg,
      new cmd heading: 266.892567 deg.

2021-02-16T13:46:41.885Z,1613483201.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:42.636Z,1613483202.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:43.042Z,1613483203.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:43.876Z,1613483203.876 [Micromodem](INFO): Nmea in: $SNTTA,0.004376,,,,134644.06*40

2021-02-16T13:46:43.917Z,1613483203.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 251.648812 deg, deltaT: 4.437398 s, approachRate: -0.486772 m/s, LOS rate: -1.081391 deg/s, posRepo size: 4
2021-02-16T13:46:43.918Z,1613483203.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 251.648812 deg,
      approachRate: -0.486772 m/s,
      LOS rate: -1.081391 deg/s,
      cmd update: -3.244174 deg/s,
      cmd heading: 258.596987 deg,
      new cmd heading: 257.889532 deg.

2021-02-16T13:46:46.311Z,1613483206.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:47.094Z,1613483207.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:47.486Z,1613483207.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:48.320Z,1613483208.320 [Micromodem](INFO): Nmea in: $SNTTA,0.003215,,,,134648.52*4E

2021-02-16T13:46:48.372Z,1613483208.372 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:46:48.373Z,1613483208.373 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:46:48.374Z,1613483208.374 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:46:48.380Z,1613483208.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 248.331226 deg, deltaT: 4.398904 s, approachRate: -0.409193 m/s, LOS rate: -0.754185 deg/s, posRepo size: 4
2021-02-16T13:46:48.382Z,1613483208.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 248.331226 deg,
      approachRate: -0.409193 m/s,
      LOS rate: -0.754185 deg/s,
      cmd update: -2.262555 deg/s,
      cmd heading: 244.305549 deg,
      new cmd heading: 242.807334 deg.

2021-02-16T13:46:48.743Z,1613483208.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T134648: (41.552319, -70.708603)
2021-02-16T13:46:48.743Z,1613483208.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:46:48.743Z,1613483208.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:46:48.743Z,1613483208.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:46:48.743Z,1613483208.743 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:46:48.744Z,1613483208.744 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:46:48.744Z,1613483208.744 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:46:48.744Z,1613483208.744 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:46:48.744Z,1613483208.744 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:46:50.745Z,1613483210.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:51.524Z,1613483211.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:51.931Z,1613483211.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:52.772Z,1613483212.772 [Micromodem](INFO): Nmea in: $SNTTA,0.002489,,,,134652.95*4C

2021-02-16T13:46:52.797Z,1613483212.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 251.687225 deg, deltaT: 4.450641 s, approachRate: -0.242662 m/s, LOS rate: 0.754049 deg/s, posRepo size: 4
2021-02-16T13:46:52.828Z,1613483212.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 251.687225 deg,
      approachRate: -0.242662 m/s,
      LOS rate: 0.754049 deg/s,
      cmd update: 2.262146 deg/s,
      cmd heading: 234.235742 deg,
      new cmd heading: 233.263927 deg.

2021-02-16T13:46:55.236Z,1613483215.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:46:55.983Z,1613483215.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:46:56.379Z,1613483216.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:46:57.208Z,1613483217.208 [Micromodem](INFO): Nmea in: $SNTTA,0.002795,,,,134657.41*4E

2021-02-16T13:46:57.303Z,1613483217.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 224.131237 deg, deltaT: 4.436015 s, approachRate: 0.148782 m/s, LOS rate: -6.211879 deg/s, posRepo size: 4
2021-02-16T13:46:57.305Z,1613483217.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 224.131237 deg,
      approachRate: 0.148782 m/s,
      LOS rate: -6.211879 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.270621 deg,
      new cmd heading: 245.395835 deg.

2021-02-16T13:46:59.629Z,1613483219.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:00.429Z,1613483220.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:00.834Z,1613483220.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:01.652Z,1613483221.652 [Micromodem](INFO): Nmea in: $SNTTA,0.004097,,,,134701.85*47

2021-02-16T13:47:01.674Z,1613483221.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.179999 m, bearing: 247.938790 deg, deltaT: 4.496411 s, approachRate: 0.440351 m/s, LOS rate: 5.294790 deg/s, posRepo size: 4
2021-02-16T13:47:01.700Z,1613483221.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.179999 m,
      bearing: 247.938790 deg,
      approachRate: 0.440351 m/s,
      LOS rate: 5.294790 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 190.361843 deg,
      new cmd heading: 185.788979 deg.

2021-02-16T13:47:04.169Z,1613483224.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:04.866Z,1613483224.866 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:05.270Z,1613483225.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:06.117Z,1613483226.117 [Micromodem](INFO): Nmea in: $SNTTA,0.005716,,,,134706.29*49

2021-02-16T13:47:06.171Z,1613483226.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.579998 m, bearing: 231.271708 deg, deltaT: 4.394438 s, approachRate: 0.546145 m/s, LOS rate: -3.792768 deg/s, posRepo size: 4
2021-02-16T13:47:06.173Z,1613483226.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 231.271708 deg,
      approachRate: 0.546145 m/s,
      LOS rate: -3.792768 deg/s,
      cmd update: -11.378303 deg/s,
      cmd heading: 243.142633 deg,
      new cmd heading: 248.897953 deg.

2021-02-16T13:47:08.528Z,1613483228.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:09.309Z,1613483229.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:09.718Z,1613483229.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:10.556Z,1613483230.556 [Micromodem](INFO): Nmea in: $SNTTA,0.007391,,,,134710.73*48

2021-02-16T13:47:10.578Z,1613483230.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.220001 m, bearing: 228.019664 deg, deltaT: 4.510795 s, approachRate: 0.585263 m/s, LOS rate: -0.720947 deg/s, posRepo size: 4
2021-02-16T13:47:10.580Z,1613483230.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.220001 m,
      bearing: 228.019664 deg,
      approachRate: 0.585263 m/s,
      LOS rate: -0.720947 deg/s,
      cmd update: -2.162841 deg/s,
      cmd heading: 191.817999 deg,
      new cmd heading: 187.541601 deg.

2021-02-16T13:47:12.970Z,1613483232.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:13.749Z,1613483233.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:14.167Z,1613483234.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:14.215Z,1613483234.215 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:47:14.976Z,1613483234.976 [Micromodem](INFO): Nmea in: $SNTTA,0.009001,,,,134715.17*4B

2021-02-16T13:47:15.018Z,1613483235.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 229.550992 deg, deltaT: 4.385478 s, approachRate: 0.547260 m/s, LOS rate: 0.349182 deg/s, posRepo size: 4
2021-02-16T13:47:15.018Z,1613483235.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.62 m. Rolling out.
2021-02-16T13:47:15.019Z,1613483235.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:47:17.450Z,1613483237.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:18.188Z,1613483238.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:18.599Z,1613483238.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:19.420Z,1613483239.420 [Micromodem](INFO): Nmea in: $SNTTA,0.010892,,0.014364,,134719.61*56

2021-02-16T13:47:19.426Z,1613483239.426 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:47:19.467Z,1613483239.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.499996 m, bearing: 180.030755 deg, deltaT: 4.551283 s, approachRate: 0.632788 m/s, LOS rate: -10.880501 deg/s, posRepo size: 4
2021-02-16T13:47:21.912Z,1613483241.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:22.636Z,1613483242.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:23.054Z,1613483243.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:23.886Z,1613483243.886 [Micromodem](INFO): Nmea in: $SNTTA,0.012447,,,,134724.06*45

2021-02-16T13:47:23.911Z,1613483243.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.960001 m, bearing: 195.333192 deg, deltaT: 4.344039 s, approachRate: 0.566294 m/s, LOS rate: 3.522629 deg/s, posRepo size: 4
2021-02-16T13:47:24.293Z,1613483244.293 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:47:25.476Z,1613483245.476 [PowerOnly](INFO): Powering down loadControl
2021-02-16T13:47:26.310Z,1613483246.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:27.097Z,1613483247.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:27.486Z,1613483247.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:28.341Z,1613483248.341 [Micromodem](INFO): Nmea in: $SNTTA,0.013758,,0.031734,,134728.52*58

2021-02-16T13:47:28.364Z,1613483248.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 193.820865 deg, deltaT: 4.431811 s, approachRate: 0.406154 m/s, LOS rate: -0.341244 deg/s, posRepo size: 4
2021-02-16T13:47:29.183Z,1613483249.183 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T13:47:30.731Z,1613483250.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:31.525Z,1613483251.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:31.930Z,1613483251.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:32.752Z,1613483252.752 [Micromodem](INFO): Nmea in: $SNTTA,0.015217,,,,134732.95*4C

2021-02-16T13:47:32.800Z,1613483252.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 186.845999 deg, deltaT: 4.456325 s, approachRate: 0.511633 m/s, LOS rate: -1.565161 deg/s, posRepo size: 4
2021-02-16T13:47:35.209Z,1613483255.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:35.970Z,1613483255.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:36.373Z,1613483256.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:37.200Z,1613483257.200 [Micromodem](INFO): Nmea in: $SNTTA,0.016841,,,,134737.39*45

2021-02-16T13:47:37.271Z,1613483257.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.219999 m, bearing: 174.145399 deg, deltaT: 4.429159 s, approachRate: 0.717969 m/s, LOS rate: -2.867497 deg/s, posRepo size: 4
2021-02-16T13:47:39.619Z,1613483259.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:40.420Z,1613483260.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:40.847Z,1613483260.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:41.644Z,1613483261.644 [Micromodem](INFO): Nmea in: $SNTTA,0.018478,,,,134741.84*4A

2021-02-16T13:47:41.684Z,1613483261.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 197.374053 deg, deltaT: 4.482927 s, approachRate: 0.495212 m/s, LOS rate: 5.181582 deg/s, posRepo size: 4
2021-02-16T13:47:44.142Z,1613483264.142 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-02-16T13:47:44.165Z,1613483264.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:44.867Z,1613483264.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:45.270Z,1613483265.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:46.100Z,1613483266.100 [Micromodem](INFO): Nmea in: $SNTTA,0.020403,,0.036139,,134746.29*5D

2021-02-16T13:47:46.177Z,1613483266.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 172.412799 deg, deltaT: 4.395006 s, approachRate: 0.532422 m/s, LOS rate: -5.679459 deg/s, posRepo size: 4
2021-02-16T13:47:48.188Z,1613483268.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:48.897Z,1613483268.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:49.301Z,1613483269.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:50.145Z,1613483270.145 [Micromodem](INFO): Nmea in: $SNTTA,0.022000,,0.055762,,134750.32*58

2021-02-16T13:47:50.178Z,1613483270.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.180000 m, bearing: 183.029003 deg, deltaT: 4.061608 s, approachRate: 0.590899 m/s, LOS rate: 2.613793 deg/s, posRepo size: 4
2021-02-16T13:47:52.559Z,1613483272.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:53.346Z,1613483273.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:53.745Z,1613483273.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:54.580Z,1613483274.580 [Micromodem](INFO): Nmea in: $SNTTA,0.024270,,,,134754.77*43

2021-02-16T13:47:54.693Z,1613483274.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.600002 m, bearing: 148.025062 deg, deltaT: 4.531114 s, approachRate: 0.754782 m/s, LOS rate: -7.725239 deg/s, posRepo size: 4
2021-02-16T13:47:57.023Z,1613483277.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:47:57.791Z,1613483277.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:47:58.209Z,1613483278.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:47:59.024Z,1613483279.024 [Micromodem](INFO): Nmea in: $SNTTA,0.026112,,,,134759.21*48

2021-02-16T13:47:59.077Z,1613483279.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 145.961306 deg, deltaT: 4.335241 s, approachRate: 0.636642 m/s, LOS rate: -0.476042 deg/s, posRepo size: 4
2021-02-16T13:48:01.460Z,1613483281.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:02.230Z,1613483282.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:02.652Z,1613483282.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:03.456Z,1613483283.456 [Micromodem](INFO): Nmea in: $SNTTA,0.027922,,,,134803.65*42

2021-02-16T13:48:03.497Z,1613483283.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.000000 m, bearing: 160.881950 deg, deltaT: 4.512738 s, approachRate: 0.585011 m/s, LOS rate: 3.306339 deg/s, posRepo size: 4
2021-02-16T13:48:05.905Z,1613483285.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:06.682Z,1613483286.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:07.082Z,1613483287.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:07.924Z,1613483287.924 [Micromodem](INFO): Nmea in: $SNTTA,0.029917,,,,134808.10*43

2021-02-16T13:48:07.967Z,1613483287.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 169.678387 deg, deltaT: 4.380405 s, approachRate: 0.684868 m/s, LOS rate: 2.008133 deg/s, posRepo size: 4
2021-02-16T13:48:10.333Z,1613483290.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:11.135Z,1613483291.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:11.550Z,1613483291.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:12.364Z,1613483292.364 [Micromodem](INFO): Nmea in: $SNTTA,0.032007,,,,134812.56*48

2021-02-16T13:48:12.406Z,1613483292.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 172.858974 deg, deltaT: 4.485026 s, approachRate: 0.709025 m/s, LOS rate: 0.709157 deg/s, posRepo size: 4
2021-02-16T13:48:14.856Z,1613483294.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:15.590Z,1613483295.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:15.997Z,1613483295.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:16.847Z,1613483296.847 [Micromodem](INFO): Nmea in: $SNTTA,0.034225,,,,134817.01*4B

2021-02-16T13:48:16.889Z,1613483296.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.479996 m, bearing: 175.793128 deg, deltaT: 4.454951 s, approachRate: 0.740749 m/s, LOS rate: 0.658628 deg/s, posRepo size: 4
2021-02-16T13:48:19.277Z,1613483299.277 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:20.028Z,1613483300.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:20.451Z,1613483300.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:21.276Z,1613483301.276 [Micromodem](INFO): Nmea in: $SNTTA,0.036088,,0.040256,,134821.45*52

2021-02-16T13:48:21.321Z,1613483301.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.239998 m, bearing: 173.295969 deg, deltaT: 4.468833 s, approachRate: 0.617611 m/s, LOS rate: -0.558794 deg/s, posRepo size: 4
2021-02-16T13:48:23.680Z,1613483303.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:24.473Z,1613483304.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:24.880Z,1613483304.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:25.700Z,1613483305.700 [Micromodem](INFO): Nmea in: $SNTTA,0.038053,,,,134825.90*4D

2021-02-16T13:48:25.733Z,1613483305.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.240005 m, bearing: 181.130128 deg, deltaT: 4.410468 s, approachRate: 0.680202 m/s, LOS rate: 1.776265 deg/s, posRepo size: 4
2021-02-16T13:48:28.185Z,1613483308.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:28.916Z,1613483308.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:29.330Z,1613483309.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:30.158Z,1613483310.158 [Micromodem](INFO): Nmea in: $SNTTA,0.040163,,,,134830.34*4A

2021-02-16T13:48:30.197Z,1613483310.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.419998 m, bearing: 187.895622 deg, deltaT: 4.435420 s, approachRate: 0.716954 m/s, LOS rate: 1.525333 deg/s, posRepo size: 4
2021-02-16T13:48:32.568Z,1613483312.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:33.366Z,1613483313.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:33.779Z,1613483313.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:34.592Z,1613483314.592 [Micromodem](INFO): Nmea in: $SNTTA,0.042276,,0.045021,,134834.79*5E

2021-02-16T13:48:34.630Z,1613483314.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.600002 m, bearing: 181.985951 deg, deltaT: 4.477680 s, approachRate: 0.710190 m/s, LOS rate: -1.319806 deg/s, posRepo size: 4
2021-02-16T13:48:37.033Z,1613483317.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:37.813Z,1613483317.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:38.229Z,1613483318.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:39.045Z,1613483319.045 [Micromodem](INFO): Nmea in: $SNTTA,0.044377,,,,134839.23*46

2021-02-16T13:48:39.136Z,1613483319.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 186.689356 deg, deltaT: 4.431311 s, approachRate: 0.704082 m/s, LOS rate: 1.061403 deg/s, posRepo size: 4
2021-02-16T13:48:41.480Z,1613483321.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:42.259Z,1613483322.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:42.654Z,1613483322.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:43.484Z,1613483323.484 [Micromodem](INFO): Nmea in: $SNTTA,0.046524,,,,134843.68*46

2021-02-16T13:48:43.523Z,1613483323.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.900002 m, bearing: 180.384586 deg, deltaT: 4.493464 s, approachRate: 0.707693 m/s, LOS rate: -1.403098 deg/s, posRepo size: 4
2021-02-16T13:48:45.918Z,1613483325.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:46.692Z,1613483326.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:47.133Z,1613483327.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:47.925Z,1613483327.925 [Micromodem](INFO): Nmea in: $SNTTA,0.048514,,,,134848.11*4E

2021-02-16T13:48:47.982Z,1613483327.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.840004 m, bearing: 183.040614 deg, deltaT: 4.400515 s, approachRate: 0.668104 m/s, LOS rate: 0.603572 deg/s, posRepo size: 4
2021-02-16T13:48:50.374Z,1613483330.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:51.142Z,1613483331.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:51.542Z,1613483331.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:52.368Z,1613483332.368 [Micromodem](INFO): Nmea in: $SNTTA,0.050794,,,,134852.56*45

2021-02-16T13:48:52.412Z,1613483332.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.380005 m, bearing: 200.276432 deg, deltaT: 4.437112 s, approachRate: 0.797816 m/s, LOS rate: 3.884468 deg/s, posRepo size: 4
2021-02-16T13:48:54.803Z,1613483334.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:48:55.581Z,1613483335.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:48:56.001Z,1613483336.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:48:56.816Z,1613483336.816 [Micromodem](INFO): Nmea in: $SNTTA,0.052815,,,,134857.00*47

2021-02-16T13:48:56.880Z,1613483336.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.320007 m, bearing: 193.459385 deg, deltaT: 4.437514 s, approachRate: 0.662534 m/s, LOS rate: -1.536231 deg/s, posRepo size: 4
2021-02-16T13:48:59.289Z,1613483339.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:00.030Z,1613483340.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:00.431Z,1613483340.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:01.265Z,1613483341.265 [Micromodem](INFO): Nmea in: $SNTTA,0.055118,,,,134901.45*47

2021-02-16T13:49:01.338Z,1613483341.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.800003 m, bearing: 192.236630 deg, deltaT: 4.453016 s, approachRate: 0.781492 m/s, LOS rate: -0.274590 deg/s, posRepo size: 4
2021-02-16T13:49:03.684Z,1613483343.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:04.476Z,1613483344.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:04.873Z,1613483344.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:05.704Z,1613483345.704 [Micromodem](INFO): Nmea in: $SNTTA,0.057260,,,,134905.90*45

2021-02-16T13:49:05.742Z,1613483345.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.040001 m, bearing: 194.966015 deg, deltaT: 4.437861 s, approachRate: 0.730081 m/s, LOS rate: 0.615023 deg/s, posRepo size: 4
2021-02-16T13:49:08.159Z,1613483348.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:08.912Z,1613483348.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:09.335Z,1613483349.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:10.148Z,1613483350.148 [Micromodem](INFO): Nmea in: $SNTTA,0.059572,,,,134910.34*45

2021-02-16T13:49:10.196Z,1613483350.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 184.871774 deg, deltaT: 4.428682 s, approachRate: 0.785786 m/s, LOS rate: -2.279288 deg/s, posRepo size: 4
2021-02-16T13:49:12.581Z,1613483352.581 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:13.356Z,1613483353.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:13.773Z,1613483353.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:14.584Z,1613483354.584 [Micromodem](INFO): Nmea in: $SNTTA,0.061578,,,,134914.78*48

2021-02-16T13:49:14.622Z,1613483354.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.520004 m, bearing: 191.050459 deg, deltaT: 4.511380 s, approachRate: 0.664987 m/s, LOS rate: 1.369578 deg/s, posRepo size: 4
2021-02-16T13:49:17.024Z,1613483357.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:17.804Z,1613483357.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:18.221Z,1613483358.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:19.032Z,1613483359.032 [Micromodem](INFO): Nmea in: $SNTTA,0.063719,,,,134919.23*4C

2021-02-16T13:49:19.094Z,1613483359.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.699997 m, bearing: 198.381929 deg, deltaT: 4.365162 s, approachRate: 0.728494 m/s, LOS rate: 1.679541 deg/s, posRepo size: 4
2021-02-16T13:49:21.488Z,1613483361.488 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:22.250Z,1613483362.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:22.657Z,1613483362.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:23.473Z,1613483363.473 [Micromodem](INFO): Nmea in: $SNTTA,0.065940,,0.070515,,134923.67*59

2021-02-16T13:49:24.299Z,1613483364.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:25.896Z,1613483365.896 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:49:27.168Z,1613483367.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:27.900Z,1613483367.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:28.321Z,1613483368.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:29.136Z,1613483369.136 [Micromodem](INFO): Nmea in: $SNTTA,0.068656,,,,134929.32*4E

2021-02-16T13:49:29.227Z,1613483369.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.139999 m, bearing: 195.787304 deg, deltaT: 10.113809 s, approachRate: 0.735628 m/s, LOS rate: -0.256543 deg/s, posRepo size: 4
2021-02-16T13:49:31.554Z,1613483371.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:32.353Z,1613483372.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:32.749Z,1613483372.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:33.576Z,1613483373.576 [Micromodem](INFO): Nmea in: $SNTTA,0.070894,,,,134933.77*4D

2021-02-16T13:49:33.591Z,1613483373.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.500000 m, bearing: 195.818709 deg, deltaT: 4.491812 s, approachRate: 0.748028 m/s, LOS rate: 0.006992 deg/s, posRepo size: 4
2021-02-16T13:49:36.006Z,1613483376.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:36.794Z,1613483376.794 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:37.194Z,1613483377.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:38.024Z,1613483378.024 [Micromodem](INFO): Nmea in: $SNTTA,0.072966,,,,134938.22*48

2021-02-16T13:49:38.073Z,1613483378.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.560005 m, bearing: 193.620714 deg, deltaT: 4.377855 s, approachRate: 0.698974 m/s, LOS rate: -0.502071 deg/s, posRepo size: 4
2021-02-16T13:49:40.478Z,1613483380.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:41.239Z,1613483381.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:41.657Z,1613483381.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:42.464Z,1613483382.464 [Micromodem](INFO): Nmea in: $SNTTA,0.075120,,,,134942.66*48

2021-02-16T13:49:42.511Z,1613483382.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 197.233365 deg, deltaT: 4.491937 s, approachRate: 0.734649 m/s, LOS rate: 0.804252 deg/s, posRepo size: 4
2021-02-16T13:49:44.895Z,1613483384.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:45.676Z,1613483385.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:46.112Z,1613483386.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:46.914Z,1613483386.914 [Micromodem](INFO): Nmea in: $SNTTA,0.077256,,,,134947.10*4C

2021-02-16T13:49:47.718Z,1613483387.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:49.316Z,1613483389.316 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:49:50.544Z,1613483390.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:51.332Z,1613483391.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:51.737Z,1613483391.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:52.412Z,1613483392.412 [CTD_Seabird](ERROR): Failed to parse device response: 5.52,1.614483
2021-02-16T13:49:52.551Z,1613483392.551 [Micromodem](INFO): Nmea in: $SNTTA,0.079991,,,,134952.75*45

2021-02-16T13:49:53.392Z,1613483393.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:54.980Z,1613483394.980 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:49:56.226Z,1613483396.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:49:56.994Z,1613483396.994 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:49:57.407Z,1613483397.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:49:58.241Z,1613483398.241 [Micromodem](INFO): Nmea in: $SNTTA,0.082822,,,,134958.42*46

2021-02-16T13:49:58.298Z,1613483398.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.379997 m, bearing: 201.646131 deg, deltaT: 15.771925 s, approachRate: 0.730412 m/s, LOS rate: 0.279786 deg/s, posRepo size: 4
2021-02-16T13:50:00.649Z,1613483400.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:01.432Z,1613483401.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:01.862Z,1613483401.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:02.660Z,1613483402.660 [Micromodem](INFO): Nmea in: $SNTTA,0.084979,,,,135002.85*43

2021-02-16T13:50:02.682Z,1613483402.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.619995 m, bearing: 206.071534 deg, deltaT: 4.426965 s, approachRate: 0.731878 m/s, LOS rate: 0.999647 deg/s, posRepo size: 4
2021-02-16T13:50:05.145Z,1613483405.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:05.877Z,1613483405.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:06.283Z,1613483406.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:07.132Z,1613483407.132 [Micromodem](INFO): Nmea in: $SNTTA,0.087250,,,,135007.30*4B

2021-02-16T13:50:07.192Z,1613483407.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.940002 m, bearing: 190.177506 deg, deltaT: 4.402345 s, approachRate: 0.981297 m/s, LOS rate: -3.610355 deg/s, posRepo size: 4
2021-02-16T13:50:09.210Z,1613483409.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:09.921Z,1613483409.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:10.322Z,1613483410.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:11.141Z,1613483411.141 [Micromodem](INFO): Nmea in: $SNTTA,0.089099,,,,135011.34*41

2021-02-16T13:50:11.968Z,1613483411.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:13.568Z,1613483413.568 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:50:14.826Z,1613483414.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:15.572Z,1613483415.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:15.983Z,1613483415.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:16.799Z,1613483416.799 [Micromodem](INFO): Nmea in: $SNTTA,0.091961,,,,135017.00*47

2021-02-16T13:50:17.619Z,1613483417.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:19.208Z,1613483419.208 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:50:20.466Z,1613483420.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:21.229Z,1613483421.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:21.647Z,1613483421.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:22.456Z,1613483422.456 [Micromodem](INFO): Nmea in: $SNTTA,0.094434,,,,135022.65*4A

2021-02-16T13:50:22.510Z,1613483422.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.779999 m, bearing: 203.858361 deg, deltaT: 15.417964 s, approachRate: 0.638216 m/s, LOS rate: 0.887332 deg/s, posRepo size: 4
2021-02-16T13:50:24.892Z,1613483424.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:25.672Z,1613483425.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:26.116Z,1613483426.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:26.904Z,1613483426.904 [Micromodem](INFO): Nmea in: $SNTTA,0.096414,,,,135027.09*45

2021-02-16T13:50:26.952Z,1613483426.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.779999 m, bearing: 210.244069 deg, deltaT: 4.376388 s, approachRate: 0.685497 m/s, LOS rate: 1.459127 deg/s, posRepo size: 4
2021-02-16T13:50:29.354Z,1613483429.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:30.136Z,1613483430.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:30.521Z,1613483430.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:31.360Z,1613483431.360 [Micromodem](INFO): Nmea in: $SNTTA,0.098322,,,,135031.56*44

2021-02-16T13:50:31.413Z,1613483431.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 189.934051 deg, deltaT: 4.485130 s, approachRate: 0.816031 m/s, LOS rate: -4.528301 deg/s, posRepo size: 4
2021-02-16T13:50:33.804Z,1613483433.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:34.572Z,1613483434.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:34.966Z,1613483434.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:35.792Z,1613483435.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135035.99*5F

2021-02-16T13:50:36.600Z,1613483436.600 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:38.200Z,1613483438.200 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:50:39.445Z,1613483439.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:40.217Z,1613483440.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:40.643Z,1613483440.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:41.444Z,1613483441.444 [Micromodem](INFO): Nmea in: $SNTTA,0.103054,,,,135041.64*43

2021-02-16T13:50:41.488Z,1613483441.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 204.535096 deg, deltaT: 10.137493 s, approachRate: 0.621456 m/s, LOS rate: 1.440301 deg/s, posRepo size: 4
2021-02-16T13:50:41.489Z,1613483441.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 154.74 m. Resuming terminal guidance.
2021-02-16T13:50:41.489Z,1613483441.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T13:50:43.889Z,1613483443.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:44.660Z,1613483444.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:45.067Z,1613483445.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:45.878Z,1613483445.878 [Micromodem](INFO): Nmea in: $SNTTA,0.104993,,,,135046.08*4B

2021-02-16T13:50:46.710Z,1613483446.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:48.300Z,1613483448.300 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:50:49.556Z,1613483449.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:50.316Z,1613483450.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:50.727Z,1613483450.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:51.540Z,1613483451.540 [Micromodem](INFO): Nmea in: $SNTTA,0.107527,,,,135051.74*46

2021-02-16T13:50:52.376Z,1613483452.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:53.952Z,1613483453.952 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:50:55.211Z,1613483455.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:50:55.978Z,1613483455.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:50:56.377Z,1613483456.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:50:56.782Z,1613483456.782 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D9F,000,,E4
4,187,80,80,65,FF
2021-02-16T13:50:57.195Z,1613483457.195 [Micromodem](INFO): Nmea in: $SNTTA,0.110346,,,,135057.40*40

2021-02-16T13:50:58.033Z,1613483458.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:00.901Z,1613483460.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:03.663Z,1613483463.663 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:04.467Z,1613483464.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:04.867Z,1613483464.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:05.687Z,1613483465.687 [Micromodem](INFO): Nmea in: $SNTTA,0.114482,,,,135105.89*48

2021-02-16T13:51:06.512Z,1613483466.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:08.121Z,1613483468.121 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T13:51:09.342Z,1613483469.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:10.128Z,1613483470.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:10.518Z,1613483470.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:11.357Z,1613483471.357 [Micromodem](INFO): Nmea in: $SNTTA,0.117784,,,,135111.55*4A

2021-02-16T13:51:11.774Z,1613483471.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.099991 m, bearing: 206.887263 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T13:51:11.775Z,1613483471.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 206.887263deg and heading rate command to 0 deg/s.
2021-02-16T13:51:14.188Z,1613483474.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:14.962Z,1613483474.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:15.366Z,1613483475.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:16.181Z,1613483476.181 [Micromodem](INFO): Nmea in: $SNTTA,0.119454,,,,135116.38*46

2021-02-16T13:51:16.606Z,1613483476.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.339996 m, bearing: 222.483864 deg, deltaT: 4.876742 s, approachRate: 0.664379 m/s, LOS rate: 3.198160 deg/s, posRepo size: 2
2021-02-16T13:51:16.608Z,1613483476.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.339996 m,
      bearing: 222.483864 deg,
      approachRate: 0.664379 m/s,
      LOS rate: 3.198160 deg/s,
      cmd update: 9.594479 deg/s,
      cmd heading: 206.887263 deg,
      new cmd heading: 206.887263 deg.

2021-02-16T13:51:19.024Z,1613483479.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:19.827Z,1613483479.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:20.215Z,1613483480.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:21.039Z,1613483481.039 [Micromodem](INFO): Nmea in: $SNTTA,0.121756,,,,135121.25*44

2021-02-16T13:51:21.479Z,1613483481.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.520004 m, bearing: 189.985059 deg, deltaT: 4.832751 s, approachRate: 0.658012 m/s, LOS rate: -6.724701 deg/s, posRepo size: 3
2021-02-16T13:51:21.481Z,1613483481.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.520004 m,
      bearing: 189.985059 deg,
      approachRate: 0.658012 m/s,
      LOS rate: -6.724701 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.102393 deg,
      new cmd heading: 257.086520 deg.

2021-02-16T13:51:23.889Z,1613483483.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:24.675Z,1613483484.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:25.079Z,1613483485.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:25.889Z,1613483485.889 [Micromodem](INFO): Nmea in: $SNTTA,0.123620,,,,135126.10*47

2021-02-16T13:51:26.322Z,1613483486.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.580002 m, bearing: 231.458910 deg, deltaT: 4.823692 s, approachRate: 0.634368 m/s, LOS rate: 8.597948 deg/s, posRepo size: 4
2021-02-16T13:51:26.324Z,1613483486.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.580002 m,
      bearing: 231.458910 deg,
      approachRate: 0.634368 m/s,
      LOS rate: 8.597948 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 194.899415 deg,
      new cmd heading: 190.004711 deg.

2021-02-16T13:51:28.720Z,1613483488.720 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:29.529Z,1613483489.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:29.915Z,1613483489.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:30.764Z,1613483490.764 [Micromodem](INFO): Nmea in: $SNTTA,0.124748,,,,135130.95*45

2021-02-16T13:51:31.201Z,1613483491.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.139984 m, bearing: 231.295969 deg, deltaT: 4.874705 s, approachRate: 0.320016 m/s, LOS rate: -0.033426 deg/s, posRepo size: 4
2021-02-16T13:51:31.203Z,1613483491.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.139984 m,
      bearing: 231.295969 deg,
      approachRate: 0.320016 m/s,
      LOS rate: -0.033426 deg/s,
      cmd update: -0.100277 deg/s,
      cmd heading: 253.366789 deg,
      new cmd heading: 258.352441 deg.

2021-02-16T13:51:33.564Z,1613483493.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:34.354Z,1613483494.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:34.758Z,1613483494.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:35.584Z,1613483495.584 [Micromodem](INFO): Nmea in: $SNTTA,0.126086,,,,135135.78*44

2021-02-16T13:51:35.626Z,1613483495.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.139984 m, bearing: 232.756318 deg, deltaT: 4.462980 s, approachRate: 0.000000 m/s, LOS rate: 0.327214 deg/s, posRepo size: 4
2021-02-16T13:51:35.628Z,1613483495.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.139984 m,
      bearing: 232.756318 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.327214 deg/s,
      cmd update: 0.981642 deg/s,
      cmd heading: 252.919609 deg,
      new cmd heading: 252.881431 deg.

2021-02-16T13:51:38.029Z,1613483498.029 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:38.821Z,1613483498.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:39.224Z,1613483499.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:40.030Z,1613483500.030 [Micromodem](INFO): Nmea in: $SNTTA,0.127148,,,,135140.24*4D

2021-02-16T13:51:40.470Z,1613483500.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.739990 m, bearing: 244.417117 deg, deltaT: 4.844917 s, approachRate: 0.743048 m/s, LOS rate: 2.406811 deg/s, posRepo size: 4
2021-02-16T13:51:40.472Z,1613483500.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.739990 m,
      bearing: 244.417117 deg,
      approachRate: 0.743048 m/s,
      LOS rate: 2.406811 deg/s,
      cmd update: 7.220433 deg/s,
      cmd heading: 257.664741 deg,
      new cmd heading: 258.048471 deg.

2021-02-16T13:51:42.890Z,1613483502.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:43.645Z,1613483503.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:44.052Z,1613483504.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:44.868Z,1613483504.868 [Micromodem](INFO): Nmea in: $SNTTA,0.128062,,,,135145.07*4F

2021-02-16T13:51:45.324Z,1613483505.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.059998 m, bearing: 310.215144 deg, deltaT: 4.825383 s, approachRate: 0.273555 m/s, LOS rate: 13.635814 deg/s, posRepo size: 4
2021-02-16T13:51:45.324Z,1613483505.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.635814 deg/s. Setting heading cmd to target bearing of 310.215144deg and heading rate command to 0 deg/s.
2021-02-16T13:51:47.721Z,1613483507.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:48.498Z,1613483508.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:48.918Z,1613483508.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:49.713Z,1613483509.713 [Micromodem](INFO): Nmea in: $SNTTA,0.128293,,,,135149.92*43

2021-02-16T13:51:50.189Z,1613483510.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.419998 m, bearing: 236.722554 deg, deltaT: 4.805785 s, approachRate: 0.074910 m/s, LOS rate: -15.292525 deg/s, posRepo size: 4
2021-02-16T13:51:50.189Z,1613483510.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.292525 deg/s. Setting heading cmd to target bearing of 236.722554deg and heading rate command to 0 deg/s.
2021-02-16T13:51:52.553Z,1613483512.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:53.345Z,1613483513.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:53.751Z,1613483513.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:54.560Z,1613483514.560 [Micromodem](INFO): Nmea in: $SNTTA,0.127709,,,,135154.77*4D

2021-02-16T13:51:55.014Z,1613483515.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.399994 m, bearing: 355.441460 deg, deltaT: 4.876887 s, approachRate: -0.209151 m/s, LOS rate: 24.343173 deg/s, posRepo size: 4
2021-02-16T13:51:55.015Z,1613483515.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.343173 deg/s. Setting heading cmd to target bearing of 355.441460deg and heading rate command to 0 deg/s.
2021-02-16T13:51:57.413Z,1613483517.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:51:58.194Z,1613483518.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:51:58.594Z,1613483518.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:51:59.416Z,1613483519.416 [Micromodem](INFO): Nmea in: $SNTTA,0.126920,,,,135159.61*43

2021-02-16T13:51:59.872Z,1613483519.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.319992 m, bearing: 325.065396 deg, deltaT: 4.872005 s, approachRate: -0.221675 m/s, LOS rate: -6.234818 deg/s, posRepo size: 4
2021-02-16T13:51:59.874Z,1613483519.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.319992 m,
      bearing: 325.065396 deg,
      approachRate: -0.221675 m/s,
      LOS rate: -6.234818 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 355.441460 deg,
      new cmd heading: 355.441460 deg.

2021-02-16T13:52:02.282Z,1613483522.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:03.038Z,1613483523.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:03.442Z,1613483523.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:04.280Z,1613483524.280 [Micromodem](INFO): Nmea in: $SNTTA,0.126550,,,,135204.46*46

2021-02-16T13:52:04.350Z,1613483524.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.319992 m, bearing: 254.606749 deg, deltaT: 4.438403 s, approachRate: 0.000000 m/s, LOS rate: -15.874775 deg/s, posRepo size: 4
2021-02-16T13:52:04.355Z,1613483524.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.874775 deg/s. Setting heading cmd to target bearing of 254.606749deg and heading rate command to 0 deg/s.
2021-02-16T13:52:06.693Z,1613483526.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:07.497Z,1613483527.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:07.893Z,1613483527.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:08.710Z,1613483528.710 [Micromodem](INFO): Nmea in: $SNTTA,0.125853,,,,135208.92*4E

2021-02-16T13:52:09.194Z,1613483529.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.579987 m, bearing: 356.510603 deg, deltaT: 4.810158 s, approachRate: -0.361736 m/s, LOS rate: 21.185136 deg/s, posRepo size: 4
2021-02-16T13:52:09.194Z,1613483529.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.185136 deg/s. Setting heading cmd to target bearing of 356.510603deg and heading rate command to 0 deg/s.
2021-02-16T13:52:11.274Z,1613483531.274 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:11.925Z,1613483531.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:12.337Z,1613483532.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:13.148Z,1613483533.148 [Micromodem](INFO): Nmea in: $SNTTA,0.124994,,,,135213.35*42

2021-02-16T13:52:13.590Z,1613483533.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.320007 m, bearing: 327.771435 deg, deltaT: 4.521182 s, approachRate: -0.278684 m/s, LOS rate: -6.356561 deg/s, posRepo size: 4
2021-02-16T13:52:13.596Z,1613483533.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.320007 m,
      bearing: 327.771435 deg,
      approachRate: -0.278684 m/s,
      LOS rate: -6.356561 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 356.510603 deg,
      new cmd heading: 356.510603 deg.

2021-02-16T13:52:16.027Z,1613483536.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:16.777Z,1613483536.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:17.183Z,1613483537.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:17.994Z,1613483537.994 [Micromodem](INFO): Nmea in: $SNTTA,0.124454,,,,135218.20*4C

2021-02-16T13:52:18.430Z,1613483538.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.660004 m, bearing: 247.583511 deg, deltaT: 4.776956 s, approachRate: -0.138164 m/s, LOS rate: -16.786406 deg/s, posRepo size: 4
2021-02-16T13:52:18.430Z,1613483538.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.786406 deg/s. Setting heading cmd to target bearing of 247.583511deg and heading rate command to 0 deg/s.
2021-02-16T13:52:20.876Z,1613483540.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:21.621Z,1613483541.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:22.035Z,1613483542.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:22.860Z,1613483542.860 [Micromodem](INFO): Nmea in: $SNTTA,0.123775,,,,135223.04*45

2021-02-16T13:52:23.290Z,1613483543.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 358.455049 deg, deltaT: 4.861801 s, approachRate: -0.234481 m/s, LOS rate: 22.804622 deg/s, posRepo size: 4
2021-02-16T13:52:23.291Z,1613483543.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.804622 deg/s. Setting heading cmd to target bearing of 358.455049deg and heading rate command to 0 deg/s.
2021-02-16T13:52:25.681Z,1613483545.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:26.468Z,1613483546.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:26.879Z,1613483546.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:27.696Z,1613483547.696 [Micromodem](INFO): Nmea in: $SNTTA,0.122593,,,,135227.89*4F

2021-02-16T13:52:27.738Z,1613483547.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 330.935260 deg, deltaT: 4.453141 s, approachRate: 0.000000 m/s, LOS rate: -6.179860 deg/s, posRepo size: 4
2021-02-16T13:52:27.744Z,1613483547.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.520004 m,
      bearing: 330.935260 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.179860 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 358.455049 deg,
      new cmd heading: 358.455049 deg.

2021-02-16T13:52:30.216Z,1613483550.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:30.912Z,1613483550.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:31.335Z,1613483551.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:32.152Z,1613483552.152 [Micromodem](INFO): Nmea in: $SNTTA,0.121787,,,,135232.33*4E

2021-02-16T13:52:32.224Z,1613483552.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.520004 m, bearing: 252.917370 deg, deltaT: 4.407302 s, approachRate: 0.000000 m/s, LOS rate: -17.701962 deg/s, posRepo size: 4
2021-02-16T13:52:32.226Z,1613483552.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.701962 deg/s. Setting heading cmd to target bearing of 252.917370deg and heading rate command to 0 deg/s.
2021-02-16T13:52:34.585Z,1613483554.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:35.361Z,1613483555.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:35.774Z,1613483555.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:36.578Z,1613483556.578 [Micromodem](INFO): Nmea in: $SNTTA,0.121405,,,,135236.78*4C

2021-02-16T13:52:37.012Z,1613483557.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 268.404769 deg, deltaT: 4.847944 s, approachRate: -0.717832 m/s, LOS rate: 3.194633 deg/s, posRepo size: 4
2021-02-16T13:52:37.014Z,1613483557.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 268.404769 deg,
      approachRate: -0.717832 m/s,
      LOS rate: 3.194633 deg/s,
      cmd update: 9.583898 deg/s,
      cmd heading: 252.917370 deg,
      new cmd heading: 252.917370 deg.

2021-02-16T13:52:39.445Z,1613483559.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:40.205Z,1613483560.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:40.615Z,1613483560.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:41.452Z,1613483561.452 [Micromodem](INFO): Nmea in: $SNTTA,0.120637,,,,135241.63*44

2021-02-16T13:52:41.476Z,1613483561.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 267.907367 deg, deltaT: 4.470384 s, approachRate: 0.000000 m/s, LOS rate: -0.111266 deg/s, posRepo size: 4
2021-02-16T13:52:41.478Z,1613483561.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 267.907367 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.111266 deg/s,
      cmd update: -0.333798 deg/s,
      cmd heading: 295.734611 deg,
      new cmd heading: 299.709773 deg.

2021-02-16T13:52:43.900Z,1613483563.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:44.658Z,1613483564.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:45.055Z,1613483565.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:45.908Z,1613483565.908 [Micromodem](INFO): Nmea in: $SNTTA,0.121060,,,,135246.08*4B

2021-02-16T13:52:45.933Z,1613483565.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 182.039993 m, bearing: 276.327406 deg, deltaT: 4.467809 s, approachRate: 0.000000 m/s, LOS rate: 1.884601 deg/s, posRepo size: 4
2021-02-16T13:52:45.935Z,1613483565.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.039993 m,
      bearing: 276.327406 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.884601 deg/s,
      cmd update: 5.653804 deg/s,
      cmd heading: 294.242623 deg,
      new cmd heading: 294.108338 deg.

2021-02-16T13:52:48.334Z,1613483568.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:49.133Z,1613483569.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:49.523Z,1613483569.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:50.346Z,1613483570.346 [Micromodem](INFO): Nmea in: $SNTTA,0.120461,,,,135250.55*40

2021-02-16T13:52:50.770Z,1613483570.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.779999 m, bearing: 315.768962 deg, deltaT: 4.839117 s, approachRate: -0.260377 m/s, LOS rate: 8.150569 deg/s, posRepo size: 4
2021-02-16T13:52:50.772Z,1613483570.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.779999 m,
      bearing: 315.768962 deg,
      approachRate: -0.260377 m/s,
      LOS rate: 8.150569 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 321.605492 deg,
      new cmd heading: 323.860670 deg.

2021-02-16T13:52:53.213Z,1613483573.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:53.967Z,1613483573.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:54.396Z,1613483574.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:55.189Z,1613483575.189 [Micromodem](INFO): Nmea in: $SNTTA,0.119866,,,,135255.39*4E

2021-02-16T13:52:55.645Z,1613483575.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.580002 m, bearing: 8.595353 deg, deltaT: 4.899485 s, approachRate: -0.244923 m/s, LOS rate: 10.782030 deg/s, posRepo size: 4
2021-02-16T13:52:55.647Z,1613483575.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.580002 m,
      bearing: 8.595353 deg,
      approachRate: -0.244923 m/s,
      LOS rate: 10.782030 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.340178 deg,
      new cmd heading: 24.899614 deg.

2021-02-16T13:52:58.033Z,1613483578.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:52:58.852Z,1613483578.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:59.227Z,1613483579.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C07D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:52:59.227Z,1613483579.227 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C07D30,2107E320,37BCD1E0,4000,4000,0*6B
 expected 78
2021-02-16T13:52:59.228Z,1613483579.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:52:59.231Z,1613483579.231 [Micromodem](INFO): Nmea in: $CATXP,400*46

2021-02-16T13:52:59.232Z,1613483579.232 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46

2021-02-16T13:52:59.629Z,1613483579.629 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T13:52:59.629Z,1613483579.629 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T13:52:59.632Z,1613483579.632 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,135300.279728,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77

2021-02-16T13:52:59.632Z,1613483579.632 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,135300.279728,3,0,40,4000,14500,1,0,0,0,2,0,3,0*77

2021-02-16T13:53:00.057Z,1613483580.057 [Micromodem](INFO): Nmea in: $CAERR,135300,NI  ,29,Busy completing a previous request*7F

2021-02-16T13:53:00.058Z,1613483580.058 [Micromodem](ERROR): Got error from modem: $CAERR,135300,NI  ,29,Busy completing a previous request*7F

2021-02-16T13:53:00.059Z,1613483580.059 [Micromodem](INFO): Nmea in: $SNTTA,0.118487,,,,135300.27*42

2021-02-16T13:53:00.059Z,1613483580.059 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.118487,,,,135300.27*42

2021-02-16T13:53:00.476Z,1613483580.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.540009 m, bearing: 18.729214 deg, deltaT: 4.856042 s, approachRate: -0.420094 m/s, LOS rate: 2.086856 deg/s, posRepo size: 4
2021-02-16T13:53:00.477Z,1613483580.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.540009 m,
      bearing: 18.729214 deg,
      approachRate: -0.420094 m/s,
      LOS rate: 2.086856 deg/s,
      cmd update: 6.260568 deg/s,
      cmd heading: 78.578231 deg,
      new cmd heading: 82.861163 deg.

2021-02-16T13:53:02.898Z,1613483582.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:05.707Z,1613483585.707 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:08.528Z,1613483588.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:10.549Z,1613483590.549 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:10.938Z,1613483590.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:11.385Z,1613483591.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:11.764Z,1613483591.764 [Micromodem](INFO): Nmea in: $SNTTA,0.113342,,,,135311.97*4C

2021-02-16T13:53:12.166Z,1613483592.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:12.576Z,1613483592.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:13.378Z,1613483593.378 [Micromodem](INFO): Nmea in: $SNTTA,0.112576,,,,135313.59*4C

2021-02-16T13:53:13.806Z,1613483593.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.660004 m, bearing: 16.912061 deg, deltaT: 13.319039 s, approachRate: -0.666715 m/s, LOS rate: -0.136433 deg/s, posRepo size: 4
2021-02-16T13:53:13.808Z,1613483593.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.660004 m,
      bearing: 16.912061 deg,
      approachRate: -0.666715 m/s,
      LOS rate: -0.136433 deg/s,
      cmd update: -0.409298 deg/s,
      cmd heading: 161.944524 deg,
      new cmd heading: 164.273505 deg.

2021-02-16T13:53:16.255Z,1613483596.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:17.002Z,1613483597.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:17.401Z,1613483597.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:18.253Z,1613483598.253 [Micromodem](INFO): Nmea in: $SNTTA,0.110242,,,,135318.43*4E

2021-02-16T13:53:18.299Z,1613483598.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 10.974385 deg, deltaT: 4.441724 s, approachRate: -0.810497 m/s, LOS rate: -1.336795 deg/s, posRepo size: 4
2021-02-16T13:53:18.301Z,1613483598.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 10.974385 deg,
      approachRate: -0.810497 m/s,
      LOS rate: -1.336795 deg/s,
      cmd update: -4.010386 deg/s,
      cmd heading: 160.122038 deg,
      new cmd heading: 159.953603 deg.

2021-02-16T13:53:20.653Z,1613483600.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:21.450Z,1613483601.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:21.865Z,1613483601.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:22.688Z,1613483602.688 [Micromodem](INFO): Nmea in: $SNTTA,0.108433,,,,135322.87*46

2021-02-16T13:53:22.703Z,1613483602.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 13.912288 deg, deltaT: 4.428042 s, approachRate: 0.000000 m/s, LOS rate: 0.663477 deg/s, posRepo size: 4
2021-02-16T13:53:22.705Z,1613483602.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 13.912288 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.663477 deg/s,
      cmd update: 1.990430 deg/s,
      cmd heading: 142.380124 deg,
      new cmd heading: 140.809244 deg.

2021-02-16T13:53:25.160Z,1613483605.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:25.884Z,1613483605.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:26.297Z,1613483606.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:27.140Z,1613483607.140 [Micromodem](INFO): Nmea in: $SNTTA,0.106877,,,,135327.30*4D

2021-02-16T13:53:27.194Z,1613483607.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 12.194843 deg, deltaT: 4.425667 s, approachRate: -1.098140 m/s, LOS rate: -0.388065 deg/s, posRepo size: 4
2021-02-16T13:53:27.201Z,1613483607.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 12.194843 deg,
      approachRate: -1.098140 m/s,
      LOS rate: -0.388065 deg/s,
      cmd update: -1.164194 deg/s,
      cmd heading: 151.188973 deg,
      new cmd heading: 152.100128 deg.

2021-02-16T13:53:29.546Z,1613483609.546 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:30.332Z,1613483610.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:30.736Z,1613483610.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:31.560Z,1613483611.560 [Micromodem](INFO): Nmea in: $SNTTA,0.105787,,,,135331.75*48

2021-02-16T13:53:31.582Z,1613483611.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.639999 m, bearing: 46.285098 deg, deltaT: 4.439333 s, approachRate: -0.351404 m/s, LOS rate: 7.679138 deg/s, posRepo size: 4
2021-02-16T13:53:31.584Z,1613483611.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.639999 m,
      bearing: 46.285098 deg,
      approachRate: -0.351404 m/s,
      LOS rate: 7.679138 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 146.016399 deg,
      new cmd heading: 145.547711 deg.

2021-02-16T13:53:34.010Z,1613483614.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:34.779Z,1613483614.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:35.178Z,1613483615.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:36.008Z,1613483616.008 [Micromodem](INFO): Nmea in: $SNTTA,0.105593,,,,135336.20*48

2021-02-16T13:53:36.056Z,1613483616.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 49.199249 deg, deltaT: 4.423495 s, approachRate: -0.054254 m/s, LOS rate: 0.658789 deg/s, posRepo size: 4
2021-02-16T13:53:36.058Z,1613483616.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 49.199249 deg,
      approachRate: -0.054254 m/s,
      LOS rate: 0.658789 deg/s,
      cmd update: 1.976368 deg/s,
      cmd heading: 199.082081 deg,
      new cmd heading: 204.535049 deg.

2021-02-16T13:53:38.446Z,1613483618.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:39.221Z,1613483619.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:39.641Z,1613483619.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:40.448Z,1613483620.448 [Micromodem](INFO): Nmea in: $SNTTA,0.105886,,,,135340.64*40

2021-02-16T13:53:40.498Z,1613483620.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.000000 m, bearing: 91.244654 deg, deltaT: 4.508286 s, approachRate: 0.133086 m/s, LOS rate: 9.326250 deg/s, posRepo size: 4
2021-02-16T13:53:40.504Z,1613483620.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.000000 m,
      bearing: 91.244654 deg,
      approachRate: 0.133086 m/s,
      LOS rate: 9.326250 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 207.940167 deg,
      new cmd heading: 208.759346 deg.

2021-02-16T13:53:42.898Z,1613483622.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:43.666Z,1613483623.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:44.085Z,1613483624.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:44.892Z,1613483624.892 [Micromodem](INFO): Nmea in: $SNTTA,0.106925,,,,135345.09*45

2021-02-16T13:53:44.933Z,1613483624.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 142.541909 deg, deltaT: 4.394312 s, approachRate: 0.395964 m/s, LOS rate: 11.673557 deg/s, posRepo size: 4
2021-02-16T13:53:44.933Z,1613483624.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.673557 deg/s. Setting heading cmd to target bearing of 142.541909deg and heading rate command to 0 deg/s.
2021-02-16T13:53:47.329Z,1613483627.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:48.126Z,1613483628.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:48.509Z,1613483628.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:49.351Z,1613483629.351 [Micromodem](INFO): Nmea in: $SNTTA,0.108443,,,,135349.55*43

2021-02-16T13:53:49.380Z,1613483629.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.739990 m, bearing: 159.053154 deg, deltaT: 4.455124 s, approachRate: 0.000000 m/s, LOS rate: 3.706125 deg/s, posRepo size: 4
2021-02-16T13:53:49.382Z,1613483629.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.739990 m,
      bearing: 159.053154 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.706125 deg/s,
      cmd update: 11.118374 deg/s,
      cmd heading: 142.541909 deg,
      new cmd heading: 142.541909 deg.

2021-02-16T13:53:51.788Z,1613483631.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:52.565Z,1613483632.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:52.976Z,1613483632.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:53.813Z,1613483633.813 [Micromodem](INFO): Nmea in: $SNTTA,0.109915,,,,135353.99*47

2021-02-16T13:53:53.929Z,1613483633.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 172.259734 deg, deltaT: 4.475996 s, approachRate: 0.965150 m/s, LOS rate: 2.950535 deg/s, posRepo size: 4
2021-02-16T13:53:53.930Z,1613483633.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 172.259734 deg,
      approachRate: 0.965150 m/s,
      LOS rate: 2.950535 deg/s,
      cmd update: 8.851604 deg/s,
      cmd heading: 192.270538 deg,
      new cmd heading: 197.682173 deg.

2021-02-16T13:53:56.234Z,1613483636.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:53:56.992Z,1613483636.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:53:57.397Z,1613483637.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:53:58.228Z,1613483638.228 [Micromodem](INFO): Nmea in: $SNTTA,0.111762,,,,135358.41*4E

2021-02-16T13:53:58.299Z,1613483638.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 211.245907 deg, deltaT: 4.429464 s, approachRate: 0.623099 m/s, LOS rate: 8.801556 deg/s, posRepo size: 4
2021-02-16T13:53:58.301Z,1613483638.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.819992 m,
      bearing: 211.245907 deg,
      approachRate: 0.623099 m/s,
      LOS rate: 8.801556 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 231.478745 deg,
      new cmd heading: 235.335965 deg.

2021-02-16T13:54:00.649Z,1613483640.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:01.436Z,1613483641.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:01.866Z,1613483641.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:02.671Z,1613483642.671 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135402.86*51

2021-02-16T13:54:02.691Z,1613483642.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 186.211734 deg, deltaT: 4.438430 s, approachRate: 0.635361 m/s, LOS rate: -5.640322 deg/s, posRepo size: 4
2021-02-16T13:54:02.693Z,1613483642.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.639999 m,
      bearing: 186.211734 deg,
      approachRate: 0.635361 m/s,
      LOS rate: -5.640322 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 284.692651 deg,
      new cmd heading: 289.411279 deg.

2021-02-16T13:54:05.150Z,1613483645.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:05.880Z,1613483645.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:06.292Z,1613483646.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:07.140Z,1613483647.140 [Micromodem](INFO): Nmea in: $SNTTA,0.115558,,,,135407.30*4A

2021-02-16T13:54:07.208Z,1613483647.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 200.662065 deg, deltaT: 4.436073 s, approachRate: 0.000000 m/s, LOS rate: 3.257460 deg/s, posRepo size: 4
2021-02-16T13:54:07.209Z,1613483647.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.639999 m,
      bearing: 200.662065 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.257460 deg/s,
      cmd update: 9.772380 deg/s,
      cmd heading: 231.412998 deg,
      new cmd heading: 225.819569 deg.

2021-02-16T13:54:09.543Z,1613483649.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:10.324Z,1613483650.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:10.730Z,1613483650.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:11.559Z,1613483651.559 [Micromodem](INFO): Nmea in: $SNTTA,0.117022,,,,135411.75*46

2021-02-16T13:54:11.578Z,1613483651.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.559998 m, bearing: 235.701031 deg, deltaT: 4.464632 s, approachRate: 1.101994 m/s, LOS rate: 7.848120 deg/s, posRepo size: 4
2021-02-16T13:54:11.580Z,1613483651.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.559998 m,
      bearing: 235.701031 deg,
      approachRate: 1.101994 m/s,
      LOS rate: 7.848120 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 275.080145 deg,
      new cmd heading: 278.722223 deg.

2021-02-16T13:54:13.987Z,1613483653.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:14.783Z,1613483654.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:15.174Z,1613483655.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:15.996Z,1613483655.996 [Micromodem](INFO): Nmea in: $SNTTA,0.118031,,,,135416.20*4C

2021-02-16T13:54:16.423Z,1613483656.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 249.152952 deg, deltaT: 4.817474 s, approachRate: 0.311366 m/s, LOS rate: 2.792318 deg/s, posRepo size: 4
2021-02-16T13:54:16.425Z,1613483656.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 249.152952 deg,
      approachRate: 0.311366 m/s,
      LOS rate: 2.792318 deg/s,
      cmd update: 8.376956 deg/s,
      cmd heading: 332.891587 deg,
      new cmd heading: 337.688107 deg.

2021-02-16T13:54:18.871Z,1613483658.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:19.621Z,1613483659.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:20.027Z,1613483660.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:20.858Z,1613483660.858 [Micromodem](INFO): Nmea in: $SNTTA,0.119109,,,,135421.04*45

2021-02-16T13:54:21.298Z,1613483661.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.619995 m, bearing: 314.354047 deg, deltaT: 4.860266 s, approachRate: 0.320970 m/s, LOS rate: 13.415129 deg/s, posRepo size: 4
2021-02-16T13:54:21.299Z,1613483661.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.415129 deg/s. Setting heading cmd to target bearing of 314.354047deg and heading rate command to 0 deg/s.
2021-02-16T13:54:23.683Z,1613483663.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:24.489Z,1613483664.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:24.870Z,1613483664.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:25.698Z,1613483665.698 [Micromodem](INFO): Nmea in: $SNTTA,0.119056,,,,135425.91*46

2021-02-16T13:54:26.145Z,1613483666.145 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T13:54:26.158Z,1613483666.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.560013 m, bearing: 256.791180 deg, deltaT: 4.855991 s, approachRate: -0.012352 m/s, LOS rate: -11.853990 deg/s, posRepo size: 4
2021-02-16T13:54:26.159Z,1613483666.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.853990 deg/s. Setting heading cmd to target bearing of 256.791180deg and heading rate command to 0 deg/s.
2021-02-16T13:54:28.542Z,1613483668.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:29.318Z,1613483669.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:29.722Z,1613483669.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:30.544Z,1613483670.544 [Micromodem](INFO): Nmea in: $SNTTA,0.118290,,,,135430.74*40

2021-02-16T13:54:30.590Z,1613483670.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 3.866943 deg, deltaT: 4.456175 s, approachRate: -3.446906 m/s, LOS rate: 24.028628 deg/s, posRepo size: 4
2021-02-16T13:54:30.591Z,1613483670.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.028628 deg/s. Setting heading cmd to target bearing of 3.866943deg and heading rate command to 0 deg/s.
2021-02-16T13:54:32.993Z,1613483672.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:33.758Z,1613483673.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:34.170Z,1613483674.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:34.984Z,1613483674.984 [Micromodem](INFO): Nmea in: $SNTTA,0.117551,,,,135435.18*4A

2021-02-16T13:54:35.034Z,1613483675.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 323.217802 deg, deltaT: 4.421101 s, approachRate: 0.000000 m/s, LOS rate: -9.194350 deg/s, posRepo size: 4
2021-02-16T13:54:35.040Z,1613483675.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.199997 m,
      bearing: 323.217802 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.194350 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 3.866943 deg,
      new cmd heading: 3.866943 deg.

2021-02-16T13:54:37.422Z,1613483677.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:38.200Z,1613483678.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:38.615Z,1613483678.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:39.497Z,1613483679.497 [Micromodem](INFO): Nmea in: $SNTTA,0.116810,,,,135439.62*42

2021-02-16T13:54:39.647Z,1613483679.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.199997 m, bearing: 265.779545 deg, deltaT: 4.440895 s, approachRate: 0.000000 m/s, LOS rate: -12.933937 deg/s, posRepo size: 4
2021-02-16T13:54:39.648Z,1613483679.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.933937 deg/s. Setting heading cmd to target bearing of 265.779545deg and heading rate command to 0 deg/s.
2021-02-16T13:54:41.894Z,1613483681.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:42.665Z,1613483682.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:43.055Z,1613483683.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:43.876Z,1613483683.876 [Micromodem](INFO): Nmea in: $SNTTA,0.115925,,,,135444.09*41

2021-02-16T13:54:44.304Z,1613483684.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 12.148297 deg, deltaT: 4.874935 s, approachRate: 2.153875 m/s, LOS rate: 21.819519 deg/s, posRepo size: 4
2021-02-16T13:54:44.304Z,1613483684.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.819519 deg/s. Setting heading cmd to target bearing of 12.148297deg and heading rate command to 0 deg/s.
2021-02-16T13:54:46.721Z,1613483686.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:47.501Z,1613483687.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:47.919Z,1613483687.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:48.319Z,1613483688.319 [RDI_PathfinderUp](ERROR): only read -1 of 4 data items
2021-02-16T13:54:48.728Z,1613483688.728 [Micromodem](INFO): Nmea in: $SNTTA,0.114626,,,,135448.92*42

2021-02-16T13:54:48.774Z,1613483688.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 335.782481 deg, deltaT: 4.422077 s, approachRate: 0.000000 m/s, LOS rate: -8.223693 deg/s, posRepo size: 4
2021-02-16T13:54:48.776Z,1613483688.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.699997 m,
      bearing: 335.782481 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.223693 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 12.148297 deg,
      new cmd heading: 12.148297 deg.

2021-02-16T13:54:51.220Z,1613483691.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:51.941Z,1613483691.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:52.343Z,1613483692.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:53.175Z,1613483693.175 [Micromodem](INFO): Nmea in: $SNTTA,0.114149,,,,135453.36*48

2021-02-16T13:54:53.210Z,1613483693.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.699997 m, bearing: 255.521120 deg, deltaT: 4.436489 s, approachRate: 0.000000 m/s, LOS rate: -18.091189 deg/s, posRepo size: 4
2021-02-16T13:54:53.210Z,1613483693.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.091189 deg/s. Setting heading cmd to target bearing of 255.521120deg and heading rate command to 0 deg/s.
2021-02-16T13:54:55.593Z,1613483695.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:54:56.397Z,1613483696.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:54:56.795Z,1613483696.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:54:57.609Z,1613483697.609 [Micromodem](INFO): Nmea in: $SNTTA,0.113829,,,,135457.82*4B

2021-02-16T13:54:58.032Z,1613483698.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 8.744442 deg, deltaT: 4.868079 s, approachRate: -0.640906 m/s, LOS rate: 23.258317 deg/s, posRepo size: 4
2021-02-16T13:54:58.033Z,1613483698.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.258317 deg/s. Setting heading cmd to target bearing of 8.744442deg and heading rate command to 0 deg/s.
2021-02-16T13:55:00.459Z,1613483700.459 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:01.228Z,1613483701.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:01.635Z,1613483701.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:02.471Z,1613483702.471 [Micromodem](INFO): Nmea in: $SNTTA,0.112825,,,,135502.65*4E

2021-02-16T13:55:02.495Z,1613483702.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 354.790707 deg, deltaT: 4.470084 s, approachRate: 0.000000 m/s, LOS rate: -3.121583 deg/s, posRepo size: 4
2021-02-16T13:55:02.497Z,1613483702.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.580017 m,
      bearing: 354.790707 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.121583 deg/s,
      cmd update: -9.364749 deg/s,
      cmd heading: 8.744442 deg,
      new cmd heading: 8.744442 deg.

2021-02-16T13:55:04.922Z,1613483704.922 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:05.677Z,1613483705.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:06.096Z,1613483706.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:06.916Z,1613483706.916 [Micromodem](INFO): Nmea in: $SNTTA,0.111866,,,,135507.10*4D

2021-02-16T13:55:06.941Z,1613483706.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 273.573747 deg, deltaT: 4.392586 s, approachRate: 0.000000 m/s, LOS rate: -18.489554 deg/s, posRepo size: 4
2021-02-16T13:55:06.941Z,1613483706.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.489554 deg/s. Setting heading cmd to target bearing of 273.573747deg and heading rate command to 0 deg/s.
2021-02-16T13:55:09.357Z,1613483709.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:10.134Z,1613483710.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:10.528Z,1613483710.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:11.356Z,1613483711.356 [Micromodem](INFO): Nmea in: $SNTTA,0.111014,,,,135511.56*45

2021-02-16T13:55:11.380Z,1613483711.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 20.051224 deg, deltaT: 4.438435 s, approachRate: 0.000000 m/s, LOS rate: 23.989870 deg/s, posRepo size: 4
2021-02-16T13:55:11.381Z,1613483711.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.989870 deg/s. Setting heading cmd to target bearing of 20.051224deg and heading rate command to 0 deg/s.
2021-02-16T13:55:13.771Z,1613483713.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:14.579Z,1613483714.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:14.971Z,1613483714.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:15.804Z,1613483715.804 [Micromodem](INFO): Nmea in: $SNTTA,0.109625,,,,135516.00*4C

2021-02-16T13:55:15.874Z,1613483715.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 331.530743 deg, deltaT: 4.442104 s, approachRate: 0.000000 m/s, LOS rate: -10.922860 deg/s, posRepo size: 4
2021-02-16T13:55:15.880Z,1613483715.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.580017 m,
      bearing: 331.530743 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.922860 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 20.051224 deg,
      new cmd heading: 20.051224 deg.

2021-02-16T13:55:18.253Z,1613483718.253 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:19.005Z,1613483719.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:19.430Z,1613483719.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:20.237Z,1613483720.237 [Micromodem](INFO): Nmea in: $SNTTA,0.108792,,0.126373,,135520.43*5E

2021-02-16T13:55:20.296Z,1613483720.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 276.152526 deg, deltaT: 4.482550 s, approachRate: -1.659770 m/s, LOS rate: -12.354177 deg/s, posRepo size: 4
2021-02-16T13:55:20.296Z,1613483720.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.354177 deg/s. Setting heading cmd to target bearing of 276.152526deg and heading rate command to 0 deg/s.
2021-02-16T13:55:22.655Z,1613483722.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:23.453Z,1613483723.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:23.868Z,1613483723.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:24.684Z,1613483724.684 [Micromodem](INFO): Nmea in: $SNTTA,0.107909,,,,135524.88*42

2021-02-16T13:55:24.716Z,1613483724.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.759995 m, bearing: 17.132093 deg, deltaT: 4.420931 s, approachRate: -0.312156 m/s, LOS rate: 22.841242 deg/s, posRepo size: 4
2021-02-16T13:55:24.717Z,1613483724.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.841242 deg/s. Setting heading cmd to target bearing of 17.132093deg and heading rate command to 0 deg/s.
2021-02-16T13:55:27.216Z,1613483727.216 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:27.898Z,1613483727.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:28.309Z,1613483728.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:29.140Z,1613483729.140 [Micromodem](INFO): Nmea in: $SNTTA,0.106600,,,,135529.32*49

2021-02-16T13:55:29.175Z,1613483729.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 338.259955 deg, deltaT: 4.434561 s, approachRate: -0.419429 m/s, LOS rate: -8.765721 deg/s, posRepo size: 4
2021-02-16T13:55:29.177Z,1613483729.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.900009 m,
      bearing: 338.259955 deg,
      approachRate: -0.419429 m/s,
      LOS rate: -8.765721 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 17.132093 deg,
      new cmd heading: 17.132093 deg.

2021-02-16T13:55:31.556Z,1613483731.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:32.341Z,1613483732.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:32.747Z,1613483732.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:33.576Z,1613483733.576 [Micromodem](INFO): Nmea in: $SNTTA,0.105701,,,,135533.76*41

2021-02-16T13:55:33.615Z,1613483733.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.580002 m, bearing: 282.090965 deg, deltaT: 4.473251 s, approachRate: -0.295089 m/s, LOS rate: -12.556637 deg/s, posRepo size: 4
2021-02-16T13:55:33.616Z,1613483733.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.556637 deg/s. Setting heading cmd to target bearing of 282.090965deg and heading rate command to 0 deg/s.
2021-02-16T13:55:36.015Z,1613483736.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:36.789Z,1613483736.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:37.198Z,1613483737.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:38.016Z,1613483738.016 [Micromodem](INFO): Nmea in: $SNTTA,0.104907,,,,135538.21*41

2021-02-16T13:55:38.056Z,1613483738.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 22.248713 deg, deltaT: 4.426805 s, approachRate: -0.325292 m/s, LOS rate: 22.625290 deg/s, posRepo size: 4
2021-02-16T13:55:38.056Z,1613483738.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.625290 deg/s. Setting heading cmd to target bearing of 22.248713deg and heading rate command to 0 deg/s.
2021-02-16T13:55:40.457Z,1613483740.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:41.225Z,1613483741.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:41.636Z,1613483741.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:42.456Z,1613483742.456 [Micromodem](INFO): Nmea in: $SNTTA,0.103577,,,,135542.65*40

2021-02-16T13:55:42.497Z,1613483742.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.400009 m, bearing: 342.693595 deg, deltaT: 4.486538 s, approachRate: -0.387825 m/s, LOS rate: -8.816401 deg/s, posRepo size: 4
2021-02-16T13:55:42.499Z,1613483742.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.400009 m,
      bearing: 342.693595 deg,
      approachRate: -0.387825 m/s,
      LOS rate: -8.816401 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 22.248713 deg,
      new cmd heading: 22.248713 deg.

2021-02-16T13:55:44.898Z,1613483744.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:45.669Z,1613483745.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:46.080Z,1613483746.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:46.908Z,1613483746.908 [Micromodem](INFO): Nmea in: $SNTTA,0.102762,,,,135547.09*48

2021-02-16T13:55:46.944Z,1613483746.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.139999 m, bearing: 269.909132 deg, deltaT: 4.384535 s, approachRate: -0.287376 m/s, LOS rate: -16.600269 deg/s, posRepo size: 4
2021-02-16T13:55:46.945Z,1613483746.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.600269 deg/s. Setting heading cmd to target bearing of 269.909132deg and heading rate command to 0 deg/s.
2021-02-16T13:55:49.336Z,1613483749.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:50.144Z,1613483750.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:50.525Z,1613483750.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:51.360Z,1613483751.360 [Micromodem](INFO): Nmea in: $SNTTA,0.102393,,,,135551.56*4F

2021-02-16T13:55:51.404Z,1613483751.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 8.358778 deg, deltaT: 4.470174 s, approachRate: -0.147643 m/s, LOS rate: 22.023673 deg/s, posRepo size: 4
2021-02-16T13:55:51.405Z,1613483751.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.023673 deg/s. Setting heading cmd to target bearing of 8.358778deg and heading rate command to 0 deg/s.
2021-02-16T13:55:53.763Z,1613483753.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:54.562Z,1613483754.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:54.974Z,1613483754.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:55:55.797Z,1613483755.797 [Micromodem](INFO): Nmea in: $SNTTA,0.101581,,,,135555.98*4F

2021-02-16T13:55:55.859Z,1613483755.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.279999 m, bearing: 9.655753 deg, deltaT: 4.419765 s, approachRate: -0.271510 m/s, LOS rate: 0.293449 deg/s, posRepo size: 4
2021-02-16T13:55:55.860Z,1613483755.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.279999 m,
      bearing: 9.655753 deg,
      approachRate: -0.271510 m/s,
      LOS rate: 0.293449 deg/s,
      cmd update: 0.880347 deg/s,
      cmd heading: 8.358778 deg,
      new cmd heading: 8.358778 deg.

2021-02-16T13:55:58.257Z,1613483758.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:55:59.025Z,1613483759.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:55:59.406Z,1613483759.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:00.245Z,1613483760.245 [Micromodem](INFO): Nmea in: $SNTTA,0.100610,,,,135600.45*46

2021-02-16T13:56:00.299Z,1613483760.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.839996 m, bearing: 277.658965 deg, deltaT: 4.479237 s, approachRate: -0.321484 m/s, LOS rate: -20.538497 deg/s, posRepo size: 4
2021-02-16T13:56:00.300Z,1613483760.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.538497 deg/s. Setting heading cmd to target bearing of 277.658965deg and heading rate command to 0 deg/s.
2021-02-16T13:56:02.651Z,1613483762.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:03.449Z,1613483763.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:03.865Z,1613483763.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:04.676Z,1613483764.676 [Micromodem](INFO): Nmea in: $SNTTA,0.099864,,,,135604.87*40

2021-02-16T13:56:04.712Z,1613483764.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 23.030326 deg, deltaT: 4.435768 s, approachRate: -0.257002 m/s, LOS rate: 23.754932 deg/s, posRepo size: 4
2021-02-16T13:56:04.713Z,1613483764.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.754932 deg/s. Setting heading cmd to target bearing of 23.030326deg and heading rate command to 0 deg/s.
2021-02-16T13:56:07.163Z,1613483767.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:07.888Z,1613483767.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:08.295Z,1613483768.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:09.148Z,1613483769.148 [Micromodem](INFO): Nmea in: $SNTTA,0.098917,,,,135609.31*44

2021-02-16T13:56:09.207Z,1613483769.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.259995 m, bearing: 36.045859 deg, deltaT: 4.419947 s, approachRate: -0.325796 m/s, LOS rate: 2.944726 deg/s, posRepo size: 4
2021-02-16T13:56:09.209Z,1613483769.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.259995 m,
      bearing: 36.045859 deg,
      approachRate: -0.325796 m/s,
      LOS rate: 2.944726 deg/s,
      cmd update: 8.834179 deg/s,
      cmd heading: 23.030326 deg,
      new cmd heading: 23.030326 deg.

2021-02-16T13:56:11.558Z,1613483771.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:12.337Z,1613483772.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:12.756Z,1613483772.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:13.564Z,1613483773.564 [Micromodem](INFO): Nmea in: $SNTTA,0.097291,,,,135613.76*46

2021-02-16T13:56:13.601Z,1613483773.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 30.089237 deg, deltaT: 4.460551 s, approachRate: -0.564950 m/s, LOS rate: -1.335400 deg/s, posRepo size: 4
2021-02-16T13:56:13.602Z,1613483773.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.740005 m,
      bearing: 30.089237 deg,
      approachRate: -0.564950 m/s,
      LOS rate: -1.335400 deg/s,
      cmd update: -4.006201 deg/s,
      cmd heading: 62.435276 deg,
      new cmd heading: 65.999929 deg.

2021-02-16T13:56:16.003Z,1613483776.003 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:16.781Z,1613483776.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:17.192Z,1613483777.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:18.008Z,1613483778.008 [Micromodem](INFO): Nmea in: $SNTTA,0.095849,,,,135618.20*43

2021-02-16T13:56:18.114Z,1613483778.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 31.814461 deg, deltaT: 4.421796 s, approachRate: -0.474922 m/s, LOS rate: 0.390164 deg/s, posRepo size: 4
2021-02-16T13:56:18.131Z,1613483778.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 31.814461 deg,
      approachRate: -0.474922 m/s,
      LOS rate: 0.390164 deg/s,
      cmd update: 1.170491 deg/s,
      cmd heading: 44.720623 deg,
      new cmd heading: 42.769627 deg.

2021-02-16T13:56:20.446Z,1613483780.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:21.235Z,1613483781.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:21.627Z,1613483781.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:22.456Z,1613483782.456 [Micromodem](INFO): Nmea in: $SNTTA,0.093713,,,,135622.66*4E

2021-02-16T13:56:22.497Z,1613483782.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.340012 m, bearing: 34.424560 deg, deltaT: 4.503631 s, approachRate: -0.732739 m/s, LOS rate: 0.579554 deg/s, posRepo size: 4
2021-02-16T13:56:22.498Z,1613483782.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.340012 m,
      bearing: 34.424560 deg,
      approachRate: -0.732739 m/s,
      LOS rate: 0.579554 deg/s,
      cmd update: 1.738663 deg/s,
      cmd heading: 49.960197 deg,
      new cmd heading: 50.430047 deg.

2021-02-16T13:56:24.902Z,1613483784.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:25.669Z,1613483785.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:26.096Z,1613483786.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:26.896Z,1613483786.896 [Micromodem](INFO): Nmea in: $SNTTA,0.091459,,,,135627.09*4D

2021-02-16T13:56:26.921Z,1613483786.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.979996 m, bearing: 35.531037 deg, deltaT: 4.369746 s, approachRate: -0.768927 m/s, LOS rate: 0.253213 deg/s, posRepo size: 4
2021-02-16T13:56:26.923Z,1613483786.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.979996 m,
      bearing: 35.531037 deg,
      approachRate: -0.768927 m/s,
      LOS rate: 0.253213 deg/s,
      cmd update: 0.759639 deg/s,
      cmd heading: 57.604776 deg,
      new cmd heading: 58.350379 deg.

2021-02-16T13:56:29.345Z,1613483789.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:30.136Z,1613483790.136 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:30.519Z,1613483790.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:31.352Z,1613483791.352 [Micromodem](INFO): Nmea in: $SNTTA,0.089123,,,,135631.56*41

2021-02-16T13:56:31.394Z,1613483791.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.500000 m, bearing: 33.170254 deg, deltaT: 4.470273 s, approachRate: -0.778475 m/s, LOS rate: -0.528107 deg/s, posRepo size: 4
2021-02-16T13:56:31.396Z,1613483791.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.500000 m,
      bearing: 33.170254 deg,
      approachRate: -0.778475 m/s,
      LOS rate: -0.528107 deg/s,
      cmd update: -1.584321 deg/s,
      cmd heading: 60.988534 deg,
      new cmd heading: 61.328748 deg.

2021-02-16T13:56:33.765Z,1613483793.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:34.574Z,1613483794.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:34.958Z,1613483794.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:35.795Z,1613483795.795 [Micromodem](INFO): Nmea in: $SNTTA,0.086977,,,,135635.99*40

2021-02-16T13:56:35.864Z,1613483795.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 30.283006 deg, deltaT: 4.426676 s, approachRate: -0.731924 m/s, LOS rate: -0.652238 deg/s, posRepo size: 4
2021-02-16T13:56:35.866Z,1613483795.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.260010 m,
      bearing: 30.283006 deg,
      approachRate: -0.731924 m/s,
      LOS rate: -0.652238 deg/s,
      cmd update: -1.956715 deg/s,
      cmd heading: 53.949862 deg,
      new cmd heading: 53.210752 deg.

2021-02-16T13:56:38.282Z,1613483798.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:39.013Z,1613483799.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:39.419Z,1613483799.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:40.237Z,1613483800.237 [Micromodem](INFO): Nmea in: $SNTTA,0.084856,,,,135640.43*45

2021-02-16T13:56:40.274Z,1613483800.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.960007 m, bearing: 31.492790 deg, deltaT: 4.493698 s, approachRate: -0.734362 m/s, LOS rate: 0.269218 deg/s, posRepo size: 4
2021-02-16T13:56:40.289Z,1613483800.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.960007 m,
      bearing: 31.492790 deg,
      approachRate: -0.734362 m/s,
      LOS rate: 0.269218 deg/s,
      cmd update: 0.807653 deg/s,
      cmd heading: 45.157033 deg,
      new cmd heading: 44.391250 deg.

2021-02-16T13:56:42.669Z,1613483802.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:43.445Z,1613483803.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:43.887Z,1613483803.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:44.687Z,1613483804.687 [Micromodem](INFO): Nmea in: $SNTTA,0.082478,,,,135644.87*4F

2021-02-16T13:56:44.706Z,1613483804.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 30.945022 deg, deltaT: 4.410995 s, approachRate: -0.775337 m/s, LOS rate: -0.124182 deg/s, posRepo size: 4
2021-02-16T13:56:44.708Z,1613483804.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.540001 m,
      bearing: 30.945022 deg,
      approachRate: -0.775337 m/s,
      LOS rate: -0.124182 deg/s,
      cmd update: -0.372547 deg/s,
      cmd heading: 48.719752 deg,
      new cmd heading: 49.052804 deg.

2021-02-16T13:56:47.180Z,1613483807.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:47.890Z,1613483807.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:48.295Z,1613483808.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:49.160Z,1613483809.160 [Micromodem](INFO): Nmea in: $SNTTA,0.080015,,,,135649.31*42

2021-02-16T13:56:49.219Z,1613483809.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.820000 m, bearing: 30.568505 deg, deltaT: 4.412173 s, approachRate: -0.843122 m/s, LOS rate: -0.085336 deg/s, posRepo size: 4
2021-02-16T13:56:49.221Z,1613483809.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.820000 m,
      bearing: 30.568505 deg,
      approachRate: -0.843122 m/s,
      LOS rate: -0.085336 deg/s,
      cmd update: -0.256008 deg/s,
      cmd heading: 47.076095 deg,
      new cmd heading: 46.886516 deg.

2021-02-16T13:56:51.535Z,1613483811.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:52.335Z,1613483812.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:52.734Z,1613483812.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:53.564Z,1613483813.564 [Micromodem](INFO): Nmea in: $SNTTA,0.077675,,,,135653.76*42

2021-02-16T13:56:53.579Z,1613483813.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.279999 m, bearing: 29.198147 deg, deltaT: 4.514027 s, approachRate: -0.784222 m/s, LOS rate: -0.303578 deg/s, posRepo size: 4
2021-02-16T13:56:53.581Z,1613483813.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.279999 m,
      bearing: 29.198147 deg,
      approachRate: -0.784222 m/s,
      LOS rate: -0.303578 deg/s,
      cmd update: -0.910733 deg/s,
      cmd heading: 45.921094 deg,
      new cmd heading: 45.828588 deg.

2021-02-16T13:56:55.990Z,1613483815.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:56:56.772Z,1613483816.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:56:57.182Z,1613483817.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:56:58.008Z,1613483818.008 [Micromodem](INFO): Nmea in: $SNTTA,0.075335,,,,135658.19*43

2021-02-16T13:56:58.033Z,1613483818.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.860001 m, bearing: 28.891424 deg, deltaT: 4.380328 s, approachRate: -0.780763 m/s, LOS rate: -0.070023 deg/s, posRepo size: 4
2021-02-16T13:56:58.035Z,1613483818.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.860001 m,
      bearing: 28.891424 deg,
      approachRate: -0.780763 m/s,
      LOS rate: -0.070023 deg/s,
      cmd update: -0.210069 deg/s,
      cmd heading: 41.929539 deg,
      new cmd heading: 41.535448 deg.

2021-02-16T13:57:00.476Z,1613483820.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:01.222Z,1613483821.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:01.635Z,1613483821.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:02.448Z,1613483822.448 [Micromodem](INFO): Nmea in: $SNTTA,0.073031,,,,135702.64*46

2021-02-16T13:57:02.493Z,1613483822.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 28.162917 deg, deltaT: 4.471800 s, approachRate: -0.778209 m/s, LOS rate: -0.162911 deg/s, posRepo size: 4
2021-02-16T13:57:02.495Z,1613483822.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.380005 m,
      bearing: 28.162917 deg,
      approachRate: -0.778209 m/s,
      LOS rate: -0.162911 deg/s,
      cmd update: -0.488734 deg/s,
      cmd heading: 40.991878 deg,
      new cmd heading: 40.901709 deg.

2021-02-16T13:57:04.892Z,1613483824.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:05.660Z,1613483825.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:06.083Z,1613483826.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:06.888Z,1613483826.888 [Micromodem](INFO): Nmea in: $SNTTA,0.070545,,,,135707.08*4C

2021-02-16T13:57:06.928Z,1613483826.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.660004 m, bearing: 27.703401 deg, deltaT: 4.425855 s, approachRate: -0.840516 m/s, LOS rate: -0.103825 deg/s, posRepo size: 4
2021-02-16T13:57:06.930Z,1613483826.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.660004 m,
      bearing: 27.703401 deg,
      approachRate: -0.840516 m/s,
      LOS rate: -0.103825 deg/s,
      cmd update: -0.311476 deg/s,
      cmd heading: 38.824686 deg,
      new cmd heading: 38.615207 deg.

2021-02-16T13:57:09.340Z,1613483829.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:10.150Z,1613483830.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:10.524Z,1613483830.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:11.346Z,1613483831.346 [Micromodem](INFO): Nmea in: $SNTTA,0.068095,,,,135711.57*40

2021-02-16T13:57:11.388Z,1613483831.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 27.391313 deg, deltaT: 4.460821 s, approachRate: -0.833927 m/s, LOS rate: -0.069962 deg/s, posRepo size: 4
2021-02-16T13:57:11.390Z,1613483831.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 27.391313 deg,
      approachRate: -0.833927 m/s,
      LOS rate: -0.069962 deg/s,
      cmd update: -0.209886 deg/s,
      cmd heading: 37.436584 deg,
      new cmd heading: 37.301522 deg.

2021-02-16T13:57:13.773Z,1613483833.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:14.550Z,1613483834.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:14.954Z,1613483834.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:15.784Z,1613483835.784 [Micromodem](INFO): Nmea in: $SNTTA,0.065681,,,,135715.98*49

2021-02-16T13:57:15.867Z,1613483835.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 26.795496 deg, deltaT: 4.420191 s, approachRate: -0.814446 m/s, LOS rate: -0.134794 deg/s, posRepo size: 4
2021-02-16T13:57:15.869Z,1613483835.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 26.795496 deg,
      approachRate: -0.814446 m/s,
      LOS rate: -0.134794 deg/s,
      cmd update: -0.404383 deg/s,
      cmd heading: 36.507964 deg,
      new cmd heading: 36.406389 deg.

2021-02-16T13:57:18.246Z,1613483838.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:19.009Z,1613483839.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:19.404Z,1613483839.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:20.233Z,1613483840.233 [Micromodem](INFO): Nmea in: $SNTTA,0.063321,,,,135720.43*40

2021-02-16T13:57:20.309Z,1613483840.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.800003 m, bearing: 26.816778 deg, deltaT: 4.486084 s, approachRate: -0.789105 m/s, LOS rate: 0.004744 deg/s, posRepo size: 4
2021-02-16T13:57:20.310Z,1613483840.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 26.816778 deg,
      approachRate: -0.789105 m/s,
      LOS rate: 0.004744 deg/s,
      cmd update: 0.014231 deg/s,
      cmd heading: 34.695501 deg,
      new cmd heading: 34.514591 deg.

2021-02-16T13:57:22.658Z,1613483842.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:23.436Z,1613483843.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:23.864Z,1613483843.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:24.668Z,1613483844.668 [Micromodem](INFO): Nmea in: $SNTTA,0.060731,,,,135724.86*4B

2021-02-16T13:57:24.701Z,1613483844.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.959999 m, bearing: 25.462609 deg, deltaT: 4.441705 s, approachRate: -0.864534 m/s, LOS rate: -0.304876 deg/s, posRepo size: 4
2021-02-16T13:57:24.702Z,1613483844.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 25.462609 deg,
      approachRate: -0.864534 m/s,
      LOS rate: -0.304876 deg/s,
      cmd update: -0.914628 deg/s,
      cmd heading: 34.758761 deg,
      new cmd heading: 34.764374 deg.

2021-02-16T13:57:27.148Z,1613483847.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:27.886Z,1613483847.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:28.293Z,1613483848.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:29.140Z,1613483849.140 [Micromodem](INFO): Nmea in: $SNTTA,0.058629,,,,135729.31*49

2021-02-16T13:57:29.206Z,1613483849.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 25.362415 deg, deltaT: 4.413196 s, approachRate: -0.720565 m/s, LOS rate: -0.022703 deg/s, posRepo size: 4
2021-02-16T13:57:29.208Z,1613483849.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.780006 m,
      bearing: 25.362415 deg,
      approachRate: -0.720565 m/s,
      LOS rate: -0.022703 deg/s,
      cmd update: -0.068110 deg/s,
      cmd heading: 30.721961 deg,
      new cmd heading: 30.277686 deg.

2021-02-16T13:57:31.548Z,1613483851.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:32.332Z,1613483852.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:32.739Z,1613483852.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:33.556Z,1613483853.556 [Micromodem](INFO): Nmea in: $SNTTA,0.055987,,,,135733.75*44

2021-02-16T13:57:33.593Z,1613483853.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 24.805657 deg, deltaT: 4.492951 s, approachRate: -0.881380 m/s, LOS rate: -0.123918 deg/s, posRepo size: 4
2021-02-16T13:57:33.595Z,1613483853.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.820007 m,
      bearing: 24.805657 deg,
      approachRate: -0.881380 m/s,
      LOS rate: -0.123918 deg/s,
      cmd update: -0.371754 deg/s,
      cmd heading: 30.417008 deg,
      new cmd heading: 30.390022 deg.

2021-02-16T13:57:35.986Z,1613483855.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:36.773Z,1613483856.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:37.174Z,1613483857.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:38.000Z,1613483858.000 [Micromodem](INFO): Nmea in: $SNTTA,0.053203,,,,135738.20*4E

2021-02-16T13:57:38.025Z,1613483858.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 25.079452 deg, deltaT: 4.388835 s, approachRate: -0.956975 m/s, LOS rate: 0.062384 deg/s, posRepo size: 4
2021-02-16T13:57:38.027Z,1613483858.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.620003 m,
      bearing: 25.079452 deg,
      approachRate: -0.956975 m/s,
      LOS rate: 0.062384 deg/s,
      cmd update: 0.187153 deg/s,
      cmd heading: 28.779594 deg,
      new cmd heading: 28.622216 deg.

2021-02-16T13:57:40.428Z,1613483860.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:41.230Z,1613483861.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:41.623Z,1613483861.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:42.452Z,1613483862.452 [Micromodem](INFO): Nmea in: $SNTTA,0.050663,,,,135742.65*43

2021-02-16T13:57:42.501Z,1613483862.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 24.543424 deg, deltaT: 4.467539 s, approachRate: -0.846103 m/s, LOS rate: -0.119983 deg/s, posRepo size: 4
2021-02-16T13:57:42.502Z,1613483862.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.840004 m,
      bearing: 24.543424 deg,
      approachRate: -0.846103 m/s,
      LOS rate: -0.119983 deg/s,
      cmd update: -0.359949 deg/s,
      cmd heading: 29.615001 deg,
      new cmd heading: 29.696441 deg.

2021-02-16T13:57:44.891Z,1613483864.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:45.657Z,1613483865.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:46.072Z,1613483866.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:46.884Z,1613483866.884 [Micromodem](INFO): Nmea in: $SNTTA,0.048285,,,,135747.08*48

2021-02-16T13:57:46.923Z,1613483866.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.240005 m, bearing: 23.136914 deg, deltaT: 4.435860 s, approachRate: -0.811567 m/s, LOS rate: -0.317077 deg/s, posRepo size: 4
2021-02-16T13:57:46.925Z,1613483866.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.240005 m,
      bearing: 23.136914 deg,
      approachRate: -0.811567 m/s,
      LOS rate: -0.317077 deg/s,
      cmd update: -0.951232 deg/s,
      cmd heading: 28.016913 deg,
      new cmd heading: 27.866568 deg.

2021-02-16T13:57:49.326Z,1613483869.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:50.121Z,1613483870.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:50.173Z,1613483870.173 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T13:57:50.506Z,1613483870.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:51.345Z,1613483871.345 [Micromodem](INFO): Nmea in: $SNTTA,0.045767,,,,135751.54*42

2021-02-16T13:57:51.394Z,1613483871.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.459999 m, bearing: 23.084825 deg, deltaT: 4.449094 s, approachRate: -0.849613 m/s, LOS rate: -0.011708 deg/s, posRepo size: 4
2021-02-16T13:57:51.396Z,1613483871.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.459999 m,
      bearing: 23.084825 deg,
      approachRate: -0.849613 m/s,
      LOS rate: -0.011708 deg/s,
      cmd update: -0.035123 deg/s,
      cmd heading: 23.804660 deg,
      new cmd heading: 23.366530 deg.

2021-02-16T13:57:53.759Z,1613483873.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:54.556Z,1613483874.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:54.951Z,1613483874.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:57:55.790Z,1613483875.790 [Micromodem](INFO): Nmea in: $SNTTA,0.043182,,,,135756.02*4D

2021-02-16T13:57:55.865Z,1613483875.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 23.713934 deg, deltaT: 4.420718 s, approachRate: -0.868636 m/s, LOS rate: 0.142309 deg/s, posRepo size: 4
2021-02-16T13:57:55.871Z,1613483875.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.620003 m,
      bearing: 23.713934 deg,
      approachRate: -0.868636 m/s,
      LOS rate: 0.142309 deg/s,
      cmd update: 0.426927 deg/s,
      cmd heading: 23.648655 deg,
      new cmd heading: 23.631446 deg.

2021-02-16T13:57:58.241Z,1613483878.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:57:58.993Z,1613483878.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:57:59.393Z,1613483879.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:00.220Z,1613483880.220 [Micromodem](INFO): Nmea in: $SNTTA,0.040765,,,,135800.41*4A

2021-02-16T13:58:00.281Z,1613483880.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.019997 m, bearing: 23.117038 deg, deltaT: 4.496370 s, approachRate: -0.800647 m/s, LOS rate: -0.132751 deg/s, posRepo size: 4
2021-02-16T13:58:00.299Z,1613483880.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.019997 m,
      bearing: 23.117038 deg,
      approachRate: -0.800647 m/s,
      LOS rate: -0.132751 deg/s,
      cmd update: -0.398252 deg/s,
      cmd heading: 25.565532 deg,
      new cmd heading: 25.743078 deg.

2021-02-16T13:58:02.638Z,1613483882.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:03.449Z,1613483883.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:03.864Z,1613483883.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:04.684Z,1613483884.684 [Micromodem](INFO): Nmea in: $SNTTA,0.038365,,,,135804.87*4F

2021-02-16T13:58:04.718Z,1613483884.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.360001 m, bearing: 22.445824 deg, deltaT: 4.425933 s, approachRate: -0.826943 m/s, LOS rate: -0.151655 deg/s, posRepo size: 4
2021-02-16T13:58:04.720Z,1613483884.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 22.445824 deg,
      approachRate: -0.826943 m/s,
      LOS rate: -0.151655 deg/s,
      cmd update: -0.454965 deg/s,
      cmd heading: 23.801919 deg,
      new cmd heading: 23.632752 deg.

2021-02-16T13:58:07.141Z,1613483887.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:07.877Z,1613483887.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:08.297Z,1613483888.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:09.133Z,1613483889.133 [Micromodem](INFO): Nmea in: $SNTTA,0.035755,,,,135809.30*44

2021-02-16T13:58:09.199Z,1613483889.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 21.550989 deg, deltaT: 4.422008 s, approachRate: -0.881952 m/s, LOS rate: -0.202359 deg/s, posRepo size: 4
2021-02-16T13:58:09.201Z,1613483889.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.460003 m,
      bearing: 21.550989 deg,
      approachRate: -0.881952 m/s,
      LOS rate: -0.202359 deg/s,
      cmd update: -0.607078 deg/s,
      cmd heading: 21.790062 deg,
      new cmd heading: 21.572029 deg.

2021-02-16T13:58:11.539Z,1613483891.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:12.320Z,1613483892.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:12.727Z,1613483892.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:13.561Z,1613483893.561 [Micromodem](INFO): Nmea in: $SNTTA,0.033266,0.048473,,,135813.74*5E

2021-02-16T13:58:13.601Z,1613483893.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 21.226976 deg, deltaT: 4.463283 s, approachRate: -0.846912 m/s, LOS rate: -0.072595 deg/s, posRepo size: 4
2021-02-16T13:58:13.602Z,1613483893.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.679996 m,
      bearing: 21.226976 deg,
      approachRate: -0.846912 m/s,
      LOS rate: -0.072595 deg/s,
      cmd update: -0.217785 deg/s,
      cmd heading: 19.078142 deg,
      new cmd heading: 18.825326 deg.

2021-02-16T13:58:15.994Z,1613483895.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:16.778Z,1613483896.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:17.170Z,1613483897.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:18.004Z,1613483898.004 [Micromodem](INFO): Nmea in: $SNTTA,0.030836,,,0.040418,135818.20*5D

2021-02-16T13:58:18.049Z,1613483898.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.019997 m, bearing: 20.460721 deg, deltaT: 4.404212 s, approachRate: -0.831023 m/s, LOS rate: -0.173982 deg/s, posRepo size: 4
2021-02-16T13:58:18.055Z,1613483898.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.019997 m,
      bearing: 20.460721 deg,
      approachRate: -0.831023 m/s,
      LOS rate: -0.173982 deg/s,
      cmd update: -0.521947 deg/s,
      cmd heading: 18.118956 deg,
      new cmd heading: 18.018308 deg.

2021-02-16T13:58:20.430Z,1613483900.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:21.208Z,1613483901.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:21.614Z,1613483901.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:22.436Z,1613483902.436 [Micromodem](INFO): Nmea in: $SNTTA,0.028442,,,,135822.63*42

2021-02-16T13:58:22.460Z,1613483902.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.480003 m, bearing: 20.851162 deg, deltaT: 4.459765 s, approachRate: -0.793762 m/s, LOS rate: 0.087547 deg/s, posRepo size: 4
2021-02-16T13:58:22.462Z,1613483902.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.480003 m,
      bearing: 20.851162 deg,
      approachRate: -0.793762 m/s,
      LOS rate: 0.087547 deg/s,
      cmd update: 0.262642 deg/s,
      cmd heading: 15.791629 deg,
      new cmd heading: 15.575328 deg.

2021-02-16T13:58:24.902Z,1613483904.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:25.659Z,1613483905.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:26.057Z,1613483906.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:26.892Z,1613483906.892 [Micromodem](INFO): Nmea in: $SNTTA,0.025943,,,,135827.08*4B

2021-02-16T13:58:26.917Z,1613483906.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.699997 m, bearing: 19.990451 deg, deltaT: 4.432259 s, approachRate: -0.852840 m/s, LOS rate: -0.194192 deg/s, posRepo size: 4
2021-02-16T13:58:26.918Z,1613483906.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.70 m.
2021-02-16T13:58:26.919Z,1613483906.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.699997 m,
      bearing: 19.990451 deg,
      approachRate: -0.852840 m/s,
      LOS rate: -0.194192 deg/s,
      cmd update: -0.582577 deg/s,
      cmd heading: 16.955951 deg,
      new cmd heading: 17.071015 deg.

2021-02-16T13:58:27.293Z,1613483907.293 [PowerOnly](INFO): Powering up loadControl
2021-02-16T13:58:29.323Z,1613483909.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:30.131Z,1613483910.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:30.503Z,1613483910.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:31.348Z,1613483911.348 [Micromodem](INFO): Nmea in: $SNTTA,0.023431,,,,135831.55*4A

2021-02-16T13:58:31.398Z,1613483911.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 19.020543 deg, deltaT: 4.457580 s, approachRate: -0.834533 m/s, LOS rate: -0.217586 deg/s, posRepo size: 4
2021-02-16T13:58:31.403Z,1613483911.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.98 m.
2021-02-16T13:58:31.403Z,1613483911.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.98 m.
2021-02-16T13:58:31.404Z,1613483911.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T13:58:31.405Z,1613483911.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.980000 m,
      bearing: 19.020543 deg,
      approachRate: -0.834533 m/s,
      LOS rate: -0.217586 deg/s,
      cmd update: -0.652758 deg/s,
      cmd heading: 14.359109 deg,
      new cmd heading: 14.090074 deg.

2021-02-16T13:58:33.766Z,1613483913.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:34.542Z,1613483914.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:34.958Z,1613483914.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:35.772Z,1613483915.772 [Micromodem](INFO): Nmea in: $SNTTA,0.021023,,,,135835.96*44

2021-02-16T13:58:35.852Z,1613483915.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 20.020485 deg, deltaT: 4.454843 s, approachRate: -0.821577 m/s, LOS rate: 0.224462 deg/s, posRepo size: 4
2021-02-16T13:58:35.854Z,1613483915.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 20.020485 deg,
      approachRate: -0.821577 m/s,
      LOS rate: 0.224462 deg/s,
      cmd update: 0.673385 deg/s,
      cmd heading: 11.453730 deg,
      new cmd heading: 11.161670 deg.

2021-02-16T13:58:38.236Z,1613483918.236 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:38.985Z,1613483918.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:39.390Z,1613483919.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:40.217Z,1613483920.217 [Micromodem](INFO): Nmea in: $SNTTA,0.018473,,,0.020984,135840.40*5F

2021-02-16T13:58:40.295Z,1613483920.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.480000 m, bearing: 18.952617 deg, deltaT: 4.459683 s, approachRate: -0.861048 m/s, LOS rate: -0.239449 deg/s, posRepo size: 4
2021-02-16T13:58:40.297Z,1613483920.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.480000 m,
      bearing: 18.952617 deg,
      approachRate: -0.861048 m/s,
      LOS rate: -0.239449 deg/s,
      cmd update: -0.718348 deg/s,
      cmd heading: 14.451278 deg,
      new cmd heading: 14.755517 deg.

2021-02-16T13:58:42.641Z,1613483922.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:43.445Z,1613483923.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:43.860Z,1613483923.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:44.700Z,1613483924.700 [Micromodem](INFO): Nmea in: $SNTTA,0.016028,,,0.034118,135844.87*5C

2021-02-16T13:58:44.722Z,1613483924.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.819998 m, bearing: 19.008741 deg, deltaT: 4.445845 s, approachRate: -0.823241 m/s, LOS rate: 0.012624 deg/s, posRepo size: 4
2021-02-16T13:58:44.724Z,1613483924.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.819998 m,
      bearing: 19.008741 deg,
      approachRate: -0.823241 m/s,
      LOS rate: 0.012624 deg/s,
      cmd update: 0.037872 deg/s,
      cmd heading: 11.251676 deg,
      new cmd heading: 10.943432 deg.

2021-02-16T13:58:47.144Z,1613483927.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:47.872Z,1613483927.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:48.281Z,1613483928.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:49.136Z,1613483929.136 [Micromodem](INFO): Nmea in: $SNTTA,0.013630,,,,135849.29*4E

2021-02-16T13:58:49.181Z,1613483929.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 18.352201 deg, deltaT: 4.402862 s, approachRate: -0.817650 m/s, LOS rate: -0.149117 deg/s, posRepo size: 4
2021-02-16T13:58:49.183Z,1613483929.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.219997 m,
      bearing: 18.352201 deg,
      approachRate: -0.817650 m/s,
      LOS rate: -0.149117 deg/s,
      cmd update: -0.447350 deg/s,
      cmd heading: 11.418570 deg,
      new cmd heading: 11.436807 deg.

2021-02-16T13:58:51.229Z,1613483931.229 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:51.914Z,1613483931.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:52.331Z,1613483932.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:53.164Z,1613483933.164 [Micromodem](INFO): Nmea in: $SNTTA,0.011588,,,,135853.33*4C

2021-02-16T13:58:53.230Z,1613483933.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 18.172099 deg, deltaT: 4.061412 s, approachRate: -0.753432 m/s, LOS rate: -0.044345 deg/s, posRepo size: 4
2021-02-16T13:58:53.237Z,1613483933.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.160000 m,
      bearing: 18.172099 deg,
      approachRate: -0.753432 m/s,
      LOS rate: -0.044345 deg/s,
      cmd update: -0.133034 deg/s,
      cmd heading: 9.603515 deg,
      new cmd heading: 9.391965 deg.

2021-02-16T13:58:55.563Z,1613483935.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:58:56.357Z,1613483936.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:58:56.774Z,1613483936.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:58:57.588Z,1613483937.588 [Micromodem](INFO): Nmea in: $SNTTA,0.009170,,0.011932,,135857.78*5B

2021-02-16T13:58:57.632Z,1613483937.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.559999 m, bearing: 16.915921 deg, deltaT: 4.477019 s, approachRate: -0.804107 m/s, LOS rate: -0.280584 deg/s, posRepo size: 4
2021-02-16T13:58:57.634Z,1613483937.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.559999 m,
      bearing: 16.915921 deg,
      approachRate: -0.804107 m/s,
      LOS rate: -0.280584 deg/s,
      cmd update: -0.841750 deg/s,
      cmd heading: 9.008232 deg,
      new cmd heading: 8.955084 deg.

2021-02-16T13:59:00.034Z,1613483940.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:00.804Z,1613483940.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:01.219Z,1613483941.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:02.036Z,1613483942.036 [Micromodem](INFO): Nmea in: $SNTTA,0.006971,,,,135902.23*44

2021-02-16T13:59:02.077Z,1613483942.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 18.964411 deg, deltaT: 4.408340 s, approachRate: -0.762191 m/s, LOS rate: 0.464685 deg/s, posRepo size: 4
2021-02-16T13:59:02.081Z,1613483942.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 18.964411 deg,
      approachRate: -0.762191 m/s,
      LOS rate: 0.464685 deg/s,
      cmd update: 1.394055 deg/s,
      cmd heading: 5.295515 deg,
      new cmd heading: 4.931150 deg.

2021-02-16T13:59:04.486Z,1613483944.486 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:05.250Z,1613483945.250 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:05.651Z,1613483945.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:06.483Z,1613483946.483 [Micromodem](INFO): Nmea in: $SNTTA,0.004831,,,,135906.67*47

2021-02-16T13:59:06.507Z,1613483946.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 17.515607 deg, deltaT: 4.499366 s, approachRate: -0.706767 m/s, LOS rate: -0.322002 deg/s, posRepo size: 4
2021-02-16T13:59:06.509Z,1613483946.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 17.515607 deg,
      approachRate: -0.706767 m/s,
      LOS rate: -0.322002 deg/s,
      cmd update: -0.966006 deg/s,
      cmd heading: 11.567872 deg,
      new cmd heading: 12.076878 deg.

2021-02-16T13:59:08.920Z,1613483948.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:09.701Z,1613483949.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:10.124Z,1613483950.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:10.924Z,1613483950.924 [Micromodem](INFO): Nmea in: $SNTTA,0.002918,,,,135911.12*4F

2021-02-16T13:59:10.963Z,1613483950.963 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.020000 m 
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T13:59:10.964Z,1613483950.964 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T13:59:10.965Z,1613483950.965 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T13:59:10.967Z,1613483950.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.020000 m, bearing: 17.842372 deg, deltaT: 4.380299 s, approachRate: -0.684885 m/s, LOS rate: 0.074599 deg/s, posRepo size: 4
2021-02-16T13:59:10.969Z,1613483950.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.020000 m,
      bearing: 17.842372 deg,
      approachRate: -0.684885 m/s,
      LOS rate: 0.074599 deg/s,
      cmd update: 0.223796 deg/s,
      cmd heading: 7.348059 deg,
      new cmd heading: 6.907122 deg.

2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T135911: (41.552319, -70.708603)
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T13:59:11.346Z,1613483951.346 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T13:59:13.349Z,1613483953.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:14.147Z,1613483954.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:14.542Z,1613483954.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:15.372Z,1613483955.372 [Micromodem](INFO): Nmea in: $SNTTA,0.002189,,,,135915.57*4A

2021-02-16T13:59:15.416Z,1613483955.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.240000 m, bearing: 20.549319 deg, deltaT: 4.460624 s, approachRate: -0.174864 m/s, LOS rate: 0.606854 deg/s, posRepo size: 4
2021-02-16T13:59:15.418Z,1613483955.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.240000 m,
      bearing: 20.549319 deg,
      approachRate: -0.174864 m/s,
      LOS rate: 0.606854 deg/s,
      cmd update: 1.820562 deg/s,
      cmd heading: 8.346330 deg,
      new cmd heading: 8.445955 deg.

2021-02-16T13:59:17.809Z,1613483957.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:18.585Z,1613483958.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:18.986Z,1613483958.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:19.825Z,1613483959.825 [Micromodem](INFO): Nmea in: $SNTTA,0.004048,,,,135920.01*45

2021-02-16T13:59:19.858Z,1613483959.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.759999 m, bearing: 15.335965 deg, deltaT: 4.457319 s, approachRate: 0.565362 m/s, LOS rate: -1.169616 deg/s, posRepo size: 4
2021-02-16T13:59:19.860Z,1613483959.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 15.335965 deg,
      approachRate: 0.565362 m/s,
      LOS rate: -1.169616 deg/s,
      cmd update: -3.508849 deg/s,
      cmd heading: 16.475394 deg,
      new cmd heading: 17.244483 deg.

2021-02-16T13:59:22.269Z,1613483962.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:23.027Z,1613483963.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:23.429Z,1613483963.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:24.261Z,1613483964.261 [Micromodem](INFO): Nmea in: $SNTTA,0.005935,,,,135924.45*43

2021-02-16T13:59:24.308Z,1613483964.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 26.858259 deg, deltaT: 4.450746 s, approachRate: 0.727968 m/s, LOS rate: 2.588846 deg/s, posRepo size: 4
2021-02-16T13:59:24.309Z,1613483964.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 26.858259 deg,
      approachRate: 0.727968 m/s,
      LOS rate: 2.588846 deg/s,
      cmd update: 7.766536 deg/s,
      cmd heading: 0.829751 deg,
      new cmd heading: 359.451952 deg.

2021-02-16T13:59:26.676Z,1613483966.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:27.469Z,1613483967.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:27.874Z,1613483967.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:28.700Z,1613483968.700 [Micromodem](INFO): Nmea in: $SNTTA,0.008229,,,,135928.89*44

2021-02-16T13:59:28.742Z,1613483968.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 356.625596 deg, deltaT: 4.427929 s, approachRate: 0.799471 m/s, LOS rate: -6.827723 deg/s, posRepo size: 4
2021-02-16T13:59:28.744Z,1613483968.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 356.625596 deg,
      approachRate: 0.799471 m/s,
      LOS rate: -6.827723 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 35.188287 deg,
      new cmd heading: 38.476662 deg.

2021-02-16T13:59:31.258Z,1613483971.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:31.914Z,1613483971.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:32.328Z,1613483972.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:33.168Z,1613483973.168 [Micromodem](INFO): Nmea in: $SNTTA,0.010588,,,,135933.34*4D

2021-02-16T13:59:33.274Z,1613483973.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 1.859507 deg, deltaT: 4.475003 s, approachRate: 0.777653 m/s, LOS rate: 1.169588 deg/s, posRepo size: 4
2021-02-16T13:59:33.274Z,1613483973.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 16.02 m. Rolling out.
2021-02-16T13:59:33.274Z,1613483973.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T13:59:35.615Z,1613483975.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:36.399Z,1613483976.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:36.835Z,1613483976.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:37.628Z,1613483977.628 [Micromodem](INFO): Nmea in: $SNTTA,0.013075,,,,135937.82*40

2021-02-16T13:59:37.650Z,1613483977.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 20.299507 deg, deltaT: 4.477236 s, approachRate: 0.817469 m/s, LOS rate: 4.118612 deg/s, posRepo size: 4
2021-02-16T13:59:40.059Z,1613483980.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:40.869Z,1613483980.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:41.253Z,1613483981.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:42.093Z,1613483982.093 [Micromodem](INFO): Nmea in: $SNTTA,0.015465,,0.023097,,135942.29*51

2021-02-16T13:59:42.180Z,1613483982.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 341.557844 deg, deltaT: 4.393442 s, approachRate: 0.846716 m/s, LOS rate: -8.818068 deg/s, posRepo size: 4
2021-02-16T13:59:44.172Z,1613483984.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:44.882Z,1613483984.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:45.286Z,1613483985.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:46.140Z,1613483986.140 [Micromodem](INFO): Nmea in: $SNTTA,0.017460,,,,135946.30*4B

2021-02-16T13:59:46.189Z,1613483986.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.340000 m, bearing: 304.803421 deg, deltaT: 4.035276 s, approachRate: 0.728574 m/s, LOS rate: -9.108280 deg/s, posRepo size: 4
2021-02-16T13:59:48.554Z,1613483988.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:49.342Z,1613483989.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:49.768Z,1613483989.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:50.592Z,1613483990.592 [Micromodem](INFO): Nmea in: $SNTTA,0.019338,,,,135950.76*4A

2021-02-16T13:59:50.615Z,1613483990.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.219999 m, bearing: 296.952036 deg, deltaT: 4.495647 s, approachRate: 0.640620 m/s, LOS rate: -1.746441 deg/s, posRepo size: 4
2021-02-16T13:59:53.017Z,1613483993.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:53.814Z,1613483993.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:54.206Z,1613483994.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:55.040Z,1613483995.040 [Micromodem](INFO): Nmea in: $SNTTA,0.021436,,,,135955.23*4D

2021-02-16T13:59:55.066Z,1613483995.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 299.676981 deg, deltaT: 4.425253 s, approachRate: 0.705045 m/s, LOS rate: 0.615772 deg/s, posRepo size: 4
2021-02-16T13:59:57.521Z,1613483997.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T13:59:58.258Z,1613483998.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T13:59:58.655Z,1613483998.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T13:59:59.507Z,1613483999.507 [Micromodem](INFO): Nmea in: $SNTTA,0.023596,,,,135959.68*47

2021-02-16T13:59:59.532Z,1613483999.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.520000 m, bearing: 317.236797 deg, deltaT: 4.477729 s, approachRate: 0.710181 m/s, LOS rate: 3.921589 deg/s, posRepo size: 4
2021-02-16T14:00:01.880Z,1613484001.880 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:00:01.942Z,1613484001.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:02.689Z,1613484002.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:03.128Z,1613484003.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:03.925Z,1613484003.925 [Micromodem](INFO): Nmea in: $SNTTA,0.025917,,,,140004.11*49

2021-02-16T14:00:03.982Z,1613484003.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 324.574715 deg, deltaT: 4.433325 s, approachRate: 0.784963 m/s, LOS rate: 1.655173 deg/s, posRepo size: 4
2021-02-16T14:00:06.359Z,1613484006.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:07.138Z,1613484007.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:07.543Z,1613484007.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:08.357Z,1613484008.357 [Micromodem](INFO): Nmea in: $SNTTA,0.027819,,,,140008.56*4B

2021-02-16T14:00:09.222Z,1613484009.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:10.768Z,1613484010.768 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:00:12.092Z,1613484012.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:12.806Z,1613484012.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:13.193Z,1613484013.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:14.036Z,1613484014.036 [Micromodem](INFO): Nmea in: $SNTTA,0.030683,,,,140014.23*4F

2021-02-16T14:00:14.107Z,1613484014.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 351.254308 deg, deltaT: 10.074031 s, approachRate: 0.714709 m/s, LOS rate: 2.648353 deg/s, posRepo size: 4
2021-02-16T14:00:16.474Z,1613484016.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:17.234Z,1613484017.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:17.659Z,1613484017.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:18.464Z,1613484018.464 [Micromodem](INFO): Nmea in: $SNTTA,0.032777,,,,140018.66*4A

2021-02-16T14:00:18.502Z,1613484018.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 355.002169 deg, deltaT: 4.520656 s, approachRate: 0.690166 m/s, LOS rate: 0.829053 deg/s, posRepo size: 4
2021-02-16T14:00:20.901Z,1613484020.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:21.693Z,1613484021.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:22.112Z,1613484022.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:22.905Z,1613484022.905 [Micromodem](INFO): Nmea in: $SNTTA,0.034679,,,,140023.11*4B

2021-02-16T14:00:23.713Z,1613484023.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:25.312Z,1613484025.312 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:00:26.539Z,1613484026.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:27.338Z,1613484027.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:27.737Z,1613484027.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:28.564Z,1613484028.564 [Micromodem](INFO): Nmea in: $SNTTA,0.037300,,,,140028.76*49

2021-02-16T14:00:28.602Z,1613484028.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 338.665832 deg, deltaT: 10.075317 s, approachRate: 0.672932 m/s, LOS rate: -1.621422 deg/s, posRepo size: 4
2021-02-16T14:00:30.996Z,1613484030.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:31.782Z,1613484031.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:32.203Z,1613484032.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:33.011Z,1613484033.011 [Micromodem](INFO): Nmea in: $SNTTA,0.039624,,,,140033.20*4D

2021-02-16T14:00:33.045Z,1613484033.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.640003 m, bearing: 15.988834 deg, deltaT: 4.405535 s, approachRate: 0.803536 m/s, LOS rate: 8.471846 deg/s, posRepo size: 4
2021-02-16T14:00:35.442Z,1613484035.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:36.242Z,1613484036.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:36.626Z,1613484036.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:37.464Z,1613484037.464 [Micromodem](INFO): Nmea in: $SNTTA,0.041852,,,,140037.66*4B

2021-02-16T14:00:37.514Z,1613484037.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.940002 m, bearing: 15.421701 deg, deltaT: 4.451009 s, approachRate: 0.741405 m/s, LOS rate: -0.127417 deg/s, posRepo size: 4
2021-02-16T14:00:39.927Z,1613484039.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:40.664Z,1613484040.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:41.078Z,1613484041.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:41.912Z,1613484041.912 [Micromodem](INFO): Nmea in: $SNTTA,0.044019,,0.059157,,140042.08*52

2021-02-16T14:00:41.957Z,1613484041.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 18.796771 deg, deltaT: 4.429066 s, approachRate: 0.745077 m/s, LOS rate: 0.762027 deg/s, posRepo size: 4
2021-02-16T14:00:44.326Z,1613484044.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:45.141Z,1613484045.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:45.520Z,1613484045.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:46.352Z,1613484046.352 [Micromodem](INFO): Nmea in: $SNTTA,0.046464,,,,140046.56*40

2021-02-16T14:00:46.376Z,1613484046.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.900002 m, bearing: 309.725856 deg, deltaT: 4.461281 s, approachRate: 0.820393 m/s, LOS rate: -15.482304 deg/s, posRepo size: 4
2021-02-16T14:00:48.760Z,1613484048.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:49.557Z,1613484049.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:49.960Z,1613484049.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:50.784Z,1613484050.784 [Micromodem](INFO): Nmea in: $SNTTA,0.048853,,,,140050.98*43

2021-02-16T14:00:50.864Z,1613484050.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.440002 m, bearing: 332.042243 deg, deltaT: 4.449811 s, approachRate: 0.795540 m/s, LOS rate: 5.015131 deg/s, posRepo size: 4
2021-02-16T14:00:53.230Z,1613484053.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:53.996Z,1613484053.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:54.408Z,1613484054.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:55.228Z,1613484055.228 [Micromodem](INFO): Nmea in: $SNTTA,0.051142,,,,140055.42*40

2021-02-16T14:00:55.294Z,1613484055.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 329.023244 deg, deltaT: 4.465268 s, approachRate: 0.765913 m/s, LOS rate: -0.676107 deg/s, posRepo size: 4
2021-02-16T14:00:57.647Z,1613484057.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:00:58.445Z,1613484058.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:00:58.860Z,1613484058.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:00:59.675Z,1613484059.675 [Micromodem](INFO): Nmea in: $SNTTA,0.053448,,,,140059.87*48

2021-02-16T14:00:59.694Z,1613484059.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.279999 m, bearing: 347.929345 deg, deltaT: 4.420935 s, approachRate: 0.773590 m/s, LOS rate: 4.276494 deg/s, posRepo size: 4
2021-02-16T14:01:02.102Z,1613484062.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:02.884Z,1613484062.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:03.295Z,1613484063.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:04.148Z,1613484064.148 [Micromodem](INFO): Nmea in: $SNTTA,0.055829,,,,140104.30*40

2021-02-16T14:01:04.218Z,1613484064.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 343.966851 deg, deltaT: 4.447827 s, approachRate: 0.795896 m/s, LOS rate: -0.890883 deg/s, posRepo size: 4
2021-02-16T14:01:06.537Z,1613484066.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:07.328Z,1613484067.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:07.752Z,1613484067.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:08.564Z,1613484068.564 [Micromodem](INFO): Nmea in: $SNTTA,0.058124,,,,140108.75*44

2021-02-16T14:01:08.589Z,1613484068.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 353.708859 deg, deltaT: 4.437804 s, approachRate: 0.784171 m/s, LOS rate: 2.195232 deg/s, posRepo size: 4
2021-02-16T14:01:11.010Z,1613484071.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:11.779Z,1613484071.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:12.182Z,1613484072.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:13.008Z,1613484073.008 [Micromodem](INFO): Nmea in: $SNTTA,0.060397,,,,140113.20*4F

2021-02-16T14:01:13.033Z,1613484073.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.779999 m, bearing: 357.752768 deg, deltaT: 4.424331 s, approachRate: 0.786559 m/s, LOS rate: 0.914016 deg/s, posRepo size: 4
2021-02-16T14:01:15.434Z,1613484075.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:16.224Z,1613484076.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:16.622Z,1613484076.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:17.452Z,1613484077.452 [Micromodem](INFO): Nmea in: $SNTTA,0.062763,,,,140117.64*46

2021-02-16T14:01:17.513Z,1613484077.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 359.424143 deg, deltaT: 4.471657 s, approachRate: 0.778236 m/s, LOS rate: 0.373771 deg/s, posRepo size: 4
2021-02-16T14:01:19.892Z,1613484079.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:20.666Z,1613484080.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:21.066Z,1613484081.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:21.892Z,1613484081.892 [Micromodem](INFO): Nmea in: $SNTTA,0.065267,,,,140122.09*4D

2021-02-16T14:01:21.938Z,1613484081.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 4.633533 deg, deltaT: 4.411301 s, approachRate: 0.856890 m/s, LOS rate: 1.180922 deg/s, posRepo size: 4
2021-02-16T14:01:24.345Z,1613484084.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:25.130Z,1613484085.130 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:25.515Z,1613484085.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:26.356Z,1613484086.356 [Micromodem](INFO): Nmea in: $SNTTA,0.067751,,,,140126.55*42

2021-02-16T14:01:26.393Z,1613484086.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 2.196181 deg, deltaT: 4.454988 s, approachRate: 0.835019 m/s, LOS rate: -0.547106 deg/s, posRepo size: 4
2021-02-16T14:01:28.774Z,1613484088.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:29.550Z,1613484089.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:29.965Z,1613484089.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:30.786Z,1613484090.786 [Micromodem](INFO): Nmea in: $SNTTA,0.069952,,,0.076915,140130.97*5A

2021-02-16T14:01:30.857Z,1613484090.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.060005 m, bearing: 355.762451 deg, deltaT: 4.462715 s, approachRate: 0.739461 m/s, LOS rate: -1.441662 deg/s, posRepo size: 4
2021-02-16T14:01:33.226Z,1613484093.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:34.014Z,1613484094.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:34.398Z,1613484094.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:35.233Z,1613484095.233 [Micromodem](INFO): Nmea in: $SNTTA,0.072355,,,,140135.43*43

2021-02-16T14:01:35.284Z,1613484095.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 355.866707 deg, deltaT: 4.495538 s, approachRate: 0.800792 m/s, LOS rate: 0.023191 deg/s, posRepo size: 4
2021-02-16T14:01:37.658Z,1613484097.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:38.441Z,1613484098.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:38.865Z,1613484098.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:39.672Z,1613484099.672 [Micromodem](INFO): Nmea in: $SNTTA,0.074825,,,,140139.86*4C

2021-02-16T14:01:39.707Z,1613484099.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 353.489802 deg, deltaT: 4.406930 s, approachRate: 0.844125 m/s, LOS rate: -0.539356 deg/s, posRepo size: 4
2021-02-16T14:01:42.160Z,1613484102.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:42.897Z,1613484102.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:43.286Z,1613484103.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:44.144Z,1613484104.144 [Micromodem](INFO): Nmea in: $SNTTA,0.076940,,,,140144.32*49

2021-02-16T14:01:44.178Z,1613484104.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 342.980271 deg, deltaT: 4.426953 s, approachRate: 0.718329 m/s, LOS rate: -2.373987 deg/s, posRepo size: 4
2021-02-16T14:01:46.556Z,1613484106.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:47.338Z,1613484107.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:47.742Z,1613484107.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:48.564Z,1613484108.564 [Micromodem](INFO): Nmea in: $SNTTA,0.079305,,,,140148.76*41

2021-02-16T14:01:48.586Z,1613484108.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.160011 m, bearing: 306.988234 deg, deltaT: 4.476105 s, approachRate: 0.804272 m/s, LOS rate: -8.040928 deg/s, posRepo size: 4
2021-02-16T14:01:50.191Z,1613484110.191 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T14:01:50.191Z,1613484110.191 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T14:01:50.191Z,1613484110.191 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T14:01:50.351Z,1613484110.351 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T14:01:50.643Z,1613484110.643 [RDI_Pathfinder](INFO): Powering down
2021-02-16T14:01:50.978Z,1613484110.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:51.543Z,1613484111.543 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T14:01:51.543Z,1613484111.543 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T14:01:51.768Z,1613484111.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:52.186Z,1613484112.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:52.996Z,1613484112.996 [Micromodem](INFO): Nmea in: $SNTTA,0.081440,,,,140153.19*43

2021-02-16T14:01:53.046Z,1613484113.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 311.159349 deg, deltaT: 4.400888 s, approachRate: 0.736213 m/s, LOS rate: 0.947789 deg/s, posRepo size: 4
2021-02-16T14:01:54.209Z,1613484114.209 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:01:55.452Z,1613484115.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:01:56.220Z,1613484116.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:01:56.618Z,1613484116.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:01:57.452Z,1613484117.452 [Micromodem](INFO): Nmea in: $SNTTA,0.083512,,,,140157.64*49

2021-02-16T14:01:57.502Z,1613484117.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.459999 m, bearing: 307.762942 deg, deltaT: 4.428653 s, approachRate: 0.690954 m/s, LOS rate: -0.766917 deg/s, posRepo size: 4
2021-02-16T14:01:59.876Z,1613484119.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:00.661Z,1613484120.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:01.061Z,1613484121.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:01.888Z,1613484121.888 [Micromodem](INFO): Nmea in: $SNTTA,0.085945,,,,140202.08*48

2021-02-16T14:02:01.910Z,1613484121.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.119995 m, bearing: 306.725299 deg, deltaT: 4.479080 s, approachRate: 0.817131 m/s, LOS rate: -0.231664 deg/s, posRepo size: 4
2021-02-16T14:02:04.330Z,1613484124.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:05.121Z,1613484125.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:05.518Z,1613484125.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:06.347Z,1613484126.347 [Micromodem](INFO): Nmea in: $SNTTA,0.088260,,,,140206.54*44

2021-02-16T14:02:06.370Z,1613484126.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.540009 m, bearing: 308.553195 deg, deltaT: 4.436502 s, approachRate: 0.770881 m/s, LOS rate: 0.412013 deg/s, posRepo size: 4
2021-02-16T14:02:08.769Z,1613484128.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:09.549Z,1613484129.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:09.950Z,1613484129.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:10.776Z,1613484130.776 [Micromodem](INFO): Nmea in: $SNTTA,0.090587,,,,140210.97*4B

2021-02-16T14:02:10.821Z,1613484130.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.020004 m, bearing: 313.249633 deg, deltaT: 4.456435 s, approachRate: 0.780892 m/s, LOS rate: 1.053855 deg/s, posRepo size: 4
2021-02-16T14:02:13.230Z,1613484133.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:13.989Z,1613484133.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:14.463Z,1613484134.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:15.293Z,1613484135.293 [Micromodem](INFO): Nmea in: $SNTTA,0.092984,,,,140215.41*48

2021-02-16T14:02:15.350Z,1613484135.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.619995 m, bearing: 321.632324 deg, deltaT: 4.506698 s, approachRate: 0.798809 m/s, LOS rate: 1.860052 deg/s, posRepo size: 4
2021-02-16T14:02:17.737Z,1613484137.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:18.512Z,1613484138.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:18.902Z,1613484138.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:19.732Z,1613484139.732 [Micromodem](INFO): Nmea in: $SNTTA,0.095121,,,,140219.93*4B

2021-02-16T14:02:19.770Z,1613484139.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.860001 m, bearing: 308.203680 deg, deltaT: 4.441397 s, approachRate: 0.729501 m/s, LOS rate: -3.023518 deg/s, posRepo size: 4
2021-02-16T14:02:22.180Z,1613484142.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:22.940Z,1613484142.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:23.347Z,1613484143.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:24.168Z,1613484144.168 [Micromodem](INFO): Nmea in: $SNTTA,0.097515,,,,140224.36*4B

2021-02-16T14:02:24.206Z,1613484144.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.460007 m, bearing: 309.946881 deg, deltaT: 4.474800 s, approachRate: 0.804507 m/s, LOS rate: 0.389560 deg/s, posRepo size: 4
2021-02-16T14:02:26.608Z,1613484146.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:27.390Z,1613484147.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:27.790Z,1613484147.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:28.656Z,1613484148.656 [Micromodem](INFO): Nmea in: $SNTTA,0.099740,,,0.102240,140228.81*5C

2021-02-16T14:02:28.681Z,1613484148.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.759995 m, bearing: 315.706233 deg, deltaT: 4.414482 s, approachRate: 0.747537 m/s, LOS rate: 1.304650 deg/s, posRepo size: 4
2021-02-16T14:02:31.035Z,1613484151.035 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:31.833Z,1613484151.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:32.252Z,1613484152.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:33.060Z,1613484153.060 [Micromodem](INFO): Nmea in: $SNTTA,0.101898,,,,140233.25*49

2021-02-16T14:02:33.141Z,1613484153.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 309.869345 deg, deltaT: 4.440936 s, approachRate: 0.729581 m/s, LOS rate: -1.314337 deg/s, posRepo size: 4
2021-02-16T14:02:33.141Z,1613484153.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.00 m. Resuming terminal guidance.
2021-02-16T14:02:33.142Z,1613484153.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:02:35.502Z,1613484155.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:36.277Z,1613484156.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:36.678Z,1613484156.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:37.504Z,1613484157.504 [Micromodem](INFO): Nmea in: $SNTTA,0.104058,,,,140237.70*4C

2021-02-16T14:02:37.552Z,1613484157.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 347.317414 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:02:37.553Z,1613484157.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 347.317414deg and heading rate command to 0 deg/s.
2021-02-16T14:02:39.952Z,1613484159.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:40.725Z,1613484160.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:41.144Z,1613484161.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:41.972Z,1613484161.972 [Micromodem](INFO): Nmea in: $SNTTA,0.106351,,0.131100,,140242.15*59

2021-02-16T14:02:42.010Z,1613484162.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.180008 m, bearing: 313.294220 deg, deltaT: 4.396372 s, approachRate: 0.000000 m/s, LOS rate: -7.738925 deg/s, posRepo size: 2
2021-02-16T14:02:42.012Z,1613484162.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 313.294220 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.738925 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 347.317414 deg,
      new cmd heading: 347.317414 deg.

2021-02-16T14:02:44.411Z,1613484164.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:45.165Z,1613484165.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:45.571Z,1613484165.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:46.392Z,1613484166.392 [Micromodem](INFO): Nmea in: $SNTTA,0.108530,,,,140246.59*46

2021-02-16T14:02:46.434Z,1613484166.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.539993 m, bearing: 312.936455 deg, deltaT: 4.465346 s, approachRate: 3.439820 m/s, LOS rate: -0.080120 deg/s, posRepo size: 3
2021-02-16T14:02:46.436Z,1613484166.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.539993 m,
      bearing: 312.936455 deg,
      approachRate: 3.439820 m/s,
      LOS rate: -0.080120 deg/s,
      cmd update: -0.240361 deg/s,
      cmd heading: 293.768709 deg,
      new cmd heading: 288.646677 deg.

2021-02-16T14:02:48.834Z,1613484168.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:49.661Z,1613484169.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:50.019Z,1613484170.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:51.233Z,1613484171.233 [Micromodem](INFO): Nmea in: $SNTTA,0.110480,,,,140251.08*47

2021-02-16T14:02:51.291Z,1613484171.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.900009 m, bearing: 268.771823 deg, deltaT: 4.887353 s, approachRate: -1.153996 m/s, LOS rate: -9.036514 deg/s, posRepo size: 4
2021-02-16T14:02:51.293Z,1613484171.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 268.771823 deg,
      approachRate: -1.153996 m/s,
      LOS rate: -9.036514 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 292.593992 deg,
      new cmd heading: 292.498760 deg.

2021-02-16T14:02:53.684Z,1613484173.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:54.568Z,1613484174.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:54.887Z,1613484174.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:02:56.080Z,1613484176.080 [Micromodem](INFO): Nmea in: $SNTTA,0.112198,,,,140255.99*45

2021-02-16T14:02:56.142Z,1613484176.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 291.081844 deg, deltaT: 4.822273 s, approachRate: 0.510128 m/s, LOS rate: 4.626453 deg/s, posRepo size: 4
2021-02-16T14:02:56.148Z,1613484176.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 291.081844 deg,
      approachRate: 0.510128 m/s,
      LOS rate: 4.626453 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.735414 deg,
      new cmd heading: 229.633410 deg.

2021-02-16T14:02:58.520Z,1613484178.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:02:59.305Z,1613484179.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:02:59.711Z,1613484179.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:00.536Z,1613484180.536 [Micromodem](INFO): Nmea in: $SNTTA,0.113408,,,,140300.72*4C

2021-02-16T14:03:00.587Z,1613484180.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 247.581517 deg, deltaT: 4.450331 s, approachRate: 0.390987 m/s, LOS rate: -9.774627 deg/s, posRepo size: 4
2021-02-16T14:03:00.589Z,1613484180.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.100006 m,
      bearing: 247.581517 deg,
      approachRate: 0.390987 m/s,
      LOS rate: -9.774627 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.194119 deg,
      new cmd heading: 293.125483 deg.

2021-02-16T14:03:02.985Z,1613484182.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:03.744Z,1613484183.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:04.156Z,1613484184.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:04.980Z,1613484184.980 [Micromodem](INFO): Nmea in: $SNTTA,0.114288,,,,140305.16*42

2021-02-16T14:03:05.006Z,1613484185.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 212.453102 deg, deltaT: 4.434195 s, approachRate: 0.000000 m/s, LOS rate: -7.922163 deg/s, posRepo size: 4
2021-02-16T14:03:05.028Z,1613484185.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.100006 m,
      bearing: 212.453102 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -7.922163 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 235.274634 deg,
      new cmd heading: 230.180945 deg.

2021-02-16T14:03:07.424Z,1613484187.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:08.197Z,1613484188.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:08.621Z,1613484188.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:09.424Z,1613484189.424 [Micromodem](INFO): Nmea in: $SNTTA,0.114722,,,,140309.62*48

2021-02-16T14:03:09.464Z,1613484189.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 208.590958 deg, deltaT: 4.439435 s, approachRate: 0.000000 m/s, LOS rate: -0.869963 deg/s, posRepo size: 4
2021-02-16T14:03:09.466Z,1613484189.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.100006 m,
      bearing: 208.590958 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.869963 deg/s,
      cmd update: -2.609889 deg/s,
      cmd heading: 181.820104 deg,
      new cmd heading: 176.682400 deg.

2021-02-16T14:03:11.860Z,1613484191.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:12.650Z,1613484192.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:13.038Z,1613484193.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:13.872Z,1613484193.872 [Micromodem](INFO): Nmea in: $SNTTA,0.115130,,,,140314.07*43

2021-02-16T14:03:13.911Z,1613484193.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 278.596777 deg, deltaT: 4.455362 s, approachRate: 0.000000 m/s, LOS rate: 15.712712 deg/s, posRepo size: 4
2021-02-16T14:03:13.912Z,1613484193.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.712712 deg/s. Setting heading cmd to target bearing of 278.596777deg and heading rate command to 0 deg/s.
2021-02-16T14:03:16.305Z,1613484196.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:17.076Z,1613484197.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:17.491Z,1613484197.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:18.304Z,1613484198.304 [Micromodem](INFO): Nmea in: $SNTTA,0.114725,,,,140318.50*4E

2021-02-16T14:03:18.350Z,1613484198.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 164.295419 deg, deltaT: 4.456787 s, approachRate: 0.000000 m/s, LOS rate: -25.646583 deg/s, posRepo size: 4
2021-02-16T14:03:18.350Z,1613484198.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -25.646583 deg/s. Setting heading cmd to target bearing of 164.295419deg and heading rate command to 0 deg/s.
2021-02-16T14:03:20.744Z,1613484200.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:21.538Z,1613484201.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:21.926Z,1613484201.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:22.764Z,1613484202.764 [Micromodem](INFO): Nmea in: $SNTTA,0.113490,,,,140322.96*47

2021-02-16T14:03:22.789Z,1613484202.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.100006 m, bearing: 153.487642 deg, deltaT: 4.409023 s, approachRate: 0.000000 m/s, LOS rate: -2.451286 deg/s, posRepo size: 4
2021-02-16T14:03:22.790Z,1613484202.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.100006 m,
      bearing: 153.487642 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.451286 deg/s,
      cmd update: -7.353858 deg/s,
      cmd heading: 164.295419 deg,
      new cmd heading: 164.295419 deg.

2021-02-16T14:03:25.182Z,1613484205.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:25.964Z,1613484205.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:26.377Z,1613484206.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:27.212Z,1613484207.212 [Micromodem](INFO): Nmea in: $SNTTA,0.112093,,,,140327.39*41

2021-02-16T14:03:27.248Z,1613484207.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.179993 m, bearing: 165.932042 deg, deltaT: 4.474055 s, approachRate: -0.429144 m/s, LOS rate: 2.781459 deg/s, posRepo size: 4
2021-02-16T14:03:27.250Z,1613484207.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.179993 m,
      bearing: 165.932042 deg,
      approachRate: -0.429144 m/s,
      LOS rate: 2.781459 deg/s,
      cmd update: 8.344376 deg/s,
      cmd heading: 131.416989 deg,
      new cmd heading: 128.399201 deg.

2021-02-16T14:03:29.660Z,1613484209.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:30.408Z,1613484210.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:30.826Z,1613484210.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:31.668Z,1613484211.668 [Micromodem](INFO): Nmea in: $SNTTA,0.110764,,,,140331.83*4A

2021-02-16T14:03:31.713Z,1613484211.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.840012 m, bearing: 161.296242 deg, deltaT: 4.429192 s, approachRate: -0.528309 m/s, LOS rate: -1.046647 deg/s, posRepo size: 4
2021-02-16T14:03:31.719Z,1613484211.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.840012 m,
      bearing: 161.296242 deg,
      approachRate: -0.528309 m/s,
      LOS rate: -1.046647 deg/s,
      cmd update: -3.139940 deg/s,
      cmd heading: 168.405323 deg,
      new cmd heading: 172.114415 deg.

2021-02-16T14:03:34.074Z,1613484214.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:34.853Z,1613484214.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:35.270Z,1613484215.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:36.104Z,1613484216.104 [Micromodem](INFO): Nmea in: $SNTTA,0.108873,,,,140336.28*4C

2021-02-16T14:03:36.153Z,1613484216.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.140015 m, bearing: 164.786783 deg, deltaT: 4.438661 s, approachRate: -0.608291 m/s, LOS rate: 0.786395 deg/s, posRepo size: 4
2021-02-16T14:03:36.154Z,1613484216.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.140015 m,
      bearing: 164.786783 deg,
      approachRate: -0.608291 m/s,
      LOS rate: 0.786395 deg/s,
      cmd update: 2.359185 deg/s,
      cmd heading: 154.466644 deg,
      new cmd heading: 153.070400 deg.

2021-02-16T14:03:38.517Z,1613484218.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:39.298Z,1613484219.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:39.708Z,1613484219.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:40.528Z,1613484220.528 [Micromodem](INFO): Nmea in: $SNTTA,0.106840,,,,140340.72*4C

2021-02-16T14:03:40.562Z,1613484220.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.020004 m, bearing: 166.835007 deg, deltaT: 4.481046 s, approachRate: -0.696268 m/s, LOS rate: 0.457086 deg/s, posRepo size: 4
2021-02-16T14:03:40.564Z,1613484220.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.020004 m,
      bearing: 166.835007 deg,
      approachRate: -0.696268 m/s,
      LOS rate: 0.457086 deg/s,
      cmd update: 1.371258 deg/s,
      cmd heading: 165.038524 deg,
      new cmd heading: 165.918741 deg.

2021-02-16T14:03:42.971Z,1613484222.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:43.740Z,1613484223.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:44.149Z,1613484224.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:44.972Z,1613484224.972 [Micromodem](INFO): Nmea in: $SNTTA,0.104660,,,,140345.16*45

2021-02-16T14:03:45.017Z,1613484225.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 166.408024 deg, deltaT: 4.403036 s, approachRate: -0.722231 m/s, LOS rate: -0.096975 deg/s, posRepo size: 4
2021-02-16T14:03:45.023Z,1613484225.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.839996 m,
      bearing: 166.408024 deg,
      approachRate: -0.722231 m/s,
      LOS rate: -0.096975 deg/s,
      cmd update: -0.290924 deg/s,
      cmd heading: 171.072273 deg,
      new cmd heading: 171.658828 deg.

2021-02-16T14:03:47.403Z,1613484227.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:48.189Z,1613484228.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:48.614Z,1613484228.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:49.437Z,1613484229.437 [Micromodem](INFO): Nmea in: $SNTTA,0.102476,,,0.104968,140349.61*56

2021-02-16T14:03:49.460Z,1613484229.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.540009 m, bearing: 165.024433 deg, deltaT: 4.448071 s, approachRate: -0.741892 m/s, LOS rate: -0.311054 deg/s, posRepo size: 4
2021-02-16T14:03:49.462Z,1613484229.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.540009 m,
      bearing: 165.024433 deg,
      approachRate: -0.741892 m/s,
      LOS rate: -0.311054 deg/s,
      cmd update: -0.933163 deg/s,
      cmd heading: 169.777855 deg,
      new cmd heading: 169.655261 deg.

2021-02-16T14:03:51.887Z,1613484231.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:52.651Z,1613484232.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:53.034Z,1613484233.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:53.876Z,1613484233.876 [Micromodem](INFO): Nmea in: $SNTTA,0.100402,,,,140354.07*47

2021-02-16T14:03:53.951Z,1613484233.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 166.392643 deg, deltaT: 4.456767 s, approachRate: -0.700061 m/s, LOS rate: 0.306996 deg/s, posRepo size: 4
2021-02-16T14:03:53.953Z,1613484233.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 166.392643 deg,
      approachRate: -0.700061 m/s,
      LOS rate: 0.306996 deg/s,
      cmd update: 0.920988 deg/s,
      cmd heading: 165.617353 deg,
      new cmd heading: 165.197702 deg.

2021-02-16T14:03:56.302Z,1613484236.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:03:57.094Z,1613484237.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:03:57.486Z,1613484237.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:03:58.332Z,1613484238.332 [Micromodem](INFO): Nmea in: $SNTTA,0.098296,,,,140358.53*41

2021-02-16T14:03:58.356Z,1613484238.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 166.894730 deg, deltaT: 4.451187 s, approachRate: 0.000000 m/s, LOS rate: 0.112798 deg/s, posRepo size: 4
2021-02-16T14:03:58.358Z,1613484238.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 166.894730 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.112798 deg/s,
      cmd update: 0.338395 deg/s,
      cmd heading: 169.709453 deg,
      new cmd heading: 170.092283 deg.

2021-02-16T14:04:00.757Z,1613484240.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:01.517Z,1613484241.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:01.945Z,1613484241.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:02.748Z,1613484242.748 [Micromodem](INFO): Nmea in: $SNTTA,0.096143,,,,140402.94*47

2021-02-16T14:04:02.793Z,1613484242.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.000000 m, bearing: 166.774204 deg, deltaT: 4.447549 s, approachRate: -1.443491 m/s, LOS rate: -0.027099 deg/s, posRepo size: 4
2021-02-16T14:04:02.799Z,1613484242.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.000000 m,
      bearing: 166.774204 deg,
      approachRate: -1.443491 m/s,
      LOS rate: -0.027099 deg/s,
      cmd update: -0.081298 deg/s,
      cmd heading: 171.215008 deg,
      new cmd heading: 171.351607 deg.

2021-02-16T14:04:05.190Z,1613484245.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:05.967Z,1613484245.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:06.366Z,1613484246.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:07.196Z,1613484247.196 [Micromodem](INFO): Nmea in: $SNTTA,0.093675,,,0.096175,140407.39*50

2021-02-16T14:04:07.260Z,1613484247.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.340012 m, bearing: 166.003499 deg, deltaT: 4.402671 s, approachRate: -0.831311 m/s, LOS rate: -0.175054 deg/s, posRepo size: 4
2021-02-16T14:04:07.263Z,1613484247.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.340012 m,
      bearing: 166.003499 deg,
      approachRate: -0.831311 m/s,
      LOS rate: -0.175054 deg/s,
      cmd update: -0.525162 deg/s,
      cmd heading: 170.856573 deg,
      new cmd heading: 170.819446 deg.

2021-02-16T14:04:09.655Z,1613484249.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:10.412Z,1613484250.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:10.810Z,1613484250.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:10.852Z,1613484250.852 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:04:11.660Z,1613484251.660 [Micromodem](INFO): Nmea in: $SNTTA,0.091576,,,,140411.83*46

2021-02-16T14:04:11.686Z,1613484251.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 167.198168 deg, deltaT: 4.466940 s, approachRate: -0.698467 m/s, LOS rate: 0.267447 deg/s, posRepo size: 4
2021-02-16T14:04:11.688Z,1613484251.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.220001 m,
      bearing: 167.198168 deg,
      approachRate: -0.698467 m/s,
      LOS rate: 0.267447 deg/s,
      cmd update: 0.802340 deg/s,
      cmd heading: 168.515781 deg,
      new cmd heading: 168.289799 deg.

2021-02-16T14:04:14.109Z,1613484254.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:14.853Z,1613484254.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:15.261Z,1613484255.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:16.092Z,1613484256.092 [Micromodem](INFO): Nmea in: $SNTTA,0.089175,,,0.091666,140416.27*51

2021-02-16T14:04:16.163Z,1613484256.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 167.728054 deg, deltaT: 4.444845 s, approachRate: -0.823423 m/s, LOS rate: 0.119214 deg/s, posRepo size: 4
2021-02-16T14:04:16.165Z,1613484256.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.560013 m,
      bearing: 167.728054 deg,
      approachRate: -0.823423 m/s,
      LOS rate: 0.119214 deg/s,
      cmd update: 0.357641 deg/s,
      cmd heading: 172.086768 deg,
      new cmd heading: 172.449484 deg.

2021-02-16T14:04:18.508Z,1613484258.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:19.292Z,1613484259.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:19.699Z,1613484259.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:20.520Z,1613484260.520 [Micromodem](INFO): Nmea in: $SNTTA,0.086903,,,,140420.71*41

2021-02-16T14:04:20.554Z,1613484260.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 166.418488 deg, deltaT: 4.444515 s, approachRate: -0.755992 m/s, LOS rate: -0.294648 deg/s, posRepo size: 4
2021-02-16T14:04:20.556Z,1613484260.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 166.418488 deg,
      approachRate: -0.755992 m/s,
      LOS rate: -0.294648 deg/s,
      cmd update: -0.883943 deg/s,
      cmd heading: 173.677745 deg,
      new cmd heading: 173.820621 deg.

2021-02-16T14:04:22.972Z,1613484262.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:23.736Z,1613484263.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:24.168Z,1613484264.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30

2021-02-16T14:04:24.168Z,1613484264.168 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30
 expected 5
2021-02-16T14:04:24.168Z,1613484264.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:24.172Z,1613484264.172 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T14:04:24.173Z,1613484264.173 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T14:04:24.548Z,1613484264.548 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,140425.159769,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71

2021-02-16T14:04:24.548Z,1613484264.548 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,140425.159769,3,0,40,4000,14500,1,0,0,0,2,0,3,0*71

2021-02-16T14:04:24.550Z,1613484264.550 [Micromodem](INFO): Nmea in: $CAERR,140425,NI  ,29,Busy completing a previous request*7D

2021-02-16T14:04:24.550Z,1613484264.550 [Micromodem](ERROR): Got error from modem: $CAERR,140425,NI  ,29,Busy completing a previous request*7D

2021-02-16T14:04:24.988Z,1613484264.988 [Micromodem](INFO): Nmea in: $SNTTA,0.084797,,,,140425.15*47

2021-02-16T14:04:24.989Z,1613484264.989 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.084797,,,,140425.15*47

2021-02-16T14:04:25.019Z,1613484265.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 166.400115 deg, deltaT: 4.408757 s, approachRate: -0.721292 m/s, LOS rate: -0.004167 deg/s, posRepo size: 4
2021-02-16T14:04:25.049Z,1613484265.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.019997 m,
      bearing: 166.400115 deg,
      approachRate: -0.721292 m/s,
      LOS rate: -0.004167 deg/s,
      cmd update: -0.012502 deg/s,
      cmd heading: 169.780880 deg,
      new cmd heading: 169.382335 deg.

2021-02-16T14:04:27.398Z,1613484267.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:30.256Z,1613484270.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:33.067Z,1613484273.067 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:35.451Z,1613484275.451 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:35.576Z,1613484275.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:35.876Z,1613484275.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:36.270Z,1613484276.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:36.672Z,1613484276.672 [Micromodem](INFO): Nmea in: $CAERR,140437,NI  ,29,Busy completing a previous request*7E

2021-02-16T14:04:36.672Z,1613484276.672 [Micromodem](ERROR): Got error from modem: $CAERR,140437,NI  ,29,Busy completing a previous request*7E

2021-02-16T14:04:36.674Z,1613484276.674 [Micromodem](INFO): Nmea in: $SNTTA,0.079533,,0.083783,,140436.87*59

2021-02-16T14:04:36.674Z,1613484276.674 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.079533,,0.083783,,140436.87*59

2021-02-16T14:04:38.326Z,1613484278.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:41.176Z,1613484281.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:43.962Z,1613484283.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:46.807Z,1613484286.807 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:47.584Z,1613484287.584 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:47.985Z,1613484287.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:48.808Z,1613484288.808 [Micromodem](INFO): Nmea in: $SNTTA,0.073384,,,,140449.00*47

2021-02-16T14:04:48.853Z,1613484288.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.919998 m, bearing: 168.612195 deg, deltaT: 23.839761 s, approachRate: -0.717289 m/s, LOS rate: 0.092790 deg/s, posRepo size: 4
2021-02-16T14:04:48.855Z,1613484288.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.919998 m,
      bearing: 168.612195 deg,
      approachRate: -0.717289 m/s,
      LOS rate: 0.092790 deg/s,
      cmd update: 0.278369 deg/s,
      cmd heading: 169.482825 deg,
      new cmd heading: 169.477206 deg.

2021-02-16T14:04:51.233Z,1613484291.233 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:52.016Z,1613484292.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:52.433Z,1613484292.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:53.253Z,1613484293.253 [Micromodem](INFO): Nmea in: $SNTTA,0.071419,,,,140453.43*4A

2021-02-16T14:04:53.303Z,1613484293.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.980003 m, bearing: 168.727133 deg, deltaT: 4.469364 s, approachRate: -0.657811 m/s, LOS rate: 0.025717 deg/s, posRepo size: 4
2021-02-16T14:04:53.305Z,1613484293.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 168.727133 deg,
      approachRate: -0.657811 m/s,
      LOS rate: 0.025717 deg/s,
      cmd update: 0.077151 deg/s,
      cmd heading: 170.725776 deg,
      new cmd heading: 170.846772 deg.

2021-02-16T14:04:55.695Z,1613484295.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:04:56.470Z,1613484296.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:04:56.872Z,1613484296.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:04:57.696Z,1613484297.696 [Micromodem](INFO): Nmea in: $SNTTA,0.069414,,,,140457.89*4C

2021-02-16T14:04:57.745Z,1613484297.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.919998 m, bearing: 168.963157 deg, deltaT: 4.448347 s, approachRate: -0.687897 m/s, LOS rate: 0.053059 deg/s, posRepo size: 4
2021-02-16T14:04:57.751Z,1613484297.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 168.963157 deg,
      approachRate: -0.687897 m/s,
      LOS rate: 0.053059 deg/s,
      cmd update: 0.159176 deg/s,
      cmd heading: 171.069281 deg,
      new cmd heading: 171.102026 deg.

2021-02-16T14:05:00.160Z,1613484300.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:00.909Z,1613484300.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:01.309Z,1613484301.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:02.159Z,1613484302.159 [Micromodem](INFO): Nmea in: $SNTTA,0.067252,,,,140502.33*46

2021-02-16T14:05:02.186Z,1613484302.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.680000 m, bearing: 169.787533 deg, deltaT: 4.452250 s, approachRate: -0.727721 m/s, LOS rate: 0.185160 deg/s, posRepo size: 4
2021-02-16T14:05:02.188Z,1613484302.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 169.787533 deg,
      approachRate: -0.727721 m/s,
      LOS rate: 0.185160 deg/s,
      cmd update: 0.555479 deg/s,
      cmd heading: 171.777965 deg,
      new cmd heading: 171.843772 deg.

2021-02-16T14:05:04.572Z,1613484304.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:05.357Z,1613484305.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:05.760Z,1613484305.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:06.580Z,1613484306.580 [Micromodem](INFO): Nmea in: $SNTTA,0.065108,,,,140506.78*43

2021-02-16T14:05:06.650Z,1613484306.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.500008 m, bearing: 169.858964 deg, deltaT: 4.429643 s, approachRate: -0.717889 m/s, LOS rate: 0.016125 deg/s, posRepo size: 4
2021-02-16T14:05:06.656Z,1613484306.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.500008 m,
      bearing: 169.858964 deg,
      approachRate: -0.717889 m/s,
      LOS rate: 0.016125 deg/s,
      cmd update: 0.048376 deg/s,
      cmd heading: 174.238667 deg,
      new cmd heading: 174.487266 deg.

2021-02-16T14:05:09.017Z,1613484309.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:09.798Z,1613484309.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:10.231Z,1613484310.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:11.024Z,1613484311.024 [Micromodem](INFO): Nmea in: $SNTTA,0.062843,,,,140511.22*4B

2021-02-16T14:05:11.069Z,1613484311.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 168.884077 deg, deltaT: 4.459717 s, approachRate: -0.780321 m/s, LOS rate: -0.218598 deg/s, posRepo size: 4
2021-02-16T14:05:11.076Z,1613484311.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 168.884077 deg,
      approachRate: -0.780321 m/s,
      LOS rate: -0.218598 deg/s,
      cmd update: -0.655795 deg/s,
      cmd heading: 174.454212 deg,
      new cmd heading: 174.474067 deg.

2021-02-16T14:05:13.478Z,1613484313.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:14.243Z,1613484314.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:14.657Z,1613484314.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:15.486Z,1613484315.486 [Micromodem](INFO): Nmea in: $SNTTA,0.060744,,,,140515.68*4B

2021-02-16T14:05:15.545Z,1613484315.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.900009 m, bearing: 168.909608 deg, deltaT: 4.424821 s, approachRate: -0.705110 m/s, LOS rate: 0.005770 deg/s, posRepo size: 4
2021-02-16T14:05:15.551Z,1613484315.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.900009 m,
      bearing: 168.909608 deg,
      approachRate: -0.705110 m/s,
      LOS rate: 0.005770 deg/s,
      cmd update: 0.017310 deg/s,
      cmd heading: 171.553665 deg,
      new cmd heading: 171.249757 deg.

2021-02-16T14:05:17.898Z,1613484317.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:18.349Z,1613484318.349 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T14:05:18.349Z,1613484318.349 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T14:05:18.349Z,1613484318.349 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T14:05:18.349Z,1613484318.349 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:05:18.349Z,1613484318.349 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T14:05:18.726Z,1613484318.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:19.145Z,1613484319.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:19.213Z,1613484319.213 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60640000005D00000400320000000000000000151D80030C5669BF92F9E55D521F1820868B8DDEEA1A15836B0B52B9B0E97DAB5AB205F9664EE53B8931
2021-02-16T14:05:19.213Z,1613484319.213 [Micromodem](INFO): Outgoing frame #2, 7 bytes: E8F33E080BF000
2021-02-16T14:05:19.213Z,1613484319.213 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T14:05:19.531Z,1613484319.531 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T14:05:19.952Z,1613484319.952 [Micromodem](INFO): Nmea in: $CADRQ,140520,1,10,0,64,1*74

2021-02-16T14:05:19.953Z,1613484319.953 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60640000005D00000400320000000000000000151D80030C5669BF92F9E55D521F1820868B8DDEEA1A15836B0B52B9B0E97DAB5AB205F9664EE53B8931*3E

2021-02-16T14:05:20.178Z,1613484320.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.839996 m, bearing: 169.611492 deg, deltaT: 4.505325 s, approachRate: -0.679199 m/s, LOS rate: 0.155790 deg/s, posRepo size: 4
2021-02-16T14:05:20.184Z,1613484320.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.839996 m,
      bearing: 169.611492 deg,
      approachRate: -0.679199 m/s,
      LOS rate: 0.155790 deg/s,
      cmd update: 0.467370 deg/s,
      cmd heading: 171.631754 deg,
      new cmd heading: 171.641883 deg.

2021-02-16T14:05:20.396Z,1613484320.396 [Micromodem](INFO): Nmea in: $SNTTA,0.058684,,,,140520.14*40

2021-02-16T14:05:20.397Z,1613484320.397 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.058684,,,,140520.14*40

2021-02-16T14:05:21.615Z,1613484321.615 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T14:05:22.020Z,1613484322.020 [Micromodem](INFO): Nmea in: $CADRQ,140521,1,10,0,64,2*76

2021-02-16T14:05:22.020Z,1613484322.020 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,E8F33E080BF000*3B

2021-02-16T14:05:22.404Z,1613484322.404 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-02-16T14:05:22.429Z,1613484322.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:22.817Z,1613484322.817 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-02-16T14:05:23.212Z,1613484323.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:25.238Z,1613484325.238 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-02-16T14:05:25.238Z,1613484325.238 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-02-16T14:05:25.319Z,1613484325.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:25.656Z,1613484325.656 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,140523.412331,3,0,200,4000,14500,1,1,10,1,2,2,3,71*46

2021-02-16T14:05:25.656Z,1613484325.656 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,140523.412331,3,0,200,4000,14500,1,1,10,1,2,2,3,71*46

2021-02-16T14:05:28.065Z,1613484328.065 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T14:05:28.137Z,1613484328.137 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:28.464Z,1613484328.464 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T14:05:28.465Z,1613484328.465 [Micromodem](INFO): Sent 63 bytes from file Logs/20210216T042015/Courier0100.lzma.parts
2021-02-16T14:05:28.465Z,1613484328.465 [Micromodem](INFO): Packets left to send: 0
2021-02-16T14:05:28.884Z,1613484328.884 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216140528.110021,06,10031,40,0338,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,15.9,5.00,12,-2.00,-01,1.78,28,14500,4000*62

2021-02-16T14:05:28.884Z,1613484328.884 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216140528.110021,06,10031,40,0338,0150,07,01,01,00,03,1,010,001,0,4,1,0,150,15.9,5.00,12,-2.00,-01,1.78,28,14500,4000*62

2021-02-16T14:05:28.979Z,1613484328.979 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T14:05:28.979Z,1613484328.979 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T14:05:28.979Z,1613484328.979 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T14:05:28.979Z,1613484328.979 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:05:28.979Z,1613484328.979 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T14:05:31.020Z,1613484331.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:33.741Z,1613484333.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:34.523Z,1613484334.523 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:34.931Z,1613484334.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:35.752Z,1613484335.752 [Micromodem](INFO): Nmea in: $SNTTA,0.051025,,,,140535.94*48

2021-02-16T14:05:35.791Z,1613484335.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.080002 m, bearing: 169.387735 deg, deltaT: 15.788701 s, approachRate: -0.744836 m/s, LOS rate: -0.014172 deg/s, posRepo size: 4
2021-02-16T14:05:35.793Z,1613484335.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.080002 m,
      bearing: 169.387735 deg,
      approachRate: -0.744836 m/s,
      LOS rate: -0.014172 deg/s,
      cmd update: -0.042516 deg/s,
      cmd heading: 179.010957 deg,
      new cmd heading: 179.202403 deg.

2021-02-16T14:05:38.197Z,1613484338.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:38.968Z,1613484338.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:39.374Z,1613484339.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:40.196Z,1613484340.196 [Micromodem](INFO): Nmea in: $SNTTA,0.048644,,,,140540.39*44

2021-02-16T14:05:40.238Z,1613484340.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.779999 m, bearing: 168.706943 deg, deltaT: 4.437701 s, approachRate: -0.743629 m/s, LOS rate: -0.153411 deg/s, posRepo size: 4
2021-02-16T14:05:40.241Z,1613484340.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.779999 m,
      bearing: 168.706943 deg,
      approachRate: -0.743629 m/s,
      LOS rate: -0.153411 deg/s,
      cmd update: -0.460233 deg/s,
      cmd heading: 178.822290 deg,
      new cmd heading: 178.804504 deg.

2021-02-16T14:05:42.661Z,1613484342.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:43.412Z,1613484343.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:43.821Z,1613484343.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:44.656Z,1613484344.656 [Micromodem](INFO): Nmea in: $SNTTA,0.046301,,,,140544.83*4B

2021-02-16T14:05:44.681Z,1613484344.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.240005 m, bearing: 168.530082 deg, deltaT: 4.453112 s, approachRate: -0.794948 m/s, LOS rate: -0.039716 deg/s, posRepo size: 4
2021-02-16T14:05:44.682Z,1613484344.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.240005 m,
      bearing: 168.530082 deg,
      approachRate: -0.794948 m/s,
      LOS rate: -0.039716 deg/s,
      cmd update: -0.119149 deg/s,
      cmd heading: 176.772886 deg,
      new cmd heading: 176.584817 deg.

2021-02-16T14:05:47.081Z,1613484347.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:47.856Z,1613484347.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:48.276Z,1613484348.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:49.089Z,1613484349.089 [Micromodem](INFO): Nmea in: $SNTTA,0.044233,,,0.064325,140549.27*52

2021-02-16T14:05:49.160Z,1613484349.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.180000 m, bearing: 169.702074 deg, deltaT: 4.439933 s, approachRate: -0.689201 m/s, LOS rate: 0.263966 deg/s, posRepo size: 4
2021-02-16T14:05:49.162Z,1613484349.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.180000 m,
      bearing: 169.702074 deg,
      approachRate: -0.689201 m/s,
      LOS rate: 0.263966 deg/s,
      cmd update: 0.791899 deg/s,
      cmd heading: 176.244338 deg,
      new cmd heading: 176.191094 deg.

2021-02-16T14:05:51.517Z,1613484351.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:52.300Z,1613484352.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:52.706Z,1613484352.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:53.528Z,1613484353.528 [Micromodem](INFO): Nmea in: $SNTTA,0.042064,,,,140553.72*47

2021-02-16T14:05:53.566Z,1613484353.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.879997 m, bearing: 168.821185 deg, deltaT: 4.446311 s, approachRate: -0.742189 m/s, LOS rate: -0.198117 deg/s, posRepo size: 4
2021-02-16T14:05:53.568Z,1613484353.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 168.821185 deg,
      approachRate: -0.742189 m/s,
      LOS rate: -0.198117 deg/s,
      cmd update: -0.594351 deg/s,
      cmd heading: 179.768664 deg,
      new cmd heading: 180.091724 deg.

2021-02-16T14:05:55.981Z,1613484355.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:05:56.749Z,1613484356.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:05:57.150Z,1613484357.150 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:05:57.992Z,1613484357.992 [Micromodem](INFO): Nmea in: $SNTTA,0.039910,,,,140558.17*49

2021-02-16T14:05:58.017Z,1613484358.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.700005 m, bearing: 168.739140 deg, deltaT: 4.454163 s, approachRate: -0.713937 m/s, LOS rate: -0.018420 deg/s, posRepo size: 4
2021-02-16T14:05:58.019Z,1613484358.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.700005 m,
      bearing: 168.739140 deg,
      approachRate: -0.713937 m/s,
      LOS rate: -0.018420 deg/s,
      cmd update: -0.055259 deg/s,
      cmd heading: 177.132054 deg,
      new cmd heading: 176.881109 deg.

2021-02-16T14:06:00.127Z,1613484360.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:00.787Z,1613484360.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:01.202Z,1613484361.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:01.597Z,1613484361.597 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T14:06:02.032Z,1613484362.032 [Micromodem](INFO): Nmea in: $SNTTA,0.038057,,,,140602.21*4B

2021-02-16T14:06:02.072Z,1613484362.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 168.932530 deg, deltaT: 4.044579 s, approachRate: -0.697231 m/s, LOS rate: 0.047815 deg/s, posRepo size: 4
2021-02-16T14:06:02.074Z,1613484362.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.879997 m,
      bearing: 168.932530 deg,
      approachRate: -0.697231 m/s,
      LOS rate: 0.047815 deg/s,
      cmd update: 0.143444 deg/s,
      cmd heading: 176.907784 deg,
      new cmd heading: 176.884654 deg.

2021-02-16T14:06:04.481Z,1613484364.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:05.244Z,1613484365.244 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:05.655Z,1613484365.655 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:06.472Z,1613484366.472 [Micromodem](INFO): Nmea in: $SNTTA,0.035801,,,,140606.66*4A

2021-02-16T14:06:06.515Z,1613484366.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.519993 m, bearing: 171.667734 deg, deltaT: 4.397846 s, approachRate: -0.764011 m/s, LOS rate: 0.621942 deg/s, posRepo size: 4
2021-02-16T14:06:06.517Z,1613484366.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.519993 m,
      bearing: 171.667734 deg,
      approachRate: -0.764011 m/s,
      LOS rate: 0.621942 deg/s,
      cmd update: 1.865825 deg/s,
      cmd heading: 177.539218 deg,
      new cmd heading: 177.605200 deg.

2021-02-16T14:06:08.894Z,1613484368.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:09.674Z,1613484369.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:10.097Z,1613484370.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:10.903Z,1613484370.903 [Micromodem](INFO): Nmea in: $SNTTA,0.033558,,,,140611.09*42

2021-02-16T14:06:10.928Z,1613484370.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 169.687239 deg, deltaT: 4.461820 s, approachRate: -0.753053 m/s, LOS rate: -0.443876 deg/s, posRepo size: 4
2021-02-16T14:06:10.930Z,1613484370.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.160004 m,
      bearing: 169.687239 deg,
      approachRate: -0.753053 m/s,
      LOS rate: -0.443876 deg/s,
      cmd update: -1.331628 deg/s,
      cmd heading: 185.864095 deg,
      new cmd heading: 186.630352 deg.

2021-02-16T14:06:13.340Z,1613484373.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:14.139Z,1613484374.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:14.527Z,1613484374.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:15.360Z,1613484375.360 [Micromodem](INFO): Nmea in: $SNTTA,0.031477,,,,140615.56*42

2021-02-16T14:06:15.408Z,1613484375.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.040001 m, bearing: 168.058772 deg, deltaT: 4.431809 s, approachRate: -0.704002 m/s, LOS rate: -0.367450 deg/s, posRepo size: 4
2021-02-16T14:06:15.410Z,1613484375.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.040001 m,
      bearing: 168.058772 deg,
      approachRate: -0.704002 m/s,
      LOS rate: -0.367450 deg/s,
      cmd update: -1.102349 deg/s,
      cmd heading: 179.962450 deg,
      new cmd heading: 179.356304 deg.

2021-02-16T14:06:17.793Z,1613484377.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:18.564Z,1613484378.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:18.965Z,1613484378.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:19.792Z,1613484379.792 [Micromodem](INFO): Nmea in: $SNTTA,0.029435,,0.047016,,140619.98*59

2021-02-16T14:06:19.837Z,1613484379.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 168.369900 deg, deltaT: 4.473315 s, approachRate: -0.684057 m/s, LOS rate: 0.069552 deg/s, posRepo size: 4
2021-02-16T14:06:19.839Z,1613484379.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.980000 m,
      bearing: 168.369900 deg,
      approachRate: -0.684057 m/s,
      LOS rate: 0.069552 deg/s,
      cmd update: 0.208657 deg/s,
      cmd heading: 175.035901 deg,
      new cmd heading: 174.573407 deg.

2021-02-16T14:06:22.228Z,1613484382.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:23.004Z,1613484383.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:23.427Z,1613484383.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:24.276Z,1613484384.276 [Micromodem](INFO): Nmea in: $SNTTA,0.027514,,,,140624.42*46

2021-02-16T14:06:24.327Z,1613484384.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 169.236337 deg, deltaT: 4.435250 s, approachRate: -0.649344 m/s, LOS rate: 0.195352 deg/s, posRepo size: 4
2021-02-16T14:06:24.329Z,1613484384.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 169.236337 deg,
      approachRate: -0.649344 m/s,
      LOS rate: 0.195352 deg/s,
      cmd update: 0.586057 deg/s,
      cmd heading: 175.962212 deg,
      new cmd heading: 176.060204 deg.

2021-02-16T14:06:25.448Z,1613484385.448 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:06:26.686Z,1613484386.686 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:27.450Z,1613484387.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:27.867Z,1613484387.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:28.685Z,1613484388.685 [Micromodem](INFO): Nmea in: $SNTTA,0.025445,,,,140628.87*44

2021-02-16T14:06:28.728Z,1613484388.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.980000 m, bearing: 170.391063 deg, deltaT: 4.443836 s, approachRate: -0.702096 m/s, LOS rate: 0.259849 deg/s, posRepo size: 4
2021-02-16T14:06:28.729Z,1613484388.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.98 m.
2021-02-16T14:06:28.730Z,1613484388.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.980000 m,
      bearing: 170.391063 deg,
      approachRate: -0.702096 m/s,
      LOS rate: 0.259849 deg/s,
      cmd update: 0.779546 deg/s,
      cmd heading: 178.566505 deg,
      new cmd heading: 178.816647 deg.

2021-02-16T14:06:29.081Z,1613484389.081 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:06:31.149Z,1613484391.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:31.900Z,1613484391.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:32.314Z,1613484392.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:32.333Z,1613484392.333 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:06:33.148Z,1613484393.148 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140633.32*5C

2021-02-16T14:06:33.179Z,1613484393.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.620003 m, bearing: 171.181766 deg, deltaT: 4.453349 s, approachRate: -0.754488 m/s, LOS rate: 0.177553 deg/s, posRepo size: 4
2021-02-16T14:06:33.179Z,1613484393.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-02-16T14:06:33.180Z,1613484393.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.62 m.
2021-02-16T14:06:33.181Z,1613484393.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:06:33.186Z,1613484393.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 171.181766 deg,
      approachRate: -0.754488 m/s,
      LOS rate: 0.177553 deg/s,
      cmd update: 0.532658 deg/s,
      cmd heading: 182.034959 deg,
      new cmd heading: 182.368721 deg.

2021-02-16T14:06:35.544Z,1613484395.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:36.341Z,1613484396.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:36.759Z,1613484396.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:37.573Z,1613484397.573 [Micromodem](INFO): Nmea in: $SNTTA,0.021367,,,,140637.76*47

2021-02-16T14:06:37.653Z,1613484397.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.679998 m, bearing: 168.722734 deg, deltaT: 4.487502 s, approachRate: -0.655154 m/s, LOS rate: -0.547973 deg/s, posRepo size: 4
2021-02-16T14:06:37.659Z,1613484397.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.679998 m,
      bearing: 168.722734 deg,
      approachRate: -0.655154 m/s,
      LOS rate: -0.547973 deg/s,
      cmd update: -1.643920 deg/s,
      cmd heading: 184.426319 deg,
      new cmd heading: 184.646395 deg.

2021-02-16T14:06:40.005Z,1613484400.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:40.790Z,1613484400.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:41.189Z,1613484401.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:42.016Z,1613484402.016 [Micromodem](INFO): Nmea in: $SNTTA,0.019376,,,,140642.21*4C

2021-02-16T14:06:42.077Z,1613484402.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.559998 m, bearing: 169.018454 deg, deltaT: 4.408937 s, approachRate: -0.707654 m/s, LOS rate: 0.067073 deg/s, posRepo size: 4
2021-02-16T14:06:42.085Z,1613484402.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 169.018454 deg,
      approachRate: -0.707654 m/s,
      LOS rate: 0.067073 deg/s,
      cmd update: 0.201218 deg/s,
      cmd heading: 177.181527 deg,
      new cmd heading: 176.473707 deg.

2021-02-16T14:06:44.466Z,1613484404.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:45.224Z,1613484405.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:45.667Z,1613484405.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:46.459Z,1613484406.459 [Micromodem](INFO): Nmea in: $SNTTA,0.017126,,,,140646.64*40

2021-02-16T14:06:46.484Z,1613484406.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.499998 m, bearing: 171.246148 deg, deltaT: 4.407031 s, approachRate: -0.694345 m/s, LOS rate: 0.505486 deg/s, posRepo size: 4
2021-02-16T14:06:46.486Z,1613484406.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.499998 m,
      bearing: 171.246148 deg,
      approachRate: -0.694345 m/s,
      LOS rate: 0.505486 deg/s,
      cmd update: 1.516459 deg/s,
      cmd heading: 178.069105 deg,
      new cmd heading: 178.154741 deg.

2021-02-16T14:06:48.907Z,1613484408.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:49.681Z,1613484409.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:50.142Z,1613484410.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:50.909Z,1613484410.909 [Micromodem](INFO): Nmea in: $SNTTA,0.015104,,,,140651.10*47

2021-02-16T14:06:50.962Z,1613484410.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.379997 m, bearing: 172.258327 deg, deltaT: 4.432794 s, approachRate: -0.703845 m/s, LOS rate: 0.228339 deg/s, posRepo size: 4
2021-02-16T14:06:50.980Z,1613484410.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 172.258327 deg,
      approachRate: -0.703845 m/s,
      LOS rate: 0.228339 deg/s,
      cmd update: 0.685017 deg/s,
      cmd heading: 184.791197 deg,
      new cmd heading: 185.505804 deg.

2021-02-16T14:06:53.346Z,1613484413.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:54.142Z,1613484414.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:54.523Z,1613484414.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:55.364Z,1613484415.364 [Micromodem](INFO): Nmea in: $SNTTA,0.012893,0.033754,,,140655.56*59

2021-02-16T14:06:55.405Z,1613484415.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.020000 m, bearing: 167.327313 deg, deltaT: 4.455579 s, approachRate: -0.754110 m/s, LOS rate: -1.106706 deg/s, posRepo size: 4
2021-02-16T14:06:55.406Z,1613484415.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.020000 m,
      bearing: 167.327313 deg,
      approachRate: -0.754110 m/s,
      LOS rate: -1.106706 deg/s,
      cmd update: -3.320117 deg/s,
      cmd heading: 187.843399 deg,
      new cmd heading: 188.157384 deg.

2021-02-16T14:06:57.798Z,1613484417.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:06:58.557Z,1613484418.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:06:58.963Z,1613484418.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:06:59.787Z,1613484419.787 [Micromodem](INFO): Nmea in: $SNTTA,0.010890,,,,140659.98*4E

2021-02-16T14:06:59.812Z,1613484419.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 167.386230 deg, deltaT: 4.483503 s, approachRate: -0.669120 m/s, LOS rate: 0.013141 deg/s, posRepo size: 4
2021-02-16T14:06:59.814Z,1613484419.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.019999 m,
      bearing: 167.386230 deg,
      approachRate: -0.669120 m/s,
      LOS rate: 0.013141 deg/s,
      cmd update: 0.039423 deg/s,
      cmd heading: 173.018380 deg,
      new cmd heading: 171.687422 deg.

2021-02-16T14:07:02.232Z,1613484422.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:03.005Z,1613484423.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:03.424Z,1613484423.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:04.233Z,1613484424.233 [Micromodem](INFO): Nmea in: $SNTTA,0.008875,,,0.031388,140704.42*5D

2021-02-16T14:07:04.284Z,1613484424.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.080002 m, bearing: 175.920032 deg, deltaT: 4.436913 s, approachRate: -0.662622 m/s, LOS rate: 1.923365 deg/s, posRepo size: 4
2021-02-16T14:07:04.285Z,1613484424.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.080002 m,
      bearing: 175.920032 deg,
      approachRate: -0.662622 m/s,
      LOS rate: 1.923365 deg/s,
      cmd update: 5.770094 deg/s,
      cmd heading: 173.193857 deg,
      new cmd heading: 173.210447 deg.

2021-02-16T14:07:06.690Z,1613484426.690 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:07.466Z,1613484427.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:07.858Z,1613484427.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:08.684Z,1613484428.684 [Micromodem](INFO): Nmea in: $SNTTA,0.006949,,,,140708.88*48

2021-02-16T14:07:08.748Z,1613484428.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.200003 m, bearing: 177.850599 deg, deltaT: 4.435368 s, approachRate: -0.649326 m/s, LOS rate: 0.435266 deg/s, posRepo size: 4
2021-02-16T14:07:08.750Z,1613484428.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.200003 m,
      bearing: 177.850599 deg,
      approachRate: -0.649326 m/s,
      LOS rate: 0.435266 deg/s,
      cmd update: 1.305799 deg/s,
      cmd heading: 198.810664 deg,
      new cmd heading: 201.380687 deg.

2021-02-16T14:07:11.164Z,1613484431.164 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:11.905Z,1613484431.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:12.294Z,1613484432.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:13.157Z,1613484433.157 [Micromodem](INFO): Nmea in: $SNTTA,0.005197,,,,140713.33*4A

2021-02-16T14:07:13.168Z,1613484433.168 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:07:13.224Z,1613484433.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.499999 m, bearing: 171.789175 deg, deltaT: 4.457545 s, approachRate: -0.605716 m/s, LOS rate: -1.359812 deg/s, posRepo size: 4
2021-02-16T14:07:13.225Z,1613484433.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 171.789175 deg,
      approachRate: -0.605716 m/s,
      LOS rate: -1.359812 deg/s,
      cmd update: -4.079437 deg/s,
      cmd heading: 204.631113 deg,
      new cmd heading: 205.236542 deg.

2021-02-16T14:07:15.561Z,1613484435.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:16.338Z,1613484436.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:16.747Z,1613484436.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:17.568Z,1613484437.568 [Micromodem](INFO): Nmea in: $SNTTA,0.003709,,0.027016,,140717.76*54

2021-02-16T14:07:17.594Z,1613484437.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.460000 m, bearing: 178.902271 deg, deltaT: 4.411898 s, approachRate: -0.462386 m/s, LOS rate: 1.612253 deg/s, posRepo size: 4
2021-02-16T14:07:17.596Z,1613484437.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.460000 m,
      bearing: 178.902271 deg,
      approachRate: -0.462386 m/s,
      LOS rate: 1.612253 deg/s,
      cmd update: 4.836759 deg/s,
      cmd heading: 186.634685 deg,
      new cmd heading: 184.908064 deg.

2021-02-16T14:07:19.999Z,1613484439.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:20.401Z,1613484440.401 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:07:20.776Z,1613484440.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:21.184Z,1613484441.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:22.020Z,1613484442.020 [Micromodem](INFO): Nmea in: $SNTTA,0.002667,,,,140722.20*45

2021-02-16T14:07:22.064Z,1613484442.064 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T14:07:22.064Z,1613484442.064 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:07:22.064Z,1613484442.064 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T14:07:22.064Z,1613484442.064 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:07:22.064Z,1613484442.064 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T14:07:22.065Z,1613484442.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-02-16T14:07:22.065Z,1613484442.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T14:07:22.065Z,1613484442.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T14:07:22.065Z,1613484442.065 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T14:07:22.071Z,1613484442.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.199998 m, bearing: 200.701612 deg, deltaT: 4.464952 s, approachRate: -0.282198 m/s, LOS rate: 4.882324 deg/s, posRepo size: 4
2021-02-16T14:07:22.073Z,1613484442.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 200.701612 deg,
      approachRate: -0.282198 m/s,
      LOS rate: 4.882324 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 208.101749 deg,
      new cmd heading: 210.315277 deg.

2021-02-16T14:07:22.446Z,1613484442.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T140722: (41.552319, -70.708603)
2021-02-16T14:07:22.446Z,1613484442.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T14:07:22.446Z,1613484442.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T14:07:22.446Z,1613484442.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:07:22.446Z,1613484442.446 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T14:07:22.447Z,1613484442.447 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:07:22.447Z,1613484442.447 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T14:07:22.447Z,1613484442.447 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T14:07:22.447Z,1613484442.447 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:07:24.443Z,1613484444.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:25.225Z,1613484445.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:25.272Z,1613484445.272 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:07:25.652Z,1613484445.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:26.452Z,1613484446.452 [Micromodem](INFO): Nmea in: $SNTTA,0.002857,,,,140726.64*4C

2021-02-16T14:07:26.497Z,1613484446.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 186.275351 deg, deltaT: 4.427655 s, approachRate: 0.040654 m/s, LOS rate: -3.258217 deg/s, posRepo size: 4
2021-02-16T14:07:26.498Z,1613484446.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 186.275351 deg,
      approachRate: 0.040654 m/s,
      LOS rate: -3.258217 deg/s,
      cmd update: -9.774651 deg/s,
      cmd heading: 261.364195 deg,
      new cmd heading: 266.749267 deg.

2021-02-16T14:07:28.891Z,1613484448.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:29.669Z,1613484449.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:30.073Z,1613484450.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:30.900Z,1613484450.900 [Micromodem](INFO): Nmea in: $SNTTA,0.004517,,0.038517,,140731.09*58

2021-02-16T14:07:30.949Z,1613484450.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.539999 m, bearing: 214.733375 deg, deltaT: 4.422392 s, approachRate: 0.488423 m/s, LOS rate: 6.434985 deg/s, posRepo size: 4
2021-02-16T14:07:30.955Z,1613484450.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 214.733375 deg,
      approachRate: 0.488423 m/s,
      LOS rate: 6.434985 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 217.979004 deg,
      new cmd heading: 213.455579 deg.

2021-02-16T14:07:33.364Z,1613484453.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:34.139Z,1613484454.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:34.513Z,1613484454.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:35.345Z,1613484455.345 [Micromodem](INFO): Nmea in: $SNTTA,0.007414,,,,140735.56*41

2021-02-16T14:07:36.180Z,1613484456.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:37.745Z,1613484457.745 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:07:39.002Z,1613484459.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:39.764Z,1613484459.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:40.174Z,1613484460.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:41.003Z,1613484461.003 [Micromodem](INFO): Nmea in: $SNTTA,0.007824,,0.125324,,140741.18*5A

2021-02-16T14:07:41.028Z,1613484461.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.940001 m, bearing: 210.700585 deg, deltaT: 10.147947 s, approachRate: 0.532128 m/s, LOS rate: -0.397400 deg/s, posRepo size: 4
2021-02-16T14:07:41.030Z,1613484461.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.940001 m,
      bearing: 210.700585 deg,
      approachRate: 0.532128 m/s,
      LOS rate: -0.397400 deg/s,
      cmd update: -1.192199 deg/s,
      cmd heading: 339.424384 deg,
      new cmd heading: 344.481232 deg.

2021-02-16T14:07:43.433Z,1613484463.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:44.208Z,1613484464.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:44.645Z,1613484464.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:45.457Z,1613484465.457 [Micromodem](INFO): Nmea in: $SNTTA,0.009103,,,,140745.63*4D

2021-02-16T14:07:45.486Z,1613484465.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.739999 m, bearing: 290.563187 deg, deltaT: 4.419911 s, approachRate: 0.407247 m/s, LOS rate: 18.068825 deg/s, posRepo size: 4
2021-02-16T14:07:45.487Z,1613484465.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.068825 deg/s. Setting heading cmd to target bearing of 290.563187deg and heading rate command to 0 deg/s.
2021-02-16T14:07:47.889Z,1613484467.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:48.662Z,1613484468.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:49.064Z,1613484469.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:49.893Z,1613484469.893 [Micromodem](INFO): Nmea in: $SNTTA,0.010415,,,,140750.08*4E

2021-02-16T14:07:49.918Z,1613484469.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 299.636956 deg, deltaT: 4.446350 s, approachRate: 0.431816 m/s, LOS rate: 2.040723 deg/s, posRepo size: 4
2021-02-16T14:07:49.918Z,1613484469.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.66 m. Rolling out.
2021-02-16T14:07:49.919Z,1613484469.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T14:07:52.316Z,1613484472.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:53.108Z,1613484473.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:53.506Z,1613484473.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:54.332Z,1613484474.332 [Micromodem](INFO): Nmea in: $SNTTA,0.011449,,,,140754.53*4C

2021-02-16T14:07:54.378Z,1613484474.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 302.972794 deg, deltaT: 4.460844 s, approachRate: 0.390061 m/s, LOS rate: 0.747804 deg/s, posRepo size: 4
2021-02-16T14:07:56.773Z,1613484476.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:07:57.540Z,1613484477.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:07:57.946Z,1613484477.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:07:58.776Z,1613484478.776 [Micromodem](INFO): Nmea in: $SNTTA,0.012479,,,,140758.96*49

2021-02-16T14:07:58.828Z,1613484478.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 303.082104 deg, deltaT: 4.410583 s, approachRate: 0.326487 m/s, LOS rate: 0.024784 deg/s, posRepo size: 4
2021-02-16T14:08:01.226Z,1613484481.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:01.991Z,1613484481.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:02.389Z,1613484482.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:03.220Z,1613484483.220 [Micromodem](INFO): Nmea in: $SNTTA,0.013750,,,0.016218,140803.41*59

2021-02-16T14:08:03.273Z,1613484483.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 301.260984 deg, deltaT: 4.468348 s, approachRate: 0.443117 m/s, LOS rate: -0.407560 deg/s, posRepo size: 4
2021-02-16T14:08:03.630Z,1613484483.630 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:08:05.675Z,1613484485.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:06.433Z,1613484486.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:06.851Z,1613484486.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:07.664Z,1613484487.664 [Micromodem](INFO): Nmea in: $SNTTA,0.015172,,,,140807.85*47

2021-02-16T14:08:07.703Z,1613484487.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.919998 m, bearing: 300.268776 deg, deltaT: 4.452018 s, approachRate: 0.471695 m/s, LOS rate: -0.222867 deg/s, posRepo size: 4
2021-02-16T14:08:10.098Z,1613484490.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:10.872Z,1613484490.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:11.281Z,1613484491.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:12.123Z,1613484492.123 [Micromodem](INFO): Nmea in: $SNTTA,0.016531,,,,140812.29*45

2021-02-16T14:08:12.161Z,1613484492.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 290.171926 deg, deltaT: 4.428099 s, approachRate: 0.460694 m/s, LOS rate: -2.280177 deg/s, posRepo size: 4
2021-02-16T14:08:14.544Z,1613484494.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:15.316Z,1613484495.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:15.730Z,1613484495.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:16.544Z,1613484496.544 [Micromodem](INFO): Nmea in: $SNTTA,0.018069,,,,140816.74*4F

2021-02-16T14:08:16.559Z,1613484496.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.359999 m, bearing: 336.427388 deg, deltaT: 4.445269 s, approachRate: 0.539900 m/s, LOS rate: 10.405548 deg/s, posRepo size: 4
2021-02-16T14:08:19.001Z,1613484499.001 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:19.771Z,1613484499.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:20.260Z,1613484500.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:21.031Z,1613484501.031 [Micromodem](INFO): Nmea in: $SNTTA,0.019906,,,,140821.19*41

2021-02-16T14:08:21.065Z,1613484501.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 329.488107 deg, deltaT: 4.477269 s, approachRate: 0.522640 m/s, LOS rate: -1.549891 deg/s, posRepo size: 4
2021-02-16T14:08:23.440Z,1613484503.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:24.214Z,1613484504.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:24.642Z,1613484504.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:25.004Z,1613484505.004 [CTD_Seabird](ERROR): Failed to parse device response: 06,3339.87
2021-02-16T14:08:25.433Z,1613484505.433 [Micromodem](INFO): Nmea in: $SNTTA,0.021436,,,,140825.68*46

2021-02-16T14:08:25.497Z,1613484505.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.399998 m, bearing: 336.787476 deg, deltaT: 4.413356 s, approachRate: 0.611780 m/s, LOS rate: 1.653927 deg/s, posRepo size: 4
2021-02-16T14:08:27.883Z,1613484507.883 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:28.657Z,1613484508.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:29.054Z,1613484509.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:29.888Z,1613484509.888 [Micromodem](INFO): Nmea in: $SNTTA,0.025456,,0.027287,,140830.07*5F

2021-02-16T14:08:29.918Z,1613484509.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.980000 m, bearing: 339.309564 deg, deltaT: 4.455981 s, approachRate: 0.578997 m/s, LOS rate: 0.566001 deg/s, posRepo size: 4
2021-02-16T14:08:32.330Z,1613484512.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:33.105Z,1613484513.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:33.503Z,1613484513.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:34.336Z,1613484514.336 [Micromodem](INFO): Nmea in: $SNTTA,0.033600,,,,140834.53*4A

2021-02-16T14:08:34.360Z,1613484514.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 327.296982 deg, deltaT: 4.418835 s, approachRate: 0.638177 m/s, LOS rate: -2.718495 deg/s, posRepo size: 4
2021-02-16T14:08:36.753Z,1613484516.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:37.536Z,1613484517.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:37.942Z,1613484517.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:38.764Z,1613484518.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140838.96*57

2021-02-16T14:08:38.789Z,1613484518.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 321.920940 deg, deltaT: 4.436180 s, approachRate: 0.635683 m/s, LOS rate: -1.211863 deg/s, posRepo size: 4
2021-02-16T14:08:41.225Z,1613484521.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:41.982Z,1613484521.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:42.419Z,1613484522.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:43.253Z,1613484523.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140843.40*50

2021-02-16T14:08:43.311Z,1613484523.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.500000 m, bearing: 321.964107 deg, deltaT: 4.484169 s, approachRate: 0.642259 m/s, LOS rate: 0.009626 deg/s, posRepo size: 4
2021-02-16T14:08:45.682Z,1613484525.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:46.460Z,1613484526.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:46.857Z,1613484526.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:47.684Z,1613484527.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140847.88*50

2021-02-16T14:08:47.729Z,1613484527.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 315.848930 deg, deltaT: 4.460446 s, approachRate: 0.672579 m/s, LOS rate: -1.370979 deg/s, posRepo size: 4
2021-02-16T14:08:50.149Z,1613484530.149 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:50.898Z,1613484530.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:51.308Z,1613484531.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:52.166Z,1613484532.166 [Micromodem](INFO): Nmea in: $SNTTA,0.032910,,,,140852.32*42

2021-02-16T14:08:52.190Z,1613484532.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.500000 m, bearing: 327.481835 deg, deltaT: 4.438252 s, approachRate: 0.675941 m/s, LOS rate: 2.621056 deg/s, posRepo size: 4
2021-02-16T14:08:54.597Z,1613484534.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:55.354Z,1613484535.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:08:55.745Z,1613484535.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:08:56.576Z,1613484536.576 [Micromodem](INFO): Nmea in: $SNTTA,0.034680,,,,140856.77*47

2021-02-16T14:08:56.650Z,1613484536.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.200001 m, bearing: 326.021868 deg, deltaT: 4.444372 s, approachRate: 0.607510 m/s, LOS rate: -0.328498 deg/s, posRepo size: 4
2021-02-16T14:08:59.010Z,1613484539.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:08:59.784Z,1613484539.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:00.266Z,1613484540.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:01.016Z,1613484541.016 [Micromodem](INFO): Nmea in: $SNTTA,0.036560,0.049716,,,140901.20*5A

2021-02-16T14:09:01.041Z,1613484541.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.960007 m, bearing: 325.803903 deg, deltaT: 4.457357 s, approachRate: 0.619202 m/s, LOS rate: -0.048900 deg/s, posRepo size: 4
2021-02-16T14:09:03.473Z,1613484543.473 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:04.243Z,1613484544.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:04.653Z,1613484544.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:05.454Z,1613484545.454 [Micromodem](INFO): Nmea in: $SNTTA,0.038516,,,,140905.66*40

2021-02-16T14:09:06.304Z,1613484546.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:07.862Z,1613484547.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:09:09.138Z,1613484549.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:09.886Z,1613484549.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:10.301Z,1613484550.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:11.141Z,1613484551.141 [Micromodem](INFO): Nmea in: $SNTTA,0.040894,,,,140911.30*4E

2021-02-16T14:09:11.976Z,1613484551.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:13.531Z,1613484553.531 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:09:14.337Z,1613484554.337 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:09:14.763Z,1613484554.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:15.558Z,1613484555.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:15.946Z,1613484555.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:16.785Z,1613484556.785 [Micromodem](INFO): Nmea in: $SNTTA,0.043204,,0.060197,,140916.98*5C

2021-02-16T14:09:16.819Z,1613484556.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.980003 m, bearing: 314.890435 deg, deltaT: 15.738403 s, approachRate: 0.636659 m/s, LOS rate: -0.693429 deg/s, posRepo size: 4
2021-02-16T14:09:19.205Z,1613484559.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:19.984Z,1613484559.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:20.401Z,1613484560.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:21.201Z,1613484561.201 [Micromodem](INFO): Nmea in: $SNTTA,0.044985,,,,140921.40*4F

2021-02-16T14:09:22.145Z,1613484562.145 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:23.648Z,1613484563.648 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:09:24.858Z,1613484564.858 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:25.654Z,1613484565.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:26.046Z,1613484566.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:26.888Z,1613484566.888 [Micromodem](INFO): Nmea in: $SNTTA,0.047391,,,,140927.07*46

2021-02-16T14:09:26.926Z,1613484566.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 311.674810 deg, deltaT: 10.086512 s, approachRate: 0.624597 m/s, LOS rate: -0.318805 deg/s, posRepo size: 4
2021-02-16T14:09:29.328Z,1613484569.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:30.104Z,1613484570.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:30.507Z,1613484570.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:31.348Z,1613484571.348 [Micromodem](INFO): Nmea in: $SNTTA,0.049132,,,,140931.52*44

2021-02-16T14:09:31.372Z,1613484571.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 313.930903 deg, deltaT: 4.439365 s, approachRate: 0.581163 m/s, LOS rate: 0.508202 deg/s, posRepo size: 4
2021-02-16T14:09:33.761Z,1613484573.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:34.530Z,1613484574.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:34.934Z,1613484574.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:35.764Z,1613484575.764 [Micromodem](INFO): Nmea in: $SNTTA,0.051152,,,,140935.95*44

2021-02-16T14:09:35.789Z,1613484575.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 296.164816 deg, deltaT: 4.473208 s, approachRate: 0.670661 m/s, LOS rate: -3.971666 deg/s, posRepo size: 4
2021-02-16T14:09:38.189Z,1613484578.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:38.972Z,1613484578.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:39.383Z,1613484579.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:40.200Z,1613484580.200 [Micromodem](INFO): Nmea in: $SNTTA,0.052901,,,,140940.39*4D

2021-02-16T14:09:40.283Z,1613484580.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 312.918888 deg, deltaT: 4.434181 s, approachRate: 0.608904 m/s, LOS rate: 3.778391 deg/s, posRepo size: 4
2021-02-16T14:09:42.701Z,1613484582.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:43.421Z,1613484583.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:43.822Z,1613484583.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:44.667Z,1613484584.667 [Micromodem](INFO): Nmea in: $SNTTA,0.054896,,,,140944.84*46

2021-02-16T14:09:44.692Z,1613484584.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.500000 m, bearing: 309.616273 deg, deltaT: 4.453979 s, approachRate: 0.660084 m/s, LOS rate: -0.741498 deg/s, posRepo size: 4
2021-02-16T14:09:47.066Z,1613484587.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:47.865Z,1613484587.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:48.279Z,1613484588.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:49.116Z,1613484589.116 [Micromodem](INFO): Nmea in: $SNTTA,0.056735,,,,140949.28*49

2021-02-16T14:09:49.178Z,1613484589.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.320007 m, bearing: 305.762789 deg, deltaT: 4.442712 s, approachRate: 0.634749 m/s, LOS rate: -0.867372 deg/s, posRepo size: 4
2021-02-16T14:09:51.528Z,1613484591.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:52.304Z,1613484592.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:52.710Z,1613484592.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:53.536Z,1613484593.536 [Micromodem](INFO): Nmea in: $SNTTA,0.058581,,,,140953.72*4E

2021-02-16T14:09:53.574Z,1613484593.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.019997 m, bearing: 310.206264 deg, deltaT: 4.442875 s, approachRate: 0.607712 m/s, LOS rate: 1.000135 deg/s, posRepo size: 4
2021-02-16T14:09:55.973Z,1613484595.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:09:56.753Z,1613484596.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:09:57.161Z,1613484597.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:09:58.004Z,1613484598.004 [Micromodem](INFO): Nmea in: $SNTTA,0.060714,,,0.063232,140958.17*5B

2021-02-16T14:09:58.034Z,1613484598.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.260002 m, bearing: 307.419329 deg, deltaT: 4.432407 s, approachRate: 0.730981 m/s, LOS rate: -0.628764 deg/s, posRepo size: 4
2021-02-16T14:10:00.449Z,1613484600.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:01.193Z,1613484601.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:01.618Z,1613484601.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:02.445Z,1613484602.445 [Micromodem](INFO): Nmea in: $SNTTA,0.062530,,,,141002.61*43

2021-02-16T14:10:03.249Z,1613484603.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:04.828Z,1613484604.828 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:10:06.060Z,1613484606.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:06.848Z,1613484606.848 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:07.263Z,1613484607.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:08.089Z,1613484608.089 [Micromodem](INFO): Nmea in: $SNTTA,0.065098,,,,141008.27*4B

2021-02-16T14:10:08.156Z,1613484608.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.800003 m, bearing: 294.295257 deg, deltaT: 10.096025 s, approachRate: 0.647780 m/s, LOS rate: -1.299925 deg/s, posRepo size: 4
2021-02-16T14:10:10.515Z,1613484610.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:11.301Z,1613484611.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:11.703Z,1613484611.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:12.536Z,1613484612.536 [Micromodem](INFO): Nmea in: $SNTTA,0.067228,,,,141012.72*4B

2021-02-16T14:10:12.571Z,1613484612.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.920006 m, bearing: 293.489513 deg, deltaT: 4.472847 s, approachRate: 0.697543 m/s, LOS rate: -0.180141 deg/s, posRepo size: 4
2021-02-16T14:10:14.973Z,1613484614.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:15.753Z,1613484615.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:16.157Z,1613484616.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:16.972Z,1613484616.972 [Micromodem](INFO): Nmea in: $SNTTA,0.069233,,,,141017.17*49

2021-02-16T14:10:17.011Z,1613484617.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.980003 m, bearing: 302.292643 deg, deltaT: 4.432238 s, approachRate: 0.690396 m/s, LOS rate: 1.986159 deg/s, posRepo size: 4
2021-02-16T14:10:19.407Z,1613484619.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:20.181Z,1613484620.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:20.589Z,1613484620.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:21.408Z,1613484621.408 [Micromodem](INFO): Nmea in: $SNTTA,0.071370,,,,141021.60*43

2021-02-16T14:10:21.454Z,1613484621.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 303.779384 deg, deltaT: 4.434716 s, approachRate: 0.730599 m/s, LOS rate: 0.335251 deg/s, posRepo size: 4
2021-02-16T14:10:23.849Z,1613484623.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:24.655Z,1613484624.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:25.035Z,1613484625.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:25.872Z,1613484625.872 [Micromodem](INFO): Nmea in: $SNTTA,0.073283,,,,141026.07*4A

2021-02-16T14:10:25.897Z,1613484625.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.099998 m, bearing: 301.545202 deg, deltaT: 4.431510 s, approachRate: 0.649891 m/s, LOS rate: -0.504158 deg/s, posRepo size: 4
2021-02-16T14:10:28.314Z,1613484628.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:29.086Z,1613484629.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:29.474Z,1613484629.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:30.326Z,1613484630.326 [Micromodem](INFO): Nmea in: $SNTTA,0.075442,,,,141030.50*42

2021-02-16T14:10:30.394Z,1613484630.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 300.603592 deg, deltaT: 4.437713 s, approachRate: 0.730107 m/s, LOS rate: -0.212184 deg/s, posRepo size: 4
2021-02-16T14:10:32.752Z,1613484632.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:33.520Z,1613484633.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:33.918Z,1613484633.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:34.749Z,1613484634.749 [Micromodem](INFO): Nmea in: $SNTTA,0.077502,,,,141034.94*49

2021-02-16T14:10:34.774Z,1613484634.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.400002 m, bearing: 292.931869 deg, deltaT: 4.465457 s, approachRate: 0.685260 m/s, LOS rate: -1.718015 deg/s, posRepo size: 4
2021-02-16T14:10:37.180Z,1613484637.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:37.961Z,1613484637.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:38.364Z,1613484638.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:39.204Z,1613484639.204 [Micromodem](INFO): Nmea in: $SNTTA,0.079498,,,,141039.38*4E

2021-02-16T14:10:39.228Z,1613484639.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 296.145801 deg, deltaT: 4.453028 s, approachRate: 0.673699 m/s, LOS rate: 0.721741 deg/s, posRepo size: 4
2021-02-16T14:10:41.665Z,1613484641.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:42.400Z,1613484642.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:42.808Z,1613484642.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:43.668Z,1613484643.668 [Micromodem](INFO): Nmea in: $SNTTA,0.081489,,0.082682,,141043.82*5D

2021-02-16T14:10:43.702Z,1613484643.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 297.256936 deg, deltaT: 4.417261 s, approachRate: 0.679154 m/s, LOS rate: 0.251544 deg/s, posRepo size: 4
2021-02-16T14:10:46.057Z,1613484646.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:46.849Z,1613484646.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:47.258Z,1613484647.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:48.087Z,1613484648.087 [Micromodem](INFO): Nmea in: $SNTTA,0.083458,,,,141048.27*4F

2021-02-16T14:10:48.154Z,1613484648.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 295.338800 deg, deltaT: 4.458330 s, approachRate: 0.659440 m/s, LOS rate: -0.430236 deg/s, posRepo size: 4
2021-02-16T14:10:50.527Z,1613484650.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:51.288Z,1613484651.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:51.699Z,1613484651.699 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:52.516Z,1613484652.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141052.71*5B

2021-02-16T14:10:52.550Z,1613484652.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.339996 m, bearing: 291.666180 deg, deltaT: 4.475793 s, approachRate: 0.670271 m/s, LOS rate: -0.820552 deg/s, posRepo size: 4
2021-02-16T14:10:54.970Z,1613484654.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:10:55.743Z,1613484655.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:10:56.146Z,1613484656.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:10:56.968Z,1613484656.968 [Micromodem](INFO): Nmea in: $SNTTA,0.087412,,,,141057.16*49

2021-02-16T14:10:57.016Z,1613484657.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 293.934486 deg, deltaT: 4.384912 s, approachRate: 0.670482 m/s, LOS rate: 0.517298 deg/s, posRepo size: 4
2021-02-16T14:10:59.407Z,1613484659.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:00.190Z,1613484660.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:00.599Z,1613484660.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:01.400Z,1613484661.400 [Micromodem](INFO): Nmea in: $SNTTA,0.089322,,,,141101.61*41

2021-02-16T14:11:02.231Z,1613484662.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:03.823Z,1613484663.823 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:11:05.040Z,1613484665.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:05.839Z,1613484665.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:06.245Z,1613484666.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:07.064Z,1613484667.064 [Micromodem](INFO): Nmea in: $SNTTA,0.091703,,,,141107.26*4A

2021-02-16T14:11:07.151Z,1613484667.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.759995 m, bearing: 299.287251 deg, deltaT: 10.156571 s, approachRate: 0.638010 m/s, LOS rate: 0.527025 deg/s, posRepo size: 4
2021-02-16T14:11:09.504Z,1613484669.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:10.347Z,1613484670.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:10.718Z,1613484670.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:11.933Z,1613484671.933 [Micromodem](INFO): Nmea in: $SNTTA,0.093706,,,,141111.84*42

2021-02-16T14:11:12.364Z,1613484672.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:13.964Z,1613484673.964 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:11:15.190Z,1613484675.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:15.975Z,1613484675.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:16.373Z,1613484676.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:17.204Z,1613484677.204 [Micromodem](INFO): Nmea in: $SNTTA,0.096168,,,,141117.39*49

2021-02-16T14:11:17.229Z,1613484677.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 299.901886 deg, deltaT: 10.094009 s, approachRate: 0.659798 m/s, LOS rate: 0.060891 deg/s, posRepo size: 4
2021-02-16T14:11:19.675Z,1613484679.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:20.413Z,1613484680.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:20.821Z,1613484680.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:21.660Z,1613484681.660 [Micromodem](INFO): Nmea in: $SNTTA,0.098018,,,,141121.83*45

2021-02-16T14:11:21.685Z,1613484681.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 290.375193 deg, deltaT: 4.486193 s, approachRate: 0.615223 m/s, LOS rate: -2.123559 deg/s, posRepo size: 4
2021-02-16T14:11:24.074Z,1613484684.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:24.856Z,1613484684.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:25.271Z,1613484685.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:26.084Z,1613484686.084 [Micromodem](INFO): Nmea in: $SNTTA,0.100151,,,,141126.27*40

2021-02-16T14:11:26.153Z,1613484686.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 289.650264 deg, deltaT: 4.413762 s, approachRate: 0.734065 m/s, LOS rate: -0.164243 deg/s, posRepo size: 4
2021-02-16T14:11:26.153Z,1613484686.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.42 m. Resuming terminal guidance.
2021-02-16T14:11:26.153Z,1613484686.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:11:28.512Z,1613484688.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:29.300Z,1613484689.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:29.726Z,1613484689.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:30.528Z,1613484690.528 [Micromodem](INFO): Nmea in: $SNTTA,0.102202,,,,141130.72*40

2021-02-16T14:11:30.574Z,1613484690.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.480011 m, bearing: 285.667061 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:11:30.575Z,1613484690.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 285.667061deg and heading rate command to 0 deg/s.
2021-02-16T14:11:32.981Z,1613484692.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:33.749Z,1613484693.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:34.155Z,1613484694.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:34.976Z,1613484694.976 [Micromodem](INFO): Nmea in: $SNTTA,0.104174,,,,141135.17*42

2021-02-16T14:11:35.046Z,1613484695.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.419998 m, bearing: 280.676379 deg, deltaT: 4.411785 s, approachRate: 0.666394 m/s, LOS rate: -1.131216 deg/s, posRepo size: 2
2021-02-16T14:11:35.049Z,1613484695.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.419998 m,
      bearing: 280.676379 deg,
      approachRate: 0.666394 m/s,
      LOS rate: -1.131216 deg/s,
      cmd update: -3.393648 deg/s,
      cmd heading: 285.667061 deg,
      new cmd heading: 285.667061 deg.

2021-02-16T14:11:37.416Z,1613484697.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:38.196Z,1613484698.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:38.600Z,1613484698.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:39.427Z,1613484699.427 [Micromodem](INFO): Nmea in: $SNTTA,0.106180,,,,141139.62*45

2021-02-16T14:11:39.481Z,1613484699.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 265.765420 deg, deltaT: 4.472453 s, approachRate: 0.684188 m/s, LOS rate: -3.333955 deg/s, posRepo size: 3
2021-02-16T14:11:39.483Z,1613484699.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.479996 m,
      bearing: 265.765420 deg,
      approachRate: 0.684188 m/s,
      LOS rate: -3.333955 deg/s,
      cmd update: -10.001866 deg/s,
      cmd heading: 270.501617 deg,
      new cmd heading: 269.023354 deg.

2021-02-16T14:11:41.874Z,1613484701.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:42.655Z,1613484702.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:43.039Z,1613484703.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:43.884Z,1613484703.884 [Micromodem](INFO): Nmea in: $SNTTA,0.108201,,,,141144.07*48

2021-02-16T14:11:43.933Z,1613484703.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.479996 m, bearing: 252.819589 deg, deltaT: 4.435479 s, approachRate: 0.000000 m/s, LOS rate: -2.918700 deg/s, posRepo size: 4
2021-02-16T14:11:43.935Z,1613484703.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.479996 m,
      bearing: 252.819589 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.918700 deg/s,
      cmd update: -8.756099 deg/s,
      cmd heading: 226.134699 deg,
      new cmd heading: 221.596532 deg.

2021-02-16T14:11:46.299Z,1613484706.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:47.076Z,1613484707.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:47.481Z,1613484707.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:48.312Z,1613484708.312 [Micromodem](INFO): Nmea in: $SNTTA,0.109494,,,,141148.50*4D

2021-02-16T14:11:48.336Z,1613484708.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.399994 m, bearing: 249.465829 deg, deltaT: 4.470589 s, approachRate: 1.100526 m/s, LOS rate: -0.750183 deg/s, posRepo size: 4
2021-02-16T14:11:48.338Z,1613484708.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.399994 m,
      bearing: 249.465829 deg,
      approachRate: 1.100526 m/s,
      LOS rate: -0.750183 deg/s,
      cmd update: -2.250549 deg/s,
      cmd heading: 186.992755 deg,
      new cmd heading: 183.609433 deg.

2021-02-16T14:11:50.738Z,1613484710.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:51.520Z,1613484711.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:51.926Z,1613484711.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:52.748Z,1613484712.748 [Micromodem](INFO): Nmea in: $SNTTA,0.110908,,,,141152.94*4E

2021-02-16T14:11:52.799Z,1613484712.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 219.910399 deg, deltaT: 4.431021 s, approachRate: 0.446852 m/s, LOS rate: -6.670117 deg/s, posRepo size: 4
2021-02-16T14:11:52.801Z,1613484712.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 219.910399 deg,
      approachRate: 0.446852 m/s,
      LOS rate: -6.670117 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 177.030924 deg,
      new cmd heading: 176.087449 deg.

2021-02-16T14:11:55.222Z,1613484715.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:11:55.981Z,1613484715.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:11:56.370Z,1613484716.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:11:57.204Z,1613484717.204 [Micromodem](INFO): Nmea in: $SNTTA,0.111640,,,,141157.40*40

2021-02-16T14:11:57.271Z,1613484717.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 204.063567 deg, deltaT: 4.441513 s, approachRate: 0.000000 m/s, LOS rate: -3.567890 deg/s, posRepo size: 4
2021-02-16T14:11:57.277Z,1613484717.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 204.063567 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.567890 deg/s,
      cmd update: -10.703671 deg/s,
      cmd heading: 123.685487 deg,
      new cmd heading: 118.304747 deg.

2021-02-16T14:11:59.675Z,1613484719.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:00.423Z,1613484720.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:00.814Z,1613484720.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:01.660Z,1613484721.660 [Micromodem](INFO): Nmea in: $SNTTA,0.111826,,,,141201.84*46

2021-02-16T14:12:01.698Z,1613484721.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 174.802900 deg, deltaT: 4.447906 s, approachRate: 0.000000 m/s, LOS rate: -6.578527 deg/s, posRepo size: 4
2021-02-16T14:12:01.700Z,1613484721.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 174.802900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.578527 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 76.080641 deg,
      new cmd heading: 71.488840 deg.

2021-02-16T14:12:04.058Z,1613484724.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:04.857Z,1613484724.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:05.266Z,1613484725.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:06.085Z,1613484726.085 [Micromodem](INFO): Nmea in: $SNTTA,0.111256,,,0.113768,141206.27*51

2021-02-16T14:12:06.146Z,1613484726.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.380005 m, bearing: 186.876872 deg, deltaT: 4.446963 s, approachRate: 0.000000 m/s, LOS rate: 2.715105 deg/s, posRepo size: 4
2021-02-16T14:12:06.152Z,1613484726.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 186.876872 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.715105 deg/s,
      cmd update: 8.145315 deg/s,
      cmd heading: 22.761819 deg,
      new cmd heading: 17.559207 deg.

2021-02-16T14:12:08.512Z,1613484728.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:09.301Z,1613484729.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:09.713Z,1613484729.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:10.528Z,1613484730.528 [Micromodem](INFO): Nmea in: $SNTTA,0.110164,,,,141210.72*41

2021-02-16T14:12:10.570Z,1613484730.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 104.660471 deg, deltaT: 4.438735 s, approachRate: -0.283867 m/s, LOS rate: -18.522484 deg/s, posRepo size: 4
2021-02-16T14:12:10.570Z,1613484730.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.522484 deg/s. Setting heading cmd to target bearing of 104.660471deg and heading rate command to 0 deg/s.
2021-02-16T14:12:12.981Z,1613484732.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:13.745Z,1613484733.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:14.158Z,1613484734.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:14.988Z,1613484734.988 [Micromodem](INFO): Nmea in: $SNTTA,0.108609,,,,141215.17*42

2021-02-16T14:12:15.012Z,1613484735.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.119995 m, bearing: 114.647485 deg, deltaT: 4.437349 s, approachRate: 0.000000 m/s, LOS rate: 2.250671 deg/s, posRepo size: 4
2021-02-16T14:12:15.014Z,1613484735.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.119995 m,
      bearing: 114.647485 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.250671 deg/s,
      cmd update: 6.752014 deg/s,
      cmd heading: 104.660471 deg,
      new cmd heading: 104.660471 deg.

2021-02-16T14:12:17.418Z,1613484737.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:18.189Z,1613484738.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:18.594Z,1613484738.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:19.417Z,1613484739.417 [Micromodem](INFO): Nmea in: $SNTTA,0.106787,,,,141219.61*46

2021-02-16T14:12:19.463Z,1613484739.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 107.477685 deg, deltaT: 4.463339 s, approachRate: -1.169525 m/s, LOS rate: -1.606376 deg/s, posRepo size: 4
2021-02-16T14:12:19.465Z,1613484739.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.900009 m,
      bearing: 107.477685 deg,
      approachRate: -1.169525 m/s,
      LOS rate: -1.606376 deg/s,
      cmd update: -4.819127 deg/s,
      cmd heading: 134.741815 deg,
      new cmd heading: 137.516852 deg.

2021-02-16T14:12:21.865Z,1613484741.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:22.653Z,1613484742.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:23.037Z,1613484743.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:23.876Z,1613484743.876 [Micromodem](INFO): Nmea in: $SNTTA,0.104743,,,,141224.07*42

2021-02-16T14:12:23.920Z,1613484743.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.900009 m, bearing: 108.297704 deg, deltaT: 4.431181 s, approachRate: 0.000000 m/s, LOS rate: 0.185057 deg/s, posRepo size: 4
2021-02-16T14:12:23.921Z,1613484743.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.900009 m,
      bearing: 108.297704 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.185057 deg/s,
      cmd update: 0.555170 deg/s,
      cmd heading: 113.427036 deg,
      new cmd heading: 111.285184 deg.

2021-02-16T14:12:26.315Z,1613484746.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:27.090Z,1613484747.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:27.482Z,1613484747.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:28.312Z,1613484748.312 [Micromodem](INFO): Nmea in: $SNTTA,0.102279,,,,141228.51*47

2021-02-16T14:12:28.336Z,1613484748.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.240005 m, bearing: 107.852054 deg, deltaT: 4.434766 s, approachRate: -1.501771 m/s, LOS rate: -0.100490 deg/s, posRepo size: 4
2021-02-16T14:12:28.338Z,1613484748.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.240005 m,
      bearing: 107.852054 deg,
      approachRate: -1.501771 m/s,
      LOS rate: -0.100490 deg/s,
      cmd update: -0.301470 deg/s,
      cmd heading: 115.898138 deg,
      new cmd heading: 116.125715 deg.

2021-02-16T14:12:30.750Z,1613484750.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:31.521Z,1613484751.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:31.926Z,1613484751.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:32.748Z,1613484752.748 [Micromodem](INFO): Nmea in: $SNTTA,0.099974,,,,141232.94*40

2021-02-16T14:12:32.797Z,1613484752.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.820007 m, bearing: 111.268699 deg, deltaT: 4.449756 s, approachRate: -0.768581 m/s, LOS rate: 0.767828 deg/s, posRepo size: 4
2021-02-16T14:12:32.803Z,1613484752.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.820007 m,
      bearing: 111.268699 deg,
      approachRate: -0.768581 m/s,
      LOS rate: 0.767828 deg/s,
      cmd update: 2.303483 deg/s,
      cmd heading: 114.557834 deg,
      new cmd heading: 114.429579 deg.

2021-02-16T14:12:35.187Z,1613484755.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:35.964Z,1613484755.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:36.387Z,1613484756.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:37.196Z,1613484757.196 [Micromodem](INFO): Nmea in: $SNTTA,0.097450,,,0.099969,141237.38*5E

2021-02-16T14:12:37.257Z,1613484757.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 109.660128 deg, deltaT: 4.448379 s, approachRate: -0.863238 m/s, LOS rate: -0.361608 deg/s, posRepo size: 4
2021-02-16T14:12:37.264Z,1613484757.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 109.660128 deg,
      approachRate: -0.863238 m/s,
      LOS rate: -0.361608 deg/s,
      cmd update: -1.084825 deg/s,
      cmd heading: 124.794877 deg,
      new cmd heading: 125.798668 deg.

2021-02-16T14:12:39.673Z,1613484759.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:40.419Z,1613484760.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:40.819Z,1613484760.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:41.660Z,1613484761.660 [Micromodem](INFO): Nmea in: $SNTTA,0.095031,,,,141241.84*41

2021-02-16T14:12:41.697Z,1613484761.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.319992 m, bearing: 108.365001 deg, deltaT: 4.458859 s, approachRate: -0.820839 m/s, LOS rate: -0.290461 deg/s, posRepo size: 4
2021-02-16T14:12:41.700Z,1613484761.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.319992 m,
      bearing: 108.365001 deg,
      approachRate: -0.820839 m/s,
      LOS rate: -0.290461 deg/s,
      cmd update: -0.871384 deg/s,
      cmd heading: 119.953557 deg,
      new cmd heading: 119.499369 deg.

2021-02-16T14:12:42.458Z,1613484762.458 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T14:12:44.059Z,1613484764.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:44.857Z,1613484764.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:45.265Z,1613484765.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:46.125Z,1613484766.125 [Micromodem](INFO): Nmea in: $SNTTA,0.092738,,,,141246.28*49

2021-02-16T14:12:46.181Z,1613484766.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.900009 m, bearing: 108.517629 deg, deltaT: 4.426289 s, approachRate: -0.772652 m/s, LOS rate: 0.034482 deg/s, posRepo size: 4
2021-02-16T14:12:46.187Z,1613484766.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 108.517629 deg,
      approachRate: -0.772652 m/s,
      LOS rate: 0.034482 deg/s,
      cmd update: 0.103446 deg/s,
      cmd heading: 116.112403 deg,
      new cmd heading: 115.681523 deg.

2021-02-16T14:12:48.529Z,1613484768.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:49.302Z,1613484769.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:49.708Z,1613484769.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:50.532Z,1613484770.532 [Micromodem](INFO): Nmea in: $SNTTA,0.090252,,,,141250.72*4A

2021-02-16T14:12:50.568Z,1613484770.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.180008 m, bearing: 109.388690 deg, deltaT: 4.460241 s, approachRate: -0.834036 m/s, LOS rate: 0.195295 deg/s, posRepo size: 4
2021-02-16T14:12:50.570Z,1613484770.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.180008 m,
      bearing: 109.388690 deg,
      approachRate: -0.834036 m/s,
      LOS rate: 0.195295 deg/s,
      cmd update: 0.585884 deg/s,
      cmd heading: 116.576098 deg,
      new cmd heading: 116.617339 deg.

2021-02-16T14:12:52.967Z,1613484772.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:53.740Z,1613484773.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:54.163Z,1613484774.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:54.968Z,1613484774.968 [Micromodem](INFO): Nmea in: $SNTTA,0.087862,,,,141255.16*42

2021-02-16T14:12:55.007Z,1613484775.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 109.975239 deg, deltaT: 4.419430 s, approachRate: -0.814586 m/s, LOS rate: 0.132721 deg/s, posRepo size: 4
2021-02-16T14:12:55.009Z,1613484775.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.580002 m,
      bearing: 109.975239 deg,
      approachRate: -0.814586 m/s,
      LOS rate: 0.132721 deg/s,
      cmd update: 0.398162 deg/s,
      cmd heading: 119.165400 deg,
      new cmd heading: 119.410183 deg.

2021-02-16T14:12:57.406Z,1613484777.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:12:58.184Z,1613484778.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:12:58.594Z,1613484778.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:12:59.416Z,1613484779.416 [Micromodem](INFO): Nmea in: $SNTTA,0.085367,,,,141259.60*43

2021-02-16T14:12:59.446Z,1613484779.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.860001 m, bearing: 108.830643 deg, deltaT: 4.432774 s, approachRate: -0.839204 m/s, LOS rate: -0.258212 deg/s, posRepo size: 4
2021-02-16T14:12:59.476Z,1613484779.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 108.830643 deg,
      approachRate: -0.839204 m/s,
      LOS rate: -0.258212 deg/s,
      cmd update: -0.774637 deg/s,
      cmd heading: 120.930349 deg,
      new cmd heading: 121.099420 deg.

2021-02-16T14:13:01.847Z,1613484781.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:02.645Z,1613484782.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:03.042Z,1613484783.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:03.868Z,1613484783.868 [Micromodem](INFO): Nmea in: $SNTTA,0.082807,,,,141304.06*40

2021-02-16T14:13:03.913Z,1613484783.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.020004 m, bearing: 107.827957 deg, deltaT: 4.471083 s, approachRate: -0.858851 m/s, LOS rate: -0.224260 deg/s, posRepo size: 4
2021-02-16T14:13:03.914Z,1613484783.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 107.827957 deg,
      approachRate: -0.858851 m/s,
      LOS rate: -0.224260 deg/s,
      cmd update: -0.672780 deg/s,
      cmd heading: 117.469827 deg,
      new cmd heading: 117.141677 deg.

2021-02-16T14:13:06.303Z,1613484786.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:07.081Z,1613484787.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:07.478Z,1613484787.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:08.313Z,1613484788.313 [Micromodem](INFO): Nmea in: $SNTTA,0.080230,,,,141308.50*43

2021-02-16T14:13:08.369Z,1613484788.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 108.743613 deg, deltaT: 4.413073 s, approachRate: -0.870141 m/s, LOS rate: 0.207487 deg/s, posRepo size: 4
2021-02-16T14:13:08.370Z,1613484788.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.180008 m,
      bearing: 108.743613 deg,
      approachRate: -0.870141 m/s,
      LOS rate: 0.207487 deg/s,
      cmd update: 0.622461 deg/s,
      cmd heading: 114.498111 deg,
      new cmd heading: 114.186818 deg.

2021-02-16T14:13:10.747Z,1613484790.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:11.532Z,1613484791.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:11.924Z,1613484791.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:12.756Z,1613484792.756 [Micromodem](INFO): Nmea in: $SNTTA,0.077927,,,,141312.95*44

2021-02-16T14:13:12.805Z,1613484792.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.699997 m, bearing: 109.672245 deg, deltaT: 4.447030 s, approachRate: -0.782547 m/s, LOS rate: 0.208821 deg/s, posRepo size: 4
2021-02-16T14:13:12.811Z,1613484792.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.699997 m,
      bearing: 109.672245 deg,
      approachRate: -0.782547 m/s,
      LOS rate: 0.208821 deg/s,
      cmd update: 0.626462 deg/s,
      cmd heading: 117.266112 deg,
      new cmd heading: 117.547508 deg.

2021-02-16T14:13:15.194Z,1613484795.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:15.960Z,1613484795.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:16.371Z,1613484796.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:17.188Z,1613484797.188 [Micromodem](INFO): Nmea in: $SNTTA,0.075319,,,,141317.38*43

2021-02-16T14:13:17.231Z,1613484797.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.799995 m, bearing: 109.155480 deg, deltaT: 4.495922 s, approachRate: -0.867453 m/s, LOS rate: -0.114941 deg/s, posRepo size: 4
2021-02-16T14:13:17.233Z,1613484797.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.799995 m,
      bearing: 109.155480 deg,
      approachRate: -0.867453 m/s,
      LOS rate: -0.114941 deg/s,
      cmd update: -0.344823 deg/s,
      cmd heading: 120.068199 deg,
      new cmd heading: 120.319779 deg.

2021-02-16T14:13:19.666Z,1613484799.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:20.427Z,1613484800.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:20.811Z,1613484800.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:21.664Z,1613484801.664 [Micromodem](INFO): Nmea in: $SNTTA,0.072882,,,,141321.85*4E

2021-02-16T14:13:21.708Z,1613484801.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.200005 m, bearing: 108.383306 deg, deltaT: 4.435953 s, approachRate: -0.811548 m/s, LOS rate: -0.174072 deg/s, posRepo size: 4
2021-02-16T14:13:21.710Z,1613484801.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.200005 m,
      bearing: 108.383306 deg,
      approachRate: -0.811548 m/s,
      LOS rate: -0.174072 deg/s,
      cmd update: -0.522215 deg/s,
      cmd heading: 118.531948 deg,
      new cmd heading: 118.384662 deg.

2021-02-16T14:13:24.061Z,1613484804.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:24.851Z,1613484804.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:25.354Z,1613484805.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:26.080Z,1613484806.080 [Micromodem](INFO): Nmea in: $SNTTA,0.070322,,,,141326.27*42

2021-02-16T14:13:26.153Z,1613484806.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.300003 m, bearing: 108.535517 deg, deltaT: 4.411390 s, approachRate: -0.884075 m/s, LOS rate: 0.034504 deg/s, posRepo size: 4
2021-02-16T14:13:26.154Z,1613484806.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.300003 m,
      bearing: 108.535517 deg,
      approachRate: -0.884075 m/s,
      LOS rate: 0.034504 deg/s,
      cmd update: 0.103512 deg/s,
      cmd heading: 116.226190 deg,
      new cmd heading: 115.987787 deg.

2021-02-16T14:13:28.520Z,1613484808.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:29.296Z,1613484809.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:29.703Z,1613484809.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:30.535Z,1613484810.535 [Micromodem](INFO): Nmea in: $SNTTA,0.067818,,,,141330.71*42

2021-02-16T14:13:30.565Z,1613484810.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.580002 m, bearing: 108.545708 deg, deltaT: 4.458816 s, approachRate: -0.834302 m/s, LOS rate: 0.002286 deg/s, posRepo size: 4
2021-02-16T14:13:30.568Z,1613484810.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 108.545708 deg,
      approachRate: -0.834302 m/s,
      LOS rate: 0.002286 deg/s,
      cmd update: 0.006857 deg/s,
      cmd heading: 116.687736 deg,
      new cmd heading: 116.730025 deg.

2021-02-16T14:13:32.961Z,1613484812.961 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:33.745Z,1613484813.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:34.154Z,1613484814.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:34.968Z,1613484814.968 [Micromodem](INFO): Nmea in: $SNTTA,0.065435,,,,141335.16*47

2021-02-16T14:13:35.011Z,1613484815.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 109.539616 deg, deltaT: 4.422279 s, approachRate: -0.814060 m/s, LOS rate: 0.224750 deg/s, posRepo size: 4
2021-02-16T14:13:35.013Z,1613484815.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 109.539616 deg,
      approachRate: -0.814060 m/s,
      LOS rate: 0.224750 deg/s,
      cmd update: 0.674251 deg/s,
      cmd heading: 116.718057 deg,
      new cmd heading: 116.721027 deg.

2021-02-16T14:13:37.414Z,1613484817.414 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:38.184Z,1613484818.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:38.589Z,1613484818.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:39.412Z,1613484819.412 [Micromodem](INFO): Nmea in: $SNTTA,0.062922,,,,141339.60*46

2021-02-16T14:13:39.436Z,1613484819.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 109.254613 deg, deltaT: 4.435177 s, approachRate: -0.852277 m/s, LOS rate: -0.064260 deg/s, posRepo size: 4
2021-02-16T14:13:39.438Z,1613484819.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.200005 m,
      bearing: 109.254613 deg,
      approachRate: -0.852277 m/s,
      LOS rate: -0.064260 deg/s,
      cmd update: -0.192779 deg/s,
      cmd heading: 119.708437 deg,
      new cmd heading: 119.993986 deg.

2021-02-16T14:13:41.857Z,1613484821.857 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:42.650Z,1613484822.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:43.030Z,1613484823.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:43.868Z,1613484823.868 [Micromodem](INFO): Nmea in: $SNTTA,0.060330,,,,141344.07*46

2021-02-16T14:13:43.912Z,1613484823.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 108.495137 deg, deltaT: 4.448955 s, approachRate: -0.863125 m/s, LOS rate: -0.170709 deg/s, posRepo size: 4
2021-02-16T14:13:43.914Z,1613484823.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.360001 m,
      bearing: 108.495137 deg,
      approachRate: -0.863125 m/s,
      LOS rate: -0.170709 deg/s,
      cmd update: -0.512127 deg/s,
      cmd heading: 118.850771 deg,
      new cmd heading: 118.763935 deg.

2021-02-16T14:13:46.303Z,1613484826.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:47.074Z,1613484827.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:47.474Z,1613484827.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:48.300Z,1613484828.300 [Micromodem](INFO): Nmea in: $SNTTA,0.057903,,,,141348.49*4E

2021-02-16T14:13:48.344Z,1613484828.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 107.917692 deg, deltaT: 4.438984 s, approachRate: -0.838030 m/s, LOS rate: -0.130085 deg/s, posRepo size: 4
2021-02-16T14:13:48.346Z,1613484828.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.639999 m,
      bearing: 107.917692 deg,
      approachRate: -0.838030 m/s,
      LOS rate: -0.130085 deg/s,
      cmd update: -0.390255 deg/s,
      cmd heading: 116.577418 deg,
      new cmd heading: 116.350106 deg.

2021-02-16T14:13:50.757Z,1613484830.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:51.513Z,1613484831.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:51.917Z,1613484831.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:52.744Z,1613484832.744 [Micromodem](INFO): Nmea in: $SNTTA,0.055569,,,,141352.93*40

2021-02-16T14:13:52.797Z,1613484832.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 108.110276 deg, deltaT: 4.443242 s, approachRate: -0.783211 m/s, LOS rate: 0.043343 deg/s, posRepo size: 4
2021-02-16T14:13:52.798Z,1613484832.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.160004 m,
      bearing: 108.110276 deg,
      approachRate: -0.783211 m/s,
      LOS rate: 0.043343 deg/s,
      cmd update: 0.130029 deg/s,
      cmd heading: 114.843424 deg,
      new cmd heading: 114.666645 deg.

2021-02-16T14:13:55.194Z,1613484835.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:13:55.957Z,1613484835.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:13:56.362Z,1613484836.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:13:57.197Z,1613484837.197 [Micromodem](INFO): Nmea in: $SNTTA,0.053154,,,,141357.38*48

2021-02-16T14:13:57.246Z,1613484837.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 108.764492 deg, deltaT: 4.473731 s, approachRate: -0.804699 m/s, LOS rate: 0.146235 deg/s, posRepo size: 4
2021-02-16T14:13:57.249Z,1613484837.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.559998 m,
      bearing: 108.764492 deg,
      approachRate: -0.804699 m/s,
      LOS rate: 0.146235 deg/s,
      cmd update: 0.438705 deg/s,
      cmd heading: 115.424625 deg,
      new cmd heading: 115.480776 deg.

2021-02-16T14:13:59.652Z,1613484839.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:00.406Z,1613484840.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:00.806Z,1613484840.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:01.660Z,1613484841.660 [Micromodem](INFO): Nmea in: $SNTTA,0.050793,,0.053743,,141401.82*5B

2021-02-16T14:14:01.699Z,1613484841.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.020004 m, bearing: 110.016760 deg, deltaT: 4.424028 s, approachRate: -0.800174 m/s, LOS rate: 0.283060 deg/s, posRepo size: 4
2021-02-16T14:14:01.701Z,1613484841.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.020004 m,
      bearing: 110.016760 deg,
      approachRate: -0.800174 m/s,
      LOS rate: 0.283060 deg/s,
      cmd update: 0.849181 deg/s,
      cmd heading: 117.366078 deg,
      new cmd heading: 117.567830 deg.

2021-02-16T14:14:04.051Z,1613484844.051 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:04.844Z,1613484844.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:05.258Z,1613484845.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:06.083Z,1613484846.083 [Micromodem](INFO): Nmea in: $SNTTA,0.048407,,,,141406.26*4D

2021-02-16T14:14:06.149Z,1613484846.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.419998 m, bearing: 108.062752 deg, deltaT: 4.451139 s, approachRate: -0.808783 m/s, LOS rate: -0.438991 deg/s, posRepo size: 4
2021-02-16T14:14:06.150Z,1613484846.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.419998 m,
      bearing: 108.062752 deg,
      approachRate: -0.808783 m/s,
      LOS rate: -0.438991 deg/s,
      cmd update: -1.316972 deg/s,
      cmd heading: 121.148036 deg,
      new cmd heading: 121.535435 deg.

2021-02-16T14:14:08.522Z,1613484848.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:09.293Z,1613484849.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:09.701Z,1613484849.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:10.532Z,1613484850.532 [Micromodem](INFO): Nmea in: $SNTTA,0.046082,,,,141410.71*4F

2021-02-16T14:14:10.547Z,1613484850.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 107.221689 deg, deltaT: 4.485240 s, approachRate: -0.789256 m/s, LOS rate: -0.187518 deg/s, posRepo size: 4
2021-02-16T14:14:10.549Z,1613484850.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.879997 m,
      bearing: 107.221689 deg,
      approachRate: -0.789256 m/s,
      LOS rate: -0.187518 deg/s,
      cmd update: -0.562554 deg/s,
      cmd heading: 115.246367 deg,
      new cmd heading: 114.754920 deg.

2021-02-16T14:14:12.982Z,1613484852.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:13.732Z,1613484853.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:14.161Z,1613484854.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:14.960Z,1613484854.960 [Micromodem](INFO): Nmea in: $SNTTA,0.043409,,,,141415.15*4A

2021-02-16T14:14:14.985Z,1613484854.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 110.658108 deg, deltaT: 4.379684 s, approachRate: -0.904175 m/s, LOS rate: 0.784627 deg/s, posRepo size: 4
2021-02-16T14:14:15.007Z,1613484855.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.919998 m,
      bearing: 110.658108 deg,
      approachRate: -0.904175 m/s,
      LOS rate: 0.784627 deg/s,
      cmd update: 2.353881 deg/s,
      cmd heading: 112.780319 deg,
      new cmd heading: 112.539791 deg.

2021-02-16T14:14:17.410Z,1613484857.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:18.177Z,1613484858.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:18.598Z,1613484858.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:19.404Z,1613484859.404 [Micromodem](INFO): Nmea in: $SNTTA,0.040835,,,,141419.59*4E

2021-02-16T14:14:19.512Z,1613484859.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.080002 m, bearing: 110.412125 deg, deltaT: 4.475010 s, approachRate: -0.858098 m/s, LOS rate: -0.054968 deg/s, posRepo size: 4
2021-02-16T14:14:19.513Z,1613484859.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.080002 m,
      bearing: 110.412125 deg,
      approachRate: -0.858098 m/s,
      LOS rate: -0.054968 deg/s,
      cmd update: -0.164904 deg/s,
      cmd heading: 123.304868 deg,
      new cmd heading: 124.440934 deg.

2021-02-16T14:14:21.845Z,1613484861.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:22.517Z,1613484862.517 [CTD_Seabird](ERROR): Failed to parse device response: ,1.6363,2.78616,3408.35
2021-02-16T14:14:22.647Z,1613484862.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:23.025Z,1613484863.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:23.868Z,1613484863.868 [Micromodem](INFO): Nmea in: $SNTTA,0.038328,,,,141424.06*42

2021-02-16T14:14:23.893Z,1613484863.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 106.749730 deg, deltaT: 4.437202 s, approachRate: -0.851889 m/s, LOS rate: -0.825384 deg/s, posRepo size: 4
2021-02-16T14:14:23.895Z,1613484863.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 106.749730 deg,
      approachRate: -0.851889 m/s,
      LOS rate: -0.825384 deg/s,
      cmd update: -2.476152 deg/s,
      cmd heading: 122.572519 deg,
      new cmd heading: 122.502731 deg.

2021-02-16T14:14:26.307Z,1613484866.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:27.064Z,1613484867.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:27.487Z,1613484867.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:28.296Z,1613484868.296 [Micromodem](INFO): Nmea in: $SNTTA,0.036146,,,,141428.48*40

2021-02-16T14:14:28.326Z,1613484868.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 107.890044 deg, deltaT: 4.428274 s, approachRate: -0.785859 m/s, LOS rate: 0.257507 deg/s, posRepo size: 4
2021-02-16T14:14:28.348Z,1613484868.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.820000 m,
      bearing: 107.890044 deg,
      approachRate: -0.785859 m/s,
      LOS rate: 0.257507 deg/s,
      cmd update: 0.772522 deg/s,
      cmd heading: 111.607213 deg,
      new cmd heading: 110.547041 deg.

2021-02-16T14:14:30.742Z,1613484870.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:31.525Z,1613484871.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:31.921Z,1613484871.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:32.751Z,1613484872.751 [Micromodem](INFO): Nmea in: $SNTTA,0.033467,,,,141432.94*49

2021-02-16T14:14:32.776Z,1613484872.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.980003 m, bearing: 108.948443 deg, deltaT: 4.458939 s, approachRate: -0.861191 m/s, LOS rate: 0.237366 deg/s, posRepo size: 4
2021-02-16T14:14:32.778Z,1613484872.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.980003 m,
      bearing: 108.948443 deg,
      approachRate: -0.861191 m/s,
      LOS rate: 0.237366 deg/s,
      cmd update: 0.712097 deg/s,
      cmd heading: 115.051861 deg,
      new cmd heading: 115.375332 deg.

2021-02-16T14:14:35.186Z,1613484875.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:35.961Z,1613484875.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:36.358Z,1613484876.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:37.192Z,1613484877.192 [Micromodem](INFO): Nmea in: $SNTTA,0.031157,,,,141437.38*4E

2021-02-16T14:14:37.252Z,1613484877.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 110.938118 deg, deltaT: 4.449386 s, approachRate: -0.768646 m/s, LOS rate: 0.447180 deg/s, posRepo size: 4
2021-02-16T14:14:37.254Z,1613484877.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.560001 m,
      bearing: 110.938118 deg,
      approachRate: -0.768646 m/s,
      LOS rate: 0.447180 deg/s,
      cmd update: 1.341539 deg/s,
      cmd heading: 118.208854 deg,
      new cmd heading: 118.533600 deg.

2021-02-16T14:14:39.689Z,1613484879.689 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:40.401Z,1613484880.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:40.804Z,1613484880.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:41.664Z,1613484881.664 [Micromodem](INFO): Nmea in: $SNTTA,0.029035,,,,141441.82*42

2021-02-16T14:14:41.705Z,1613484881.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.139999 m, bearing: 108.185743 deg, deltaT: 4.430776 s, approachRate: -0.771874 m/s, LOS rate: -0.621195 deg/s, posRepo size: 4
2021-02-16T14:14:41.706Z,1613484881.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 108.185743 deg,
      approachRate: -0.771874 m/s,
      LOS rate: -0.621195 deg/s,
      cmd update: -1.863584 deg/s,
      cmd heading: 124.171772 deg,
      new cmd heading: 124.801699 deg.

2021-02-16T14:14:44.057Z,1613484884.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:44.863Z,1613484884.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:45.263Z,1613484885.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:46.095Z,1613484886.095 [Micromodem](INFO): Nmea in: $SNTTA,0.026544,,,,141446.28*49

2021-02-16T14:14:46.148Z,1613484886.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 106.794311 deg, deltaT: 4.473143 s, approachRate: -0.845043 m/s, LOS rate: -0.311064 deg/s, posRepo size: 4
2021-02-16T14:14:46.149Z,1613484886.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.36 m.
2021-02-16T14:14:46.150Z,1613484886.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.360001 m,
      bearing: 106.794311 deg,
      approachRate: -0.845043 m/s,
      LOS rate: -0.311064 deg/s,
      cmd update: -0.933191 deg/s,
      cmd heading: 115.839582 deg,
      new cmd heading: 115.015589 deg.

2021-02-16T14:14:46.480Z,1613484886.480 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:14:48.523Z,1613484888.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:49.297Z,1613484889.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:49.698Z,1613484889.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:50.553Z,1613484890.553 [Micromodem](INFO): Nmea in: $SNTTA,0.024058,0.042625,0.041757,,141450.72*4C

2021-02-16T14:14:50.589Z,1613484890.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 107.919625 deg, deltaT: 4.481090 s, approachRate: -0.763208 m/s, LOS rate: 0.251125 deg/s, posRepo size: 4
2021-02-16T14:14:50.590Z,1613484890.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.94 m.
2021-02-16T14:14:50.590Z,1613484890.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.94 m.
2021-02-16T14:14:50.590Z,1613484890.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:14:50.596Z,1613484890.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.939999 m,
      bearing: 107.919625 deg,
      approachRate: -0.763208 m/s,
      LOS rate: 0.251125 deg/s,
      cmd update: 0.753376 deg/s,
      cmd heading: 111.657854 deg,
      new cmd heading: 111.288005 deg.

2021-02-16T14:14:52.983Z,1613484892.983 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:53.748Z,1613484893.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:54.151Z,1613484894.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:54.972Z,1613484894.972 [Micromodem](INFO): Nmea in: $SNTTA,0.021666,,,,141455.16*42

2021-02-16T14:14:55.018Z,1613484895.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 110.170378 deg, deltaT: 4.417840 s, approachRate: -0.814878 m/s, LOS rate: 0.509469 deg/s, posRepo size: 4
2021-02-16T14:14:55.024Z,1613484895.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 110.170378 deg,
      approachRate: -0.814878 m/s,
      LOS rate: 0.509469 deg/s,
      cmd update: 1.528407 deg/s,
      cmd heading: 114.980117 deg,
      new cmd heading: 115.296794 deg.

2021-02-16T14:14:57.422Z,1613484897.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:14:58.181Z,1613484898.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:14:58.604Z,1613484898.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:14:59.412Z,1613484899.412 [Micromodem](INFO): Nmea in: $SNTTA,0.019074,,0.029831,,141459.60*5E

2021-02-16T14:14:59.637Z,1613484899.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.440001 m, bearing: 109.709654 deg, deltaT: 4.428793 s, approachRate: -0.880601 m/s, LOS rate: -0.104029 deg/s, posRepo size: 4
2021-02-16T14:14:59.644Z,1613484899.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.440001 m,
      bearing: 109.709654 deg,
      approachRate: -0.880601 m/s,
      LOS rate: -0.104029 deg/s,
      cmd update: -0.312087 deg/s,
      cmd heading: 121.767453 deg,
      new cmd heading: 122.674234 deg.

2021-02-16T14:15:01.884Z,1613484901.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:02.657Z,1613484902.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:03.056Z,1613484903.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:03.889Z,1613484903.889 [Micromodem](INFO): Nmea in: $SNTTA,0.016932,,,,141504.07*4D

2021-02-16T14:15:03.929Z,1613484903.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.020000 m, bearing: 106.309067 deg, deltaT: 4.459690 s, approachRate: -0.766869 m/s, LOS rate: -0.762517 deg/s, posRepo size: 4
2021-02-16T14:15:03.931Z,1613484903.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.020000 m,
      bearing: 106.309067 deg,
      approachRate: -0.766869 m/s,
      LOS rate: -0.762517 deg/s,
      cmd update: -2.287549 deg/s,
      cmd heading: 120.376885 deg,
      new cmd heading: 120.240897 deg.

2021-02-16T14:15:06.334Z,1613484906.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:07.093Z,1613484907.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:07.490Z,1613484907.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:08.336Z,1613484908.336 [Micromodem](INFO): Nmea in: $SNTTA,0.014594,,,,141508.51*40

2021-02-16T14:15:08.373Z,1613484908.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.420002 m, bearing: 105.935401 deg, deltaT: 4.434739 s, approachRate: -0.811772 m/s, LOS rate: -0.084259 deg/s, posRepo size: 4
2021-02-16T14:15:08.375Z,1613484908.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.420002 m,
      bearing: 105.935401 deg,
      approachRate: -0.811772 m/s,
      LOS rate: -0.084259 deg/s,
      cmd update: -0.252777 deg/s,
      cmd heading: 110.259518 deg,
      new cmd heading: 109.215549 deg.

2021-02-16T14:15:10.771Z,1613484910.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:11.545Z,1613484911.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:11.933Z,1613484911.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:12.772Z,1613484912.772 [Micromodem](INFO): Nmea in: $SNTTA,0.011980,,,,141512.96*4C

2021-02-16T14:15:12.811Z,1613484912.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.759998 m, bearing: 111.852168 deg, deltaT: 4.458126 s, approachRate: -0.820974 m/s, LOS rate: 1.327187 deg/s, posRepo size: 4
2021-02-16T14:15:12.813Z,1613484912.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.759998 m,
      bearing: 111.852168 deg,
      approachRate: -0.820974 m/s,
      LOS rate: 1.327187 deg/s,
      cmd update: 3.981561 deg/s,
      cmd heading: 109.128581 deg,
      new cmd heading: 109.022329 deg.

2021-02-16T14:15:15.190Z,1613484915.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:15.977Z,1613484915.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:16.395Z,1613484916.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:17.211Z,1613484917.211 [Micromodem](INFO): Nmea in: $SNTTA,0.009572,,,,141517.39*44

2021-02-16T14:15:17.237Z,1613484917.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.159999 m, bearing: 114.520655 deg, deltaT: 4.444497 s, approachRate: -0.809990 m/s, LOS rate: 0.600402 deg/s, posRepo size: 4
2021-02-16T14:15:17.239Z,1613484917.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.159999 m,
      bearing: 114.520655 deg,
      approachRate: -0.809990 m/s,
      LOS rate: 0.600402 deg/s,
      cmd update: 1.801207 deg/s,
      cmd heading: 126.808644 deg,
      new cmd heading: 128.419389 deg.

2021-02-16T14:15:19.669Z,1613484919.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:20.416Z,1613484920.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:20.833Z,1613484920.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:21.664Z,1613484921.664 [Micromodem](INFO): Nmea in: $SNTTA,0.007482,,,,141521.83*40

2021-02-16T14:15:21.714Z,1613484921.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.859999 m, bearing: 110.258644 deg, deltaT: 4.422888 s, approachRate: -0.746119 m/s, LOS rate: -0.963626 deg/s, posRepo size: 4
2021-02-16T14:15:21.720Z,1613484921.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 110.258644 deg,
      approachRate: -0.746119 m/s,
      LOS rate: -0.963626 deg/s,
      cmd update: -2.890878 deg/s,
      cmd heading: 134.778321 deg,
      new cmd heading: 135.603483 deg.

2021-02-16T14:15:24.122Z,1613484924.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:24.865Z,1613484924.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:25.281Z,1613484925.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:26.121Z,1613484926.121 [Micromodem](INFO): Nmea in: $SNTTA,0.005246,,,,141526.28*4A

2021-02-16T14:15:26.173Z,1613484926.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.680000 m, bearing: 107.055565 deg, deltaT: 4.462202 s, approachRate: -0.712652 m/s, LOS rate: -0.717825 deg/s, posRepo size: 4
2021-02-16T14:15:26.175Z,1613484926.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.680000 m,
      bearing: 107.055565 deg,
      approachRate: -0.712652 m/s,
      LOS rate: -0.717825 deg/s,
      cmd update: -2.153474 deg/s,
      cmd heading: 121.873235 deg,
      new cmd heading: 120.562071 deg.

2021-02-16T14:15:28.513Z,1613484928.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:29.312Z,1613484929.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:29.706Z,1613484929.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:30.576Z,1613484930.576 [Micromodem](INFO): Nmea in: $SNTTA,0.003555,,,,141530.73*40

2021-02-16T14:15:30.645Z,1613484930.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 116.601506 deg, deltaT: 4.443266 s, approachRate: -0.594158 m/s, LOS rate: 2.148406 deg/s, posRepo size: 4
2021-02-16T14:15:30.646Z,1613484930.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.039999 m,
      bearing: 116.601506 deg,
      approachRate: -0.594158 m/s,
      LOS rate: 2.148406 deg/s,
      cmd update: 6.445219 deg/s,
      cmd heading: 112.303819 deg,
      new cmd heading: 111.364200 deg.

2021-02-16T14:15:32.973Z,1613484932.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:33.750Z,1613484933.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:34.155Z,1613484934.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:34.980Z,1613484934.980 [Micromodem](INFO): Nmea in: $SNTTA,0.002358,,,,141535.17*4D

2021-02-16T14:15:35.021Z,1613484935.021 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T14:15:35.021Z,1613484935.021 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:15:35.021Z,1613484935.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T14:15:35.021Z,1613484935.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:15:35.021Z,1613484935.021 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T14:15:35.022Z,1613484935.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.539999 m 
2021-02-16T14:15:35.022Z,1613484935.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T14:15:35.022Z,1613484935.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T14:15:35.022Z,1613484935.022 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T14:15:35.024Z,1613484935.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 107.686197 deg, deltaT: 4.480084 s, approachRate: -0.334815 m/s, LOS rate: -1.989987 deg/s, posRepo size: 4
2021-02-16T14:15:35.026Z,1613484935.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 107.686197 deg,
      approachRate: -0.334815 m/s,
      LOS rate: -1.989987 deg/s,
      cmd update: -5.969961 deg/s,
      cmd heading: 141.144023 deg,
      new cmd heading: 143.630704 deg.

2021-02-16T14:15:35.399Z,1613484935.399 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T141535: (41.552319, -70.708603)
2021-02-16T14:15:35.399Z,1613484935.399 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T14:15:35.400Z,1613484935.400 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:15:37.429Z,1613484937.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:38.310Z,1613484938.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:38.632Z,1613484938.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:39.440Z,1613484939.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.339999 m, bearing: 126.416652 deg, deltaT: 4.376026 s, approachRate: 0.411332 m/s, LOS rate: 4.280243 deg/s, posRepo size: 4
2021-02-16T14:15:39.441Z,1613484939.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 126.416652 deg,
      approachRate: 0.411332 m/s,
      LOS rate: 4.280243 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 114.987079 deg,
      new cmd heading: 112.479922 deg.

2021-02-16T14:15:39.831Z,1613484939.831 [Micromodem](INFO): Nmea in: $SNTTA,0.003531,,,,141539.73*4B

2021-02-16T14:15:41.855Z,1613484941.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:42.654Z,1613484942.654 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:43.043Z,1613484943.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:43.884Z,1613484943.884 [Micromodem](INFO): Nmea in: $SNTTA,0.006997,,,,141544.07*47

2021-02-16T14:15:43.933Z,1613484943.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 128.914848 deg, deltaT: 4.445626 s, approachRate: 1.147195 m/s, LOS rate: 0.561945 deg/s, posRepo size: 4
2021-02-16T14:15:43.939Z,1613484943.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 128.914848 deg,
      approachRate: 1.147195 m/s,
      LOS rate: 0.561945 deg/s,
      cmd update: 1.685834 deg/s,
      cmd heading: 168.334291 deg,
      new cmd heading: 173.951312 deg.

2021-02-16T14:15:46.331Z,1613484946.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:47.087Z,1613484947.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:47.482Z,1613484947.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:48.308Z,1613484948.308 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141548.50*56

2021-02-16T14:15:48.375Z,1613484948.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.380001 m, bearing: 121.750649 deg, deltaT: 4.474119 s, approachRate: 0.657113 m/s, LOS rate: -1.601254 deg/s, posRepo size: 4
2021-02-16T14:15:48.377Z,1613484948.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 121.750649 deg,
      approachRate: 0.657113 m/s,
      LOS rate: -1.601254 deg/s,
      cmd update: -4.803761 deg/s,
      cmd heading: 175.876209 deg,
      new cmd heading: 176.603201 deg.

2021-02-16T14:15:50.759Z,1613484950.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:51.520Z,1613484951.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:51.926Z,1613484951.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:52.748Z,1613484952.748 [Micromodem](INFO): Nmea in: $SNTTA,0.027720,,,,141552.94*4B

2021-02-16T14:15:52.794Z,1613484952.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.219997 m, bearing: 164.608324 deg, deltaT: 4.445391 s, approachRate: 0.863815 m/s, LOS rate: 9.640924 deg/s, posRepo size: 4
2021-02-16T14:15:52.794Z,1613484952.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.22 m. Rolling out.
2021-02-16T14:15:52.794Z,1613484952.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T14:15:55.194Z,1613484955.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:15:55.966Z,1613484955.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:15:56.374Z,1613484956.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:15:57.196Z,1613484957.196 [Micromodem](INFO): Nmea in: $SNTTA,0.012514,,,,141557.38*4B

2021-02-16T14:15:57.244Z,1613484957.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.599998 m, bearing: 192.526340 deg, deltaT: 4.444681 s, approachRate: 0.310484 m/s, LOS rate: 6.281219 deg/s, posRepo size: 4
2021-02-16T14:15:59.678Z,1613484959.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:00.417Z,1613484960.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:00.818Z,1613484960.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:01.660Z,1613484961.660 [Micromodem](INFO): Nmea in: $SNTTA,0.014361,,,,141601.83*49

2021-02-16T14:16:01.686Z,1613484961.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 160.368115 deg, deltaT: 4.454175 s, approachRate: 0.713937 m/s, LOS rate: -7.219793 deg/s, posRepo size: 4
2021-02-16T14:16:04.075Z,1613484964.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:04.857Z,1613484964.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:05.305Z,1613484965.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:06.088Z,1613484966.088 [Micromodem](INFO): Nmea in: $SNTTA,0.017201,,,,141606.27*44

2021-02-16T14:16:06.157Z,1613484966.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.860001 m, bearing: 180.607277 deg, deltaT: 4.404881 s, approachRate: 0.926246 m/s, LOS rate: 4.594713 deg/s, posRepo size: 4
2021-02-16T14:16:08.554Z,1613484968.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:09.302Z,1613484969.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:09.706Z,1613484969.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:10.533Z,1613484970.533 [Micromodem](INFO): Nmea in: $SNTTA,0.018388,,,,141610.72*4C

2021-02-16T14:16:10.630Z,1613484970.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 207.168134 deg, deltaT: 4.477341 s, approachRate: 0.455627 m/s, LOS rate: 5.932284 deg/s, posRepo size: 4
2021-02-16T14:16:12.972Z,1613484972.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:13.744Z,1613484973.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:14.162Z,1613484974.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:14.958Z,1613484974.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141615.16*5F

2021-02-16T14:16:15.800Z,1613484975.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:17.390Z,1613484977.390 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:16:18.650Z,1613484978.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:19.400Z,1613484979.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:19.811Z,1613484979.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:20.656Z,1613484980.656 [Micromodem](INFO): Nmea in: $SNTTA,0.054762,,,0.084817,141620.82*54

2021-02-16T14:16:20.713Z,1613484980.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.080002 m, bearing: 148.270785 deg, deltaT: 10.112854 s, approachRate: 5.357538 m/s, LOS rate: -5.824009 deg/s, posRepo size: 4
2021-02-16T14:16:21.029Z,1613484981.029 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:16:23.065Z,1613484983.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:23.844Z,1613484983.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:24.258Z,1613484984.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:25.092Z,1613484985.092 [Micromodem](INFO): Nmea in: $SNTTA,0.025079,,,,141625.26*48

2021-02-16T14:16:25.148Z,1613484985.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.680000 m, bearing: 144.244443 deg, deltaT: 4.404801 s, approachRate: -10.079911 m/s, LOS rate: -0.914080 deg/s, posRepo size: 4
2021-02-16T14:16:27.506Z,1613484987.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:28.288Z,1613484988.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:28.707Z,1613484988.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:29.535Z,1613484989.535 [Micromodem](INFO): Nmea in: $SNTTA,0.027146,,,,141629.70*48

2021-02-16T14:16:29.559Z,1613484989.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.799999 m, bearing: 144.780380 deg, deltaT: 4.476348 s, approachRate: 0.696997 m/s, LOS rate: 0.119727 deg/s, posRepo size: 4
2021-02-16T14:16:31.957Z,1613484991.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:32.732Z,1613484992.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:33.149Z,1613484993.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:33.969Z,1613484993.969 [Micromodem](INFO): Nmea in: $SNTTA,0.062560,,,,141634.15*46

2021-02-16T14:16:34.019Z,1613484994.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.100002 m, bearing: 141.272996 deg, deltaT: 4.410618 s, approachRate: 0.748195 m/s, LOS rate: -0.795214 deg/s, posRepo size: 4
2021-02-16T14:16:36.394Z,1613484996.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:37.181Z,1613484997.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:37.581Z,1613484997.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:38.408Z,1613484998.408 [Micromodem](INFO): Nmea in: $SNTTA,0.045827,,,,141638.60*43

2021-02-16T14:16:38.447Z,1613484998.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.459999 m, bearing: 144.994903 deg, deltaT: 4.461845 s, approachRate: 0.753051 m/s, LOS rate: 0.834163 deg/s, posRepo size: 4
2021-02-16T14:16:40.842Z,1613485000.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:41.648Z,1613485001.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:42.026Z,1613485002.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:42.876Z,1613485002.876 [Micromodem](INFO): Nmea in: $SNTTA,0.033641,,0.047021,,141643.07*5F

2021-02-16T14:16:42.901Z,1613485002.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 216.355531 deg, deltaT: 4.457694 s, approachRate: 0.713373 m/s, LOS rate: 16.008418 deg/s, posRepo size: 4
2021-02-16T14:16:45.301Z,1613485005.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:46.070Z,1613485006.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:46.478Z,1613485006.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:47.303Z,1613485007.303 [Micromodem](INFO): Nmea in: $SNTTA,0.057089,,,,141647.49*4F

2021-02-16T14:16:47.328Z,1613485007.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.999996 m, bearing: 148.887674 deg, deltaT: 4.424733 s, approachRate: 0.759368 m/s, LOS rate: -15.247894 deg/s, posRepo size: 4
2021-02-16T14:16:49.727Z,1613485009.727 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:50.508Z,1613485010.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:50.932Z,1613485010.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:51.736Z,1613485011.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141651.92*53

2021-02-16T14:16:51.776Z,1613485011.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 203.468234 deg, deltaT: 4.446679 s, approachRate: 0.715142 m/s, LOS rate: 12.274455 deg/s, posRepo size: 4
2021-02-16T14:16:54.190Z,1613485014.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:54.956Z,1613485014.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:55.363Z,1613485015.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:16:56.184Z,1613485016.184 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141656.37*5B

2021-02-16T14:16:56.263Z,1613485016.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 203.482182 deg, deltaT: 4.432941 s, approachRate: 0.757962 m/s, LOS rate: 0.003146 deg/s, posRepo size: 4
2021-02-16T14:16:58.657Z,1613485018.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:16:59.421Z,1613485019.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:16:59.811Z,1613485019.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:00.672Z,1613485020.672 [Micromodem](INFO): Nmea in: $SNTTA,0.043120,,,,141700.84*4B

2021-02-16T14:17:00.697Z,1613485020.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 210.201107 deg, deltaT: 4.437107 s, approachRate: 0.770771 m/s, LOS rate: 1.514258 deg/s, posRepo size: 4
2021-02-16T14:17:03.078Z,1613485023.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:03.846Z,1613485023.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:04.256Z,1613485024.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:05.072Z,1613485025.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141705.26*5C

2021-02-16T14:17:05.139Z,1613485025.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 153.509171 deg, deltaT: 4.478301 s, approachRate: 0.723488 m/s, LOS rate: -12.659251 deg/s, posRepo size: 4
2021-02-16T14:17:05.899Z,1613485025.899 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:17:07.518Z,1613485027.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:08.293Z,1613485028.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:08.694Z,1613485028.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:09.520Z,1613485029.520 [Micromodem](INFO): Nmea in: $SNTTA,0.046599,,,,141709.71*4B

2021-02-16T14:17:09.542Z,1613485029.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.139999 m, bearing: 217.216230 deg, deltaT: 4.453381 s, approachRate: 0.660173 m/s, LOS rate: 14.305324 deg/s, posRepo size: 4
2021-02-16T14:17:10.733Z,1613485030.733 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:17:11.963Z,1613485031.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:12.738Z,1613485032.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:13.138Z,1613485033.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:13.980Z,1613485033.980 [Micromodem](INFO): Nmea in: $SNTTA,0.048654,,,,141714.15*49

2021-02-16T14:17:14.026Z,1613485034.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.199997 m, bearing: 151.891932 deg, deltaT: 4.396446 s, approachRate: 0.696016 m/s, LOS rate: -14.858433 deg/s, posRepo size: 4
2021-02-16T14:17:15.985Z,1613485035.985 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:17:16.422Z,1613485036.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:17.197Z,1613485037.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:17.586Z,1613485037.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:17.996Z,1613485037.996 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:17:18.428Z,1613485038.428 [Micromodem](INFO): Nmea in: $SNTTA,0.050713,,,,141718.62*4E

2021-02-16T14:17:18.486Z,1613485038.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 200.567603 deg, deltaT: 4.455105 s, approachRate: 0.686852 m/s, LOS rate: 10.925819 deg/s, posRepo size: 4
2021-02-16T14:17:20.825Z,1613485040.825 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:17:20.863Z,1613485040.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:21.649Z,1613485041.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:22.031Z,1613485042.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:22.872Z,1613485042.872 [Micromodem](INFO): Nmea in: $SNTTA,0.052806,,,,141723.07*4C

2021-02-16T14:17:22.913Z,1613485042.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.379997 m, bearing: 199.348824 deg, deltaT: 4.438726 s, approachRate: 0.702905 m/s, LOS rate: -0.274579 deg/s, posRepo size: 4
2021-02-16T14:17:25.297Z,1613485045.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:26.064Z,1613485046.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:26.475Z,1613485046.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:27.300Z,1613485047.300 [Micromodem](INFO): Nmea in: $SNTTA,0.054879,,,,141727.48*4D

2021-02-16T14:17:27.324Z,1613485047.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.500000 m, bearing: 195.934864 deg, deltaT: 4.446222 s, approachRate: 0.701720 m/s, LOS rate: -0.767834 deg/s, posRepo size: 4
2021-02-16T14:17:29.725Z,1613485049.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:30.509Z,1613485050.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:30.916Z,1613485050.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:30.931Z,1613485050.931 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:17:31.736Z,1613485051.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141731.93*55

2021-02-16T14:17:31.777Z,1613485051.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.800003 m, bearing: 201.295141 deg, deltaT: 4.462429 s, approachRate: 0.739508 m/s, LOS rate: 1.201202 deg/s, posRepo size: 4
2021-02-16T14:17:34.194Z,1613485054.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:34.954Z,1613485054.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:35.370Z,1613485055.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:35.770Z,1613485055.770 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:17:36.196Z,1613485056.196 [Micromodem](INFO): Nmea in: $SNTTA,0.059404,,,,141736.37*4E

2021-02-16T14:17:36.226Z,1613485056.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.340004 m, bearing: 200.302414 deg, deltaT: 4.447539 s, approachRate: 0.795946 m/s, LOS rate: -0.223208 deg/s, posRepo size: 4
2021-02-16T14:17:38.654Z,1613485058.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:39.396Z,1613485059.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:39.802Z,1613485059.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:40.688Z,1613485060.688 [Micromodem](INFO): Nmea in: $SNTTA,0.061508,,,,141740.81*44

2021-02-16T14:17:40.709Z,1613485060.709 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:17:40.737Z,1613485060.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.459999 m, bearing: 201.701729 deg, deltaT: 4.444094 s, approachRate: 0.702054 m/s, LOS rate: 0.314871 deg/s, posRepo size: 4
2021-02-16T14:17:43.065Z,1613485063.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:43.842Z,1613485063.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:44.251Z,1613485064.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:45.068Z,1613485065.068 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141745.26*58

2021-02-16T14:17:45.144Z,1613485065.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 198.428429 deg, deltaT: 4.445721 s, approachRate: 0.850257 m/s, LOS rate: -0.736281 deg/s, posRepo size: 4
2021-02-16T14:17:45.878Z,1613485065.878 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T14:17:47.506Z,1613485067.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:48.285Z,1613485068.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:48.690Z,1613485068.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:49.512Z,1613485069.512 [Micromodem](INFO): Nmea in: $SNTTA,0.065850,,,,141749.70*47

2021-02-16T14:17:49.527Z,1613485069.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.940010 m, bearing: 199.130491 deg, deltaT: 4.475293 s, approachRate: 0.603314 m/s, LOS rate: 0.156875 deg/s, posRepo size: 4
2021-02-16T14:17:51.956Z,1613485071.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:52.734Z,1613485072.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:53.158Z,1613485073.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:53.967Z,1613485073.967 [Micromodem](INFO): Nmea in: $SNTTA,0.087575,,,,141754.15*4E

2021-02-16T14:17:53.992Z,1613485073.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 207.802809 deg, deltaT: 4.393063 s, approachRate: 0.641919 m/s, LOS rate: 1.974094 deg/s, posRepo size: 4
2021-02-16T14:17:56.401Z,1613485076.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:17:57.177Z,1613485077.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:17:57.578Z,1613485077.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:17:58.408Z,1613485078.408 [Micromodem](INFO): Nmea in: $SNTTA,0.069840,,,,141758.59*41

2021-02-16T14:17:58.456Z,1613485078.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.939995 m, bearing: 210.325089 deg, deltaT: 4.461995 s, approachRate: 0.712684 m/s, LOS rate: 0.565281 deg/s, posRepo size: 4
2021-02-16T14:18:00.848Z,1613485080.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:01.646Z,1613485081.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:02.022Z,1613485082.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:02.860Z,1613485082.860 [Micromodem](INFO): Nmea in: $SNTTA,0.072111,,,,141803.06*4D

2021-02-16T14:18:02.899Z,1613485082.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 206.376515 deg, deltaT: 4.438163 s, approachRate: 0.757072 m/s, LOS rate: -0.889686 deg/s, posRepo size: 4
2021-02-16T14:18:05.296Z,1613485085.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:06.062Z,1613485086.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:06.466Z,1613485086.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:07.296Z,1613485087.296 [Micromodem](INFO): Nmea in: $SNTTA,0.077624,,,,141807.48*47

2021-02-16T14:18:07.340Z,1613485087.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 200.435986 deg, deltaT: 4.440522 s, approachRate: 0.743155 m/s, LOS rate: -1.337800 deg/s, posRepo size: 4
2021-02-16T14:18:09.738Z,1613485089.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:10.514Z,1613485090.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:10.906Z,1613485090.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:10.945Z,1613485090.945 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T14:18:11.736Z,1613485091.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141811.93*58

2021-02-16T14:18:11.785Z,1613485091.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.540001 m, bearing: 202.631413 deg, deltaT: 4.423145 s, approachRate: 0.664686 m/s, LOS rate: 0.496350 deg/s, posRepo size: 4
2021-02-16T14:18:14.184Z,1613485094.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:14.951Z,1613485094.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:15.366Z,1613485095.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:16.176Z,1613485096.176 [Micromodem](INFO): Nmea in: $SNTTA,0.078466,,,,141816.37*44

2021-02-16T14:18:16.224Z,1613485096.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.840004 m, bearing: 210.495639 deg, deltaT: 4.477152 s, approachRate: 0.737076 m/s, LOS rate: 1.756524 deg/s, posRepo size: 4
2021-02-16T14:18:17.385Z,1613485097.385 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:18:18.599Z,1613485098.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:19.389Z,1613485099.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:19.794Z,1613485099.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:20.635Z,1613485100.635 [Micromodem](INFO): Nmea in: $SNTTA,0.080720,,,,141820.81*4A

2021-02-16T14:18:20.710Z,1613485100.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.260002 m, bearing: 213.662183 deg, deltaT: 4.437971 s, approachRate: 0.770622 m/s, LOS rate: 0.713512 deg/s, posRepo size: 4
2021-02-16T14:18:23.055Z,1613485103.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:23.832Z,1613485103.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:24.265Z,1613485104.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:25.060Z,1613485105.060 [Micromodem](INFO): Nmea in: $SNTTA,0.082953,,,,141825.25*49

2021-02-16T14:18:25.142Z,1613485105.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.559998 m, bearing: 201.164043 deg, deltaT: 4.449748 s, approachRate: 0.741614 m/s, LOS rate: -2.808730 deg/s, posRepo size: 4
2021-02-16T14:18:27.509Z,1613485107.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:28.286Z,1613485108.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:28.696Z,1613485108.696 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:29.517Z,1613485109.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141829.70*5E

2021-02-16T14:18:29.569Z,1613485109.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.100006 m, bearing: 198.117451 deg, deltaT: 4.454908 s, approachRate: 0.794631 m/s, LOS rate: -0.683873 deg/s, posRepo size: 4
2021-02-16T14:18:31.945Z,1613485111.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:32.727Z,1613485112.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:33.149Z,1613485113.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:33.952Z,1613485113.952 [Micromodem](INFO): Nmea in: $SNTTA,0.087615,,,,141834.15*42

2021-02-16T14:18:33.993Z,1613485113.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 197.841060 deg, deltaT: 4.413393 s, approachRate: 0.788508 m/s, LOS rate: -0.062625 deg/s, posRepo size: 4
2021-02-16T14:18:36.406Z,1613485116.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:37.166Z,1613485117.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:37.573Z,1613485117.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:38.396Z,1613485118.396 [Micromodem](INFO): Nmea in: $SNTTA,0.089796,,,,141838.58*43

2021-02-16T14:18:38.440Z,1613485118.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 206.273803 deg, deltaT: 4.477109 s, approachRate: 0.737083 m/s, LOS rate: 1.883524 deg/s, posRepo size: 4
2021-02-16T14:18:40.843Z,1613485120.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:41.645Z,1613485121.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:42.032Z,1613485122.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:42.856Z,1613485122.856 [Micromodem](INFO): Nmea in: $SNTTA,0.092047,,,,141843.06*45

2021-02-16T14:18:42.893Z,1613485122.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.600006 m, bearing: 178.122809 deg, deltaT: 4.427289 s, approachRate: 0.840244 m/s, LOS rate: -6.358517 deg/s, posRepo size: 4
2021-02-16T14:18:45.332Z,1613485125.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:46.058Z,1613485126.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:46.466Z,1613485126.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:47.288Z,1613485127.288 [Micromodem](INFO): Nmea in: $SNTTA,0.094389,,,,141847.47*43

2021-02-16T14:18:47.332Z,1613485127.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.080002 m, bearing: 181.416204 deg, deltaT: 4.419637 s, approachRate: 0.787394 m/s, LOS rate: 0.745173 deg/s, posRepo size: 4
2021-02-16T14:18:49.739Z,1613485129.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:50.517Z,1613485130.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:50.907Z,1613485130.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:51.315Z,1613485131.315 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:18:51.727Z,1613485131.727 [Micromodem](INFO): Nmea in: $SNTTA,0.096620,,,,141851.93*49

2021-02-16T14:18:52.531Z,1613485132.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:54.145Z,1613485134.145 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:18:55.390Z,1613485135.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:18:56.152Z,1613485136.152 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:18:56.562Z,1613485136.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:18:57.384Z,1613485137.384 [Micromodem](INFO): Nmea in: $SNTTA,0.099271,,,,141857.57*48

2021-02-16T14:18:57.432Z,1613485137.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.099991 m, bearing: 193.406669 deg, deltaT: 10.117549 s, approachRate: 0.693843 m/s, LOS rate: 1.185116 deg/s, posRepo size: 4
2021-02-16T14:18:59.884Z,1613485139.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:00.601Z,1613485140.601 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:01.024Z,1613485141.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:01.836Z,1613485141.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141902.02*53

2021-02-16T14:19:01.861Z,1613485141.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.460007 m, bearing: 188.761963 deg, deltaT: 4.435749 s, approachRate: 0.757486 m/s, LOS rate: -1.047107 deg/s, posRepo size: 4
2021-02-16T14:19:01.861Z,1613485141.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.46 m. Resuming terminal guidance.
2021-02-16T14:19:01.861Z,1613485141.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:19:04.282Z,1613485144.282 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:05.040Z,1613485145.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:05.445Z,1613485145.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:06.292Z,1613485146.292 [Micromodem](INFO): Nmea in: $SNTTA,0.104466,,,,141906.46*48

2021-02-16T14:19:06.330Z,1613485146.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.060013 m, bearing: 198.722674 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:19:06.331Z,1613485146.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 198.722674deg and heading rate command to 0 deg/s.
2021-02-16T14:19:08.732Z,1613485148.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:09.484Z,1613485149.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:09.892Z,1613485149.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:10.748Z,1613485150.748 [Micromodem](INFO): Nmea in: $SNTTA,0.106063,,,,141910.90*47

2021-02-16T14:19:10.787Z,1613485150.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 149.698977 deg, deltaT: 4.437002 s, approachRate: 0.716699 m/s, LOS rate: -11.048833 deg/s, posRepo size: 2
2021-02-16T14:19:10.789Z,1613485150.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.240005 m,
      bearing: 149.698977 deg,
      approachRate: 0.716699 m/s,
      LOS rate: -11.048833 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 198.722674 deg,
      new cmd heading: 198.722674 deg.

2021-02-16T14:19:13.189Z,1613485153.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:13.947Z,1613485153.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:14.339Z,1613485154.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:15.173Z,1613485155.173 [Micromodem](INFO): Nmea in: $SNTTA,0.107925,,,,141915.36*44

2021-02-16T14:19:15.217Z,1613485155.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 173.502350 deg, deltaT: 4.463114 s, approachRate: 0.860385 m/s, LOS rate: 5.333355 deg/s, posRepo size: 3
2021-02-16T14:19:15.218Z,1613485155.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 173.502350 deg,
      approachRate: 0.860385 m/s,
      LOS rate: 5.333355 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 145.213617 deg,
      new cmd heading: 140.177468 deg.

2021-02-16T14:19:17.589Z,1613485157.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:18.372Z,1613485158.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:18.791Z,1613485158.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:19.616Z,1613485159.616 [Micromodem](INFO): Nmea in: $SNTTA,0.109766,,,,141919.79*44

2021-02-16T14:19:19.669Z,1613485159.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.700012 m, bearing: 177.663930 deg, deltaT: 4.423844 s, approachRate: 0.366200 m/s, LOS rate: 0.940716 deg/s, posRepo size: 4
2021-02-16T14:19:19.675Z,1613485159.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.700012 m,
      bearing: 177.663930 deg,
      approachRate: 0.366200 m/s,
      LOS rate: 0.940716 deg/s,
      cmd update: 2.822147 deg/s,
      cmd heading: 198.348310 deg,
      new cmd heading: 203.680558 deg.

2021-02-16T14:19:22.045Z,1613485162.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:22.821Z,1613485162.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:23.222Z,1613485163.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:24.048Z,1613485164.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141924.24*53

2021-02-16T14:19:24.070Z,1613485164.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 153.700498 deg, deltaT: 4.478852 s, approachRate: 0.602832 m/s, LOS rate: -5.350351 deg/s, posRepo size: 4
2021-02-16T14:19:24.072Z,1613485164.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 153.700498 deg,
      approachRate: 0.602832 m/s,
      LOS rate: -5.350351 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.976973 deg,
      new cmd heading: 212.021960 deg.

2021-02-16T14:19:26.476Z,1613485166.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:27.275Z,1613485167.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:27.671Z,1613485167.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:28.500Z,1613485168.500 [Micromodem](INFO): Nmea in: $SNTTA,0.113391,,,,141928.69*40

2021-02-16T14:19:28.524Z,1613485168.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 216.176321 deg, deltaT: 4.429887 s, approachRate: 0.000000 m/s, LOS rate: 14.103254 deg/s, posRepo size: 4
2021-02-16T14:19:28.525Z,1613485168.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.103254 deg/s. Setting heading cmd to target bearing of 216.176321deg and heading rate command to 0 deg/s.
2021-02-16T14:19:30.923Z,1613485170.923 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:31.704Z,1613485171.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:32.141Z,1613485172.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:32.936Z,1613485172.936 [Micromodem](INFO): Nmea in: $SNTTA,0.115120,,,,141933.12*48

2021-02-16T14:19:32.991Z,1613485172.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 197.572552 deg, deltaT: 4.416606 s, approachRate: 0.000000 m/s, LOS rate: -4.212232 deg/s, posRepo size: 4
2021-02-16T14:19:32.993Z,1613485172.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 197.572552 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.212232 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 216.176321 deg,
      new cmd heading: 216.176321 deg.

2021-02-16T14:19:35.390Z,1613485175.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:36.162Z,1613485176.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:36.560Z,1613485176.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:37.389Z,1613485177.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141937.58*5A

2021-02-16T14:19:37.418Z,1613485177.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 190.259837 deg, deltaT: 4.467430 s, approachRate: 0.000000 m/s, LOS rate: -1.636895 deg/s, posRepo size: 4
2021-02-16T14:19:37.440Z,1613485177.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 190.259837 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.636895 deg/s,
      cmd update: -4.910686 deg/s,
      cmd heading: 162.415887 deg,
      new cmd heading: 157.562343 deg.

2021-02-16T14:19:39.815Z,1613485179.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:40.597Z,1613485180.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:40.998Z,1613485180.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:41.829Z,1613485181.829 [Micromodem](INFO): Nmea in: $SNTTA,0.118945,,,,141942.01*4A

2021-02-16T14:19:41.882Z,1613485181.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 203.051702 deg, deltaT: 4.435295 s, approachRate: 0.000000 m/s, LOS rate: 2.884107 deg/s, posRepo size: 4
2021-02-16T14:19:41.884Z,1613485181.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 203.051702 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.884107 deg/s,
      cmd update: 8.652321 deg/s,
      cmd heading: 140.721877 deg,
      new cmd heading: 138.507040 deg.

2021-02-16T14:19:44.290Z,1613485184.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:45.038Z,1613485185.038 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:45.441Z,1613485185.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:46.273Z,1613485186.273 [Micromodem](INFO): Nmea in: $SNTTA,0.120718,,,,141946.46*40

2021-02-16T14:19:46.324Z,1613485186.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.139999 m, bearing: 174.877281 deg, deltaT: 4.454221 s, approachRate: 3.084712 m/s, LOS rate: -6.325331 deg/s, posRepo size: 4
2021-02-16T14:19:46.325Z,1613485186.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.139999 m,
      bearing: 174.877281 deg,
      approachRate: 3.084712 m/s,
      LOS rate: -6.325331 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 179.447561 deg,
      new cmd heading: 183.047991 deg.

2021-02-16T14:19:48.712Z,1613485188.712 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:49.485Z,1613485189.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:49.886Z,1613485189.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:50.701Z,1613485190.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141950.90*5F

2021-02-16T14:19:51.177Z,1613485191.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.960007 m, bearing: 214.232722 deg, deltaT: 4.866778 s, approachRate: 0.579440 m/s, LOS rate: 8.086550 deg/s, posRepo size: 4
2021-02-16T14:19:51.178Z,1613485191.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.960007 m,
      bearing: 214.232722 deg,
      approachRate: 0.579440 m/s,
      LOS rate: 8.086550 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 121.623268 deg,
      new cmd heading: 116.216296 deg.

2021-02-16T14:19:53.538Z,1613485193.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:54.338Z,1613485194.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:19:54.745Z,1613485194.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:19:55.552Z,1613485195.552 [Micromodem](INFO): Nmea in: $SNTTA,0.124674,,,,141955.75*4D

2021-02-16T14:19:56.390Z,1613485196.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:57.964Z,1613485197.964 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:19:59.210Z,1613485199.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:19:59.986Z,1613485199.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:00.391Z,1613485200.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:01.204Z,1613485201.204 [Micromodem](INFO): Nmea in: $SNTTA,0.127349,,,,142001.40*48

2021-02-16T14:20:01.661Z,1613485201.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.159988 m, bearing: 164.358790 deg, deltaT: 10.505881 s, approachRate: 0.685329 m/s, LOS rate: -4.747239 deg/s, posRepo size: 4
2021-02-16T14:20:01.663Z,1613485201.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.159988 m,
      bearing: 164.358790 deg,
      approachRate: 0.685329 m/s,
      LOS rate: -4.747239 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 248.269927 deg,
      new cmd heading: 252.847147 deg.

2021-02-16T14:20:04.050Z,1613485204.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:04.833Z,1613485204.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:05.239Z,1613485205.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:06.050Z,1613485206.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142006.25*58

2021-02-16T14:20:06.518Z,1613485206.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.339996 m, bearing: 217.133326 deg, deltaT: 4.785637 s, approachRate: 0.664490 m/s, LOS rate: 11.027693 deg/s, posRepo size: 4
2021-02-16T14:20:06.524Z,1613485206.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.339996 m,
      bearing: 217.133326 deg,
      approachRate: 0.664490 m/s,
      LOS rate: 11.027693 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 190.843254 deg,
      new cmd heading: 185.413218 deg.

2021-02-16T14:20:08.939Z,1613485208.939 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:09.680Z,1613485209.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:10.095Z,1613485210.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:10.913Z,1613485210.913 [Micromodem](INFO): Nmea in: $SNTTA,0.131398,,,,142011.10*47

2021-02-16T14:20:11.348Z,1613485211.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.219986 m, bearing: 202.596470 deg, deltaT: 4.875758 s, approachRate: 0.590675 m/s, LOS rate: -2.981455 deg/s, posRepo size: 4
2021-02-16T14:20:11.349Z,1613485211.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.219986 m,
      bearing: 202.596470 deg,
      approachRate: 0.590675 m/s,
      LOS rate: -2.981455 deg/s,
      cmd update: -8.944367 deg/s,
      cmd heading: 249.308612 deg,
      new cmd heading: 254.226932 deg.

2021-02-16T14:20:13.760Z,1613485213.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:14.546Z,1613485214.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:14.934Z,1613485214.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:15.779Z,1613485215.779 [Micromodem](INFO): Nmea in: $SNTTA,0.132748,,,,142015.96*47

2021-02-16T14:20:16.191Z,1613485216.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.199997 m, bearing: 212.420604 deg, deltaT: 4.885133 s, approachRate: 0.405314 m/s, LOS rate: 2.011027 deg/s, posRepo size: 4
2021-02-16T14:20:16.193Z,1613485216.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.199997 m,
      bearing: 212.420604 deg,
      approachRate: 0.405314 m/s,
      LOS rate: 2.011027 deg/s,
      cmd update: 6.033080 deg/s,
      cmd heading: 205.580301 deg,
      new cmd heading: 202.318934 deg.

2021-02-16T14:20:18.589Z,1613485218.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:19.376Z,1613485219.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:19.790Z,1613485219.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:20.599Z,1613485220.599 [Micromodem](INFO): Nmea in: $SNTTA,0.133606,,,,142020.79*4A

2021-02-16T14:20:21.036Z,1613485221.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.399994 m, bearing: 264.636362 deg, deltaT: 4.831174 s, approachRate: 0.248386 m/s, LOS rate: 10.808089 deg/s, posRepo size: 4
2021-02-16T14:20:21.038Z,1613485221.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.399994 m,
      bearing: 264.636362 deg,
      approachRate: 0.248386 m/s,
      LOS rate: 10.808089 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 234.702801 deg,
      new cmd heading: 237.007938 deg.

2021-02-16T14:20:23.466Z,1613485223.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:24.235Z,1613485224.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:24.654Z,1613485224.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:25.450Z,1613485225.450 [Micromodem](INFO): Nmea in: $SNTTA,0.134606,,,,142025.65*45

2021-02-16T14:20:25.888Z,1613485225.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 285.427158 deg, deltaT: 4.816581 s, approachRate: 0.311424 m/s, LOS rate: 4.316505 deg/s, posRepo size: 4
2021-02-16T14:20:25.890Z,1613485225.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 285.427158 deg,
      approachRate: 0.311424 m/s,
      LOS rate: 4.316505 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.550339 deg,
      new cmd heading: 297.512519 deg.

2021-02-16T14:20:28.312Z,1613485228.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:29.082Z,1613485229.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:29.478Z,1613485229.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:30.298Z,1613485230.298 [Micromodem](INFO): Nmea in: $SNTTA,0.134865,,,,142030.50*4C

2021-02-16T14:20:30.727Z,1613485230.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.199982 m, bearing: 215.184290 deg, deltaT: 4.848166 s, approachRate: 0.061877 m/s, LOS rate: -14.488544 deg/s, posRepo size: 4
2021-02-16T14:20:30.728Z,1613485230.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.488544 deg/s. Setting heading cmd to target bearing of 215.184290deg and heading rate command to 0 deg/s.
2021-02-16T14:20:33.178Z,1613485233.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:33.920Z,1613485233.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:34.326Z,1613485234.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:35.144Z,1613485235.144 [Micromodem](INFO): Nmea in: $SNTTA,0.134515,,,,142035.34*41

2021-02-16T14:20:35.570Z,1613485235.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.659988 m, bearing: 321.018181 deg, deltaT: 4.874280 s, approachRate: -0.110784 m/s, LOS rate: 21.712722 deg/s, posRepo size: 4
2021-02-16T14:20:35.571Z,1613485235.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.712722 deg/s. Setting heading cmd to target bearing of 321.018181deg and heading rate command to 0 deg/s.
2021-02-16T14:20:37.985Z,1613485237.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:38.768Z,1613485238.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:39.174Z,1613485239.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:40.003Z,1613485240.003 [Micromodem](INFO): Nmea in: $SNTTA,0.133747,,,,142040.18*4F

2021-02-16T14:20:40.426Z,1613485240.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.459991 m, bearing: 336.931702 deg, deltaT: 4.859644 s, approachRate: -0.246931 m/s, LOS rate: 3.274627 deg/s, posRepo size: 4
2021-02-16T14:20:40.428Z,1613485240.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.459991 m,
      bearing: 336.931702 deg,
      approachRate: -0.246931 m/s,
      LOS rate: 3.274627 deg/s,
      cmd update: 9.823881 deg/s,
      cmd heading: 321.018181 deg,
      new cmd heading: 321.018181 deg.

2021-02-16T14:20:42.838Z,1613485242.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:43.662Z,1613485243.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:44.043Z,1613485244.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:44.854Z,1613485244.854 [Micromodem](INFO): Nmea in: $SNTTA,0.132259,,,,142045.08*40

2021-02-16T14:20:45.285Z,1613485245.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.239990 m, bearing: 334.252137 deg, deltaT: 4.849155 s, approachRate: -0.457812 m/s, LOS rate: -0.552584 deg/s, posRepo size: 4
2021-02-16T14:20:45.286Z,1613485245.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 334.252137 deg,
      approachRate: -0.457812 m/s,
      LOS rate: -0.552584 deg/s,
      cmd update: -1.657752 deg/s,
      cmd heading: 8.697364 deg,
      new cmd heading: 12.421804 deg.

2021-02-16T14:20:47.695Z,1613485247.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:48.470Z,1613485248.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:48.875Z,1613485248.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:49.685Z,1613485249.685 [Micromodem](INFO): Nmea in: $SNTTA,0.130420,,,,142049.89*4F

2021-02-16T14:20:50.159Z,1613485250.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 336.803212 deg, deltaT: 4.828575 s, approachRate: -0.584025 m/s, LOS rate: 0.528329 deg/s, posRepo size: 4
2021-02-16T14:20:50.165Z,1613485250.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.419983 m,
      bearing: 336.803212 deg,
      approachRate: -0.584025 m/s,
      LOS rate: 0.528329 deg/s,
      cmd update: 1.584987 deg/s,
      cmd heading: 0.732679 deg,
      new cmd heading: 359.988955 deg.

2021-02-16T14:20:52.532Z,1613485252.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:53.314Z,1613485253.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:53.733Z,1613485253.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:54.572Z,1613485254.572 [Micromodem](INFO): Nmea in: $SNTTA,0.128449,,,,142054.73*40

2021-02-16T14:20:54.654Z,1613485254.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.419983 m, bearing: 335.571811 deg, deltaT: 4.451082 s, approachRate: 0.000000 m/s, LOS rate: -0.276652 deg/s, posRepo size: 4
2021-02-16T14:20:54.660Z,1613485254.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.419983 m,
      bearing: 335.571811 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.276652 deg/s,
      cmd update: -0.829956 deg/s,
      cmd heading: 7.823932 deg,
      new cmd heading: 8.567162 deg.

2021-02-16T14:20:56.988Z,1613485256.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:20:57.757Z,1613485257.757 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:20:58.170Z,1613485258.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:20:58.981Z,1613485258.981 [Micromodem](INFO): Nmea in: $SNTTA,0.127079,,,,142059.17*47

2021-02-16T14:20:59.432Z,1613485259.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.659988 m, bearing: 337.153902 deg, deltaT: 4.851519 s, approachRate: -1.187256 m/s, LOS rate: 0.326102 deg/s, posRepo size: 4
2021-02-16T14:20:59.433Z,1613485259.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.659988 m,
      bearing: 337.153902 deg,
      approachRate: -1.187256 m/s,
      LOS rate: 0.326102 deg/s,
      cmd update: 0.978306 deg/s,
      cmd heading: 3.796426 deg,
      new cmd heading: 3.472145 deg.

2021-02-16T14:21:01.836Z,1613485261.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:02.636Z,1613485262.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:03.009Z,1613485263.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:03.845Z,1613485263.845 [Micromodem](INFO): Nmea in: $SNTTA,0.124677,,,,142104.05*46

2021-02-16T14:21:04.295Z,1613485264.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.840012 m, bearing: 333.087945 deg, deltaT: 4.861040 s, approachRate: -0.580118 m/s, LOS rate: -0.836438 deg/s, posRepo size: 4
2021-02-16T14:21:04.298Z,1613485264.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.840012 m,
      bearing: 333.087945 deg,
      approachRate: -0.580118 m/s,
      LOS rate: -0.836438 deg/s,
      cmd update: -2.509313 deg/s,
      cmd heading: 8.548075 deg,
      new cmd heading: 8.935488 deg.

2021-02-16T14:21:06.702Z,1613485266.702 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:07.474Z,1613485267.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:07.874Z,1613485267.874 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:08.684Z,1613485268.684 [Micromodem](INFO): Nmea in: $SNTTA,0.122946,,,,142108.89*45

2021-02-16T14:21:09.140Z,1613485269.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.320007 m, bearing: 332.279004 deg, deltaT: 4.839144 s, approachRate: -0.520754 m/s, LOS rate: -0.167166 deg/s, posRepo size: 4
2021-02-16T14:21:09.141Z,1613485269.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.320007 m,
      bearing: 332.279004 deg,
      approachRate: -0.520754 m/s,
      LOS rate: -0.167166 deg/s,
      cmd update: -0.501498 deg/s,
      cmd heading: 356.405101 deg,
      new cmd heading: 355.429465 deg.

2021-02-16T14:21:11.533Z,1613485271.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:12.313Z,1613485272.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:12.705Z,1613485272.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:13.536Z,1613485273.536 [Micromodem](INFO): Nmea in: $SNTTA,0.121440,,,,142113.73*42

2021-02-16T14:21:13.568Z,1613485273.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.320007 m, bearing: 332.830419 deg, deltaT: 4.430493 s, approachRate: 0.000000 m/s, LOS rate: 0.124459 deg/s, posRepo size: 4
2021-02-16T14:21:13.570Z,1613485273.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.320007 m,
      bearing: 332.830419 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.124459 deg/s,
      cmd update: 0.373377 deg/s,
      cmd heading: 354.181872 deg,
      new cmd heading: 353.980020 deg.

2021-02-16T14:21:16.007Z,1613485276.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:16.749Z,1613485276.749 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:17.192Z,1613485277.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:17.972Z,1613485277.972 [Micromodem](INFO): Nmea in: $SNTTA,0.119493,,,,142118.17*4E

2021-02-16T14:21:18.407Z,1613485278.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 330.456409 deg, deltaT: 4.857418 s, approachRate: -1.111704 m/s, LOS rate: -0.488739 deg/s, posRepo size: 4
2021-02-16T14:21:18.409Z,1613485278.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 330.456409 deg,
      approachRate: -1.111704 m/s,
      LOS rate: -0.488739 deg/s,
      cmd update: -1.466217 deg/s,
      cmd heading: 355.994508 deg,
      new cmd heading: 356.138658 deg.

2021-02-16T14:21:20.864Z,1613485280.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:21.596Z,1613485281.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:21.998Z,1613485281.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:22.824Z,1613485282.824 [Micromodem](INFO): Nmea in: $SNTTA,0.117474,,,,142123.01*46

2021-02-16T14:21:22.849Z,1613485282.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 329.388796 deg, deltaT: 4.425075 s, approachRate: 0.000000 m/s, LOS rate: -0.241264 deg/s, posRepo size: 4
2021-02-16T14:21:22.851Z,1613485282.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 329.388796 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.241264 deg/s,
      cmd update: -0.723793 deg/s,
      cmd heading: 349.525071 deg,
      new cmd heading: 348.915187 deg.

2021-02-16T14:21:25.310Z,1613485285.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:26.037Z,1613485286.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:26.444Z,1613485286.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:27.273Z,1613485287.273 [Micromodem](INFO): Nmea in: $SNTTA,0.115809,,,,142127.45*46

2021-02-16T14:21:27.334Z,1613485287.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.919998 m, bearing: 330.380348 deg, deltaT: 4.451494 s, approachRate: 0.000000 m/s, LOS rate: 0.222746 deg/s, posRepo size: 4
2021-02-16T14:21:27.344Z,1613485287.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.919998 m,
      bearing: 330.380348 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.222746 deg/s,
      cmd update: 0.668238 deg/s,
      cmd heading: 346.293899 deg,
      new cmd heading: 345.978129 deg.

2021-02-16T14:21:29.732Z,1613485289.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:30.501Z,1613485290.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:30.898Z,1613485290.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:31.710Z,1613485291.710 [Micromodem](INFO): Nmea in: $SNTTA,0.113567,,,,142131.92*48

2021-02-16T14:21:32.164Z,1613485292.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.979996 m, bearing: 329.382430 deg, deltaT: 4.875700 s, approachRate: -1.833583 m/s, LOS rate: -0.204672 deg/s, posRepo size: 4
2021-02-16T14:21:32.166Z,1613485292.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.979996 m,
      bearing: 329.382430 deg,
      approachRate: -1.833583 m/s,
      LOS rate: -0.204672 deg/s,
      cmd update: -0.614015 deg/s,
      cmd heading: 349.548193 deg,
      new cmd heading: 349.813178 deg.

2021-02-16T14:21:34.564Z,1613485294.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:35.330Z,1613485295.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:35.733Z,1613485295.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:36.560Z,1613485296.560 [Micromodem](INFO): Nmea in: $SNTTA,0.111606,,,,142136.75*40

2021-02-16T14:21:36.602Z,1613485296.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.100006 m, bearing: 327.988744 deg, deltaT: 4.413926 s, approachRate: -0.652478 m/s, LOS rate: -0.315748 deg/s, posRepo size: 4
2021-02-16T14:21:36.609Z,1613485296.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.100006 m,
      bearing: 327.988744 deg,
      approachRate: -0.652478 m/s,
      LOS rate: -0.315748 deg/s,
      cmd update: -0.947243 deg/s,
      cmd heading: 346.832006 deg,
      new cmd heading: 346.579777 deg.

2021-02-16T14:21:38.989Z,1613485298.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:39.783Z,1613485299.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:40.180Z,1613485300.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:40.353Z,1613485300.353 [CTD_Seabird](ERROR): Failed to parse device response: 5.559,2.78905,3500.24
2021-02-16T14:21:41.008Z,1613485301.008 [Micromodem](INFO): Nmea in: $SNTTA,0.109631,,,,142141.20*4D

2021-02-16T14:21:41.053Z,1613485301.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 328.066499 deg, deltaT: 4.461957 s, approachRate: -0.658904 m/s, LOS rate: 0.017426 deg/s, posRepo size: 4
2021-02-16T14:21:41.059Z,1613485301.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 328.066499 deg,
      approachRate: -0.658904 m/s,
      LOS rate: 0.017426 deg/s,
      cmd update: 0.052279 deg/s,
      cmd heading: 342.609197 deg,
      new cmd heading: 342.226263 deg.

2021-02-16T14:21:43.481Z,1613485303.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:44.216Z,1613485304.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:44.650Z,1613485304.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:45.455Z,1613485305.455 [Micromodem](INFO): Nmea in: $SNTTA,0.107860,,,,142145.63*4A

2021-02-16T14:21:45.479Z,1613485305.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.460007 m, bearing: 328.054915 deg, deltaT: 4.406344 s, approachRate: -0.612752 m/s, LOS rate: -0.002629 deg/s, posRepo size: 4
2021-02-16T14:21:45.481Z,1613485305.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 328.054915 deg,
      approachRate: -0.612752 m/s,
      LOS rate: -0.002629 deg/s,
      cmd update: -0.007887 deg/s,
      cmd heading: 342.839760 deg,
      new cmd heading: 342.861717 deg.

2021-02-16T14:21:47.469Z,1613485307.469 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:21:47.893Z,1613485307.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:48.669Z,1613485308.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:49.065Z,1613485309.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:49.900Z,1613485309.900 [Micromodem](INFO): Nmea in: $SNTTA,0.105773,,,,142150.09*4D

2021-02-16T14:21:49.950Z,1613485309.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.339996 m, bearing: 326.233904 deg, deltaT: 4.443155 s, approachRate: -0.702206 m/s, LOS rate: -0.409846 deg/s, posRepo size: 4
2021-02-16T14:21:49.956Z,1613485309.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.339996 m,
      bearing: 326.233904 deg,
      approachRate: -0.702206 m/s,
      LOS rate: -0.409846 deg/s,
      cmd update: -1.229539 deg/s,
      cmd heading: 342.804718 deg,
      new cmd heading: 342.801189 deg.

2021-02-16T14:21:52.354Z,1613485312.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:53.131Z,1613485313.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:53.515Z,1613485313.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:54.348Z,1613485314.348 [Micromodem](INFO): Nmea in: $SNTTA,0.103863,,,,142154.55*48

2021-02-16T14:21:54.392Z,1613485314.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.459991 m, bearing: 325.279344 deg, deltaT: 4.477880 s, approachRate: -0.643163 m/s, LOS rate: -0.213172 deg/s, posRepo size: 4
2021-02-16T14:21:54.394Z,1613485314.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.459991 m,
      bearing: 325.279344 deg,
      approachRate: -0.643163 m/s,
      LOS rate: -0.213172 deg/s,
      cmd update: -0.639517 deg/s,
      cmd heading: 337.299479 deg,
      new cmd heading: 336.817247 deg.

2021-02-16T14:21:56.786Z,1613485316.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:21:57.550Z,1613485317.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:21:57.953Z,1613485317.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:21:58.780Z,1613485318.780 [Micromodem](INFO): Nmea in: $SNTTA,0.101835,,,,142158.97*4B

2021-02-16T14:21:58.805Z,1613485318.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.399994 m, bearing: 324.645831 deg, deltaT: 4.433772 s, approachRate: -0.690157 m/s, LOS rate: -0.142884 deg/s, posRepo size: 4
2021-02-16T14:21:58.827Z,1613485318.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.399994 m,
      bearing: 324.645831 deg,
      approachRate: -0.690157 m/s,
      LOS rate: -0.142884 deg/s,
      cmd update: -0.428651 deg/s,
      cmd heading: 334.466398 deg,
      new cmd heading: 334.213589 deg.

2021-02-16T14:22:01.234Z,1613485321.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:02.000Z,1613485322.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:02.398Z,1613485322.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:03.228Z,1613485323.228 [Micromodem](INFO): Nmea in: $SNTTA,0.099859,,,,142203.42*44

2021-02-16T14:22:03.282Z,1613485323.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.580002 m, bearing: 326.356902 deg, deltaT: 4.441765 s, approachRate: -0.634881 m/s, LOS rate: 0.385223 deg/s, posRepo size: 4
2021-02-16T14:22:03.288Z,1613485323.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.580002 m,
      bearing: 326.356902 deg,
      approachRate: -0.634881 m/s,
      LOS rate: 0.385223 deg/s,
      cmd update: 1.155670 deg/s,
      cmd heading: 332.560642 deg,
      new cmd heading: 332.378096 deg.

2021-02-16T14:22:05.678Z,1613485325.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:06.441Z,1613485326.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:06.864Z,1613485326.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:07.672Z,1613485327.672 [Micromodem](INFO): Nmea in: $SNTTA,0.097631,,,,142207.86*46

2021-02-16T14:22:07.711Z,1613485327.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 325.581621 deg, deltaT: 4.441925 s, approachRate: -0.742922 m/s, LOS rate: -0.174537 deg/s, posRepo size: 4
2021-02-16T14:22:07.713Z,1613485327.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.279999 m,
      bearing: 325.581621 deg,
      approachRate: -0.742922 m/s,
      LOS rate: -0.174537 deg/s,
      cmd update: -0.523612 deg/s,
      cmd heading: 337.694062 deg,
      new cmd heading: 338.171561 deg.

2021-02-16T14:22:10.109Z,1613485330.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:10.883Z,1613485330.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:11.289Z,1613485331.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:12.128Z,1613485332.128 [Micromodem](INFO): Nmea in: $SNTTA,0.095548,,,,142212.30*40

2021-02-16T14:22:12.181Z,1613485332.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.160004 m, bearing: 324.392759 deg, deltaT: 4.432069 s, approachRate: -0.703959 m/s, LOS rate: -0.268241 deg/s, posRepo size: 4
2021-02-16T14:22:12.183Z,1613485332.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.160004 m,
      bearing: 324.392759 deg,
      approachRate: -0.703959 m/s,
      LOS rate: -0.268241 deg/s,
      cmd update: -0.804723 deg/s,
      cmd heading: 335.373497 deg,
      new cmd heading: 335.137193 deg.

2021-02-16T14:22:14.549Z,1613485334.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:15.334Z,1613485335.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:15.749Z,1613485335.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:16.568Z,1613485336.568 [Micromodem](INFO): Nmea in: $SNTTA,0.093520,,,,142216.75*4D

2021-02-16T14:22:16.626Z,1613485336.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.100006 m, bearing: 324.302026 deg, deltaT: 4.455661 s, approachRate: -0.686766 m/s, LOS rate: -0.020363 deg/s, posRepo size: 4
2021-02-16T14:22:16.647Z,1613485336.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.100006 m,
      bearing: 324.302026 deg,
      approachRate: -0.686766 m/s,
      LOS rate: -0.020363 deg/s,
      cmd update: -0.061090 deg/s,
      cmd heading: 331.787767 deg,
      new cmd heading: 331.436132 deg.

2021-02-16T14:22:18.985Z,1613485338.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:19.770Z,1613485339.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:20.181Z,1613485340.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:20.996Z,1613485340.996 [Micromodem](INFO): Nmea in: $SNTTA,0.091584,,,,142221.19*4F

2021-02-16T14:22:21.021Z,1613485341.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.220001 m, bearing: 322.754797 deg, deltaT: 4.472118 s, approachRate: -0.643991 m/s, LOS rate: -0.345972 deg/s, posRepo size: 4
2021-02-16T14:22:21.023Z,1613485341.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.220001 m,
      bearing: 322.754797 deg,
      approachRate: -0.643991 m/s,
      LOS rate: -0.345972 deg/s,
      cmd update: -1.037917 deg/s,
      cmd heading: 331.515271 deg,
      new cmd heading: 331.492352 deg.

2021-02-16T14:22:23.436Z,1613485343.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:24.212Z,1613485344.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:24.660Z,1613485344.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:25.448Z,1613485345.448 [Micromodem](INFO): Nmea in: $SNTTA,0.089685,,,,142225.63*4D

2021-02-16T14:22:25.492Z,1613485345.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.100006 m, bearing: 323.080187 deg, deltaT: 4.377749 s, approachRate: -0.712694 m/s, LOS rate: 0.074328 deg/s, posRepo size: 4
2021-02-16T14:22:25.494Z,1613485345.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.100006 m,
      bearing: 323.080187 deg,
      approachRate: -0.712694 m/s,
      LOS rate: 0.074328 deg/s,
      cmd update: 0.222985 deg/s,
      cmd heading: 326.959544 deg,
      new cmd heading: 326.484989 deg.

2021-02-16T14:22:27.890Z,1613485347.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:28.661Z,1613485348.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:29.066Z,1613485349.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:29.900Z,1613485349.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142230.08*50

2021-02-16T14:22:29.925Z,1613485349.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.040009 m, bearing: 322.831978 deg, deltaT: 4.462433 s, approachRate: -0.685724 m/s, LOS rate: -0.055622 deg/s, posRepo size: 4
2021-02-16T14:22:29.926Z,1613485349.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.040009 m,
      bearing: 322.831978 deg,
      approachRate: -0.685724 m/s,
      LOS rate: -0.055622 deg/s,
      cmd update: -0.166866 deg/s,
      cmd heading: 327.954528 deg,
      new cmd heading: 328.049809 deg.

2021-02-16T14:22:32.332Z,1613485352.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:33.116Z,1613485353.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:33.506Z,1613485353.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:34.336Z,1613485354.336 [Micromodem](INFO): Nmea in: $SNTTA,0.085410,,,,142234.53*4C

2021-02-16T14:22:34.384Z,1613485354.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.919998 m, bearing: 322.731274 deg, deltaT: 4.459123 s, approachRate: -0.699691 m/s, LOS rate: -0.022584 deg/s, posRepo size: 4
2021-02-16T14:22:34.387Z,1613485354.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.919998 m,
      bearing: 322.731274 deg,
      approachRate: -0.699691 m/s,
      LOS rate: -0.022584 deg/s,
      cmd update: -0.067752 deg/s,
      cmd heading: 327.210430 deg,
      new cmd heading: 327.139301 deg.

2021-02-16T14:22:36.775Z,1613485356.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:37.550Z,1613485357.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:37.953Z,1613485357.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:38.783Z,1613485358.783 [Micromodem](INFO): Nmea in: $SNTTA,0.083243,,,,142238.97*4E

2021-02-16T14:22:38.809Z,1613485358.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.680008 m, bearing: 322.158631 deg, deltaT: 4.431813 s, approachRate: -0.731076 m/s, LOS rate: -0.129212 deg/s, posRepo size: 4
2021-02-16T14:22:38.810Z,1613485358.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.680008 m,
      bearing: 322.158631 deg,
      approachRate: -0.731076 m/s,
      LOS rate: -0.129212 deg/s,
      cmd update: -0.387636 deg/s,
      cmd heading: 326.910167 deg,
      new cmd heading: 326.881701 deg.

2021-02-16T14:22:41.220Z,1613485361.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:42.009Z,1613485362.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:42.393Z,1613485362.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:43.232Z,1613485363.232 [Micromodem](INFO): Nmea in: $SNTTA,0.081336,,,,142243.43*4A

2021-02-16T14:22:43.283Z,1613485363.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.800003 m, bearing: 321.532904 deg, deltaT: 4.458516 s, approachRate: -0.645956 m/s, LOS rate: -0.140344 deg/s, posRepo size: 4
2021-02-16T14:22:43.285Z,1613485363.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.800003 m,
      bearing: 321.532904 deg,
      approachRate: -0.645956 m/s,
      LOS rate: -0.140344 deg/s,
      cmd update: -0.421033 deg/s,
      cmd heading: 325.190026 deg,
      new cmd heading: 325.012955 deg.

2021-02-16T14:22:45.685Z,1613485365.685 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:46.439Z,1613485366.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:46.854Z,1613485366.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:47.680Z,1613485367.680 [Micromodem](INFO): Nmea in: $SNTTA,0.079176,,,,142247.86*46

2021-02-16T14:22:47.718Z,1613485367.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 321.307453 deg, deltaT: 4.455908 s, approachRate: -0.713659 m/s, LOS rate: -0.050596 deg/s, posRepo size: 4
2021-02-16T14:22:47.720Z,1613485367.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 321.307453 deg,
      approachRate: -0.713659 m/s,
      LOS rate: -0.050596 deg/s,
      cmd update: -0.151788 deg/s,
      cmd heading: 323.306706 deg,
      new cmd heading: 323.130137 deg.

2021-02-16T14:22:50.133Z,1613485370.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:50.921Z,1613485370.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:51.313Z,1613485371.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:52.150Z,1613485372.150 [Micromodem](INFO): Nmea in: $SNTTA,0.077217,,0.094061,,142252.34*55

2021-02-16T14:22:52.175Z,1613485372.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.620003 m, bearing: 321.041349 deg, deltaT: 4.432146 s, approachRate: -0.676873 m/s, LOS rate: -0.060040 deg/s, posRepo size: 4
2021-02-16T14:22:52.177Z,1613485372.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.620003 m,
      bearing: 321.041349 deg,
      approachRate: -0.676873 m/s,
      LOS rate: -0.060040 deg/s,
      cmd update: -0.180119 deg/s,
      cmd heading: 322.635179 deg,
      new cmd heading: 322.566641 deg.

2021-02-16T14:22:54.566Z,1613485374.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:55.337Z,1613485375.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:22:55.743Z,1613485375.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:22:56.568Z,1613485376.568 [Micromodem](INFO): Nmea in: $SNTTA,0.075118,,,,142256.75*4E

2021-02-16T14:22:56.648Z,1613485376.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.500008 m, bearing: 320.151102 deg, deltaT: 4.469735 s, approachRate: -0.698027 m/s, LOS rate: -0.199172 deg/s, posRepo size: 4
2021-02-16T14:22:56.656Z,1613485376.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 320.151102 deg,
      approachRate: -0.698027 m/s,
      LOS rate: -0.199172 deg/s,
      cmd update: -0.597517 deg/s,
      cmd heading: 321.828644 deg,
      new cmd heading: 321.748897 deg.

2021-02-16T14:22:58.999Z,1613485378.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:22:59.776Z,1613485379.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:00.196Z,1613485380.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:01.008Z,1613485381.008 [Micromodem](INFO): Nmea in: $SNTTA,0.073006,,,,142301.19*4F

2021-02-16T14:23:01.047Z,1613485381.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.380005 m, bearing: 320.384230 deg, deltaT: 4.454230 s, approachRate: -0.700458 m/s, LOS rate: 0.052339 deg/s, posRepo size: 4
2021-02-16T14:23:01.049Z,1613485381.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.380005 m,
      bearing: 320.384230 deg,
      approachRate: -0.700458 m/s,
      LOS rate: 0.052339 deg/s,
      cmd update: 0.157016 deg/s,
      cmd heading: 319.167211 deg,
      new cmd heading: 318.933088 deg.

2021-02-16T14:23:03.444Z,1613485383.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:04.226Z,1613485384.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:04.653Z,1613485384.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:05.456Z,1613485385.456 [Micromodem](INFO): Nmea in: $SNTTA,0.070918,,,,142305.64*44

2021-02-16T14:23:05.495Z,1613485385.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.199997 m, bearing: 319.805084 deg, deltaT: 4.382681 s, approachRate: -0.725585 m/s, LOS rate: -0.132144 deg/s, posRepo size: 4
2021-02-16T14:23:05.497Z,1613485385.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.199997 m,
      bearing: 319.805084 deg,
      approachRate: -0.725585 m/s,
      LOS rate: -0.132144 deg/s,
      cmd update: -0.396432 deg/s,
      cmd heading: 319.855997 deg,
      new cmd heading: 319.927105 deg.

2021-02-16T14:23:07.890Z,1613485387.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:08.664Z,1613485388.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:09.071Z,1613485389.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:09.900Z,1613485389.900 [Micromodem](INFO): Nmea in: $SNTTA,0.068808,,,,142310.08*43

2021-02-16T14:23:09.925Z,1613485389.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.020004 m, bearing: 319.137447 deg, deltaT: 4.471218 s, approachRate: -0.711214 m/s, LOS rate: -0.149319 deg/s, posRepo size: 4
2021-02-16T14:23:09.927Z,1613485389.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.020004 m,
      bearing: 319.137447 deg,
      approachRate: -0.711214 m/s,
      LOS rate: -0.149319 deg/s,
      cmd update: -0.447957 deg/s,
      cmd heading: 318.083488 deg,
      new cmd heading: 317.920199 deg.

2021-02-16T14:23:12.327Z,1613485392.327 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:13.138Z,1613485393.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:13.535Z,1613485393.535 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:14.352Z,1613485394.352 [Micromodem](INFO): Nmea in: $SNTTA,0.066949,,,,142314.56*46

2021-02-16T14:23:14.376Z,1613485394.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 319.814373 deg, deltaT: 4.452502 s, approachRate: -0.633353 m/s, LOS rate: 0.152033 deg/s, posRepo size: 4
2021-02-16T14:23:14.378Z,1613485394.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.199997 m,
      bearing: 319.814373 deg,
      approachRate: -0.633353 m/s,
      LOS rate: 0.152033 deg/s,
      cmd update: 0.456098 deg/s,
      cmd heading: 316.088935 deg,
      new cmd heading: 315.905235 deg.

2021-02-16T14:23:16.803Z,1613485396.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:17.553Z,1613485397.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:17.963Z,1613485397.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:18.788Z,1613485398.788 [Micromodem](INFO): Nmea in: $SNTTA,0.064767,,,,142318.97*47

2021-02-16T14:23:18.837Z,1613485398.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 318.499726 deg, deltaT: 4.439715 s, approachRate: -0.729776 m/s, LOS rate: -0.296111 deg/s, posRepo size: 4
2021-02-16T14:23:18.843Z,1613485398.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 318.499726 deg,
      approachRate: -0.729776 m/s,
      LOS rate: -0.296111 deg/s,
      cmd update: -0.888332 deg/s,
      cmd heading: 318.106602 deg,
      new cmd heading: 318.310945 deg.

2021-02-16T14:23:21.234Z,1613485401.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:21.996Z,1613485401.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:22.419Z,1613485402.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:23.228Z,1613485403.228 [Micromodem](INFO): Nmea in: $SNTTA,0.062441,0.064417,,,142323.41*5B

2021-02-16T14:23:23.277Z,1613485403.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 318.480929 deg, deltaT: 4.447062 s, approachRate: -0.782538 m/s, LOS rate: -0.004227 deg/s, posRepo size: 4
2021-02-16T14:23:23.278Z,1613485403.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 318.480929 deg,
      approachRate: -0.782538 m/s,
      LOS rate: -0.004227 deg/s,
      cmd update: -0.012680 deg/s,
      cmd heading: 314.141978 deg,
      new cmd heading: 313.765167 deg.

2021-02-16T14:23:25.693Z,1613485405.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:26.455Z,1613485406.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:26.846Z,1613485406.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:27.680Z,1613485407.680 [Micromodem](INFO): Nmea in: $SNTTA,0.060282,,,,142327.87*40

2021-02-16T14:23:27.705Z,1613485407.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.240005 m, bearing: 317.110657 deg, deltaT: 4.433763 s, approachRate: -0.730756 m/s, LOS rate: -0.309054 deg/s, posRepo size: 4
2021-02-16T14:23:27.706Z,1613485407.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.240005 m,
      bearing: 317.110657 deg,
      approachRate: -0.730756 m/s,
      LOS rate: -0.309054 deg/s,
      cmd update: -0.927162 deg/s,
      cmd heading: 314.085756 deg,
      new cmd heading: 314.080448 deg.

2021-02-16T14:23:30.141Z,1613485410.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:30.895Z,1613485410.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:31.309Z,1613485411.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:32.150Z,1613485412.150 [Micromodem](INFO): Nmea in: $SNTTA,0.058015,,,,142332.32*4D

2021-02-16T14:23:32.175Z,1613485412.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.820000 m, bearing: 317.466100 deg, deltaT: 4.462482 s, approachRate: -0.766391 m/s, LOS rate: 0.079651 deg/s, posRepo size: 4
2021-02-16T14:23:32.177Z,1613485412.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.820000 m,
      bearing: 317.466100 deg,
      approachRate: -0.766391 m/s,
      LOS rate: 0.079651 deg/s,
      cmd update: 0.238954 deg/s,
      cmd heading: 309.948322 deg,
      new cmd heading: 309.553306 deg.

2021-02-16T14:23:34.560Z,1613485414.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:35.335Z,1613485415.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:35.737Z,1613485415.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:36.564Z,1613485416.564 [Micromodem](INFO): Nmea in: $SNTTA,0.055985,,,,142336.75*47

2021-02-16T14:23:36.644Z,1613485416.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.820007 m, bearing: 316.974845 deg, deltaT: 4.443689 s, approachRate: -0.675113 m/s, LOS rate: -0.110551 deg/s, posRepo size: 4
2021-02-16T14:23:36.646Z,1613485416.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.820007 m,
      bearing: 316.974845 deg,
      approachRate: -0.675113 m/s,
      LOS rate: -0.110551 deg/s,
      cmd update: -0.331653 deg/s,
      cmd heading: 311.009202 deg,
      new cmd heading: 311.116857 deg.

2021-02-16T14:23:38.994Z,1613485418.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:39.774Z,1613485419.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:40.183Z,1613485420.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:41.004Z,1613485421.004 [Micromodem](INFO): Nmea in: $SNTTA,0.053552,,,,142341.19*4D

2021-02-16T14:23:41.042Z,1613485421.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.160004 m, bearing: 316.700545 deg, deltaT: 4.421333 s, approachRate: -0.827805 m/s, LOS rate: -0.062040 deg/s, posRepo size: 4
2021-02-16T14:23:41.044Z,1613485421.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.160004 m,
      bearing: 316.700545 deg,
      approachRate: -0.827805 m/s,
      LOS rate: -0.062040 deg/s,
      cmd update: -0.186121 deg/s,
      cmd heading: 309.546563 deg,
      new cmd heading: 309.399511 deg.

2021-02-16T14:23:43.443Z,1613485423.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:44.216Z,1613485424.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:44.651Z,1613485424.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:45.452Z,1613485425.452 [Micromodem](INFO): Nmea in: $SNTTA,0.051447,,,,142345.63*43

2021-02-16T14:23:45.497Z,1613485425.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 316.151589 deg, deltaT: 4.429775 s, approachRate: -0.717869 m/s, LOS rate: -0.123924 deg/s, posRepo size: 4
2021-02-16T14:23:45.498Z,1613485425.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.980003 m,
      bearing: 316.151589 deg,
      approachRate: -0.717869 m/s,
      LOS rate: -0.123924 deg/s,
      cmd update: -0.371772 deg/s,
      cmd heading: 308.719261 deg,
      new cmd heading: 308.634916 deg.

2021-02-16T14:23:47.878Z,1613485427.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:48.662Z,1613485428.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:49.071Z,1613485429.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:49.901Z,1613485429.901 [Micromodem](INFO): Nmea in: $SNTTA,0.049401,,0.069345,,142350.08*52

2021-02-16T14:23:49.925Z,1613485429.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.860001 m, bearing: 316.795976 deg, deltaT: 4.453633 s, approachRate: -0.700552 m/s, LOS rate: 0.144688 deg/s, posRepo size: 4
2021-02-16T14:23:49.927Z,1613485429.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.860001 m,
      bearing: 316.795976 deg,
      approachRate: -0.700552 m/s,
      LOS rate: 0.144688 deg/s,
      cmd update: 0.434064 deg/s,
      cmd heading: 307.063525 deg,
      new cmd heading: 306.904401 deg.

2021-02-16T14:23:52.332Z,1613485432.332 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:53.125Z,1613485433.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:53.510Z,1613485433.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:54.348Z,1613485434.348 [Micromodem](INFO): Nmea in: $SNTTA,0.047530,,,,142354.54*41

2021-02-16T14:23:54.394Z,1613485434.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 317.666224 deg, deltaT: 4.478097 s, approachRate: -0.616332 m/s, LOS rate: 0.194334 deg/s, posRepo size: 4
2021-02-16T14:23:54.396Z,1613485434.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.100006 m,
      bearing: 317.666224 deg,
      approachRate: -0.616332 m/s,
      LOS rate: 0.194334 deg/s,
      cmd update: 0.583003 deg/s,
      cmd heading: 309.005552 deg,
      new cmd heading: 309.189217 deg.

2021-02-16T14:23:56.765Z,1613485436.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:23:57.548Z,1613485437.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:23:57.953Z,1613485437.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:23:58.776Z,1613485438.776 [Micromodem](INFO): Nmea in: $SNTTA,0.045408,,,,142358.96*4B

2021-02-16T14:23:58.801Z,1613485438.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.920006 m, bearing: 317.384684 deg, deltaT: 4.430107 s, approachRate: -0.717816 m/s, LOS rate: -0.063552 deg/s, posRepo size: 4
2021-02-16T14:23:58.828Z,1613485438.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.920006 m,
      bearing: 317.384684 deg,
      approachRate: -0.717816 m/s,
      LOS rate: -0.063552 deg/s,
      cmd update: -0.190655 deg/s,
      cmd heading: 311.579032 deg,
      new cmd heading: 311.821689 deg.

2021-02-16T14:24:01.209Z,1613485441.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:01.992Z,1613485441.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:02.414Z,1613485442.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:02.812Z,1613485442.812 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T14:24:03.220Z,1613485443.220 [Micromodem](INFO): Nmea in: $SNTTA,0.043389,,,,142403.41*40

2021-02-16T14:24:03.286Z,1613485443.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.919998 m, bearing: 316.240682 deg, deltaT: 4.451712 s, approachRate: -0.673900 m/s, LOS rate: -0.256980 deg/s, posRepo size: 4
2021-02-16T14:24:03.292Z,1613485443.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.919998 m,
      bearing: 316.240682 deg,
      approachRate: -0.673900 m/s,
      LOS rate: -0.256980 deg/s,
      cmd update: -0.770941 deg/s,
      cmd heading: 310.726480 deg,
      new cmd heading: 310.644770 deg.

2021-02-16T14:24:05.682Z,1613485445.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:06.436Z,1613485446.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:06.850Z,1613485446.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:07.693Z,1613485447.693 [Micromodem](INFO): Nmea in: $SNTTA,0.041201,0.062509,,,142407.85*59

2021-02-16T14:24:07.743Z,1613485447.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 315.762159 deg, deltaT: 4.450013 s, approachRate: -0.741572 m/s, LOS rate: -0.107533 deg/s, posRepo size: 4
2021-02-16T14:24:07.745Z,1613485447.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.619995 m,
      bearing: 315.762159 deg,
      approachRate: -0.741572 m/s,
      LOS rate: -0.107533 deg/s,
      cmd update: -0.322599 deg/s,
      cmd heading: 307.298914 deg,
      new cmd heading: 306.959500 deg.

2021-02-16T14:24:10.099Z,1613485450.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:10.890Z,1613485450.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:11.303Z,1613485451.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:12.168Z,1613485452.168 [Micromodem](INFO): Nmea in: $SNTTA,0.039061,,,,142412.31*4F

2021-02-16T14:24:12.198Z,1613485452.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.380001 m, bearing: 315.807648 deg, deltaT: 4.426830 s, approachRate: -0.731899 m/s, LOS rate: 0.010276 deg/s, posRepo size: 4
2021-02-16T14:24:12.200Z,1613485452.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.380001 m,
      bearing: 315.807648 deg,
      approachRate: -0.731899 m/s,
      LOS rate: 0.010276 deg/s,
      cmd update: 0.030827 deg/s,
      cmd heading: 305.869515 deg,
      new cmd heading: 305.719770 deg.

2021-02-16T14:24:14.568Z,1613485454.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:15.345Z,1613485455.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:15.745Z,1613485455.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:16.572Z,1613485456.572 [Micromodem](INFO): Nmea in: $SNTTA,0.036883,,,,142416.76*43

2021-02-16T14:24:16.649Z,1613485456.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 314.476335 deg, deltaT: 4.471418 s, approachRate: -0.724602 m/s, LOS rate: -0.297738 deg/s, posRepo size: 4
2021-02-16T14:24:16.651Z,1613485456.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.140003 m,
      bearing: 314.476335 deg,
      approachRate: -0.724602 m/s,
      LOS rate: -0.297738 deg/s,
      cmd update: -0.893215 deg/s,
      cmd heading: 306.007355 deg,
      new cmd heading: 306.021049 deg.

2021-02-16T14:24:19.004Z,1613485459.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:19.789Z,1613485459.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:20.190Z,1613485460.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:21.028Z,1613485461.028 [Micromodem](INFO): Nmea in: $SNTTA,0.034770,,,,142421.20*45

2021-02-16T14:24:21.080Z,1613485461.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.020000 m, bearing: 314.599715 deg, deltaT: 4.450167 s, approachRate: -0.701098 m/s, LOS rate: 0.027725 deg/s, posRepo size: 4
2021-02-16T14:24:21.082Z,1613485461.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.020000 m,
      bearing: 314.599715 deg,
      approachRate: -0.701098 m/s,
      LOS rate: 0.027725 deg/s,
      cmd update: 0.083175 deg/s,
      cmd heading: 302.035949 deg,
      new cmd heading: 301.653165 deg.

2021-02-16T14:24:23.465Z,1613485463.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:24.230Z,1613485464.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:24.656Z,1613485464.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:25.456Z,1613485465.456 [Micromodem](INFO): Nmea in: $SNTTA,0.032873,,,,142425.64*4B

2021-02-16T14:24:25.501Z,1613485465.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 315.248447 deg, deltaT: 4.465589 s, approachRate: -0.658368 m/s, LOS rate: 0.145273 deg/s, posRepo size: 4
2021-02-16T14:24:25.502Z,1613485465.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.079998 m,
      bearing: 315.248447 deg,
      approachRate: -0.658368 m/s,
      LOS rate: 0.145273 deg/s,
      cmd update: 0.435820 deg/s,
      cmd heading: 302.405269 deg,
      new cmd heading: 302.439296 deg.

2021-02-16T14:24:27.907Z,1613485467.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:28.672Z,1613485468.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:29.078Z,1613485469.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:29.925Z,1613485469.925 [Micromodem](INFO): Nmea in: $SNTTA,0.030672,,,,142430.09*49

2021-02-16T14:24:29.962Z,1613485469.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 313.962349 deg, deltaT: 4.402209 s, approachRate: -0.749623 m/s, LOS rate: -0.292148 deg/s, posRepo size: 4
2021-02-16T14:24:29.966Z,1613485469.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.780003 m,
      bearing: 313.962349 deg,
      approachRate: -0.749623 m/s,
      LOS rate: -0.292148 deg/s,
      cmd update: -0.876444 deg/s,
      cmd heading: 304.334849 deg,
      new cmd heading: 304.527778 deg.

2021-02-16T14:24:32.341Z,1613485472.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:33.155Z,1613485473.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:33.524Z,1613485473.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:34.372Z,1613485474.372 [Micromodem](INFO): Nmea in: $SNTTA,0.028601,,,,142434.57*4B

2021-02-16T14:24:34.452Z,1613485474.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.660000 m, bearing: 314.536195 deg, deltaT: 4.439301 s, approachRate: -0.702814 m/s, LOS rate: 0.129265 deg/s, posRepo size: 4
2021-02-16T14:24:34.454Z,1613485474.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.660000 m,
      bearing: 314.536195 deg,
      approachRate: -0.702814 m/s,
      LOS rate: 0.129265 deg/s,
      cmd update: 0.387794 deg/s,
      cmd heading: 300.440624 deg,
      new cmd heading: 300.011168 deg.

2021-02-16T14:24:36.779Z,1613485476.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:37.571Z,1613485477.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:37.966Z,1613485477.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:38.796Z,1613485478.796 [Micromodem](INFO): Nmea in: $SNTTA,0.026685,,,,142438.99*47

2021-02-16T14:24:38.846Z,1613485478.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.780003 m, bearing: 314.504366 deg, deltaT: 4.468756 s, approachRate: -0.644474 m/s, LOS rate: -0.007122 deg/s, posRepo size: 4
2021-02-16T14:24:38.846Z,1613485478.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.78 m.
2021-02-16T14:24:38.853Z,1613485478.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.780003 m,
      bearing: 314.504366 deg,
      approachRate: -0.644474 m/s,
      LOS rate: -0.007122 deg/s,
      cmd update: -0.021367 deg/s,
      cmd heading: 302.171198 deg,
      new cmd heading: 302.334481 deg.

2021-02-16T14:24:39.189Z,1613485479.189 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:24:41.260Z,1613485481.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:42.008Z,1613485482.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:42.414Z,1613485482.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:43.245Z,1613485483.245 [Micromodem](INFO): Nmea in: $SNTTA,0.024669,,,,142443.42*4D

2021-02-16T14:24:43.298Z,1613485483.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 316.149950 deg, deltaT: 4.408566 s, approachRate: -0.666884 m/s, LOS rate: 0.373270 deg/s, posRepo size: 4
2021-02-16T14:24:43.298Z,1613485483.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.84 m.
2021-02-16T14:24:43.299Z,1613485483.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.84 m.
2021-02-16T14:24:43.303Z,1613485483.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:24:43.305Z,1613485483.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.840000 m,
      bearing: 316.149950 deg,
      approachRate: -0.666884 m/s,
      LOS rate: 0.373270 deg/s,
      cmd update: 1.119809 deg/s,
      cmd heading: 302.076864 deg,
      new cmd heading: 302.067076 deg.

2021-02-16T14:24:45.682Z,1613485485.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:46.448Z,1613485486.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:46.857Z,1613485486.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:47.683Z,1613485487.683 [Micromodem](INFO): Nmea in: $SNTTA,0.022636,,,,142447.86*4D

2021-02-16T14:24:47.709Z,1613485487.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 316.254861 deg, deltaT: 4.456983 s, approachRate: -0.700026 m/s, LOS rate: 0.023539 deg/s, posRepo size: 4
2021-02-16T14:24:47.711Z,1613485487.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 316.254861 deg,
      approachRate: -0.700026 m/s,
      LOS rate: 0.023539 deg/s,
      cmd update: 0.070616 deg/s,
      cmd heading: 307.067731 deg,
      new cmd heading: 307.529359 deg.

2021-02-16T14:24:50.158Z,1613485490.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:50.900Z,1613485490.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:51.297Z,1613485491.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:52.159Z,1613485492.159 [Micromodem](INFO): Nmea in: $SNTTA,0.020540,,,,142452.32*46

2021-02-16T14:24:52.195Z,1613485492.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 315.823139 deg, deltaT: 4.457578 s, approachRate: -0.686471 m/s, LOS rate: -0.096851 deg/s, posRepo size: 4
2021-02-16T14:24:52.197Z,1613485492.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 315.823139 deg,
      approachRate: -0.686471 m/s,
      LOS rate: -0.096851 deg/s,
      cmd update: -0.290554 deg/s,
      cmd heading: 307.382232 deg,
      new cmd heading: 307.413521 deg.

2021-02-16T14:24:54.544Z,1613485494.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:55.341Z,1613485495.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:24:55.753Z,1613485495.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:24:56.568Z,1613485496.568 [Micromodem](INFO): Nmea in: $SNTTA,0.018495,,,,142456.76*40

2021-02-16T14:24:56.618Z,1613485496.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.539997 m, bearing: 315.208449 deg, deltaT: 4.447820 s, approachRate: -0.701467 m/s, LOS rate: -0.138200 deg/s, posRepo size: 4
2021-02-16T14:24:56.624Z,1613485496.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.539997 m,
      bearing: 315.208449 deg,
      approachRate: -0.701467 m/s,
      LOS rate: -0.138200 deg/s,
      cmd update: -0.414601 deg/s,
      cmd heading: 306.088742 deg,
      new cmd heading: 305.969290 deg.

2021-02-16T14:24:59.017Z,1613485499.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:24:59.781Z,1613485499.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:00.190Z,1613485500.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:01.046Z,1613485501.046 [Micromodem](INFO): Nmea in: $SNTTA,0.016631,,,,142501.20*42

2021-02-16T14:25:01.071Z,1613485501.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 316.334146 deg, deltaT: 4.450992 s, approachRate: -0.620086 m/s, LOS rate: 0.252909 deg/s, posRepo size: 4
2021-02-16T14:25:01.073Z,1613485501.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.779999 m,
      bearing: 316.334146 deg,
      approachRate: -0.620086 m/s,
      LOS rate: 0.252909 deg/s,
      cmd update: 0.758728 deg/s,
      cmd heading: 304.250972 deg,
      new cmd heading: 304.070204 deg.

2021-02-16T14:25:03.458Z,1613485503.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:04.234Z,1613485504.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:04.653Z,1613485504.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:05.456Z,1613485505.456 [Micromodem](INFO): Nmea in: $SNTTA,0.014668,,,,142505.65*49

2021-02-16T14:25:05.496Z,1613485505.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.779999 m, bearing: 316.776824 deg, deltaT: 4.393708 s, approachRate: -0.682795 m/s, LOS rate: 0.100753 deg/s, posRepo size: 4
2021-02-16T14:25:05.497Z,1613485505.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.779999 m,
      bearing: 316.776824 deg,
      approachRate: -0.682795 m/s,
      LOS rate: 0.100753 deg/s,
      cmd update: 0.302258 deg/s,
      cmd heading: 307.598472 deg,
      new cmd heading: 307.938769 deg.

2021-02-16T14:25:07.895Z,1613485507.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:08.668Z,1613485508.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:09.073Z,1613485509.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:09.900Z,1613485509.900 [Micromodem](INFO): Nmea in: $SNTTA,0.012611,,,,142510.08*4E

2021-02-16T14:25:09.950Z,1613485509.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.719999 m, bearing: 314.982588 deg, deltaT: 4.487849 s, approachRate: -0.681841 m/s, LOS rate: -0.399799 deg/s, posRepo size: 4
2021-02-16T14:25:09.952Z,1613485509.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 314.982588 deg,
      approachRate: -0.681841 m/s,
      LOS rate: -0.399799 deg/s,
      cmd update: -1.199396 deg/s,
      cmd heading: 308.954981 deg,
      new cmd heading: 309.080363 deg.

2021-02-16T14:25:12.365Z,1613485512.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:13.142Z,1613485513.142 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:13.538Z,1613485513.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:14.364Z,1613485514.364 [Micromodem](INFO): Nmea in: $SNTTA,0.010453,,,,142514.56*47

2021-02-16T14:25:14.388Z,1613485514.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 313.078031 deg, deltaT: 4.433864 s, approachRate: -0.730740 m/s, LOS rate: -0.429548 deg/s, posRepo size: 4
2021-02-16T14:25:14.390Z,1613485514.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.479998 m,
      bearing: 313.078031 deg,
      approachRate: -0.730740 m/s,
      LOS rate: -0.429548 deg/s,
      cmd update: -1.288644 deg/s,
      cmd heading: 303.636950 deg,
      new cmd heading: 303.133415 deg.

2021-02-16T14:25:16.787Z,1613485516.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:17.558Z,1613485517.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:17.968Z,1613485517.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:18.795Z,1613485518.795 [Micromodem](INFO): Nmea in: $SNTTA,0.008547,,,,142518.97*4B

2021-02-16T14:25:18.821Z,1613485518.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.599998 m, bearing: 314.660777 deg, deltaT: 4.431188 s, approachRate: -0.649938 m/s, LOS rate: 0.357183 deg/s, posRepo size: 4
2021-02-16T14:25:18.823Z,1613485518.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 314.660777 deg,
      approachRate: -0.649938 m/s,
      LOS rate: 0.357183 deg/s,
      cmd update: 1.071550 deg/s,
      cmd heading: 297.926771 deg,
      new cmd heading: 297.383554 deg.

2021-02-16T14:25:21.228Z,1613485521.228 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:22.000Z,1613485522.000 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:22.423Z,1613485522.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:23.241Z,1613485523.241 [Micromodem](INFO): Nmea in: $SNTTA,0.006841,,0.043427,,142523.42*56

2021-02-16T14:25:23.279Z,1613485523.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 316.372914 deg, deltaT: 4.450494 s, approachRate: -0.593192 m/s, LOS rate: 0.384707 deg/s, posRepo size: 4
2021-02-16T14:25:23.281Z,1613485523.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 316.372914 deg,
      approachRate: -0.593192 m/s,
      LOS rate: 0.384707 deg/s,
      cmd update: 1.154122 deg/s,
      cmd heading: 302.695701 deg,
      new cmd heading: 303.151059 deg.

2021-02-16T14:25:25.695Z,1613485525.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:26.446Z,1613485526.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:26.852Z,1613485526.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:26.870Z,1613485526.870 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:25:27.696Z,1613485527.696 [Micromodem](INFO): Nmea in: $SNTTA,0.005005,,,,142527.86*49

2021-02-16T14:25:27.722Z,1613485527.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.259999 m, bearing: 320.264319 deg, deltaT: 4.447589 s, approachRate: -0.607071 m/s, LOS rate: 0.874947 deg/s, posRepo size: 4
2021-02-16T14:25:27.744Z,1613485527.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.259999 m,
      bearing: 320.264319 deg,
      approachRate: -0.607071 m/s,
      LOS rate: 0.874947 deg/s,
      cmd update: 2.624841 deg/s,
      cmd heading: 307.828786 deg,
      new cmd heading: 308.318224 deg.

2021-02-16T14:25:30.141Z,1613485530.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:30.888Z,1613485530.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:31.322Z,1613485531.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:32.152Z,1613485532.152 [Micromodem](INFO): Nmea in: $SNTTA,0.003299,,,,142532.30*41

2021-02-16T14:25:32.175Z,1613485532.175 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T14:25:32.175Z,1613485532.175 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:25:32.175Z,1613485532.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T14:25:32.175Z,1613485532.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:25:32.175Z,1613485532.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T14:25:32.176Z,1613485532.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.619999 m 
2021-02-16T14:25:32.176Z,1613485532.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T14:25:32.176Z,1613485532.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T14:25:32.176Z,1613485532.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T14:25:32.178Z,1613485532.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.619999 m, bearing: 315.405159 deg, deltaT: 4.428629 s, approachRate: -0.596121 m/s, LOS rate: -1.097216 deg/s, posRepo size: 4
2021-02-16T14:25:32.180Z,1613485532.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.619999 m,
      bearing: 315.405159 deg,
      approachRate: -0.596121 m/s,
      LOS rate: -1.097216 deg/s,
      cmd update: -3.291647 deg/s,
      cmd heading: 319.453220 deg,
      new cmd heading: 320.639158 deg.

2021-02-16T14:25:32.541Z,1613485532.541 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T142532: (41.552319, -70.708603)
2021-02-16T14:25:32.541Z,1613485532.541 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T14:25:32.541Z,1613485532.541 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T14:25:32.542Z,1613485532.542 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:25:34.545Z,1613485534.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:35.336Z,1613485535.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:35.755Z,1613485535.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:36.569Z,1613485536.569 [Micromodem](INFO): Nmea in: $SNTTA,0.002198,,0.013841,,142536.75*56

2021-02-16T14:25:36.586Z,1613485536.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.059998 m, bearing: 304.438170 deg, deltaT: 4.456966 s, approachRate: -0.350014 m/s, LOS rate: -2.460640 deg/s, posRepo size: 4
2021-02-16T14:25:36.589Z,1613485536.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 304.438170 deg,
      approachRate: -0.350014 m/s,
      LOS rate: -2.460640 deg/s,
      cmd update: -7.381920 deg/s,
      cmd heading: 304.788352 deg,
      new cmd heading: 303.465897 deg.

2021-02-16T14:25:38.996Z,1613485538.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:39.781Z,1613485539.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:40.191Z,1613485540.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:41.033Z,1613485541.033 [Micromodem](INFO): Nmea in: $SNTTA,0.002797,,,,142541.20*4E

2021-02-16T14:25:41.133Z,1613485541.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 272.885482 deg, deltaT: 4.478395 s, approachRate: 0.294749 m/s, LOS rate: -7.045535 deg/s, posRepo size: 4
2021-02-16T14:25:41.140Z,1613485541.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 272.885482 deg,
      approachRate: 0.294749 m/s,
      LOS rate: -7.045535 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.745498 deg,
      new cmd heading: 268.297691 deg.

2021-02-16T14:25:43.454Z,1613485543.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:44.220Z,1613485544.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:44.672Z,1613485544.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:45.452Z,1613485545.452 [Micromodem](INFO): Nmea in: $SNTTA,0.004399,,,,142545.64*46

2021-02-16T14:25:45.508Z,1613485545.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 271.861828 deg, deltaT: 4.396459 s, approachRate: 0.532246 m/s, LOS rate: -0.232836 deg/s, posRepo size: 4
2021-02-16T14:25:45.510Z,1613485545.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 271.861828 deg,
      approachRate: 0.532246 m/s,
      LOS rate: -0.232836 deg/s,
      cmd update: -0.698508 deg/s,
      cmd heading: 219.132276 deg,
      new cmd heading: 213.540636 deg.

2021-02-16T14:25:47.897Z,1613485547.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:48.669Z,1613485548.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:49.069Z,1613485549.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:49.904Z,1613485549.904 [Micromodem](INFO): Nmea in: $SNTTA,0.005717,,0.028066,,142550.09*5E

2021-02-16T14:25:49.956Z,1613485549.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.699999 m, bearing: 321.593528 deg, deltaT: 4.468630 s, approachRate: 0.443089 m/s, LOS rate: 11.129071 deg/s, posRepo size: 4
2021-02-16T14:25:49.958Z,1613485549.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 321.593528 deg,
      approachRate: 0.443089 m/s,
      LOS rate: 11.129071 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.002543 deg,
      new cmd heading: 215.700460 deg.

2021-02-16T14:25:52.345Z,1613485552.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:53.138Z,1613485553.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:53.519Z,1613485553.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:54.352Z,1613485554.352 [Micromodem](INFO): Nmea in: $SNTTA,0.006626,,,,142554.55*47

2021-02-16T14:25:54.405Z,1613485554.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 273.170574 deg, deltaT: 4.446712 s, approachRate: 0.296848 m/s, LOS rate: -10.889609 deg/s, posRepo size: 4
2021-02-16T14:25:54.406Z,1613485554.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 10.02 m. Rolling out.
2021-02-16T14:25:54.406Z,1613485554.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T14:25:56.770Z,1613485556.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:25:57.564Z,1613485557.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:25:57.963Z,1613485557.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:25:58.788Z,1613485558.788 [Micromodem](INFO): Nmea in: $SNTTA,0.007960,,,,142558.98*46

2021-02-16T14:25:58.838Z,1613485558.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 219.237120 deg, deltaT: 4.410047 s, approachRate: 0.476186 m/s, LOS rate: -12.229678 deg/s, posRepo size: 4
2021-02-16T14:26:01.235Z,1613485561.235 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:01.996Z,1613485561.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:02.407Z,1613485562.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:03.243Z,1613485563.243 [Micromodem](INFO): Nmea in: $SNTTA,0.009253,,0.028559,0.046559,142603.41*42

2021-02-16T14:26:03.278Z,1613485563.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.039998 m, bearing: 220.890626 deg, deltaT: 4.457861 s, approachRate: 0.430699 m/s, LOS rate: 0.370919 deg/s, posRepo size: 4
2021-02-16T14:26:05.680Z,1613485565.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:06.445Z,1613485566.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:06.868Z,1613485566.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:07.676Z,1613485567.676 [Micromodem](INFO): Nmea in: $SNTTA,0.010856,,,,142607.86*42

2021-02-16T14:26:07.713Z,1613485567.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.439999 m, bearing: 256.990348 deg, deltaT: 4.458822 s, approachRate: 0.538259 m/s, LOS rate: 8.096247 deg/s, posRepo size: 4
2021-02-16T14:26:10.101Z,1613485570.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:10.903Z,1613485570.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:11.290Z,1613485571.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:12.144Z,1613485572.144 [Micromodem](INFO): Nmea in: $SNTTA,0.012851,,,,142612.32*4C

2021-02-16T14:26:12.189Z,1613485572.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 287.079599 deg, deltaT: 4.471753 s, approachRate: 0.872141 m/s, LOS rate: 6.728737 deg/s, posRepo size: 4
2021-02-16T14:26:13.728Z,1613485573.728 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:26:14.563Z,1613485574.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:15.333Z,1613485575.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:15.739Z,1613485575.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:16.576Z,1613485576.576 [Micromodem](INFO): Nmea in: $SNTTA,0.014699,,,,142616.75*47

2021-02-16T14:26:16.599Z,1613485576.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.199999 m, bearing: 254.863700 deg, deltaT: 4.413148 s, approachRate: 0.421468 m/s, LOS rate: -7.299982 deg/s, posRepo size: 4
2021-02-16T14:26:18.991Z,1613485578.991 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:19.774Z,1613485579.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:20.192Z,1613485580.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:21.011Z,1613485581.011 [Micromodem](INFO): Nmea in: $SNTTA,0.016780,,,,142621.19*42

2021-02-16T14:26:21.040Z,1613485581.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.320000 m, bearing: 259.828510 deg, deltaT: 4.470127 s, approachRate: 0.697967 m/s, LOS rate: 1.110664 deg/s, posRepo size: 4
2021-02-16T14:26:23.443Z,1613485583.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:24.222Z,1613485584.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:24.650Z,1613485584.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:25.448Z,1613485585.448 [Micromodem](INFO): Nmea in: $SNTTA,0.018607,,,,142625.64*4C

2021-02-16T14:26:25.508Z,1613485585.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 269.335505 deg, deltaT: 4.400972 s, approachRate: 0.627134 m/s, LOS rate: 2.160204 deg/s, posRepo size: 4
2021-02-16T14:26:27.889Z,1613485587.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:28.669Z,1613485588.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:29.065Z,1613485589.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:29.896Z,1613485589.896 [Micromodem](INFO): Nmea in: $SNTTA,0.020442,,,,142630.09*4B

2021-02-16T14:26:29.945Z,1613485589.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 271.551628 deg, deltaT: 4.537967 s, approachRate: 0.594980 m/s, LOS rate: 0.488352 deg/s, posRepo size: 4
2021-02-16T14:26:31.156Z,1613485591.156 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:26:32.335Z,1613485592.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:33.120Z,1613485593.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:33.510Z,1613485593.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:34.344Z,1613485594.344 [Micromodem](INFO): Nmea in: $SNTTA,0.022357,,,,142634.54*46

2021-02-16T14:26:34.382Z,1613485594.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 267.140310 deg, deltaT: 4.386208 s, approachRate: 0.656604 m/s, LOS rate: -1.005725 deg/s, posRepo size: 4
2021-02-16T14:26:36.360Z,1613485596.360 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:26:36.790Z,1613485596.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:37.550Z,1613485597.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:37.953Z,1613485597.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:38.780Z,1613485598.780 [Micromodem](INFO): Nmea in: $SNTTA,0.024179,,,,142638.96*4C

2021-02-16T14:26:38.825Z,1613485598.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 263.702074 deg, deltaT: 4.399316 s, approachRate: 0.627370 m/s, LOS rate: -0.781539 deg/s, posRepo size: 4
2021-02-16T14:26:41.223Z,1613485601.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:41.993Z,1613485601.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:42.405Z,1613485602.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:43.220Z,1613485603.220 [Micromodem](INFO): Nmea in: $SNTTA,0.026176,,,,142643.41*47

2021-02-16T14:26:43.270Z,1613485603.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.419998 m, bearing: 254.741167 deg, deltaT: 4.462238 s, approachRate: 0.672308 m/s, LOS rate: -2.008164 deg/s, posRepo size: 4
2021-02-16T14:26:45.710Z,1613485605.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:46.437Z,1613485606.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:46.842Z,1613485606.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:47.668Z,1613485607.668 [Micromodem](INFO): Nmea in: $SNTTA,0.028085,,0.054723,,142647.85*51

2021-02-16T14:26:47.740Z,1613485607.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 266.900188 deg, deltaT: 4.460270 s, approachRate: 0.645701 m/s, LOS rate: 2.726073 deg/s, posRepo size: 4
2021-02-16T14:26:50.158Z,1613485610.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:50.880Z,1613485610.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:51.287Z,1613485611.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:52.115Z,1613485612.115 [Micromodem](INFO): Nmea in: $SNTTA,0.030031,,,,142652.30*44

2021-02-16T14:26:52.174Z,1613485612.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.179996 m, bearing: 270.300884 deg, deltaT: 4.425516 s, approachRate: 0.650771 m/s, LOS rate: 0.768429 deg/s, posRepo size: 4
2021-02-16T14:26:54.536Z,1613485614.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:55.336Z,1613485615.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:26:55.735Z,1613485615.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:26:56.568Z,1613485616.568 [Micromodem](INFO): Nmea in: $SNTTA,0.031902,,,,142656.75*49

2021-02-16T14:26:56.646Z,1613485616.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.999996 m, bearing: 263.523561 deg, deltaT: 4.477195 s, approachRate: 0.629859 m/s, LOS rate: -1.513743 deg/s, posRepo size: 4
2021-02-16T14:26:59.006Z,1613485619.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:26:59.777Z,1613485619.777 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:00.190Z,1613485620.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:01.004Z,1613485621.004 [Micromodem](INFO): Nmea in: $SNTTA,0.033666,,,,142701.19*4F

2021-02-16T14:27:01.043Z,1613485621.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 262.125913 deg, deltaT: 4.435739 s, approachRate: 0.595166 m/s, LOS rate: -0.315088 deg/s, posRepo size: 4
2021-02-16T14:27:03.440Z,1613485623.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:04.216Z,1613485624.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:04.646Z,1613485624.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:05.448Z,1613485625.448 [Micromodem](INFO): Nmea in: $SNTTA,0.035631,,,0.073544,142705.63*5D

2021-02-16T14:27:05.495Z,1613485625.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 262.916603 deg, deltaT: 4.398658 s, approachRate: 0.668386 m/s, LOS rate: 0.179757 deg/s, posRepo size: 4
2021-02-16T14:27:07.911Z,1613485627.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:08.661Z,1613485628.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:09.066Z,1613485629.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:09.888Z,1613485629.888 [Micromodem](INFO): Nmea in: $SNTTA,0.037463,,,,142710.08*4C

2021-02-16T14:27:09.941Z,1613485629.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.340000 m, bearing: 266.581272 deg, deltaT: 4.482493 s, approachRate: 0.615729 m/s, LOS rate: 0.817552 deg/s, posRepo size: 4
2021-02-16T14:27:12.344Z,1613485632.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:13.129Z,1613485633.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:13.515Z,1613485633.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:14.348Z,1613485634.348 [Micromodem](INFO): Nmea in: $SNTTA,0.039429,,,,142714.54*41

2021-02-16T14:27:14.384Z,1613485634.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.340008 m, bearing: 268.712729 deg, deltaT: 4.436466 s, approachRate: 0.676216 m/s, LOS rate: 0.480440 deg/s, posRepo size: 4
2021-02-16T14:27:16.373Z,1613485636.373 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:27:16.790Z,1613485636.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:17.554Z,1613485637.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:17.974Z,1613485637.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:18.788Z,1613485638.788 [Micromodem](INFO): Nmea in: $SNTTA,0.041342,,,,142718.97*47

2021-02-16T14:27:18.813Z,1613485638.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.160004 m, bearing: 261.795577 deg, deltaT: 4.421028 s, approachRate: 0.637860 m/s, LOS rate: -1.564602 deg/s, posRepo size: 4
2021-02-16T14:27:21.214Z,1613485641.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:22.004Z,1613485642.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:22.418Z,1613485642.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:22.807Z,1613485642.807 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:27:23.228Z,1613485643.228 [Micromodem](INFO): Nmea in: $SNTTA,0.043324,,,,142723.42*45

2021-02-16T14:27:23.285Z,1613485643.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.159996 m, bearing: 265.765010 deg, deltaT: 4.443073 s, approachRate: 0.675207 m/s, LOS rate: 0.893398 deg/s, posRepo size: 4
2021-02-16T14:27:25.684Z,1613485645.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:26.441Z,1613485646.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:26.843Z,1613485646.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:27.673Z,1613485647.673 [Micromodem](INFO): Nmea in: $SNTTA,0.045264,,,,142727.86*4A

2021-02-16T14:27:27.717Z,1613485647.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.099998 m, bearing: 265.535489 deg, deltaT: 4.491663 s, approachRate: 0.654547 m/s, LOS rate: -0.051099 deg/s, posRepo size: 4
2021-02-16T14:27:30.140Z,1613485650.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:30.900Z,1613485650.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:31.319Z,1613485651.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:31.411Z,1613485651.411 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T14:27:31.411Z,1613485651.411 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T14:27:31.411Z,1613485651.411 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T14:27:31.595Z,1613485651.595 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T14:27:31.807Z,1613485651.807 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T14:27:32.124Z,1613485652.124 [Micromodem](INFO): Nmea in: $SNTTA,0.047173,,,,142732.32*46

2021-02-16T14:27:32.170Z,1613485652.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.919998 m, bearing: 255.041449 deg, deltaT: 4.532210 s, approachRate: 0.622213 m/s, LOS rate: -2.315435 deg/s, posRepo size: 4
2021-02-16T14:27:32.645Z,1613485652.645 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T14:27:32.645Z,1613485652.645 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T14:27:34.532Z,1613485654.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:35.332Z,1613485655.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:35.730Z,1613485655.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:36.560Z,1613485656.560 [Micromodem](INFO): Nmea in: $SNTTA,0.049347,,,,142736.75*4A

2021-02-16T14:27:36.609Z,1613485656.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.220001 m, bearing: 262.012614 deg, deltaT: 4.337014 s, approachRate: 0.760893 m/s, LOS rate: 1.607365 deg/s, posRepo size: 4
2021-02-16T14:27:39.006Z,1613485659.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:39.770Z,1613485659.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:40.180Z,1613485660.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:41.000Z,1613485661.000 [Micromodem](INFO): Nmea in: $SNTTA,0.051205,,,,142741.19*4E

2021-02-16T14:27:41.045Z,1613485661.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.980003 m, bearing: 265.762633 deg, deltaT: 4.480460 s, approachRate: 0.616009 m/s, LOS rate: 0.836972 deg/s, posRepo size: 4
2021-02-16T14:27:43.440Z,1613485663.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:44.296Z,1613485664.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:44.679Z,1613485664.679 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:45.511Z,1613485665.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.979996 m, bearing: 269.122922 deg, deltaT: 4.415867 s, approachRate: 0.679367 m/s, LOS rate: 0.760958 deg/s, posRepo size: 4
2021-02-16T14:27:45.847Z,1613485665.847 [Micromodem](INFO): Nmea in: $SNTTA,0.053205,,,0.055673,142745.71*5A

2021-02-16T14:27:47.915Z,1613485667.915 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:48.661Z,1613485668.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:49.062Z,1613485669.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:49.892Z,1613485669.892 [Micromodem](INFO): Nmea in: $SNTTA,0.054995,,,,142750.08*49

2021-02-16T14:27:49.961Z,1613485669.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.620003 m, bearing: 267.930890 deg, deltaT: 4.430595 s, approachRate: 0.595858 m/s, LOS rate: -0.269046 deg/s, posRepo size: 4
2021-02-16T14:27:52.320Z,1613485672.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:53.101Z,1613485673.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:53.519Z,1613485673.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:54.332Z,1613485674.332 [Micromodem](INFO): Nmea in: $SNTTA,0.056969,,,,142754.52*43

2021-02-16T14:27:54.369Z,1613485674.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.620003 m, bearing: 281.503241 deg, deltaT: 4.469736 s, approachRate: 0.671181 m/s, LOS rate: 3.036499 deg/s, posRepo size: 4
2021-02-16T14:27:56.816Z,1613485676.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:27:57.713Z,1613485677.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:27:58.058Z,1613485678.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:27:58.898Z,1613485678.898 [Micromodem](INFO): Nmea in: $SNTTA,0.058843,,,,142759.13*4C

2021-02-16T14:27:58.973Z,1613485678.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.560005 m, bearing: 293.995603 deg, deltaT: 4.534789 s, approachRate: 0.648322 m/s, LOS rate: 2.754783 deg/s, posRepo size: 4
2021-02-16T14:28:01.290Z,1613485681.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:02.077Z,1613485682.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:02.480Z,1613485682.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:03.304Z,1613485683.304 [Micromodem](INFO): Nmea in: $SNTTA,0.060886,,,,142803.49*41

2021-02-16T14:28:03.319Z,1613485683.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.500008 m, bearing: 247.218670 deg, deltaT: 4.410086 s, approachRate: 0.666654 m/s, LOS rate: -10.606807 deg/s, posRepo size: 4
2021-02-16T14:28:05.736Z,1613485685.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:06.517Z,1613485686.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:06.925Z,1613485686.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:07.754Z,1613485687.754 [Micromodem](INFO): Nmea in: $SNTTA,0.062690,,,,142807.93*49

2021-02-16T14:28:07.825Z,1613485687.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 259.060333 deg, deltaT: 4.438217 s, approachRate: 0.608352 m/s, LOS rate: 2.668113 deg/s, posRepo size: 4
2021-02-16T14:28:10.177Z,1613485690.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:10.984Z,1613485690.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:11.502Z,1613485691.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:12.245Z,1613485692.245 [Micromodem](INFO): Nmea in: $SNTTA,0.064813,,,,142812.40*40

2021-02-16T14:28:12.272Z,1613485692.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.380005 m, bearing: 273.794663 deg, deltaT: 4.545336 s, approachRate: 0.699618 m/s, LOS rate: 3.241637 deg/s, posRepo size: 4
2021-02-16T14:28:14.667Z,1613485694.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:15.404Z,1613485695.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:15.818Z,1613485695.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:16.660Z,1613485696.660 [Micromodem](INFO): Nmea in: $SNTTA,0.066704,,,,142816.82*41

2021-02-16T14:28:16.685Z,1613485696.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 261.525402 deg, deltaT: 4.344449 s, approachRate: 0.649102 m/s, LOS rate: -2.824123 deg/s, posRepo size: 4
2021-02-16T14:28:19.109Z,1613485699.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:19.854Z,1613485699.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:20.266Z,1613485700.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:21.088Z,1613485701.088 [Micromodem](INFO): Nmea in: $SNTTA,0.068636,,,,142821.27*44

2021-02-16T14:28:21.123Z,1613485701.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.139999 m, bearing: 255.613355 deg, deltaT: 4.444101 s, approachRate: 0.661552 m/s, LOS rate: -1.330314 deg/s, posRepo size: 4
2021-02-16T14:28:23.508Z,1613485703.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:24.293Z,1613485704.293 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:24.854Z,1613485704.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:25.639Z,1613485705.639 [Micromodem](INFO): Nmea in: $SNTTA,0.070397,,,,142825.71*44

2021-02-16T14:28:25.682Z,1613485705.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.720009 m, bearing: 271.220555 deg, deltaT: 4.532934 s, approachRate: 0.569170 m/s, LOS rate: 3.443068 deg/s, posRepo size: 4
2021-02-16T14:28:28.089Z,1613485708.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:28.840Z,1613485708.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:29.216Z,1613485709.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:30.064Z,1613485710.064 [Micromodem](INFO): Nmea in: $SNTTA,0.072404,,,,142830.25*4E

2021-02-16T14:28:30.088Z,1613485710.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.780006 m, bearing: 267.087799 deg, deltaT: 4.461085 s, approachRate: 0.685931 m/s, LOS rate: -0.926402 deg/s, posRepo size: 4
2021-02-16T14:28:32.462Z,1613485712.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:33.259Z,1613485713.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:33.660Z,1613485713.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:34.488Z,1613485714.488 [Micromodem](INFO): Nmea in: $SNTTA,0.074279,,,,142834.68*49

2021-02-16T14:28:34.534Z,1613485714.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 257.332896 deg, deltaT: 4.426684 s, approachRate: 0.637044 m/s, LOS rate: -2.203659 deg/s, posRepo size: 4
2021-02-16T14:28:36.976Z,1613485716.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:37.706Z,1613485717.706 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:38.238Z,1613485718.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:38.964Z,1613485718.964 [Micromodem](INFO): Nmea in: $SNTTA,0.076313,,,,142839.12*46

2021-02-16T14:28:39.019Z,1613485719.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.659996 m, bearing: 258.234863 deg, deltaT: 4.453710 s, approachRate: 0.687067 m/s, LOS rate: 0.202520 deg/s, posRepo size: 4
2021-02-16T14:28:41.355Z,1613485721.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:42.145Z,1613485722.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:42.546Z,1613485722.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:43.372Z,1613485723.372 [Micromodem](INFO): Nmea in: $SNTTA,0.078166,,,,142843.56*45

2021-02-16T14:28:43.412Z,1613485723.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.420006 m, bearing: 262.331064 deg, deltaT: 4.443403 s, approachRate: 0.621148 m/s, LOS rate: 0.921861 deg/s, posRepo size: 4
2021-02-16T14:28:45.869Z,1613485725.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:46.590Z,1613485726.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:46.990Z,1613485726.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:47.831Z,1613485727.831 [Micromodem](INFO): Nmea in: $SNTTA,0.080033,,,,142848.00*4B

2021-02-16T14:28:47.865Z,1613485727.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 272.716422 deg, deltaT: 4.408705 s, approachRate: 0.639642 m/s, LOS rate: 2.355648 deg/s, posRepo size: 4
2021-02-16T14:28:50.252Z,1613485730.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:51.029Z,1613485731.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:51.566Z,1613485731.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:52.300Z,1613485732.300 [Micromodem](INFO): Nmea in: $SNTTA,0.082141,,,,142852.44*46

2021-02-16T14:28:52.332Z,1613485732.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 256.216296 deg, deltaT: 4.523618 s, approachRate: 0.689714 m/s, LOS rate: -3.647551 deg/s, posRepo size: 4
2021-02-16T14:28:54.697Z,1613485734.697 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:55.472Z,1613485735.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:28:55.895Z,1613485735.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:28:56.700Z,1613485736.700 [Micromodem](INFO): Nmea in: $SNTTA,0.083854,,,,142856.89*4F

2021-02-16T14:28:56.746Z,1613485736.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.940002 m, bearing: 256.707660 deg, deltaT: 4.368579 s, approachRate: 0.590581 m/s, LOS rate: 0.112477 deg/s, posRepo size: 4
2021-02-16T14:28:59.144Z,1613485739.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:28:59.917Z,1613485739.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:00.338Z,1613485740.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:01.152Z,1613485741.152 [Micromodem](INFO): Nmea in: $SNTTA,0.085632,,,,142901.33*45

2021-02-16T14:29:01.226Z,1613485741.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.580002 m, bearing: 267.522664 deg, deltaT: 4.498661 s, approachRate: 0.586841 m/s, LOS rate: 2.404049 deg/s, posRepo size: 4
2021-02-16T14:29:03.589Z,1613485743.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:04.366Z,1613485744.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:04.860Z,1613485744.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:05.652Z,1613485745.652 [Micromodem](INFO): Nmea in: $SNTTA,0.087526,,,,142905.78*4A

2021-02-16T14:29:05.689Z,1613485745.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.399994 m, bearing: 259.047055 deg, deltaT: 4.489425 s, approachRate: 0.628141 m/s, LOS rate: -1.887905 deg/s, posRepo size: 4
2021-02-16T14:29:08.033Z,1613485748.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:08.813Z,1613485748.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:09.221Z,1613485749.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:10.036Z,1613485750.036 [Micromodem](INFO): Nmea in: $SNTTA,0.089475,,,,142910.23*49

2021-02-16T14:29:10.073Z,1613485750.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.400009 m, bearing: 256.834893 deg, deltaT: 4.364384 s, approachRate: 0.687386 m/s, LOS rate: -0.506867 deg/s, posRepo size: 4
2021-02-16T14:29:12.470Z,1613485752.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:13.263Z,1613485753.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:13.660Z,1613485753.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:14.484Z,1613485754.484 [Micromodem](INFO): Nmea in: $SNTTA,0.091312,,,,142914.68*4D

2021-02-16T14:29:14.520Z,1613485754.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.100006 m, bearing: 262.564793 deg, deltaT: 4.438540 s, approachRate: 0.608307 m/s, LOS rate: 1.290943 deg/s, posRepo size: 4
2021-02-16T14:29:16.932Z,1613485756.932 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:17.695Z,1613485757.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:18.098Z,1613485758.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:18.940Z,1613485758.940 [Micromodem](INFO): Nmea in: $SNTTA,0.093164,,,,142919.11*4F

2021-02-16T14:29:18.998Z,1613485758.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.919998 m, bearing: 275.013032 deg, deltaT: 4.603694 s, approachRate: 0.612550 m/s, LOS rate: 2.703967 deg/s, posRepo size: 4
2021-02-16T14:29:21.364Z,1613485761.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:22.138Z,1613485762.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:22.551Z,1613485762.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:23.368Z,1613485763.368 [Micromodem](INFO): Nmea in: $SNTTA,0.095073,,,,142923.55*47

2021-02-16T14:29:23.417Z,1613485763.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.800003 m, bearing: 263.265571 deg, deltaT: 4.297852 s, approachRate: 0.670103 m/s, LOS rate: -2.733333 deg/s, posRepo size: 4
2021-02-16T14:29:25.841Z,1613485765.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:26.592Z,1613485766.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:26.986Z,1613485766.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:27.832Z,1613485767.832 [Micromodem](INFO): Nmea in: $SNTTA,0.097063,,,,142928.01*4E

2021-02-16T14:29:27.907Z,1613485767.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 278.672565 deg, deltaT: 4.435411 s, approachRate: 0.662848 m/s, LOS rate: 3.473634 deg/s, posRepo size: 4
2021-02-16T14:29:30.231Z,1613485770.231 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:31.035Z,1613485771.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:31.432Z,1613485771.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:32.373Z,1613485772.373 [Micromodem](INFO): Nmea in: $SNTTA,0.098885,,,,142932.45*4A

2021-02-16T14:29:32.441Z,1613485772.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 259.748734 deg, deltaT: 4.500877 s, approachRate: 0.599882 m/s, LOS rate: -4.204477 deg/s, posRepo size: 4
2021-02-16T14:29:34.705Z,1613485774.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:35.473Z,1613485775.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:35.880Z,1613485775.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:36.689Z,1613485776.689 [Micromodem](INFO): Nmea in: $SNTTA,0.100961,,,,142936.89*45

2021-02-16T14:29:37.504Z,1613485777.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:39.112Z,1613485779.112 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:29:40.336Z,1613485780.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:41.131Z,1613485781.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:41.556Z,1613485781.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:42.380Z,1613485782.380 [Micromodem](INFO): Nmea in: $SNTTA,0.103424,,,,142942.55*48

2021-02-16T14:29:43.191Z,1613485783.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:44.813Z,1613485784.813 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:29:45.751Z,1613485785.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:46.434Z,1613485786.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:46.835Z,1613485786.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:47.222Z,1613485787.222 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0E1,0003,E4
B,187,80,80,6C,FF
2021-02-16T14:29:47.648Z,1613485787.648 [Micromodem](INFO): Nmea in: $SNTTA,0.105820,,,,142947.85*4E

2021-02-16T14:29:48.444Z,1613485788.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:51.308Z,1613485791.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:54.102Z,1613485794.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:54.900Z,1613485794.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:55.289Z,1613485795.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:29:56.124Z,1613485796.124 [Micromodem](INFO): Nmea in: $SNTTA,0.109484,,,,142956.31*4F

2021-02-16T14:29:56.154Z,1613485796.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.759995 m, bearing: 273.363240 deg, deltaT: 23.788570 s, approachRate: 0.686043 m/s, LOS rate: 0.572313 deg/s, posRepo size: 4
2021-02-16T14:29:56.155Z,1613485796.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 164.76 m. Resuming terminal guidance.
2021-02-16T14:29:56.179Z,1613485796.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:29:56.923Z,1613485796.923 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:29:58.536Z,1613485798.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:29:59.338Z,1613485799.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:29:59.793Z,1613485799.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:00.203Z,1613485800.203 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T14:30:00.203Z,1613485800.203 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T14:30:00.204Z,1613485800.204 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T14:30:00.204Z,1613485800.204 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T14:30:00.204Z,1613485800.204 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T14:30:00.204Z,1613485800.204 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T14:30:00.205Z,1613485800.205 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T14:30:00.205Z,1613485800.205 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T14:30:00.205Z,1613485800.205 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T14:30:00.206Z,1613485800.206 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T14:30:00.207Z,1613485800.207 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613480400.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T14:30:00.207Z,1613485800.207 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T14:30:00.560Z,1613485800.560 [Micromodem](INFO): Nmea in: $SNTTA,0.111322,,,,143000.75*46

2021-02-16T14:30:00.589Z,1613485800.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.159988 m, bearing: 265.007870 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:30:00.589Z,1613485800.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 265.007870deg and heading rate command to 0 deg/s.
2021-02-16T14:30:03.025Z,1613485803.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:03.800Z,1613485803.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:04.201Z,1613485804.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:05.032Z,1613485805.032 [Micromodem](INFO): Nmea in: $SNTTA,0.113161,,,,143005.22*46

2021-02-16T14:30:05.080Z,1613485805.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 250.939265 deg, deltaT: 4.501373 s, approachRate: 0.613152 m/s, LOS rate: -3.125403 deg/s, posRepo size: 2
2021-02-16T14:30:05.082Z,1613485805.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.920013 m,
      bearing: 250.939265 deg,
      approachRate: 0.613152 m/s,
      LOS rate: -3.125403 deg/s,
      cmd update: -9.376209 deg/s,
      cmd heading: 265.007870 deg,
      new cmd heading: 265.007870 deg.

2021-02-16T14:30:07.463Z,1613485807.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:08.239Z,1613485808.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:08.661Z,1613485808.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:09.509Z,1613485809.509 [Micromodem](INFO): Nmea in: $SNTTA,0.115022,,,,143009.66*4A

2021-02-16T14:30:09.524Z,1613485809.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.920013 m, bearing: 240.450663 deg, deltaT: 4.400538 s, approachRate: 0.000000 m/s, LOS rate: -2.383482 deg/s, posRepo size: 3
2021-02-16T14:30:09.526Z,1613485809.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.920013 m,
      bearing: 240.450663 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.383482 deg/s,
      cmd update: -7.150446 deg/s,
      cmd heading: 223.628626 deg,
      new cmd heading: 219.621131 deg.

2021-02-16T14:30:11.921Z,1613485811.921 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:12.709Z,1613485812.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:13.147Z,1613485813.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:13.949Z,1613485813.949 [Micromodem](INFO): Nmea in: $SNTTA,0.116528,,,,143014.13*48

2021-02-16T14:30:14.803Z,1613485814.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:16.340Z,1613485816.340 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:17.566Z,1613485817.566 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:18.360Z,1613485818.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:18.797Z,1613485818.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:19.601Z,1613485819.601 [Micromodem](INFO): Nmea in: $SNTTA,0.117773,,,,143019.80*42

2021-02-16T14:30:20.031Z,1613485820.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.700012 m, bearing: 191.256990 deg, deltaT: 10.553142 s, approachRate: 0.642463 m/s, LOS rate: -4.661519 deg/s, posRepo size: 4
2021-02-16T14:30:20.033Z,1613485820.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.700012 m,
      bearing: 191.256990 deg,
      approachRate: 0.642463 m/s,
      LOS rate: -4.661519 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 148.295299 deg,
      new cmd heading: 145.443279 deg.

2021-02-16T14:30:22.415Z,1613485822.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:23.208Z,1613485823.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:23.624Z,1613485823.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:24.436Z,1613485824.436 [Micromodem](INFO): Nmea in: $SNTTA,0.118362,,,,143024.62*4B

2021-02-16T14:30:25.248Z,1613485825.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:26.884Z,1613485826.884 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:28.070Z,1613485828.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:28.867Z,1613485828.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:29.295Z,1613485829.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:30.101Z,1613485830.101 [Micromodem](INFO): Nmea in: $SNTTA,0.118732,,,,143030.28*41

2021-02-16T14:30:30.107Z,1613485830.107 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:30:30.933Z,1613485830.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:32.506Z,1613485832.506 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:33.745Z,1613485833.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:34.525Z,1613485834.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:34.931Z,1613485834.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:35.754Z,1613485835.754 [Micromodem](INFO): Nmea in: $SNTTA,0.116899,,,,143035.94*43

2021-02-16T14:30:36.588Z,1613485836.588 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:37.377Z,1613485837.377 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T14:30:37.801Z,1613485837.801 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:37.855Z,1613485837.855 [Radio_Surface](INFO): Powering up
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T14:30:37.859Z,1613485837.859 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T14:30:39.157Z,1613485839.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:39.830Z,1613485839.830 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:40.273Z,1613485840.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:41.045Z,1613485841.045 [Micromodem](INFO): Nmea in: $SNTTA,0.116315,,,,143041.25*45

2021-02-16T14:30:41.935Z,1613485841.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:43.347Z,1613485843.347 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T14:30:43.471Z,1613485843.471 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:44.705Z,1613485844.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:45.480Z,1613485845.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:45.886Z,1613485845.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:45.935Z,1613485845.935 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:30:46.695Z,1613485846.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143046.89*5B

2021-02-16T14:30:47.530Z,1613485847.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:49.115Z,1613485849.115 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:50.356Z,1613485850.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:51.137Z,1613485851.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:51.363Z,1613485851.363 [BuoyancyServo](FAULT): Overload Error
2021-02-16T14:30:51.363Z,1613485851.363 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T14:30:51.363Z,1613485851.363 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T14:30:51.467Z,1613485851.467 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T14:30:51.550Z,1613485851.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:52.478Z,1613485852.478 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143052.55*5F

2021-02-16T14:30:53.211Z,1613485853.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:53.220Z,1613485853.220 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T14:30:53.220Z,1613485853.220 [BuoyancyServo](INFO): Powering down
2021-02-16T14:30:53.626Z,1613485853.626 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2021-02-16T14:30:53.972Z,1613485853.972 [NAL9602](INFO): SBD MO Status=0, MOMSN=13435, MT Status=0, MTMSN=0
2021-02-16T14:30:53.972Z,1613485853.972 [NAL9602](INFO): No messages in MT queue
2021-02-16T14:30:54.075Z,1613485854.075 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T14:30:54.075Z,1613485854.075 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T14:30:54.425Z,1613485854.425 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:30:54.427Z,1613485854.427 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T14:30:54.776Z,1613485854.776 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:30:56.034Z,1613485856.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:30:56.802Z,1613485856.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:30:57.198Z,1613485857.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:30:58.033Z,1613485858.033 [Micromodem](INFO): Nmea in: $SNTTA,0.115055,,,,143058.22*4E

2021-02-16T14:30:58.881Z,1613485858.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:00.428Z,1613485860.428 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:01.668Z,1613485861.668 [CTD_Seabird](ERROR): Failed to parse device response: 11,4429.75
2021-02-16T14:31:01.738Z,1613485861.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:02.457Z,1613485862.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:02.854Z,1613485862.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:03.689Z,1613485863.689 [Micromodem](INFO): Nmea in: $SNTTA,0.114820,,,,143103.87*45

2021-02-16T14:31:04.512Z,1613485864.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:05.794Z,1613485865.794 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:07.336Z,1613485867.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:08.109Z,1613485868.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:08.519Z,1613485868.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:09.323Z,1613485869.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143109.52*57

2021-02-16T14:31:10.172Z,1613485870.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:11.739Z,1613485871.739 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:12.231Z,1613485872.231 [BuoyancyServo](FAULT): Overload Error
2021-02-16T14:31:12.231Z,1613485872.231 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T14:31:12.231Z,1613485872.231 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T14:31:12.335Z,1613485872.335 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T14:31:13.016Z,1613485873.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:13.469Z,1613485873.469 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:31:13.773Z,1613485873.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:14.166Z,1613485874.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:14.222Z,1613485874.222 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T14:31:14.222Z,1613485874.222 [BuoyancyServo](INFO): Powering down
2021-02-16T14:31:14.985Z,1613485874.985 [Micromodem](INFO): Nmea in: $SNTTA,0.114448,,,,143115.19*47

2021-02-16T14:31:15.131Z,1613485875.131 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T14:31:15.131Z,1613485875.131 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T14:31:15.429Z,1613485875.429 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:31:15.430Z,1613485875.430 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T14:31:15.842Z,1613485875.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:17.400Z,1613485877.400 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:18.687Z,1613485878.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:19.427Z,1613485879.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:19.843Z,1613485879.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:20.687Z,1613485880.687 [Micromodem](INFO): Nmea in: $SNTTA,0.114388,,,,143120.84*4E

2021-02-16T14:31:21.474Z,1613485881.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:23.051Z,1613485883.051 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:24.306Z,1613485884.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:25.072Z,1613485885.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:25.485Z,1613485885.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:26.289Z,1613485886.289 [Micromodem](INFO): Nmea in: $SNTTA,0.114323,,,,143126.49*48

2021-02-16T14:31:27.134Z,1613485887.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:28.707Z,1613485888.707 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:29.972Z,1613485889.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:30.737Z,1613485890.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:31.142Z,1613485891.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:31.957Z,1613485891.957 [Micromodem](INFO): Nmea in: $SNTTA,0.114266,,,,143132.15*44

2021-02-16T14:31:32.822Z,1613485892.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:33.751Z,1613485893.751 [BuoyancyServo](FAULT): Overload Error
2021-02-16T14:31:33.751Z,1613485893.751 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T14:31:33.751Z,1613485893.751 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T14:31:33.831Z,1613485893.831 [RudderServo](FAULT): Invalid EZ Servo response:"7"
2021-02-16T14:31:33.831Z,1613485893.831 [RudderServo] Communications Fault, FailCount= 1
2021-02-16T14:31:33.831Z,1613485893.831 [RudderServo](ERROR): Communications Fault
2021-02-16T14:31:33.832Z,1613485893.832 [RudderServo](ERROR): Rudder reporting null position
2021-02-16T14:31:33.842Z,1613485893.842 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T14:31:33.842Z,1613485893.842 [CBIT](ERROR): Communications Fault in component: RudderServo
2021-02-16T14:31:34.085Z,1613485894.085 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-02-16T14:31:34.085Z,1613485894.085 [RudderServo](INFO): Powering down
2021-02-16T14:31:34.384Z,1613485894.384 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:34.873Z,1613485894.873 [RudderServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:31:34.993Z,1613485894.993 [RudderServo](DEBUG): Initializing RudderServo.
2021-02-16T14:31:34.997Z,1613485894.997 [CBIT](INFO): Clearing failed state for component RudderServo
2021-02-16T14:31:34.997Z,1613485894.997 [RudderServo] No Fault, FailCount= 1
2021-02-16T14:31:35.594Z,1613485895.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:35.602Z,1613485895.602 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T14:31:35.602Z,1613485895.602 [BuoyancyServo](INFO): Powering down
2021-02-16T14:31:36.088Z,1613485896.088 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T14:31:36.386Z,1613485896.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:36.529Z,1613485896.529 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T14:31:36.529Z,1613485896.529 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T14:31:36.815Z,1613485896.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:36.927Z,1613485896.927 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:31:36.935Z,1613485896.935 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T14:31:37.624Z,1613485897.624 [Micromodem](INFO): Nmea in: $SNTTA,0.114118,,,,143137.80*47

2021-02-16T14:31:38.098Z,1613485898.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:40.020Z,1613485900.020 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:40.925Z,1613485900.925 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:41.670Z,1613485901.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:42.047Z,1613485902.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:42.883Z,1613485902.883 [Micromodem](INFO): Nmea in: $SNTTA,0.113625,,,,143143.08*4A

2021-02-16T14:31:43.714Z,1613485903.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:45.276Z,1613485905.276 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:46.543Z,1613485906.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:47.301Z,1613485907.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:47.718Z,1613485907.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:48.512Z,1613485908.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143148.72*50

2021-02-16T14:31:48.625Z,1613485908.625 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:31:49.347Z,1613485909.347 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:50.958Z,1613485910.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:52.187Z,1613485912.187 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:52.954Z,1613485912.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:53.354Z,1613485913.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:54.170Z,1613485914.170 [Micromodem](INFO): Nmea in: $SNTTA,0.113112,,,,143154.37*43

2021-02-16T14:31:55.023Z,1613485915.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:55.063Z,1613485915.063 [BuoyancyServo](FAULT): Overload Error
2021-02-16T14:31:55.063Z,1613485915.063 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T14:31:55.063Z,1613485915.063 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T14:31:55.167Z,1613485915.167 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T14:31:56.588Z,1613485916.588 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:31:57.055Z,1613485917.055 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T14:31:57.056Z,1613485917.056 [BuoyancyServo](INFO): Powering down
2021-02-16T14:31:57.846Z,1613485917.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:31:57.931Z,1613485917.931 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T14:31:57.931Z,1613485917.931 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T14:31:58.295Z,1613485918.295 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:31:58.306Z,1613485918.306 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T14:31:58.612Z,1613485918.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:31:59.080Z,1613485919.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:31:59.877Z,1613485919.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143200.03*59

2021-02-16T14:32:00.360Z,1613485920.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:02.240Z,1613485922.240 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:03.076Z,1613485923.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:03.856Z,1613485923.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:04.283Z,1613485924.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:05.093Z,1613485925.093 [Micromodem](INFO): Nmea in: $SNTTA,0.113234,,,,143205.27*42

2021-02-16T14:32:05.936Z,1613485925.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:07.490Z,1613485927.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:08.737Z,1613485928.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:09.513Z,1613485929.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:09.938Z,1613485929.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:10.730Z,1613485930.730 [Micromodem](INFO): Nmea in: $SNTTA,0.112810,,,,143210.93*44

2021-02-16T14:32:11.557Z,1613485931.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:12.818Z,1613485932.818 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:14.396Z,1613485934.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:15.185Z,1613485935.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:15.582Z,1613485935.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:15.711Z,1613485935.711 [BuoyancyServo](FAULT): Overload Error
2021-02-16T14:32:15.711Z,1613485935.711 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T14:32:15.711Z,1613485935.711 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T14:32:15.787Z,1613485935.787 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T14:32:16.406Z,1613485936.406 [Micromodem](INFO): Nmea in: $SNTTA,0.112639,,,,143216.60*4B

2021-02-16T14:32:17.215Z,1613485937.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:17.670Z,1613485937.670 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T14:32:17.670Z,1613485937.670 [BuoyancyServo](INFO): Powering down
2021-02-16T14:32:18.507Z,1613485938.507 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T14:32:18.507Z,1613485938.507 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T14:32:18.817Z,1613485938.817 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:18.881Z,1613485938.881 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T14:32:18.887Z,1613485938.887 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T14:32:20.079Z,1613485940.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:20.826Z,1613485940.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:21.245Z,1613485941.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:22.050Z,1613485942.050 [Micromodem](INFO): Nmea in: $SNTTA,0.112661,,,,143222.24*41

2021-02-16T14:32:22.884Z,1613485942.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:23.769Z,1613485943.769 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:32:24.496Z,1613485944.496 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:25.758Z,1613485945.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:26.558Z,1613485946.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:26.943Z,1613485946.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:28.096Z,1613485948.096 [Micromodem](INFO): Nmea in: $SNTTA,0.112908,,,,143227.97*4C

2021-02-16T14:32:28.552Z,1613485948.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:30.136Z,1613485950.136 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:31.401Z,1613485951.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:32.156Z,1613485952.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:32.542Z,1613485952.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:33.366Z,1613485953.366 [Micromodem](INFO): Nmea in: $SNTTA,0.112822,,,,143233.57*4C

2021-02-16T14:32:34.205Z,1613485954.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:35.791Z,1613485955.791 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:37.041Z,1613485957.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:37.797Z,1613485957.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:38.204Z,1613485958.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:39.010Z,1613485959.010 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143239.21*53

2021-02-16T14:32:39.990Z,1613485959.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:41.437Z,1613485961.437 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:42.701Z,1613485962.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:43.454Z,1613485963.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:43.862Z,1613485963.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:44.682Z,1613485964.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143244.87*55

2021-02-16T14:32:45.499Z,1613485965.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:47.083Z,1613485967.083 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:48.335Z,1613485968.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:49.126Z,1613485969.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:49.521Z,1613485969.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:50.332Z,1613485970.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143250.54*5E

2021-02-16T14:32:51.186Z,1613485971.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:52.804Z,1613485972.804 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:54.022Z,1613485974.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:54.805Z,1613485974.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:32:55.166Z,1613485975.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:32:55.997Z,1613485975.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143256.22*59

2021-02-16T14:32:56.856Z,1613485976.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:32:58.394Z,1613485978.394 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:32:58.908Z,1613485978.908 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:32:59.644Z,1613485979.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:00.422Z,1613485980.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:00.830Z,1613485980.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:01.670Z,1613485981.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143301.84*56

2021-02-16T14:33:02.467Z,1613485982.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:04.056Z,1613485984.056 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:05.309Z,1613485985.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:06.150Z,1613485986.150 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:06.550Z,1613485986.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:07.321Z,1613485987.321 [Micromodem](INFO): Nmea in: $SNTTA,0.112820,,,,143307.56*49

2021-02-16T14:33:07.326Z,1613485987.326 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143308.00,A,4133.16001,N,07042.63019,W,1.769,0.00,160221,,,A*71
2021-02-16T14:33:07.330Z,1613485987.330 [NAL9602](INFO): GPS fix at 20210216T143308: (41.552667, -70.710503)
2021-02-16T14:33:07.358Z,1613485987.358 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T14:33:07.358Z,1613485987.358 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T14:33:08.189Z,1613485988.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:09.720Z,1613485989.720 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:11.009Z,1613485991.009 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:11.745Z,1613485991.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:12.157Z,1613485992.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:14.257Z,1613485994.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:14.402Z,1613485994.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143313.16*5E

2021-02-16T14:33:15.188Z,1613485995.188 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:16.865Z,1613485996.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:17.625Z,1613485997.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:18.024Z,1613485998.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:18.422Z,1613485998.422 [NAL9602](INFO): SBD MO Status=1, MOMSN=13436, MT Status=0, MTMSN=0
2021-02-16T14:33:18.475Z,1613485998.475 [NAL9602](INFO): Sent 89 bytes from file Logs/20210216T042015/Courier0103.lzma
2021-02-16T14:33:18.475Z,1613485998.475 [NAL9602](INFO): Packets left to send: 0
2021-02-16T14:33:18.838Z,1613485998.838 [Micromodem](INFO): Nmea in: $SNTTA,0.113043,,,,143319.04*4D

2021-02-16T14:33:21.303Z,1613486001.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:21.558Z,1613486001.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:23.856Z,1613486003.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:24.602Z,1613486004.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:25.002Z,1613486005.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:25.819Z,1613486005.819 [Micromodem](INFO): Nmea in: $SNTTA,0.113025,,,,143326.02*47

2021-02-16T14:33:26.684Z,1613486006.684 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:28.249Z,1613486008.249 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:29.465Z,1613486009.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:29.874Z,1613486009.874 [NAL9602](INFO): SBD MO Status=1, MOMSN=13437, MT Status=0, MTMSN=0
2021-02-16T14:33:29.923Z,1613486009.923 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:33:29.923Z,1613486009.923 [NAL9602](INFO): Packets left to send: 9
2021-02-16T14:33:30.258Z,1613486010.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:30.680Z,1613486010.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:33.178Z,1613486013.178 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:33.298Z,1613486013.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143331.67*58

2021-02-16T14:33:33.681Z,1613486013.681 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:34.047Z,1613486014.047 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:33:35.806Z,1613486015.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:36.505Z,1613486016.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:36.921Z,1613486016.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:37.722Z,1613486017.722 [Micromodem](INFO): Nmea in: $SNTTA,0.112789,,,,143337.92*4E

2021-02-16T14:33:38.558Z,1613486018.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:38.937Z,1613486018.937 [NAL9602](INFO): SBD MO Status=1, MOMSN=13438, MT Status=0, MTMSN=0
2021-02-16T14:33:38.995Z,1613486018.995 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:33:38.995Z,1613486018.995 [NAL9602](INFO): Packets left to send: 8
2021-02-16T14:33:41.852Z,1613486021.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:41.984Z,1613486021.984 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:44.411Z,1613486024.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:45.185Z,1613486025.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:45.598Z,1613486025.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:46.399Z,1613486026.399 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143346.60*5F

2021-02-16T14:33:46.401Z,1613486026.401 [NAL9602](INFO): SBD MO Status=1, MOMSN=13439, MT Status=0, MTMSN=0
2021-02-16T14:33:46.455Z,1613486026.455 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:33:46.456Z,1613486026.456 [NAL9602](INFO): Packets left to send: 7
2021-02-16T14:33:46.993Z,1613486026.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:49.717Z,1613486029.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:49.759Z,1613486029.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:49.900Z,1613486029.900 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T14:33:49.902Z,1613486029.902 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T14:33:50.256Z,1613486030.256 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:50.688Z,1613486030.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:51.490Z,1613486031.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143351.67*5E

2021-02-16T14:33:52.349Z,1613486032.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:53.885Z,1613486033.885 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:33:55.126Z,1613486035.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:55.913Z,1613486035.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:33:55.958Z,1613486035.958 [NAL9602](INFO): SBD MO Status=1, MOMSN=13440, MT Status=0, MTMSN=0
2021-02-16T14:33:56.012Z,1613486036.012 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:33:56.012Z,1613486036.012 [NAL9602](INFO): Packets left to send: 6
2021-02-16T14:33:56.312Z,1613486036.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:33:57.123Z,1613486037.123 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143357.33*59

2021-02-16T14:33:59.249Z,1613486039.249 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:33:59.348Z,1613486039.348 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:01.808Z,1613486041.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:02.582Z,1613486042.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:02.987Z,1613486042.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:03.184Z,1613486043.184 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003807
2021-02-16T14:34:03.428Z,1613486043.428 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T14:34:03.428Z,1613486043.428 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T14:34:03.428Z,1613486043.428 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T14:34:03.428Z,1613486043.428 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:34:03.429Z,1613486043.429 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T14:34:03.829Z,1613486043.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143403.99*5F

2021-02-16T14:34:04.604Z,1613486044.604 [NAL9602](INFO): SBD MO Status=1, MOMSN=13441, MT Status=0, MTMSN=0
2021-02-16T14:34:04.657Z,1613486044.657 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:34:04.657Z,1613486044.657 [NAL9602](INFO): Packets left to send: 5
2021-02-16T14:34:04.701Z,1613486044.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:06.228Z,1613486046.228 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:07.201Z,1613486047.201 [DataOverHttps](INFO): Sending 1724 bytes from file Logs/20210216T042015/Express0095.lzma
2021-02-16T14:34:07.440Z,1613486047.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:08.201Z,1613486048.201 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0095.lzma.bak
2021-02-16T14:34:08.201Z,1613486048.201 [DataOverHttps](INFO): SBD MOMSN=81808
2021-02-16T14:34:08.276Z,1613486048.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:08.669Z,1613486048.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:09.460Z,1613486049.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143409.69*5A

2021-02-16T14:34:10.278Z,1613486050.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:11.867Z,1613486051.867 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:13.127Z,1613486053.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:13.899Z,1613486053.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:14.296Z,1613486054.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:15.109Z,1613486055.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143415.31*5A

2021-02-16T14:34:15.958Z,1613486055.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:17.241Z,1613486057.241 [DataOverHttps](INFO): Sending 186 bytes from file Logs/20210216T042015/Express0098.lzma
2021-02-16T14:34:17.528Z,1613486057.528 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:18.242Z,1613486058.242 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0098.lzma.bak
2021-02-16T14:34:18.242Z,1613486058.242 [DataOverHttps](INFO): SBD MOMSN=81812
2021-02-16T14:34:18.817Z,1613486058.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:19.556Z,1613486059.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:19.949Z,1613486059.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:20.764Z,1613486060.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143420.97*50

2021-02-16T14:34:21.603Z,1613486061.603 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:23.184Z,1613486063.184 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:24.442Z,1613486064.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:25.205Z,1613486065.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:25.610Z,1613486065.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:26.421Z,1613486066.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143426.62*5C

2021-02-16T14:34:27.252Z,1613486067.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:27.279Z,1613486067.279 [DataOverHttps](INFO): Sending 233 bytes from file Logs/20210216T042015/Express0101.lzma
2021-02-16T14:34:28.281Z,1613486068.281 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0101.lzma.bak
2021-02-16T14:34:28.281Z,1613486068.281 [DataOverHttps](INFO): SBD MOMSN=81817
2021-02-16T14:34:28.840Z,1613486068.840 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:29.885Z,1613486069.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:30.452Z,1613486070.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:30.867Z,1613486070.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:31.676Z,1613486071.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143431.86*50

2021-02-16T14:34:32.505Z,1613486072.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:34.092Z,1613486074.092 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:35.305Z,1613486075.305 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T14:34:35.329Z,1613486075.329 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:36.147Z,1613486076.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:36.527Z,1613486076.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:37.328Z,1613486077.328 [DataOverHttps](INFO): Sending 2017 bytes from file Logs/20210216T042015/Express0104.lzma
2021-02-16T14:34:37.363Z,1613486077.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143437.56*5B

2021-02-16T14:34:38.161Z,1613486078.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:38.321Z,1613486078.321 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0104.lzma.bak
2021-02-16T14:34:38.321Z,1613486078.321 [DataOverHttps](INFO): SBD MOMSN=81820
2021-02-16T14:34:39.748Z,1613486079.748 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T14:34:39.783Z,1613486079.783 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T14:34:39.784Z,1613486079.784 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T14:34:41.027Z,1613486081.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:41.770Z,1613486081.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:41.801Z,1613486081.801 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,143442.00,A,4133.17158,N,07042.62828,W,0.875,34.21,160221,,,A*48
2021-02-16T14:34:41.816Z,1613486081.816 [NAL9602](INFO): GPS fix at 20210216T143442: (41.552860, -70.710471)
2021-02-16T14:34:41.900Z,1613486081.900 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T14:34:41.903Z,1613486081.903 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T14:34:41.903Z,1613486081.903 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T14:34:41.904Z,1613486081.904 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T14:34:41.904Z,1613486081.904 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T14:34:41.904Z,1613486081.904 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T14:34:42.183Z,1613486082.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:42.611Z,1613486082.611 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T14:34:42.615Z,1613486082.615 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T14:34:42.985Z,1613486082.985 [Micromodem](INFO): Nmea in: $SNTTA,0.113487,,,,143443.18*44

2021-02-16T14:34:43.005Z,1613486083.005 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm.
2021-02-16T14:34:43.871Z,1613486083.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:45.398Z,1613486085.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:46.693Z,1613486086.693 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:47.421Z,1613486087.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:47.825Z,1613486087.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:48.229Z,1613486088.229 [NAL9602](INFO): SBD MO Status=0, MOMSN=13442, MT Status=0, MTMSN=0
2021-02-16T14:34:48.229Z,1613486088.229 [NAL9602](INFO): No messages in MT queue
2021-02-16T14:34:48.680Z,1613486088.680 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143448.84*5C

2021-02-16T14:34:49.470Z,1613486089.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:51.054Z,1613486091.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:52.302Z,1613486092.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:53.089Z,1613486093.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:53.487Z,1613486093.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:54.304Z,1613486094.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143454.50*58

2021-02-16T14:34:55.121Z,1613486095.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:56.711Z,1613486096.711 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:34:57.971Z,1613486097.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:34:58.738Z,1613486098.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:34:59.140Z,1613486099.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:34:59.545Z,1613486099.545 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,32D,000,004
2,186,80,80,A2,FF
2021-02-16T14:34:59.960Z,1613486099.960 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143500.15*59

2021-02-16T14:35:00.828Z,1613486100.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:03.595Z,1613486103.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:06.422Z,1613486106.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:07.222Z,1613486107.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:07.638Z,1613486107.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:08.436Z,1613486108.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143508.64*57

2021-02-16T14:35:09.271Z,1613486109.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:10.866Z,1613486110.866 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:12.148Z,1613486112.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:12.879Z,1613486112.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:13.282Z,1613486113.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:14.091Z,1613486114.091 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143514.29*53

2021-02-16T14:35:14.940Z,1613486114.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:15.706Z,1613486115.706 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-02-16T14:35:16.530Z,1613486116.530 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:17.757Z,1613486117.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:18.545Z,1613486118.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:18.929Z,1613486118.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:18.945Z,1613486118.945 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T14:35:19.772Z,1613486119.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143519.96*5A

2021-02-16T14:35:20.178Z,1613486120.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Running Loop=1
2021-02-16T14:35:20.178Z,1613486120.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T14:35:20.178Z,1613486120.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Running Loop=1
2021-02-16T14:35:20.179Z,1613486120.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A](IMPORTANT): Acoustic timeout! Received last range of 176.700012 m  5.002355 min ago.
2021-02-16T14:35:20.179Z,1613486120.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Stopped
2021-02-16T14:35:20.179Z,1613486120.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Running Loop=1
2021-02-16T14:35:20.557Z,1613486120.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Stopped
2021-02-16T14:35:20.557Z,1613486120.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T14:35:20.557Z,1613486120.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Stopped
2021-02-16T14:35:20.558Z,1613486120.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T14:35:20.578Z,1613486120.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:20.984Z,1613486120.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T14:35:20.984Z,1613486120.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T14:35:20.985Z,1613486120.985 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T14:35:20.986Z,1613486120.986 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T14:35:20.988Z,1613486120.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-02-16T14:35:20.988Z,1613486120.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T14:35:20.988Z,1613486120.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-02-16T14:35:20.988Z,1613486120.988 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-02-16T14:35:22.161Z,1613486122.161 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:23.386Z,1613486123.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:24.189Z,1613486124.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:24.598Z,1613486124.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:25.401Z,1613486125.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143525.61*5D

2021-02-16T14:35:25.898Z,1613486125.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:27.820Z,1613486127.820 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:28.672Z,1613486128.672 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:29.432Z,1613486129.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:29.837Z,1613486129.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:30.672Z,1613486130.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143530.85*53

2021-02-16T14:35:31.494Z,1613486131.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:33.071Z,1613486133.071 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:34.310Z,1613486134.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:35.094Z,1613486135.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:35.498Z,1613486135.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:36.310Z,1613486136.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143536.51*5C

2021-02-16T14:35:37.158Z,1613486137.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:38.744Z,1613486138.744 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:39.980Z,1613486139.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:40.772Z,1613486140.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:41.155Z,1613486141.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:41.986Z,1613486141.986 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143542.19*53

2021-02-16T14:35:42.924Z,1613486142.924 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:44.383Z,1613486144.383 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:45.673Z,1613486145.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:46.415Z,1613486146.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:46.846Z,1613486146.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:47.667Z,1613486147.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143547.83*55

2021-02-16T14:35:48.465Z,1613486148.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:49.740Z,1613486149.740 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:51.324Z,1613486151.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:52.062Z,1613486152.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:52.467Z,1613486152.467 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:53.286Z,1613486153.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143553.47*58

2021-02-16T14:35:53.912Z,1613486153.912 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:55.704Z,1613486155.704 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:35:56.538Z,1613486156.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:35:57.320Z,1613486157.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:35:57.733Z,1613486157.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:35:58.537Z,1613486158.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143558.73*54

2021-02-16T14:35:59.373Z,1613486159.373 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:00.954Z,1613486160.954 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:36:02.188Z,1613486162.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:02.983Z,1613486162.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:03.387Z,1613486163.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:04.196Z,1613486164.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143604.40*5E

2021-02-16T14:36:05.044Z,1613486165.044 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:06.610Z,1613486166.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:36:07.851Z,1613486167.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:08.666Z,1613486168.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:09.041Z,1613486169.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:09.876Z,1613486169.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143610.08*57

2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 132.360001 m 
2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-02-16T14:36:10.301Z,1613486170.301 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-02-16T14:36:10.714Z,1613486170.714 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-02-16T14:36:10.715Z,1613486170.715 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T14:36:10.715Z,1613486170.715 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-02-16T14:36:10.715Z,1613486170.715 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T14:36:11.097Z,1613486171.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T14:36:11.098Z,1613486171.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-02-16T14:36:11.099Z,1613486171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T14:36:11.099Z,1613486171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-02-16T14:36:11.099Z,1613486171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-02-16T14:36:11.099Z,1613486171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T14:36:11.099Z,1613486171.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T14:36:11.100Z,1613486171.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-02-16T14:36:11.100Z,1613486171.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:36:11.100Z,1613486171.100 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-02-16T14:36:11.101Z,1613486171.101 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-02-16T14:36:11.498Z,1613486171.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.360001 m, bearing: 114.534623 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:36:11.498Z,1613486171.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 114.534623deg and heading rate command to 0 deg/s.
2021-02-16T14:36:12.284Z,1613486172.284 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position -9.14 mm (2 active estimators).
2021-02-16T14:36:12.293Z,1613486172.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:13.076Z,1613486173.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:13.481Z,1613486173.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:14.304Z,1613486174.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143614.49*56

2021-02-16T14:36:14.347Z,1613486174.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 118.072961 deg, deltaT: 4.417681 s, approachRate: -0.842068 m/s, LOS rate: 0.800949 deg/s, posRepo size: 2
2021-02-16T14:36:14.349Z,1613486174.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.640015 m,
      bearing: 118.072961 deg,
      approachRate: -0.842068 m/s,
      LOS rate: 0.800949 deg/s,
      cmd update: 2.402848 deg/s,
      cmd heading: 114.534623 deg,
      new cmd heading: 114.534623 deg.

2021-02-16T14:36:16.775Z,1613486176.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:17.535Z,1613486177.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:17.963Z,1613486177.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:18.760Z,1613486178.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143618.95*5B

2021-02-16T14:36:18.785Z,1613486178.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.480003 m, bearing: 121.127531 deg, deltaT: 4.404186 s, approachRate: -0.490445 m/s, LOS rate: 0.693561 deg/s, posRepo size: 3
2021-02-16T14:36:18.787Z,1613486178.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.480003 m,
      bearing: 121.127531 deg,
      approachRate: -0.490445 m/s,
      LOS rate: 0.693561 deg/s,
      cmd update: 2.080682 deg/s,
      cmd heading: 125.116906 deg,
      new cmd heading: 126.161306 deg.

2021-02-16T14:36:21.177Z,1613486181.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:21.963Z,1613486181.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:22.375Z,1613486182.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:23.196Z,1613486183.196 [Micromodem](INFO): Nmea in: $SNTTA,0.082889,,,,143623.38*49

2021-02-16T14:36:23.218Z,1613486183.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.080009 m, bearing: 110.193600 deg, deltaT: 4.492779 s, approachRate: -0.534189 m/s, LOS rate: -2.433668 deg/s, posRepo size: 4
2021-02-16T14:36:23.245Z,1613486183.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.080009 m,
      bearing: 110.193600 deg,
      approachRate: -0.534189 m/s,
      LOS rate: -2.433668 deg/s,
      cmd update: -7.301003 deg/s,
      cmd heading: 134.465255 deg,
      new cmd heading: 135.245492 deg.

2021-02-16T14:36:25.662Z,1613486185.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:26.409Z,1613486186.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:26.836Z,1613486186.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:27.668Z,1613486187.668 [Micromodem](INFO): Nmea in: $SNTTA,0.081081,,,,143627.82*4F

2021-02-16T14:36:27.693Z,1613486187.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.380005 m, bearing: 112.424244 deg, deltaT: 4.426825 s, approachRate: -0.609919 m/s, LOS rate: 0.503893 deg/s, posRepo size: 4
2021-02-16T14:36:27.715Z,1613486187.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.380005 m,
      bearing: 112.424244 deg,
      approachRate: -0.609919 m/s,
      LOS rate: 0.503893 deg/s,
      cmd update: 1.511678 deg/s,
      cmd heading: 102.223049 deg,
      new cmd heading: 99.057874 deg.

2021-02-16T14:36:30.079Z,1613486190.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:30.854Z,1613486190.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:31.278Z,1613486191.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:32.088Z,1613486192.088 [Micromodem](INFO): Nmea in: $SNTTA,0.079363,,,,143632.27*4C

2021-02-16T14:36:32.142Z,1613486192.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.620003 m, bearing: 120.965792 deg, deltaT: 4.439726 s, approachRate: -0.621660 m/s, LOS rate: 1.923891 deg/s, posRepo size: 4
2021-02-16T14:36:32.148Z,1613486192.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 120.965792 deg,
      approachRate: -0.621660 m/s,
      LOS rate: 1.923891 deg/s,
      cmd update: 5.771672 deg/s,
      cmd heading: 108.944937 deg,
      new cmd heading: 109.604718 deg.

2021-02-16T14:36:34.509Z,1613486194.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:35.297Z,1613486195.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:35.701Z,1613486195.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:36.524Z,1613486196.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143636.71*5D

2021-02-16T14:36:36.566Z,1613486196.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 118.800786 deg, deltaT: 4.447350 s, approachRate: -0.728523 m/s, LOS rate: -0.486808 deg/s, posRepo size: 4
2021-02-16T14:36:36.572Z,1613486196.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.380005 m,
      bearing: 118.800786 deg,
      approachRate: -0.728523 m/s,
      LOS rate: -0.486808 deg/s,
      cmd update: -1.460424 deg/s,
      cmd heading: 134.613040 deg,
      new cmd heading: 136.997324 deg.

2021-02-16T14:36:38.957Z,1613486198.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:39.740Z,1613486199.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:40.164Z,1613486200.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:40.988Z,1613486200.988 [Micromodem](INFO): Nmea in: $SNTTA,0.075084,,,,143641.15*4F

2021-02-16T14:36:41.022Z,1613486201.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 108.004149 deg, deltaT: 4.421213 s, approachRate: -0.664976 m/s, LOS rate: -2.442008 deg/s, posRepo size: 4
2021-02-16T14:36:41.044Z,1613486201.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 108.004149 deg,
      approachRate: -0.664976 m/s,
      LOS rate: -2.442008 deg/s,
      cmd update: -7.326024 deg/s,
      cmd heading: 128.156295 deg,
      new cmd heading: 127.502431 deg.

2021-02-16T14:36:43.405Z,1613486203.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:44.189Z,1613486204.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:44.626Z,1613486204.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:45.416Z,1613486205.416 [Micromodem](INFO): Nmea in: $SNTTA,0.073032,,,,143645.60*42

2021-02-16T14:36:45.438Z,1613486205.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 108.716763 deg, deltaT: 4.437701 s, approachRate: -0.770669 m/s, LOS rate: 0.160582 deg/s, posRepo size: 4
2021-02-16T14:36:45.440Z,1613486205.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.020004 m,
      bearing: 108.716763 deg,
      approachRate: -0.770669 m/s,
      LOS rate: 0.160582 deg/s,
      cmd update: 0.481746 deg/s,
      cmd heading: 95.620147 deg,
      new cmd heading: 92.524052 deg.

2021-02-16T14:36:46.668Z,1613486206.668 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:36:47.875Z,1613486207.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:48.645Z,1613486208.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:49.092Z,1613486209.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:49.912Z,1613486209.912 [Micromodem](INFO): Nmea in: $SNTTA,0.070877,,,,143650.06*4C

2021-02-16T14:36:49.971Z,1613486209.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 115.535286 deg, deltaT: 4.490005 s, approachRate: -0.654788 m/s, LOS rate: 1.518600 deg/s, posRepo size: 4
2021-02-16T14:36:49.977Z,1613486209.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 115.535286 deg,
      approachRate: -0.654788 m/s,
      LOS rate: 1.518600 deg/s,
      cmd update: 4.555801 deg/s,
      cmd heading: 97.783316 deg,
      new cmd heading: 98.007154 deg.

2021-02-16T14:36:51.939Z,1613486211.939 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:36:52.335Z,1613486212.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:53.129Z,1613486213.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:53.539Z,1613486213.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:36:54.360Z,1613486214.360 [Micromodem](INFO): Nmea in: $SNTTA,0.068545,,,,143654.54*4A

2021-02-16T14:36:54.382Z,1613486214.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.540001 m, bearing: 112.671668 deg, deltaT: 4.487291 s, approachRate: -0.788895 m/s, LOS rate: -0.638162 deg/s, posRepo size: 4
2021-02-16T14:36:54.384Z,1613486214.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.540001 m,
      bearing: 112.671668 deg,
      approachRate: -0.788895 m/s,
      LOS rate: -0.638162 deg/s,
      cmd update: -1.914486 deg/s,
      cmd heading: 118.190074 deg,
      new cmd heading: 119.998882 deg.

2021-02-16T14:36:54.888Z,1613486214.888 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.244190
2021-02-16T14:36:55.200Z,1613486215.200 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T14:36:55.200Z,1613486215.200 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T14:36:55.200Z,1613486215.200 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T14:36:55.201Z,1613486215.201 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:36:55.201Z,1613486215.201 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T14:36:55.649Z,1613486215.649 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B606A0000005D000004006D0000000000000000151D80030C5669BF92F9E5773190FB5B4549667F4008544FF4B11FEFC287ADA25EB506606708A6E5BEE7
2021-02-16T14:36:55.649Z,1613486215.649 [Micromodem](INFO): Outgoing frame #2, 48 bytes: C1BE584707BD7E72109334D983567182B2D1930F590E9B3907F81A09C9CF8572ABE8ECBBD6A7A2160BF05F1341020000
2021-02-16T14:36:55.650Z,1613486215.650 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T14:36:55.992Z,1613486215.992 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T14:36:56.384Z,1613486216.384 [Micromodem](INFO): Nmea in: $CADRQ,143656,1,10,0,64,1*75

2021-02-16T14:36:56.384Z,1613486216.384 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B606A0000005D000004006D0000000000000000151D80030C5669BF92F9E5773190FB5B4549667F4008544FF4B11FEFC287ADA25EB506606708A6E5BEE7*32

2021-02-16T14:36:56.505Z,1613486216.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:36:56.841Z,1613486216.841 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T14:36:56.864Z,1613486216.864 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:36:57.220Z,1613486217.220 [Micromodem](INFO): Nmea in: $CADRQ,143657,1,10,0,64,2*77

2021-02-16T14:36:57.220Z,1613486217.220 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,C1BE584707BD7E72109334D983567182B2D1930F590E9B3907F81A09C9CF8572ABE8ECBBD6A7A2160BF05F1341020000*4D

2021-02-16T14:36:57.642Z,1613486217.642 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,48*47

2021-02-16T14:36:57.642Z,1613486217.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:36:58.023Z,1613486218.023 [Micromodem](INFO): Nmea in: $CATXP,112*40

2021-02-16T14:36:58.023Z,1613486218.023 [Micromodem](ERROR): Response from modem unexpected: $CATXP,112*40

2021-02-16T14:36:59.278Z,1613486219.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:00.453Z,1613486220.453 [Micromodem](INFO): Nmea in: $CATXF,112*56

2021-02-16T14:37:00.453Z,1613486220.453 [Micromodem](ERROR): Response from modem unexpected: $CATXF,112*56

2021-02-16T14:37:00.870Z,1613486220.870 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,143658.652134,3,0,200,4000,14500,1,1,10,1,2,2,3,112*7F

2021-02-16T14:37:00.870Z,1613486220.870 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,143658.652134,3,0,200,4000,14500,1,1,10,1,2,2,3,112*7F

2021-02-16T14:37:01.726Z,1613486221.726 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:37:02.154Z,1613486222.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:03.336Z,1613486223.336 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T14:37:03.742Z,1613486223.742 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T14:37:03.744Z,1613486223.744 [Micromodem](INFO): Sent 104 bytes from file Logs/20210216T042015/Courier0106.lzma.parts
2021-02-16T14:37:03.744Z,1613486223.744 [Micromodem](INFO): Packets left to send: 0
2021-02-16T14:37:04.154Z,1613486224.154 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216143703.410654,06,12013,40,0336,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,18.2,8.00,18,-5.00,-01,1.43,33,14500,4000*60

2021-02-16T14:37:04.154Z,1613486224.154 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216143703.410654,06,12013,40,0336,0150,14,02,02,00,02,1,010,001,0,4,1,0,150,18.2,8.00,18,-5.00,-01,1.43,33,14500,4000*60

2021-02-16T14:37:04.266Z,1613486224.266 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T14:37:04.266Z,1613486224.266 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T14:37:04.266Z,1613486224.266 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T14:37:04.266Z,1613486224.266 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T14:37:04.268Z,1613486224.268 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T14:37:04.705Z,1613486224.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:07.516Z,1613486227.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:09.025Z,1613486229.025 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:09.436Z,1613486229.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:10.273Z,1613486230.273 [Micromodem](INFO): Nmea in: $SNTTA,0.060462,,,,143710.44*46

2021-02-16T14:37:10.294Z,1613486230.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 116.192856 deg, deltaT: 15.882271 s, approachRate: -0.755559 m/s, LOS rate: 0.221706 deg/s, posRepo size: 4
2021-02-16T14:37:10.316Z,1613486230.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.540001 m,
      bearing: 116.192856 deg,
      approachRate: -0.755559 m/s,
      LOS rate: 0.221706 deg/s,
      cmd update: 0.665117 deg/s,
      cmd heading: 87.767599 deg,
      new cmd heading: 86.966505 deg.

2021-02-16T14:37:12.687Z,1613486232.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:12.784Z,1613486232.784 [Radio_Surface](INFO): Powering down
2021-02-16T14:37:13.465Z,1613486233.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:13.865Z,1613486233.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:14.712Z,1613486234.712 [Micromodem](INFO): Nmea in: $SNTTA,0.058266,,,,143714.88*4B

2021-02-16T14:37:14.737Z,1613486234.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 117.080903 deg, deltaT: 4.421936 s, approachRate: -0.773416 m/s, LOS rate: 0.200828 deg/s, posRepo size: 4
2021-02-16T14:37:14.739Z,1613486234.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 117.080903 deg,
      approachRate: -0.773416 m/s,
      LOS rate: 0.200828 deg/s,
      cmd update: 0.602483 deg/s,
      cmd heading: 90.703350 deg,
      new cmd heading: 91.000754 deg.

2021-02-16T14:37:16.728Z,1613486236.728 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T14:37:17.136Z,1613486237.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:17.904Z,1613486237.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:18.310Z,1613486238.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:19.156Z,1613486239.156 [Micromodem](INFO): Nmea in: $SNTTA,0.055954,,,,143719.32*40

2021-02-16T14:37:19.181Z,1613486239.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.699997 m, bearing: 117.777132 deg, deltaT: 4.464643 s, approachRate: -0.766020 m/s, LOS rate: 0.155943 deg/s, posRepo size: 4
2021-02-16T14:37:19.182Z,1613486239.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 117.777132 deg,
      approachRate: -0.766020 m/s,
      LOS rate: 0.155943 deg/s,
      cmd update: 0.467828 deg/s,
      cmd heading: 93.397745 deg,
      new cmd heading: 93.650085 deg.

2021-02-16T14:37:21.569Z,1613486241.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:22.348Z,1613486242.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:22.789Z,1613486242.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:23.580Z,1613486243.580 [Micromodem](INFO): Nmea in: $SNTTA,0.053542,,,,143723.76*44

2021-02-16T14:37:23.645Z,1613486243.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.100006 m, bearing: 116.943371 deg, deltaT: 4.408730 s, approachRate: -0.816560 m/s, LOS rate: -0.189116 deg/s, posRepo size: 4
2021-02-16T14:37:23.646Z,1613486243.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.100006 m,
      bearing: 116.943371 deg,
      approachRate: -0.816560 m/s,
      LOS rate: -0.189116 deg/s,
      cmd update: -0.567348 deg/s,
      cmd heading: 95.460193 deg,
      new cmd heading: 95.681970 deg.

2021-02-16T14:37:26.041Z,1613486246.041 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:26.793Z,1613486246.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:26.833Z,1613486246.833 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T14:37:27.244Z,1613486247.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:28.061Z,1613486248.061 [Micromodem](INFO): Nmea in: $SNTTA,0.051254,,0.054068,,143728.21*5E

2021-02-16T14:37:28.076Z,1613486248.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.739998 m, bearing: 116.485611 deg, deltaT: 4.501987 s, approachRate: -0.746339 m/s, LOS rate: -0.101679 deg/s, posRepo size: 4
2021-02-16T14:37:28.077Z,1613486248.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 116.485611 deg,
      approachRate: -0.746339 m/s,
      LOS rate: -0.101679 deg/s,
      cmd update: -0.305038 deg/s,
      cmd heading: 92.905614 deg,
      new cmd heading: 92.677419 deg.

2021-02-16T14:37:30.509Z,1613486250.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:31.031Z,1613486251.031 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T14:37:31.284Z,1613486251.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:31.693Z,1613486251.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:32.035Z,1613486252.035 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T14:37:32.512Z,1613486252.512 [Micromodem](INFO): Nmea in: $SNTTA,0.048967,,,,143732.70*43

2021-02-16T14:37:32.527Z,1613486252.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 117.380844 deg, deltaT: 4.498531 s, approachRate: -0.773585 m/s, LOS rate: 0.199006 deg/s, posRepo size: 4
2021-02-16T14:37:32.529Z,1613486252.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 117.380844 deg,
      approachRate: -0.773585 m/s,
      LOS rate: 0.199006 deg/s,
      cmd update: 0.597017 deg/s,
      cmd heading: 91.536140 deg,
      new cmd heading: 91.425000 deg.

2021-02-16T14:37:34.976Z,1613486254.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:35.730Z,1613486255.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:36.151Z,1613486256.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:36.976Z,1613486256.976 [Micromodem](INFO): Nmea in: $SNTTA,0.046616,,,,143737.14*43

2021-02-16T14:37:37.038Z,1613486257.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 119.608292 deg, deltaT: 4.381059 s, approachRate: -0.808024 m/s, LOS rate: 0.508427 deg/s, posRepo size: 4
2021-02-16T14:37:37.040Z,1613486257.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.720001 m,
      bearing: 119.608292 deg,
      approachRate: -0.808024 m/s,
      LOS rate: 0.508427 deg/s,
      cmd update: 1.525280 deg/s,
      cmd heading: 94.157118 deg,
      new cmd heading: 94.446602 deg.

2021-02-16T14:37:38.164Z,1613486258.164 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T14:37:39.394Z,1613486259.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:40.188Z,1613486260.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:40.587Z,1613486260.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:41.416Z,1613486261.416 [Micromodem](INFO): Nmea in: $SNTTA,0.044224,,,,143741.60*46

2021-02-16T14:37:41.458Z,1613486261.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.120003 m, bearing: 122.479744 deg, deltaT: 4.489112 s, approachRate: -0.801940 m/s, LOS rate: 0.639648 deg/s, posRepo size: 4
2021-02-16T14:37:41.464Z,1613486261.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.120003 m,
      bearing: 122.479744 deg,
      approachRate: -0.801940 m/s,
      LOS rate: 0.639648 deg/s,
      cmd update: 1.918945 deg/s,
      cmd heading: 100.997137 deg,
      new cmd heading: 101.639547 deg.

2021-02-16T14:37:43.855Z,1613486263.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:44.648Z,1613486264.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:45.022Z,1613486265.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:45.864Z,1613486265.864 [Micromodem](INFO): Nmea in: $SNTTA,0.041967,,,0.044486,143746.06*5C

2021-02-16T14:37:45.931Z,1613486265.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.700001 m, bearing: 121.725555 deg, deltaT: 4.409617 s, approachRate: -0.775578 m/s, LOS rate: -0.171033 deg/s, posRepo size: 4
2021-02-16T14:37:45.933Z,1613486265.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.700001 m,
      bearing: 121.725555 deg,
      approachRate: -0.775578 m/s,
      LOS rate: -0.171033 deg/s,
      cmd update: -0.513099 deg/s,
      cmd heading: 109.467936 deg,
      new cmd heading: 110.380392 deg.

2021-02-16T14:37:48.280Z,1613486268.280 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:49.060Z,1613486269.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:49.479Z,1613486269.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:50.292Z,1613486270.292 [Micromodem](INFO): Nmea in: $SNTTA,0.039591,,,,143750.47*40

2021-02-16T14:37:50.328Z,1613486270.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 122.852960 deg, deltaT: 4.482348 s, approachRate: -0.789766 m/s, LOS rate: 0.251521 deg/s, posRepo size: 4
2021-02-16T14:37:50.330Z,1613486270.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 122.852960 deg,
      approachRate: -0.789766 m/s,
      LOS rate: 0.251521 deg/s,
      cmd update: 0.754563 deg/s,
      cmd heading: 107.170103 deg,
      new cmd heading: 106.965847 deg.

2021-02-16T14:37:52.729Z,1613486272.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:53.506Z,1613486273.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:53.910Z,1613486273.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:54.740Z,1613486274.740 [Micromodem](INFO): Nmea in: $SNTTA,0.037191,,,,143754.92*46

2021-02-16T14:37:54.794Z,1613486274.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.560005 m, bearing: 123.481788 deg, deltaT: 4.392454 s, approachRate: -0.819585 m/s, LOS rate: 0.143161 deg/s, posRepo size: 4
2021-02-16T14:37:54.812Z,1613486274.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.560005 m,
      bearing: 123.481788 deg,
      approachRate: -0.819585 m/s,
      LOS rate: 0.143161 deg/s,
      cmd update: 0.429483 deg/s,
      cmd heading: 110.487494 deg,
      new cmd heading: 110.835394 deg.

2021-02-16T14:37:56.840Z,1613486276.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:37:57.552Z,1613486277.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:37:57.949Z,1613486277.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:37:58.783Z,1613486278.783 [Micromodem](INFO): Nmea in: $SNTTA,0.035023,,,,143758.97*45

2021-02-16T14:37:58.883Z,1613486278.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.319996 m, bearing: 125.049945 deg, deltaT: 4.040006 s, approachRate: -0.801981 m/s, LOS rate: 0.388157 deg/s, posRepo size: 4
2021-02-16T14:37:58.885Z,1613486278.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.319996 m,
      bearing: 125.049945 deg,
      approachRate: -0.801981 m/s,
      LOS rate: 0.388157 deg/s,
      cmd update: 1.164471 deg/s,
      cmd heading: 112.222599 deg,
      new cmd heading: 112.442765 deg.

2021-02-16T14:38:01.212Z,1613486281.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:01.989Z,1613486281.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:02.411Z,1613486282.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:03.220Z,1613486283.220 [Micromodem](INFO): Nmea in: $SNTTA,0.032541,,,,143803.40*48

2021-02-16T14:38:03.267Z,1613486283.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.540005 m, bearing: 125.537128 deg, deltaT: 4.491552 s, approachRate: -0.841578 m/s, LOS rate: 0.108467 deg/s, posRepo size: 4
2021-02-16T14:38:03.270Z,1613486283.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.540005 m,
      bearing: 125.537128 deg,
      approachRate: -0.841578 m/s,
      LOS rate: 0.108467 deg/s,
      cmd update: 0.325400 deg/s,
      cmd heading: 117.452930 deg,
      new cmd heading: 117.928520 deg.

2021-02-16T14:38:05.670Z,1613486285.670 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:06.437Z,1613486286.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:06.845Z,1613486286.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:07.664Z,1613486287.664 [Micromodem](INFO): Nmea in: $SNTTA,0.030164,,,,143807.85*44

2021-02-16T14:38:07.705Z,1613486287.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 125.712760 deg, deltaT: 4.426030 s, approachRate: -0.772703 m/s, LOS rate: 0.039681 deg/s, posRepo size: 4
2021-02-16T14:38:07.707Z,1613486287.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.119999 m,
      bearing: 125.712760 deg,
      approachRate: -0.772703 m/s,
      LOS rate: 0.039681 deg/s,
      cmd update: 0.119044 deg/s,
      cmd heading: 118.891816 deg,
      new cmd heading: 119.030165 deg.

2021-02-16T14:38:10.093Z,1613486290.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:10.876Z,1613486290.876 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:11.287Z,1613486291.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:12.111Z,1613486292.111 [Micromodem](INFO): Nmea in: $SNTTA,0.027965,,,,143812.29*49

2021-02-16T14:38:12.140Z,1613486292.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 125.427067 deg, deltaT: 4.473637 s, approachRate: -0.751067 m/s, LOS rate: -0.063861 deg/s, posRepo size: 4
2021-02-16T14:38:12.141Z,1613486292.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.759998 m,
      bearing: 125.427067 deg,
      approachRate: -0.751067 m/s,
      LOS rate: -0.063861 deg/s,
      cmd update: -0.191584 deg/s,
      cmd heading: 119.423917 deg,
      new cmd heading: 119.470310 deg.

2021-02-16T14:38:14.547Z,1613486294.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:15.326Z,1613486295.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:15.730Z,1613486295.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:16.568Z,1613486296.568 [Micromodem](INFO): Nmea in: $SNTTA,0.025566,,,,143816.74*48

2021-02-16T14:38:16.613Z,1613486296.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.159996 m, bearing: 127.520629 deg, deltaT: 4.419523 s, approachRate: -0.814568 m/s, LOS rate: 0.473708 deg/s, posRepo size: 4
2021-02-16T14:38:16.614Z,1613486296.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.16 m.
2021-02-16T14:38:16.641Z,1613486296.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.159996 m,
      bearing: 127.520629 deg,
      approachRate: -0.814568 m/s,
      LOS rate: 0.473708 deg/s,
      cmd update: 1.421123 deg/s,
      cmd heading: 118.576464 deg,
      new cmd heading: 118.492772 deg.

2021-02-16T14:38:16.949Z,1613486296.949 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:38:19.017Z,1613486299.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:19.785Z,1613486299.785 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:20.169Z,1613486300.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:21.004Z,1613486301.004 [Micromodem](INFO): Nmea in: $SNTTA,0.023141,,,,143821.20*4A

2021-02-16T14:38:21.058Z,1613486301.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.559998 m, bearing: 130.112098 deg, deltaT: 4.415458 s, approachRate: -0.815317 m/s, LOS rate: 0.586908 deg/s, posRepo size: 4
2021-02-16T14:38:21.063Z,1613486301.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m.
2021-02-16T14:38:21.063Z,1613486301.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.56 m.
2021-02-16T14:38:21.064Z,1613486301.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:38:21.065Z,1613486301.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 130.112098 deg,
      approachRate: -0.815317 m/s,
      LOS rate: 0.586908 deg/s,
      cmd update: 1.760725 deg/s,
      cmd heading: 124.857226 deg,
      new cmd heading: 125.519302 deg.

2021-02-16T14:38:23.416Z,1613486303.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:24.213Z,1613486304.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:24.646Z,1613486304.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:25.440Z,1613486305.440 [Micromodem](INFO): Nmea in: $SNTTA,0.020785,,,,143825.63*44

2021-02-16T14:38:25.488Z,1613486305.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.959999 m, bearing: 130.027459 deg, deltaT: 4.482987 s, approachRate: -0.803036 m/s, LOS rate: -0.018880 deg/s, posRepo size: 4
2021-02-16T14:38:25.490Z,1613486305.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.959999 m,
      bearing: 130.027459 deg,
      approachRate: -0.803036 m/s,
      LOS rate: -0.018880 deg/s,
      cmd update: -0.056641 deg/s,
      cmd heading: 132.743530 deg,
      new cmd heading: 133.468938 deg.

2021-02-16T14:38:27.892Z,1613486307.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:28.678Z,1613486308.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:29.058Z,1613486309.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:29.892Z,1613486309.892 [Micromodem](INFO): Nmea in: $SNTTA,0.018420,,,,143830.09*4B

2021-02-16T14:38:29.949Z,1613486309.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 129.825736 deg, deltaT: 4.443768 s, approachRate: -0.796621 m/s, LOS rate: -0.045395 deg/s, posRepo size: 4
2021-02-16T14:38:29.950Z,1613486309.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.420002 m,
      bearing: 129.825736 deg,
      approachRate: -0.796621 m/s,
      LOS rate: -0.045395 deg/s,
      cmd update: -0.136184 deg/s,
      cmd heading: 132.491620 deg,
      new cmd heading: 132.467286 deg.

2021-02-16T14:38:32.306Z,1613486312.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:33.095Z,1613486313.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:33.514Z,1613486313.514 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:34.331Z,1613486314.331 [Micromodem](INFO): Nmea in: $SNTTA,0.016043,,,,143834.51*4D

2021-02-16T14:38:34.346Z,1613486314.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 128.525732 deg, deltaT: 4.432040 s, approachRate: -0.798729 m/s, LOS rate: -0.293319 deg/s, posRepo size: 4
2021-02-16T14:38:34.348Z,1613486314.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 128.525732 deg,
      approachRate: -0.798729 m/s,
      LOS rate: -0.293319 deg/s,
      cmd update: -0.879958 deg/s,
      cmd heading: 131.888021 deg,
      new cmd heading: 131.834200 deg.

2021-02-16T14:38:36.816Z,1613486316.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:37.541Z,1613486317.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:37.951Z,1613486317.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:38.797Z,1613486318.797 [Micromodem](INFO): Nmea in: $SNTTA,0.013746,,,,143838.96*4D

2021-02-16T14:38:38.852Z,1613486318.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 129.840079 deg, deltaT: 4.412830 s, approachRate: -0.775013 m/s, LOS rate: 0.297847 deg/s, posRepo size: 4
2021-02-16T14:38:38.854Z,1613486318.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.459999 m,
      bearing: 129.840079 deg,
      approachRate: -0.775013 m/s,
      LOS rate: 0.297847 deg/s,
      cmd update: 0.893540 deg/s,
      cmd heading: 128.005050 deg,
      new cmd heading: 127.575867 deg.

2021-02-16T14:38:40.882Z,1613486320.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:41.585Z,1613486321.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:42.004Z,1613486322.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:42.840Z,1613486322.840 [Micromodem](INFO): Nmea in: $SNTTA,0.011341,,,,143843.00*4F

2021-02-16T14:38:42.903Z,1613486322.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.860001 m, bearing: 131.005473 deg, deltaT: 4.054366 s, approachRate: -0.887931 m/s, LOS rate: 0.287442 deg/s, posRepo size: 4
2021-02-16T14:38:42.905Z,1613486322.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 131.005473 deg,
      approachRate: -0.887931 m/s,
      LOS rate: 0.287442 deg/s,
      cmd update: 0.862325 deg/s,
      cmd heading: 131.613645 deg,
      new cmd heading: 132.057380 deg.

2021-02-16T14:38:45.254Z,1613486325.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:46.042Z,1613486326.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:46.431Z,1613486326.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:47.280Z,1613486327.280 [Micromodem](INFO): Nmea in: $SNTTA,0.009126,,,,143847.46*43

2021-02-16T14:38:47.304Z,1613486327.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 131.317340 deg, deltaT: 4.477848 s, approachRate: -0.750360 m/s, LOS rate: 0.069646 deg/s, posRepo size: 4
2021-02-16T14:38:47.306Z,1613486327.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 131.317340 deg,
      approachRate: -0.750360 m/s,
      LOS rate: 0.069646 deg/s,
      cmd update: 0.208939 deg/s,
      cmd heading: 135.488788 deg,
      new cmd heading: 135.840384 deg.

2021-02-16T14:38:49.716Z,1613486329.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:50.478Z,1613486330.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:50.891Z,1613486330.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:51.773Z,1613486331.773 [Micromodem](INFO): Nmea in: $SNTTA,0.006748,,,,143851.89*46

2021-02-16T14:38:51.855Z,1613486331.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 131.681321 deg, deltaT: 4.415448 s, approachRate: -0.815320 m/s, LOS rate: 0.082433 deg/s, posRepo size: 4
2021-02-16T14:38:51.857Z,1613486331.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 131.681321 deg,
      approachRate: -0.815320 m/s,
      LOS rate: 0.082433 deg/s,
      cmd update: 0.247300 deg/s,
      cmd heading: 136.408018 deg,
      new cmd heading: 136.524845 deg.

2021-02-16T14:38:53.819Z,1613486333.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:54.520Z,1613486334.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:54.913Z,1613486334.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:38:55.760Z,1613486335.760 [Micromodem](INFO): Nmea in: $SNTTA,0.004721,,,,143855.94*43

2021-02-16T14:38:55.889Z,1613486335.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 127.371581 deg, deltaT: 4.034988 s, approachRate: -0.788106 m/s, LOS rate: -1.068092 deg/s, posRepo size: 4
2021-02-16T14:38:55.895Z,1613486335.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 127.371581 deg,
      approachRate: -0.788106 m/s,
      LOS rate: -1.068092 deg/s,
      cmd update: -3.204277 deg/s,
      cmd heading: 137.405865 deg,
      new cmd heading: 137.544011 deg.

2021-02-16T14:38:58.159Z,1613486338.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:38:58.970Z,1613486338.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:38:59.357Z,1613486339.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:00.192Z,1613486340.192 [Micromodem](INFO): Nmea in: $SNTTA,0.002496,,0.036290,,143900.38*5D

2021-02-16T14:39:00.232Z,1613486340.232 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T14:39:00.232Z,1613486340.232 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:39:00.232Z,1613486340.232 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.539999 m 
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T14:39:00.233Z,1613486340.233 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T14:39:00.236Z,1613486340.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 130.256516 deg, deltaT: 4.491350 s, approachRate: -0.708027 m/s, LOS rate: 0.642331 deg/s, posRepo size: 4
2021-02-16T14:39:00.237Z,1613486340.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 130.256516 deg,
      approachRate: -0.708027 m/s,
      LOS rate: 0.642331 deg/s,
      cmd update: 1.926994 deg/s,
      cmd heading: 122.963099 deg,
      new cmd heading: 121.689645 deg.

2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T143900: (41.552319, -70.708603)
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T14:39:00.604Z,1613486340.604 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:39:02.660Z,1613486342.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:03.397Z,1613486343.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:03.821Z,1613486343.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:04.654Z,1613486344.654 [Micromodem](INFO): Nmea in: $SNTTA,0.001325,,,,143904.81*47

2021-02-16T14:39:04.679Z,1613486344.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 1.979998 m, bearing: 138.783037 deg, deltaT: 4.421609 s, approachRate: -0.352813 m/s, LOS rate: 1.928375 deg/s, posRepo size: 4
2021-02-16T14:39:04.680Z,1613486344.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Intercept lockout. Range: 1.98 m.
2021-02-16T14:39:04.680Z,1613486344.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2021-02-16T14:39:04.681Z,1613486344.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1.979998 m,
      bearing: 138.783037 deg,
      approachRate: -0.352813 m/s,
      LOS rate: 1.928375 deg/s,
      cmd update: 5.785126 deg/s,
      cmd heading: 131.472063 deg,
      new cmd heading: 131.472063 deg.

2021-02-16T14:39:06.788Z,1613486346.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:07.442Z,1613486347.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:07.859Z,1613486347.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:08.680Z,1613486348.680 [Micromodem](INFO): Nmea in: $SNTTA,0.003622,,0.017785,,143908.86*5E

2021-02-16T14:39:08.731Z,1613486348.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.039999 m, bearing: 135.502825 deg, deltaT: 4.017892 s, approachRate: 0.761594 m/s, LOS rate: -0.816401 deg/s, posRepo size: 4
2021-02-16T14:39:11.094Z,1613486351.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:11.885Z,1613486351.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:12.291Z,1613486352.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:13.112Z,1613486353.112 [Micromodem](INFO): Nmea in: $SNTTA,0.011978,,,,143913.30*48

2021-02-16T14:39:13.152Z,1613486353.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.040000 m, bearing: 115.448051 deg, deltaT: 4.480913 s, approachRate: 0.669507 m/s, LOS rate: -4.475600 deg/s, posRepo size: 4
2021-02-16T14:39:15.537Z,1613486355.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:16.324Z,1613486356.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:16.796Z,1613486356.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:17.552Z,1613486357.552 [Micromodem](INFO): Nmea in: $SNTTA,0.007203,,,,143917.74*4C

2021-02-16T14:39:17.605Z,1613486357.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.800001 m, bearing: 199.618685 deg, deltaT: 4.388294 s, approachRate: 0.628946 m/s, LOS rate: 19.180718 deg/s, posRepo size: 4
2021-02-16T14:39:20.014Z,1613486360.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:20.795Z,1613486360.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:21.201Z,1613486361.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:22.024Z,1613486362.024 [Micromodem](INFO): Nmea in: $SNTTA,0.008898,0.023167,,,143922.21*52

2021-02-16T14:39:22.079Z,1613486362.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.380001 m, bearing: 220.366191 deg, deltaT: 4.468024 s, approachRate: 0.577436 m/s, LOS rate: 4.643553 deg/s, posRepo size: 4
2021-02-16T14:39:22.079Z,1613486362.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.38 m. Rolling out.
2021-02-16T14:39:22.080Z,1613486362.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T14:39:24.433Z,1613486364.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:25.212Z,1613486365.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:25.649Z,1613486365.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:26.440Z,1613486366.440 [Micromodem](INFO): Nmea in: $SNTTA,0.010300,,,,143926.63*4C

2021-02-16T14:39:26.492Z,1613486366.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.479998 m, bearing: 204.835584 deg, deltaT: 4.446781 s, approachRate: 0.472251 m/s, LOS rate: -3.492550 deg/s, posRepo size: 4
2021-02-16T14:39:28.914Z,1613486368.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:29.676Z,1613486369.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:30.063Z,1613486370.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:30.896Z,1613486370.896 [Micromodem](INFO): Nmea in: $SNTTA,0.011408,,,,143931.09*48

2021-02-16T14:39:30.955Z,1613486370.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 268.811794 deg, deltaT: 4.426614 s, approachRate: 0.352414 m/s, LOS rate: 14.452629 deg/s, posRepo size: 4
2021-02-16T14:39:33.313Z,1613486373.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:34.100Z,1613486374.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:34.511Z,1613486374.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:35.337Z,1613486375.337 [Micromodem](INFO): Nmea in: $SNTTA,0.012062,,0.014907,,143935.51*5F

2021-02-16T14:39:35.352Z,1613486375.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.000000 m, bearing: 203.069597 deg, deltaT: 4.498020 s, approachRate: 0.213427 m/s, LOS rate: -14.615807 deg/s, posRepo size: 4
2021-02-16T14:39:37.817Z,1613486377.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:38.544Z,1613486378.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:38.965Z,1613486378.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:39.783Z,1613486379.783 [Micromodem](INFO): Nmea in: $SNTTA,0.012289,,,,143939.96*4A

2021-02-16T14:39:39.871Z,1613486379.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 286.136924 deg, deltaT: 4.379852 s, approachRate: 0.095894 m/s, LOS rate: 18.965784 deg/s, posRepo size: 4
2021-02-16T14:39:42.215Z,1613486382.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:42.993Z,1613486382.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:43.393Z,1613486383.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:44.220Z,1613486384.220 [Micromodem](INFO): Nmea in: $SNTTA,0.012786,,,,143944.41*40

2021-02-16T14:39:44.266Z,1613486384.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.260002 m, bearing: 293.926099 deg, deltaT: 4.492762 s, approachRate: 0.186968 m/s, LOS rate: 1.733716 deg/s, posRepo size: 4
2021-02-16T14:39:46.682Z,1613486386.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:47.432Z,1613486387.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:47.843Z,1613486387.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:48.667Z,1613486388.667 [Micromodem](INFO): Nmea in: $SNTTA,0.013475,,,,143948.84*4B

2021-02-16T14:39:48.693Z,1613486388.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.219997 m, bearing: 286.176511 deg, deltaT: 4.430055 s, approachRate: 0.216701 m/s, LOS rate: -1.749321 deg/s, posRepo size: 4
2021-02-16T14:39:51.098Z,1613486391.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:51.482Z,1613486391.482 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:39:51.881Z,1613486391.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:52.286Z,1613486392.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:53.120Z,1613486393.120 [Micromodem](INFO): Nmea in: $SNTTA,0.014687,,,,143953.30*46

2021-02-16T14:39:53.149Z,1613486393.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 236.504671 deg, deltaT: 4.426590 s, approachRate: 0.420188 m/s, LOS rate: -11.221243 deg/s, posRepo size: 4
2021-02-16T14:39:55.537Z,1613486395.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:39:56.330Z,1613486396.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:39:56.758Z,1613486396.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:39:57.556Z,1613486397.556 [Micromodem](INFO): Nmea in: $SNTTA,0.015838,,,,143957.74*49

2021-02-16T14:39:57.606Z,1613486397.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.779999 m, bearing: 208.264967 deg, deltaT: 4.457187 s, approachRate: 0.605763 m/s, LOS rate: -6.335768 deg/s, posRepo size: 4
2021-02-16T14:40:00.004Z,1613486400.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:00.780Z,1613486400.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:01.189Z,1613486401.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:01.996Z,1613486401.996 [Micromodem](INFO): Nmea in: $SNTTA,0.017199,,,,144002.19*4C

2021-02-16T14:40:02.850Z,1613486402.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:04.398Z,1613486404.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:40:05.667Z,1613486405.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:06.420Z,1613486406.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:06.834Z,1613486406.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:07.710Z,1613486407.710 [Micromodem](INFO): Nmea in: $SNTTA,0.019621,,,,144007.83*40

2021-02-16T14:40:08.460Z,1613486408.460 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:10.054Z,1613486410.054 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:40:11.307Z,1613486411.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:12.085Z,1613486412.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:12.105Z,1613486412.105 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:40:12.481Z,1613486412.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:13.312Z,1613486413.312 [Micromodem](INFO): Nmea in: $SNTTA,0.021730,,,,144013.50*41

2021-02-16T14:40:13.334Z,1613486413.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 258.721992 deg, deltaT: 15.746243 s, approachRate: 0.499167 m/s, LOS rate: 3.204385 deg/s, posRepo size: 4
2021-02-16T14:40:15.753Z,1613486415.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:16.538Z,1613486416.538 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:16.932Z,1613486416.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:16.971Z,1613486416.971 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:40:17.760Z,1613486417.760 [Micromodem](INFO): Nmea in: $SNTTA,0.025218,,,,144017.95*47

2021-02-16T14:40:17.849Z,1613486417.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 248.339312 deg, deltaT: 4.430901 s, approachRate: 0.460403 m/s, LOS rate: -2.343243 deg/s, posRepo size: 4
2021-02-16T14:40:20.177Z,1613486420.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:20.981Z,1613486420.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:21.370Z,1613486421.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:22.204Z,1613486422.204 [Micromodem](INFO): Nmea in: $SNTTA,0.024613,,,,144022.40*47

2021-02-16T14:40:22.226Z,1613486422.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 230.673875 deg, deltaT: 4.511818 s, approachRate: 0.545235 m/s, LOS rate: -3.915370 deg/s, posRepo size: 4
2021-02-16T14:40:24.662Z,1613486424.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:25.413Z,1613486425.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:25.836Z,1613486425.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:26.659Z,1613486426.659 [Micromodem](INFO): Nmea in: $SNTTA,0.026661,,,,144026.83*4B

2021-02-16T14:40:26.689Z,1613486426.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.200001 m, bearing: 224.205563 deg, deltaT: 4.411286 s, approachRate: 0.693676 m/s, LOS rate: -1.466310 deg/s, posRepo size: 4
2021-02-16T14:40:29.109Z,1613486429.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:29.873Z,1613486429.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:30.270Z,1613486430.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:31.104Z,1613486431.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144031.29*56

2021-02-16T14:40:31.183Z,1613486431.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.660000 m, bearing: 226.807100 deg, deltaT: 4.431570 s, approachRate: 0.555108 m/s, LOS rate: 0.587046 deg/s, posRepo size: 4
2021-02-16T14:40:31.902Z,1613486431.902 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:40:33.512Z,1613486433.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:34.304Z,1613486434.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:34.703Z,1613486434.703 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:35.531Z,1613486435.531 [Micromodem](INFO): Nmea in: $SNTTA,0.030079,,,,144035.72*4F

2021-02-16T14:40:35.553Z,1613486435.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.299999 m, bearing: 217.412257 deg, deltaT: 4.442398 s, approachRate: 0.594274 m/s, LOS rate: -2.114814 deg/s, posRepo size: 4
2021-02-16T14:40:37.207Z,1613486437.207 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-02-16T14:40:37.207Z,1613486437.207 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-02-16T14:40:37.207Z,1613486437.207 [RDI_PathfinderUp](ERROR): Communications Fault
2021-02-16T14:40:37.335Z,1613486437.335 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-02-16T14:40:37.620Z,1613486437.620 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T14:40:37.958Z,1613486437.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:38.515Z,1613486438.515 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-02-16T14:40:38.515Z,1613486438.515 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-02-16T14:40:38.745Z,1613486438.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:39.153Z,1613486439.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:39.972Z,1613486439.972 [Micromodem](INFO): Nmea in: $SNTTA,0.032261,0.053605,,,144040.16*5D

2021-02-16T14:40:40.018Z,1613486440.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.179996 m, bearing: 278.298407 deg, deltaT: 4.441966 s, approachRate: 0.648361 m/s, LOS rate: 13.707028 deg/s, posRepo size: 4
2021-02-16T14:40:42.396Z,1613486442.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:43.184Z,1613486443.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:43.593Z,1613486443.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:44.412Z,1613486444.412 [Micromodem](INFO): Nmea in: $SNTTA,0.033893,,,,144044.60*45

2021-02-16T14:40:44.474Z,1613486444.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 280.441092 deg, deltaT: 4.432707 s, approachRate: 0.554965 m/s, LOS rate: 0.483381 deg/s, posRepo size: 4
2021-02-16T14:40:46.861Z,1613486446.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:47.650Z,1613486447.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:48.039Z,1613486448.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:48.872Z,1613486448.872 [Micromodem](INFO): Nmea in: $SNTTA,0.050540,,,,144049.06*4E

2021-02-16T14:40:48.910Z,1613486448.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.399998 m, bearing: 281.207576 deg, deltaT: 4.428164 s, approachRate: 0.623284 m/s, LOS rate: 0.173093 deg/s, posRepo size: 4
2021-02-16T14:40:51.312Z,1613486451.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:52.089Z,1613486452.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:52.478Z,1613486452.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:53.308Z,1613486453.308 [Micromodem](INFO): Nmea in: $SNTTA,0.072137,,,,144053.50*42

2021-02-16T14:40:53.345Z,1613486453.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.219994 m, bearing: 282.322345 deg, deltaT: 4.483993 s, approachRate: 0.628903 m/s, LOS rate: 0.248611 deg/s, posRepo size: 4
2021-02-16T14:40:55.744Z,1613486455.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:40:56.516Z,1613486456.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:40:56.943Z,1613486456.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:40:57.760Z,1613486457.760 [Micromodem](INFO): Nmea in: $SNTTA,0.054973,,,,144057.93*45

2021-02-16T14:40:57.826Z,1613486457.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.920006 m, bearing: 287.116373 deg, deltaT: 4.418731 s, approachRate: 0.611038 m/s, LOS rate: 1.084933 deg/s, posRepo size: 4
2021-02-16T14:41:00.177Z,1613486460.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:00.975Z,1613486460.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:01.372Z,1613486461.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:02.200Z,1613486462.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144102.39*56

2021-02-16T14:41:02.252Z,1613486462.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.439999 m, bearing: 284.166196 deg, deltaT: 4.496321 s, approachRate: 0.560457 m/s, LOS rate: -0.656131 deg/s, posRepo size: 4
2021-02-16T14:41:04.696Z,1613486464.696 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:05.429Z,1613486465.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:05.814Z,1613486465.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:06.683Z,1613486466.683 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144106.84*54

2021-02-16T14:41:06.733Z,1613486466.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.080009 m, bearing: 286.258692 deg, deltaT: 4.407890 s, approachRate: 0.598928 m/s, LOS rate: 0.474716 deg/s, posRepo size: 4
2021-02-16T14:41:09.054Z,1613486469.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:09.858Z,1613486469.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:10.260Z,1613486470.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:11.084Z,1613486471.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,0.051928,144111.27*42

2021-02-16T14:41:11.119Z,1613486471.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.199997 m, bearing: 285.081004 deg, deltaT: 4.468809 s, approachRate: 0.698170 m/s, LOS rate: -0.263535 deg/s, posRepo size: 4
2021-02-16T14:41:13.513Z,1613486473.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:14.301Z,1613486474.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:14.708Z,1613486474.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:15.524Z,1613486475.524 [Micromodem](INFO): Nmea in: $SNTTA,0.046649,,,,144115.71*4B

2021-02-16T14:41:15.558Z,1613486475.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.780006 m, bearing: 283.170409 deg, deltaT: 4.408661 s, approachRate: 0.585214 m/s, LOS rate: -0.433373 deg/s, posRepo size: 4
2021-02-16T14:41:17.985Z,1613486477.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:18.736Z,1613486478.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:19.143Z,1613486479.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:19.979Z,1613486479.979 [Micromodem](INFO): Nmea in: $SNTTA,0.048887,,,,144120.15*4D

2021-02-16T14:41:20.014Z,1613486480.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 282.091867 deg, deltaT: 4.443511 s, approachRate: 0.783164 m/s, LOS rate: -0.242723 deg/s, posRepo size: 4
2021-02-16T14:41:22.388Z,1613486482.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:23.180Z,1613486483.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:23.589Z,1613486483.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:24.408Z,1613486484.408 [Micromodem](INFO): Nmea in: $SNTTA,0.050588,,,,144124.59*4A

2021-02-16T14:41:24.458Z,1613486484.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.840004 m, bearing: 290.982642 deg, deltaT: 4.473105 s, approachRate: 0.576781 m/s, LOS rate: 1.987607 deg/s, posRepo size: 4
2021-02-16T14:41:26.893Z,1613486486.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:27.681Z,1613486487.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:28.030Z,1613486488.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:28.862Z,1613486488.862 [Micromodem](INFO): Nmea in: $SNTTA,0.052385,,,,144129.09*4B

2021-02-16T14:41:28.918Z,1613486488.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.779999 m, bearing: 290.980812 deg, deltaT: 4.400440 s, approachRate: 0.668114 m/s, LOS rate: -0.000416 deg/s, posRepo size: 4
2021-02-16T14:41:31.285Z,1613486491.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:32.079Z,1613486492.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:32.473Z,1613486492.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:33.304Z,1613486493.304 [Micromodem](INFO): Nmea in: $SNTTA,0.054341,,,,144133.49*4A

2021-02-16T14:41:33.357Z,1613486493.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.780006 m, bearing: 286.617769 deg, deltaT: 4.482595 s, approachRate: 0.669257 m/s, LOS rate: -0.973330 deg/s, posRepo size: 4
2021-02-16T14:41:35.756Z,1613486495.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:36.512Z,1613486496.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:36.921Z,1613486496.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:37.746Z,1613486497.746 [Micromodem](INFO): Nmea in: $SNTTA,0.056201,,,,144137.93*4E

2021-02-16T14:41:37.804Z,1613486497.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.180000 m, bearing: 282.863515 deg, deltaT: 4.409166 s, approachRate: 0.544319 m/s, LOS rate: -0.851466 deg/s, posRepo size: 4
2021-02-16T14:41:40.168Z,1613486500.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:40.973Z,1613486500.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:41.365Z,1613486501.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:42.212Z,1613486502.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144142.39*52

2021-02-16T14:41:42.244Z,1613486502.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.059998 m, bearing: 275.347028 deg, deltaT: 4.524882 s, approachRate: 0.636480 m/s, LOS rate: -1.661145 deg/s, posRepo size: 4
2021-02-16T14:41:44.682Z,1613486504.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:45.413Z,1613486505.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:45.811Z,1613486505.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:46.679Z,1613486506.679 [Micromodem](INFO): Nmea in: $SNTTA,0.059781,,,,144146.83*4B

2021-02-16T14:41:46.739Z,1613486506.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.580002 m, bearing: 273.220954 deg, deltaT: 4.360303 s, approachRate: 0.577942 m/s, LOS rate: -0.487598 deg/s, posRepo size: 4
2021-02-16T14:41:48.732Z,1613486508.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:49.455Z,1613486509.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:49.851Z,1613486509.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:50.702Z,1613486510.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144150.87*54

2021-02-16T14:41:50.736Z,1613486510.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.860001 m, bearing: 275.592177 deg, deltaT: 4.061164 s, approachRate: 0.561415 m/s, LOS rate: 0.583878 deg/s, posRepo size: 4
2021-02-16T14:41:53.090Z,1613486513.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:53.906Z,1613486513.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:54.297Z,1613486514.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:55.127Z,1613486515.127 [Micromodem](INFO): Nmea in: $SNTTA,0.063210,,,,144155.32*47

2021-02-16T14:41:55.146Z,1613486515.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.680000 m, bearing: 273.860478 deg, deltaT: 4.456807 s, approachRate: 0.632740 m/s, LOS rate: -0.388551 deg/s, posRepo size: 4
2021-02-16T14:41:57.552Z,1613486517.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:41:57.943Z,1613486517.943 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T14:41:58.334Z,1613486518.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:41:58.739Z,1613486518.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:41:59.660Z,1613486519.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144159.75*50

2021-02-16T14:41:59.756Z,1613486519.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.440002 m, bearing: 275.526771 deg, deltaT: 4.433537 s, approachRate: 0.622528 m/s, LOS rate: 0.375838 deg/s, posRepo size: 4
2021-02-16T14:42:02.028Z,1613486522.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:02.771Z,1613486522.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:03.178Z,1613486523.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:04.016Z,1613486524.016 [Micromodem](INFO): Nmea in: $SNTTA,0.066662,,,,144204.18*4C

2021-02-16T14:42:04.081Z,1613486524.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.199997 m, bearing: 273.213878 deg, deltaT: 4.439759 s, approachRate: 0.621654 m/s, LOS rate: -0.520950 deg/s, posRepo size: 4
2021-02-16T14:42:06.423Z,1613486526.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:07.216Z,1613486527.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:07.691Z,1613486527.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:08.444Z,1613486528.444 [Micromodem](INFO): Nmea in: $SNTTA,0.068597,,,,144208.63*4B

2021-02-16T14:42:08.493Z,1613486528.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.079994 m, bearing: 272.862588 deg, deltaT: 4.434807 s, approachRate: 0.649408 m/s, LOS rate: -0.079212 deg/s, posRepo size: 4
2021-02-16T14:42:10.899Z,1613486530.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:11.693Z,1613486531.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:12.066Z,1613486532.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:12.913Z,1613486532.913 [Micromodem](INFO): Nmea in: $SNTTA,0.070694,,,,144213.11*4D

2021-02-16T14:42:12.983Z,1613486532.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 277.327592 deg, deltaT: 4.461372 s, approachRate: 0.712787 m/s, LOS rate: 1.000814 deg/s, posRepo size: 4
2021-02-16T14:42:15.326Z,1613486535.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:16.110Z,1613486536.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:16.526Z,1613486536.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:17.340Z,1613486537.340 [Micromodem](INFO): Nmea in: $SNTTA,0.072423,,,,144217.52*42

2021-02-16T14:42:17.374Z,1613486537.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 277.724262 deg, deltaT: 4.450429 s, approachRate: 0.579720 m/s, LOS rate: 0.089131 deg/s, posRepo size: 4
2021-02-16T14:42:19.789Z,1613486539.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:20.561Z,1613486540.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:20.960Z,1613486540.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:21.788Z,1613486541.788 [Micromodem](INFO): Nmea in: $SNTTA,0.074388,,0.088012,,144221.97*53

2021-02-16T14:42:21.822Z,1613486541.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 281.395543 deg, deltaT: 4.428169 s, approachRate: 0.650383 m/s, LOS rate: 0.829074 deg/s, posRepo size: 4
2021-02-16T14:42:24.206Z,1613486544.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:24.998Z,1613486544.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:25.403Z,1613486545.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:26.227Z,1613486546.227 [Micromodem](INFO): Nmea in: $SNTTA,0.076346,,,,144226.41*42

2021-02-16T14:42:26.254Z,1613486546.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.659996 m, bearing: 280.478330 deg, deltaT: 4.451529 s, approachRate: 0.660444 m/s, LOS rate: -0.206044 deg/s, posRepo size: 4
2021-02-16T14:42:28.732Z,1613486548.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:29.455Z,1613486549.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:29.841Z,1613486549.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:30.688Z,1613486550.688 [Micromodem](INFO): Nmea in: $SNTTA,0.078441,,,,144230.87*41

2021-02-16T14:42:30.742Z,1613486550.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 256.948247 deg, deltaT: 4.427227 s, approachRate: 0.799598 m/s, LOS rate: -5.314858 deg/s, posRepo size: 4
2021-02-16T14:42:33.129Z,1613486553.129 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:33.897Z,1613486553.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:34.301Z,1613486554.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:35.120Z,1613486555.120 [Micromodem](INFO): Nmea in: $SNTTA,0.080139,,,,144235.31*44

2021-02-16T14:42:35.180Z,1613486555.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.659996 m, bearing: 256.570210 deg, deltaT: 4.500304 s, approachRate: 0.546630 m/s, LOS rate: -0.084003 deg/s, posRepo size: 4
2021-02-16T14:42:37.542Z,1613486557.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:38.325Z,1613486558.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:38.735Z,1613486558.735 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:39.552Z,1613486559.552 [Micromodem](INFO): Nmea in: $SNTTA,0.082285,,,,144239.74*4F

2021-02-16T14:42:39.598Z,1613486559.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.540001 m, bearing: 281.482314 deg, deltaT: 4.388714 s, approachRate: 0.656230 m/s, LOS rate: 5.676402 deg/s, posRepo size: 4
2021-02-16T14:42:42.004Z,1613486562.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:42.773Z,1613486562.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:43.174Z,1613486563.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:44.022Z,1613486564.022 [Micromodem](INFO): Nmea in: $SNTTA,0.083979,,,,144244.19*47

2021-02-16T14:42:44.058Z,1613486564.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.060005 m, bearing: 284.531829 deg, deltaT: 4.433002 s, approachRate: 0.568465 m/s, LOS rate: 0.687912 deg/s, posRepo size: 4
2021-02-16T14:42:46.437Z,1613486566.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:47.229Z,1613486567.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:47.694Z,1613486567.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:48.457Z,1613486568.457 [Micromodem](INFO): Nmea in: $SNTTA,0.085862,,,,144248.64*4C

2021-02-16T14:42:49.256Z,1613486569.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:50.852Z,1613486570.852 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:42:52.114Z,1613486572.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:52.882Z,1613486572.882 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:53.288Z,1613486573.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:54.112Z,1613486574.112 [Micromodem](INFO): Nmea in: $SNTTA,0.088308,,,,144254.29*42

2021-02-16T14:42:54.134Z,1613486574.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.599991 m, bearing: 275.206026 deg, deltaT: 10.176617 s, approachRate: 0.642648 m/s, LOS rate: -0.916395 deg/s, posRepo size: 4
2021-02-16T14:42:56.530Z,1613486576.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:42:57.325Z,1613486577.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:42:57.737Z,1613486577.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:42:58.556Z,1613486578.556 [Micromodem](INFO): Nmea in: $SNTTA,0.090152,,,,144258.74*42

2021-02-16T14:42:58.592Z,1613486578.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.300003 m, bearing: 277.282021 deg, deltaT: 4.391910 s, approachRate: 0.614769 m/s, LOS rate: 0.472686 deg/s, posRepo size: 4
2021-02-16T14:43:01.008Z,1613486581.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:01.773Z,1613486581.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:02.179Z,1613486582.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:03.007Z,1613486583.007 [Micromodem](INFO): Nmea in: $SNTTA,0.091953,,,,144303.19*4E

2021-02-16T14:43:03.041Z,1613486583.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.059998 m, bearing: 272.483485 deg, deltaT: 4.510652 s, approachRate: 0.611884 m/s, LOS rate: -1.063823 deg/s, posRepo size: 4
2021-02-16T14:43:05.424Z,1613486585.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:06.212Z,1613486586.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:06.651Z,1613486586.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:07.456Z,1613486587.456 [Micromodem](INFO): Nmea in: $SNTTA,0.093652,,,,144307.62*4A

2021-02-16T14:43:07.499Z,1613486587.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.639999 m, bearing: 264.562432 deg, deltaT: 4.377296 s, approachRate: 0.589405 m/s, LOS rate: -1.809577 deg/s, posRepo size: 4
2021-02-16T14:43:09.902Z,1613486589.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:10.688Z,1613486590.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:11.063Z,1613486591.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:11.907Z,1613486591.907 [Micromodem](INFO): Nmea in: $SNTTA,0.095661,,,,144312.10*4D

2021-02-16T14:43:11.964Z,1613486591.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 261.551385 deg, deltaT: 4.437769 s, approachRate: 0.676015 m/s, LOS rate: -0.678505 deg/s, posRepo size: 4
2021-02-16T14:43:14.306Z,1613486594.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:15.096Z,1613486595.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:15.507Z,1613486595.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:16.324Z,1613486596.324 [Micromodem](INFO): Nmea in: $SNTTA,0.097452,,,,144316.51*4C

2021-02-16T14:43:16.372Z,1613486596.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 262.625965 deg, deltaT: 4.477992 s, approachRate: 0.589550 m/s, LOS rate: 0.239969 deg/s, posRepo size: 4
2021-02-16T14:43:18.782Z,1613486598.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:19.540Z,1613486599.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:19.961Z,1613486599.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:20.774Z,1613486600.774 [Micromodem](INFO): Nmea in: $SNTTA,0.099294,,,,144320.95*43

2021-02-16T14:43:21.582Z,1613486601.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:23.180Z,1613486603.180 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:43:24.405Z,1613486604.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:25.196Z,1613486605.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:25.621Z,1613486605.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:26.424Z,1613486606.424 [Micromodem](INFO): Nmea in: $SNTTA,0.101592,,,,144326.61*4F

2021-02-16T14:43:26.461Z,1613486606.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.580002 m, bearing: 260.113848 deg, deltaT: 10.077653 s, approachRate: 0.625146 m/s, LOS rate: -0.249276 deg/s, posRepo size: 4
2021-02-16T14:43:26.462Z,1613486606.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.58 m. Resuming terminal guidance.
2021-02-16T14:43:26.462Z,1613486606.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:43:28.894Z,1613486608.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:29.680Z,1613486609.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:30.051Z,1613486610.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:30.869Z,1613486610.869 [Micromodem](INFO): Nmea in: $SNTTA,0.103268,,,,144331.09*47

2021-02-16T14:43:31.732Z,1613486611.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:33.281Z,1613486613.281 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:43:34.508Z,1613486614.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:35.301Z,1613486615.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:35.708Z,1613486615.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:36.528Z,1613486616.528 [Micromodem](INFO): Nmea in: $SNTTA,0.105664,,,,144336.71*41

2021-02-16T14:43:36.550Z,1613486616.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.639999 m, bearing: 287.795048 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:43:36.550Z,1613486616.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 287.795048deg and heading rate command to 0 deg/s.
2021-02-16T14:43:39.004Z,1613486619.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:39.740Z,1613486619.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:40.147Z,1613486620.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:40.980Z,1613486620.980 [Micromodem](INFO): Nmea in: $SNTTA,0.107652,,,,144341.15*44

2021-02-16T14:43:41.043Z,1613486621.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.640015 m, bearing: 293.798675 deg, deltaT: 4.447780 s, approachRate: 0.674497 m/s, LOS rate: 1.349803 deg/s, posRepo size: 2
2021-02-16T14:43:41.045Z,1613486621.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.640015 m,
      bearing: 293.798675 deg,
      approachRate: 0.674497 m/s,
      LOS rate: 1.349803 deg/s,
      cmd update: 4.049409 deg/s,
      cmd heading: 287.795048 deg,
      new cmd heading: 287.795048 deg.

2021-02-16T14:43:43.396Z,1613486623.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:44.189Z,1613486624.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:44.596Z,1613486624.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:45.428Z,1613486625.428 [Micromodem](INFO): Nmea in: $SNTTA,0.109287,,,,144345.60*40

2021-02-16T14:43:45.458Z,1613486625.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 250.665347 deg, deltaT: 4.492947 s, approachRate: 0.641002 m/s, LOS rate: -9.600230 deg/s, posRepo size: 3
2021-02-16T14:43:45.460Z,1613486625.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 250.665347 deg,
      approachRate: 0.641002 m/s,
      LOS rate: -9.600230 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 305.977227 deg,
      new cmd heading: 307.568964 deg.

2021-02-16T14:43:47.869Z,1613486627.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:48.652Z,1613486628.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:49.036Z,1613486629.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:49.868Z,1613486629.868 [Micromodem](INFO): Nmea in: $SNTTA,0.110641,,,,144350.06*42

2021-02-16T14:43:49.932Z,1613486629.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.520004 m, bearing: 293.026945 deg, deltaT: 4.407392 s, approachRate: 0.000000 m/s, LOS rate: 9.611488 deg/s, posRepo size: 4
2021-02-16T14:43:49.934Z,1613486629.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.520004 m,
      bearing: 293.026945 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.611488 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 253.057333 deg,
      new cmd heading: 247.813933 deg.

2021-02-16T14:43:51.999Z,1613486631.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:52.730Z,1613486632.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:53.075Z,1613486633.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:53.904Z,1613486633.904 [Micromodem](INFO): Nmea in: $SNTTA,0.111573,,,,144354.14*46

2021-02-16T14:43:54.315Z,1613486634.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 289.449046 deg, deltaT: 4.509099 s, approachRate: 0.638710 m/s, LOS rate: -0.793484 deg/s, posRepo size: 4
2021-02-16T14:43:54.317Z,1613486634.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 289.449046 deg,
      approachRate: 0.638710 m/s,
      LOS rate: -0.793484 deg/s,
      cmd update: -2.380453 deg/s,
      cmd heading: 307.138346 deg,
      new cmd heading: 311.131419 deg.

2021-02-16T14:43:56.745Z,1613486636.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:43:57.522Z,1613486637.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:43:57.927Z,1613486637.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:43:58.764Z,1613486638.764 [Micromodem](INFO): Nmea in: $SNTTA,0.112975,,,,144358.93*4C

2021-02-16T14:43:58.822Z,1613486638.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.400009 m, bearing: 291.409693 deg, deltaT: 4.365588 s, approachRate: 0.000000 m/s, LOS rate: 0.449114 deg/s, posRepo size: 4
2021-02-16T14:43:58.824Z,1613486638.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 291.409693 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.449114 deg/s,
      cmd update: 1.347342 deg/s,
      cmd heading: 296.740774 deg,
      new cmd heading: 295.615912 deg.

2021-02-16T14:44:01.168Z,1613486641.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:01.988Z,1613486641.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:02.366Z,1613486642.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:03.198Z,1613486643.198 [Micromodem](INFO): Nmea in: $SNTTA,0.113495,,,,144403.40*49

2021-02-16T14:44:03.674Z,1613486643.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 356.347826 deg, deltaT: 4.861752 s, approachRate: 0.592377 m/s, LOS rate: 13.356940 deg/s, posRepo size: 4
2021-02-16T14:44:03.681Z,1613486643.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.356940 deg/s. Setting heading cmd to target bearing of 356.347826deg and heading rate command to 0 deg/s.
2021-02-16T14:44:06.068Z,1613486646.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:06.814Z,1613486646.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:07.220Z,1613486647.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:08.043Z,1613486648.043 [Micromodem](INFO): Nmea in: $SNTTA,0.114012,,,,144408.23*4B

2021-02-16T14:44:08.062Z,1613486648.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 359.399199 deg, deltaT: 4.523242 s, approachRate: 0.172442 m/s, LOS rate: 0.674599 deg/s, posRepo size: 4
2021-02-16T14:44:08.064Z,1613486648.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 359.399199 deg,
      approachRate: 0.172442 m/s,
      LOS rate: 0.674599 deg/s,
      cmd update: 2.023796 deg/s,
      cmd heading: 356.347826 deg,
      new cmd heading: 356.347826 deg.

2021-02-16T14:44:10.477Z,1613486650.477 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:11.258Z,1613486651.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:11.689Z,1613486651.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:12.484Z,1613486652.484 [Micromodem](INFO): Nmea in: $SNTTA,0.113923,,,,144412.67*4C

2021-02-16T14:44:12.521Z,1613486652.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 292.783736 deg, deltaT: 4.375921 s, approachRate: 0.000000 m/s, LOS rate: -15.223187 deg/s, posRepo size: 4
2021-02-16T14:44:12.522Z,1613486652.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.223187 deg/s. Setting heading cmd to target bearing of 292.783736deg and heading rate command to 0 deg/s.
2021-02-16T14:44:14.937Z,1613486654.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:15.705Z,1613486655.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:16.104Z,1613486656.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:16.937Z,1613486656.937 [Micromodem](INFO): Nmea in: $SNTTA,0.113574,,,,144417.12*45

2021-02-16T14:44:17.043Z,1613486657.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 315.168533 deg, deltaT: 4.434628 s, approachRate: -0.175888 m/s, LOS rate: 5.047728 deg/s, posRepo size: 4
2021-02-16T14:44:17.045Z,1613486657.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 315.168533 deg,
      approachRate: -0.175888 m/s,
      LOS rate: 5.047728 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.783736 deg,
      new cmd heading: 292.783736 deg.

2021-02-16T14:44:19.354Z,1613486659.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:20.147Z,1613486660.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:20.546Z,1613486660.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:21.380Z,1613486661.380 [Micromodem](INFO): Nmea in: $SNTTA,0.112906,,,,144421.56*48

2021-02-16T14:44:21.402Z,1613486661.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 318.847273 deg, deltaT: 4.468098 s, approachRate: 0.000000 m/s, LOS rate: 0.823335 deg/s, posRepo size: 4
2021-02-16T14:44:21.404Z,1613486661.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 318.847273 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.823335 deg/s,
      cmd update: 2.470004 deg/s,
      cmd heading: 346.167105 deg,
      new cmd heading: 351.056710 deg.

2021-02-16T14:44:23.825Z,1613486663.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:24.585Z,1613486664.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:25.009Z,1613486665.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:25.816Z,1613486665.816 [Micromodem](INFO): Nmea in: $SNTTA,0.112619,,,,144426.00*4D

2021-02-16T14:44:25.878Z,1613486665.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 27.937362 deg, deltaT: 4.434546 s, approachRate: 0.000000 m/s, LOS rate: 15.579969 deg/s, posRepo size: 4
2021-02-16T14:44:25.879Z,1613486665.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.579969 deg/s. Setting heading cmd to target bearing of 27.937362deg and heading rate command to 0 deg/s.
2021-02-16T14:44:28.256Z,1613486668.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:28.711Z,1613486668.711 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T14:44:28.711Z,1613486668.711 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T14:44:28.711Z,1613486668.711 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T14:44:28.839Z,1613486668.839 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T14:44:29.041Z,1613486669.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:29.112Z,1613486669.112 [RDI_Pathfinder](INFO): Powering down
2021-02-16T14:44:29.448Z,1613486669.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:30.019Z,1613486670.019 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T14:44:30.019Z,1613486670.019 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T14:44:30.269Z,1613486670.269 [Micromodem](INFO): Nmea in: $SNTTA,0.112687,,,,144430.46*4F

2021-02-16T14:44:30.302Z,1613486670.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 313.804408 deg, deltaT: 4.449409 s, approachRate: 0.000000 m/s, LOS rate: -16.661302 deg/s, posRepo size: 4
2021-02-16T14:44:30.303Z,1613486670.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.661302 deg/s. Setting heading cmd to target bearing of 313.804408deg and heading rate command to 0 deg/s.
2021-02-16T14:44:32.711Z,1613486672.711 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:33.472Z,1613486673.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:33.883Z,1613486673.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:34.712Z,1613486674.712 [Micromodem](INFO): Nmea in: $SNTTA,0.112053,,,,144434.88*46

2021-02-16T14:44:34.736Z,1613486674.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 60.733024 deg, deltaT: 4.427518 s, approachRate: -0.433655 m/s, LOS rate: 24.150917 deg/s, posRepo size: 4
2021-02-16T14:44:34.737Z,1613486674.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.150917 deg/s. Setting heading cmd to target bearing of 60.733024deg and heading rate command to 0 deg/s.
2021-02-16T14:44:37.140Z,1613486677.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:37.921Z,1613486677.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:38.324Z,1613486678.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:39.148Z,1613486679.148 [Micromodem](INFO): Nmea in: $SNTTA,0.110812,,,,144439.34*43

2021-02-16T14:44:39.170Z,1613486679.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 38.414377 deg, deltaT: 4.436788 s, approachRate: 0.000000 m/s, LOS rate: -5.030361 deg/s, posRepo size: 4
2021-02-16T14:44:39.173Z,1613486679.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.359985 m,
      bearing: 38.414377 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.030361 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.733024 deg,
      new cmd heading: 60.733024 deg.

2021-02-16T14:44:41.572Z,1613486681.572 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:42.371Z,1613486682.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:42.766Z,1613486682.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:43.596Z,1613486683.596 [Micromodem](INFO): Nmea in: $SNTTA,0.109899,,,,144443.78*4D

2021-02-16T14:44:43.655Z,1613486683.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.359985 m, bearing: 325.591211 deg, deltaT: 4.431120 s, approachRate: 0.000000 m/s, LOS rate: -16.434484 deg/s, posRepo size: 4
2021-02-16T14:44:43.657Z,1613486683.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.434484 deg/s. Setting heading cmd to target bearing of 325.591211deg and heading rate command to 0 deg/s.
2021-02-16T14:44:46.036Z,1613486686.036 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:46.805Z,1613486686.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:47.229Z,1613486687.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:48.036Z,1613486688.036 [Micromodem](INFO): Nmea in: $SNTTA,0.108762,,,,144448.22*43

2021-02-16T14:44:48.061Z,1613486688.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.960007 m, bearing: 66.069451 deg, deltaT: 4.464762 s, approachRate: -1.209466 m/s, LOS rate: 22.504727 deg/s, posRepo size: 4
2021-02-16T14:44:48.061Z,1613486688.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.504727 deg/s. Setting heading cmd to target bearing of 66.069451deg and heading rate command to 0 deg/s.
2021-02-16T14:44:50.467Z,1613486690.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:51.251Z,1613486691.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:51.692Z,1613486691.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:52.484Z,1613486692.484 [Micromodem](INFO): Nmea in: $SNTTA,0.107719,,,,144452.66*4B

2021-02-16T14:44:52.509Z,1613486692.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.520004 m, bearing: 39.391286 deg, deltaT: 4.423907 s, approachRate: -0.325505 m/s, LOS rate: -6.030453 deg/s, posRepo size: 4
2021-02-16T14:44:52.531Z,1613486692.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.520004 m,
      bearing: 39.391286 deg,
      approachRate: -0.325505 m/s,
      LOS rate: -6.030453 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 66.069451 deg,
      new cmd heading: 66.069451 deg.

2021-02-16T14:44:54.695Z,1613486694.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:55.292Z,1613486695.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:44:55.698Z,1613486695.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:44:56.525Z,1613486696.525 [Micromodem](INFO): Nmea in: $SNTTA,0.107172,,0.109928,0.109678,144456.71*48

2021-02-16T14:44:56.565Z,1613486696.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.800003 m, bearing: 315.292324 deg, deltaT: 4.098494 s, approachRate: -0.175675 m/s, LOS rate: -20.519480 deg/s, posRepo size: 4
2021-02-16T14:44:56.566Z,1613486696.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.519480 deg/s. Setting heading cmd to target bearing of 315.292324deg and heading rate command to 0 deg/s.
2021-02-16T14:44:58.964Z,1613486698.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:44:59.733Z,1613486699.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:00.166Z,1613486700.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:00.980Z,1613486700.980 [Micromodem](INFO): Nmea in: $SNTTA,0.106275,,,,144501.15*46

2021-02-16T14:45:01.010Z,1613486701.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.240005 m, bearing: 64.658491 deg, deltaT: 4.402069 s, approachRate: -0.354378 m/s, LOS rate: 24.844262 deg/s, posRepo size: 4
2021-02-16T14:45:01.011Z,1613486701.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.844262 deg/s. Setting heading cmd to target bearing of 64.658491deg and heading rate command to 0 deg/s.
2021-02-16T14:45:03.407Z,1613486703.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:04.184Z,1613486704.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:04.591Z,1613486704.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:05.408Z,1613486705.408 [Micromodem](INFO): Nmea in: $SNTTA,0.105281,,,,144505.60*48

2021-02-16T14:45:05.447Z,1613486705.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.800003 m, bearing: 49.421343 deg, deltaT: 4.455856 s, approachRate: -0.323171 m/s, LOS rate: -3.419578 deg/s, posRepo size: 4
2021-02-16T14:45:05.449Z,1613486705.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.800003 m,
      bearing: 49.421343 deg,
      approachRate: -0.323171 m/s,
      LOS rate: -3.419578 deg/s,
      cmd update: -10.258734 deg/s,
      cmd heading: 64.658491 deg,
      new cmd heading: 64.658491 deg.

2021-02-16T14:45:07.867Z,1613486707.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:08.621Z,1613486708.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:09.026Z,1613486709.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:09.848Z,1613486709.848 [Micromodem](INFO): Nmea in: $SNTTA,0.104418,,,,144510.03*4E

2021-02-16T14:45:09.897Z,1613486709.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.600006 m, bearing: 333.138406 deg, deltaT: 4.448835 s, approachRate: -0.269733 m/s, LOS rate: -17.146720 deg/s, posRepo size: 4
2021-02-16T14:45:09.897Z,1613486709.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.146720 deg/s. Setting heading cmd to target bearing of 333.138406deg and heading rate command to 0 deg/s.
2021-02-16T14:45:12.306Z,1613486712.306 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:13.069Z,1613486713.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:13.472Z,1613486713.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:14.300Z,1613486714.300 [Micromodem](INFO): Nmea in: $SNTTA,0.103410,,,,144514.48*4A

2021-02-16T14:45:14.325Z,1613486714.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 76.378433 deg, deltaT: 4.417155 s, approachRate: -0.366754 m/s, LOS rate: 23.372515 deg/s, posRepo size: 4
2021-02-16T14:45:14.326Z,1613486714.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.372515 deg/s. Setting heading cmd to target bearing of 76.378433deg and heading rate command to 0 deg/s.
2021-02-16T14:45:16.730Z,1613486716.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:17.525Z,1613486717.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:17.935Z,1613486717.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:18.748Z,1613486718.748 [Micromodem](INFO): Nmea in: $SNTTA,0.102131,,,,144518.94*40

2021-02-16T14:45:18.795Z,1613486718.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.180008 m, bearing: 37.506498 deg, deltaT: 4.461669 s, approachRate: -0.403434 m/s, LOS rate: -8.712420 deg/s, posRepo size: 4
2021-02-16T14:45:18.796Z,1613486718.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.180008 m,
      bearing: 37.506498 deg,
      approachRate: -0.403434 m/s,
      LOS rate: -8.712420 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 76.378433 deg,
      new cmd heading: 76.378433 deg.

2021-02-16T14:45:21.195Z,1613486721.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:21.957Z,1613486721.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:22.375Z,1613486722.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:23.208Z,1613486723.208 [Micromodem](INFO): Nmea in: $SNTTA,0.101301,,,,144523.37*43

2021-02-16T14:45:23.268Z,1613486723.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.980011 m, bearing: 328.783614 deg, deltaT: 4.427364 s, approachRate: -0.271041 m/s, LOS rate: -15.522305 deg/s, posRepo size: 4
2021-02-16T14:45:23.269Z,1613486723.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.522305 deg/s. Setting heading cmd to target bearing of 328.783614deg and heading rate command to 0 deg/s.
2021-02-16T14:45:25.605Z,1613486725.605 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:26.401Z,1613486726.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:26.816Z,1613486726.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:27.637Z,1613486727.637 [Micromodem](INFO): Nmea in: $SNTTA,0.100325,,,0.102838,144527.81*53

2021-02-16T14:45:27.708Z,1613486727.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.360001 m, bearing: 70.216756 deg, deltaT: 4.453950 s, approachRate: -0.363724 m/s, LOS rate: 22.773748 deg/s, posRepo size: 4
2021-02-16T14:45:27.708Z,1613486727.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.773748 deg/s. Setting heading cmd to target bearing of 70.216756deg and heading rate command to 0 deg/s.
2021-02-16T14:45:30.057Z,1613486730.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:30.840Z,1613486730.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:31.280Z,1613486731.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:32.084Z,1613486732.084 [Micromodem](INFO): Nmea in: $SNTTA,0.099405,,,,144532.25*43

2021-02-16T14:45:32.154Z,1613486732.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 52.957213 deg, deltaT: 4.478679 s, approachRate: -0.294728 m/s, LOS rate: -3.853713 deg/s, posRepo size: 4
2021-02-16T14:45:32.160Z,1613486732.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.040009 m,
      bearing: 52.957213 deg,
      approachRate: -0.294728 m/s,
      LOS rate: -3.853713 deg/s,
      cmd update: -11.561139 deg/s,
      cmd heading: 70.216756 deg,
      new cmd heading: 70.216756 deg.

2021-02-16T14:45:34.520Z,1613486734.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:35.329Z,1613486735.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:35.704Z,1613486735.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:36.541Z,1613486736.541 [Micromodem](INFO): Nmea in: $SNTTA,0.098507,,0.101795,,144536.74*54

2021-02-16T14:45:36.590Z,1613486736.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 337.926314 deg, deltaT: 4.449552 s, approachRate: -0.215754 m/s, LOS rate: -16.862574 deg/s, posRepo size: 4
2021-02-16T14:45:36.592Z,1613486736.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.862574 deg/s. Setting heading cmd to target bearing of 337.926314deg and heading rate command to 0 deg/s.
2021-02-16T14:45:38.954Z,1613486738.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:39.733Z,1613486739.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:40.161Z,1613486740.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:40.964Z,1613486740.964 [Micromodem](INFO): Nmea in: $SNTTA,0.097715,,,,144541.15*48

2021-02-16T14:45:41.016Z,1613486741.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.399994 m, bearing: 78.002256 deg, deltaT: 4.380138 s, approachRate: -0.383551 m/s, LOS rate: 22.847671 deg/s, posRepo size: 4
2021-02-16T14:45:41.017Z,1613486741.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.847671 deg/s. Setting heading cmd to target bearing of 78.002256deg and heading rate command to 0 deg/s.
2021-02-16T14:45:43.413Z,1613486743.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:44.172Z,1613486744.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:44.583Z,1613486744.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:45.412Z,1613486745.412 [Micromodem](INFO): Nmea in: $SNTTA,0.096682,,,,144545.58*4B

2021-02-16T14:45:45.437Z,1613486745.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 342.216602 deg, deltaT: 4.464828 s, approachRate: -0.322521 m/s, LOS rate: -21.453382 deg/s, posRepo size: 4
2021-02-16T14:45:45.438Z,1613486745.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.453382 deg/s. Setting heading cmd to target bearing of 342.216602deg and heading rate command to 0 deg/s.
2021-02-16T14:45:47.854Z,1613486747.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:48.621Z,1613486748.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:49.021Z,1613486749.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:49.848Z,1613486749.848 [Micromodem](INFO): Nmea in: $SNTTA,0.096139,,,,144550.03*46

2021-02-16T14:45:49.906Z,1613486749.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.179993 m, bearing: 56.999810 deg, deltaT: 4.460700 s, approachRate: -0.174860 m/s, LOS rate: 16.764906 deg/s, posRepo size: 4
2021-02-16T14:45:49.914Z,1613486749.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.764906 deg/s. Setting heading cmd to target bearing of 56.999810deg and heading rate command to 0 deg/s.
2021-02-16T14:45:52.304Z,1613486752.304 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:53.060Z,1613486753.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:53.471Z,1613486753.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:54.296Z,1613486754.296 [Micromodem](INFO): Nmea in: $SNTTA,0.095746,,,,144554.47*4F

2021-02-16T14:45:54.341Z,1613486754.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.639999 m, bearing: 58.456645 deg, deltaT: 4.451409 s, approachRate: -0.121308 m/s, LOS rate: 0.327275 deg/s, posRepo size: 4
2021-02-16T14:45:54.342Z,1613486754.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 58.456645 deg,
      approachRate: -0.121308 m/s,
      LOS rate: 0.327275 deg/s,
      cmd update: 0.981825 deg/s,
      cmd heading: 56.999810 deg,
      new cmd heading: 56.999810 deg.

2021-02-16T14:45:56.743Z,1613486756.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:45:57.525Z,1613486757.525 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:45:57.927Z,1613486757.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:45:58.745Z,1613486758.745 [Micromodem](INFO): Nmea in: $SNTTA,0.095623,,,,144558.94*4F

2021-02-16T14:45:58.786Z,1613486758.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.400009 m, bearing: 317.285373 deg, deltaT: 4.438020 s, approachRate: -0.054076 m/s, LOS rate: -22.796487 deg/s, posRepo size: 4
2021-02-16T14:45:58.787Z,1613486758.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.796487 deg/s. Setting heading cmd to target bearing of 317.285373deg and heading rate command to 0 deg/s.
2021-02-16T14:46:01.232Z,1613486761.232 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:01.957Z,1613486761.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:02.359Z,1613486762.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:03.184Z,1613486763.184 [Micromodem](INFO): Nmea in: $SNTTA,0.095337,,,,144603.37*4B

2021-02-16T14:46:03.209Z,1613486763.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.919998 m, bearing: 68.369900 deg, deltaT: 4.421564 s, approachRate: -0.108561 m/s, LOS rate: 25.123355 deg/s, posRepo size: 4
2021-02-16T14:46:03.210Z,1613486763.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 25.123355 deg/s. Setting heading cmd to target bearing of 68.369900deg and heading rate command to 0 deg/s.
2021-02-16T14:46:05.608Z,1613486765.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:06.403Z,1613486766.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:06.803Z,1613486766.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:07.630Z,1613486767.630 [Micromodem](INFO): Nmea in: $SNTTA,0.094367,,,,144607.81*46

2021-02-16T14:46:07.695Z,1613486767.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.360001 m, bearing: 32.712078 deg, deltaT: 4.482532 s, approachRate: -0.348017 m/s, LOS rate: -7.954840 deg/s, posRepo size: 4
2021-02-16T14:46:07.701Z,1613486767.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.360001 m,
      bearing: 32.712078 deg,
      approachRate: -0.348017 m/s,
      LOS rate: -7.954840 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.369900 deg,
      new cmd heading: 68.369900 deg.

2021-02-16T14:46:10.066Z,1613486770.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:10.836Z,1613486770.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:11.262Z,1613486771.262 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:12.115Z,1613486772.115 [Micromodem](INFO): Nmea in: $SNTTA,0.093316,,,,144612.25*4D

2021-02-16T14:46:12.168Z,1613486772.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 94.418459 deg, deltaT: 4.452776 s, approachRate: -0.363817 m/s, LOS rate: 13.857958 deg/s, posRepo size: 4
2021-02-16T14:46:12.168Z,1613486772.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.857958 deg/s. Setting heading cmd to target bearing of 94.418459deg and heading rate command to 0 deg/s.
2021-02-16T14:46:14.514Z,1613486774.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:15.290Z,1613486775.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:15.708Z,1613486775.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:16.529Z,1613486776.529 [Micromodem](INFO): Nmea in: $SNTTA,0.091614,,,,144616.70*4C

2021-02-16T14:46:16.554Z,1613486776.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.279999 m, bearing: 105.232629 deg, deltaT: 4.437303 s, approachRate: -0.554392 m/s, LOS rate: 2.437104 deg/s, posRepo size: 4
2021-02-16T14:46:16.556Z,1613486776.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.279999 m,
      bearing: 105.232629 deg,
      approachRate: -0.554392 m/s,
      LOS rate: 2.437104 deg/s,
      cmd update: 7.311313 deg/s,
      cmd heading: 94.418459 deg,
      new cmd heading: 94.418459 deg.

2021-02-16T14:46:18.949Z,1613486778.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:19.731Z,1613486779.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:20.160Z,1613486780.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:20.961Z,1613486780.961 [Micromodem](INFO): Nmea in: $SNTTA,0.089935,,,,144621.14*4F

2021-02-16T14:46:21.014Z,1613486781.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.760010 m, bearing: 93.300562 deg, deltaT: 4.383524 s, approachRate: -0.574877 m/s, LOS rate: -2.722026 deg/s, posRepo size: 4
2021-02-16T14:46:21.016Z,1613486781.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.760010 m,
      bearing: 93.300562 deg,
      approachRate: -0.574877 m/s,
      LOS rate: -2.722026 deg/s,
      cmd update: -8.166079 deg/s,
      cmd heading: 126.498343 deg,
      new cmd heading: 129.893168 deg.

2021-02-16T14:46:23.411Z,1613486783.411 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:24.180Z,1613486784.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:24.516Z,1613486784.516 [CTD_Seabird](ERROR): Failed to parse device response: 05,3033.87
2021-02-16T14:46:24.578Z,1613486784.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1,4000,4000,0*6B

2021-02-16T14:46:24.578Z,1613486784.578 [Micromodem](ERROR): Response from modem failed NMEA checksum: $SNPGT,1,14500,40,0,1,4000,4000,0*6B
 expected 6A
2021-02-16T14:46:24.578Z,1613486784.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:24.582Z,1613486784.582 [Micromodem](INFO): Nmea in: $CATXP,400*46

2021-02-16T14:46:24.583Z,1613486784.583 [Micromodem](ERROR): Response from modem unexpected: $CATXP,400*46

2021-02-16T14:46:24.991Z,1613486784.991 [Micromodem](INFO): Nmea in: $CATXF,400*50

2021-02-16T14:46:24.992Z,1613486784.992 [Micromodem](ERROR): Response from modem unexpected: $CATXF,400*50

2021-02-16T14:46:24.994Z,1613486784.994 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,144625.595699,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7D

2021-02-16T14:46:24.994Z,1613486784.994 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,144625.595699,3,0,40,4000,14500,1,0,0,0,2,0,3,0*7D

2021-02-16T14:46:25.408Z,1613486785.408 [Micromodem](INFO): Nmea in: $CAERR,144625,NI  ,29,Busy completing a previous request*7B

2021-02-16T14:46:25.408Z,1613486785.408 [Micromodem](ERROR): Got error from modem: $CAERR,144625,NI  ,29,Busy completing a previous request*7B

2021-02-16T14:46:25.409Z,1613486785.409 [Micromodem](INFO): Nmea in: $SNTTA,0.088291,,,,144625.59*46

2021-02-16T14:46:25.410Z,1613486785.410 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.088291,,,,144625.59*46

2021-02-16T14:46:25.434Z,1613486785.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.240005 m, bearing: 94.837887 deg, deltaT: 4.467382 s, approachRate: -0.564090 m/s, LOS rate: 0.344122 deg/s, posRepo size: 4
2021-02-16T14:46:25.436Z,1613486785.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.240005 m,
      bearing: 94.837887 deg,
      approachRate: -0.564090 m/s,
      LOS rate: 0.344122 deg/s,
      cmd update: 1.032367 deg/s,
      cmd heading: 90.018885 deg,
      new cmd heading: 86.614668 deg.

2021-02-16T14:46:27.836Z,1613486787.836 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:30.651Z,1613486790.651 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:33.504Z,1613486793.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:35.884Z,1613486795.884 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:36.014Z,1613486796.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:36.318Z,1613486796.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:36.719Z,1613486796.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:37.125Z,1613486797.125 [Micromodem](INFO): Nmea in: $CAERR,144638,NI  ,29,Busy completing a previous request*77

2021-02-16T14:46:37.126Z,1613486797.126 [Micromodem](ERROR): Got error from modem: $CAERR,144638,NI  ,29,Busy completing a previous request*77

2021-02-16T14:46:37.132Z,1613486797.132 [Micromodem](INFO): Nmea in: $SNTTA,0.082048,,,,144637.30*46

2021-02-16T14:46:37.132Z,1613486797.132 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,0.082048,,,,144637.30*46

2021-02-16T14:46:38.745Z,1613486798.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:41.557Z,1613486801.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:44.398Z,1613486804.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:47.226Z,1613486807.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:48.003Z,1613486808.003 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:48.410Z,1613486808.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:49.249Z,1613486809.249 [Micromodem](INFO): Nmea in: $SNTTA,0.075103,,,,144649.42*4C

2021-02-16T14:46:49.308Z,1613486809.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.440002 m, bearing: 93.739470 deg, deltaT: 23.826344 s, approachRate: -0.831013 m/s, LOS rate: -0.046101 deg/s, posRepo size: 4
2021-02-16T14:46:49.309Z,1613486809.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.440002 m,
      bearing: 93.739470 deg,
      approachRate: -0.831013 m/s,
      LOS rate: -0.046101 deg/s,
      cmd update: -0.138303 deg/s,
      cmd heading: 114.616339 deg,
      new cmd heading: 115.095726 deg.

2021-02-16T14:46:51.749Z,1613486811.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:52.456Z,1613486812.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:52.869Z,1613486812.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:53.712Z,1613486813.712 [Micromodem](INFO): Nmea in: $SNTTA,0.072471,,,,144653.87*49

2021-02-16T14:46:53.736Z,1613486813.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 92.599839 deg, deltaT: 4.467153 s, approachRate: -0.886472 m/s, LOS rate: -0.255113 deg/s, posRepo size: 4
2021-02-16T14:46:53.738Z,1613486813.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.479996 m,
      bearing: 92.599839 deg,
      approachRate: -0.886472 m/s,
      LOS rate: -0.255113 deg/s,
      cmd update: -0.765340 deg/s,
      cmd heading: 113.998508 deg,
      new cmd heading: 113.939581 deg.

2021-02-16T14:46:56.170Z,1613486816.170 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:46:56.902Z,1613486816.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:46:57.312Z,1613486817.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:46:58.156Z,1613486818.156 [Micromodem](INFO): Nmea in: $SNTTA,0.070131,,,,144658.31*4C

2021-02-16T14:46:58.198Z,1613486818.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.000000 m, bearing: 91.465030 deg, deltaT: 4.435218 s, approachRate: -0.784628 m/s, LOS rate: -0.255863 deg/s, posRepo size: 4
2021-02-16T14:46:58.200Z,1613486818.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.000000 m,
      bearing: 91.465030 deg,
      approachRate: -0.784628 m/s,
      LOS rate: -0.255863 deg/s,
      cmd update: -0.767589 deg/s,
      cmd heading: 110.604095 deg,
      new cmd heading: 110.257418 deg.

2021-02-16T14:47:00.552Z,1613486820.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:01.344Z,1613486821.344 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:01.760Z,1613486821.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:02.572Z,1613486822.572 [Micromodem](INFO): Nmea in: $SNTTA,0.067698,,,,144702.76*43

2021-02-16T14:47:02.610Z,1613486822.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.340004 m, bearing: 92.093087 deg, deltaT: 4.450295 s, approachRate: -0.822416 m/s, LOS rate: 0.141127 deg/s, posRepo size: 4
2021-02-16T14:47:02.611Z,1613486822.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.340004 m,
      bearing: 92.093087 deg,
      approachRate: -0.822416 m/s,
      LOS rate: 0.141127 deg/s,
      cmd update: 0.423381 deg/s,
      cmd heading: 107.187916 deg,
      new cmd heading: 106.870424 deg.

2021-02-16T14:47:05.026Z,1613486825.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:05.799Z,1613486825.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:06.199Z,1613486826.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:07.024Z,1613486827.024 [Micromodem](INFO): Nmea in: $SNTTA,0.065129,,,,144707.21*4B

2021-02-16T14:47:07.048Z,1613486827.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.500008 m, bearing: 92.395903 deg, deltaT: 4.418642 s, approachRate: -0.869044 m/s, LOS rate: 0.068532 deg/s, posRepo size: 4
2021-02-16T14:47:07.050Z,1613486827.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.500008 m,
      bearing: 92.395903 deg,
      approachRate: -0.869044 m/s,
      LOS rate: 0.068532 deg/s,
      cmd update: 0.205595 deg/s,
      cmd heading: 109.058569 deg,
      new cmd heading: 109.242152 deg.

2021-02-16T14:47:09.463Z,1613486829.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:10.232Z,1613486830.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:10.647Z,1613486830.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:11.485Z,1613486831.485 [Micromodem](INFO): Nmea in: $SNTTA,0.062726,,0.092250,,144711.65*50

2021-02-16T14:47:11.509Z,1613486831.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.900002 m, bearing: 91.417342 deg, deltaT: 4.473116 s, approachRate: -0.804809 m/s, LOS rate: -0.218765 deg/s, posRepo size: 4
2021-02-16T14:47:11.511Z,1613486831.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.900002 m,
      bearing: 91.417342 deg,
      approachRate: -0.804809 m/s,
      LOS rate: -0.218765 deg/s,
      cmd update: -0.656295 deg/s,
      cmd heading: 109.977440 deg,
      new cmd heading: 110.064909 deg.

2021-02-16T14:47:13.907Z,1613486833.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:14.692Z,1613486834.692 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:15.085Z,1613486835.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:15.912Z,1613486835.912 [Micromodem](INFO): Nmea in: $SNTTA,0.060336,,,,144716.10*40

2021-02-16T14:47:15.955Z,1613486835.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.000000 m, bearing: 91.600350 deg, deltaT: 4.450777 s, approachRate: -0.876252 m/s, LOS rate: 0.041118 deg/s, posRepo size: 4
2021-02-16T14:47:15.957Z,1613486835.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.000000 m,
      bearing: 91.600350 deg,
      approachRate: -0.876252 m/s,
      LOS rate: 0.041118 deg/s,
      cmd update: 0.123355 deg/s,
      cmd heading: 107.053787 deg,
      new cmd heading: 106.780534 deg.

2021-02-16T14:47:18.368Z,1613486838.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:19.157Z,1613486839.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:19.559Z,1613486839.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:20.373Z,1613486840.373 [Micromodem](INFO): Nmea in: $SNTTA,0.057874,,,,144720.57*4F

2021-02-16T14:47:20.412Z,1613486840.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.340004 m, bearing: 90.747765 deg, deltaT: 4.418169 s, approachRate: -0.828397 m/s, LOS rate: -0.192973 deg/s, posRepo size: 4
2021-02-16T14:47:20.414Z,1613486840.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.340004 m,
      bearing: 90.747765 deg,
      approachRate: -0.828397 m/s,
      LOS rate: -0.192973 deg/s,
      cmd update: -0.578918 deg/s,
      cmd heading: 107.598794 deg,
      new cmd heading: 107.654917 deg.

2021-02-16T14:47:22.800Z,1613486842.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:23.566Z,1613486843.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:23.978Z,1613486843.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:24.796Z,1613486844.796 [Micromodem](INFO): Nmea in: $SNTTA,0.055061,,,,144724.98*46

2021-02-16T14:47:24.839Z,1613486844.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.440010 m, bearing: 91.876112 deg, deltaT: 4.452379 s, approachRate: -0.875935 m/s, LOS rate: 0.253426 deg/s, posRepo size: 4
2021-02-16T14:47:24.841Z,1613486844.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.440010 m,
      bearing: 91.876112 deg,
      approachRate: -0.875935 m/s,
      LOS rate: 0.253426 deg/s,
      cmd update: 0.760277 deg/s,
      cmd heading: 105.021236 deg,
      new cmd heading: 104.772497 deg.

2021-02-16T14:47:27.223Z,1613486847.223 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:47:27.241Z,1613486847.241 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:28.008Z,1613486848.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:28.423Z,1613486848.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:29.368Z,1613486849.368 [Micromodem](INFO): Nmea in: $SNTTA,0.052523,,,,144729.42*48

2021-02-16T14:47:29.470Z,1613486849.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.599998 m, bearing: 91.920884 deg, deltaT: 4.470957 s, approachRate: -0.858879 m/s, LOS rate: 0.010014 deg/s, posRepo size: 4
2021-02-16T14:47:29.472Z,1613486849.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.599998 m,
      bearing: 91.920884 deg,
      approachRate: -0.858879 m/s,
      LOS rate: 0.010014 deg/s,
      cmd update: 0.030042 deg/s,
      cmd heading: 108.408246 deg,
      new cmd heading: 108.868732 deg.

2021-02-16T14:47:31.703Z,1613486851.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:32.452Z,1613486852.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:32.858Z,1613486852.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:33.704Z,1613486853.704 [Micromodem](INFO): Nmea in: $SNTTA,0.050136,,,,144733.86*49

2021-02-16T14:47:33.748Z,1613486853.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 90.074274 deg, deltaT: 4.416395 s, approachRate: -0.815142 m/s, LOS rate: -0.418126 deg/s, posRepo size: 4
2021-02-16T14:47:33.750Z,1613486853.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.000008 m,
      bearing: 90.074274 deg,
      approachRate: -0.815142 m/s,
      LOS rate: -0.418126 deg/s,
      cmd update: -1.254378 deg/s,
      cmd heading: 108.541396 deg,
      new cmd heading: 108.554974 deg.

2021-02-16T14:47:36.109Z,1613486856.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:36.896Z,1613486856.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:37.313Z,1613486857.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:37.333Z,1613486857.333 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:47:38.148Z,1613486858.148 [Micromodem](INFO): Nmea in: $SNTTA,0.047582,,,,144738.31*43

2021-02-16T14:47:38.198Z,1613486858.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.159996 m, bearing: 90.638980 deg, deltaT: 4.443391 s, approachRate: -0.864207 m/s, LOS rate: 0.127089 deg/s, posRepo size: 4
2021-02-16T14:47:38.204Z,1613486858.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 90.638980 deg,
      approachRate: -0.864207 m/s,
      LOS rate: 0.127089 deg/s,
      cmd update: 0.381267 deg/s,
      cmd heading: 102.967454 deg,
      new cmd heading: 102.392194 deg.

2021-02-16T14:47:40.568Z,1613486860.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:41.358Z,1613486861.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:41.751Z,1613486861.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:42.196Z,1613486862.196 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:47:42.601Z,1613486862.601 [Micromodem](INFO): Nmea in: $SNTTA,0.045283,,,,144742.77*48

2021-02-16T14:47:42.632Z,1613486862.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.680000 m, bearing: 91.536522 deg, deltaT: 4.469240 s, approachRate: -0.778655 m/s, LOS rate: 0.200826 deg/s, posRepo size: 4
2021-02-16T14:47:42.635Z,1613486862.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.680000 m,
      bearing: 91.536522 deg,
      approachRate: -0.778655 m/s,
      LOS rate: 0.200826 deg/s,
      cmd update: 0.602479 deg/s,
      cmd heading: 104.671442 deg,
      new cmd heading: 104.832298 deg.

2021-02-16T14:47:45.019Z,1613486865.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:45.793Z,1613486865.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:46.190Z,1613486866.190 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:47.036Z,1613486867.036 [Micromodem](INFO): Nmea in: $SNTTA,0.042806,,,,144747.20*4F

2021-02-16T14:47:47.079Z,1613486867.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.020004 m, bearing: 91.668522 deg, deltaT: 4.397204 s, approachRate: -0.832346 m/s, LOS rate: 0.030019 deg/s, posRepo size: 4
2021-02-16T14:47:47.081Z,1613486867.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.020004 m,
      bearing: 91.668522 deg,
      approachRate: -0.832346 m/s,
      LOS rate: 0.030019 deg/s,
      cmd update: 0.090057 deg/s,
      cmd heading: 107.320645 deg,
      new cmd heading: 107.605534 deg.

2021-02-16T14:47:47.426Z,1613486867.426 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:47:49.518Z,1613486869.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:50.246Z,1613486870.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:50.639Z,1613486870.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:51.468Z,1613486871.468 [Micromodem](INFO): Nmea in: $SNTTA,0.040619,,,,144751.66*48

2021-02-16T14:47:51.493Z,1613486871.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 89.128033 deg, deltaT: 4.507774 s, approachRate: -0.772000 m/s, LOS rate: -0.563579 deg/s, posRepo size: 4
2021-02-16T14:47:51.495Z,1613486871.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 89.128033 deg,
      approachRate: -0.772000 m/s,
      LOS rate: -0.563579 deg/s,
      cmd update: -1.690738 deg/s,
      cmd heading: 107.724092 deg,
      new cmd heading: 107.760739 deg.

2021-02-16T14:47:52.282Z,1613486872.282 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:47:53.898Z,1613486873.898 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:54.722Z,1613486874.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:55.080Z,1613486875.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:47:55.918Z,1613486875.918 [Micromodem](INFO): Nmea in: $SNTTA,0.037999,,,,144756.14*4D

2021-02-16T14:47:55.974Z,1613486875.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 89.502157 deg, deltaT: 4.403693 s, approachRate: -0.885620 m/s, LOS rate: 0.084957 deg/s, posRepo size: 4
2021-02-16T14:47:55.980Z,1613486875.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.640007 m,
      bearing: 89.502157 deg,
      approachRate: -0.885620 m/s,
      LOS rate: 0.084957 deg/s,
      cmd update: 0.254870 deg/s,
      cmd heading: 100.231395 deg,
      new cmd heading: 99.459755 deg.

2021-02-16T14:47:57.527Z,1613486877.527 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T14:47:58.339Z,1613486878.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:47:59.129Z,1613486879.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:47:59.523Z,1613486879.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:00.355Z,1613486880.355 [Micromodem](INFO): Nmea in: $SNTTA,0.035541,,,,144800.54*4E

2021-02-16T14:48:00.380Z,1613486880.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.100006 m, bearing: 89.793724 deg, deltaT: 4.452547 s, approachRate: -0.795051 m/s, LOS rate: 0.065483 deg/s, posRepo size: 4
2021-02-16T14:48:00.382Z,1613486880.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.100006 m,
      bearing: 89.793724 deg,
      approachRate: -0.795051 m/s,
      LOS rate: 0.065483 deg/s,
      cmd update: 0.196450 deg/s,
      cmd heading: 101.366210 deg,
      new cmd heading: 101.470631 deg.

2021-02-16T14:48:02.799Z,1613486882.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:03.561Z,1613486883.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:03.966Z,1613486883.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:04.792Z,1613486884.792 [Micromodem](INFO): Nmea in: $SNTTA,0.032925,,,,144804.97*4C

2021-02-16T14:48:04.830Z,1613486884.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.199993 m, bearing: 89.526766 deg, deltaT: 4.441969 s, approachRate: -0.877992 m/s, LOS rate: -0.060099 deg/s, posRepo size: 4
2021-02-16T14:48:04.833Z,1613486884.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.199993 m,
      bearing: 89.526766 deg,
      approachRate: -0.877992 m/s,
      LOS rate: -0.060099 deg/s,
      cmd update: -0.180297 deg/s,
      cmd heading: 102.238800 deg,
      new cmd heading: 102.320914 deg.

2021-02-16T14:48:07.205Z,1613486887.205 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:48:07.220Z,1613486887.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:08.004Z,1613486888.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:08.415Z,1613486888.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:09.239Z,1613486889.239 [Micromodem](INFO): Nmea in: $SNTTA,0.030420,,,,144809.42*43

2021-02-16T14:48:09.276Z,1613486889.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.419998 m, bearing: 88.618344 deg, deltaT: 4.436728 s, approachRate: -0.851978 m/s, LOS rate: -0.204750 deg/s, posRepo size: 4
2021-02-16T14:48:09.278Z,1613486889.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.419998 m,
      bearing: 88.618344 deg,
      approachRate: -0.851978 m/s,
      LOS rate: -0.204750 deg/s,
      cmd update: -0.614251 deg/s,
      cmd heading: 101.438829 deg,
      new cmd heading: 101.362100 deg.

2021-02-16T14:48:11.710Z,1613486891.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:12.453Z,1613486892.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:12.854Z,1613486892.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:13.703Z,1613486893.703 [Micromodem](INFO): Nmea in: $SNTTA,0.027855,,,,144813.87*49

2021-02-16T14:48:13.727Z,1613486893.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.640003 m, bearing: 89.961890 deg, deltaT: 4.469280 s, approachRate: -0.845773 m/s, LOS rate: 0.300618 deg/s, posRepo size: 4
2021-02-16T14:48:13.729Z,1613486893.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.640003 m,
      bearing: 89.961890 deg,
      approachRate: -0.845773 m/s,
      LOS rate: 0.300618 deg/s,
      cmd update: 0.901854 deg/s,
      cmd heading: 98.697508 deg,
      new cmd heading: 98.442368 deg.

2021-02-16T14:48:16.109Z,1613486896.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:16.892Z,1613486896.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:17.303Z,1613486897.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:18.145Z,1613486898.145 [Micromodem](INFO): Nmea in: $SNTTA,0.025426,,,,144818.36*42

2021-02-16T14:48:18.194Z,1613486898.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.920002 m, bearing: 90.236559 deg, deltaT: 4.420432 s, approachRate: -0.841547 m/s, LOS rate: 0.062136 deg/s, posRepo size: 4
2021-02-16T14:48:18.195Z,1613486898.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.92 m.
2021-02-16T14:48:18.197Z,1613486898.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 90.236559 deg,
      approachRate: -0.841547 m/s,
      LOS rate: 0.062136 deg/s,
      cmd update: 0.186409 deg/s,
      cmd heading: 102.689824 deg,
      new cmd heading: 103.101043 deg.

2021-02-16T14:48:18.537Z,1613486898.537 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:48:20.558Z,1613486900.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:21.336Z,1613486901.336 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:21.742Z,1613486901.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:22.564Z,1613486902.564 [Micromodem](INFO): Nmea in: $SNTTA,0.023012,,,,144822.75*49

2021-02-16T14:48:22.605Z,1613486902.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.259998 m, bearing: 89.080352 deg, deltaT: 4.499885 s, approachRate: -0.813355 m/s, LOS rate: -0.256942 deg/s, posRepo size: 4
2021-02-16T14:48:22.606Z,1613486902.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.26 m.
2021-02-16T14:48:22.607Z,1613486902.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.26 m.
2021-02-16T14:48:22.607Z,1613486902.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:48:22.609Z,1613486902.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.259998 m,
      bearing: 89.080352 deg,
      approachRate: -0.813355 m/s,
      LOS rate: -0.256942 deg/s,
      cmd update: -0.770825 deg/s,
      cmd heading: 103.527852 deg,
      new cmd heading: 103.596274 deg.

2021-02-16T14:48:25.049Z,1613486905.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:25.780Z,1613486905.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:26.193Z,1613486906.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:27.028Z,1613486907.028 [Micromodem](INFO): Nmea in: $SNTTA,0.020811,,,,144827.19*4E

2021-02-16T14:48:27.065Z,1613486907.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.720001 m, bearing: 87.224104 deg, deltaT: 4.389401 s, approachRate: -0.806488 m/s, LOS rate: -0.422893 deg/s, posRepo size: 4
2021-02-16T14:48:27.075Z,1613486907.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.720001 m,
      bearing: 87.224104 deg,
      approachRate: -0.806488 m/s,
      LOS rate: -0.422893 deg/s,
      cmd update: -1.268679 deg/s,
      cmd heading: 100.143357 deg,
      new cmd heading: 99.803812 deg.

2021-02-16T14:48:29.456Z,1613486909.457 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:30.225Z,1613486910.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:30.630Z,1613486910.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:31.452Z,1613486911.452 [Micromodem](INFO): Nmea in: $SNTTA,0.018291,,,,144831.64*4A

2021-02-16T14:48:31.493Z,1613486911.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.239998 m, bearing: 86.500009 deg, deltaT: 4.515409 s, approachRate: -0.770695 m/s, LOS rate: -0.160361 deg/s, posRepo size: 4
2021-02-16T14:48:31.494Z,1613486911.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.239998 m,
      bearing: 86.500009 deg,
      approachRate: -0.770695 m/s,
      LOS rate: -0.160361 deg/s,
      cmd update: -0.481083 deg/s,
      cmd heading: 94.438741 deg,
      new cmd heading: 93.967753 deg.

2021-02-16T14:48:33.899Z,1613486913.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:34.697Z,1613486914.697 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:35.079Z,1613486915.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:35.916Z,1613486915.916 [Micromodem](INFO): Nmea in: $SNTTA,0.015741,,,,144836.11*4A

2021-02-16T14:48:35.955Z,1613486915.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.400002 m, bearing: 87.089556 deg, deltaT: 4.358992 s, approachRate: -0.880937 m/s, LOS rate: 0.135249 deg/s, posRepo size: 4
2021-02-16T14:48:35.957Z,1613486915.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 87.089556 deg,
      approachRate: -0.880937 m/s,
      LOS rate: 0.135249 deg/s,
      cmd update: 0.405746 deg/s,
      cmd heading: 92.331201 deg,
      new cmd heading: 92.113391 deg.

2021-02-16T14:48:38.355Z,1613486918.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:39.144Z,1613486919.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:39.518Z,1613486919.518 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:40.360Z,1613486920.360 [Micromodem](INFO): Nmea in: $SNTTA,0.013299,,,,144840.56*4E

2021-02-16T14:48:40.410Z,1613486920.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 87.146459 deg, deltaT: 4.443108 s, approachRate: -0.823748 m/s, LOS rate: 0.012807 deg/s, posRepo size: 4
2021-02-16T14:48:40.412Z,1613486920.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 87.146459 deg,
      approachRate: -0.823748 m/s,
      LOS rate: 0.012807 deg/s,
      cmd update: 0.038421 deg/s,
      cmd heading: 94.133973 deg,
      new cmd heading: 94.322337 deg.

2021-02-16T14:48:42.796Z,1613486922.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:43.558Z,1613486923.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:43.974Z,1613486923.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:44.788Z,1613486924.788 [Micromodem](INFO): Nmea in: $SNTTA,0.010848,,,,144844.97*42

2021-02-16T14:48:44.827Z,1613486924.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 85.335612 deg, deltaT: 4.481329 s, approachRate: -0.816723 m/s, LOS rate: -0.404087 deg/s, posRepo size: 4
2021-02-16T14:48:44.829Z,1613486924.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 85.335612 deg,
      approachRate: -0.816723 m/s,
      LOS rate: -0.404087 deg/s,
      cmd update: -1.212261 deg/s,
      cmd heading: 94.305990 deg,
      new cmd heading: 94.321523 deg.

2021-02-16T14:48:47.245Z,1613486927.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:48.002Z,1613486928.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:48.406Z,1613486928.406 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:49.232Z,1613486929.232 [Micromodem](INFO): Nmea in: $SNTTA,0.008466,,,,144849.41*4D

2021-02-16T14:48:49.286Z,1613486929.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 83.342289 deg, deltaT: 4.430874 s, approachRate: -0.798938 m/s, LOS rate: -0.449871 deg/s, posRepo size: 4
2021-02-16T14:48:49.288Z,1613486929.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 83.342289 deg,
      approachRate: -0.798938 m/s,
      LOS rate: -0.449871 deg/s,
      cmd update: -1.349613 deg/s,
      cmd heading: 88.934770 deg,
      new cmd heading: 88.409811 deg.

2021-02-16T14:48:51.698Z,1613486931.698 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:52.444Z,1613486932.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:52.855Z,1613486932.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:53.700Z,1613486933.700 [Micromodem](INFO): Nmea in: $SNTTA,0.006110,,,,144853.86*47

2021-02-16T14:48:53.752Z,1613486933.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 84.840341 deg, deltaT: 4.444361 s, approachRate: -0.796515 m/s, LOS rate: 0.337068 deg/s, posRepo size: 4
2021-02-16T14:48:53.753Z,1613486933.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 84.840341 deg,
      approachRate: -0.796515 m/s,
      LOS rate: 0.337068 deg/s,
      cmd update: 1.011204 deg/s,
      cmd heading: 82.930816 deg,
      new cmd heading: 82.333202 deg.

2021-02-16T14:48:56.100Z,1613486936.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:48:56.893Z,1613486936.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:48:57.295Z,1613486937.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:48:58.128Z,1613486938.128 [Micromodem](INFO): Nmea in: $SNTTA,0.003795,,,,144858.30*4F

2021-02-16T14:48:58.190Z,1613486938.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.520000 m, bearing: 83.819706 deg, deltaT: 4.440647 s, approachRate: -0.783669 m/s, LOS rate: -0.229839 deg/s, posRepo size: 4
2021-02-16T14:48:58.196Z,1613486938.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 83.819706 deg,
      approachRate: -0.783669 m/s,
      LOS rate: -0.229839 deg/s,
      cmd update: -0.689518 deg/s,
      cmd heading: 87.404986 deg,
      new cmd heading: 87.873394 deg.

2021-02-16T14:49:00.557Z,1613486940.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:01.350Z,1613486941.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:01.744Z,1613486941.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:02.572Z,1613486942.572 [Micromodem](INFO): Nmea in: $SNTTA,0.002338,,,,144902.76*41

2021-02-16T14:49:02.613Z,1613486942.613 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.119999 m 
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T14:49:02.614Z,1613486942.614 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T14:49:02.615Z,1613486942.615 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T14:49:02.617Z,1613486942.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.119999 m, bearing: 114.372829 deg, deltaT: 4.539239 s, approachRate: -0.528723 m/s, LOS rate: 6.730891 deg/s, posRepo size: 4
2021-02-16T14:49:02.619Z,1613486942.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.119999 m,
      bearing: 114.372829 deg,
      approachRate: -0.528723 m/s,
      LOS rate: 6.730891 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 84.270818 deg,
      new cmd heading: 84.032908 deg.

2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T144902: (41.552319, -70.708603)
2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T14:49:02.992Z,1613486942.992 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T14:49:02.993Z,1613486942.993 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T14:49:02.993Z,1613486942.993 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T14:49:02.993Z,1613486942.993 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T14:49:05.019Z,1613486945.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:05.789Z,1613486945.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:06.185Z,1613486946.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:07.012Z,1613486947.012 [Micromodem](INFO): Nmea in: $SNTTA,0.002794,,,,144907.20*45

2021-02-16T14:49:07.052Z,1613486947.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.259999 m, bearing: 97.999377 deg, deltaT: 4.316501 s, approachRate: 0.264103 m/s, LOS rate: -3.793223 deg/s, posRepo size: 4
2021-02-16T14:49:07.054Z,1613486947.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.259999 m,
      bearing: 97.999377 deg,
      approachRate: 0.264103 m/s,
      LOS rate: -3.793223 deg/s,
      cmd update: -11.379670 deg/s,
      cmd heading: 136.186058 deg,
      new cmd heading: 141.637251 deg.

2021-02-16T14:49:09.558Z,1613486949.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:10.220Z,1613486950.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:10.635Z,1613486950.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:11.452Z,1613486951.452 [Micromodem](INFO): Nmea in: $SNTTA,0.006457,,,,144911.63*4D

2021-02-16T14:49:11.477Z,1613486951.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.660001 m, bearing: 102.427532 deg, deltaT: 4.455196 s, approachRate: 1.212068 m/s, LOS rate: 0.993931 deg/s, posRepo size: 4
2021-02-16T14:49:11.479Z,1613486951.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 102.427532 deg,
      approachRate: 1.212068 m/s,
      LOS rate: 0.993931 deg/s,
      cmd update: 2.981792 deg/s,
      cmd heading: 85.486500 deg,
      new cmd heading: 80.665071 deg.

2021-02-16T14:49:13.889Z,1613486953.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:14.688Z,1613486954.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:15.080Z,1613486955.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:15.912Z,1613486955.912 [Micromodem](INFO): Nmea in: $SNTTA,0.008596,,,,144916.10*4C

2021-02-16T14:49:15.940Z,1613486955.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 137.560174 deg, deltaT: 4.456415 s, approachRate: 0.713578 m/s, LOS rate: 7.883611 deg/s, posRepo size: 4
2021-02-16T14:49:15.941Z,1613486955.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 137.560174 deg,
      approachRate: 0.713578 m/s,
      LOS rate: 7.883611 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 98.774533 deg,
      new cmd heading: 100.055287 deg.

2021-02-16T14:49:18.341Z,1613486958.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:19.128Z,1613486959.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:19.529Z,1613486959.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:20.348Z,1613486960.348 [Micromodem](INFO): Nmea in: $SNTTA,0.009400,,,,144920.54*46

2021-02-16T14:49:20.398Z,1613486960.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.220002 m, bearing: 106.958611 deg, deltaT: 4.459665 s, approachRate: 0.309441 m/s, LOS rate: -6.861852 deg/s, posRepo size: 4
2021-02-16T14:49:20.398Z,1613486960.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.22 m. Rolling out.
2021-02-16T14:49:20.398Z,1613486960.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T14:49:22.798Z,1613486962.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:23.554Z,1613486963.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:23.973Z,1613486963.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:24.784Z,1613486964.784 [Micromodem](INFO): Nmea in: $SNTTA,0.011954,,,,144924.97*48

2021-02-16T14:49:24.832Z,1613486964.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.879999 m, bearing: 115.114656 deg, deltaT: 4.462723 s, approachRate: 0.820126 m/s, LOS rate: 1.827594 deg/s, posRepo size: 4
2021-02-16T14:49:27.263Z,1613486967.263 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:27.997Z,1613486967.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:28.402Z,1613486968.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:29.228Z,1613486969.228 [Micromodem](INFO): Nmea in: $SNTTA,0.014066,,,,144929.41*43

2021-02-16T14:49:29.307Z,1613486969.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 86.281477 deg, deltaT: 4.421346 s, approachRate: 1.031360 m/s, LOS rate: -6.521358 deg/s, posRepo size: 4
2021-02-16T14:49:31.695Z,1613486971.695 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:32.441Z,1613486972.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:32.865Z,1613486972.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:33.696Z,1613486973.696 [Micromodem](INFO): Nmea in: $SNTTA,0.016189,,,,144933.85*42

2021-02-16T14:49:33.721Z,1613486973.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.600000 m, bearing: 132.801554 deg, deltaT: 4.469444 s, approachRate: 0.483282 m/s, LOS rate: 10.408471 deg/s, posRepo size: 4
2021-02-16T14:49:36.124Z,1613486976.124 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:36.905Z,1613486976.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:37.292Z,1613486977.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:38.144Z,1613486978.144 [Micromodem](INFO): Nmea in: $SNTTA,0.018068,,,,144938.32*45

2021-02-16T14:49:38.940Z,1613486978.940 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:40.533Z,1613486980.533 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T14:49:41.758Z,1613486981.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:42.540Z,1613486982.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:42.947Z,1613486982.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:43.779Z,1613486983.779 [Micromodem](INFO): Nmea in: $SNTTA,0.020286,,0.029525,,144943.95*5A

2021-02-16T14:49:43.804Z,1613486983.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.480000 m, bearing: 160.962779 deg, deltaT: 10.087691 s, approachRate: 0.582888 m/s, LOS rate: 2.791642 deg/s, posRepo size: 4
2021-02-16T14:49:46.204Z,1613486986.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:46.984Z,1613486986.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:47.400Z,1613486987.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:48.212Z,1613486988.212 [Micromodem](INFO): Nmea in: $SNTTA,0.022175,,,,144948.40*43

2021-02-16T14:49:48.260Z,1613486988.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.360001 m, bearing: 163.785751 deg, deltaT: 4.418311 s, approachRate: 0.651833 m/s, LOS rate: 0.638926 deg/s, posRepo size: 4
2021-02-16T14:49:50.645Z,1613486990.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:51.428Z,1613486991.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:51.839Z,1613486991.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:52.680Z,1613486992.680 [Micromodem](INFO): Nmea in: $SNTTA,0.024145,,,,144952.84*45

2021-02-16T14:49:52.737Z,1613486992.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.239998 m, bearing: 174.145973 deg, deltaT: 4.495798 s, approachRate: 0.640598 m/s, LOS rate: 2.304423 deg/s, posRepo size: 4
2021-02-16T14:49:53.057Z,1613486993.057 [PowerOnly](INFO): Powering down loadControl
2021-02-16T14:49:55.101Z,1613486995.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:49:55.878Z,1613486995.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:49:56.286Z,1613486996.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:49:57.107Z,1613486997.107 [Micromodem](INFO): Nmea in: $SNTTA,0.026078,,,,144957.29*4A

2021-02-16T14:49:57.167Z,1613486997.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 169.131562 deg, deltaT: 4.393096 s, approachRate: 0.669232 m/s, LOS rate: -1.141430 deg/s, posRepo size: 4
2021-02-16T14:49:59.539Z,1613486999.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:00.333Z,1613487000.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:00.722Z,1613487000.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:01.560Z,1613487001.560 [Micromodem](INFO): Nmea in: $SNTTA,0.028275,,,,145001.75*49

2021-02-16T14:50:01.593Z,1613487001.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 157.114486 deg, deltaT: 4.464409 s, approachRate: 0.766058 m/s, LOS rate: -2.691751 deg/s, posRepo size: 4
2021-02-16T14:50:03.984Z,1613487003.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:04.760Z,1613487004.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:05.172Z,1613487005.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:05.988Z,1613487005.988 [Micromodem](INFO): Nmea in: $SNTTA,0.030465,,,,145006.17*44

2021-02-16T14:50:06.031Z,1613487006.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 150.518545 deg, deltaT: 4.415891 s, approachRate: 0.747301 m/s, LOS rate: -1.493683 deg/s, posRepo size: 4
2021-02-16T14:50:08.444Z,1613487008.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:09.268Z,1613487009.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:09.627Z,1613487009.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:10.442Z,1613487010.442 [Micromodem](INFO): Nmea in: $SNTTA,0.032746,,,,145010.68*4B

2021-02-16T14:50:10.511Z,1613487010.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 143.134250 deg, deltaT: 4.444613 s, approachRate: 0.715473 m/s, LOS rate: -1.661403 deg/s, posRepo size: 4
2021-02-16T14:50:12.880Z,1613487012.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:13.676Z,1613487013.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:14.054Z,1613487014.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:14.892Z,1613487014.892 [Micromodem](INFO): Nmea in: $SNTTA,0.034802,,,,145015.09*40

2021-02-16T14:50:14.930Z,1613487014.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 145.356575 deg, deltaT: 4.440772 s, approachRate: 0.756626 m/s, LOS rate: 0.500437 deg/s, posRepo size: 4
2021-02-16T14:50:17.323Z,1613487017.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:18.092Z,1613487018.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:18.498Z,1613487018.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:19.324Z,1613487019.324 [Micromodem](INFO): Nmea in: $SNTTA,0.037204,,,,145019.50*4F

2021-02-16T14:50:19.363Z,1613487019.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.920002 m, bearing: 137.871152 deg, deltaT: 4.473880 s, approachRate: 0.777848 m/s, LOS rate: -1.673139 deg/s, posRepo size: 4
2021-02-16T14:50:21.760Z,1613487021.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:22.549Z,1613487022.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:22.942Z,1613487022.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:23.772Z,1613487023.772 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145023.96*50

2021-02-16T14:50:23.811Z,1613487023.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.280003 m, bearing: 136.343239 deg, deltaT: 4.438954 s, approachRate: 0.756935 m/s, LOS rate: -0.344206 deg/s, posRepo size: 4
2021-02-16T14:50:26.225Z,1613487026.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:26.980Z,1613487026.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:27.397Z,1613487027.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:28.224Z,1613487028.224 [Micromodem](INFO): Nmea in: $SNTTA,0.041741,,,,145028.39*47

2021-02-16T14:50:28.253Z,1613487028.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.760002 m, bearing: 131.462878 deg, deltaT: 4.451795 s, approachRate: 0.781707 m/s, LOS rate: -1.096268 deg/s, posRepo size: 4
2021-02-16T14:50:30.716Z,1613487030.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:31.480Z,1613487031.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:31.894Z,1613487031.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:32.732Z,1613487032.732 [Micromodem](INFO): Nmea in: $SNTTA,0.044083,,,,145032.89*4B

2021-02-16T14:50:32.756Z,1613487032.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.239998 m, bearing: 131.893234 deg, deltaT: 4.490623 s, approachRate: 0.774947 m/s, LOS rate: 0.095834 deg/s, posRepo size: 4
2021-02-16T14:50:33.924Z,1613487033.924 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:50:35.179Z,1613487035.179 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:35.943Z,1613487035.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:36.331Z,1613487036.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:37.180Z,1613487037.180 [Micromodem](INFO): Nmea in: $SNTTA,0.046370,,,,145037.36*47

2021-02-16T14:50:37.225Z,1613487037.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.720001 m, bearing: 134.493323 deg, deltaT: 4.426859 s, approachRate: 0.786111 m/s, LOS rate: 0.587344 deg/s, posRepo size: 4
2021-02-16T14:50:39.591Z,1613487039.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:40.372Z,1613487040.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:40.775Z,1613487040.775 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:41.608Z,1613487041.608 [Micromodem](INFO): Nmea in: $SNTTA,0.048795,,,,145041.78*4D

2021-02-16T14:50:41.642Z,1613487041.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.320007 m, bearing: 135.928879 deg, deltaT: 4.446790 s, approachRate: 0.809574 m/s, LOS rate: 0.322830 deg/s, posRepo size: 4
2021-02-16T14:50:44.030Z,1613487044.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:44.812Z,1613487044.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:45.226Z,1613487045.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:46.044Z,1613487046.044 [Micromodem](INFO): Nmea in: $SNTTA,0.050934,,,,145046.22*49

2021-02-16T14:50:46.082Z,1613487046.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 135.810293 deg, deltaT: 4.456603 s, approachRate: 0.713546 m/s, LOS rate: -0.026609 deg/s, posRepo size: 4
2021-02-16T14:50:48.474Z,1613487048.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:49.263Z,1613487049.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:49.689Z,1613487049.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:50.492Z,1613487050.492 [Micromodem](INFO): Nmea in: $SNTTA,0.053281,,,,145050.67*49

2021-02-16T14:50:50.538Z,1613487050.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 134.562404 deg, deltaT: 4.408424 s, approachRate: 0.803008 m/s, LOS rate: -0.283069 deg/s, posRepo size: 4
2021-02-16T14:50:52.936Z,1613487052.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:53.732Z,1613487053.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:54.129Z,1613487054.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:54.948Z,1613487054.948 [Micromodem](INFO): Nmea in: $SNTTA,0.055568,,0.072036,,145055.14*50

2021-02-16T14:50:54.972Z,1613487054.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 142.005958 deg, deltaT: 4.474937 s, approachRate: 0.777664 m/s, LOS rate: 1.663387 deg/s, posRepo size: 4
2021-02-16T14:50:57.374Z,1613487057.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:50:58.162Z,1613487058.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:50:58.563Z,1613487058.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:50:59.384Z,1613487059.384 [Micromodem](INFO): Nmea in: $SNTTA,0.057866,,,,145059.57*44

2021-02-16T14:50:59.437Z,1613487059.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.880005 m, bearing: 140.385113 deg, deltaT: 4.428713 s, approachRate: 0.758687 m/s, LOS rate: -0.365986 deg/s, posRepo size: 4
2021-02-16T14:51:01.821Z,1613487061.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:02.606Z,1613487062.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:02.999Z,1613487062.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:03.828Z,1613487063.828 [Micromodem](INFO): Nmea in: $SNTTA,0.060158,,,,145104.02*4D

2021-02-16T14:51:03.876Z,1613487063.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.360001 m, bearing: 136.996574 deg, deltaT: 4.477293 s, approachRate: 0.777254 m/s, LOS rate: -0.756828 deg/s, posRepo size: 4
2021-02-16T14:51:06.283Z,1613487066.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:07.037Z,1613487067.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:07.443Z,1613487067.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:08.273Z,1613487068.273 [Micromodem](INFO): Nmea in: $SNTTA,0.062440,,,,145108.45*4C

2021-02-16T14:51:08.326Z,1613487068.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 134.494143 deg, deltaT: 4.410810 s, approachRate: 0.775369 m/s, LOS rate: -0.567340 deg/s, posRepo size: 4
2021-02-16T14:51:10.739Z,1613487070.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:11.501Z,1613487071.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:11.901Z,1613487071.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:12.740Z,1613487072.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145112.91*54

2021-02-16T14:51:12.773Z,1613487072.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 133.611723 deg, deltaT: 4.487295 s, approachRate: 0.748779 m/s, LOS rate: -0.196648 deg/s, posRepo size: 4
2021-02-16T14:51:15.175Z,1613487075.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:15.937Z,1613487075.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:16.326Z,1613487076.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:17.172Z,1613487077.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145117.35*5F

2021-02-16T14:51:17.197Z,1613487077.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.440002 m, bearing: 135.497402 deg, deltaT: 4.438269 s, approachRate: 0.743534 m/s, LOS rate: 0.424868 deg/s, posRepo size: 4
2021-02-16T14:51:19.582Z,1613487079.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:20.365Z,1613487080.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:20.770Z,1613487080.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:21.592Z,1613487081.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145121.78*53

2021-02-16T14:51:21.639Z,1613487081.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.680008 m, bearing: 136.469311 deg, deltaT: 4.425468 s, approachRate: 0.732127 m/s, LOS rate: 0.219617 deg/s, posRepo size: 4
2021-02-16T14:51:24.033Z,1613487084.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:24.810Z,1613487084.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:25.225Z,1613487085.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:25.741Z,1613487085.741 [CTD_Seabird](ERROR): Failed to parse device response: 5.99,1.69352,2969.60
2021-02-16T14:51:26.036Z,1613487086.036 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145126.22*5B

2021-02-16T14:51:26.081Z,1613487086.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.040001 m, bearing: 135.033455 deg, deltaT: 4.456825 s, approachRate: 0.753898 m/s, LOS rate: -0.322170 deg/s, posRepo size: 4
2021-02-16T14:51:28.478Z,1613487088.478 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:29.257Z,1613487089.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:29.690Z,1613487089.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:30.480Z,1613487090.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145130.67*5D

2021-02-16T14:51:30.552Z,1613487090.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.460007 m, bearing: 135.903416 deg, deltaT: 4.396604 s, approachRate: 0.777874 m/s, LOS rate: 0.197871 deg/s, posRepo size: 4
2021-02-16T14:51:32.933Z,1613487092.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:33.712Z,1613487093.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:34.137Z,1613487094.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:34.932Z,1613487094.932 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145135.12*5A

2021-02-16T14:51:34.976Z,1613487094.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.700005 m, bearing: 134.233448 deg, deltaT: 4.444379 s, approachRate: 0.729010 m/s, LOS rate: -0.375748 deg/s, posRepo size: 4
2021-02-16T14:51:37.380Z,1613487097.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:38.181Z,1613487098.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:38.547Z,1613487098.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:39.382Z,1613487099.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145139.59*59

2021-02-16T14:51:39.418Z,1613487099.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 135.202994 deg, deltaT: 4.481109 s, approachRate: 0.776592 m/s, LOS rate: 0.216363 deg/s, posRepo size: 4
2021-02-16T14:51:41.820Z,1613487101.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:42.590Z,1613487102.590 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:43.004Z,1613487103.004 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:43.820Z,1613487103.820 [Micromodem](INFO): Nmea in: $SNTTA,0.080261,,,,145144.00*4C

2021-02-16T14:51:43.869Z,1613487103.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.180008 m, bearing: 204.246972 deg, deltaT: 4.458810 s, approachRate: 0.672827 m/s, LOS rate: 15.484845 deg/s, posRepo size: 4
2021-02-16T14:51:46.281Z,1613487106.281 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:47.045Z,1613487107.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:47.446Z,1613487107.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:48.278Z,1613487108.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145148.46*51

2021-02-16T14:51:48.304Z,1613487108.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.779999 m, bearing: 138.955759 deg, deltaT: 4.442896 s, approachRate: 0.810280 m/s, LOS rate: -14.695642 deg/s, posRepo size: 4
2021-02-16T14:51:50.739Z,1613487110.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:51.472Z,1613487111.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:51.889Z,1613487111.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:52.715Z,1613487112.715 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145152.88*58

2021-02-16T14:51:52.739Z,1613487112.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 205.232322 deg, deltaT: 4.485399 s, approachRate: 0.735721 m/s, LOS rate: 14.776069 deg/s, posRepo size: 4
2021-02-16T14:51:55.158Z,1613487115.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:51:55.921Z,1613487115.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:51:56.333Z,1613487116.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:51:57.176Z,1613487117.176 [Micromodem](INFO): Nmea in: $SNTTA,0.086928,,,,145157.33*4E

2021-02-16T14:51:57.201Z,1613487117.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.260010 m, bearing: 208.230215 deg, deltaT: 4.388987 s, approachRate: 0.724543 m/s, LOS rate: 0.683049 deg/s, posRepo size: 4
2021-02-16T14:51:59.578Z,1613487119.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:00.360Z,1613487120.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:00.772Z,1613487120.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:01.588Z,1613487121.588 [Micromodem](INFO): Nmea in: $SNTTA,0.089286,,,,145201.77*4E

2021-02-16T14:52:01.610Z,1613487121.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.860001 m, bearing: 211.137198 deg, deltaT: 4.435688 s, approachRate: 0.811597 m/s, LOS rate: 0.655362 deg/s, posRepo size: 4
2021-02-16T14:52:04.026Z,1613487124.026 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:04.804Z,1613487124.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:05.211Z,1613487125.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:06.032Z,1613487126.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145206.21*59

2021-02-16T14:52:06.070Z,1613487126.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.460007 m, bearing: 209.865390 deg, deltaT: 4.442148 s, approachRate: 0.810420 m/s, LOS rate: -0.286305 deg/s, posRepo size: 4
2021-02-16T14:52:08.481Z,1613487128.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:09.260Z,1613487129.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:09.690Z,1613487129.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:10.480Z,1613487130.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145210.67*5C

2021-02-16T14:52:10.526Z,1613487130.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 140.347670 deg, deltaT: 4.421825 s, approachRate: 0.773436 m/s, LOS rate: -15.721499 deg/s, posRepo size: 4
2021-02-16T14:52:12.952Z,1613487132.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:13.702Z,1613487133.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:14.125Z,1613487134.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:14.928Z,1613487134.928 [Micromodem](INFO): Nmea in: $SNTTA,0.096425,,,,145215.11*4A

2021-02-16T14:52:14.976Z,1613487134.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.419998 m, bearing: 204.087432 deg, deltaT: 4.465611 s, approachRate: 0.792723 m/s, LOS rate: 14.273470 deg/s, posRepo size: 4
2021-02-16T14:52:17.402Z,1613487137.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:18.159Z,1613487138.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:18.544Z,1613487138.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:19.384Z,1613487139.384 [Micromodem](INFO): Nmea in: $SNTTA,0.102670,,,,145219.57*4A

2021-02-16T14:52:19.409Z,1613487139.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 202.478936 deg, deltaT: 4.448355 s, approachRate: 0.822777 m/s, LOS rate: -0.361593 deg/s, posRepo size: 4
2021-02-16T14:52:21.803Z,1613487141.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:22.584Z,1613487142.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:22.991Z,1613487142.991 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:23.812Z,1613487143.812 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145224.00*5A

2021-02-16T14:52:23.836Z,1613487143.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.259995 m, bearing: 205.233265 deg, deltaT: 4.453150 s, approachRate: 0.714100 m/s, LOS rate: 0.618512 deg/s, posRepo size: 4
2021-02-16T14:52:23.836Z,1613487143.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.26 m. Resuming terminal guidance.
2021-02-16T14:52:23.836Z,1613487143.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T14:52:26.256Z,1613487146.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:27.028Z,1613487147.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:27.453Z,1613487147.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:28.261Z,1613487148.261 [Micromodem](INFO): Nmea in: $SNTTA,0.103041,,,,145228.44*4F

2021-02-16T14:52:28.314Z,1613487148.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.740005 m, bearing: 144.656686 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T14:52:28.314Z,1613487148.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 144.656686deg and heading rate command to 0 deg/s.
2021-02-16T14:52:30.404Z,1613487150.404 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:31.074Z,1613487151.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:31.474Z,1613487151.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:32.304Z,1613487152.304 [Micromodem](INFO): Nmea in: $SNTTA,0.105088,,,,145232.48*4B

2021-02-16T14:52:32.329Z,1613487152.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.800003 m, bearing: 142.357685 deg, deltaT: 4.021441 s, approachRate: 0.760921 m/s, LOS rate: -0.571686 deg/s, posRepo size: 2
2021-02-16T14:52:32.331Z,1613487152.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.800003 m,
      bearing: 142.357685 deg,
      approachRate: 0.760921 m/s,
      LOS rate: -0.571686 deg/s,
      cmd update: -1.715058 deg/s,
      cmd heading: 144.656686 deg,
      new cmd heading: 144.656686 deg.

2021-02-16T14:52:34.732Z,1613487154.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:35.512Z,1613487155.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:35.918Z,1613487155.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:36.744Z,1613487156.744 [Micromodem](INFO): Nmea in: $SNTTA,0.107515,,,,145236.92*4B

2021-02-16T14:52:36.788Z,1613487156.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 176.662310 deg, deltaT: 4.462699 s, approachRate: 0.806685 m/s, LOS rate: 7.686968 deg/s, posRepo size: 3
2021-02-16T14:52:36.790Z,1613487156.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 176.662310 deg,
      approachRate: 0.806685 m/s,
      LOS rate: 7.686968 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 137.009313 deg,
      new cmd heading: 136.325073 deg.

2021-02-16T14:52:39.198Z,1613487159.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:39.973Z,1613487159.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:40.381Z,1613487160.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:40.403Z,1613487160.403 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T14:52:41.196Z,1613487161.196 [Micromodem](INFO): Nmea in: $SNTTA,0.109881,,,,145241.38*45

2021-02-16T14:52:41.250Z,1613487161.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 153.187524 deg, deltaT: 4.447359 s, approachRate: 0.000000 m/s, LOS rate: -5.278365 deg/s, posRepo size: 4
2021-02-16T14:52:41.253Z,1613487161.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 153.187524 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.278365 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 190.325434 deg,
      new cmd heading: 195.578002 deg.

2021-02-16T14:52:43.607Z,1613487163.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:44.400Z,1613487164.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:44.816Z,1613487164.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:45.655Z,1613487165.655 [Micromodem](INFO): Nmea in: $SNTTA,0.112375,,,,145245.81*49

2021-02-16T14:52:45.713Z,1613487165.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.399994 m, bearing: 195.815431 deg, deltaT: 4.456351 s, approachRate: 0.000000 m/s, LOS rate: 9.565653 deg/s, posRepo size: 4
2021-02-16T14:52:45.719Z,1613487165.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.399994 m,
      bearing: 195.815431 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.565653 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 136.922648 deg,
      new cmd heading: 131.513108 deg.

2021-02-16T14:52:48.062Z,1613487168.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:48.849Z,1613487168.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:49.268Z,1613487169.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:50.080Z,1613487170.080 [Micromodem](INFO): Nmea in: $SNTTA,0.114510,,,,145250.26*43

2021-02-16T14:52:50.169Z,1613487170.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.720001 m, bearing: 149.582864 deg, deltaT: 4.438832 s, approachRate: 2.324938 m/s, LOS rate: -10.415480 deg/s, posRepo size: 4
2021-02-16T14:52:50.177Z,1613487170.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.720001 m,
      bearing: 149.582864 deg,
      approachRate: 2.324938 m/s,
      LOS rate: -10.415480 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 190.310758 deg,
      new cmd heading: 195.802534 deg.

2021-02-16T14:52:52.525Z,1613487172.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:53.300Z,1613487173.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:53.716Z,1613487173.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:54.528Z,1613487174.528 [Micromodem](INFO): Nmea in: $SNTTA,0.116511,,,,145254.71*46

2021-02-16T14:52:54.567Z,1613487174.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.720001 m, bearing: 144.413080 deg, deltaT: 4.461463 s, approachRate: 0.000000 m/s, LOS rate: -1.158764 deg/s, posRepo size: 4
2021-02-16T14:52:54.569Z,1613487174.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.720001 m,
      bearing: 144.413080 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.158764 deg/s,
      cmd update: -3.476293 deg/s,
      cmd heading: 136.769996 deg,
      new cmd heading: 132.042764 deg.

2021-02-16T14:52:56.962Z,1613487176.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:52:57.734Z,1613487177.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:52:58.172Z,1613487178.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:52:58.964Z,1613487178.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145259.14*55

2021-02-16T14:52:58.988Z,1613487178.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.720001 m, bearing: 155.237086 deg, deltaT: 4.412728 s, approachRate: 0.000000 m/s, LOS rate: 2.452906 deg/s, posRepo size: 4
2021-02-16T14:52:58.990Z,1613487178.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.720001 m,
      bearing: 155.237086 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.452906 deg/s,
      cmd update: 7.358718 deg/s,
      cmd heading: 121.416161 deg,
      new cmd heading: 120.032624 deg.

2021-02-16T14:53:01.400Z,1613487181.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:02.177Z,1613487182.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:02.587Z,1613487182.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:03.396Z,1613487183.396 [Micromodem](INFO): Nmea in: $SNTTA,0.120716,,,,145303.59*4F

2021-02-16T14:53:03.862Z,1613487183.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.199997 m, bearing: 196.450980 deg, deltaT: 4.854786 s, approachRate: 1.952711 m/s, LOS rate: 8.489333 deg/s, posRepo size: 4
2021-02-16T14:53:03.868Z,1613487183.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.199997 m,
      bearing: 196.450980 deg,
      approachRate: 1.952711 m/s,
      LOS rate: 8.489333 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.964779 deg,
      new cmd heading: 160.214897 deg.

2021-02-16T14:53:06.265Z,1613487186.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:07.029Z,1613487187.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:07.430Z,1613487187.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:08.253Z,1613487188.253 [Micromodem](INFO): Nmea in: $SNTTA,0.123280,,,,145308.44*41

2021-02-16T14:53:08.707Z,1613487188.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 190.583315 deg, deltaT: 4.866488 s, approachRate: 0.789069 m/s, LOS rate: -1.205729 deg/s, posRepo size: 4
2021-02-16T14:53:08.709Z,1613487188.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.039993 m,
      bearing: 190.583315 deg,
      approachRate: 0.789069 m/s,
      LOS rate: -1.205729 deg/s,
      cmd update: -3.617187 deg/s,
      cmd heading: 215.601556 deg,
      new cmd heading: 220.398124 deg.

2021-02-16T14:53:11.096Z,1613487191.096 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:11.873Z,1613487191.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:12.300Z,1613487192.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:13.100Z,1613487193.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145313.28*55

2021-02-16T14:53:13.158Z,1613487193.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 160.840491 deg, deltaT: 4.432551 s, approachRate: 0.000000 m/s, LOS rate: -6.710092 deg/s, posRepo size: 4
2021-02-16T14:53:13.164Z,1613487193.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.039993 m,
      bearing: 160.840491 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.710092 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 199.553752 deg,
      new cmd heading: 198.054493 deg.

2021-02-16T14:53:15.560Z,1613487195.560 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:16.321Z,1613487196.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:16.733Z,1613487196.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:17.552Z,1613487197.552 [Micromodem](INFO): Nmea in: $SNTTA,0.127473,,,,145317.73*45

2021-02-16T14:53:17.598Z,1613487197.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.039993 m, bearing: 192.890525 deg, deltaT: 4.462230 s, approachRate: 0.000000 m/s, LOS rate: 7.182515 deg/s, posRepo size: 4
2021-02-16T14:53:17.601Z,1613487197.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.039993 m,
      bearing: 192.890525 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.182515 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 146.204319 deg,
      new cmd heading: 141.298947 deg.

2021-02-16T14:53:19.978Z,1613487199.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:20.768Z,1613487200.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:21.173Z,1613487201.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:22.003Z,1613487202.003 [Micromodem](INFO): Nmea in: $SNTTA,0.129154,,0.134807,,145322.18*57

2021-02-16T14:53:22.445Z,1613487202.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.799988 m, bearing: 192.515247 deg, deltaT: 4.845231 s, approachRate: 1.807962 m/s, LOS rate: -0.077453 deg/s, posRepo size: 4
2021-02-16T14:53:22.457Z,1613487202.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.799988 m,
      bearing: 192.515247 deg,
      approachRate: 1.807962 m/s,
      LOS rate: -0.077453 deg/s,
      cmd update: -0.232359 deg/s,
      cmd heading: 204.256769 deg,
      new cmd heading: 209.275302 deg.

2021-02-16T14:53:24.833Z,1613487204.833 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:25.614Z,1613487205.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:26.023Z,1613487206.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:26.828Z,1613487206.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145327.03*5B

2021-02-16T14:53:27.289Z,1613487207.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.219986 m, bearing: 162.614783 deg, deltaT: 4.826433 s, approachRate: 0.708597 m/s, LOS rate: -6.195148 deg/s, posRepo size: 4
2021-02-16T14:53:27.291Z,1613487207.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.219986 m,
      bearing: 162.614783 deg,
      approachRate: 0.708597 m/s,
      LOS rate: -6.195148 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 203.129717 deg,
      new cmd heading: 203.034012 deg.

2021-02-16T14:53:29.735Z,1613487209.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:30.466Z,1613487210.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:30.864Z,1613487210.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:31.696Z,1613487211.696 [Micromodem](INFO): Nmea in: $SNTTA,0.133632,,,,145331.88*47

2021-02-16T14:53:32.154Z,1613487212.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.579987 m, bearing: 196.240952 deg, deltaT: 4.874710 s, approachRate: 0.689272 m/s, LOS rate: 6.898086 deg/s, posRepo size: 4
2021-02-16T14:53:32.160Z,1613487212.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.579987 m,
      bearing: 196.240952 deg,
      approachRate: 0.689272 m/s,
      LOS rate: 6.898086 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 144.731271 deg,
      new cmd heading: 139.891479 deg.

2021-02-16T14:53:34.542Z,1613487214.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:35.308Z,1613487215.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:35.716Z,1613487215.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:36.539Z,1613487216.539 [Micromodem](INFO): Nmea in: $SNTTA,0.135522,,,,145336.72*41

2021-02-16T14:53:36.967Z,1613487216.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.339981 m, bearing: 183.235616 deg, deltaT: 4.811657 s, approachRate: 0.573606 m/s, LOS rate: -2.702881 deg/s, posRepo size: 4
2021-02-16T14:53:36.969Z,1613487216.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 183.235616 deg,
      approachRate: 0.573606 m/s,
      LOS rate: -2.702881 deg/s,
      cmd update: -8.108643 deg/s,
      cmd heading: 202.568968 deg,
      new cmd heading: 207.403600 deg.

2021-02-16T14:53:39.386Z,1613487219.386 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:40.166Z,1613487220.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:40.564Z,1613487220.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:41.377Z,1613487221.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145341.58*55

2021-02-16T14:53:41.807Z,1613487221.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.519989 m, bearing: 163.133563 deg, deltaT: 4.862045 s, approachRate: 0.654047 m/s, LOS rate: -4.134485 deg/s, posRepo size: 4
2021-02-16T14:53:41.809Z,1613487221.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.519989 m,
      bearing: 163.133563 deg,
      approachRate: 0.654047 m/s,
      LOS rate: -4.134485 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 163.339647 deg,
      new cmd heading: 160.056279 deg.

2021-02-16T14:53:44.346Z,1613487224.346 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:45.006Z,1613487225.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:45.410Z,1613487225.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:46.230Z,1613487226.230 [Micromodem](INFO): Nmea in: $SNTTA,0.139522,,,,145346.42*49

2021-02-16T14:53:46.686Z,1613487226.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.579987 m, bearing: 197.257284 deg, deltaT: 4.874829 s, approachRate: 0.627714 m/s, LOS rate: 6.999983 deg/s, posRepo size: 4
2021-02-16T14:53:46.693Z,1613487226.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.579987 m,
      bearing: 197.257284 deg,
      approachRate: 0.627714 m/s,
      LOS rate: 6.999983 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.600557 deg,
      new cmd heading: 100.158961 deg.

2021-02-16T14:53:49.085Z,1613487229.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:49.854Z,1613487229.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:50.276Z,1613487230.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:51.069Z,1613487231.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145351.27*5C

2021-02-16T14:53:51.545Z,1613487231.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 212.459991 m, bearing: 152.316579 deg, deltaT: 4.783126 s, approachRate: 0.602118 m/s, LOS rate: -9.395677 deg/s, posRepo size: 4
2021-02-16T14:53:51.546Z,1613487231.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.459991 m,
      bearing: 152.316579 deg,
      approachRate: 0.602118 m/s,
      LOS rate: -9.395677 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 162.046035 deg,
      new cmd heading: 167.574123 deg.

2021-02-16T14:53:53.938Z,1613487233.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:54.714Z,1613487234.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:55.111Z,1613487235.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:53:55.927Z,1613487235.927 [Micromodem](INFO): Nmea in: $SNTTA,0.144063,,,,145356.13*46

2021-02-16T14:53:56.368Z,1613487236.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.839996 m, bearing: 156.421536 deg, deltaT: 4.867605 s, approachRate: 0.899827 m/s, LOS rate: 0.843322 deg/s, posRepo size: 4
2021-02-16T14:53:56.370Z,1613487236.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.839996 m,
      bearing: 156.421536 deg,
      approachRate: 0.899827 m/s,
      LOS rate: 0.843322 deg/s,
      cmd update: 2.529965 deg/s,
      cmd heading: 103.635074 deg,
      new cmd heading: 98.641430 deg.

2021-02-16T14:53:58.782Z,1613487238.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:53:59.557Z,1613487239.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:53:59.954Z,1613487239.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:00.772Z,1613487240.772 [Micromodem](INFO): Nmea in: $SNTTA,0.146490,,,,145400.97*44

2021-02-16T14:54:01.229Z,1613487241.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.899994 m, bearing: 125.738633 deg, deltaT: 4.877487 s, approachRate: 0.627372 m/s, LOS rate: -6.290720 deg/s, posRepo size: 4
2021-02-16T14:54:01.235Z,1613487241.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.899994 m,
      bearing: 125.738633 deg,
      approachRate: 0.627372 m/s,
      LOS rate: -6.290720 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 115.964954 deg,
      new cmd heading: 116.986997 deg.

2021-02-16T14:54:03.616Z,1613487243.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:04.404Z,1613487244.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:04.802Z,1613487244.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:05.620Z,1613487245.620 [Micromodem](INFO): Nmea in: $SNTTA,0.149112,,,,145405.82*45

2021-02-16T14:54:06.054Z,1613487246.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.799988 m, bearing: 90.402588 deg, deltaT: 4.810257 s, approachRate: 0.810766 m/s, LOS rate: -7.345979 deg/s, posRepo size: 4
2021-02-16T14:54:06.056Z,1613487246.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.799988 m,
      bearing: 90.402588 deg,
      approachRate: 0.810766 m/s,
      LOS rate: -7.345979 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 58.243561 deg,
      new cmd heading: 53.211456 deg.

2021-02-16T14:54:08.505Z,1613487248.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:09.246Z,1613487249.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:09.410Z,1613487249.410 [CTD_Seabird](ERROR): Failed to parse device response: 6.09,39
2021-02-16T14:54:09.667Z,1613487249.667 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:10.481Z,1613487250.481 [Micromodem](INFO): Nmea in: $SNTTA,0.151017,,,,145410.71*40

2021-02-16T14:54:10.912Z,1613487250.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 226.679993 m, bearing: 84.047247 deg, deltaT: 4.908968 s, approachRate: 0.586682 m/s, LOS rate: -1.294639 deg/s, posRepo size: 4
2021-02-16T14:54:10.913Z,1613487250.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.679993 m,
      bearing: 84.047247 deg,
      approachRate: 0.586682 m/s,
      LOS rate: -1.294639 deg/s,
      cmd update: -3.883917 deg/s,
      cmd heading: 359.385550 deg,
      new cmd heading: 354.929662 deg.

2021-02-16T14:54:13.315Z,1613487253.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:14.092Z,1613487254.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:14.501Z,1613487254.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:15.311Z,1613487255.311 [Micromodem](INFO): Nmea in: $SNTTA,0.152419,,,,145415.50*4F

2021-02-16T14:54:15.747Z,1613487255.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.659988 m, bearing: 59.389041 deg, deltaT: 4.788069 s, approachRate: 0.413527 m/s, LOS rate: -5.149927 deg/s, posRepo size: 4
2021-02-16T14:54:15.749Z,1613487255.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.659988 m,
      bearing: 59.389041 deg,
      approachRate: 0.413527 m/s,
      LOS rate: -5.149927 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 340.759098 deg,
      new cmd heading: 339.161324 deg.

2021-02-16T14:54:18.199Z,1613487258.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:18.941Z,1613487258.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:19.348Z,1613487259.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:20.183Z,1613487260.183 [Micromodem](INFO): Nmea in: $SNTTA,0.153322,,,,145420.35*44

2021-02-16T14:54:20.606Z,1613487260.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.979996 m, bearing: 355.952467 deg, deltaT: 4.871481 s, approachRate: 0.270966 m/s, LOS rate: -13.022031 deg/s, posRepo size: 4
2021-02-16T14:54:20.611Z,1613487260.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.022031 deg/s. Setting heading cmd to target bearing of 355.952467deg and heading rate command to 0 deg/s.
2021-02-16T14:54:23.018Z,1613487263.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:23.806Z,1613487263.806 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:24.201Z,1613487264.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:25.015Z,1613487265.015 [Micromodem](INFO): Nmea in: $SNTTA,0.153642,,,,145425.22*44

2021-02-16T14:54:25.480Z,1613487265.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 230.699997 m, bearing: 60.890160 deg, deltaT: 4.853756 s, approachRate: 0.148339 m/s, LOS rate: 13.378852 deg/s, posRepo size: 4
2021-02-16T14:54:25.481Z,1613487265.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.378852 deg/s. Setting heading cmd to target bearing of 60.890160deg and heading rate command to 0 deg/s.
2021-02-16T14:54:27.866Z,1613487267.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:28.653Z,1613487268.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:29.041Z,1613487269.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:29.863Z,1613487269.863 [Micromodem](INFO): Nmea in: $SNTTA,0.153103,,,,145430.06*44

2021-02-16T14:54:30.314Z,1613487270.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 229.500000 m, bearing: 316.621834 deg, deltaT: 4.854105 s, approachRate: -0.247213 m/s, LOS rate: -21.480441 deg/s, posRepo size: 4
2021-02-16T14:54:30.319Z,1613487270.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -21.480441 deg/s. Setting heading cmd to target bearing of 316.621834deg and heading rate command to 0 deg/s.
2021-02-16T14:54:32.735Z,1613487272.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:33.501Z,1613487273.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:33.897Z,1613487273.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:34.719Z,1613487274.719 [Micromodem](INFO): Nmea in: $SNTTA,0.152208,,,,145434.91*47

2021-02-16T14:54:35.190Z,1613487275.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 228.119995 m, bearing: 308.031423 deg, deltaT: 4.831542 s, approachRate: -0.285624 m/s, LOS rate: -1.777985 deg/s, posRepo size: 4
2021-02-16T14:54:35.196Z,1613487275.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.119995 m,
      bearing: 308.031423 deg,
      approachRate: -0.285624 m/s,
      LOS rate: -1.777985 deg/s,
      cmd update: -5.333956 deg/s,
      cmd heading: 316.621834 deg,
      new cmd heading: 316.621834 deg.

2021-02-16T14:54:37.565Z,1613487277.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:38.341Z,1613487278.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:38.741Z,1613487278.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:39.559Z,1613487279.559 [Micromodem](INFO): Nmea in: $SNTTA,0.150688,,,,145439.75*4E

2021-02-16T14:54:40.004Z,1613487280.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 225.839981 m, bearing: 314.960021 deg, deltaT: 4.857854 s, approachRate: -0.469346 m/s, LOS rate: 1.426267 deg/s, posRepo size: 4
2021-02-16T14:54:40.006Z,1613487280.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.839981 m,
      bearing: 314.960021 deg,
      approachRate: -0.469346 m/s,
      LOS rate: 1.426267 deg/s,
      cmd update: 4.278802 deg/s,
      cmd heading: 290.731590 deg,
      new cmd heading: 288.583457 deg.

2021-02-16T14:54:42.441Z,1613487282.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:43.201Z,1613487283.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:43.604Z,1613487283.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:44.413Z,1613487284.413 [Micromodem](INFO): Nmea in: $SNTTA,0.149131,,,,145444.61*4C

2021-02-16T14:54:44.858Z,1613487284.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.380005 m, bearing: 309.701022 deg, deltaT: 4.852107 s, approachRate: -0.506991 m/s, LOS rate: -1.083859 deg/s, posRepo size: 4
2021-02-16T14:54:44.860Z,1613487284.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.380005 m,
      bearing: 309.701022 deg,
      approachRate: -0.506991 m/s,
      LOS rate: -1.083859 deg/s,
      cmd update: -3.251577 deg/s,
      cmd heading: 311.509405 deg,
      new cmd heading: 313.224139 deg.

2021-02-16T14:54:47.283Z,1613487287.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:48.032Z,1613487288.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:48.438Z,1613487288.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:49.256Z,1613487289.256 [Micromodem](INFO): Nmea in: $SNTTA,0.147150,,,,145449.44*4F

2021-02-16T14:54:49.779Z,1613487289.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.320007 m, bearing: 308.118822 deg, deltaT: 4.831023 s, approachRate: -0.633406 m/s, LOS rate: -0.327508 deg/s, posRepo size: 4
2021-02-16T14:54:49.782Z,1613487289.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.320007 m,
      bearing: 308.118822 deg,
      approachRate: -0.633406 m/s,
      LOS rate: -0.327508 deg/s,
      cmd update: -0.982525 deg/s,
      cmd heading: 295.801166 deg,
      new cmd heading: 294.204512 deg.

2021-02-16T14:54:52.088Z,1613487292.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:52.880Z,1613487292.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:53.301Z,1613487293.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:54.103Z,1613487294.103 [Micromodem](INFO): Nmea in: $SNTTA,0.144834,,,,145454.29*40

2021-02-16T14:54:54.540Z,1613487294.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.079987 m, bearing: 307.287287 deg, deltaT: 4.867576 s, approachRate: -0.665633 m/s, LOS rate: -0.170831 deg/s, posRepo size: 4
2021-02-16T14:54:54.542Z,1613487294.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.079987 m,
      bearing: 307.287287 deg,
      approachRate: -0.665633 m/s,
      LOS rate: -0.170831 deg/s,
      cmd update: -0.512494 deg/s,
      cmd heading: 291.024095 deg,
      new cmd heading: 290.648803 deg.

2021-02-16T14:54:56.952Z,1613487296.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:54:57.734Z,1613487297.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:54:58.161Z,1613487298.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:54:58.949Z,1613487298.949 [Micromodem](INFO): Nmea in: $SNTTA,0.142856,,,,145459.14*41

2021-02-16T14:54:59.415Z,1613487299.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.080002 m, bearing: 306.032172 deg, deltaT: 4.845883 s, approachRate: -0.619079 m/s, LOS rate: -0.259007 deg/s, posRepo size: 4
2021-02-16T14:54:59.417Z,1613487299.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 306.032172 deg,
      approachRate: -0.619079 m/s,
      LOS rate: -0.259007 deg/s,
      cmd update: -0.777020 deg/s,
      cmd heading: 288.539737 deg,
      new cmd heading: 288.327921 deg.

2021-02-16T14:55:01.808Z,1613487301.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:02.580Z,1613487302.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:02.982Z,1613487302.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:03.798Z,1613487303.798 [Micromodem](INFO): Nmea in: $SNTTA,0.140865,,,,145503.99*48

2021-02-16T14:55:04.231Z,1613487304.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.079987 m, bearing: 305.754347 deg, deltaT: 4.821204 s, approachRate: -0.622254 m/s, LOS rate: -0.057626 deg/s, posRepo size: 4
2021-02-16T14:55:04.233Z,1613487304.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.079987 m,
      bearing: 305.754347 deg,
      approachRate: -0.622254 m/s,
      LOS rate: -0.057626 deg/s,
      cmd update: -0.172877 deg/s,
      cmd heading: 284.790769 deg,
      new cmd heading: 284.473193 deg.

2021-02-16T14:55:06.641Z,1613487306.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:07.424Z,1613487307.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:07.842Z,1613487307.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:08.648Z,1613487308.648 [Micromodem](INFO): Nmea in: $SNTTA,0.138863,,,,145508.84*46

2021-02-16T14:55:09.089Z,1613487309.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.139999 m, bearing: 304.899535 deg, deltaT: 4.895057 s, approachRate: -0.600603 m/s, LOS rate: -0.174628 deg/s, posRepo size: 4
2021-02-16T14:55:09.091Z,1613487309.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.139999 m,
      bearing: 304.899535 deg,
      approachRate: -0.600603 m/s,
      LOS rate: -0.174628 deg/s,
      cmd update: -0.523883 deg/s,
      cmd heading: 283.945160 deg,
      new cmd heading: 283.880321 deg.

2021-02-16T14:55:11.505Z,1613487311.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:12.283Z,1613487312.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:12.710Z,1613487312.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:13.497Z,1613487313.497 [Micromodem](INFO): Nmea in: $SNTTA,0.136946,,,,145513.69*47

2021-02-16T14:55:13.931Z,1613487313.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.199982 m, bearing: 307.077628 deg, deltaT: 4.832545 s, approachRate: -0.608379 m/s, LOS rate: 0.450713 deg/s, posRepo size: 4
2021-02-16T14:55:13.933Z,1613487313.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.199982 m,
      bearing: 307.077628 deg,
      approachRate: -0.608379 m/s,
      LOS rate: 0.450713 deg/s,
      cmd update: 1.352140 deg/s,
      cmd heading: 281.413462 deg,
      new cmd heading: 281.212074 deg.

2021-02-16T14:55:16.369Z,1613487316.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:17.145Z,1613487317.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:17.527Z,1613487317.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:18.354Z,1613487318.354 [Micromodem](INFO): Nmea in: $SNTTA,0.134984,,,,145518.55*4F

2021-02-16T14:55:18.793Z,1613487318.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.319992 m, bearing: 307.427580 deg, deltaT: 4.828706 s, approachRate: -0.596431 m/s, LOS rate: 0.072473 deg/s, posRepo size: 4
2021-02-16T14:55:18.795Z,1613487318.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.319992 m,
      bearing: 307.427580 deg,
      approachRate: -0.596431 m/s,
      LOS rate: 0.072473 deg/s,
      cmd update: 0.217419 deg/s,
      cmd heading: 287.947976 deg,
      new cmd heading: 288.508043 deg.

2021-02-16T14:55:21.211Z,1613487321.211 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:21.968Z,1613487321.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:22.374Z,1613487322.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:23.186Z,1613487323.186 [Micromodem](INFO): Nmea in: $SNTTA,0.132982,,,,145523.38*4C

2021-02-16T14:55:23.621Z,1613487323.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.259995 m, bearing: 308.306516 deg, deltaT: 4.852623 s, approachRate: -0.630586 m/s, LOS rate: 0.181126 deg/s, posRepo size: 4
2021-02-16T14:55:23.623Z,1613487323.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.259995 m,
      bearing: 308.306516 deg,
      approachRate: -0.630586 m/s,
      LOS rate: 0.181126 deg/s,
      cmd update: 0.543378 deg/s,
      cmd heading: 289.002997 deg,
      new cmd heading: 289.087732 deg.

2021-02-16T14:55:26.059Z,1613487326.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:26.822Z,1613487326.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:27.221Z,1613487327.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:28.037Z,1613487328.037 [Micromodem](INFO): Nmea in: $SNTTA,0.130932,,,,145528.23*44

2021-02-16T14:55:28.468Z,1613487328.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.199997 m, bearing: 309.642255 deg, deltaT: 4.849935 s, approachRate: -0.630936 m/s, LOS rate: 0.275414 deg/s, posRepo size: 4
2021-02-16T14:55:28.470Z,1613487328.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.199997 m,
      bearing: 309.642255 deg,
      approachRate: -0.630936 m/s,
      LOS rate: 0.275414 deg/s,
      cmd update: 0.826241 deg/s,
      cmd heading: 291.627537 deg,
      new cmd heading: 291.848330 deg.

2021-02-16T14:55:30.910Z,1613487330.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:31.693Z,1613487331.693 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:32.070Z,1613487332.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:32.900Z,1613487332.900 [Micromodem](INFO): Nmea in: $SNTTA,0.128904,,,,145533.10*42

2021-02-16T14:55:33.332Z,1613487333.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.080002 m, bearing: 310.232192 deg, deltaT: 4.842249 s, approachRate: -0.644328 m/s, LOS rate: 0.121831 deg/s, posRepo size: 4
2021-02-16T14:55:33.334Z,1613487333.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.080002 m,
      bearing: 310.232192 deg,
      approachRate: -0.644328 m/s,
      LOS rate: 0.121831 deg/s,
      cmd update: 0.365494 deg/s,
      cmd heading: 295.644989 deg,
      new cmd heading: 295.981919 deg.

2021-02-16T14:55:35.738Z,1613487335.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:36.512Z,1613487336.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:36.918Z,1613487336.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:37.732Z,1613487337.732 [Micromodem](INFO): Nmea in: $SNTTA,0.126745,,,,145537.92*49

2021-02-16T14:55:38.220Z,1613487338.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.899994 m, bearing: 311.057142 deg, deltaT: 4.832008 s, approachRate: -0.658113 m/s, LOS rate: 0.170726 deg/s, posRepo size: 4
2021-02-16T14:55:38.222Z,1613487338.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.899994 m,
      bearing: 311.057142 deg,
      approachRate: -0.658113 m/s,
      LOS rate: 0.170726 deg/s,
      cmd update: 0.512179 deg/s,
      cmd heading: 297.411056 deg,
      new cmd heading: 297.579142 deg.

2021-02-16T14:55:40.583Z,1613487340.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:41.360Z,1613487341.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:41.790Z,1613487341.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:42.592Z,1613487342.592 [Micromodem](INFO): Nmea in: $SNTTA,0.124573,,,,145542.77*45

2021-02-16T14:55:42.637Z,1613487342.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 189.899994 m, bearing: 314.656870 deg, deltaT: 4.496707 s, approachRate: 0.000000 m/s, LOS rate: 0.800525 deg/s, posRepo size: 4
2021-02-16T14:55:42.643Z,1613487342.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.899994 m,
      bearing: 314.656870 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.800525 deg/s,
      cmd update: 2.401576 deg/s,
      cmd heading: 299.705350 deg,
      new cmd heading: 299.911267 deg.

2021-02-16T14:55:45.046Z,1613487345.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:45.819Z,1613487345.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:46.229Z,1613487346.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:47.038Z,1613487347.038 [Micromodem](INFO): Nmea in: $SNTTA,0.122607,,,,145547.23*47

2021-02-16T14:55:47.468Z,1613487347.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.660004 m, bearing: 311.992332 deg, deltaT: 4.862998 s, approachRate: -1.283157 m/s, LOS rate: -0.547921 deg/s, posRepo size: 4
2021-02-16T14:55:47.470Z,1613487347.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.660004 m,
      bearing: 311.992332 deg,
      approachRate: -1.283157 m/s,
      LOS rate: -0.547921 deg/s,
      cmd update: -1.643763 deg/s,
      cmd heading: 311.409727 deg,
      new cmd heading: 312.271682 deg.

2021-02-16T14:55:49.892Z,1613487349.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:50.688Z,1613487350.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:51.062Z,1613487351.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:51.898Z,1613487351.898 [Micromodem](INFO): Nmea in: $SNTTA,0.120369,,,,145552.10*4C

2021-02-16T14:55:52.320Z,1613487352.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.360001 m, bearing: 311.998096 deg, deltaT: 4.842442 s, approachRate: -0.681475 m/s, LOS rate: 0.001190 deg/s, posRepo size: 4
2021-02-16T14:55:52.322Z,1613487352.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.360001 m,
      bearing: 311.998096 deg,
      approachRate: -0.681475 m/s,
      LOS rate: 0.001190 deg/s,
      cmd update: 0.003571 deg/s,
      cmd heading: 303.446206 deg,
      new cmd heading: 302.844664 deg.

2021-02-16T14:55:54.725Z,1613487354.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:55:55.518Z,1613487355.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:55:55.910Z,1613487355.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:55:56.733Z,1613487356.733 [Micromodem](INFO): Nmea in: $SNTTA,0.118093,,,,145556.93*4E

2021-02-16T14:55:57.206Z,1613487357.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 311.550172 deg, deltaT: 4.822797 s, approachRate: -0.709132 m/s, LOS rate: -0.092876 deg/s, posRepo size: 4
2021-02-16T14:55:57.212Z,1613487357.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.940002 m,
      bearing: 311.550172 deg,
      approachRate: -0.709132 m/s,
      LOS rate: -0.092876 deg/s,
      cmd update: -0.278629 deg/s,
      cmd heading: 303.463360 deg,
      new cmd heading: 303.464965 deg.

2021-02-16T14:55:59.705Z,1613487359.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:00.353Z,1613487360.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:00.758Z,1613487360.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:01.584Z,1613487361.584 [Micromodem](INFO): Nmea in: $SNTTA,0.115862,,,,145601.76*4F

2021-02-16T14:56:01.621Z,1613487361.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 310.923407 deg, deltaT: 4.432700 s, approachRate: 0.000000 m/s, LOS rate: -0.141396 deg/s, posRepo size: 4
2021-02-16T14:56:01.623Z,1613487361.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.940002 m,
      bearing: 310.923407 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.141396 deg/s,
      cmd update: -0.424188 deg/s,
      cmd heading: 302.221654 deg,
      new cmd heading: 302.108067 deg.

2021-02-16T14:56:04.064Z,1613487364.064 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:04.796Z,1613487364.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:05.209Z,1613487365.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:06.028Z,1613487366.028 [Micromodem](INFO): Nmea in: $SNTTA,0.113808,,,,145606.21*40

2021-02-16T14:56:06.066Z,1613487366.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.940002 m, bearing: 310.306969 deg, deltaT: 4.460968 s, approachRate: 0.000000 m/s, LOS rate: -0.138185 deg/s, posRepo size: 4
2021-02-16T14:56:06.068Z,1613487366.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.940002 m,
      bearing: 310.306969 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.138185 deg/s,
      cmd update: -0.414555 deg/s,
      cmd heading: 300.339207 deg,
      new cmd heading: 300.163013 deg.

2021-02-16T14:56:08.470Z,1613487368.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:09.240Z,1613487369.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:09.654Z,1613487369.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:10.488Z,1613487370.488 [Micromodem](INFO): Nmea in: $SNTTA,0.111852,,,,145610.65*4A

2021-02-16T14:56:10.521Z,1613487370.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 310.932641 deg, deltaT: 4.445184 s, approachRate: -2.159642 m/s, LOS rate: 0.140753 deg/s, posRepo size: 4
2021-02-16T14:56:10.522Z,1613487370.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 310.932641 deg,
      approachRate: -2.159642 m/s,
      LOS rate: 0.140753 deg/s,
      cmd update: 0.422259 deg/s,
      cmd heading: 298.492463 deg,
      new cmd heading: 298.320523 deg.

2021-02-16T14:56:12.902Z,1613487372.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:13.696Z,1613487373.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:14.099Z,1613487374.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:14.920Z,1613487374.920 [Micromodem](INFO): Nmea in: $SNTTA,0.109855,,,,145615.11*42

2021-02-16T14:56:14.973Z,1613487374.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 310.367402 deg, deltaT: 4.410133 s, approachRate: 0.000000 m/s, LOS rate: -0.128168 deg/s, posRepo size: 4
2021-02-16T14:56:14.974Z,1613487374.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 310.367402 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.128168 deg/s,
      cmd update: -0.384505 deg/s,
      cmd heading: 300.360097 deg,
      new cmd heading: 300.547515 deg.

2021-02-16T14:56:17.380Z,1613487377.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:18.160Z,1613487378.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:18.554Z,1613487378.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:19.376Z,1613487379.376 [Micromodem](INFO): Nmea in: $SNTTA,0.107897,,,,145619.57*4C

2021-02-16T14:56:19.421Z,1613487379.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.339996 m, bearing: 311.734751 deg, deltaT: 4.477650 s, approachRate: 0.000000 m/s, LOS rate: 0.305372 deg/s, posRepo size: 4
2021-02-16T14:56:19.427Z,1613487379.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.339996 m,
      bearing: 311.734751 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.305372 deg/s,
      cmd update: 0.916116 deg/s,
      cmd heading: 298.639670 deg,
      new cmd heading: 298.479026 deg.

2021-02-16T14:56:21.788Z,1613487381.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:22.574Z,1613487382.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:22.982Z,1613487382.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:23.812Z,1613487383.812 [Micromodem](INFO): Nmea in: $SNTTA,0.105969,,,,145623.98*44

2021-02-16T14:56:23.837Z,1613487383.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.760010 m, bearing: 312.198002 deg, deltaT: 4.406328 s, approachRate: -1.947196 m/s, LOS rate: 0.105133 deg/s, posRepo size: 4
2021-02-16T14:56:23.838Z,1613487383.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.760010 m,
      bearing: 312.198002 deg,
      approachRate: -1.947196 m/s,
      LOS rate: 0.105133 deg/s,
      cmd update: 0.315399 deg/s,
      cmd heading: 302.680162 deg,
      new cmd heading: 303.067572 deg.

2021-02-16T14:56:24.210Z,1613487384.210 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T14:56:26.244Z,1613487386.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:27.016Z,1613487387.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:27.427Z,1613487387.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:28.253Z,1613487388.253 [Micromodem](INFO): Nmea in: $SNTTA,0.104000,,,,145628.43*4E

2021-02-16T14:56:28.304Z,1613487388.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.819992 m, bearing: 312.078966 deg, deltaT: 4.447981 s, approachRate: -0.660978 m/s, LOS rate: -0.026762 deg/s, posRepo size: 4
2021-02-16T14:56:28.306Z,1613487388.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.819992 m,
      bearing: 312.078966 deg,
      approachRate: -0.660978 m/s,
      LOS rate: -0.026762 deg/s,
      cmd update: -0.080286 deg/s,
      cmd heading: 304.082966 deg,
      new cmd heading: 304.220053 deg.

2021-02-16T14:56:30.667Z,1613487390.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:31.477Z,1613487391.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:31.880Z,1613487391.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:32.700Z,1613487392.700 [Micromodem](INFO): Nmea in: $SNTTA,0.101874,,,,145632.89*4D

2021-02-16T14:56:32.734Z,1613487392.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.580002 m, bearing: 312.060114 deg, deltaT: 4.465196 s, approachRate: -0.725610 m/s, LOS rate: -0.004222 deg/s, posRepo size: 4
2021-02-16T14:56:32.736Z,1613487392.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.580002 m,
      bearing: 312.060114 deg,
      approachRate: -0.725610 m/s,
      LOS rate: -0.004222 deg/s,
      cmd update: -0.012666 deg/s,
      cmd heading: 303.724489 deg,
      new cmd heading: 303.691738 deg.

2021-02-16T14:56:35.155Z,1613487395.155 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:35.905Z,1613487395.905 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:36.317Z,1613487396.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:37.164Z,1613487397.164 [Micromodem](INFO): Nmea in: $SNTTA,0.099788,,,,145637.32*44

2021-02-16T14:56:37.189Z,1613487397.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.460007 m, bearing: 311.737456 deg, deltaT: 4.426916 s, approachRate: -0.704778 m/s, LOS rate: -0.072886 deg/s, posRepo size: 4
2021-02-16T14:56:37.204Z,1613487397.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.460007 m,
      bearing: 311.737456 deg,
      approachRate: -0.704778 m/s,
      LOS rate: -0.072886 deg/s,
      cmd update: -0.218657 deg/s,
      cmd heading: 303.668415 deg,
      new cmd heading: 303.662898 deg.

2021-02-16T14:56:39.752Z,1613487399.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:40.353Z,1613487400.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:40.754Z,1613487400.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:41.580Z,1613487401.580 [Micromodem](INFO): Nmea in: $SNTTA,0.097692,,,,145641.76*41

2021-02-16T14:56:41.617Z,1613487401.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.340012 m, bearing: 311.781607 deg, deltaT: 4.456741 s, approachRate: -0.700062 m/s, LOS rate: 0.009906 deg/s, posRepo size: 4
2021-02-16T14:56:41.619Z,1613487401.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.340012 m,
      bearing: 311.781607 deg,
      approachRate: -0.700062 m/s,
      LOS rate: 0.009906 deg/s,
      cmd update: 0.029719 deg/s,
      cmd heading: 302.693923 deg,
      new cmd heading: 302.604927 deg.

2021-02-16T14:56:44.023Z,1613487404.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:44.797Z,1613487404.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:45.296Z,1613487405.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:46.024Z,1613487406.024 [Micromodem](INFO): Nmea in: $SNTTA,0.095556,,,,145646.21*4D

2021-02-16T14:56:46.076Z,1613487406.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.099991 m, bearing: 311.220575 deg, deltaT: 4.408369 s, approachRate: -0.734970 m/s, LOS rate: -0.127265 deg/s, posRepo size: 4
2021-02-16T14:56:46.078Z,1613487406.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.099991 m,
      bearing: 311.220575 deg,
      approachRate: -0.734970 m/s,
      LOS rate: -0.127265 deg/s,
      cmd update: -0.381795 deg/s,
      cmd heading: 302.824942 deg,
      new cmd heading: 302.838535 deg.

2021-02-16T14:56:48.453Z,1613487408.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:49.241Z,1613487409.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:49.648Z,1613487409.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:50.471Z,1613487410.471 [Micromodem](INFO): Nmea in: $SNTTA,0.093582,,,,145650.65*45

2021-02-16T14:56:50.500Z,1613487410.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.160004 m, bearing: 312.314553 deg, deltaT: 4.538470 s, approachRate: -0.647793 m/s, LOS rate: 0.241045 deg/s, posRepo size: 4
2021-02-16T14:56:50.502Z,1613487410.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.160004 m,
      bearing: 312.314553 deg,
      approachRate: -0.647793 m/s,
      LOS rate: 0.241045 deg/s,
      cmd update: 0.723136 deg/s,
      cmd heading: 301.099725 deg,
      new cmd heading: 300.961401 deg.

2021-02-16T14:56:52.916Z,1613487412.916 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:53.707Z,1613487413.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:54.090Z,1613487414.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:54.929Z,1613487414.929 [Micromodem](INFO): Nmea in: $SNTTA,0.091489,,,,145655.12*48

2021-02-16T14:56:54.978Z,1613487414.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.040009 m, bearing: 312.387909 deg, deltaT: 4.404407 s, approachRate: -0.708380 m/s, LOS rate: 0.016655 deg/s, posRepo size: 4
2021-02-16T14:56:54.984Z,1613487414.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.040009 m,
      bearing: 312.387909 deg,
      approachRate: -0.708380 m/s,
      LOS rate: 0.016655 deg/s,
      cmd update: 0.049966 deg/s,
      cmd heading: 304.296054 deg,
      new cmd heading: 304.600185 deg.

2021-02-16T14:56:57.348Z,1613487417.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:56:58.163Z,1613487418.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:56:58.530Z,1613487418.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:56:59.368Z,1613487419.368 [Micromodem](INFO): Nmea in: $SNTTA,0.089731,,,,145659.57*4C

2021-02-16T14:56:59.413Z,1613487419.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.400009 m, bearing: 312.205379 deg, deltaT: 4.418908 s, approachRate: -0.597433 m/s, LOS rate: -0.041307 deg/s, posRepo size: 4
2021-02-16T14:56:59.414Z,1613487419.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.400009 m,
      bearing: 312.205379 deg,
      approachRate: -0.597433 m/s,
      LOS rate: -0.041307 deg/s,
      cmd update: -0.123920 deg/s,
      cmd heading: 304.516256 deg,
      new cmd heading: 304.538632 deg.

2021-02-16T14:57:01.785Z,1613487421.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:02.597Z,1613487422.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:02.974Z,1613487422.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:03.812Z,1613487423.812 [Micromodem](INFO): Nmea in: $SNTTA,0.087498,,,,145704.01*48

2021-02-16T14:57:03.836Z,1613487423.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.979996 m, bearing: 312.155409 deg, deltaT: 4.434948 s, approachRate: -0.771151 m/s, LOS rate: -0.011267 deg/s, posRepo size: 4
2021-02-16T14:57:03.838Z,1613487423.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.979996 m,
      bearing: 312.155409 deg,
      approachRate: -0.771151 m/s,
      LOS rate: -0.011267 deg/s,
      cmd update: -0.033802 deg/s,
      cmd heading: 303.964705 deg,
      new cmd heading: 303.912638 deg.

2021-02-16T14:57:06.265Z,1613487426.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:07.018Z,1613487427.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:07.417Z,1613487427.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:08.245Z,1613487428.245 [Micromodem](INFO): Nmea in: $SNTTA,0.085674,,,,145708.43*40

2021-02-16T14:57:08.281Z,1613487428.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.279999 m, bearing: 312.489132 deg, deltaT: 4.437156 s, approachRate: -0.608497 m/s, LOS rate: 0.075211 deg/s, posRepo size: 4
2021-02-16T14:57:08.303Z,1613487428.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.279999 m,
      bearing: 312.489132 deg,
      approachRate: -0.608497 m/s,
      LOS rate: 0.075211 deg/s,
      cmd update: 0.225633 deg/s,
      cmd heading: 303.814720 deg,
      new cmd heading: 303.800259 deg.

2021-02-16T14:57:10.724Z,1613487430.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:11.456Z,1613487431.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:11.884Z,1613487431.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:12.712Z,1613487432.712 [Micromodem](INFO): Nmea in: $SNTTA,0.083596,,,,145712.87*4A

2021-02-16T14:57:12.758Z,1613487432.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.220001 m, bearing: 311.827615 deg, deltaT: 4.447397 s, approachRate: -0.688042 m/s, LOS rate: -0.148743 deg/s, posRepo size: 4
2021-02-16T14:57:12.760Z,1613487432.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.220001 m,
      bearing: 311.827615 deg,
      approachRate: -0.688042 m/s,
      LOS rate: -0.148743 deg/s,
      cmd update: -0.446228 deg/s,
      cmd heading: 304.818146 deg,
      new cmd heading: 304.921432 deg.

2021-02-16T14:57:15.117Z,1613487435.117 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:15.900Z,1613487435.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:16.311Z,1613487436.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:17.165Z,1613487437.165 [Micromodem](INFO): Nmea in: $SNTTA,0.081804,,,,145717.31*46

2021-02-16T14:57:17.245Z,1613487437.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.460007 m, bearing: 312.492957 deg, deltaT: 4.446834 s, approachRate: -0.620665 m/s, LOS rate: 0.149622 deg/s, posRepo size: 4
2021-02-16T14:57:17.257Z,1613487437.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.460007 m,
      bearing: 312.492957 deg,
      approachRate: -0.620665 m/s,
      LOS rate: 0.149622 deg/s,
      cmd update: 0.448865 deg/s,
      cmd heading: 302.833812 deg,
      new cmd heading: 302.611746 deg.

2021-02-16T14:57:19.568Z,1613487439.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:20.370Z,1613487440.370 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:20.755Z,1613487440.755 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:21.588Z,1613487441.588 [Micromodem](INFO): Nmea in: $SNTTA,0.079763,,,,145721.78*47

2021-02-16T14:57:21.642Z,1613487441.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.400002 m, bearing: 312.912549 deg, deltaT: 4.453705 s, approachRate: -0.687070 m/s, LOS rate: 0.094212 deg/s, posRepo size: 4
2021-02-16T14:57:21.670Z,1613487441.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.400002 m,
      bearing: 312.912549 deg,
      approachRate: -0.687070 m/s,
      LOS rate: 0.094212 deg/s,
      cmd update: 0.282636 deg/s,
      cmd heading: 304.832954 deg,
      new cmd heading: 305.029557 deg.

2021-02-16T14:57:24.021Z,1613487444.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:24.797Z,1613487444.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:25.194Z,1613487445.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:26.032Z,1613487446.032 [Micromodem](INFO): Nmea in: $SNTTA,0.077628,,,,145726.21*4C

2021-02-16T14:57:26.078Z,1613487446.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.220001 m, bearing: 311.854007 deg, deltaT: 4.486777 s, approachRate: -0.708749 m/s, LOS rate: -0.235925 deg/s, posRepo size: 4
2021-02-16T14:57:26.080Z,1613487446.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 311.854007 deg,
      approachRate: -0.708749 m/s,
      LOS rate: -0.235925 deg/s,
      cmd update: -0.707775 deg/s,
      cmd heading: 306.094669 deg,
      new cmd heading: 306.211513 deg.

2021-02-16T14:57:28.472Z,1613487448.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:29.232Z,1613487449.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:29.638Z,1613487449.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:30.464Z,1613487450.464 [Micromodem](INFO): Nmea in: $SNTTA,0.075593,,,,145730.64*4B

2021-02-16T14:57:30.509Z,1613487450.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.220001 m, bearing: 312.514349 deg, deltaT: 4.396914 s, approachRate: -0.682297 m/s, LOS rate: 0.150183 deg/s, posRepo size: 4
2021-02-16T14:57:30.511Z,1613487450.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.220001 m,
      bearing: 312.514349 deg,
      approachRate: -0.682297 m/s,
      LOS rate: 0.150183 deg/s,
      cmd update: 0.450550 deg/s,
      cmd heading: 302.969474 deg,
      new cmd heading: 302.666065 deg.

2021-02-16T14:57:32.907Z,1613487452.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:33.695Z,1613487453.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:34.095Z,1613487454.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:34.916Z,1613487454.916 [Micromodem](INFO): Nmea in: $SNTTA,0.073667,,,,145735.11*42

2021-02-16T14:57:34.961Z,1613487454.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.220001 m, bearing: 313.172178 deg, deltaT: 4.465101 s, approachRate: -0.671877 m/s, LOS rate: 0.147327 deg/s, posRepo size: 4
2021-02-16T14:57:34.963Z,1613487454.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 313.172178 deg,
      approachRate: -0.671877 m/s,
      LOS rate: 0.147327 deg/s,
      cmd update: 0.441981 deg/s,
      cmd heading: 304.981282 deg,
      new cmd heading: 305.168435 deg.

2021-02-16T14:57:37.356Z,1613487457.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:38.144Z,1613487458.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:38.531Z,1613487458.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:39.368Z,1613487459.368 [Micromodem](INFO): Nmea in: $SNTTA,0.071708,,,,145739.55*44

2021-02-16T14:57:39.437Z,1613487459.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.340004 m, bearing: 314.037782 deg, deltaT: 4.407499 s, approachRate: -0.653431 m/s, LOS rate: 0.196393 deg/s, posRepo size: 4
2021-02-16T14:57:39.443Z,1613487459.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.340004 m,
      bearing: 314.037782 deg,
      approachRate: -0.653431 m/s,
      LOS rate: 0.196393 deg/s,
      cmd update: 0.589180 deg/s,
      cmd heading: 306.931047 deg,
      new cmd heading: 307.143216 deg.

2021-02-16T14:57:41.805Z,1613487461.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:42.583Z,1613487462.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:42.970Z,1613487462.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:43.812Z,1613487463.812 [Micromodem](INFO): Nmea in: $SNTTA,0.069506,,0.090512,,145744.00*5A

2021-02-16T14:57:43.836Z,1613487463.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.040001 m, bearing: 314.269407 deg, deltaT: 4.446550 s, approachRate: -0.742149 m/s, LOS rate: 0.052091 deg/s, posRepo size: 4
2021-02-16T14:57:43.838Z,1613487463.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.040001 m,
      bearing: 314.269407 deg,
      approachRate: -0.742149 m/s,
      LOS rate: 0.052091 deg/s,
      cmd update: 0.156273 deg/s,
      cmd heading: 309.550924 deg,
      new cmd heading: 309.805688 deg.

2021-02-16T14:57:46.234Z,1613487466.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:47.014Z,1613487467.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:47.419Z,1613487467.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:48.245Z,1613487468.245 [Micromodem](INFO): Nmea in: $SNTTA,0.067489,,,0.081563,145748.42*5E

2021-02-16T14:57:48.302Z,1613487468.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 313.992921 deg, deltaT: 4.445317 s, approachRate: -0.674868 m/s, LOS rate: -0.062197 deg/s, posRepo size: 4
2021-02-16T14:57:48.308Z,1613487468.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.040001 m,
      bearing: 313.992921 deg,
      approachRate: -0.674868 m/s,
      LOS rate: -0.062197 deg/s,
      cmd update: -0.186591 deg/s,
      cmd heading: 310.245255 deg,
      new cmd heading: 310.316367 deg.

2021-02-16T14:57:50.706Z,1613487470.706 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:51.463Z,1613487471.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:51.858Z,1613487471.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:52.732Z,1613487472.732 [Micromodem](INFO): Nmea in: $SNTTA,0.065527,,,,145752.87*4C

2021-02-16T14:57:52.739Z,1613487472.739 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:57:52.758Z,1613487472.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.040001 m, bearing: 313.768017 deg, deltaT: 4.443544 s, approachRate: -0.675137 m/s, LOS rate: -0.050614 deg/s, posRepo size: 4
2021-02-16T14:57:52.760Z,1613487472.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.040001 m,
      bearing: 313.768017 deg,
      approachRate: -0.675137 m/s,
      LOS rate: -0.050614 deg/s,
      cmd update: -0.151841 deg/s,
      cmd heading: 309.415702 deg,
      new cmd heading: 309.328830 deg.

2021-02-16T14:57:55.106Z,1613487475.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:57:55.896Z,1613487475.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:57:56.313Z,1613487476.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:57:57.148Z,1613487477.148 [Micromodem](INFO): Nmea in: $SNTTA,0.063425,,,,145757.31*41

2021-02-16T14:57:57.203Z,1613487477.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.919998 m, bearing: 313.062376 deg, deltaT: 4.465395 s, approachRate: -0.698707 m/s, LOS rate: -0.158024 deg/s, posRepo size: 4
2021-02-16T14:57:57.205Z,1613487477.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.919998 m,
      bearing: 313.062376 deg,
      approachRate: -0.698707 m/s,
      LOS rate: -0.158024 deg/s,
      cmd update: -0.474073 deg/s,
      cmd heading: 308.738445 deg,
      new cmd heading: 308.670674 deg.

2021-02-16T14:57:59.571Z,1613487479.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:00.340Z,1613487480.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:00.765Z,1613487480.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:01.576Z,1613487481.576 [Micromodem](INFO): Nmea in: $SNTTA,0.061297,,,,145801.75*40

2021-02-16T14:58:01.598Z,1613487481.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.739998 m, bearing: 313.697584 deg, deltaT: 4.445755 s, approachRate: -0.715289 m/s, LOS rate: 0.142880 deg/s, posRepo size: 4
2021-02-16T14:58:01.600Z,1613487481.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 313.697584 deg,
      approachRate: -0.715289 m/s,
      LOS rate: 0.142880 deg/s,
      cmd update: 0.428639 deg/s,
      cmd heading: 306.628432 deg,
      new cmd heading: 306.441454 deg.

2021-02-16T14:58:04.006Z,1613487484.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:04.787Z,1613487484.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:05.192Z,1613487485.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:06.023Z,1613487486.023 [Micromodem](INFO): Nmea in: $SNTTA,0.059286,,,,145806.20*4C

2021-02-16T14:58:06.047Z,1613487486.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.740005 m, bearing: 313.082703 deg, deltaT: 4.422710 s, approachRate: -0.678315 m/s, LOS rate: -0.139028 deg/s, posRepo size: 4
2021-02-16T14:58:06.049Z,1613487486.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 313.082703 deg,
      approachRate: -0.678315 m/s,
      LOS rate: -0.139028 deg/s,
      cmd update: -0.417084 deg/s,
      cmd heading: 308.520696 deg,
      new cmd heading: 308.704427 deg.

2021-02-16T14:58:08.469Z,1613487488.469 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:09.230Z,1613487489.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:09.656Z,1613487489.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:10.468Z,1613487490.468 [Micromodem](INFO): Nmea in: $SNTTA,0.057272,,0.069205,,145810.64*58

2021-02-16T14:58:10.506Z,1613487490.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.740005 m, bearing: 312.596530 deg, deltaT: 4.455533 s, approachRate: -0.673320 m/s, LOS rate: -0.109117 deg/s, posRepo size: 4
2021-02-16T14:58:10.508Z,1613487490.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.740005 m,
      bearing: 312.596530 deg,
      approachRate: -0.673320 m/s,
      LOS rate: -0.109117 deg/s,
      cmd update: -0.327350 deg/s,
      cmd heading: 306.668112 deg,
      new cmd heading: 306.482192 deg.

2021-02-16T14:58:12.902Z,1613487492.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:13.714Z,1613487493.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:14.083Z,1613487494.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:14.928Z,1613487494.928 [Micromodem](INFO): Nmea in: $SNTTA,0.055190,,,,145815.12*47

2021-02-16T14:58:14.982Z,1613487494.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 312.509541 deg, deltaT: 4.434297 s, approachRate: -0.717137 m/s, LOS rate: -0.019617 deg/s, posRepo size: 4
2021-02-16T14:58:14.988Z,1613487494.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 312.509541 deg,
      approachRate: -0.717137 m/s,
      LOS rate: -0.019617 deg/s,
      cmd update: -0.058852 deg/s,
      cmd heading: 305.209456 deg,
      new cmd heading: 305.056778 deg.

2021-02-16T14:58:17.341Z,1613487497.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:18.128Z,1613487498.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:18.521Z,1613487498.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:19.352Z,1613487499.352 [Micromodem](INFO): Nmea in: $SNTTA,0.053138,,,,145819.54*4D

2021-02-16T14:58:19.390Z,1613487499.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.500008 m, bearing: 312.905938 deg, deltaT: 4.447403 s, approachRate: -0.688041 m/s, LOS rate: 0.089130 deg/s, posRepo size: 4
2021-02-16T14:58:19.392Z,1613487499.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.500008 m,
      bearing: 312.905938 deg,
      approachRate: -0.688041 m/s,
      LOS rate: 0.089130 deg/s,
      cmd update: 0.267390 deg/s,
      cmd heading: 304.947938 deg,
      new cmd heading: 304.922590 deg.

2021-02-16T14:58:21.804Z,1613487501.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:22.577Z,1613487502.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:22.966Z,1613487502.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:23.804Z,1613487503.804 [Micromodem](INFO): Nmea in: $SNTTA,0.051022,,0.067446,,145823.99*54

2021-02-16T14:58:23.868Z,1613487503.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 312.421923 deg, deltaT: 4.434433 s, approachRate: -0.730649 m/s, LOS rate: -0.109149 deg/s, posRepo size: 4
2021-02-16T14:58:23.876Z,1613487503.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 312.421923 deg,
      approachRate: -0.730649 m/s,
      LOS rate: -0.109149 deg/s,
      cmd update: -0.327447 deg/s,
      cmd heading: 306.134719 deg,
      new cmd heading: 306.259177 deg.

2021-02-16T14:58:26.227Z,1613487506.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:27.004Z,1613487507.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:27.409Z,1613487507.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:27.824Z,1613487507.824 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:58:28.236Z,1613487508.236 [Micromodem](INFO): Nmea in: $SNTTA,0.048951,,0.071094,,145828.41*53

2021-02-16T14:58:28.306Z,1613487508.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 313.124640 deg, deltaT: 4.462515 s, approachRate: -0.672265 m/s, LOS rate: 0.157471 deg/s, posRepo size: 4
2021-02-16T14:58:28.312Z,1613487508.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.260002 m,
      bearing: 313.124640 deg,
      approachRate: -0.672265 m/s,
      LOS rate: 0.157471 deg/s,
      cmd update: 0.472413 deg/s,
      cmd heading: 304.674775 deg,
      new cmd heading: 304.527714 deg.

2021-02-16T14:58:30.705Z,1613487510.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:31.453Z,1613487511.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:31.859Z,1613487511.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:32.724Z,1613487512.724 [Micromodem](INFO): Nmea in: $SNTTA,0.046876,,,,145832.87*4D

2021-02-16T14:58:32.747Z,1613487512.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.079994 m, bearing: 312.796819 deg, deltaT: 4.460929 s, approachRate: -0.712858 m/s, LOS rate: -0.073487 deg/s, posRepo size: 4
2021-02-16T14:58:32.749Z,1613487512.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.079994 m,
      bearing: 312.796819 deg,
      approachRate: -0.712858 m/s,
      LOS rate: -0.073487 deg/s,
      cmd update: -0.220462 deg/s,
      cmd heading: 306.779575 deg,
      new cmd heading: 306.985166 deg.

2021-02-16T14:58:35.156Z,1613487515.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:35.901Z,1613487515.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:36.311Z,1613487516.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:37.152Z,1613487517.152 [Micromodem](INFO): Nmea in: $SNTTA,0.044806,,,,145837.31*40

2021-02-16T14:58:37.195Z,1613487517.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.019997 m, bearing: 313.236191 deg, deltaT: 4.443726 s, approachRate: -0.688611 m/s, LOS rate: 0.098875 deg/s, posRepo size: 4
2021-02-16T14:58:37.197Z,1613487517.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.019997 m,
      bearing: 313.236191 deg,
      approachRate: -0.688611 m/s,
      LOS rate: 0.098875 deg/s,
      cmd update: 0.296624 deg/s,
      cmd heading: 305.798693 deg,
      new cmd heading: 305.704898 deg.

2021-02-16T14:58:37.930Z,1613487517.930 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T14:58:39.563Z,1613487519.563 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:40.342Z,1613487520.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:40.742Z,1613487520.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:41.580Z,1613487521.580 [Micromodem](INFO): Nmea in: $SNTTA,0.042515,,,,145841.75*48

2021-02-16T14:58:41.622Z,1613487521.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 313.957295 deg, deltaT: 4.451724 s, approachRate: -0.781719 m/s, LOS rate: 0.161983 deg/s, posRepo size: 4
2021-02-16T14:58:41.628Z,1613487521.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 313.957295 deg,
      approachRate: -0.781719 m/s,
      LOS rate: 0.161983 deg/s,
      cmd update: 0.485949 deg/s,
      cmd heading: 307.119195 deg,
      new cmd heading: 307.240516 deg.

2021-02-16T14:58:42.792Z,1613487522.792 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T14:58:44.045Z,1613487524.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:44.780Z,1613487524.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:45.188Z,1613487525.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:46.015Z,1613487526.015 [Micromodem](INFO): Nmea in: $SNTTA,0.040541,,,,145846.19*46

2021-02-16T14:58:46.039Z,1613487526.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.599998 m, bearing: 312.706496 deg, deltaT: 4.405353 s, approachRate: -0.667370 m/s, LOS rate: -0.283927 deg/s, posRepo size: 4
2021-02-16T14:58:46.041Z,1613487526.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 312.706496 deg,
      approachRate: -0.667370 m/s,
      LOS rate: -0.283927 deg/s,
      cmd update: -0.851781 deg/s,
      cmd heading: 309.259938 deg,
      new cmd heading: 309.464387 deg.

2021-02-16T14:58:48.454Z,1613487528.454 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:49.228Z,1613487529.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:49.634Z,1613487529.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:50.464Z,1613487530.464 [Micromodem](INFO): Nmea in: $SNTTA,0.038354,,,,145850.64*46

2021-02-16T14:58:50.509Z,1613487530.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 312.255950 deg, deltaT: 4.453225 s, approachRate: -0.741036 m/s, LOS rate: -0.101173 deg/s, posRepo size: 4
2021-02-16T14:58:50.511Z,1613487530.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 312.255950 deg,
      approachRate: -0.741036 m/s,
      LOS rate: -0.101173 deg/s,
      cmd update: -0.303519 deg/s,
      cmd heading: 305.476942 deg,
      new cmd heading: 305.093963 deg.

2021-02-16T14:58:52.890Z,1613487532.890 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T14:58:52.904Z,1613487532.904 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:53.688Z,1613487533.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:54.084Z,1613487534.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:54.928Z,1613487534.928 [Micromodem](INFO): Nmea in: $SNTTA,0.036463,,,,145855.10*4D

2021-02-16T14:58:54.964Z,1613487534.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 312.677236 deg, deltaT: 4.477614 s, approachRate: -0.629800 m/s, LOS rate: 0.094087 deg/s, posRepo size: 4
2021-02-16T14:58:54.966Z,1613487534.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 312.677236 deg,
      approachRate: -0.629800 m/s,
      LOS rate: 0.094087 deg/s,
      cmd update: 0.282262 deg/s,
      cmd heading: 304.113119 deg,
      new cmd heading: 303.988416 deg.

2021-02-16T14:58:57.339Z,1613487537.339 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:58:58.144Z,1613487538.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:58:58.534Z,1613487538.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:58:59.364Z,1613487539.364 [Micromodem](INFO): Nmea in: $SNTTA,0.034362,,,,145859.55*44

2021-02-16T14:58:59.403Z,1613487539.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.299995 m, bearing: 312.192183 deg, deltaT: 4.426429 s, approachRate: -0.718413 m/s, LOS rate: -0.109581 deg/s, posRepo size: 4
2021-02-16T14:58:59.405Z,1613487539.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 312.192183 deg,
      approachRate: -0.718413 m/s,
      LOS rate: -0.109581 deg/s,
      cmd update: -0.328743 deg/s,
      cmd heading: 305.361468 deg,
      new cmd heading: 305.482006 deg.

2021-02-16T14:59:00.616Z,1613487540.616 [CTD_Seabird](ERROR): Failed to parse device response: ,1.6971,2.79309,2974.86
2021-02-16T14:59:01.789Z,1613487541.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:02.572Z,1613487542.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:02.983Z,1613487542.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:03.807Z,1613487543.807 [Micromodem](INFO): Nmea in: $SNTTA,0.032564,,,,145903.98*4D

2021-02-16T14:59:03.839Z,1613487543.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.599995 m, bearing: 312.855831 deg, deltaT: 4.438675 s, approachRate: -0.608290 m/s, LOS rate: 0.149515 deg/s, posRepo size: 4
2021-02-16T14:59:03.841Z,1613487543.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 312.855831 deg,
      approachRate: -0.608290 m/s,
      LOS rate: 0.149515 deg/s,
      cmd update: 0.448545 deg/s,
      cmd heading: 303.900972 deg,
      new cmd heading: 303.762788 deg.

2021-02-16T14:59:06.294Z,1613487546.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:07.035Z,1613487547.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:07.422Z,1613487547.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:08.261Z,1613487548.261 [Micromodem](INFO): Nmea in: $SNTTA,0.030567,,,,145908.44*46

2021-02-16T14:59:08.316Z,1613487548.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.599998 m, bearing: 313.446861 deg, deltaT: 4.459306 s, approachRate: -0.672750 m/s, LOS rate: 0.132539 deg/s, posRepo size: 4
2021-02-16T14:59:08.318Z,1613487548.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 313.446861 deg,
      approachRate: -0.672750 m/s,
      LOS rate: 0.132539 deg/s,
      cmd update: 0.397616 deg/s,
      cmd heading: 305.899337 deg,
      new cmd heading: 306.086897 deg.

2021-02-16T14:59:10.728Z,1613487550.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:11.460Z,1613487551.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:11.875Z,1613487551.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:12.736Z,1613487552.736 [Micromodem](INFO): Nmea in: $SNTTA,0.028504,,,,145912.87*4E

2021-02-16T14:59:12.769Z,1613487552.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.540001 m, bearing: 313.251053 deg, deltaT: 4.434146 s, approachRate: -0.690099 m/s, LOS rate: -0.044159 deg/s, posRepo size: 4
2021-02-16T14:59:12.771Z,1613487552.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.540001 m,
      bearing: 313.251053 deg,
      approachRate: -0.690099 m/s,
      LOS rate: -0.044159 deg/s,
      cmd update: -0.132477 deg/s,
      cmd heading: 307.664053 deg,
      new cmd heading: 307.846075 deg.

2021-02-16T14:59:15.162Z,1613487555.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:15.909Z,1613487555.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:16.321Z,1613487556.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:17.158Z,1613487557.158 [Micromodem](INFO): Nmea in: $SNTTA,0.026622,,,,145917.32*4C

2021-02-16T14:59:17.184Z,1613487557.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.719997 m, bearing: 314.553461 deg, deltaT: 4.448774 s, approachRate: -0.633883 m/s, LOS rate: 0.292757 deg/s, posRepo size: 4
2021-02-16T14:59:17.184Z,1613487557.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.72 m.
2021-02-16T14:59:17.186Z,1613487557.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.719997 m,
      bearing: 314.553461 deg,
      approachRate: -0.633883 m/s,
      LOS rate: 0.292757 deg/s,
      cmd update: 0.878270 deg/s,
      cmd heading: 307.075233 deg,
      new cmd heading: 307.018679 deg.

2021-02-16T14:59:17.537Z,1613487557.537 [PowerOnly](INFO): Powering up loadControl
2021-02-16T14:59:19.313Z,1613487559.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:19.951Z,1613487559.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:20.355Z,1613487560.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:21.180Z,1613487561.180 [Micromodem](INFO): Nmea in: $SNTTA,0.024746,,,,145921.36*4C

2021-02-16T14:59:21.221Z,1613487561.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.900002 m, bearing: 314.184850 deg, deltaT: 4.031160 s, approachRate: -0.699549 m/s, LOS rate: -0.091441 deg/s, posRepo size: 4
2021-02-16T14:59:21.221Z,1613487561.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.90 m.
2021-02-16T14:59:21.221Z,1613487561.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.90 m.
2021-02-16T14:59:21.221Z,1613487561.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T14:59:21.223Z,1613487561.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.900002 m,
      bearing: 314.184850 deg,
      approachRate: -0.699549 m/s,
      LOS rate: -0.091441 deg/s,
      cmd update: -0.274322 deg/s,
      cmd heading: 310.605208 deg,
      new cmd heading: 310.995962 deg.

2021-02-16T14:59:23.617Z,1613487563.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:24.394Z,1613487564.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:24.799Z,1613487564.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:25.620Z,1613487565.620 [Micromodem](INFO): Nmea in: $SNTTA,0.022679,,,,145925.80*4E

2021-02-16T14:59:25.647Z,1613487565.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.839996 m, bearing: 313.452134 deg, deltaT: 4.462429 s, approachRate: -0.685726 m/s, LOS rate: -0.164197 deg/s, posRepo size: 4
2021-02-16T14:59:25.649Z,1613487565.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.839996 m,
      bearing: 313.452134 deg,
      approachRate: -0.685726 m/s,
      LOS rate: -0.164197 deg/s,
      cmd update: -0.492590 deg/s,
      cmd heading: 309.377291 deg,
      new cmd heading: 309.268998 deg.

2021-02-16T14:59:28.049Z,1613487568.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:28.840Z,1613487568.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:29.238Z,1613487569.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:30.068Z,1613487570.068 [Micromodem](INFO): Nmea in: $SNTTA,0.020666,,,,145930.25*49

2021-02-16T14:59:30.143Z,1613487570.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.839998 m, bearing: 314.012483 deg, deltaT: 4.455556 s, approachRate: -0.673316 m/s, LOS rate: 0.125764 deg/s, posRepo size: 4
2021-02-16T14:59:30.156Z,1613487570.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.839998 m,
      bearing: 314.012483 deg,
      approachRate: -0.673316 m/s,
      LOS rate: 0.125764 deg/s,
      cmd update: 0.377292 deg/s,
      cmd heading: 307.183496 deg,
      new cmd heading: 306.971631 deg.

2021-02-16T14:59:32.499Z,1613487572.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:33.285Z,1613487573.285 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:33.709Z,1613487573.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:34.588Z,1613487574.588 [Micromodem](INFO): Nmea in: $SNTTA,0.018703,,,,145934.69*4C

2021-02-16T14:59:34.640Z,1613487574.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 313.192150 deg, deltaT: 4.449706 s, approachRate: -0.660717 m/s, LOS rate: -0.184357 deg/s, posRepo size: 4
2021-02-16T14:59:34.642Z,1613487574.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.900000 m,
      bearing: 313.192150 deg,
      approachRate: -0.660717 m/s,
      LOS rate: -0.184357 deg/s,
      cmd update: -0.553070 deg/s,
      cmd heading: 308.857255 deg,
      new cmd heading: 309.043167 deg.

2021-02-16T14:59:36.950Z,1613487576.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:37.731Z,1613487577.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:38.181Z,1613487578.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:38.977Z,1613487578.977 [Micromodem](INFO): Nmea in: $SNTTA,0.016760,,0.026804,,145939.14*56

2021-02-16T14:59:39.026Z,1613487579.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.959997 m, bearing: 314.231377 deg, deltaT: 4.397668 s, approachRate: -0.668537 m/s, LOS rate: 0.236313 deg/s, posRepo size: 4
2021-02-16T14:59:39.028Z,1613487579.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.959997 m,
      bearing: 314.231377 deg,
      approachRate: -0.668537 m/s,
      LOS rate: 0.236313 deg/s,
      cmd update: 0.708940 deg/s,
      cmd heading: 306.415250 deg,
      new cmd heading: 306.155809 deg.

2021-02-16T14:59:41.400Z,1613487581.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:42.175Z,1613487582.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:42.576Z,1613487582.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:43.400Z,1613487583.400 [Micromodem](INFO): Nmea in: $SNTTA,0.014752,,,,145943.58*46

2021-02-16T14:59:43.441Z,1613487583.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.959997 m, bearing: 315.000238 deg, deltaT: 4.468410 s, approachRate: -0.671380 m/s, LOS rate: 0.172066 deg/s, posRepo size: 4
2021-02-16T14:59:43.443Z,1613487583.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 315.000238 deg,
      approachRate: -0.671380 m/s,
      LOS rate: 0.172066 deg/s,
      cmd update: 0.516198 deg/s,
      cmd heading: 309.580256 deg,
      new cmd heading: 309.877956 deg.

2021-02-16T14:59:45.842Z,1613487585.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:46.608Z,1613487586.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:47.019Z,1613487587.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:47.845Z,1613487587.845 [Micromodem](INFO): Nmea in: $SNTTA,0.012833,,,0.015353,145948.02*53

2021-02-16T14:59:47.881Z,1613487587.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.079998 m, bearing: 314.555264 deg, deltaT: 4.416697 s, approachRate: -0.652071 m/s, LOS rate: -0.100748 deg/s, posRepo size: 4
2021-02-16T14:59:47.883Z,1613487587.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.079998 m,
      bearing: 314.555264 deg,
      approachRate: -0.652071 m/s,
      LOS rate: -0.100748 deg/s,
      cmd update: -0.302244 deg/s,
      cmd heading: 311.862193 deg,
      new cmd heading: 312.088652 deg.

2021-02-16T14:59:50.283Z,1613487590.283 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:51.057Z,1613487591.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:51.458Z,1613487591.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:52.292Z,1613487592.292 [Micromodem](INFO): Nmea in: $SNTTA,0.010736,,,,145952.47*4E

2021-02-16T14:59:52.337Z,1613487592.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 315.058158 deg, deltaT: 4.456611 s, approachRate: -0.727009 m/s, LOS rate: 0.112842 deg/s, posRepo size: 4
2021-02-16T14:59:52.339Z,1613487592.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 315.058158 deg,
      approachRate: -0.727009 m/s,
      LOS rate: 0.112842 deg/s,
      cmd update: 0.338526 deg/s,
      cmd heading: 310.517626 deg,
      new cmd heading: 310.382754 deg.

2021-02-16T14:59:54.737Z,1613487594.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:55.502Z,1613487595.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T14:59:55.901Z,1613487595.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T14:59:56.732Z,1613487596.732 [Micromodem](INFO): Nmea in: $SNTTA,0.008975,,,,145956.91*41

2021-02-16T14:59:56.785Z,1613487596.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.199997 m, bearing: 316.645767 deg, deltaT: 4.447016 s, approachRate: -0.593657 m/s, LOS rate: 0.357006 deg/s, posRepo size: 4
2021-02-16T14:59:56.791Z,1613487596.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.199997 m,
      bearing: 316.645767 deg,
      approachRate: -0.593657 m/s,
      LOS rate: 0.357006 deg/s,
      cmd update: 1.071017 deg/s,
      cmd heading: 312.020366 deg,
      new cmd heading: 312.174490 deg.

2021-02-16T14:59:59.184Z,1613487599.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T14:59:59.941Z,1613487599.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:00.361Z,1613487600.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:01.176Z,1613487601.176 [Micromodem](INFO): Nmea in: $SNTTA,0.007195,,0.022219,,150001.35*5D

2021-02-16T15:00:01.216Z,1613487601.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.439999 m, bearing: 313.652477 deg, deltaT: 4.455949 s, approachRate: -0.619396 m/s, LOS rate: -0.671751 deg/s, posRepo size: 4
2021-02-16T15:00:01.217Z,1613487601.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 313.652477 deg,
      approachRate: -0.619396 m/s,
      LOS rate: -0.671751 deg/s,
      cmd update: -2.015254 deg/s,
      cmd heading: 316.805572 deg,
      new cmd heading: 317.252838 deg.

2021-02-16T15:00:03.616Z,1613487603.616 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:04.393Z,1613487604.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:04.807Z,1613487604.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:05.636Z,1613487605.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150005.80*57

2021-02-16T15:00:05.669Z,1613487605.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 309.108407 deg, deltaT: 4.443588 s, approachRate: -0.702135 m/s, LOS rate: -1.022613 deg/s, posRepo size: 4
2021-02-16T15:00:05.676Z,1613487605.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 309.108407 deg,
      approachRate: -0.702135 m/s,
      LOS rate: -1.022613 deg/s,
      cmd update: -3.067838 deg/s,
      cmd heading: 307.851369 deg,
      new cmd heading: 306.995473 deg.

2021-02-16T15:00:08.068Z,1613487608.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:08.834Z,1613487608.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:09.244Z,1613487609.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:10.068Z,1613487610.068 [Micromodem](INFO): Nmea in: $SNTTA,0.003565,,,0.006089,150010.24*5F

2021-02-16T15:00:10.155Z,1613487610.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 303.260672 deg, deltaT: 4.454179 s, approachRate: -0.498408 m/s, LOS rate: -1.312865 deg/s, posRepo size: 4
2021-02-16T15:00:10.157Z,1613487610.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 303.260672 deg,
      approachRate: -0.498408 m/s,
      LOS rate: -1.312865 deg/s,
      cmd update: -3.938594 deg/s,
      cmd heading: 294.185601 deg,
      new cmd heading: 292.793189 deg.

2021-02-16T15:00:12.500Z,1613487612.500 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:13.289Z,1613487613.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:13.690Z,1613487613.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:14.516Z,1613487614.516 [Micromodem](INFO): Nmea in: $SNTTA,0.002300,,,,150014.70*47

2021-02-16T15:00:14.554Z,1613487614.554 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:00:14.554Z,1613487614.554 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:00:14.554Z,1613487614.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:00:14.554Z,1613487614.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:00:14.554Z,1613487614.554 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:00:14.555Z,1613487614.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.300000 m 
2021-02-16T15:00:14.555Z,1613487614.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:00:14.555Z,1613487614.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:00:14.555Z,1613487614.555 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:00:14.558Z,1613487614.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 316.899358 deg, deltaT: 4.454179 s, approachRate: -0.404115 m/s, LOS rate: 3.061998 deg/s, posRepo size: 4
2021-02-16T15:00:14.559Z,1613487614.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 316.899358 deg,
      approachRate: -0.404115 m/s,
      LOS rate: 3.061998 deg/s,
      cmd update: 9.185993 deg/s,
      cmd heading: 276.702381 deg,
      new cmd heading: 275.035646 deg.

2021-02-16T15:00:14.944Z,1613487614.944 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T150014: (41.552319, -70.708603)
2021-02-16T15:00:14.944Z,1613487614.944 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:00:14.945Z,1613487614.945 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:00:16.957Z,1613487616.957 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:17.778Z,1613487617.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:18.158Z,1613487618.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:18.962Z,1613487618.962 [Micromodem](INFO): Nmea in: $SNTTA,0.002749,,,,150019.19*4C

2021-02-16T15:00:19.016Z,1613487619.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 264.665240 deg, deltaT: 4.394733 s, approachRate: 0.177485 m/s, LOS rate: -11.885618 deg/s, posRepo size: 4
2021-02-16T15:00:19.016Z,1613487619.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.885618 deg/s. Setting heading cmd to target bearing of 264.665240deg and heading rate command to 0 deg/s.
2021-02-16T15:00:21.413Z,1613487621.413 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:22.174Z,1613487622.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:22.570Z,1613487622.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:23.396Z,1613487623.396 [Micromodem](INFO): Nmea in: $SNTTA,0.004191,,,,150023.58*45

2021-02-16T15:00:23.449Z,1613487623.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 286.634189 deg, deltaT: 4.472981 s, approachRate: 0.523141 m/s, LOS rate: 4.911478 deg/s, posRepo size: 4
2021-02-16T15:00:23.451Z,1613487623.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 286.634189 deg,
      approachRate: 0.523141 m/s,
      LOS rate: 4.911478 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 264.665240 deg,
      new cmd heading: 264.665240 deg.

2021-02-16T15:00:25.842Z,1613487625.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:26.613Z,1613487626.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:27.020Z,1613487627.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:27.849Z,1613487627.849 [Micromodem](INFO): Nmea in: $SNTTA,0.005953,,,,150028.02*46

2021-02-16T15:00:27.882Z,1613487627.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 298.500194 deg, deltaT: 4.437012 s, approachRate: 0.567950 m/s, LOS rate: 2.674324 deg/s, posRepo size: 4
2021-02-16T15:00:27.884Z,1613487627.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 298.500194 deg,
      approachRate: 0.567950 m/s,
      LOS rate: 2.674324 deg/s,
      cmd update: 8.022971 deg/s,
      cmd heading: 317.956018 deg,
      new cmd heading: 323.046010 deg.

2021-02-16T15:00:30.285Z,1613487630.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:31.052Z,1613487631.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:31.460Z,1613487631.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:32.292Z,1613487632.292 [Micromodem](INFO): Nmea in: $SNTTA,0.007833,,,,150032.46*48

2021-02-16T15:00:32.318Z,1613487632.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.879998 m, bearing: 296.983155 deg, deltaT: 4.441179 s, approachRate: 0.661986 m/s, LOS rate: -0.341585 deg/s, posRepo size: 4
2021-02-16T15:00:32.320Z,1613487632.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.879998 m,
      bearing: 296.983155 deg,
      approachRate: 0.661986 m/s,
      LOS rate: -0.341585 deg/s,
      cmd update: -1.024755 deg/s,
      cmd heading: 353.587226 deg,
      new cmd heading: 356.943275 deg.

2021-02-16T15:00:34.729Z,1613487634.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:35.496Z,1613487635.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:35.919Z,1613487635.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:36.732Z,1613487636.732 [Micromodem](INFO): Nmea in: $SNTTA,0.010654,,,,150036.91*4F

2021-02-16T15:00:36.762Z,1613487636.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.579999 m, bearing: 300.053625 deg, deltaT: 4.441813 s, approachRate: 0.607860 m/s, LOS rate: 0.691265 deg/s, posRepo size: 4
2021-02-16T15:00:36.762Z,1613487636.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.58 m. Rolling out.
2021-02-16T15:00:36.763Z,1613487636.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:00:39.196Z,1613487639.196 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:39.948Z,1613487639.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:40.345Z,1613487640.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:41.176Z,1613487641.176 [Micromodem](INFO): Nmea in: $SNTTA,0.015143,,,,150041.36*46

2021-02-16T15:00:41.217Z,1613487641.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.160000 m, bearing: 348.750142 deg, deltaT: 4.446042 s, approachRate: 0.580292 m/s, LOS rate: 10.952780 deg/s, posRepo size: 4
2021-02-16T15:00:43.601Z,1613487643.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:44.386Z,1613487644.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:44.806Z,1613487644.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:45.612Z,1613487645.612 [Micromodem](INFO): Nmea in: $SNTTA,0.013246,,,,150045.79*49

2021-02-16T15:00:45.677Z,1613487645.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 18.393727 deg, deltaT: 4.462074 s, approachRate: 0.564760 m/s, LOS rate: 6.643454 deg/s, posRepo size: 4
2021-02-16T15:00:48.058Z,1613487648.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:48.828Z,1613487648.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:49.243Z,1613487649.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:50.069Z,1613487650.069 [Micromodem](INFO): Nmea in: $SNTTA,0.014625,,,,150050.24*43

2021-02-16T15:00:50.172Z,1613487650.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 353.831256 deg, deltaT: 4.454632 s, approachRate: 0.552234 m/s, LOS rate: -5.513917 deg/s, posRepo size: 4
2021-02-16T15:00:51.683Z,1613487651.683 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:00:52.499Z,1613487652.499 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:53.281Z,1613487653.281 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:53.701Z,1613487653.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:54.504Z,1613487654.504 [Micromodem](INFO): Nmea in: $SNTTA,0.016086,,,,150054.69*43

2021-02-16T15:00:54.543Z,1613487654.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 345.331906 deg, deltaT: 4.419721 s, approachRate: 0.502294 m/s, LOS rate: -1.923052 deg/s, posRepo size: 4
2021-02-16T15:00:56.934Z,1613487656.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:00:57.716Z,1613487657.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:00:58.171Z,1613487658.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:00:58.948Z,1613487658.948 [Micromodem](INFO): Nmea in: $SNTTA,0.017963,,,,150059.13*40

2021-02-16T15:00:58.972Z,1613487658.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.819998 m, bearing: 338.362708 deg, deltaT: 4.434283 s, approachRate: 0.554768 m/s, LOS rate: -1.571663 deg/s, posRepo size: 4
2021-02-16T15:01:01.383Z,1613487661.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:02.183Z,1613487662.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:02.571Z,1613487662.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:03.400Z,1613487663.400 [Micromodem](INFO): Nmea in: $SNTTA,0.019980,,,,150103.59*43

2021-02-16T15:01:03.453Z,1613487663.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.119997 m, bearing: 330.956297 deg, deltaT: 4.442243 s, approachRate: 0.742868 m/s, LOS rate: -1.667268 deg/s, posRepo size: 4
2021-02-16T15:01:05.821Z,1613487665.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:06.604Z,1613487666.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:07.028Z,1613487667.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:07.832Z,1613487667.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150108.01*52

2021-02-16T15:01:07.881Z,1613487667.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.999996 m, bearing: 334.941740 deg, deltaT: 4.459456 s, approachRate: 0.645818 m/s, LOS rate: 0.893706 deg/s, posRepo size: 4
2021-02-16T15:01:10.298Z,1613487670.298 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:11.048Z,1613487671.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:11.454Z,1613487671.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:12.289Z,1613487672.289 [Micromodem](INFO): Nmea in: $SNTTA,0.025827,,0.029970,,150112.46*55

2021-02-16T15:01:12.350Z,1613487672.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.820000 m, bearing: 24.982520 deg, deltaT: 4.425907 s, approachRate: 0.637158 m/s, LOS rate: 11.306331 deg/s, posRepo size: 4
2021-02-16T15:01:14.724Z,1613487674.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:15.500Z,1613487675.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:15.898Z,1613487675.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:16.728Z,1613487676.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150116.91*54

2021-02-16T15:01:16.777Z,1613487676.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 17.981426 deg, deltaT: 4.454400 s, approachRate: 0.713900 m/s, LOS rate: -1.571726 deg/s, posRepo size: 4
2021-02-16T15:01:19.182Z,1613487679.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:19.937Z,1613487679.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:20.355Z,1613487680.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:21.173Z,1613487681.173 [Micromodem](INFO): Nmea in: $SNTTA,0.042580,,,,150121.35*4B

2021-02-16T15:01:21.216Z,1613487681.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.360001 m, bearing: 14.620549 deg, deltaT: 4.476694 s, approachRate: 0.750555 m/s, LOS rate: -0.750750 deg/s, posRepo size: 4
2021-02-16T15:01:23.602Z,1613487683.602 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:24.397Z,1613487684.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:24.794Z,1613487684.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:25.620Z,1613487685.620 [Micromodem](INFO): Nmea in: $SNTTA,0.037705,,,,150125.81*4D

2021-02-16T15:01:25.646Z,1613487685.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.840000 m, bearing: 24.208866 deg, deltaT: 4.402670 s, approachRate: 0.790429 m/s, LOS rate: 2.177841 deg/s, posRepo size: 4
2021-02-16T15:01:26.012Z,1613487686.012 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:01:28.042Z,1613487688.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:28.824Z,1613487688.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:29.233Z,1613487689.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:30.052Z,1613487690.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150130.23*59

2021-02-16T15:01:30.117Z,1613487690.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.079998 m, bearing: 20.304781 deg, deltaT: 4.485295 s, approachRate: 0.722360 m/s, LOS rate: -0.870419 deg/s, posRepo size: 4
2021-02-16T15:01:32.502Z,1613487692.502 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:33.290Z,1613487693.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:33.702Z,1613487693.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:34.512Z,1613487694.512 [Micromodem](INFO): Nmea in: $SNTTA,0.034992,,,,150134.70*40

2021-02-16T15:01:34.546Z,1613487694.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.620003 m, bearing: 27.696557 deg, deltaT: 4.423127 s, approachRate: 0.800340 m/s, LOS rate: 1.671165 deg/s, posRepo size: 4
2021-02-16T15:01:36.936Z,1613487696.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:37.740Z,1613487697.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:38.162Z,1613487698.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:38.964Z,1613487698.964 [Micromodem](INFO): Nmea in: $SNTTA,0.037451,,,,150139.15*4F

2021-02-16T15:01:39.007Z,1613487699.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.640007 m, bearing: 15.301391 deg, deltaT: 4.507499 s, approachRate: 0.891848 m/s, LOS rate: -2.749899 deg/s, posRepo size: 4
2021-02-16T15:01:41.393Z,1613487701.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:42.169Z,1613487702.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:42.571Z,1613487702.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:43.404Z,1613487703.404 [Micromodem](INFO): Nmea in: $SNTTA,0.039901,,,,150143.58*4D

2021-02-16T15:01:43.450Z,1613487703.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.060001 m, bearing: 7.429241 deg, deltaT: 4.375643 s, approachRate: 0.781598 m/s, LOS rate: -1.799084 deg/s, posRepo size: 4
2021-02-16T15:01:45.849Z,1613487705.849 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:46.621Z,1613487706.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:47.013Z,1613487707.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:47.864Z,1613487707.864 [Micromodem](INFO): Nmea in: $SNTTA,0.042153,,,,150148.03*4B

2021-02-16T15:01:47.897Z,1613487707.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.360001 m, bearing: 8.994895 deg, deltaT: 4.454705 s, approachRate: 0.740790 m/s, LOS rate: 0.351461 deg/s, posRepo size: 4
2021-02-16T15:01:50.289Z,1613487710.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:51.052Z,1613487711.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:51.474Z,1613487711.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:52.288Z,1613487712.288 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150152.46*5E

2021-02-16T15:01:52.339Z,1613487712.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.960007 m, bearing: 2.097925 deg, deltaT: 4.433777 s, approachRate: 0.811950 m/s, LOS rate: -1.555552 deg/s, posRepo size: 4
2021-02-16T15:01:54.753Z,1613487714.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:55.514Z,1613487715.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:01:55.913Z,1613487715.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:01:56.743Z,1613487716.743 [Micromodem](INFO): Nmea in: $SNTTA,0.046929,,,,150156.93*4C

2021-02-16T15:01:56.762Z,1613487716.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.500000 m, bearing: 353.620067 deg, deltaT: 4.450893 s, approachRate: 0.795345 m/s, LOS rate: -1.904756 deg/s, posRepo size: 4
2021-02-16T15:01:59.206Z,1613487719.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:01:59.940Z,1613487719.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:00.347Z,1613487720.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:01.177Z,1613487721.177 [Micromodem](INFO): Nmea in: $SNTTA,0.049069,,,,150201.35*43

2021-02-16T15:02:01.201Z,1613487721.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.740005 m, bearing: 0.867565 deg, deltaT: 4.432232 s, approachRate: 0.731010 m/s, LOS rate: 1.635181 deg/s, posRepo size: 4
2021-02-16T15:02:03.596Z,1613487723.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:04.389Z,1613487724.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:04.879Z,1613487724.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:05.716Z,1613487725.716 [Micromodem](INFO): Nmea in: $SNTTA,0.050949,,,,150205.80*4A

2021-02-16T15:02:05.754Z,1613487725.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 8.058409 deg, deltaT: 4.549844 s, approachRate: 0.632988 m/s, LOS rate: 1.580459 deg/s, posRepo size: 4
2021-02-16T15:02:08.169Z,1613487728.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:08.921Z,1613487728.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:09.339Z,1613487729.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:10.187Z,1613487730.187 [Micromodem](INFO): Nmea in: $SNTTA,0.053476,,,,150210.33*44

2021-02-16T15:02:10.298Z,1613487730.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.340004 m, bearing: 358.394970 deg, deltaT: 4.435330 s, approachRate: 0.838720 m/s, LOS rate: -2.178745 deg/s, posRepo size: 4
2021-02-16T15:02:12.587Z,1613487732.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:13.366Z,1613487733.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:13.774Z,1613487733.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:14.592Z,1613487734.592 [Micromodem](INFO): Nmea in: $SNTTA,0.055722,,,,150214.78*4B

2021-02-16T15:02:14.614Z,1613487734.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.760002 m, bearing: 356.394927 deg, deltaT: 4.426455 s, approachRate: 0.772627 m/s, LOS rate: -0.451839 deg/s, posRepo size: 4
2021-02-16T15:02:17.058Z,1613487737.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:17.804Z,1613487737.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:18.209Z,1613487738.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:19.061Z,1613487739.061 [Micromodem](INFO): Nmea in: $SNTTA,0.058064,,,,150219.22*41

2021-02-16T15:02:19.107Z,1613487739.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.300003 m, bearing: 0.937518 deg, deltaT: 4.437151 s, approachRate: 0.797809 m/s, LOS rate: 1.023762 deg/s, posRepo size: 4
2021-02-16T15:02:21.490Z,1613487741.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:22.287Z,1613487742.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:22.511Z,1613487742.511 [CTD_Seabird](ERROR): Failed to parse device response: 5.48,1.661.51
2021-02-16T15:02:22.686Z,1613487742.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:23.534Z,1613487743.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.299995 m, bearing: 0.468396 deg, deltaT: 4.469233 s, approachRate: 0.671254 m/s, LOS rate: -0.104967 deg/s, posRepo size: 4
2021-02-16T15:02:23.880Z,1613487743.880 [Micromodem](INFO): Nmea in: $SNTTA,0.060100,,,,150223.76*41

2021-02-16T15:02:25.910Z,1613487745.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:26.710Z,1613487746.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:27.102Z,1613487747.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:27.932Z,1613487747.932 [Micromodem](INFO): Nmea in: $SNTTA,0.062448,,,,150228.12*43

2021-02-16T15:02:27.980Z,1613487747.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.780006 m, bearing: 6.900753 deg, deltaT: 4.463863 s, approachRate: 0.779596 m/s, LOS rate: 1.440985 deg/s, posRepo size: 4
2021-02-16T15:02:30.382Z,1613487750.382 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:31.161Z,1613487751.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:31.541Z,1613487751.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:32.380Z,1613487752.380 [Micromodem](INFO): Nmea in: $SNTTA,0.064554,,,,150232.57*43

2021-02-16T15:02:32.424Z,1613487752.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 347.707036 deg, deltaT: 4.403662 s, approachRate: 0.722125 m/s, LOS rate: -4.358582 deg/s, posRepo size: 4
2021-02-16T15:02:34.813Z,1613487754.813 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:35.593Z,1613487755.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:35.998Z,1613487755.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:36.820Z,1613487756.820 [Micromodem](INFO): Nmea in: $SNTTA,0.066737,,,,150237.00*41

2021-02-16T15:02:36.868Z,1613487756.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 0.296920 deg, deltaT: 4.469948 s, approachRate: 0.738264 m/s, LOS rate: 2.816562 deg/s, posRepo size: 4
2021-02-16T15:02:39.278Z,1613487759.278 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:40.024Z,1613487760.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:40.435Z,1613487760.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:41.257Z,1613487761.257 [Micromodem](INFO): Nmea in: $SNTTA,0.068903,,,,150241.43*40

2021-02-16T15:02:41.330Z,1613487761.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.500000 m, bearing: 357.867543 deg, deltaT: 4.422582 s, approachRate: 0.732603 m/s, LOS rate: -0.549312 deg/s, posRepo size: 4
2021-02-16T15:02:43.680Z,1613487763.680 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:44.478Z,1613487764.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:44.879Z,1613487764.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:45.712Z,1613487765.712 [Micromodem](INFO): Nmea in: $SNTTA,0.070921,,,,150245.89*4B

2021-02-16T15:02:45.760Z,1613487765.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.560005 m, bearing: 357.100294 deg, deltaT: 4.447063 s, approachRate: 0.688096 m/s, LOS rate: -0.172529 deg/s, posRepo size: 4
2021-02-16T15:02:48.166Z,1613487768.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:48.917Z,1613487768.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:49.318Z,1613487769.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:50.174Z,1613487770.174 [Micromodem](INFO): Nmea in: $SNTTA,0.073137,,,,150250.33*42

2021-02-16T15:02:50.199Z,1613487770.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 349.201563 deg, deltaT: 4.460126 s, approachRate: 0.739890 m/s, LOS rate: -1.770966 deg/s, posRepo size: 4
2021-02-16T15:02:52.582Z,1613487772.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:53.357Z,1613487773.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:53.767Z,1613487773.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:54.584Z,1613487774.584 [Micromodem](INFO): Nmea in: $SNTTA,0.075117,,,,150254.77*42

2021-02-16T15:02:54.630Z,1613487774.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.799995 m, bearing: 352.475956 deg, deltaT: 4.451714 s, approachRate: 0.660417 m/s, LOS rate: 0.735535 deg/s, posRepo size: 4
2021-02-16T15:02:57.040Z,1613487777.040 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:02:57.810Z,1613487777.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:02:58.210Z,1613487778.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:02:59.052Z,1613487779.052 [Micromodem](INFO): Nmea in: $SNTTA,0.077309,,,,150259.22*40

2021-02-16T15:02:59.076Z,1613487779.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.160004 m, bearing: 2.532098 deg, deltaT: 4.456048 s, approachRate: 0.754033 m/s, LOS rate: 2.256738 deg/s, posRepo size: 4
2021-02-16T15:03:01.484Z,1613487781.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:02.255Z,1613487782.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:02.685Z,1613487782.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:03.480Z,1613487783.480 [Micromodem](INFO): Nmea in: $SNTTA,0.079565,,,,150303.66*4C

2021-02-16T15:03:03.540Z,1613487783.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.520004 m, bearing: 343.264599 deg, deltaT: 4.398539 s, approachRate: 0.763890 m/s, LOS rate: -4.380429 deg/s, posRepo size: 4
2021-02-16T15:03:05.930Z,1613487785.930 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:06.718Z,1613487786.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:07.101Z,1613487787.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:07.940Z,1613487787.940 [Micromodem](INFO): Nmea in: $SNTTA,0.081878,,,,150308.13*43

2021-02-16T15:03:07.980Z,1613487787.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 345.674262 deg, deltaT: 4.475715 s, approachRate: 0.764123 m/s, LOS rate: 0.538386 deg/s, posRepo size: 4
2021-02-16T15:03:10.372Z,1613487790.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:11.160Z,1613487791.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:11.547Z,1613487791.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:12.388Z,1613487792.388 [Micromodem](INFO): Nmea in: $SNTTA,0.084034,,,0.086547,150312.57*5B

2021-02-16T15:03:12.429Z,1613487792.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 353.741890 deg, deltaT: 4.422555 s, approachRate: 0.732608 m/s, LOS rate: 1.824201 deg/s, posRepo size: 4
2021-02-16T15:03:14.812Z,1613487794.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:15.580Z,1613487795.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:15.986Z,1613487795.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:16.816Z,1613487796.816 [Micromodem](INFO): Nmea in: $SNTTA,0.086346,,,,150316.99*4F

2021-02-16T15:03:16.840Z,1613487796.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 357.966089 deg, deltaT: 4.445456 s, approachRate: 0.809815 m/s, LOS rate: 0.950228 deg/s, posRepo size: 4
2021-02-16T15:03:19.248Z,1613487799.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:20.030Z,1613487800.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:20.430Z,1613487800.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:21.261Z,1613487801.261 [Micromodem](INFO): Nmea in: $SNTTA,0.088602,,,,150321.44*40

2021-02-16T15:03:21.313Z,1613487801.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.020004 m, bearing: 349.171483 deg, deltaT: 4.439026 s, approachRate: 0.729891 m/s, LOS rate: -1.981202 deg/s, posRepo size: 4
2021-02-16T15:03:23.721Z,1613487803.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:24.475Z,1613487804.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:24.879Z,1613487804.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:25.720Z,1613487805.720 [Micromodem](INFO): Nmea in: $SNTTA,0.090582,,,,150325.88*46

2021-02-16T15:03:25.768Z,1613487805.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.020004 m, bearing: 351.948692 deg, deltaT: 4.467267 s, approachRate: 0.671552 m/s, LOS rate: 0.621680 deg/s, posRepo size: 4
2021-02-16T15:03:28.166Z,1613487808.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:28.914Z,1613487808.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:29.323Z,1613487809.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:30.157Z,1613487810.157 [Micromodem](INFO): Nmea in: $SNTTA,0.092574,,,,150330.32*48

2021-02-16T15:03:30.974Z,1613487810.974 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:32.552Z,1613487812.552 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:03:33.787Z,1613487813.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:34.569Z,1613487814.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:34.979Z,1613487814.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:35.804Z,1613487815.804 [Micromodem](INFO): Nmea in: $SNTTA,0.095369,,,,150335.98*40

2021-02-16T15:03:35.852Z,1613487815.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.220001 m, bearing: 354.072526 deg, deltaT: 10.079414 s, approachRate: 0.714327 m/s, LOS rate: 0.210710 deg/s, posRepo size: 4
2021-02-16T15:03:38.245Z,1613487818.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:39.013Z,1613487819.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:39.418Z,1613487819.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:40.240Z,1613487820.240 [Micromodem](INFO): Nmea in: $SNTTA,0.097227,,,,150340.42*4C

2021-02-16T15:03:40.298Z,1613487820.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 350.204918 deg, deltaT: 4.475793 s, approachRate: 0.616649 m/s, LOS rate: -0.864117 deg/s, posRepo size: 4
2021-02-16T15:03:42.724Z,1613487822.724 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:43.461Z,1613487823.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:43.862Z,1613487823.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:44.711Z,1613487824.711 [Micromodem](INFO): Nmea in: $SNTTA,0.099378,,,,150344.87*44

2021-02-16T15:03:44.735Z,1613487824.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.220001 m, bearing: 334.734594 deg, deltaT: 4.441204 s, approachRate: 0.729533 m/s, LOS rate: -3.483363 deg/s, posRepo size: 4
2021-02-16T15:03:47.159Z,1613487827.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:47.933Z,1613487827.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:48.352Z,1613487828.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:49.177Z,1613487829.177 [Micromodem](INFO): Nmea in: $SNTTA,0.101621,,,,150349.34*48

2021-02-16T15:03:49.368Z,1613487829.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.419998 m, bearing: 348.207934 deg, deltaT: 4.443979 s, approachRate: 0.945098 m/s, LOS rate: 3.031819 deg/s, posRepo size: 4
2021-02-16T15:03:49.368Z,1613487829.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 153.42 m. Resuming terminal guidance.
2021-02-16T15:03:49.369Z,1613487829.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:03:51.284Z,1613487831.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:52.030Z,1613487832.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:52.430Z,1613487832.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:53.273Z,1613487833.273 [Micromodem](INFO): Nmea in: $SNTTA,0.103847,,,,150353.44*48

2021-02-16T15:03:53.300Z,1613487833.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.720001 m, bearing: 356.230265 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:03:53.300Z,1613487833.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 356.230265deg and heading rate command to 0 deg/s.
2021-02-16T15:03:55.738Z,1613487835.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:03:56.469Z,1613487836.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:03:56.881Z,1613487836.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:03:57.716Z,1613487837.716 [Micromodem](INFO): Nmea in: $SNTTA,0.106150,,,,150357.88*46

2021-02-16T15:03:57.742Z,1613487837.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.360001 m, bearing: 359.975503 deg, deltaT: 4.384584 s, approachRate: 0.602109 m/s, LOS rate: 0.854183 deg/s, posRepo size: 2
2021-02-16T15:03:57.744Z,1613487837.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.360001 m,
      bearing: 359.975503 deg,
      approachRate: 0.602109 m/s,
      LOS rate: 0.854183 deg/s,
      cmd update: 2.562550 deg/s,
      cmd heading: 356.230265 deg,
      new cmd heading: 356.230265 deg.

2021-02-16T15:04:00.161Z,1613487840.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:00.917Z,1613487840.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:01.322Z,1613487841.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:02.156Z,1613487842.156 [Micromodem](INFO): Nmea in: $SNTTA,0.108251,,,,150402.33*4D

2021-02-16T15:04:03.018Z,1613487843.018 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:04.550Z,1613487844.550 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:04:05.789Z,1613487845.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:06.572Z,1613487846.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:06.978Z,1613487846.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:07.800Z,1613487847.800 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150407.98*58

2021-02-16T15:04:07.824Z,1613487847.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 62.639009 deg, deltaT: 10.103378 s, approachRate: 0.665124 m/s, LOS rate: 6.202233 deg/s, posRepo size: 3
2021-02-16T15:04:07.826Z,1613487847.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.080002 m,
      bearing: 62.639009 deg,
      approachRate: 0.665124 m/s,
      LOS rate: 6.202233 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.110274 deg,
      new cmd heading: 23.110014 deg.

2021-02-16T15:04:10.273Z,1613487850.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:11.018Z,1613487851.018 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:11.434Z,1613487851.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:12.244Z,1613487852.244 [Micromodem](INFO): Nmea in: $SNTTA,0.112893,,,,150412.43*44

2021-02-16T15:04:12.308Z,1613487852.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.080002 m, bearing: 13.034361 deg, deltaT: 4.442130 s, approachRate: 0.000000 m/s, LOS rate: -11.166861 deg/s, posRepo size: 4
2021-02-16T15:04:12.309Z,1613487852.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.080002 m,
      bearing: 13.034361 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.166861 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 75.416207 deg,
      new cmd heading: 80.549315 deg.

2021-02-16T15:04:14.729Z,1613487854.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:15.460Z,1613487855.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:15.883Z,1613487855.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:16.712Z,1613487856.712 [Micromodem](INFO): Nmea in: $SNTTA,0.114592,,,,150416.87*42

2021-02-16T15:04:16.736Z,1613487856.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.899994 m, bearing: 47.926881 deg, deltaT: 4.435938 s, approachRate: 1.312009 m/s, LOS rate: 7.865872 deg/s, posRepo size: 4
2021-02-16T15:04:16.737Z,1613487856.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 47.926881 deg,
      approachRate: 1.312009 m/s,
      LOS rate: 7.865872 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 22.142986 deg,
      new cmd heading: 17.097081 deg.

2021-02-16T15:04:19.146Z,1613487859.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:19.904Z,1613487859.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:20.316Z,1613487860.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:21.166Z,1613487861.166 [Micromodem](INFO): Nmea in: $SNTTA,0.115876,,,,150421.31*4D

2021-02-16T15:04:21.192Z,1613487861.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.899994 m, bearing: 49.832794 deg, deltaT: 4.460885 s, approachRate: 0.000000 m/s, LOS rate: 0.427250 deg/s, posRepo size: 4
2021-02-16T15:04:21.193Z,1613487861.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.899994 m,
      bearing: 49.832794 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.427250 deg/s,
      cmd update: 1.281750 deg/s,
      cmd heading: 75.571175 deg,
      new cmd heading: 80.658516 deg.

2021-02-16T15:04:23.570Z,1613487863.570 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:24.348Z,1613487864.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:24.774Z,1613487864.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:25.576Z,1613487865.576 [Micromodem](INFO): Nmea in: $SNTTA,0.117263,,,,150425.76*46

2021-02-16T15:04:25.598Z,1613487865.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 62.773291 deg, deltaT: 4.446280 s, approachRate: 0.904128 m/s, LOS rate: 2.910410 deg/s, posRepo size: 4
2021-02-16T15:04:25.600Z,1613487865.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.919998 m,
      bearing: 62.773291 deg,
      approachRate: 0.904128 m/s,
      LOS rate: 2.910410 deg/s,
      cmd update: 8.731229 deg/s,
      cmd heading: 81.276482 deg,
      new cmd heading: 81.763133 deg.

2021-02-16T15:04:28.017Z,1613487868.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:28.792Z,1613487868.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:29.205Z,1613487869.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:30.056Z,1613487870.056 [Micromodem](INFO): Nmea in: $SNTTA,0.118721,,,,150430.20*4D

2021-02-16T15:04:30.100Z,1613487870.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 69.966566 deg, deltaT: 4.426790 s, approachRate: 0.000000 m/s, LOS rate: 1.624942 deg/s, posRepo size: 4
2021-02-16T15:04:30.102Z,1613487870.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.919998 m,
      bearing: 69.966566 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.624942 deg/s,
      cmd update: 4.874825 deg/s,
      cmd heading: 119.963343 deg,
      new cmd heading: 123.719832 deg.

2021-02-16T15:04:32.465Z,1613487872.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:33.242Z,1613487873.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:33.654Z,1613487873.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:34.468Z,1613487874.468 [Micromodem](INFO): Nmea in: $SNTTA,0.119782,,,,150434.65*40

2021-02-16T15:04:34.493Z,1613487874.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.919998 m, bearing: 133.745486 deg, deltaT: 4.513581 s, approachRate: 0.000000 m/s, LOS rate: 14.130447 deg/s, posRepo size: 4
2021-02-16T15:04:34.493Z,1613487874.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.130447 deg/s. Setting heading cmd to target bearing of 133.745486deg and heading rate command to 0 deg/s.
2021-02-16T15:04:36.896Z,1613487876.896 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:37.708Z,1613487877.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:38.085Z,1613487878.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:38.921Z,1613487878.921 [Micromodem](INFO): Nmea in: $SNTTA,0.120441,,,,150439.12*4B

2021-02-16T15:04:39.335Z,1613487879.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.660004 m, bearing: 63.592872 deg, deltaT: 4.822381 s, approachRate: 0.982918 m/s, LOS rate: -14.547297 deg/s, posRepo size: 4
2021-02-16T15:04:39.336Z,1613487879.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.547297 deg/s. Setting heading cmd to target bearing of 63.592872deg and heading rate command to 0 deg/s.
2021-02-16T15:04:41.746Z,1613487881.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:42.530Z,1613487882.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:42.934Z,1613487882.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:43.760Z,1613487883.760 [Micromodem](INFO): Nmea in: $SNTTA,0.120264,,,,150443.94*49

2021-02-16T15:04:43.804Z,1613487883.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.660004 m, bearing: 182.384369 deg, deltaT: 4.411640 s, approachRate: 0.000000 m/s, LOS rate: 26.926834 deg/s, posRepo size: 4
2021-02-16T15:04:43.805Z,1613487883.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.926834 deg/s. Setting heading cmd to target bearing of 182.384369deg and heading rate command to 0 deg/s.
2021-02-16T15:04:46.234Z,1613487886.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:46.977Z,1613487886.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:47.389Z,1613487887.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:48.211Z,1613487888.211 [Micromodem](INFO): Nmea in: $SNTTA,0.119517,,,,150448.39*4C

2021-02-16T15:04:48.236Z,1613487888.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.660004 m, bearing: 146.484321 deg, deltaT: 4.427231 s, approachRate: 0.000000 m/s, LOS rate: -8.108917 deg/s, posRepo size: 4
2021-02-16T15:04:48.237Z,1613487888.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.660004 m,
      bearing: 146.484321 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.108917 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 182.384369 deg,
      new cmd heading: 182.384369 deg.

2021-02-16T15:04:50.628Z,1613487890.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:51.421Z,1613487891.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:51.823Z,1613487891.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:52.637Z,1613487892.637 [Micromodem](INFO): Nmea in: $SNTTA,0.118930,,,,150452.83*4E

2021-02-16T15:04:53.091Z,1613487893.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.380005 m, bearing: 70.173411 deg, deltaT: 4.897958 s, approachRate: -0.465500 m/s, LOS rate: -15.580148 deg/s, posRepo size: 4
2021-02-16T15:04:53.092Z,1613487893.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.580148 deg/s. Setting heading cmd to target bearing of 70.173411deg and heading rate command to 0 deg/s.
2021-02-16T15:04:55.482Z,1613487895.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:04:56.279Z,1613487896.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:04:56.700Z,1613487896.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:04:57.493Z,1613487897.493 [Micromodem](INFO): Nmea in: $SNTTA,0.118581,,,,150457.69*49

2021-02-16T15:04:57.915Z,1613487897.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.720001 m, bearing: 177.522750 deg, deltaT: 4.819734 s, approachRate: -0.136938 m/s, LOS rate: 22.272876 deg/s, posRepo size: 4
2021-02-16T15:04:57.915Z,1613487897.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.272876 deg/s. Setting heading cmd to target bearing of 177.522750deg and heading rate command to 0 deg/s.
2021-02-16T15:05:00.340Z,1613487900.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:01.129Z,1613487901.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:01.523Z,1613487901.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:02.347Z,1613487902.347 [Micromodem](INFO): Nmea in: $SNTTA,0.117829,,,,150502.54*46

2021-02-16T15:05:02.791Z,1613487902.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.639999 m, bearing: 148.194560 deg, deltaT: 4.858428 s, approachRate: -0.222294 m/s, LOS rate: -6.036560 deg/s, posRepo size: 4
2021-02-16T15:05:02.793Z,1613487902.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 176.639999 m,
      bearing: 148.194560 deg,
      approachRate: -0.222294 m/s,
      LOS rate: -6.036560 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 177.522750 deg,
      new cmd heading: 177.522750 deg.

2021-02-16T15:05:05.202Z,1613487905.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:05.966Z,1613487905.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:06.380Z,1613487906.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:07.190Z,1613487907.190 [Micromodem](INFO): Nmea in: $SNTTA,0.117614,,,,150507.37*46

2021-02-16T15:05:07.614Z,1613487907.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 176.400009 m, bearing: 71.214605 deg, deltaT: 4.857895 s, approachRate: -0.049402 m/s, LOS rate: -15.846360 deg/s, posRepo size: 4
2021-02-16T15:05:07.631Z,1613487907.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.846360 deg/s. Setting heading cmd to target bearing of 71.214605deg and heading rate command to 0 deg/s.
2021-02-16T15:05:09.773Z,1613487909.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:10.406Z,1613487910.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:10.842Z,1613487910.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:11.632Z,1613487911.632 [Micromodem](INFO): Nmea in: $SNTTA,0.117420,,,,150511.81*49

2021-02-16T15:05:11.681Z,1613487911.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.980011 m, bearing: 182.003163 deg, deltaT: 4.053265 s, approachRate: -0.103620 m/s, LOS rate: 27.333164 deg/s, posRepo size: 4
2021-02-16T15:05:11.681Z,1613487911.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.333164 deg/s. Setting heading cmd to target bearing of 182.003163deg and heading rate command to 0 deg/s.
2021-02-16T15:05:14.081Z,1613487914.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:14.853Z,1613487914.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:15.274Z,1613487915.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:16.080Z,1613487916.080 [Micromodem](INFO): Nmea in: $SNTTA,0.116918,,,,150516.26*44

2021-02-16T15:05:16.157Z,1613487916.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 175.320007 m, bearing: 84.941271 deg, deltaT: 4.402562 s, approachRate: -0.149914 m/s, LOS rate: -22.046684 deg/s, posRepo size: 4
2021-02-16T15:05:16.157Z,1613487916.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.046684 deg/s. Setting heading cmd to target bearing of 84.941271deg and heading rate command to 0 deg/s.
2021-02-16T15:05:18.517Z,1613487918.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:19.294Z,1613487919.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:19.728Z,1613487919.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:20.529Z,1613487920.529 [Micromodem](INFO): Nmea in: $SNTTA,0.116382,,,,150520.74*4F

2021-02-16T15:05:20.943Z,1613487920.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.540009 m, bearing: 68.003747 deg, deltaT: 4.864123 s, approachRate: -0.160358 m/s, LOS rate: -3.482133 deg/s, posRepo size: 4
2021-02-16T15:05:20.945Z,1613487920.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.540009 m,
      bearing: 68.003747 deg,
      approachRate: -0.160358 m/s,
      LOS rate: -3.482133 deg/s,
      cmd update: -10.446400 deg/s,
      cmd heading: 84.941271 deg,
      new cmd heading: 84.941271 deg.

2021-02-16T15:05:23.363Z,1613487923.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:24.162Z,1613487924.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:24.546Z,1613487924.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:25.372Z,1613487925.372 [Micromodem](INFO): Nmea in: $SNTTA,0.116522,,,,150525.57*47

2021-02-16T15:05:25.807Z,1613487925.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 142.909988 deg, deltaT: 4.818165 s, approachRate: 0.062265 m/s, LOS rate: 15.546632 deg/s, posRepo size: 4
2021-02-16T15:05:25.808Z,1613487925.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.546632 deg/s. Setting heading cmd to target bearing of 142.909988deg and heading rate command to 0 deg/s.
2021-02-16T15:05:28.213Z,1613487928.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:28.988Z,1613487928.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:29.411Z,1613487929.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:30.216Z,1613487930.216 [Micromodem](INFO): Nmea in: $SNTTA,0.117351,,,,150530.40*46

2021-02-16T15:05:30.261Z,1613487930.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 98.619940 deg, deltaT: 4.457059 s, approachRate: 0.000000 m/s, LOS rate: -9.937057 deg/s, posRepo size: 4
2021-02-16T15:05:30.264Z,1613487930.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.840012 m,
      bearing: 98.619940 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.937057 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 142.909988 deg,
      new cmd heading: 142.909988 deg.

2021-02-16T15:05:32.644Z,1613487932.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:33.450Z,1613487933.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:33.862Z,1613487933.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:34.660Z,1613487934.660 [Micromodem](INFO): Nmea in: $SNTTA,0.119060,,,,150534.86*47

2021-02-16T15:05:35.148Z,1613487935.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.619995 m, bearing: 71.648486 deg, deltaT: 4.844205 s, approachRate: 0.780310 m/s, LOS rate: -5.567777 deg/s, posRepo size: 4
2021-02-16T15:05:35.156Z,1613487935.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.619995 m,
      bearing: 71.648486 deg,
      approachRate: 0.780310 m/s,
      LOS rate: -5.567777 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 84.781002 deg,
      new cmd heading: 79.618074 deg.

2021-02-16T15:05:37.521Z,1613487937.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:38.292Z,1613487938.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:38.708Z,1613487938.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:39.535Z,1613487939.535 [Micromodem](INFO): Nmea in: $SNTTA,0.120988,,,,150539.71*47

2021-02-16T15:05:39.939Z,1613487939.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.500000 m, bearing: 73.659308 deg, deltaT: 4.862170 s, approachRate: 0.592329 m/s, LOS rate: 0.413565 deg/s, posRepo size: 4
2021-02-16T15:05:39.941Z,1613487939.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.500000 m,
      bearing: 73.659308 deg,
      approachRate: 0.592329 m/s,
      LOS rate: 0.413565 deg/s,
      cmd update: 1.240694 deg/s,
      cmd heading: 26.433569 deg,
      new cmd heading: 21.883901 deg.

2021-02-16T15:05:42.368Z,1613487942.368 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:43.158Z,1613487943.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:43.543Z,1613487943.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:44.372Z,1613487944.372 [Micromodem](INFO): Nmea in: $SNTTA,0.122439,,,,150544.57*4C

2021-02-16T15:05:44.798Z,1613487944.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 94.862223 deg, deltaT: 4.837458 s, approachRate: 0.458919 m/s, LOS rate: 4.383069 deg/s, posRepo size: 4
2021-02-16T15:05:44.800Z,1613487944.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.720001 m,
      bearing: 94.862223 deg,
      approachRate: 0.458919 m/s,
      LOS rate: 4.383069 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 32.435366 deg,
      new cmd heading: 32.932434 deg.

2021-02-16T15:05:47.199Z,1613487947.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:47.980Z,1613487947.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:48.386Z,1613487948.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:49.200Z,1613487949.200 [Micromodem](INFO): Nmea in: $SNTTA,0.124455,,,,150549.39*45

2021-02-16T15:05:49.634Z,1613487949.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.720001 m, bearing: 49.106615 deg, deltaT: 4.863732 s, approachRate: 0.616810 m/s, LOS rate: -9.407510 deg/s, posRepo size: 4
2021-02-16T15:05:49.636Z,1613487949.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.720001 m,
      bearing: 49.106615 deg,
      approachRate: 0.616810 m/s,
      LOS rate: -9.407510 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 90.676852 deg,
      new cmd heading: 95.277148 deg.

2021-02-16T15:05:52.080Z,1613487952.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:52.834Z,1613487952.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:53.234Z,1613487953.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:54.052Z,1613487954.052 [Micromodem](INFO): Nmea in: $SNTTA,0.126820,,,,150554.24*49

2021-02-16T15:05:54.504Z,1613487954.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.319992 m, bearing: 77.295393 deg, deltaT: 4.814848 s, approachRate: 0.747685 m/s, LOS rate: 5.854552 deg/s, posRepo size: 4
2021-02-16T15:05:54.506Z,1613487954.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.319992 m,
      bearing: 77.295393 deg,
      approachRate: 0.747685 m/s,
      LOS rate: 5.854552 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 32.775698 deg,
      new cmd heading: 27.639194 deg.

2021-02-16T15:05:56.910Z,1613487956.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:05:57.704Z,1613487957.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:05:58.082Z,1613487958.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:05:58.912Z,1613487958.912 [Micromodem](INFO): Nmea in: $SNTTA,0.128841,,,,150559.11*4B

2021-02-16T15:05:58.921Z,1613487958.921 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T15:05:59.343Z,1613487959.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.319992 m, bearing: 74.712489 deg, deltaT: 4.857571 s, approachRate: 0.617593 m/s, LOS rate: -0.531728 deg/s, posRepo size: 4
2021-02-16T15:05:59.345Z,1613487959.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.319992 m,
      bearing: 74.712489 deg,
      approachRate: 0.617593 m/s,
      LOS rate: -0.531728 deg/s,
      cmd update: -1.595183 deg/s,
      cmd heading: 91.066913 deg,
      new cmd heading: 95.977085 deg.

2021-02-16T15:06:01.746Z,1613487961.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:02.524Z,1613487962.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:02.947Z,1613487962.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:03.746Z,1613487963.746 [Micromodem](INFO): Nmea in: $SNTTA,0.131052,,,,150603.93*4F

2021-02-16T15:06:04.210Z,1613487964.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.559982 m, bearing: 51.103803 deg, deltaT: 4.857292 s, approachRate: 0.667036 m/s, LOS rate: -4.860463 deg/s, posRepo size: 4
2021-02-16T15:06:04.212Z,1613487964.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.559982 m,
      bearing: 51.103803 deg,
      approachRate: 0.667036 m/s,
      LOS rate: -4.860463 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.350885 deg,
      new cmd heading: 82.650008 deg.

2021-02-16T15:06:06.596Z,1613487966.596 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:07.391Z,1613487967.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:07.777Z,1613487967.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:08.603Z,1613487968.603 [Micromodem](INFO): Nmea in: $SNTTA,0.133420,,,,150608.80*45

2021-02-16T15:06:09.044Z,1613487969.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.220001 m, bearing: 117.896715 deg, deltaT: 4.827123 s, approachRate: 0.758220 m/s, LOS rate: 13.837002 deg/s, posRepo size: 4
2021-02-16T15:06:09.045Z,1613487969.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.837002 deg/s. Setting heading cmd to target bearing of 117.896715deg and heading rate command to 0 deg/s.
2021-02-16T15:06:11.448Z,1613487971.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:12.241Z,1613487972.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:12.629Z,1613487972.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:13.471Z,1613487973.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150613.65*5D

2021-02-16T15:06:13.896Z,1613487973.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.799988 m, bearing: 98.731061 deg, deltaT: 4.877433 s, approachRate: 0.528964 m/s, LOS rate: -3.929455 deg/s, posRepo size: 4
2021-02-16T15:06:13.898Z,1613487973.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.799988 m,
      bearing: 98.731061 deg,
      approachRate: 0.528964 m/s,
      LOS rate: -3.929455 deg/s,
      cmd update: -11.788365 deg/s,
      cmd heading: 117.896715 deg,
      new cmd heading: 117.896715 deg.

2021-02-16T15:06:16.302Z,1613487976.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:17.074Z,1613487977.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:17.488Z,1613487977.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:18.295Z,1613487978.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150618.48*59

2021-02-16T15:06:18.758Z,1613487978.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.519989 m, bearing: 30.875761 deg, deltaT: 4.845213 s, approachRate: 0.767768 m/s, LOS rate: -14.004606 deg/s, posRepo size: 4
2021-02-16T15:06:18.758Z,1613487978.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.004606 deg/s. Setting heading cmd to target bearing of 30.875761deg and heading rate command to 0 deg/s.
2021-02-16T15:06:21.171Z,1613487981.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:21.922Z,1613487981.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:22.327Z,1613487982.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:23.158Z,1613487983.158 [Micromodem](INFO): Nmea in: $SNTTA,0.140230,,,,150623.33*47

2021-02-16T15:06:23.569Z,1613487983.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.479980 m, bearing: 70.684671 deg, deltaT: 4.867002 s, approachRate: 0.813641 m/s, LOS rate: 8.179350 deg/s, posRepo size: 4
2021-02-16T15:06:23.571Z,1613487983.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.479980 m,
      bearing: 70.684671 deg,
      approachRate: 0.813641 m/s,
      LOS rate: 8.179350 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 30.875761 deg,
      new cmd heading: 30.875761 deg.

2021-02-16T15:06:26.004Z,1613487986.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:26.770Z,1613487986.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:27.170Z,1613487987.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:27.988Z,1613487987.988 [Micromodem](INFO): Nmea in: $SNTTA,0.142462,,,,150628.18*46

2021-02-16T15:06:28.427Z,1613487988.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.899994 m, bearing: 53.786514 deg, deltaT: 4.805304 s, approachRate: 0.711716 m/s, LOS rate: -3.516564 deg/s, posRepo size: 4
2021-02-16T15:06:28.429Z,1613487988.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.899994 m,
      bearing: 53.786514 deg,
      approachRate: 0.711716 m/s,
      LOS rate: -3.516564 deg/s,
      cmd update: -10.549691 deg/s,
      cmd heading: 88.587447 deg,
      new cmd heading: 93.554223 deg.

2021-02-16T15:06:30.841Z,1613487990.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:31.612Z,1613487991.612 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:32.019Z,1613487992.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:32.835Z,1613487992.835 [Micromodem](INFO): Nmea in: $SNTTA,0.145163,,,,150633.02*44

2021-02-16T15:06:33.294Z,1613487993.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.800003 m, bearing: 41.845048 deg, deltaT: 4.866665 s, approachRate: 0.801372 m/s, LOS rate: -2.453727 deg/s, posRepo size: 4
2021-02-16T15:06:33.300Z,1613487993.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.800003 m,
      bearing: 41.845048 deg,
      approachRate: 0.801372 m/s,
      LOS rate: -2.453727 deg/s,
      cmd update: -7.361180 deg/s,
      cmd heading: 37.245731 deg,
      new cmd heading: 32.876766 deg.

2021-02-16T15:06:35.715Z,1613487995.715 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:36.462Z,1613487996.462 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:36.866Z,1613487996.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:37.698Z,1613487997.698 [Micromodem](INFO): Nmea in: $SNTTA,0.147244,,,,150637.87*49

2021-02-16T15:06:38.163Z,1613487998.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.979980 m, bearing: 88.835619 deg, deltaT: 4.870842 s, approachRate: 0.652860 m/s, LOS rate: 9.647320 deg/s, posRepo size: 4
2021-02-16T15:06:38.165Z,1613487998.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.979980 m,
      bearing: 88.835619 deg,
      approachRate: 0.652860 m/s,
      LOS rate: 9.647320 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 1.421017 deg,
      new cmd heading: 358.353525 deg.

2021-02-16T15:06:40.531Z,1613488000.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:41.308Z,1613488001.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:41.716Z,1613488001.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:42.529Z,1613488002.529 [Micromodem](INFO): Nmea in: $SNTTA,0.149378,,,,150642.72*41

2021-02-16T15:06:42.970Z,1613488002.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 224.220001 m, bearing: 47.578039 deg, deltaT: 4.803323 s, approachRate: 0.674537 m/s, LOS rate: -8.589383 deg/s, posRepo size: 4
2021-02-16T15:06:42.972Z,1613488002.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.220001 m,
      bearing: 47.578039 deg,
      approachRate: 0.674537 m/s,
      LOS rate: -8.589383 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 59.110599 deg,
      new cmd heading: 64.105707 deg.

2021-02-16T15:06:45.379Z,1613488005.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:46.166Z,1613488006.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:46.562Z,1613488006.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:47.393Z,1613488007.393 [Micromodem](INFO): Nmea in: $SNTTA,0.152034,,,,150647.58*4D

2021-02-16T15:06:48.234Z,1613488008.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:49.796Z,1613488009.796 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:06:51.034Z,1613488011.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:51.812Z,1613488011.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:52.224Z,1613488012.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:53.028Z,1613488013.028 [Micromodem](INFO): Nmea in: $SNTTA,0.155393,,,,150653.22*4C

2021-02-16T15:06:53.867Z,1613488013.867 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:55.452Z,1613488015.452 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:06:56.739Z,1613488016.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:06:57.468Z,1613488017.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:06:57.879Z,1613488017.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:06:58.705Z,1613488018.705 [Micromodem](INFO): Nmea in: $SNTTA,0.158410,,,,150658.88*46

2021-02-16T15:06:59.162Z,1613488019.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.719986 m, bearing: 306.048728 deg, deltaT: 16.176262 s, approachRate: 0.834555 m/s, LOS rate: -6.276438 deg/s, posRepo size: 4
2021-02-16T15:06:59.168Z,1613488019.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.719986 m,
      bearing: 306.048728 deg,
      approachRate: 0.834555 m/s,
      LOS rate: -6.276438 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.998257 deg,
      new cmd heading: 219.812229 deg.

2021-02-16T15:07:01.540Z,1613488021.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:02.322Z,1613488022.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:02.734Z,1613488022.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:03.555Z,1613488023.555 [Micromodem](INFO): Nmea in: $SNTTA,0.160473,,,,150703.73*43

2021-02-16T15:07:03.991Z,1613488023.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.779984 m, bearing: 330.145035 deg, deltaT: 4.855011 s, approachRate: 0.630276 m/s, LOS rate: 4.963183 deg/s, posRepo size: 4
2021-02-16T15:07:03.993Z,1613488023.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.779984 m,
      bearing: 330.145035 deg,
      approachRate: 0.630276 m/s,
      LOS rate: 4.963183 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 166.735268 deg,
      new cmd heading: 162.055568 deg.

2021-02-16T15:07:04.391Z,1613488024.391 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T15:07:04.391Z,1613488024.391 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T15:07:04.391Z,1613488024.391 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T15:07:04.391Z,1613488024.391 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T15:07:04.391Z,1613488024.391 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T15:07:04.810Z,1613488024.810 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B606D0000005D00000400320000000000000000151D80030C5669BF92F9E55806DF0FE2EEEFDEC824FE7799473BA4176AB5B763CCE1248BBBBEEFE0F8A9
2021-02-16T15:07:04.811Z,1613488024.811 [Micromodem](INFO): Outgoing frame #2, 6 bytes: A4A5F7B9B400
2021-02-16T15:07:04.811Z,1613488024.811 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T15:07:05.184Z,1613488025.184 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T15:07:05.572Z,1613488025.572 [Micromodem](INFO): Nmea in: $CADRQ,150706,1,10,0,64,1*73

2021-02-16T15:07:05.573Z,1613488025.573 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B606D0000005D00000400320000000000000000151D80030C5669BF92F9E55806DF0FE2EEEFDEC824FE7799473BA4176AB5B763CCE1248BBBBEEFE0F8A9*45

2021-02-16T15:07:05.976Z,1613488025.976 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T15:07:06.368Z,1613488026.368 [Micromodem](INFO): Nmea in: $CADRQ,150706,1,10,0,64,2*70

2021-02-16T15:07:06.368Z,1613488026.368 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A4A5F7B9B400*34

2021-02-16T15:07:06.497Z,1613488026.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:06.787Z,1613488026.787 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-02-16T15:07:07.176Z,1613488027.176 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-02-16T15:07:07.177Z,1613488027.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:09.224Z,1613488029.224 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:09.617Z,1613488029.617 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-02-16T15:07:09.617Z,1613488029.617 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-02-16T15:07:10.006Z,1613488030.006 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,150707.749123,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-02-16T15:07:10.007Z,1613488030.007 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,150707.749123,3,0,200,4000,14500,1,1,10,1,2,2,3,70*4E

2021-02-16T15:07:12.091Z,1613488032.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:12.439Z,1613488032.439 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T15:07:12.844Z,1613488032.844 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T15:07:12.845Z,1613488032.845 [Micromodem](INFO): Sent 62 bytes from file Logs/20210216T042015/Courier0109.lzma.parts
2021-02-16T15:07:12.845Z,1613488032.845 [Micromodem](INFO): Packets left to send: 0
2021-02-16T15:07:13.245Z,1613488033.245 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216150712.655899,06,2798,34,0271,0150,29,01,01,00,04,1,010,001,0,4,1,0,150,12.1,7.00,12,-4.00,-01,-0.41,30,14500,4000*72

2021-02-16T15:07:13.245Z,1613488033.245 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216150712.655899,06,2798,34,0271,0150,29,01,01,00,04,1,010,001,0,4,1,0,150,12.1,7.00,12,-4.00,-01,-0.41,30,14500,4000*72

2021-02-16T15:07:13.350Z,1613488033.350 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T15:07:13.350Z,1613488033.350 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T15:07:13.350Z,1613488033.350 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T15:07:13.350Z,1613488033.350 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T15:07:13.350Z,1613488033.350 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T15:07:14.876Z,1613488034.876 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:17.756Z,1613488037.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:18.493Z,1613488038.493 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:18.894Z,1613488038.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:19.741Z,1613488039.741 [Micromodem](INFO): Nmea in: $SNTTA,0.162280,,,,150719.90*4D

2021-02-16T15:07:20.176Z,1613488040.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.360001 m, bearing: 269.643519 deg, deltaT: 16.180424 s, approachRate: 0.159453 m/s, LOS rate: -3.739180 deg/s, posRepo size: 4
2021-02-16T15:07:20.178Z,1613488040.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.360001 m,
      bearing: 269.643519 deg,
      approachRate: 0.159453 m/s,
      LOS rate: -3.739180 deg/s,
      cmd update: -11.217539 deg/s,
      cmd heading: 0.899786 deg,
      new cmd heading: 5.832938 deg.

2021-02-16T15:07:22.564Z,1613488042.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:23.341Z,1613488043.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:23.366Z,1613488043.366 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:07:23.748Z,1613488043.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:24.558Z,1613488044.558 [Micromodem](INFO): Nmea in: $SNTTA,0.162319,,,,150724.75*49

2021-02-16T15:07:25.007Z,1613488045.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.539993 m, bearing: 321.723575 deg, deltaT: 4.807566 s, approachRate: 0.037439 m/s, LOS rate: 10.832936 deg/s, posRepo size: 4
2021-02-16T15:07:25.009Z,1613488045.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.539993 m,
      bearing: 321.723575 deg,
      approachRate: 0.037439 m/s,
      LOS rate: 10.832936 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.970446 deg,
      new cmd heading: 302.145222 deg.

2021-02-16T15:07:27.402Z,1613488047.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:28.189Z,1613488048.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:28.237Z,1613488048.237 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:07:28.590Z,1613488048.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:29.414Z,1613488049.414 [Micromodem](INFO): Nmea in: $SNTTA,0.163153,,,,150729.60*4D

2021-02-16T15:07:29.839Z,1613488049.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 244.739990 m, bearing: 251.406341 deg, deltaT: 4.935660 s, approachRate: 0.243128 m/s, LOS rate: -14.246775 deg/s, posRepo size: 4
2021-02-16T15:07:29.840Z,1613488049.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.246775 deg/s. Setting heading cmd to target bearing of 251.406341deg and heading rate command to 0 deg/s.
2021-02-16T15:07:32.254Z,1613488052.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:33.037Z,1613488053.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:33.440Z,1613488053.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:33.455Z,1613488053.455 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:07:34.266Z,1613488054.266 [Micromodem](INFO): Nmea in: $SNTTA,0.164599,,,,150734.44*42

2021-02-16T15:07:34.718Z,1613488054.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 247.019989 m, bearing: 297.310731 deg, deltaT: 4.787724 s, approachRate: 0.476218 m/s, LOS rate: 9.587936 deg/s, posRepo size: 4
2021-02-16T15:07:34.732Z,1613488054.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.019989 m,
      bearing: 297.310731 deg,
      approachRate: 0.476218 m/s,
      LOS rate: 9.587936 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 251.406341 deg,
      new cmd heading: 251.406341 deg.

2021-02-16T15:07:37.122Z,1613488057.122 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:37.881Z,1613488057.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:38.298Z,1613488058.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:39.114Z,1613488059.114 [Micromodem](INFO): Nmea in: $SNTTA,0.165977,,0.167089,,150739.29*56

2021-02-16T15:07:39.560Z,1613488059.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.600006 m, bearing: 295.754704 deg, deltaT: 4.884801 s, approachRate: 0.528172 m/s, LOS rate: -0.318544 deg/s, posRepo size: 4
2021-02-16T15:07:39.562Z,1613488059.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.600006 m,
      bearing: 295.754704 deg,
      approachRate: 0.528172 m/s,
      LOS rate: -0.318544 deg/s,
      cmd update: -0.955633 deg/s,
      cmd heading: 309.978354 deg,
      new cmd heading: 314.383110 deg.

2021-02-16T15:07:41.946Z,1613488061.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:42.729Z,1613488062.729 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:43.185Z,1613488063.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:43.951Z,1613488063.951 [Micromodem](INFO): Nmea in: $SNTTA,0.167716,,,,150744.14*46

2021-02-16T15:07:44.361Z,1613488064.361 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T15:07:44.430Z,1613488064.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 251.639999 m, bearing: 276.812240 deg, deltaT: 4.817957 s, approachRate: 0.423415 m/s, LOS rate: -3.931638 deg/s, posRepo size: 4
2021-02-16T15:07:44.436Z,1613488064.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.639999 m,
      bearing: 276.812240 deg,
      approachRate: 0.423415 m/s,
      LOS rate: -3.931638 deg/s,
      cmd update: -11.794915 deg/s,
      cmd heading: 305.373984 deg,
      new cmd heading: 304.958343 deg.

2021-02-16T15:07:46.789Z,1613488066.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:47.584Z,1613488067.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:48.002Z,1613488068.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:48.801Z,1613488068.801 [Micromodem](INFO): Nmea in: $SNTTA,0.168937,,,,150748.99*4D

2021-02-16T15:07:49.240Z,1613488069.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.439987 m, bearing: 233.003680 deg, deltaT: 4.854010 s, approachRate: 0.370825 m/s, LOS rate: -9.025231 deg/s, posRepo size: 4
2021-02-16T15:07:49.242Z,1613488069.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.439987 m,
      bearing: 233.003680 deg,
      approachRate: 0.370825 m/s,
      LOS rate: -9.025231 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 248.401276 deg,
      new cmd heading: 243.504806 deg.

2021-02-16T15:07:50.019Z,1613488070.019 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:07:51.632Z,1613488071.632 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:52.429Z,1613488072.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:52.835Z,1613488072.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:53.252Z,1613488073.252 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:07:53.680Z,1613488073.680 [Micromodem](INFO): Nmea in: $SNTTA,0.169692,,,0.172222,150753.84*52

2021-02-16T15:07:54.102Z,1613488074.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 254.999985 m, bearing: 302.848375 deg, deltaT: 4.876970 s, approachRate: 0.319870 m/s, LOS rate: 14.321330 deg/s, posRepo size: 4
2021-02-16T15:07:54.103Z,1613488074.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.321330 deg/s. Setting heading cmd to target bearing of 302.848375deg and heading rate command to 0 deg/s.
2021-02-16T15:07:56.507Z,1613488076.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:07:57.283Z,1613488077.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:07:57.701Z,1613488077.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:07:58.497Z,1613488078.497 [Micromodem](INFO): Nmea in: $SNTTA,0.169241,,,,150758.69*48

2021-02-16T15:07:58.508Z,1613488078.508 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:07:58.929Z,1613488078.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 253.739990 m, bearing: 189.556983 deg, deltaT: 4.790622 s, approachRate: -0.263013 m/s, LOS rate: -23.648577 deg/s, posRepo size: 4
2021-02-16T15:07:58.930Z,1613488078.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.648577 deg/s. Setting heading cmd to target bearing of 189.556983deg and heading rate command to 0 deg/s.
2021-02-16T15:08:01.376Z,1613488081.376 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:02.144Z,1613488082.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:02.526Z,1613488082.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:03.352Z,1613488083.352 [Micromodem](INFO): Nmea in: $SNTTA,0.168403,,,,150803.55*47

2021-02-16T15:08:03.790Z,1613488083.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 252.479996 m, bearing: 194.512695 deg, deltaT: 4.865565 s, approachRate: -0.258962 m/s, LOS rate: 1.018528 deg/s, posRepo size: 4
2021-02-16T15:08:03.792Z,1613488083.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.479996 m,
      bearing: 194.512695 deg,
      approachRate: -0.258962 m/s,
      LOS rate: 1.018528 deg/s,
      cmd update: 3.055582 deg/s,
      cmd heading: 189.556983 deg,
      new cmd heading: 189.556983 deg.

2021-02-16T15:08:04.190Z,1613488084.190 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:08:06.194Z,1613488086.194 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:06.974Z,1613488086.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:07.374Z,1613488087.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:08.198Z,1613488088.198 [Micromodem](INFO): Nmea in: $SNTTA,0.166657,,,,150808.38*4A

2021-02-16T15:08:08.615Z,1613488088.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 249.719986 m, bearing: 185.937748 deg, deltaT: 4.827349 s, approachRate: -0.571744 m/s, LOS rate: -1.776326 deg/s, posRepo size: 4
2021-02-16T15:08:08.617Z,1613488088.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 249.719986 m,
      bearing: 185.937748 deg,
      approachRate: -0.571744 m/s,
      LOS rate: -1.776326 deg/s,
      cmd update: -5.328979 deg/s,
      cmd heading: 204.368427 deg,
      new cmd heading: 205.594324 deg.

2021-02-16T15:08:09.431Z,1613488089.431 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:08:11.057Z,1613488091.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:11.821Z,1613488091.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:12.229Z,1613488092.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:13.042Z,1613488093.042 [Micromodem](INFO): Nmea in: $SNTTA,0.164542,,,,150813.23*4F

2021-02-16T15:08:13.478Z,1613488093.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 246.599991 m, bearing: 187.972666 deg, deltaT: 4.873445 s, approachRate: -0.640203 m/s, LOS rate: 0.417552 deg/s, posRepo size: 4
2021-02-16T15:08:13.480Z,1613488093.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.599991 m,
      bearing: 187.972666 deg,
      approachRate: -0.640203 m/s,
      LOS rate: 0.417552 deg/s,
      cmd update: 1.252657 deg/s,
      cmd heading: 178.397414 deg,
      new cmd heading: 176.312525 deg.

2021-02-16T15:08:15.881Z,1613488095.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:16.713Z,1613488096.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:17.070Z,1613488097.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:17.895Z,1613488097.895 [Micromodem](INFO): Nmea in: $SNTTA,0.162663,,,,150818.12*40

2021-02-16T15:08:18.314Z,1613488098.314 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:08:18.334Z,1613488098.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 243.779984 m, bearing: 189.072286 deg, deltaT: 4.868730 s, approachRate: -0.579208 m/s, LOS rate: 0.225853 deg/s, posRepo size: 4
2021-02-16T15:08:18.337Z,1613488098.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.779984 m,
      bearing: 189.072286 deg,
      approachRate: -0.579208 m/s,
      LOS rate: 0.225853 deg/s,
      cmd update: 0.677560 deg/s,
      cmd heading: 184.496239 deg,
      new cmd heading: 184.968521 deg.

2021-02-16T15:08:20.744Z,1613488100.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:21.521Z,1613488101.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:21.918Z,1613488101.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:22.755Z,1613488102.755 [Micromodem](INFO): Nmea in: $SNTTA,0.160718,,,,150822.93*4F

2021-02-16T15:08:23.254Z,1613488103.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 240.839996 m, bearing: 190.262911 deg, deltaT: 4.844897 s, approachRate: -0.606821 m/s, LOS rate: 0.245748 deg/s, posRepo size: 4
2021-02-16T15:08:23.261Z,1613488103.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.839996 m,
      bearing: 190.262911 deg,
      approachRate: -0.606821 m/s,
      LOS rate: 0.245748 deg/s,
      cmd update: 0.737245 deg/s,
      cmd heading: 187.778972 deg,
      new cmd heading: 188.085882 deg.

2021-02-16T15:08:25.582Z,1613488105.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:26.360Z,1613488106.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:26.773Z,1613488106.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:27.578Z,1613488107.578 [Micromodem](INFO): Nmea in: $SNTTA,0.158575,,,,150827.77*42

2021-02-16T15:08:28.026Z,1613488108.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 237.659988 m, bearing: 191.085689 deg, deltaT: 4.792448 s, approachRate: -0.663546 m/s, LOS rate: 0.171682 deg/s, posRepo size: 4
2021-02-16T15:08:28.044Z,1613488108.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 237.659988 m,
      bearing: 191.085689 deg,
      approachRate: -0.663546 m/s,
      LOS rate: 0.171682 deg/s,
      cmd update: 0.515047 deg/s,
      cmd heading: 191.312170 deg,
      new cmd heading: 191.631299 deg.

2021-02-16T15:08:30.448Z,1613488110.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:31.214Z,1613488111.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:31.618Z,1613488111.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:32.432Z,1613488112.432 [Micromodem](INFO): Nmea in: $SNTTA,0.156285,,,,150832.62*44

2021-02-16T15:08:32.863Z,1613488112.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 234.239990 m, bearing: 193.501650 deg, deltaT: 4.887467 s, approachRate: -0.699749 m/s, LOS rate: 0.494318 deg/s, posRepo size: 4
2021-02-16T15:08:32.865Z,1613488112.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.239990 m,
      bearing: 193.501650 deg,
      approachRate: -0.699749 m/s,
      LOS rate: 0.494318 deg/s,
      cmd update: 1.482953 deg/s,
      cmd heading: 193.817076 deg,
      new cmd heading: 194.026493 deg.

2021-02-16T15:08:35.318Z,1613488115.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:36.065Z,1613488116.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:36.466Z,1613488116.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:37.287Z,1613488117.287 [Micromodem](INFO): Nmea in: $SNTTA,0.154107,,,,150837.48*42

2021-02-16T15:08:37.752Z,1613488117.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 231.000000 m, bearing: 192.119192 deg, deltaT: 4.831083 s, approachRate: -0.670655 m/s, LOS rate: -0.286159 deg/s, posRepo size: 4
2021-02-16T15:08:37.753Z,1613488117.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.000000 m,
      bearing: 192.119192 deg,
      approachRate: -0.670655 m/s,
      LOS rate: -0.286159 deg/s,
      cmd update: -0.858477 deg/s,
      cmd heading: 201.016939 deg,
      new cmd heading: 201.669198 deg.

2021-02-16T15:08:40.158Z,1613488120.158 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:40.908Z,1613488120.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:41.327Z,1613488121.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:42.157Z,1613488122.157 [Micromodem](INFO): Nmea in: $SNTTA,0.152412,,,,150842.32*4A

2021-02-16T15:08:42.563Z,1613488122.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 227.819992 m, bearing: 190.930357 deg, deltaT: 4.897842 s, approachRate: -0.649267 m/s, LOS rate: -0.242726 deg/s, posRepo size: 4
2021-02-16T15:08:42.565Z,1613488122.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.819992 m,
      bearing: 190.930357 deg,
      approachRate: -0.649267 m/s,
      LOS rate: -0.242726 deg/s,
      cmd update: -0.728179 deg/s,
      cmd heading: 196.815699 deg,
      new cmd heading: 196.508605 deg.

2021-02-16T15:08:44.973Z,1613488124.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:45.756Z,1613488125.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:46.173Z,1613488126.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:46.977Z,1613488126.977 [Micromodem](INFO): Nmea in: $SNTTA,0.149408,,,,150847.16*48

2021-02-16T15:08:47.423Z,1613488127.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 223.919998 m, bearing: 190.770926 deg, deltaT: 4.811140 s, approachRate: -0.810617 m/s, LOS rate: -0.033138 deg/s, posRepo size: 4
2021-02-16T15:08:47.425Z,1613488127.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.919998 m,
      bearing: 190.770926 deg,
      approachRate: -0.810617 m/s,
      LOS rate: -0.033138 deg/s,
      cmd update: -0.099413 deg/s,
      cmd heading: 193.309381 deg,
      new cmd heading: 193.016760 deg.

2021-02-16T15:08:49.561Z,1613488129.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:50.206Z,1613488130.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:50.621Z,1613488130.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:51.423Z,1613488131.423 [Micromodem](INFO): Nmea in: $SNTTA,0.147764,,,,150851.61*48

2021-02-16T15:08:51.855Z,1613488131.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.399994 m, bearing: 191.875518 deg, deltaT: 4.426820 s, approachRate: -0.569258 m/s, LOS rate: 0.249523 deg/s, posRepo size: 4
2021-02-16T15:08:51.857Z,1613488131.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.399994 m,
      bearing: 191.875518 deg,
      approachRate: -0.569258 m/s,
      LOS rate: 0.249523 deg/s,
      cmd update: 0.748568 deg/s,
      cmd heading: 192.869301 deg,
      new cmd heading: 192.828787 deg.

2021-02-16T15:08:54.301Z,1613488134.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:55.048Z,1613488135.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:55.503Z,1613488135.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:08:56.320Z,1613488136.320 [Micromodem](INFO): Nmea in: $SNTTA,0.145414,,,,150856.46*4C

2021-02-16T15:08:56.345Z,1613488136.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 221.399994 m, bearing: 192.952899 deg, deltaT: 4.515707 s, approachRate: 0.000000 m/s, LOS rate: 0.238585 deg/s, posRepo size: 4
2021-02-16T15:08:56.347Z,1613488136.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.399994 m,
      bearing: 192.952899 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.238585 deg/s,
      cmd update: 0.715755 deg/s,
      cmd heading: 196.246448 deg,
      new cmd heading: 196.535561 deg.

2021-02-16T15:08:58.771Z,1613488138.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:08:59.189Z,1613488139.189 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:08:59.562Z,1613488139.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:08:59.959Z,1613488139.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:00.776Z,1613488140.776 [Micromodem](INFO): Nmea in: $SNTTA,0.143340,,,,150900.97*42

2021-02-16T15:09:01.224Z,1613488141.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.799988 m, bearing: 192.363822 deg, deltaT: 4.837300 s, approachRate: -1.364399 m/s, LOS rate: -0.121778 deg/s, posRepo size: 4
2021-02-16T15:09:01.226Z,1613488141.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.799988 m,
      bearing: 192.363822 deg,
      approachRate: -1.364399 m/s,
      LOS rate: -0.121778 deg/s,
      cmd update: -0.365334 deg/s,
      cmd heading: 199.711746 deg,
      new cmd heading: 200.014713 deg.

2021-02-16T15:09:03.599Z,1613488143.599 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:04.398Z,1613488144.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:04.798Z,1613488144.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:05.615Z,1613488145.615 [Micromodem](INFO): Nmea in: $SNTTA,0.141300,,,,150905.81*46

2021-02-16T15:09:06.080Z,1613488146.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.799988 m, bearing: 192.474854 deg, deltaT: 4.829114 s, approachRate: -0.621232 m/s, LOS rate: 0.022992 deg/s, posRepo size: 4
2021-02-16T15:09:06.082Z,1613488146.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.799988 m,
      bearing: 192.474854 deg,
      approachRate: -0.621232 m/s,
      LOS rate: 0.022992 deg/s,
      cmd update: 0.068976 deg/s,
      cmd heading: 197.947522 deg,
      new cmd heading: 197.788788 deg.

2021-02-16T15:09:08.463Z,1613488148.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:09.242Z,1613488149.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:09.652Z,1613488149.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:10.467Z,1613488150.467 [Micromodem](INFO): Nmea in: $SNTTA,0.139142,,,,150910.65*43

2021-02-16T15:09:10.915Z,1613488150.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.500000 m, bearing: 194.143510 deg, deltaT: 4.882907 s, approachRate: -0.675824 m/s, LOS rate: 0.341734 deg/s, posRepo size: 4
2021-02-16T15:09:10.917Z,1613488150.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.500000 m,
      bearing: 194.143510 deg,
      approachRate: -0.675824 m/s,
      LOS rate: 0.341734 deg/s,
      cmd update: 1.025203 deg/s,
      cmd heading: 198.284336 deg,
      new cmd heading: 198.311811 deg.

2021-02-16T15:09:13.334Z,1613488153.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:14.088Z,1613488154.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:14.502Z,1613488154.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:15.309Z,1613488155.309 [Micromodem](INFO): Nmea in: $SNTTA,0.136924,,,,150915.50*47

2021-02-16T15:09:15.755Z,1613488155.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.199982 m, bearing: 192.606034 deg, deltaT: 4.821018 s, approachRate: -0.684507 m/s, LOS rate: -0.318911 deg/s, posRepo size: 4
2021-02-16T15:09:15.757Z,1613488155.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.199982 m,
      bearing: 192.606034 deg,
      approachRate: -0.684507 m/s,
      LOS rate: -0.318911 deg/s,
      cmd update: -0.956733 deg/s,
      cmd heading: 203.226881 deg,
      new cmd heading: 203.658980 deg.

2021-02-16T15:09:18.182Z,1613488158.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:18.942Z,1613488158.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:19.359Z,1613488159.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:20.165Z,1613488160.165 [Micromodem](INFO): Nmea in: $SNTTA,0.135012,,,,150920.35*4D

2021-02-16T15:09:20.598Z,1613488160.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.720001 m, bearing: 191.401435 deg, deltaT: 4.856861 s, approachRate: -0.716508 m/s, LOS rate: -0.248020 deg/s, posRepo size: 4
2021-02-16T15:09:20.600Z,1613488160.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.720001 m,
      bearing: 191.401435 deg,
      approachRate: -0.716508 m/s,
      LOS rate: -0.248020 deg/s,
      cmd update: -0.744061 deg/s,
      cmd heading: 198.580202 deg,
      new cmd heading: 198.189736 deg.

2021-02-16T15:09:23.038Z,1613488163.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:23.784Z,1613488163.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:24.195Z,1613488164.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:25.003Z,1613488165.003 [Micromodem](INFO): Nmea in: $SNTTA,0.132032,,,,150925.19*43

2021-02-16T15:09:25.452Z,1613488165.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.879990 m, bearing: 192.357129 deg, deltaT: 4.869782 s, approachRate: -0.788539 m/s, LOS rate: 0.196250 deg/s, posRepo size: 4
2021-02-16T15:09:25.454Z,1613488165.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.879990 m,
      bearing: 192.357129 deg,
      approachRate: -0.788539 m/s,
      LOS rate: 0.196250 deg/s,
      cmd update: 0.588749 deg/s,
      cmd heading: 194.962865 deg,
      new cmd heading: 194.677350 deg.

2021-02-16T15:09:27.854Z,1613488167.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:28.632Z,1613488168.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:29.055Z,1613488169.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:29.860Z,1613488169.860 [Micromodem](INFO): Nmea in: $SNTTA,0.129995,,,,150930.04*45

2021-02-16T15:09:29.884Z,1613488169.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 194.760010 m, bearing: 193.767822 deg, deltaT: 4.523570 s, approachRate: -0.689716 m/s, LOS rate: 0.311854 deg/s, posRepo size: 4
2021-02-16T15:09:29.886Z,1613488169.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.760010 m,
      bearing: 193.767822 deg,
      approachRate: -0.689716 m/s,
      LOS rate: 0.311854 deg/s,
      cmd update: 0.935562 deg/s,
      cmd heading: 197.630903 deg,
      new cmd heading: 197.807999 deg.

2021-02-16T15:09:32.325Z,1613488172.325 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:33.094Z,1613488173.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:33.481Z,1613488173.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:34.342Z,1613488174.342 [Micromodem](INFO): Nmea in: $SNTTA,0.128108,,,,150934.50*4D

2021-02-16T15:09:34.743Z,1613488174.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.939987 m, bearing: 193.112875 deg, deltaT: 4.783304 s, approachRate: -0.589555 m/s, LOS rate: -0.136924 deg/s, posRepo size: 4
2021-02-16T15:09:34.745Z,1613488174.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.939987 m,
      bearing: 193.112875 deg,
      approachRate: -0.589555 m/s,
      LOS rate: -0.136924 deg/s,
      cmd update: -0.410771 deg/s,
      cmd heading: 202.106029 deg,
      new cmd heading: 202.457756 deg.

2021-02-16T15:09:37.181Z,1613488177.181 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:37.924Z,1613488177.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:38.336Z,1613488178.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:39.168Z,1613488179.168 [Micromodem](INFO): Nmea in: $SNTTA,0.125855,,,,150939.33*49

2021-02-16T15:09:39.193Z,1613488179.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.939987 m, bearing: 192.689636 deg, deltaT: 4.436780 s, approachRate: 0.000000 m/s, LOS rate: -0.095393 deg/s, posRepo size: 4
2021-02-16T15:09:39.195Z,1613488179.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.939987 m,
      bearing: 192.689636 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.095393 deg/s,
      cmd update: -0.286180 deg/s,
      cmd heading: 200.285169 deg,
      new cmd heading: 200.123719 deg.

2021-02-16T15:09:41.580Z,1613488181.580 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:42.379Z,1613488182.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:42.774Z,1613488182.774 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:43.593Z,1613488183.593 [Micromodem](INFO): Nmea in: $SNTTA,0.123717,,,,150943.79*45

2021-02-16T15:09:44.023Z,1613488184.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 193.297755 deg, deltaT: 4.804120 s, approachRate: -1.361330 m/s, LOS rate: 0.126583 deg/s, posRepo size: 4
2021-02-16T15:09:44.025Z,1613488184.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 193.297755 deg,
      approachRate: -1.361330 m/s,
      LOS rate: 0.126583 deg/s,
      cmd update: 0.379748 deg/s,
      cmd heading: 198.909179 deg,
      new cmd heading: 198.790424 deg.

2021-02-16T15:09:46.435Z,1613488186.435 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:47.218Z,1613488187.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:47.622Z,1613488187.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:48.449Z,1613488188.449 [Micromodem](INFO): Nmea in: $SNTTA,0.121685,,,,150948.63*4D

2021-02-16T15:09:48.489Z,1613488188.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.399994 m, bearing: 193.755337 deg, deltaT: 4.471048 s, approachRate: 0.000000 m/s, LOS rate: 0.102343 deg/s, posRepo size: 4
2021-02-16T15:09:48.491Z,1613488188.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.399994 m,
      bearing: 193.755337 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.102343 deg/s,
      cmd update: 0.307030 deg/s,
      cmd heading: 200.607035 deg,
      new cmd heading: 200.762736 deg.

2021-02-16T15:09:50.877Z,1613488190.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:51.690Z,1613488191.690 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:52.066Z,1613488192.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:52.896Z,1613488192.896 [Micromodem](INFO): Nmea in: $SNTTA,0.119286,,,,150953.10*4F

2021-02-16T15:09:53.334Z,1613488193.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 193.920914 deg, deltaT: 4.841476 s, approachRate: -1.375611 m/s, LOS rate: 0.034200 deg/s, posRepo size: 4
2021-02-16T15:09:53.336Z,1613488193.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.740005 m,
      bearing: 193.920914 deg,
      approachRate: -1.375611 m/s,
      LOS rate: 0.034200 deg/s,
      cmd update: 0.102599 deg/s,
      cmd heading: 202.093522 deg,
      new cmd heading: 202.220349 deg.

2021-02-16T15:09:55.745Z,1613488195.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:09:56.514Z,1613488196.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:09:56.935Z,1613488196.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:09:57.740Z,1613488197.740 [Micromodem](INFO): Nmea in: $SNTTA,0.117131,,,,150957.92*40

2021-02-16T15:09:57.785Z,1613488197.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 192.810161 deg, deltaT: 4.477058 s, approachRate: 0.000000 m/s, LOS rate: -0.248099 deg/s, posRepo size: 4
2021-02-16T15:09:57.786Z,1613488197.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.740005 m,
      bearing: 192.810161 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.248099 deg/s,
      cmd update: -0.744296 deg/s,
      cmd heading: 202.552449 deg,
      new cmd heading: 202.592577 deg.

2021-02-16T15:10:00.198Z,1613488200.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:00.952Z,1613488200.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:01.367Z,1613488201.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:02.191Z,1613488202.191 [Micromodem](INFO): Nmea in: $SNTTA,0.114988,,,,151002.36*4F

2021-02-16T15:10:02.229Z,1613488202.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 192.886496 deg, deltaT: 4.404992 s, approachRate: 0.000000 m/s, LOS rate: 0.017329 deg/s, posRepo size: 4
2021-02-16T15:10:02.252Z,1613488202.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.740005 m,
      bearing: 192.886496 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.017329 deg/s,
      cmd update: 0.051987 deg/s,
      cmd heading: 199.270818 deg,
      new cmd heading: 198.954278 deg.

2021-02-16T15:10:04.608Z,1613488204.608 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:05.409Z,1613488205.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:05.807Z,1613488205.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:06.643Z,1613488206.643 [Micromodem](INFO): Nmea in: $SNTTA,0.113029,,,,151006.82*41

2021-02-16T15:10:06.697Z,1613488206.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.740005 m, bearing: 193.397148 deg, deltaT: 4.467115 s, approachRate: 0.000000 m/s, LOS rate: 0.114314 deg/s, posRepo size: 4
2021-02-16T15:10:06.699Z,1613488206.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.740005 m,
      bearing: 193.397148 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.114314 deg/s,
      cmd update: 0.342941 deg/s,
      cmd heading: 199.501872 deg,
      new cmd heading: 199.525293 deg.

2021-02-16T15:10:09.116Z,1613488209.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:09.840Z,1613488209.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:10.249Z,1613488210.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:11.068Z,1613488211.068 [Micromodem](INFO): Nmea in: $SNTTA,0.111128,,,,151011.25*48

2021-02-16T15:10:11.114Z,1613488211.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.500015 m, bearing: 193.658867 deg, deltaT: 4.424562 s, approachRate: -2.766373 m/s, LOS rate: 0.059151 deg/s, posRepo size: 4
2021-02-16T15:10:11.121Z,1613488211.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 193.658867 deg,
      approachRate: -2.766373 m/s,
      LOS rate: 0.059151 deg/s,
      cmd update: 0.177454 deg/s,
      cmd heading: 201.025087 deg,
      new cmd heading: 201.169848 deg.

2021-02-16T15:10:13.508Z,1613488213.508 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:14.289Z,1613488214.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:14.709Z,1613488214.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:15.516Z,1613488215.516 [Micromodem](INFO): Nmea in: $SNTTA,0.108850,,,0.111363,151015.70*5B

2021-02-16T15:10:15.555Z,1613488215.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 194.075550 deg, deltaT: 4.468722 s, approachRate: -0.765323 m/s, LOS rate: 0.093244 deg/s, posRepo size: 4
2021-02-16T15:10:15.557Z,1613488215.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.080002 m,
      bearing: 194.075550 deg,
      approachRate: -0.765323 m/s,
      LOS rate: 0.093244 deg/s,
      cmd update: 0.279733 deg/s,
      cmd heading: 201.817715 deg,
      new cmd heading: 201.888625 deg.

2021-02-16T15:10:17.959Z,1613488217.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:18.733Z,1613488218.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:19.167Z,1613488219.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:19.960Z,1613488219.960 [Micromodem](INFO): Nmea in: $SNTTA,0.107035,,,,151020.14*42

2021-02-16T15:10:20.009Z,1613488220.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 193.926324 deg, deltaT: 4.420139 s, approachRate: -0.610843 m/s, LOS rate: -0.033760 deg/s, posRepo size: 4
2021-02-16T15:10:20.010Z,1613488220.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.379990 m,
      bearing: 193.926324 deg,
      approachRate: -0.610843 m/s,
      LOS rate: -0.033760 deg/s,
      cmd update: -0.101281 deg/s,
      cmd heading: 203.055186 deg,
      new cmd heading: 203.175351 deg.

2021-02-16T15:10:22.410Z,1613488222.410 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:23.182Z,1613488223.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:23.583Z,1613488223.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:24.420Z,1613488224.420 [Micromodem](INFO): Nmea in: $SNTTA,0.104973,,,,151024.59*47

2021-02-16T15:10:24.474Z,1613488224.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 194.655842 deg, deltaT: 4.433775 s, approachRate: -0.703685 m/s, LOS rate: 0.164537 deg/s, posRepo size: 4
2021-02-16T15:10:24.482Z,1613488224.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 194.655842 deg,
      approachRate: -0.703685 m/s,
      LOS rate: 0.164537 deg/s,
      cmd update: 0.493610 deg/s,
      cmd heading: 202.605717 deg,
      new cmd heading: 202.559397 deg.

2021-02-16T15:10:26.838Z,1613488226.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:27.621Z,1613488227.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:28.028Z,1613488228.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:28.848Z,1613488228.848 [Micromodem](INFO): Nmea in: $SNTTA,0.102757,,,,151029.03*4B

2021-02-16T15:10:28.886Z,1613488228.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.899994 m, bearing: 193.418007 deg, deltaT: 4.438176 s, approachRate: -0.757071 m/s, LOS rate: -0.278906 deg/s, posRepo size: 4
2021-02-16T15:10:28.888Z,1613488228.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.899994 m,
      bearing: 193.418007 deg,
      approachRate: -0.757071 m/s,
      LOS rate: -0.278906 deg/s,
      cmd update: -0.836719 deg/s,
      cmd heading: 204.796424 deg,
      new cmd heading: 205.009111 deg.

2021-02-16T15:10:29.257Z,1613488229.257 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:10:31.297Z,1613488231.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:32.060Z,1613488232.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:32.466Z,1613488232.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:33.319Z,1613488233.319 [Micromodem](INFO): Nmea in: $SNTTA,0.100640,,,,151033.47*45

2021-02-16T15:10:33.345Z,1613488233.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.780014 m, bearing: 194.525236 deg, deltaT: 4.475118 s, approachRate: -0.697184 m/s, LOS rate: 0.247419 deg/s, posRepo size: 4
2021-02-16T15:10:33.347Z,1613488233.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 194.525236 deg,
      approachRate: -0.697184 m/s,
      LOS rate: 0.247419 deg/s,
      cmd update: 0.742256 deg/s,
      cmd heading: 201.061699 deg,
      new cmd heading: 200.704885 deg.

2021-02-16T15:10:35.728Z,1613488235.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:36.504Z,1613488236.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:36.917Z,1613488236.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:37.732Z,1613488237.732 [Micromodem](INFO): Nmea in: $SNTTA,0.098640,,,,151037.91*4A

2021-02-16T15:10:37.782Z,1613488237.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 193.855112 deg, deltaT: 4.423524 s, approachRate: -0.678196 m/s, LOS rate: -0.151491 deg/s, posRepo size: 4
2021-02-16T15:10:37.783Z,1613488237.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.779999 m,
      bearing: 193.855112 deg,
      approachRate: -0.678196 m/s,
      LOS rate: -0.151491 deg/s,
      cmd update: -0.454473 deg/s,
      cmd heading: 204.353627 deg,
      new cmd heading: 204.671317 deg.

2021-02-16T15:10:40.192Z,1613488240.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:40.966Z,1613488240.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:41.354Z,1613488241.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:42.196Z,1613488242.196 [Micromodem](INFO): Nmea in: $SNTTA,0.096372,,,,151042.37*4E

2021-02-16T15:10:42.220Z,1613488242.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.360001 m, bearing: 194.038926 deg, deltaT: 4.449349 s, approachRate: -0.768651 m/s, LOS rate: 0.041313 deg/s, posRepo size: 4
2021-02-16T15:10:42.222Z,1613488242.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.360001 m,
      bearing: 194.038926 deg,
      approachRate: -0.768651 m/s,
      LOS rate: 0.041313 deg/s,
      cmd update: 0.123938 deg/s,
      cmd heading: 202.331528 deg,
      new cmd heading: 202.141931 deg.

2021-02-16T15:10:44.703Z,1613488244.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:45.394Z,1613488245.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:45.798Z,1613488245.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:46.628Z,1613488246.628 [Micromodem](INFO): Nmea in: $SNTTA,0.094443,,,,151046.80*41

2021-02-16T15:10:46.679Z,1613488246.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 194.560916 deg, deltaT: 4.460866 s, approachRate: -0.645616 m/s, LOS rate: 0.117015 deg/s, posRepo size: 4
2021-02-16T15:10:46.700Z,1613488246.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.479996 m,
      bearing: 194.560916 deg,
      approachRate: -0.645616 m/s,
      LOS rate: 0.117015 deg/s,
      cmd update: 0.351046 deg/s,
      cmd heading: 202.883625 deg,
      new cmd heading: 202.935416 deg.

2021-02-16T15:10:49.107Z,1613488249.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:49.842Z,1613488249.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:50.242Z,1613488250.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:51.068Z,1613488251.068 [Micromodem](INFO): Nmea in: $SNTTA,0.092440,,,,151051.25*4D

2021-02-16T15:10:51.163Z,1613488251.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.419998 m, bearing: 194.839042 deg, deltaT: 4.439286 s, approachRate: -0.689299 m/s, LOS rate: 0.062651 deg/s, posRepo size: 4
2021-02-16T15:10:51.165Z,1613488251.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.419998 m,
      bearing: 194.839042 deg,
      approachRate: -0.689299 m/s,
      LOS rate: 0.062651 deg/s,
      cmd update: 0.187953 deg/s,
      cmd heading: 204.442828 deg,
      new cmd heading: 204.604278 deg.

2021-02-16T15:10:53.519Z,1613488253.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:54.297Z,1613488254.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:54.712Z,1613488254.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:55.520Z,1613488255.520 [Micromodem](INFO): Nmea in: $SNTTA,0.090509,,,,151055.70*47

2021-02-16T15:10:55.565Z,1613488255.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.600006 m, bearing: 194.725688 deg, deltaT: 4.431850 s, approachRate: -0.636301 m/s, LOS rate: -0.025577 deg/s, posRepo size: 4
2021-02-16T15:10:55.569Z,1613488255.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.600006 m,
      bearing: 194.725688 deg,
      approachRate: -0.636301 m/s,
      LOS rate: -0.025577 deg/s,
      cmd update: -0.076731 deg/s,
      cmd heading: 205.272028 deg,
      new cmd heading: 205.357429 deg.

2021-02-16T15:10:57.969Z,1613488257.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:10:58.735Z,1613488258.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:10:59.160Z,1613488259.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:10:59.960Z,1613488259.960 [Micromodem](INFO): Nmea in: $SNTTA,0.088576,,,,151100.14*45

2021-02-16T15:11:00.004Z,1613488260.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.660004 m, bearing: 193.735898 deg, deltaT: 4.413816 s, approachRate: -0.666091 m/s, LOS rate: -0.224248 deg/s, posRepo size: 4
2021-02-16T15:11:00.006Z,1613488260.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 193.735898 deg,
      approachRate: -0.666091 m/s,
      LOS rate: -0.224248 deg/s,
      cmd update: -0.672744 deg/s,
      cmd heading: 204.931505 deg,
      new cmd heading: 204.896533 deg.

2021-02-16T15:11:02.401Z,1613488262.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:03.186Z,1613488263.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:03.574Z,1613488263.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:04.408Z,1613488264.408 [Micromodem](INFO): Nmea in: $SNTTA,0.086642,,,,151104.59*42

2021-02-16T15:11:04.453Z,1613488264.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 194.849328 deg, deltaT: 4.484342 s, approachRate: -0.642236 m/s, LOS rate: 0.248293 deg/s, posRepo size: 4
2021-02-16T15:11:04.455Z,1613488264.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.779999 m,
      bearing: 194.849328 deg,
      approachRate: -0.642236 m/s,
      LOS rate: 0.248293 deg/s,
      cmd update: 0.744879 deg/s,
      cmd heading: 201.917358 deg,
      new cmd heading: 201.631927 deg.

2021-02-16T15:11:06.861Z,1613488266.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:07.617Z,1613488267.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:08.018Z,1613488268.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:08.844Z,1613488268.844 [Micromodem](INFO): Nmea in: $SNTTA,0.084567,,,,151109.02*47

2021-02-16T15:11:08.888Z,1613488268.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 195.498906 deg, deltaT: 4.443279 s, approachRate: -0.715688 m/s, LOS rate: 0.146193 deg/s, posRepo size: 4
2021-02-16T15:11:08.890Z,1613488268.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.599998 m,
      bearing: 195.498906 deg,
      approachRate: -0.715688 m/s,
      LOS rate: 0.146193 deg/s,
      cmd update: 0.438580 deg/s,
      cmd heading: 205.229369 deg,
      new cmd heading: 205.521607 deg.

2021-02-16T15:11:11.315Z,1613488271.315 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:12.061Z,1613488272.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:12.462Z,1613488272.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:13.329Z,1613488273.329 [Micromodem](INFO): Nmea in: $SNTTA,0.082222,,,,151113.47*4D

2021-02-16T15:11:13.356Z,1613488273.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.180000 m, bearing: 194.538664 deg, deltaT: 4.411925 s, approachRate: -0.775171 m/s, LOS rate: -0.217647 deg/s, posRepo size: 4
2021-02-16T15:11:13.358Z,1613488273.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.180000 m,
      bearing: 194.538664 deg,
      approachRate: -0.775171 m/s,
      LOS rate: -0.217647 deg/s,
      cmd update: -0.652941 deg/s,
      cmd heading: 207.164755 deg,
      new cmd heading: 207.369886 deg.

2021-02-16T15:11:15.760Z,1613488275.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:16.506Z,1613488276.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:16.911Z,1613488276.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:17.740Z,1613488277.740 [Micromodem](INFO): Nmea in: $SNTTA,0.079994,,,,151117.92*43

2021-02-16T15:11:17.789Z,1613488277.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.760010 m, bearing: 193.744231 deg, deltaT: 4.449702 s, approachRate: -0.768589 m/s, LOS rate: -0.178536 deg/s, posRepo size: 4
2021-02-16T15:11:17.790Z,1613488277.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.760010 m,
      bearing: 193.744231 deg,
      approachRate: -0.768589 m/s,
      LOS rate: -0.178536 deg/s,
      cmd update: -0.535609 deg/s,
      cmd heading: 204.259463 deg,
      new cmd heading: 203.965006 deg.

2021-02-16T15:11:20.190Z,1613488280.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:20.951Z,1613488280.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:21.350Z,1613488281.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:22.180Z,1613488282.180 [Micromodem](INFO): Nmea in: $SNTTA,0.077993,,,,151122.36*42

2021-02-16T15:11:22.230Z,1613488282.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.820007 m, bearing: 195.129516 deg, deltaT: 4.473181 s, approachRate: -0.657251 m/s, LOS rate: 0.309687 deg/s, posRepo size: 4
2021-02-16T15:11:22.236Z,1613488282.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 195.129516 deg,
      approachRate: -0.657251 m/s,
      LOS rate: 0.309687 deg/s,
      cmd update: 0.929060 deg/s,
      cmd heading: 201.865682 deg,
      new cmd heading: 201.639333 deg.

2021-02-16T15:11:24.615Z,1613488284.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:25.405Z,1613488285.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:25.800Z,1613488285.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:26.627Z,1613488286.627 [Micromodem](INFO): Nmea in: $SNTTA,0.075851,,,,151126.81*47

2021-02-16T15:11:26.642Z,1613488286.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.580009 m, bearing: 194.777242 deg, deltaT: 4.434480 s, approachRate: -0.730638 m/s, LOS rate: -0.079440 deg/s, posRepo size: 4
2021-02-16T15:11:26.644Z,1613488286.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 194.777242 deg,
      approachRate: -0.730638 m/s,
      LOS rate: -0.079440 deg/s,
      cmd update: -0.238319 deg/s,
      cmd heading: 205.984977 deg,
      new cmd heading: 206.357607 deg.

2021-02-16T15:11:29.059Z,1613488289.059 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:29.838Z,1613488289.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:30.239Z,1613488290.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:31.064Z,1613488291.064 [Micromodem](INFO): Nmea in: $SNTTA,0.073663,,,,151131.24*47

2021-02-16T15:11:31.135Z,1613488291.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 194.834643 deg, deltaT: 4.457577 s, approachRate: -0.740313 m/s, LOS rate: 0.012877 deg/s, posRepo size: 4
2021-02-16T15:11:31.150Z,1613488291.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.280006 m,
      bearing: 194.834643 deg,
      approachRate: -0.740313 m/s,
      LOS rate: 0.012877 deg/s,
      cmd update: 0.038631 deg/s,
      cmd heading: 204.923913 deg,
      new cmd heading: 204.820586 deg.

2021-02-16T15:11:33.493Z,1613488293.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:34.289Z,1613488294.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:34.709Z,1613488294.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:35.517Z,1613488295.517 [Micromodem](INFO): Nmea in: $SNTTA,0.071572,,,,151135.70*43

2021-02-16T15:11:35.561Z,1613488295.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.220001 m, bearing: 195.112973 deg, deltaT: 4.399207 s, approachRate: -0.695581 m/s, LOS rate: 0.063268 deg/s, posRepo size: 4
2021-02-16T15:11:35.562Z,1613488295.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.220001 m,
      bearing: 195.112973 deg,
      approachRate: -0.695581 m/s,
      LOS rate: 0.063268 deg/s,
      cmd update: 0.189805 deg/s,
      cmd heading: 205.094240 deg,
      new cmd heading: 205.111948 deg.

2021-02-16T15:11:37.942Z,1613488297.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:38.720Z,1613488298.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:39.155Z,1613488299.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:39.948Z,1613488299.948 [Micromodem](INFO): Nmea in: $SNTTA,0.069732,,,,151140.13*4B

2021-02-16T15:11:39.973Z,1613488299.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.400002 m, bearing: 195.708771 deg, deltaT: 4.441705 s, approachRate: -0.634891 m/s, LOS rate: 0.134137 deg/s, posRepo size: 4
2021-02-16T15:11:39.974Z,1613488299.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 195.708771 deg,
      approachRate: -0.634891 m/s,
      LOS rate: 0.134137 deg/s,
      cmd update: 0.402411 deg/s,
      cmd heading: 205.937299 deg,
      new cmd heading: 206.018648 deg.

2021-02-16T15:11:42.406Z,1613488302.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:43.175Z,1613488303.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:43.570Z,1613488303.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:44.404Z,1613488304.404 [Micromodem](INFO): Nmea in: $SNTTA,0.067598,,,0.077854,151144.58*5B

2021-02-16T15:11:44.429Z,1613488304.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 194.041057 deg, deltaT: 4.466675 s, approachRate: -0.711941 m/s, LOS rate: -0.373368 deg/s, posRepo size: 4
2021-02-16T15:11:44.498Z,1613488304.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 194.041057 deg,
      approachRate: -0.711941 m/s,
      LOS rate: -0.373368 deg/s,
      cmd update: -1.120104 deg/s,
      cmd heading: 207.734821 deg,
      new cmd heading: 207.903222 deg.

2021-02-16T15:11:46.825Z,1613488306.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:47.613Z,1613488307.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:48.014Z,1613488308.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:48.845Z,1613488308.845 [Micromodem](INFO): Nmea in: $SNTTA,0.065712,,,,151149.02*4C

2021-02-16T15:11:48.893Z,1613488308.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.400002 m, bearing: 194.675910 deg, deltaT: 4.460011 s, approachRate: -0.632284 m/s, LOS rate: 0.142343 deg/s, posRepo size: 4
2021-02-16T15:11:48.894Z,1613488308.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.400002 m,
      bearing: 194.675910 deg,
      approachRate: -0.632284 m/s,
      LOS rate: 0.142343 deg/s,
      cmd update: 0.427030 deg/s,
      cmd heading: 202.761549 deg,
      new cmd heading: 202.266534 deg.

2021-02-16T15:11:51.294Z,1613488311.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:52.054Z,1613488312.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:52.481Z,1613488312.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:53.304Z,1613488313.304 [Micromodem](INFO): Nmea in: $SNTTA,0.063698,,,,151153.46*42

2021-02-16T15:11:53.388Z,1613488313.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.340004 m, bearing: 195.515572 deg, deltaT: 4.440815 s, approachRate: -0.689062 m/s, LOS rate: 0.189078 deg/s, posRepo size: 4
2021-02-16T15:11:53.389Z,1613488313.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 195.515572 deg,
      approachRate: -0.689062 m/s,
      LOS rate: 0.189078 deg/s,
      cmd update: 0.567235 deg/s,
      cmd heading: 204.656210 deg,
      new cmd heading: 204.869592 deg.

2021-02-16T15:11:55.741Z,1613488315.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:11:56.524Z,1613488316.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:11:56.937Z,1613488316.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:11:57.773Z,1613488317.773 [Micromodem](INFO): Nmea in: $SNTTA,0.061662,,,,151157.93*49

2021-02-16T15:11:57.816Z,1613488317.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.280006 m, bearing: 195.424567 deg, deltaT: 4.446034 s, approachRate: -0.688253 m/s, LOS rate: -0.020469 deg/s, posRepo size: 4
2021-02-16T15:11:57.818Z,1613488317.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.280006 m,
      bearing: 195.424567 deg,
      approachRate: -0.688253 m/s,
      LOS rate: -0.020469 deg/s,
      cmd update: -0.061407 deg/s,
      cmd heading: 207.191775 deg,
      new cmd heading: 207.451893 deg.

2021-02-16T15:12:00.217Z,1613488320.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:00.973Z,1613488320.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:01.374Z,1613488321.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:02.200Z,1613488322.200 [Micromodem](INFO): Nmea in: $SNTTA,0.059622,,,,151202.38*44

2021-02-16T15:12:02.225Z,1613488322.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 195.791375 deg, deltaT: 4.447680 s, approachRate: -0.687999 m/s, LOS rate: 0.082472 deg/s, posRepo size: 4
2021-02-16T15:12:02.227Z,1613488322.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 195.791375 deg,
      approachRate: -0.687999 m/s,
      LOS rate: 0.082472 deg/s,
      cmd update: 0.247416 deg/s,
      cmd heading: 206.918658 deg,
      new cmd heading: 206.892898 deg.

2021-02-16T15:12:04.629Z,1613488324.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:05.412Z,1613488325.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:05.827Z,1613488325.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:06.651Z,1613488326.651 [Micromodem](INFO): Nmea in: $SNTTA,0.057614,,,,151206.82*4A

2021-02-16T15:12:06.721Z,1613488326.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.220001 m, bearing: 194.802487 deg, deltaT: 4.489514 s, approachRate: -0.668225 m/s, LOS rate: -0.220266 deg/s, posRepo size: 4
2021-02-16T15:12:06.722Z,1613488326.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.220001 m,
      bearing: 194.802487 deg,
      approachRate: -0.668225 m/s,
      LOS rate: -0.220266 deg/s,
      cmd update: -0.660799 deg/s,
      cmd heading: 208.024318 deg,
      new cmd heading: 208.134756 deg.

2021-02-16T15:12:09.089Z,1613488329.089 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:09.862Z,1613488329.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:10.268Z,1613488330.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:11.088Z,1613488331.088 [Micromodem](INFO): Nmea in: $SNTTA,0.076449,,,,151211.27*4A

2021-02-16T15:12:11.157Z,1613488331.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 194.519512 deg, deltaT: 4.383619 s, approachRate: -0.739115 m/s, LOS rate: -0.064553 deg/s, posRepo size: 4
2021-02-16T15:12:11.163Z,1613488331.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.980003 m,
      bearing: 194.519512 deg,
      approachRate: -0.739115 m/s,
      LOS rate: -0.064553 deg/s,
      cmd update: -0.193658 deg/s,
      cmd heading: 205.114167 deg,
      new cmd heading: 204.797547 deg.

2021-02-16T15:12:13.530Z,1613488333.530 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:14.309Z,1613488334.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:14.725Z,1613488334.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:15.548Z,1613488335.548 [Micromodem](INFO): Nmea in: $SNTTA,0.053415,,,,151215.72*40

2021-02-16T15:12:15.573Z,1613488335.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.920006 m, bearing: 195.792372 deg, deltaT: 4.498640 s, approachRate: -0.680205 m/s, LOS rate: 0.282943 deg/s, posRepo size: 4
2021-02-16T15:12:15.575Z,1613488335.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.920006 m,
      bearing: 195.792372 deg,
      approachRate: -0.680205 m/s,
      LOS rate: 0.282943 deg/s,
      cmd update: 0.848830 deg/s,
      cmd heading: 204.243711 deg,
      new cmd heading: 204.166270 deg.

2021-02-16T15:12:17.970Z,1613488337.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:18.744Z,1613488338.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:19.165Z,1613488339.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:19.976Z,1613488339.976 [Micromodem](INFO): Nmea in: $SNTTA,0.051364,,,,151220.15*44

2021-02-16T15:12:20.060Z,1613488340.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.860008 m, bearing: 196.061290 deg, deltaT: 4.422082 s, approachRate: -0.691981 m/s, LOS rate: 0.060813 deg/s, posRepo size: 4
2021-02-16T15:12:20.062Z,1613488340.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.860008 m,
      bearing: 196.061290 deg,
      approachRate: -0.691981 m/s,
      LOS rate: 0.060813 deg/s,
      cmd update: 0.182438 deg/s,
      cmd heading: 207.994346 deg,
      new cmd heading: 208.392294 deg.

2021-02-16T15:12:22.421Z,1613488342.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:23.201Z,1613488343.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:23.610Z,1613488343.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:24.424Z,1613488344.424 [Micromodem](INFO): Nmea in: $SNTTA,0.049076,,,,151224.61*4A

2021-02-16T15:12:24.472Z,1613488344.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.379997 m, bearing: 196.514665 deg, deltaT: 4.443941 s, approachRate: -0.783091 m/s, LOS rate: 0.102021 deg/s, posRepo size: 4
2021-02-16T15:12:24.474Z,1613488344.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.379997 m,
      bearing: 196.514665 deg,
      approachRate: -0.783091 m/s,
      LOS rate: 0.102021 deg/s,
      cmd update: 0.306062 deg/s,
      cmd heading: 208.805750 deg,
      new cmd heading: 208.884684 deg.

2021-02-16T15:12:26.865Z,1613488346.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:27.633Z,1613488347.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:28.042Z,1613488348.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:28.869Z,1613488348.869 [Micromodem](INFO): Nmea in: $SNTTA,0.047133,,0.057708,0.059021,151229.04*48

2021-02-16T15:12:28.917Z,1613488348.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.559998 m, bearing: 194.555124 deg, deltaT: 4.466878 s, approachRate: -0.631313 m/s, LOS rate: -0.438682 deg/s, posRepo size: 4
2021-02-16T15:12:28.918Z,1613488348.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.559998 m,
      bearing: 194.555124 deg,
      approachRate: -0.631313 m/s,
      LOS rate: -0.438682 deg/s,
      cmd update: -1.316047 deg/s,
      cmd heading: 210.173324 deg,
      new cmd heading: 210.298559 deg.

2021-02-16T15:12:31.312Z,1613488351.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:32.089Z,1613488352.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:32.482Z,1613488352.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:33.316Z,1613488353.316 [Micromodem](INFO): Nmea in: $SNTTA,0.045055,,,,151233.50*43

2021-02-16T15:12:33.341Z,1613488353.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 194.370901 deg, deltaT: 4.399271 s, approachRate: -0.709207 m/s, LOS rate: -0.041876 deg/s, posRepo size: 4
2021-02-16T15:12:33.361Z,1613488353.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 194.370901 deg,
      approachRate: -0.709207 m/s,
      LOS rate: -0.041876 deg/s,
      cmd update: -0.125628 deg/s,
      cmd heading: 204.380266 deg,
      new cmd heading: 203.811735 deg.

2021-02-16T15:12:35.737Z,1613488355.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:36.520Z,1613488356.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:36.926Z,1613488356.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:37.748Z,1613488357.748 [Micromodem](INFO): Nmea in: $SNTTA,0.042753,,,,151237.93*4E

2021-02-16T15:12:37.772Z,1613488357.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.959999 m, bearing: 195.274166 deg, deltaT: 4.464525 s, approachRate: -0.779479 m/s, LOS rate: 0.202321 deg/s, posRepo size: 4
2021-02-16T15:12:37.774Z,1613488357.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.959999 m,
      bearing: 195.274166 deg,
      approachRate: -0.779479 m/s,
      LOS rate: 0.202321 deg/s,
      cmd update: 0.606962 deg/s,
      cmd heading: 203.821403 deg,
      new cmd heading: 203.769344 deg.

2021-02-16T15:12:40.212Z,1613488360.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:40.964Z,1613488360.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:41.391Z,1613488361.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:42.198Z,1613488362.198 [Micromodem](INFO): Nmea in: $SNTTA,0.040538,,,,151242.37*4F

2021-02-16T15:12:42.223Z,1613488362.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.599998 m, bearing: 197.394120 deg, deltaT: 4.433075 s, approachRate: -0.757939 m/s, LOS rate: 0.478213 deg/s, posRepo size: 4
2021-02-16T15:12:42.225Z,1613488362.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.599998 m,
      bearing: 197.394120 deg,
      approachRate: -0.757939 m/s,
      LOS rate: 0.478213 deg/s,
      cmd update: 1.434639 deg/s,
      cmd heading: 206.521800 deg,
      new cmd heading: 206.774055 deg.

2021-02-16T15:12:44.617Z,1613488364.617 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:45.408Z,1613488365.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:45.820Z,1613488365.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:46.647Z,1613488366.647 [Micromodem](INFO): Nmea in: $SNTTA,0.038574,,,,151246.81*41

2021-02-16T15:12:46.704Z,1613488366.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.660007 m, bearing: 197.102362 deg, deltaT: 4.449670 s, approachRate: -0.660721 m/s, LOS rate: -0.065569 deg/s, posRepo size: 4
2021-02-16T15:12:46.706Z,1613488366.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.660007 m,
      bearing: 197.102362 deg,
      approachRate: -0.660721 m/s,
      LOS rate: -0.065569 deg/s,
      cmd update: -0.196706 deg/s,
      cmd heading: 212.902271 deg,
      new cmd heading: 213.547807 deg.

2021-02-16T15:12:49.073Z,1613488369.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:49.858Z,1613488369.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:50.263Z,1613488370.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:51.084Z,1613488371.084 [Micromodem](INFO): Nmea in: $SNTTA,0.036546,,,,151251.26*45

2021-02-16T15:12:51.165Z,1613488371.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 194.813060 deg, deltaT: 4.495209 s, approachRate: -0.680727 m/s, LOS rate: -0.509276 deg/s, posRepo size: 4
2021-02-16T15:12:51.167Z,1613488371.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 194.813060 deg,
      approachRate: -0.680727 m/s,
      LOS rate: -0.509276 deg/s,
      cmd update: -1.527828 deg/s,
      cmd heading: 212.021129 deg,
      new cmd heading: 211.936261 deg.

2021-02-16T15:12:53.548Z,1613488373.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:54.322Z,1613488374.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:54.723Z,1613488374.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:55.547Z,1613488375.547 [Micromodem](INFO): Nmea in: $SNTTA,0.034351,,,,151255.73*43

2021-02-16T15:12:55.572Z,1613488375.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.360001 m, bearing: 194.568416 deg, deltaT: 4.420922 s, approachRate: -0.732878 m/s, LOS rate: -0.055338 deg/s, posRepo size: 4
2021-02-16T15:12:55.574Z,1613488375.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.360001 m,
      bearing: 194.568416 deg,
      approachRate: -0.732878 m/s,
      LOS rate: -0.055338 deg/s,
      cmd update: -0.166013 deg/s,
      cmd heading: 205.245387 deg,
      new cmd heading: 204.629575 deg.

2021-02-16T15:12:57.965Z,1613488377.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:12:58.740Z,1613488378.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:12:59.170Z,1613488379.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:12:59.972Z,1613488379.972 [Micromodem](INFO): Nmea in: $SNTTA,0.032355,,,,151300.15*40

2021-02-16T15:13:00.008Z,1613488380.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.360004 m, bearing: 196.076167 deg, deltaT: 4.408673 s, approachRate: -0.680476 m/s, LOS rate: 0.341996 deg/s, posRepo size: 4
2021-02-16T15:13:00.010Z,1613488380.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.360004 m,
      bearing: 196.076167 deg,
      approachRate: -0.680476 m/s,
      LOS rate: 0.341996 deg/s,
      cmd update: 1.025989 deg/s,
      cmd heading: 204.512826 deg,
      new cmd heading: 204.441928 deg.

2021-02-16T15:13:02.428Z,1613488382.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:03.190Z,1613488383.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:03.591Z,1613488383.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:04.423Z,1613488384.423 [Micromodem](INFO): Nmea in: $SNTTA,0.030353,,0.066202,,151304.60*5C

2021-02-16T15:13:04.452Z,1613488384.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.299999 m, bearing: 197.029388 deg, deltaT: 4.452118 s, approachRate: -0.687315 m/s, LOS rate: 0.214105 deg/s, posRepo size: 4
2021-02-16T15:13:04.454Z,1613488384.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 197.029388 deg,
      approachRate: -0.687315 m/s,
      LOS rate: 0.214105 deg/s,
      cmd update: 0.642315 deg/s,
      cmd heading: 209.080665 deg,
      new cmd heading: 209.510478 deg.

2021-02-16T15:13:06.852Z,1613488386.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:07.628Z,1613488387.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:08.034Z,1613488388.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:08.860Z,1613488388.860 [Micromodem](INFO): Nmea in: $SNTTA,0.028304,,,,151309.04*46

2021-02-16T15:13:08.904Z,1613488388.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.240002 m, bearing: 195.698662 deg, deltaT: 4.448966 s, approachRate: -0.687800 m/s, LOS rate: -0.299109 deg/s, posRepo size: 4
2021-02-16T15:13:08.906Z,1613488388.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.240002 m,
      bearing: 195.698662 deg,
      approachRate: -0.687800 m/s,
      LOS rate: -0.299109 deg/s,
      cmd update: -0.897327 deg/s,
      cmd heading: 211.938150 deg,
      new cmd heading: 212.196108 deg.

2021-02-16T15:13:11.308Z,1613488391.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:12.077Z,1613488392.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:12.489Z,1613488392.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:13.317Z,1613488393.317 [Micromodem](INFO): Nmea in: $SNTTA,0.026581,,0.033164,,151313.48*5D

2021-02-16T15:13:13.350Z,1613488393.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.480003 m, bearing: 194.482069 deg, deltaT: 4.440481 s, approachRate: -0.621554 m/s, LOS rate: -0.273978 deg/s, posRepo size: 4
2021-02-16T15:13:13.351Z,1613488393.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.48 m.
2021-02-16T15:13:13.352Z,1613488393.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.480003 m,
      bearing: 194.482069 deg,
      approachRate: -0.621554 m/s,
      LOS rate: -0.273978 deg/s,
      cmd update: -0.821933 deg/s,
      cmd heading: 207.953487 deg,
      new cmd heading: 207.570052 deg.

2021-02-16T15:13:13.721Z,1613488393.721 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:13:15.749Z,1613488395.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:16.522Z,1613488396.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:16.937Z,1613488396.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:17.748Z,1613488397.748 [Micromodem](INFO): Nmea in: $SNTTA,0.024650,,,,151317.93*4F

2021-02-16T15:13:17.793Z,1613488397.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.480000 m, bearing: 195.431124 deg, deltaT: 4.455489 s, approachRate: -0.673328 m/s, LOS rate: 0.213008 deg/s, posRepo size: 4
2021-02-16T15:13:17.793Z,1613488397.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m.
2021-02-16T15:13:17.793Z,1613488397.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.48 m.
2021-02-16T15:13:17.793Z,1613488397.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:13:17.800Z,1613488397.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.480000 m,
      bearing: 195.431124 deg,
      approachRate: -0.673328 m/s,
      LOS rate: 0.213008 deg/s,
      cmd update: 0.639024 deg/s,
      cmd heading: 204.294566 deg,
      new cmd heading: 203.950874 deg.

2021-02-16T15:13:20.201Z,1613488400.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:20.969Z,1613488400.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:21.377Z,1613488401.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:22.196Z,1613488402.196 [Micromodem](INFO): Nmea in: $SNTTA,0.022329,,,,151322.38*45

2021-02-16T15:13:22.237Z,1613488402.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.239998 m, bearing: 197.363452 deg, deltaT: 4.432291 s, approachRate: -0.730999 m/s, LOS rate: 0.435966 deg/s, posRepo size: 4
2021-02-16T15:13:22.238Z,1613488402.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.239998 m,
      bearing: 197.363452 deg,
      approachRate: -0.730999 m/s,
      LOS rate: 0.435966 deg/s,
      cmd update: 1.307898 deg/s,
      cmd heading: 207.129387 deg,
      new cmd heading: 207.401552 deg.

2021-02-16T15:13:24.613Z,1613488404.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:25.404Z,1613488405.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:25.810Z,1613488405.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:26.633Z,1613488406.633 [Micromodem](INFO): Nmea in: $SNTTA,0.020380,,,,151326.81*42

2021-02-16T15:13:26.712Z,1613488406.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.359999 m, bearing: 196.101438 deg, deltaT: 4.466999 s, approachRate: -0.644728 m/s, LOS rate: -0.282519 deg/s, posRepo size: 4
2021-02-16T15:13:26.714Z,1613488406.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.359999 m,
      bearing: 196.101438 deg,
      approachRate: -0.644728 m/s,
      LOS rate: -0.282519 deg/s,
      cmd update: -0.847558 deg/s,
      cmd heading: 212.947111 deg,
      new cmd heading: 213.534644 deg.

2021-02-16T15:13:29.100Z,1613488409.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:29.862Z,1613488409.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:30.261Z,1613488410.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:31.088Z,1613488411.088 [Micromodem](INFO): Nmea in: $SNTTA,0.018505,0.041837,,,151331.27*5F

2021-02-16T15:13:31.158Z,1613488411.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 192.780996 deg, deltaT: 4.459266 s, approachRate: -0.659301 m/s, LOS rate: -0.744616 deg/s, posRepo size: 4
2021-02-16T15:13:31.164Z,1613488411.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.420002 m,
      bearing: 192.780996 deg,
      approachRate: -0.659301 m/s,
      LOS rate: -0.744616 deg/s,
      cmd update: -2.233849 deg/s,
      cmd heading: 209.158312 deg,
      new cmd heading: 208.794381 deg.

2021-02-16T15:13:33.513Z,1613488413.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:34.294Z,1613488414.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:34.709Z,1613488414.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:35.527Z,1613488415.527 [Micromodem](INFO): Nmea in: $SNTTA,0.016307,,,,151335.70*44

2021-02-16T15:13:35.552Z,1613488415.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 193.098450 deg, deltaT: 4.437737 s, approachRate: -0.797704 m/s, LOS rate: 0.071535 deg/s, posRepo size: 4
2021-02-16T15:13:35.554Z,1613488415.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.880001 m,
      bearing: 193.098450 deg,
      approachRate: -0.797704 m/s,
      LOS rate: 0.071535 deg/s,
      cmd update: 0.214605 deg/s,
      cmd heading: 199.281339 deg,
      new cmd heading: 198.384319 deg.

2021-02-16T15:13:37.954Z,1613488417.954 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:38.736Z,1613488418.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:39.166Z,1613488419.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:39.969Z,1613488419.969 [Micromodem](INFO): Nmea in: $SNTTA,0.014043,,,0.099275,151340.14*5B

2021-02-16T15:13:39.993Z,1613488419.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 196.758503 deg, deltaT: 4.396691 s, approachRate: -0.695978 m/s, LOS rate: 0.832456 deg/s, posRepo size: 4
2021-02-16T15:13:39.995Z,1613488419.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.820002 m,
      bearing: 196.758503 deg,
      approachRate: -0.695978 m/s,
      LOS rate: 0.832456 deg/s,
      cmd update: 2.497368 deg/s,
      cmd heading: 200.230088 deg,
      new cmd heading: 200.320542 deg.

2021-02-16T15:13:42.417Z,1613488422.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:43.182Z,1613488423.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:43.603Z,1613488423.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:44.412Z,1613488424.412 [Micromodem](INFO): Nmea in: $SNTTA,0.012190,,,,151344.59*41

2021-02-16T15:13:44.723Z,1613488424.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 196.394126 deg, deltaT: 4.459311 s, approachRate: -0.618931 m/s, LOS rate: -0.081711 deg/s, posRepo size: 4
2021-02-16T15:13:44.725Z,1613488424.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 196.394126 deg,
      approachRate: -0.618931 m/s,
      LOS rate: -0.081711 deg/s,
      cmd update: -0.245134 deg/s,
      cmd heading: 211.366618 deg,
      new cmd heading: 212.868008 deg.

2021-02-16T15:13:46.538Z,1613488426.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:47.320Z,1613488427.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:47.756Z,1613488427.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:48.548Z,1613488428.548 [Micromodem](INFO): Nmea in: $SNTTA,0.010476,,,,151348.73*4A

2021-02-16T15:13:48.594Z,1613488428.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.420000 m, bearing: 192.020510 deg, deltaT: 4.152900 s, approachRate: -0.635700 m/s, LOS rate: -1.053147 deg/s, posRepo size: 4
2021-02-16T15:13:48.600Z,1613488428.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.420000 m,
      bearing: 192.020510 deg,
      approachRate: -0.635700 m/s,
      LOS rate: -1.053147 deg/s,
      cmd update: -3.159442 deg/s,
      cmd heading: 210.348600 deg,
      new cmd heading: 210.247904 deg.

2021-02-16T15:13:50.981Z,1613488430.981 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:51.764Z,1613488431.764 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:52.171Z,1613488432.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:52.992Z,1613488432.992 [Micromodem](INFO): Nmea in: $SNTTA,0.008721,,,,151353.17*4A

2021-02-16T15:13:53.043Z,1613488433.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 191.515950 deg, deltaT: 4.408209 s, approachRate: -0.612494 m/s, LOS rate: -0.114459 deg/s, posRepo size: 4
2021-02-16T15:13:53.045Z,1613488433.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 191.515950 deg,
      approachRate: -0.612494 m/s,
      LOS rate: -0.114459 deg/s,
      cmd update: -0.343377 deg/s,
      cmd heading: 196.421046 deg,
      new cmd heading: 194.996020 deg.

2021-02-16T15:13:55.470Z,1613488435.470 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:13:56.222Z,1613488436.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:13:56.626Z,1613488436.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:13:57.464Z,1613488437.464 [Micromodem](INFO): Nmea in: $SNTTA,0.006698,,0.009448,,151357.63*5F

2021-02-16T15:13:57.510Z,1613488437.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 197.294003 deg, deltaT: 4.477004 s, approachRate: -0.643287 m/s, LOS rate: 1.290607 deg/s, posRepo size: 4
2021-02-16T15:13:57.514Z,1613488437.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 197.294003 deg,
      approachRate: -0.643287 m/s,
      LOS rate: 1.290607 deg/s,
      cmd update: 3.871822 deg/s,
      cmd heading: 194.883774 deg,
      new cmd heading: 194.733796 deg.

2021-02-16T15:13:59.889Z,1613488439.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:00.661Z,1613488440.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:01.063Z,1613488441.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:01.888Z,1613488441.888 [Micromodem](INFO): Nmea in: $SNTTA,0.005082,,,,151402.07*4B

2021-02-16T15:14:01.946Z,1613488441.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 198.891967 deg, deltaT: 4.422418 s, approachRate: -0.569824 m/s, LOS rate: 0.361333 deg/s, posRepo size: 4
2021-02-16T15:14:01.954Z,1613488441.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 198.891967 deg,
      approachRate: -0.569824 m/s,
      LOS rate: 0.361333 deg/s,
      cmd update: 1.083998 deg/s,
      cmd heading: 212.006797 deg,
      new cmd heading: 213.768050 deg.

2021-02-16T15:14:04.334Z,1613488444.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:05.102Z,1613488445.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:05.507Z,1613488445.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:06.328Z,1613488446.328 [Micromodem](INFO): Nmea in: $SNTTA,0.003542,,,,151406.51*43

2021-02-16T15:14:06.354Z,1613488446.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.100000 m, bearing: 196.945937 deg, deltaT: 4.442462 s, approachRate: -0.499723 m/s, LOS rate: -0.438052 deg/s, posRepo size: 4
2021-02-16T15:14:06.356Z,1613488446.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 196.945937 deg,
      approachRate: -0.499723 m/s,
      LOS rate: -0.438052 deg/s,
      cmd update: -1.314157 deg/s,
      cmd heading: 216.822458 deg,
      new cmd heading: 217.277671 deg.

2021-02-16T15:14:08.765Z,1613488448.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:09.540Z,1613488449.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:09.946Z,1613488449.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:10.772Z,1613488450.772 [Micromodem](INFO): Nmea in: $SNTTA,0.002698,,,,151410.95*49

2021-02-16T15:14:10.814Z,1613488450.814 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:14:10.815Z,1613488450.815 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:14:10.819Z,1613488450.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:14:10.819Z,1613488450.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:14:10.819Z,1613488450.819 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:14:10.820Z,1613488450.820 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.959999 m 
2021-02-16T15:14:10.820Z,1613488450.820 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:14:10.820Z,1613488450.820 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:14:10.820Z,1613488450.820 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:14:10.822Z,1613488450.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 227.514612 deg, deltaT: 4.472908 s, approachRate: -0.254868 m/s, LOS rate: 6.834184 deg/s, posRepo size: 4
2021-02-16T15:14:10.828Z,1613488450.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 227.514612 deg,
      approachRate: -0.254868 m/s,
      LOS rate: 6.834184 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 210.949686 deg,
      new cmd heading: 210.398486 deg.

2021-02-16T15:14:11.199Z,1613488451.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T151411: (41.552319, -70.708603)
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:14:11.200Z,1613488451.200 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:14:11.605Z,1613488451.605 [UniversalFixResidualReporter](INFO): Fix residual: 3.2 %DT, over the last 574.9 m. Residual distance 18.7 m at bearing 123.9 degrees. Fix at (41.5529, -70.7105) with 0.0 m made good.
2021-02-16T15:14:13.223Z,1613488453.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:13.986Z,1613488453.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:14.390Z,1613488454.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:15.216Z,1613488455.216 [Micromodem](INFO): Nmea in: $SNTTA,0.002961,,,,151415.39*43

2021-02-16T15:14:15.272Z,1613488455.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.380000 m, bearing: 204.702791 deg, deltaT: 4.451256 s, approachRate: 0.094355 m/s, LOS rate: -5.124805 deg/s, posRepo size: 4
2021-02-16T15:14:15.274Z,1613488455.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.380000 m,
      bearing: 204.702791 deg,
      approachRate: 0.094355 m/s,
      LOS rate: -5.124805 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.364267 deg,
      new cmd heading: 269.080147 deg.

2021-02-16T15:14:17.688Z,1613488457.688 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:18.428Z,1613488458.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:18.837Z,1613488458.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:19.688Z,1613488459.688 [Micromodem](INFO): Nmea in: $SNTTA,0.003708,,,0.008053,151419.84*59

2021-02-16T15:14:19.741Z,1613488459.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 202.500779 deg, deltaT: 4.423388 s, approachRate: 0.271285 m/s, LOS rate: -0.497811 deg/s, posRepo size: 4
2021-02-16T15:14:19.747Z,1613488459.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 202.500779 deg,
      approachRate: 0.271285 m/s,
      LOS rate: -0.497811 deg/s,
      cmd update: -1.493434 deg/s,
      cmd heading: 211.263378 deg,
      new cmd heading: 205.715010 deg.

2021-02-16T15:14:22.118Z,1613488462.118 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:22.881Z,1613488462.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:23.286Z,1613488463.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:24.116Z,1613488464.116 [Micromodem](INFO): Nmea in: $SNTTA,0.004738,,,0.019596,151424.29*58

2021-02-16T15:14:24.175Z,1613488464.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.139998 m, bearing: 201.083692 deg, deltaT: 4.456858 s, approachRate: 0.350022 m/s, LOS rate: -0.317956 deg/s, posRepo size: 4
2021-02-16T15:14:24.177Z,1613488464.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 201.083692 deg,
      approachRate: 0.350022 m/s,
      LOS rate: -0.317956 deg/s,
      cmd update: -0.953869 deg/s,
      cmd heading: 204.603808 deg,
      new cmd heading: 203.951064 deg.

2021-02-16T15:14:26.532Z,1613488466.532 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:27.316Z,1613488467.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:27.741Z,1613488467.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:28.552Z,1613488468.552 [Micromodem](INFO): Nmea in: $SNTTA,0.007368,,,,151428.72*44

2021-02-16T15:14:28.598Z,1613488468.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.100000 m, bearing: 205.141276 deg, deltaT: 4.446647 s, approachRate: 0.890559 m/s, LOS rate: 0.912504 deg/s, posRepo size: 4
2021-02-16T15:14:28.604Z,1613488468.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.100000 m,
      bearing: 205.141276 deg,
      approachRate: 0.890559 m/s,
      LOS rate: 0.912504 deg/s,
      cmd update: 2.737512 deg/s,
      cmd heading: 200.362349 deg,
      new cmd heading: 199.968059 deg.

2021-02-16T15:14:30.992Z,1613488470.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:31.770Z,1613488471.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:32.168Z,1613488472.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:32.996Z,1613488472.996 [Micromodem](INFO): Nmea in: $SNTTA,0.009054,,,,151433.18*40

2021-02-16T15:14:33.044Z,1613488473.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.619998 m, bearing: 201.264911 deg, deltaT: 4.400052 s, approachRate: 0.572720 m/s, LOS rate: -0.880982 deg/s, posRepo size: 4
2021-02-16T15:14:33.044Z,1613488473.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.62 m. Rolling out.
2021-02-16T15:14:33.045Z,1613488473.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:14:35.423Z,1613488475.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:36.219Z,1613488476.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:36.610Z,1613488476.610 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:37.428Z,1613488477.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151437.63*5E

2021-02-16T15:14:38.289Z,1613488478.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:39.844Z,1613488479.844 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:14:41.083Z,1613488481.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:41.860Z,1613488481.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:42.291Z,1613488482.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:43.089Z,1613488483.089 [Micromodem](INFO): Nmea in: $SNTTA,0.013570,,,,151443.27*43

2021-02-16T15:14:43.170Z,1613488483.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.199999 m, bearing: 224.953687 deg, deltaT: 10.168872 s, approachRate: 0.548734 m/s, LOS rate: 2.329538 deg/s, posRepo size: 4
2021-02-16T15:14:45.523Z,1613488485.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:46.312Z,1613488486.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:46.716Z,1613488486.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:47.544Z,1613488487.544 [Micromodem](INFO): Nmea in: $SNTTA,0.014831,,,0.056568,151447.72*5E

2021-02-16T15:14:47.570Z,1613488487.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.939997 m, bearing: 236.529396 deg, deltaT: 4.421237 s, approachRate: 0.393555 m/s, LOS rate: 2.618206 deg/s, posRepo size: 4
2021-02-16T15:14:48.336Z,1613488488.336 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:14:49.965Z,1613488489.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:50.759Z,1613488490.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:51.164Z,1613488491.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:51.996Z,1613488491.996 [Micromodem](INFO): Nmea in: $SNTTA,0.015543,,,,151452.17*46

2021-02-16T15:14:52.038Z,1613488492.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.459999 m, bearing: 237.963326 deg, deltaT: 4.424367 s, approachRate: 0.569574 m/s, LOS rate: 0.324098 deg/s, posRepo size: 4
2021-02-16T15:14:54.425Z,1613488494.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:55.199Z,1613488495.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:14:55.598Z,1613488495.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:14:56.411Z,1613488496.411 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151456.61*5B

2021-02-16T15:14:57.255Z,1613488497.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:14:58.832Z,1613488498.832 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:15:00.070Z,1613488500.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:00.854Z,1613488500.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:01.257Z,1613488501.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:02.100Z,1613488502.100 [Micromodem](INFO): Nmea in: $SNTTA,0.022540,,,,151502.26*47

2021-02-16T15:15:02.170Z,1613488502.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.660000 m, bearing: 230.087845 deg, deltaT: 10.130796 s, approachRate: 1.006831 m/s, LOS rate: -0.777380 deg/s, posRepo size: 4
2021-02-16T15:15:04.534Z,1613488504.534 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:05.298Z,1613488505.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:05.722Z,1613488505.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:06.516Z,1613488506.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151506.70*5F

2021-02-16T15:15:07.350Z,1613488507.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:08.944Z,1613488508.944 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:15:10.212Z,1613488510.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:10.962Z,1613488510.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:11.366Z,1613488511.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:12.176Z,1613488512.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151512.37*59

2021-02-16T15:15:13.020Z,1613488513.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:14.600Z,1613488514.600 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:15:15.823Z,1613488515.823 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:16.622Z,1613488516.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:17.040Z,1613488517.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:17.845Z,1613488517.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151518.03*54

2021-02-16T15:15:18.336Z,1613488518.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:20.259Z,1613488520.259 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:15:21.084Z,1613488521.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:21.873Z,1613488521.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:22.289Z,1613488522.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:23.100Z,1613488523.100 [Micromodem](INFO): Nmea in: $SNTTA,0.028921,,,,151523.28*4B

2021-02-16T15:15:23.170Z,1613488523.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.500000 m, bearing: 232.579553 deg, deltaT: 20.978561 s, approachRate: 0.469050 m/s, LOS rate: 0.118774 deg/s, posRepo size: 4
2021-02-16T15:15:25.559Z,1613488525.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:26.322Z,1613488526.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:26.729Z,1613488526.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:27.548Z,1613488527.548 [Micromodem](INFO): Nmea in: $SNTTA,0.030894,,0.057845,,151527.73*52

2021-02-16T15:15:27.586Z,1613488527.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.500004 m, bearing: 236.808123 deg, deltaT: 4.485929 s, approachRate: 0.668759 m/s, LOS rate: 0.942630 deg/s, posRepo size: 4
2021-02-16T15:15:29.973Z,1613488529.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:30.756Z,1613488530.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:31.168Z,1613488531.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:31.984Z,1613488531.984 [Micromodem](INFO): Nmea in: $SNTTA,0.033347,,,,151532.16*46

2021-02-16T15:15:32.008Z,1613488532.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.219994 m, bearing: 241.523030 deg, deltaT: 4.404814 s, approachRate: 0.844528 m/s, LOS rate: 1.070399 deg/s, posRepo size: 4
2021-02-16T15:15:34.446Z,1613488534.446 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:35.208Z,1613488535.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:35.606Z,1613488535.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:36.436Z,1613488536.436 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151536.62*5F

2021-02-16T15:15:36.481Z,1613488536.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.860004 m, bearing: 245.219637 deg, deltaT: 4.461759 s, approachRate: 0.591697 m/s, LOS rate: 0.828509 deg/s, posRepo size: 4
2021-02-16T15:15:38.885Z,1613488538.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:39.648Z,1613488539.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:40.055Z,1613488540.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:40.874Z,1613488540.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151541.05*5E

2021-02-16T15:15:41.743Z,1613488541.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:43.285Z,1613488543.285 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:15:44.769Z,1613488544.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:45.297Z,1613488545.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:45.714Z,1613488545.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:46.524Z,1613488546.524 [Micromodem](INFO): Nmea in: $SNTTA,0.039799,,,,151546.70*48

2021-02-16T15:15:46.563Z,1613488546.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.880005 m, bearing: 239.138856 deg, deltaT: 10.104450 s, approachRate: 0.694743 m/s, LOS rate: -0.601792 deg/s, posRepo size: 4
2021-02-16T15:15:48.963Z,1613488548.963 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:49.742Z,1613488549.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:50.167Z,1613488550.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:50.985Z,1613488550.985 [Micromodem](INFO): Nmea in: $SNTTA,0.041673,,,,151551.15*47

2021-02-16T15:15:51.014Z,1613488551.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.640007 m, bearing: 244.428838 deg, deltaT: 4.412953 s, approachRate: 0.625432 m/s, LOS rate: 1.198740 deg/s, posRepo size: 4
2021-02-16T15:15:53.402Z,1613488553.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:54.188Z,1613488554.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:54.590Z,1613488554.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:55.416Z,1613488555.416 [Micromodem](INFO): Nmea in: $SNTTA,0.043816,,,,151555.60*4E

2021-02-16T15:15:55.473Z,1613488555.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.880005 m, bearing: 242.334483 deg, deltaT: 4.456787 s, approachRate: 0.726981 m/s, LOS rate: -0.469925 deg/s, posRepo size: 4
2021-02-16T15:15:57.854Z,1613488557.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:15:58.637Z,1613488558.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:15:59.039Z,1613488559.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:15:59.867Z,1613488559.867 [Micromodem](INFO): Nmea in: $SNTTA,0.045793,,,,151600.04*4B

2021-02-16T15:15:59.891Z,1613488559.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.820007 m, bearing: 237.002510 deg, deltaT: 4.497127 s, approachRate: 0.653751 m/s, LOS rate: -1.185640 deg/s, posRepo size: 4
2021-02-16T15:16:02.302Z,1613488562.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:03.090Z,1613488563.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:03.490Z,1613488563.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:04.308Z,1613488564.308 [Micromodem](INFO): Nmea in: $SNTTA,0.047823,,,,151604.50*48

2021-02-16T15:16:04.347Z,1613488564.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.880005 m, bearing: 231.878502 deg, deltaT: 4.395227 s, approachRate: 0.696209 m/s, LOS rate: -1.165812 deg/s, posRepo size: 4
2021-02-16T15:16:06.746Z,1613488566.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:07.516Z,1613488567.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:07.931Z,1613488567.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:08.748Z,1613488568.748 [Micromodem](INFO): Nmea in: $SNTTA,0.049708,,,,151608.92*42

2021-02-16T15:16:08.798Z,1613488568.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.700005 m, bearing: 246.649770 deg, deltaT: 4.439025 s, approachRate: 0.635275 m/s, LOS rate: 3.327593 deg/s, posRepo size: 4
2021-02-16T15:16:11.198Z,1613488571.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:11.968Z,1613488571.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:12.370Z,1613488572.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:13.198Z,1613488573.198 [Micromodem](INFO): Nmea in: $SNTTA,0.051449,,0.072059,,151613.37*5F

2021-02-16T15:16:13.257Z,1613488573.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.339996 m, bearing: 243.864200 deg, deltaT: 4.447119 s, approachRate: 0.593641 m/s, LOS rate: -0.626376 deg/s, posRepo size: 4
2021-02-16T15:16:15.623Z,1613488575.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:16.418Z,1613488576.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:16.810Z,1613488576.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:17.640Z,1613488577.640 [Micromodem](INFO): Nmea in: $SNTTA,0.053247,,,,151617.83*49

2021-02-16T15:16:17.676Z,1613488577.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 251.233919 deg, deltaT: 4.488458 s, approachRate: 0.601544 m/s, LOS rate: 1.641927 deg/s, posRepo size: 4
2021-02-16T15:16:20.078Z,1613488580.078 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:20.849Z,1613488580.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:21.257Z,1613488581.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:22.084Z,1613488582.084 [Micromodem](INFO): Nmea in: $SNTTA,0.055128,,,,151622.25*4F

2021-02-16T15:16:22.162Z,1613488582.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.160004 m, bearing: 233.188150 deg, deltaT: 4.429197 s, approachRate: 0.704417 m/s, LOS rate: -4.074276 deg/s, posRepo size: 4
2021-02-16T15:16:24.589Z,1613488584.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:25.313Z,1613488585.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:25.712Z,1613488585.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:26.539Z,1613488586.539 [Micromodem](INFO): Nmea in: $SNTTA,0.057025,,,,151626.72*47

2021-02-16T15:16:26.563Z,1613488586.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.979996 m, bearing: 230.387116 deg, deltaT: 4.430814 s, approachRate: 0.636450 m/s, LOS rate: -0.632171 deg/s, posRepo size: 4
2021-02-16T15:16:28.960Z,1613488588.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:29.741Z,1613488589.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:30.168Z,1613488590.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:30.968Z,1613488590.968 [Micromodem](INFO): Nmea in: $SNTTA,0.058945,,,,151631.15*40

2021-02-16T15:16:31.006Z,1613488591.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.560005 m, bearing: 245.647753 deg, deltaT: 4.411854 s, approachRate: 0.584790 m/s, LOS rate: 3.459008 deg/s, posRepo size: 4
2021-02-16T15:16:33.422Z,1613488593.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:34.186Z,1613488594.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:34.586Z,1613488594.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:35.423Z,1613488595.423 [Micromodem](INFO): Nmea in: $SNTTA,0.060829,,,,151635.59*4C

2021-02-16T15:16:35.429Z,1613488595.429 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:16:35.446Z,1613488595.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.320000 m, bearing: 238.043021 deg, deltaT: 4.455855 s, approachRate: 0.619408 m/s, LOS rate: -1.706683 deg/s, posRepo size: 4
2021-02-16T15:16:37.842Z,1613488597.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:38.625Z,1613488598.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:39.031Z,1613488599.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:39.856Z,1613488599.856 [Micromodem](INFO): Nmea in: $SNTTA,0.062636,,,,151640.03*43

2021-02-16T15:16:39.879Z,1613488599.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.260002 m, bearing: 233.572443 deg, deltaT: 4.433583 s, approachRate: 0.663121 m/s, LOS rate: -1.008344 deg/s, posRepo size: 4
2021-02-16T15:16:42.324Z,1613488602.324 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:43.068Z,1613488603.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:43.474Z,1613488603.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:44.305Z,1613488604.305 [Micromodem](INFO): Nmea in: $SNTTA,0.064447,,,,151644.48*4A

2021-02-16T15:16:44.329Z,1613488604.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.840004 m, bearing: 242.303884 deg, deltaT: 4.441783 s, approachRate: 0.580848 m/s, LOS rate: 1.965751 deg/s, posRepo size: 4
2021-02-16T15:16:46.758Z,1613488606.758 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:47.515Z,1613488607.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:47.918Z,1613488607.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:48.744Z,1613488608.744 [Micromodem](INFO): Nmea in: $SNTTA,0.066318,,,,151648.92*4E

2021-02-16T15:16:48.784Z,1613488608.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.599998 m, bearing: 249.102982 deg, deltaT: 4.468347 s, approachRate: 0.617677 m/s, LOS rate: 1.521614 deg/s, posRepo size: 4
2021-02-16T15:16:51.222Z,1613488611.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:51.969Z,1613488611.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:52.369Z,1613488612.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:53.204Z,1613488613.204 [Micromodem](INFO): Nmea in: $SNTTA,0.068063,,,,151653.38*45

2021-02-16T15:16:53.241Z,1613488613.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.240005 m, bearing: 245.860473 deg, deltaT: 4.441209 s, approachRate: 0.594434 m/s, LOS rate: -0.730096 deg/s, posRepo size: 4
2021-02-16T15:16:55.648Z,1613488615.648 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:16:56.417Z,1613488616.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:16:56.816Z,1613488616.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:16:57.629Z,1613488617.629 [Micromodem](INFO): Nmea in: $SNTTA,0.070101,,,,151657.82*4C

2021-02-16T15:16:58.463Z,1613488618.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:00.042Z,1613488620.042 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:17:01.294Z,1613488621.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:02.064Z,1613488622.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:02.471Z,1613488622.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:03.312Z,1613488623.312 [Micromodem](INFO): Nmea in: $SNTTA,0.072618,,,,151703.47*48

2021-02-16T15:17:03.365Z,1613488623.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.280006 m, bearing: 223.611036 deg, deltaT: 10.082066 s, approachRate: 0.797456 m/s, LOS rate: -2.206833 deg/s, posRepo size: 4
2021-02-16T15:17:05.756Z,1613488625.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:06.510Z,1613488626.510 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:06.933Z,1613488626.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:07.740Z,1613488627.740 [Micromodem](INFO): Nmea in: $SNTTA,0.074751,,,,151707.92*4E

2021-02-16T15:17:07.784Z,1613488627.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.260002 m, bearing: 242.045184 deg, deltaT: 4.467194 s, approachRate: 0.443230 m/s, LOS rate: 4.126561 deg/s, posRepo size: 4
2021-02-16T15:17:10.220Z,1613488630.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:10.952Z,1613488630.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:11.360Z,1613488631.360 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:12.180Z,1613488632.180 [Micromodem](INFO): Nmea in: $SNTTA,0.076820,,,,151712.36*4F

2021-02-16T15:17:12.222Z,1613488632.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 245.790750 deg, deltaT: 4.444344 s, approachRate: 0.702016 m/s, LOS rate: 0.842771 deg/s, posRepo size: 4
2021-02-16T15:17:14.612Z,1613488634.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:15.411Z,1613488635.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:15.830Z,1613488635.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:16.636Z,1613488636.636 [Micromodem](INFO): Nmea in: $SNTTA,0.078847,,,,151716.82*4B

2021-02-16T15:17:16.682Z,1613488636.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 241.145703 deg, deltaT: 4.425983 s, approachRate: 0.677814 m/s, LOS rate: -1.049495 deg/s, posRepo size: 4
2021-02-16T15:17:19.070Z,1613488639.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:19.846Z,1613488639.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:20.265Z,1613488640.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:21.077Z,1613488641.077 [Micromodem](INFO): Nmea in: $SNTTA,0.080707,,,0.083238,151721.25*52

2021-02-16T15:17:21.165Z,1613488641.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.200005 m, bearing: 241.536499 deg, deltaT: 4.482369 s, approachRate: 0.629133 m/s, LOS rate: 0.087185 deg/s, posRepo size: 4
2021-02-16T15:17:23.514Z,1613488643.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:24.296Z,1613488644.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:24.709Z,1613488644.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:25.520Z,1613488645.520 [Micromodem](INFO): Nmea in: $SNTTA,0.082488,,,,151725.70*4C

2021-02-16T15:17:25.545Z,1613488645.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.900009 m, bearing: 249.452305 deg, deltaT: 4.410911 s, approachRate: 0.612119 m/s, LOS rate: 1.794597 deg/s, posRepo size: 4
2021-02-16T15:17:27.965Z,1613488647.965 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:28.734Z,1613488648.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:29.161Z,1613488649.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:29.960Z,1613488649.960 [Micromodem](INFO): Nmea in: $SNTTA,0.084436,,,,151730.14*49

2021-02-16T15:17:30.005Z,1613488650.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.200005 m, bearing: 234.488563 deg, deltaT: 4.461756 s, approachRate: 0.739618 m/s, LOS rate: -3.353779 deg/s, posRepo size: 4
2021-02-16T15:17:32.405Z,1613488652.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:33.181Z,1613488653.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:33.578Z,1613488653.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:34.408Z,1613488654.408 [Micromodem](INFO): Nmea in: $SNTTA,0.086449,,,,151734.59*4E

2021-02-16T15:17:34.508Z,1613488654.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.779999 m, bearing: 246.757004 deg, deltaT: 4.437678 s, approachRate: 0.581384 m/s, LOS rate: 2.764608 deg/s, posRepo size: 4
2021-02-16T15:17:36.843Z,1613488656.843 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:37.616Z,1613488657.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:38.030Z,1613488658.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:38.848Z,1613488658.848 [Micromodem](INFO): Nmea in: $SNTTA,0.088724,,,,151739.02*4B

2021-02-16T15:17:38.892Z,1613488658.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.560013 m, bearing: 238.608123 deg, deltaT: 4.449512 s, approachRate: 0.849535 m/s, LOS rate: -1.831410 deg/s, posRepo size: 4
2021-02-16T15:17:41.299Z,1613488661.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:42.061Z,1613488662.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:42.465Z,1613488662.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:43.298Z,1613488663.298 [Micromodem](INFO): Nmea in: $SNTTA,0.090451,,,,151743.47*4F

2021-02-16T15:17:43.364Z,1613488663.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 235.792173 deg, deltaT: 4.439885 s, approachRate: 0.567580 m/s, LOS rate: -0.634239 deg/s, posRepo size: 4
2021-02-16T15:17:45.741Z,1613488665.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:46.514Z,1613488666.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:46.915Z,1613488666.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:47.740Z,1613488667.740 [Micromodem](INFO): Nmea in: $SNTTA,0.092524,,,,151747.92*42

2021-02-16T15:17:47.791Z,1613488667.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.960007 m, bearing: 239.545280 deg, deltaT: 4.452121 s, approachRate: 0.646884 m/s, LOS rate: 0.842993 deg/s, posRepo size: 4
2021-02-16T15:17:50.192Z,1613488670.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:50.953Z,1613488670.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:51.368Z,1613488671.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:52.184Z,1613488672.184 [Micromodem](INFO): Nmea in: $SNTTA,0.094443,,,,151752.36*4E

2021-02-16T15:17:52.223Z,1613488672.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.840012 m, bearing: 247.679844 deg, deltaT: 4.458737 s, approachRate: 0.645924 m/s, LOS rate: 1.824410 deg/s, posRepo size: 4
2021-02-16T15:17:54.612Z,1613488674.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:55.397Z,1613488675.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:17:55.798Z,1613488675.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:17:56.624Z,1613488676.624 [Micromodem](INFO): Nmea in: $SNTTA,0.096648,,,,151756.80*4C

2021-02-16T15:17:56.650Z,1613488676.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.080002 m, bearing: 245.463393 deg, deltaT: 4.427913 s, approachRate: 0.731719 m/s, LOS rate: -0.500563 deg/s, posRepo size: 4
2021-02-16T15:17:59.052Z,1613488679.052 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:17:59.847Z,1613488679.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:00.242Z,1613488680.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:01.062Z,1613488681.062 [Micromodem](INFO): Nmea in: $SNTTA,0.098398,,,,151801.26*4B

2021-02-16T15:18:01.900Z,1613488681.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:03.484Z,1613488683.484 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:18:04.728Z,1613488684.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:05.492Z,1613488685.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:05.904Z,1613488685.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:06.735Z,1613488686.735 [Micromodem](INFO): Nmea in: $SNTTA,0.100933,,,,151806.90*4A

2021-02-16T15:18:06.759Z,1613488686.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.919998 m, bearing: 236.199689 deg, deltaT: 10.089439 s, approachRate: 0.677936 m/s, LOS rate: -0.918158 deg/s, posRepo size: 4
2021-02-16T15:18:06.760Z,1613488686.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.92 m. Resuming terminal guidance.
2021-02-16T15:18:06.760Z,1613488686.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:18:09.208Z,1613488689.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:09.936Z,1613488689.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:10.359Z,1613488690.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:11.176Z,1613488691.176 [Micromodem](INFO): Nmea in: $SNTTA,0.102970,,,,151811.34*47

2021-02-16T15:18:11.201Z,1613488691.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.860016 m, bearing: 233.707954 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:18:11.201Z,1613488691.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 233.707954deg and heading rate command to 0 deg/s.
2021-02-16T15:18:13.592Z,1613488693.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:14.385Z,1613488694.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:14.786Z,1613488694.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:15.616Z,1613488695.616 [Micromodem](INFO): Nmea in: $SNTTA,0.104918,,0.111193,,151815.79*56

2021-02-16T15:18:15.638Z,1613488695.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.500000 m, bearing: 264.038666 deg, deltaT: 4.469237 s, approachRate: 0.590701 m/s, LOS rate: 6.786552 deg/s, posRepo size: 2
2021-02-16T15:18:15.640Z,1613488695.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.500000 m,
      bearing: 264.038666 deg,
      approachRate: 0.590701 m/s,
      LOS rate: 6.786552 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 233.707954 deg,
      new cmd heading: 233.707954 deg.

2021-02-16T15:18:18.060Z,1613488698.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:18.825Z,1613488698.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:19.230Z,1613488699.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:20.056Z,1613488700.056 [Micromodem](INFO): Nmea in: $SNTTA,0.106714,,,,151820.23*4B

2021-02-16T15:18:20.121Z,1613488700.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 216.163029 deg, deltaT: 4.447688 s, approachRate: 0.607056 m/s, LOS rate: -10.764163 deg/s, posRepo size: 3
2021-02-16T15:18:20.137Z,1613488700.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 216.163029 deg,
      approachRate: 0.607056 m/s,
      LOS rate: -10.764163 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 286.899120 deg,
      new cmd heading: 292.063645 deg.

2021-02-16T15:18:22.528Z,1613488702.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:23.283Z,1613488703.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:23.716Z,1613488703.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:24.495Z,1613488704.495 [Micromodem](INFO): Nmea in: $SNTTA,0.108235,,,,151824.69*49

2021-02-16T15:18:24.502Z,1613488704.502 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:18:25.336Z,1613488705.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:26.908Z,1613488706.908 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:18:28.189Z,1613488708.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:28.928Z,1613488708.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:29.332Z,1613488709.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:30.172Z,1613488710.172 [Micromodem](INFO): Nmea in: $SNTTA,0.109748,,,,151830.33*4D

2021-02-16T15:18:30.217Z,1613488710.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.640015 m, bearing: 255.557702 deg, deltaT: 10.089528 s, approachRate: 0.440062 m/s, LOS rate: 3.904511 deg/s, posRepo size: 4
2021-02-16T15:18:30.218Z,1613488710.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.640015 m,
      bearing: 255.557702 deg,
      approachRate: 0.440062 m/s,
      LOS rate: 3.904511 deg/s,
      cmd update: 11.713533 deg/s,
      cmd heading: 165.582178 deg,
      new cmd heading: 160.432150 deg.

2021-02-16T15:18:32.293Z,1613488712.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:32.965Z,1613488712.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:33.370Z,1613488713.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:33.804Z,1613488713.804 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:18:34.201Z,1613488714.201 [Micromodem](INFO): Nmea in: $SNTTA,0.111146,,,,151834.37*4C

2021-02-16T15:18:34.242Z,1613488714.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 236.964206 deg, deltaT: 4.031839 s, approachRate: 0.520852 m/s, LOS rate: -4.611666 deg/s, posRepo size: 4
2021-02-16T15:18:34.244Z,1613488714.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.740005 m,
      bearing: 236.964206 deg,
      approachRate: 0.520852 m/s,
      LOS rate: -4.611666 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.809069 deg,
      new cmd heading: 217.757065 deg.

2021-02-16T15:18:36.629Z,1613488716.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:37.413Z,1613488717.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:37.820Z,1613488717.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:38.648Z,1613488718.648 [Micromodem](INFO): Nmea in: $SNTTA,0.112590,,,,151838.82*42

2021-02-16T15:18:38.697Z,1613488718.697 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:18:38.722Z,1613488718.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.740005 m, bearing: 271.391911 deg, deltaT: 4.450596 s, approachRate: 0.000000 m/s, LOS rate: 7.735527 deg/s, posRepo size: 4
2021-02-16T15:18:38.728Z,1613488718.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.740005 m,
      bearing: 271.391911 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.735527 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 159.429324 deg,
      new cmd heading: 153.974435 deg.

2021-02-16T15:18:41.068Z,1613488721.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:41.857Z,1613488721.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:42.272Z,1613488722.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:43.084Z,1613488723.084 [Micromodem](INFO): Nmea in: $SNTTA,0.114762,,,,151843.26*49

2021-02-16T15:18:43.158Z,1613488723.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.320007 m, bearing: 206.734923 deg, deltaT: 4.474493 s, approachRate: 1.247069 m/s, LOS rate: -14.450126 deg/s, posRepo size: 4
2021-02-16T15:18:43.159Z,1613488723.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.450126 deg/s. Setting heading cmd to target bearing of 206.734923deg and heading rate command to 0 deg/s.
2021-02-16T15:18:45.516Z,1613488725.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:46.306Z,1613488726.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:46.718Z,1613488726.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:47.532Z,1613488727.532 [Micromodem](INFO): Nmea in: $SNTTA,0.116460,,,,151847.71*4C

2021-02-16T15:18:47.566Z,1613488727.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.840012 m, bearing: 154.112208 deg, deltaT: 4.445111 s, approachRate: 0.566916 m/s, LOS rate: -11.838335 deg/s, posRepo size: 4
2021-02-16T15:18:47.566Z,1613488727.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.838335 deg/s. Setting heading cmd to target bearing of 154.112208deg and heading rate command to 0 deg/s.
2021-02-16T15:18:49.973Z,1613488729.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:50.740Z,1613488730.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:51.163Z,1613488731.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:51.988Z,1613488731.988 [Micromodem](INFO): Nmea in: $SNTTA,0.118346,,,,151852.15*47

2021-02-16T15:18:52.030Z,1613488732.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.659988 m, bearing: 191.235898 deg, deltaT: 4.408053 s, approachRate: 0.639733 m/s, LOS rate: 8.421789 deg/s, posRepo size: 4
2021-02-16T15:18:52.032Z,1613488732.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.659988 m,
      bearing: 191.235898 deg,
      approachRate: 0.639733 m/s,
      LOS rate: 8.421789 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 154.112208 deg,
      new cmd heading: 154.112208 deg.

2021-02-16T15:18:54.005Z,1613488734.005 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T15:18:54.409Z,1613488734.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:18:55.185Z,1613488735.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:18:55.598Z,1613488735.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:18:56.417Z,1613488736.417 [Micromodem](INFO): Nmea in: $SNTTA,0.120173,,,,151856.59*44

2021-02-16T15:18:56.860Z,1613488736.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 180.479996 m, bearing: 149.765203 deg, deltaT: 4.892113 s, approachRate: 0.576440 m/s, LOS rate: -8.477052 deg/s, posRepo size: 4
2021-02-16T15:18:56.862Z,1613488736.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 180.479996 m,
      bearing: 149.765203 deg,
      approachRate: 0.576440 m/s,
      LOS rate: -8.477052 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.770022 deg,
      new cmd heading: 217.196966 deg.

2021-02-16T15:18:58.839Z,1613488738.839 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T15:18:59.257Z,1613488739.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:00.037Z,1613488740.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:00.438Z,1613488740.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:01.266Z,1613488741.266 [Micromodem](INFO): Nmea in: $SNTTA,0.121969,,,0.124462,151901.44*50

2021-02-16T15:19:01.735Z,1613488741.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.120010 m, bearing: 132.468391 deg, deltaT: 4.826129 s, approachRate: 0.547025 m/s, LOS rate: -3.583993 deg/s, posRepo size: 4
2021-02-16T15:19:01.738Z,1613488741.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.120010 m,
      bearing: 132.468391 deg,
      approachRate: 0.547025 m/s,
      LOS rate: -3.583993 deg/s,
      cmd update: -10.751978 deg/s,
      cmd heading: 154.811401 deg,
      new cmd heading: 149.794836 deg.

2021-02-16T15:19:04.105Z,1613488744.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:04.895Z,1613488744.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:05.304Z,1613488745.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:06.120Z,1613488746.120 [Micromodem](INFO): Nmea in: $SNTTA,0.124029,,,,151906.30*45

2021-02-16T15:19:06.189Z,1613488746.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.120010 m, bearing: 221.861961 deg, deltaT: 4.438964 s, approachRate: 0.000000 m/s, LOS rate: 20.138386 deg/s, posRepo size: 4
2021-02-16T15:19:06.190Z,1613488746.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.138386 deg/s. Setting heading cmd to target bearing of 221.861961deg and heading rate command to 0 deg/s.
2021-02-16T15:19:08.543Z,1613488748.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:09.342Z,1613488749.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:09.751Z,1613488749.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:10.575Z,1613488750.575 [Micromodem](INFO): Nmea in: $SNTTA,0.125566,,,,151910.75*4C

2021-02-16T15:19:10.594Z,1613488750.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.520004 m, bearing: 169.950515 deg, deltaT: 4.478507 s, approachRate: 1.205758 m/s, LOS rate: -11.591239 deg/s, posRepo size: 4
2021-02-16T15:19:10.595Z,1613488750.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.591239 deg/s. Setting heading cmd to target bearing of 169.950515deg and heading rate command to 0 deg/s.
2021-02-16T15:19:13.002Z,1613488753.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:13.781Z,1613488753.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:14.242Z,1613488754.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:15.003Z,1613488755.003 [Micromodem](INFO): Nmea in: $SNTTA,0.126908,,,,151915.19*44

2021-02-16T15:19:15.448Z,1613488755.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.439987 m, bearing: 149.446110 deg, deltaT: 4.812528 s, approachRate: 0.398955 m/s, LOS rate: -4.260631 deg/s, posRepo size: 4
2021-02-16T15:19:15.449Z,1613488755.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.439987 m,
      bearing: 149.446110 deg,
      approachRate: 0.398955 m/s,
      LOS rate: -4.260631 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 169.950515 deg,
      new cmd heading: 169.950515 deg.

2021-02-16T15:19:17.860Z,1613488757.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:18.628Z,1613488758.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:19.039Z,1613488759.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:19.860Z,1613488759.860 [Micromodem](INFO): Nmea in: $SNTTA,0.128424,,,,151920.04*43

2021-02-16T15:19:19.908Z,1613488759.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.900009 m, bearing: 173.625499 deg, deltaT: 4.496876 s, approachRate: 0.547051 m/s, LOS rate: 5.376930 deg/s, posRepo size: 4
2021-02-16T15:19:19.910Z,1613488759.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.900009 m,
      bearing: 173.625499 deg,
      approachRate: 0.547051 m/s,
      LOS rate: 5.376930 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.038582 deg,
      new cmd heading: 111.606574 deg.

2021-02-16T15:19:22.313Z,1613488762.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:23.073Z,1613488763.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:23.478Z,1613488763.478 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:24.294Z,1613488764.294 [Micromodem](INFO): Nmea in: $SNTTA,0.130104,,,,151924.48*41

2021-02-16T15:19:24.773Z,1613488764.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.239990 m, bearing: 140.234972 deg, deltaT: 4.796450 s, approachRate: 0.487857 m/s, LOS rate: -6.961509 deg/s, posRepo size: 4
2021-02-16T15:19:24.774Z,1613488764.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.239990 m,
      bearing: 140.234972 deg,
      approachRate: 0.487857 m/s,
      LOS rate: -6.961509 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 173.403563 deg,
      new cmd heading: 178.851107 deg.

2021-02-16T15:19:27.182Z,1613488767.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:27.925Z,1613488767.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:28.331Z,1613488768.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:29.163Z,1613488769.164 [Micromodem](INFO): Nmea in: $SNTTA,0.130939,,,,151929.33*46

2021-02-16T15:19:29.566Z,1613488769.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.500000 m, bearing: 126.198468 deg, deltaT: 4.872534 s, approachRate: 0.258594 m/s, LOS rate: -2.880740 deg/s, posRepo size: 4
2021-02-16T15:19:29.568Z,1613488769.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.500000 m,
      bearing: 126.198468 deg,
      approachRate: 0.258594 m/s,
      LOS rate: -2.880740 deg/s,
      cmd update: -8.642220 deg/s,
      cmd heading: 114.689445 deg,
      new cmd heading: 110.435397 deg.

2021-02-16T15:19:31.986Z,1613488771.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:32.787Z,1613488772.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:33.176Z,1613488773.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:34.002Z,1613488774.002 [Micromodem](INFO): Nmea in: $SNTTA,0.132334,,,,151934.20*4D

2021-02-16T15:19:34.436Z,1613488774.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.599991 m, bearing: 125.013827 deg, deltaT: 4.841597 s, approachRate: 0.433739 m/s, LOS rate: -0.244680 deg/s, posRepo size: 4
2021-02-16T15:19:34.438Z,1613488774.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.599991 m,
      bearing: 125.013827 deg,
      approachRate: 0.433739 m/s,
      LOS rate: -0.244680 deg/s,
      cmd update: -0.734040 deg/s,
      cmd heading: 73.056356 deg,
      new cmd heading: 69.543138 deg.

2021-02-16T15:19:36.844Z,1613488776.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:37.616Z,1613488777.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:38.024Z,1613488778.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:38.838Z,1613488778.838 [Micromodem](INFO): Nmea in: $SNTTA,0.133471,,,,151939.02*47

2021-02-16T15:19:39.292Z,1613488779.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.279984 m, bearing: 119.439778 deg, deltaT: 4.851515 s, approachRate: 0.346282 m/s, LOS rate: -1.148930 deg/s, posRepo size: 4
2021-02-16T15:19:39.293Z,1613488779.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.279984 m,
      bearing: 119.439778 deg,
      approachRate: 0.346282 m/s,
      LOS rate: -1.148930 deg/s,
      cmd update: -3.446789 deg/s,
      cmd heading: 69.477390 deg,
      new cmd heading: 69.193701 deg.

2021-02-16T15:19:41.725Z,1613488781.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:42.469Z,1613488782.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:42.880Z,1613488782.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:43.732Z,1613488783.732 [Micromodem](INFO): Nmea in: $SNTTA,0.134131,,,,151943.88*4E

2021-02-16T15:19:44.161Z,1613488784.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.179977 m, bearing: 74.821703 deg, deltaT: 4.879729 s, approachRate: 0.184435 m/s, LOS rate: -9.143555 deg/s, posRepo size: 4
2021-02-16T15:19:44.175Z,1613488784.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.179977 m,
      bearing: 74.821703 deg,
      approachRate: 0.184435 m/s,
      LOS rate: -9.143555 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 52.671793 deg,
      new cmd heading: 51.359049 deg.

2021-02-16T15:19:46.536Z,1613488786.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:47.313Z,1613488787.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:47.720Z,1613488787.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:48.532Z,1613488788.532 [Micromodem](INFO): Nmea in: $SNTTA,0.134065,,,,151948.72*40

2021-02-16T15:19:48.987Z,1613488788.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.999985 m, bearing: 130.936010 deg, deltaT: 4.789755 s, approachRate: -0.037579 m/s, LOS rate: 11.715486 deg/s, posRepo size: 4
2021-02-16T15:19:48.988Z,1613488788.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.715486 deg/s. Setting heading cmd to target bearing of 130.936010deg and heading rate command to 0 deg/s.
2021-02-16T15:19:51.393Z,1613488791.393 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:52.169Z,1613488792.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:52.582Z,1613488792.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:53.384Z,1613488793.384 [Micromodem](INFO): Nmea in: $SNTTA,0.133317,,,,151953.58*43

2021-02-16T15:19:53.842Z,1613488793.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.860001 m, bearing: 20.746659 deg, deltaT: 4.857559 s, approachRate: -0.234683 m/s, LOS rate: -22.684100 deg/s, posRepo size: 4
2021-02-16T15:19:53.847Z,1613488793.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.684100 deg/s. Setting heading cmd to target bearing of 20.746659deg and heading rate command to 0 deg/s.
2021-02-16T15:19:56.246Z,1613488796.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:19:57.008Z,1613488797.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:19:57.432Z,1613488797.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:19:58.228Z,1613488798.228 [Micromodem](INFO): Nmea in: $SNTTA,0.131717,,,,151958.41*46

2021-02-16T15:19:58.668Z,1613488798.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.459976 m, bearing: 19.693370 deg, deltaT: 4.825435 s, approachRate: -0.497370 m/s, LOS rate: -0.218278 deg/s, posRepo size: 4
2021-02-16T15:19:58.675Z,1613488798.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 19.693370 deg,
      approachRate: -0.497370 m/s,
      LOS rate: -0.218278 deg/s,
      cmd update: -0.654835 deg/s,
      cmd heading: 20.746659 deg,
      new cmd heading: 20.746659 deg.

2021-02-16T15:20:01.128Z,1613488801.128 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:01.856Z,1613488801.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:02.281Z,1613488802.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:03.084Z,1613488803.084 [Micromodem](INFO): Nmea in: $SNTTA,0.129718,,,,152003.26*45

2021-02-16T15:20:03.172Z,1613488803.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.459976 m, bearing: 3.008709 deg, deltaT: 4.503859 s, approachRate: 0.000000 m/s, LOS rate: -3.704526 deg/s, posRepo size: 4
2021-02-16T15:20:03.179Z,1613488803.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.459976 m,
      bearing: 3.008709 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.704526 deg/s,
      cmd update: -11.113577 deg/s,
      cmd heading: 17.798547 deg,
      new cmd heading: 17.530374 deg.

2021-02-16T15:20:05.540Z,1613488805.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:06.306Z,1613488806.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:06.720Z,1613488806.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:07.539Z,1613488807.539 [Micromodem](INFO): Nmea in: $SNTTA,0.127422,,,,152007.71*47

2021-02-16T15:20:07.954Z,1613488807.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 15.425909 deg, deltaT: 4.822103 s, approachRate: -1.356250 m/s, LOS rate: 2.575059 deg/s, posRepo size: 4
2021-02-16T15:20:07.956Z,1613488807.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 15.425909 deg,
      approachRate: -1.356250 m/s,
      LOS rate: 2.575059 deg/s,
      cmd update: 7.725177 deg/s,
      cmd heading: 324.163104 deg,
      new cmd heading: 320.039456 deg.

2021-02-16T15:20:10.369Z,1613488810.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:11.172Z,1613488811.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:11.554Z,1613488811.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:12.381Z,1613488812.381 [Micromodem](INFO): Nmea in: $SNTTA,0.124890,,,,152012.58*4E

2021-02-16T15:20:12.806Z,1613488812.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.139984 m, bearing: 12.836668 deg, deltaT: 4.823577 s, approachRate: -0.783654 m/s, LOS rate: -0.536789 deg/s, posRepo size: 4
2021-02-16T15:20:12.808Z,1613488812.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.139984 m,
      bearing: 12.836668 deg,
      approachRate: -0.783654 m/s,
      LOS rate: -0.536789 deg/s,
      cmd update: -1.610366 deg/s,
      cmd heading: 1.425890 deg,
      new cmd heading: 4.508513 deg.

2021-02-16T15:20:15.215Z,1613488815.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:15.996Z,1613488815.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:16.435Z,1613488816.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:17.257Z,1613488817.257 [Micromodem](INFO): Nmea in: $SNTTA,0.122398,,,,152017.40*47

2021-02-16T15:20:17.315Z,1613488817.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 14.230755 deg, deltaT: 4.490073 s, approachRate: -0.841853 m/s, LOS rate: 0.310482 deg/s, posRepo size: 4
2021-02-16T15:20:17.317Z,1613488817.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 14.230755 deg,
      approachRate: -0.841853 m/s,
      LOS rate: 0.310482 deg/s,
      cmd update: 0.931447 deg/s,
      cmd heading: 354.211281 deg,
      new cmd heading: 353.522408 deg.

2021-02-16T15:20:19.753Z,1613488819.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:20.473Z,1613488820.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:20.878Z,1613488820.878 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:21.700Z,1613488821.700 [Micromodem](INFO): Nmea in: $SNTTA,0.120012,,,,152021.88*45

2021-02-16T15:20:21.742Z,1613488821.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 14.043175 deg, deltaT: 4.437525 s, approachRate: 0.000000 m/s, LOS rate: -0.042271 deg/s, posRepo size: 4
2021-02-16T15:20:21.748Z,1613488821.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 14.043175 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.042271 deg/s,
      cmd update: -0.126814 deg/s,
      cmd heading: 358.353888 deg,
      new cmd heading: 358.733835 deg.

2021-02-16T15:20:24.172Z,1613488824.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:24.916Z,1613488824.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:25.330Z,1613488825.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:26.164Z,1613488826.164 [Micromodem](INFO): Nmea in: $SNTTA,0.118084,,,,152026.32*47

2021-02-16T15:20:26.189Z,1613488826.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 13.848251 deg, deltaT: 4.458430 s, approachRate: 0.000000 m/s, LOS rate: -0.043720 deg/s, posRepo size: 4
2021-02-16T15:20:26.190Z,1613488826.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 13.848251 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.043720 deg/s,
      cmd update: -0.131161 deg/s,
      cmd heading: 357.789005 deg,
      new cmd heading: 357.738288 deg.

2021-02-16T15:20:28.594Z,1613488828.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:29.360Z,1613488829.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:29.766Z,1613488829.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:30.596Z,1613488830.596 [Micromodem](INFO): Nmea in: $SNTTA,0.115893,,,,152030.77*42

2021-02-16T15:20:30.621Z,1613488830.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.360001 m, bearing: 13.718865 deg, deltaT: 4.412568 s, approachRate: 0.000000 m/s, LOS rate: -0.029322 deg/s, posRepo size: 4
2021-02-16T15:20:30.623Z,1613488830.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.360001 m,
      bearing: 13.718865 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.029322 deg/s,
      cmd update: -0.087966 deg/s,
      cmd heading: 357.209824 deg,
      new cmd heading: 357.155147 deg.

2021-02-16T15:20:33.054Z,1613488833.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:33.825Z,1613488833.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:34.215Z,1613488834.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:35.072Z,1613488835.072 [Micromodem](INFO): Nmea in: $SNTTA,0.113893,,,,152035.23*40

2021-02-16T15:20:35.456Z,1613488835.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.639999 m, bearing: 13.332294 deg, deltaT: 4.898416 s, approachRate: -2.596758 m/s, LOS rate: -0.078918 deg/s, posRepo size: 4
2021-02-16T15:20:35.458Z,1613488835.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.639999 m,
      bearing: 13.332294 deg,
      approachRate: -2.596758 m/s,
      LOS rate: -0.078918 deg/s,
      cmd update: -0.236753 deg/s,
      cmd heading: 356.778857 deg,
      new cmd heading: 356.747879 deg.

2021-02-16T15:20:37.869Z,1613488837.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:38.689Z,1613488838.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:39.062Z,1613488839.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:39.901Z,1613488839.901 [Micromodem](INFO): Nmea in: $SNTTA,0.111382,,,,152040.09*43

2021-02-16T15:20:40.326Z,1613488840.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.860016 m, bearing: 14.593170 deg, deltaT: 4.820908 s, approachRate: -0.784081 m/s, LOS rate: 0.261543 deg/s, posRepo size: 4
2021-02-16T15:20:40.328Z,1613488840.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.860016 m,
      bearing: 14.593170 deg,
      approachRate: -0.784081 m/s,
      LOS rate: 0.261543 deg/s,
      cmd update: 0.784630 deg/s,
      cmd heading: 355.637492 deg,
      new cmd heading: 355.542401 deg.

2021-02-16T15:20:42.756Z,1613488842.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:43.508Z,1613488843.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:43.911Z,1613488843.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:44.752Z,1613488844.752 [Micromodem](INFO): Nmea in: $SNTTA,0.109113,,,,152044.91*45

2021-02-16T15:20:44.786Z,1613488844.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 15.163372 deg, deltaT: 4.438151 s, approachRate: -0.648920 m/s, LOS rate: 0.128477 deg/s, posRepo size: 4
2021-02-16T15:20:44.788Z,1613488844.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 15.163372 deg,
      approachRate: -0.648920 m/s,
      LOS rate: 0.128477 deg/s,
      cmd update: 0.385432 deg/s,
      cmd heading: 359.104065 deg,
      new cmd heading: 359.451776 deg.

2021-02-16T15:20:47.198Z,1613488847.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:47.944Z,1613488847.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:48.358Z,1613488848.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:49.188Z,1613488849.188 [Micromodem](INFO): Nmea in: $SNTTA,0.107055,,,,152049.35*4B

2021-02-16T15:20:49.222Z,1613488849.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 16.176118 deg, deltaT: 4.476301 s, approachRate: -0.804240 m/s, LOS rate: 0.226246 deg/s, posRepo size: 4
2021-02-16T15:20:49.224Z,1613488849.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.379990 m,
      bearing: 16.176118 deg,
      approachRate: -0.804240 m/s,
      LOS rate: 0.226246 deg/s,
      cmd update: 0.678739 deg/s,
      cmd heading: 0.835539 deg,
      new cmd heading: 0.984600 deg.

2021-02-16T15:20:51.610Z,1613488851.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:52.394Z,1613488852.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:52.805Z,1613488852.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:53.620Z,1613488853.620 [Micromodem](INFO): Nmea in: $SNTTA,0.105008,,,,152053.80*44

2021-02-16T15:20:53.661Z,1613488853.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 16.486489 deg, deltaT: 4.406492 s, approachRate: -0.708042 m/s, LOS rate: 0.070435 deg/s, posRepo size: 4
2021-02-16T15:20:53.667Z,1613488853.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 16.486489 deg,
      approachRate: -0.708042 m/s,
      LOS rate: 0.070435 deg/s,
      cmd update: 0.211305 deg/s,
      cmd heading: 3.828743 deg,
      new cmd heading: 4.109297 deg.

2021-02-16T15:20:56.073Z,1613488856.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:20:56.849Z,1613488856.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:20:57.253Z,1613488857.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:20:58.072Z,1613488858.072 [Micromodem](INFO): Nmea in: $SNTTA,0.102850,,,,152058.26*41

2021-02-16T15:20:58.151Z,1613488858.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 17.785036 deg, deltaT: 4.459556 s, approachRate: -0.726531 m/s, LOS rate: 0.291183 deg/s, posRepo size: 4
2021-02-16T15:20:58.154Z,1613488858.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.020004 m,
      bearing: 17.785036 deg,
      approachRate: -0.726531 m/s,
      LOS rate: 0.291183 deg/s,
      cmd update: 0.873549 deg/s,
      cmd heading: 4.770310 deg,
      new cmd heading: 4.858609 deg.

2021-02-16T15:21:00.494Z,1613488860.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:01.283Z,1613488861.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:01.705Z,1613488861.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:02.512Z,1613488862.512 [Micromodem](INFO): Nmea in: $SNTTA,0.100630,,,,152102.69*4E

2021-02-16T15:21:02.551Z,1613488862.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.720001 m, bearing: 18.185553 deg, deltaT: 4.471836 s, approachRate: -0.737953 m/s, LOS rate: 0.089564 deg/s, posRepo size: 4
2021-02-16T15:21:02.553Z,1613488862.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.720001 m,
      bearing: 18.185553 deg,
      approachRate: -0.737953 m/s,
      LOS rate: 0.089564 deg/s,
      cmd update: 0.268693 deg/s,
      cmd heading: 8.676831 deg,
      new cmd heading: 9.006656 deg.

2021-02-16T15:21:04.950Z,1613488864.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:05.723Z,1613488865.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:06.161Z,1613488866.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:06.963Z,1613488866.963 [Micromodem](INFO): Nmea in: $SNTTA,0.098182,,,,152107.13*48

2021-02-16T15:21:06.988Z,1613488866.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 17.855836 deg, deltaT: 4.386400 s, approachRate: -0.848076 m/s, LOS rate: -0.075168 deg/s, posRepo size: 4
2021-02-16T15:21:06.989Z,1613488866.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.000000 m,
      bearing: 17.855836 deg,
      approachRate: -0.848076 m/s,
      LOS rate: -0.075168 deg/s,
      cmd update: -0.225504 deg/s,
      cmd heading: 9.856499 deg,
      new cmd heading: 9.970373 deg.

2021-02-16T15:21:09.403Z,1613488869.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:10.169Z,1613488870.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:10.570Z,1613488870.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:11.400Z,1613488871.400 [Micromodem](INFO): Nmea in: $SNTTA,0.095845,,,0.098376,152111.58*52

2021-02-16T15:21:11.449Z,1613488871.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 18.643116 deg, deltaT: 4.465816 s, approachRate: -0.779252 m/s, LOS rate: 0.176290 deg/s, posRepo size: 4
2021-02-16T15:21:11.450Z,1613488871.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 18.643116 deg,
      approachRate: -0.779252 m/s,
      LOS rate: 0.176290 deg/s,
      cmd update: 0.528871 deg/s,
      cmd heading: 8.850416 deg,
      new cmd heading: 8.754892 deg.

2021-02-16T15:21:13.856Z,1613488873.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:14.660Z,1613488874.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:15.026Z,1613488875.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:15.846Z,1613488875.846 [Micromodem](INFO): Nmea in: $SNTTA,0.093383,,,,152116.07*45

2021-02-16T15:21:15.890Z,1613488875.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 18.071169 deg, deltaT: 4.439353 s, approachRate: 0.000000 m/s, LOS rate: -0.128836 deg/s, posRepo size: 4
2021-02-16T15:21:15.892Z,1613488875.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 18.071169 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.128836 deg/s,
      cmd update: -0.386507 deg/s,
      cmd heading: 11.200440 deg,
      new cmd heading: 11.423564 deg.

2021-02-16T15:21:18.295Z,1613488878.295 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:19.070Z,1613488879.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:19.463Z,1613488879.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:20.300Z,1613488880.300 [Micromodem](INFO): Nmea in: $SNTTA,0.091167,,,0.093698,152120.47*5D

2021-02-16T15:21:20.352Z,1613488880.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.500000 m, bearing: 18.556463 deg, deltaT: 4.420906 s, approachRate: -1.587911 m/s, LOS rate: 0.109772 deg/s, posRepo size: 4
2021-02-16T15:21:20.354Z,1613488880.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.500000 m,
      bearing: 18.556463 deg,
      approachRate: -1.587911 m/s,
      LOS rate: 0.109772 deg/s,
      cmd update: 0.329317 deg/s,
      cmd heading: 9.491658 deg,
      new cmd heading: 9.313005 deg.

2021-02-16T15:21:22.744Z,1613488882.744 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:23.496Z,1613488883.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:23.919Z,1613488883.919 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:24.735Z,1613488884.735 [Micromodem](INFO): Nmea in: $SNTTA,0.088816,,,,152124.90*47

2021-02-16T15:21:24.764Z,1613488884.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.960007 m, bearing: 18.489771 deg, deltaT: 4.449897 s, approachRate: -0.795523 m/s, LOS rate: -0.014987 deg/s, posRepo size: 4
2021-02-16T15:21:24.766Z,1613488884.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.960007 m,
      bearing: 18.489771 deg,
      approachRate: -0.795523 m/s,
      LOS rate: -0.014987 deg/s,
      cmd update: -0.044962 deg/s,
      cmd heading: 10.957019 deg,
      new cmd heading: 11.096806 deg.

2021-02-16T15:21:27.186Z,1613488887.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:27.961Z,1613488887.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:28.352Z,1613488888.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:29.184Z,1613488889.184 [Micromodem](INFO): Nmea in: $SNTTA,0.086487,,,,152129.37*4D

2021-02-16T15:21:29.209Z,1613488889.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.539993 m, bearing: 18.934637 deg, deltaT: 4.439693 s, approachRate: -0.770327 m/s, LOS rate: 0.100202 deg/s, posRepo size: 4
2021-02-16T15:21:29.211Z,1613488889.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.539993 m,
      bearing: 18.934637 deg,
      approachRate: -0.770327 m/s,
      LOS rate: 0.100202 deg/s,
      cmd update: 0.300606 deg/s,
      cmd heading: 10.757403 deg,
      new cmd heading: 10.738066 deg.

2021-02-16T15:21:31.592Z,1613488891.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:32.390Z,1613488892.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:32.790Z,1613488892.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:33.616Z,1613488893.616 [Micromodem](INFO): Nmea in: $SNTTA,0.084267,,,,152133.79*46

2021-02-16T15:21:33.642Z,1613488893.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.180000 m, bearing: 19.419968 deg, deltaT: 4.454585 s, approachRate: -0.754277 m/s, LOS rate: 0.108951 deg/s, posRepo size: 4
2021-02-16T15:21:33.644Z,1613488893.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.180000 m,
      bearing: 19.419968 deg,
      approachRate: -0.754277 m/s,
      LOS rate: 0.108951 deg/s,
      cmd update: 0.326853 deg/s,
      cmd heading: 12.096484 deg,
      new cmd heading: 12.218583 deg.

2021-02-16T15:21:36.046Z,1613488896.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:36.829Z,1613488896.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:37.250Z,1613488897.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:38.060Z,1613488898.060 [Micromodem](INFO): Nmea in: $SNTTA,0.081766,,0.105335,,152138.23*5C

2021-02-16T15:21:38.102Z,1613488898.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.400002 m, bearing: 19.966934 deg, deltaT: 4.467833 s, approachRate: -0.846047 m/s, LOS rate: 0.122423 deg/s, posRepo size: 4
2021-02-16T15:21:38.104Z,1613488898.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 19.966934 deg,
      approachRate: -0.846047 m/s,
      LOS rate: 0.122423 deg/s,
      cmd update: 0.367270 deg/s,
      cmd heading: 13.555491 deg,
      new cmd heading: 13.687730 deg.

2021-02-16T15:21:40.494Z,1613488900.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:41.279Z,1613488901.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:41.710Z,1613488901.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:42.504Z,1613488902.504 [Micromodem](INFO): Nmea in: $SNTTA,0.079427,,,,152142.69*41

2021-02-16T15:21:42.549Z,1613488902.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.920006 m, bearing: 20.053623 deg, deltaT: 4.470632 s, approachRate: -0.778412 m/s, LOS rate: 0.019391 deg/s, posRepo size: 4
2021-02-16T15:21:42.551Z,1613488902.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.920006 m,
      bearing: 20.053623 deg,
      approachRate: -0.778412 m/s,
      LOS rate: 0.019391 deg/s,
      cmd update: 0.058172 deg/s,
      cmd heading: 15.198811 deg,
      new cmd heading: 15.337443 deg.

2021-02-16T15:21:44.959Z,1613488904.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:45.718Z,1613488905.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:46.153Z,1613488906.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:46.961Z,1613488906.961 [Micromodem](INFO): Nmea in: $SNTTA,0.077169,,,0.079674,152147.13*5D

2021-02-16T15:21:46.997Z,1613488906.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 19.928648 deg, deltaT: 4.387704 s, approachRate: -0.779452 m/s, LOS rate: -0.028483 deg/s, posRepo size: 4
2021-02-16T15:21:47.020Z,1613488907.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.500000 m,
      bearing: 19.928648 deg,
      approachRate: -0.779452 m/s,
      LOS rate: -0.028483 deg/s,
      cmd update: -0.085449 deg/s,
      cmd heading: 15.454079 deg,
      new cmd heading: 15.479535 deg.

2021-02-16T15:21:49.412Z,1613488909.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:50.173Z,1613488910.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:50.578Z,1613488910.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:51.400Z,1613488911.400 [Micromodem](INFO): Nmea in: $SNTTA,0.074919,,,,152151.58*4C

2021-02-16T15:21:51.443Z,1613488911.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 20.346990 deg, deltaT: 4.465463 s, approachRate: -0.739006 m/s, LOS rate: 0.093684 deg/s, posRepo size: 4
2021-02-16T15:21:51.445Z,1613488911.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.199997 m,
      bearing: 20.346990 deg,
      approachRate: -0.739006 m/s,
      LOS rate: 0.093684 deg/s,
      cmd update: 0.281052 deg/s,
      cmd heading: 15.072872 deg,
      new cmd heading: 15.036811 deg.

2021-02-16T15:21:53.870Z,1613488913.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:54.605Z,1613488914.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:55.010Z,1613488915.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:21:55.836Z,1613488915.836 [Micromodem](INFO): Nmea in: $SNTTA,0.072466,,,,152156.01*44

2021-02-16T15:21:55.881Z,1613488915.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.479996 m, bearing: 19.609181 deg, deltaT: 4.469982 s, approachRate: -0.832218 m/s, LOS rate: -0.165059 deg/s, posRepo size: 4
2021-02-16T15:21:55.882Z,1613488915.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.479996 m,
      bearing: 19.609181 deg,
      approachRate: -0.832218 m/s,
      LOS rate: -0.165059 deg/s,
      cmd update: -0.495176 deg/s,
      cmd heading: 16.328051 deg,
      new cmd heading: 16.438646 deg.

2021-02-16T15:21:58.300Z,1613488918.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:21:59.066Z,1613488919.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:21:59.465Z,1613488919.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:00.292Z,1613488920.292 [Micromodem](INFO): Nmea in: $SNTTA,0.070022,,,,152200.47*40

2021-02-16T15:22:00.317Z,1613488920.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 19.968920 deg, deltaT: 4.389686 s, approachRate: -0.833772 m/s, LOS rate: 0.081951 deg/s, posRepo size: 4
2021-02-16T15:22:00.339Z,1613488920.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.820000 m,
      bearing: 19.968920 deg,
      approachRate: -0.833772 m/s,
      LOS rate: 0.081951 deg/s,
      cmd update: 0.245853 deg/s,
      cmd heading: 14.150305 deg,
      new cmd heading: 13.936236 deg.

2021-02-16T15:22:02.750Z,1613488922.750 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:03.492Z,1613488923.492 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:03.917Z,1613488923.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:04.724Z,1613488924.724 [Micromodem](INFO): Nmea in: $SNTTA,0.067584,,,,152204.90*41

2021-02-16T15:22:04.762Z,1613488924.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.219994 m, bearing: 19.934788 deg, deltaT: 4.457230 s, approachRate: -0.807678 m/s, LOS rate: -0.007658 deg/s, posRepo size: 4
2021-02-16T15:22:04.764Z,1613488924.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.219994 m,
      bearing: 19.934788 deg,
      approachRate: -0.807678 m/s,
      LOS rate: -0.007658 deg/s,
      cmd update: -0.022973 deg/s,
      cmd heading: 15.246118 deg,
      new cmd heading: 15.349315 deg.

2021-02-16T15:22:07.202Z,1613488927.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:07.941Z,1613488927.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:08.343Z,1613488928.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:09.177Z,1613488929.177 [Micromodem](INFO): Nmea in: $SNTTA,0.065390,,,,152209.35*42

2021-02-16T15:22:09.214Z,1613488929.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.860008 m, bearing: 20.127026 deg, deltaT: 4.443196 s, approachRate: -0.756209 m/s, LOS rate: 0.043266 deg/s, posRepo size: 4
2021-02-16T15:22:09.241Z,1613488929.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.860008 m,
      bearing: 20.127026 deg,
      approachRate: -0.756209 m/s,
      LOS rate: 0.043266 deg/s,
      cmd update: 0.129797 deg/s,
      cmd heading: 15.144044 deg,
      new cmd heading: 15.134197 deg.

2021-02-16T15:22:11.589Z,1613488931.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:12.389Z,1613488932.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:12.788Z,1613488932.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:13.632Z,1613488933.632 [Micromodem](INFO): Nmea in: $SNTTA,0.062869,,,,152213.80*4D

2021-02-16T15:22:13.659Z,1613488933.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 20.334959 deg, deltaT: 4.439145 s, approachRate: -0.851517 m/s, LOS rate: 0.046841 deg/s, posRepo size: 4
2021-02-16T15:22:13.661Z,1613488933.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.080002 m,
      bearing: 20.334959 deg,
      approachRate: -0.851517 m/s,
      LOS rate: 0.046841 deg/s,
      cmd update: 0.140522 deg/s,
      cmd heading: 15.720236 deg,
      new cmd heading: 15.776564 deg.

2021-02-16T15:22:16.046Z,1613488936.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:16.825Z,1613488936.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:17.231Z,1613488937.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:18.068Z,1613488938.068 [Micromodem](INFO): Nmea in: $SNTTA,0.060383,,,,152218.23*42

2021-02-16T15:22:18.098Z,1613488938.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.420006 m, bearing: 20.347163 deg, deltaT: 4.498956 s, approachRate: -0.813521 m/s, LOS rate: 0.002713 deg/s, posRepo size: 4
2021-02-16T15:22:18.100Z,1613488938.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.420006 m,
      bearing: 20.347163 deg,
      approachRate: -0.813521 m/s,
      LOS rate: 0.002713 deg/s,
      cmd update: 0.008138 deg/s,
      cmd heading: 16.352439 deg,
      new cmd heading: 16.404687 deg.

2021-02-16T15:22:18.888Z,1613488938.888 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:22:20.506Z,1613488940.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:21.279Z,1613488941.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:21.719Z,1613488941.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:22.508Z,1613488942.508 [Micromodem](INFO): Nmea in: $SNTTA,0.057829,,,,152222.69*4A

2021-02-16T15:22:22.552Z,1613488942.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.520004 m, bearing: 20.766365 deg, deltaT: 4.443932 s, approachRate: -0.877602 m/s, LOS rate: 0.094332 deg/s, posRepo size: 4
2021-02-16T15:22:22.554Z,1613488942.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.520004 m,
      bearing: 20.766365 deg,
      approachRate: -0.877602 m/s,
      LOS rate: 0.094332 deg/s,
      cmd update: 0.282995 deg/s,
      cmd heading: 16.388462 deg,
      new cmd heading: 16.391731 deg.

2021-02-16T15:22:24.941Z,1613488944.941 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:25.718Z,1613488945.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:26.155Z,1613488946.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:26.944Z,1613488946.944 [Micromodem](INFO): Nmea in: $SNTTA,0.055661,,,0.058168,152227.12*5F

2021-02-16T15:22:26.985Z,1613488946.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.279999 m, bearing: 19.705084 deg, deltaT: 4.400059 s, approachRate: -0.736355 m/s, LOS rate: -0.241197 deg/s, posRepo size: 4
2021-02-16T15:22:26.986Z,1613488946.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 19.705084 deg,
      approachRate: -0.736355 m/s,
      LOS rate: -0.241197 deg/s,
      cmd update: -0.723591 deg/s,
      cmd heading: 17.637397 deg,
      new cmd heading: 17.756560 deg.

2021-02-16T15:22:29.396Z,1613488949.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:30.166Z,1613488950.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:30.578Z,1613488950.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:31.392Z,1613488951.392 [Micromodem](INFO): Nmea in: $SNTTA,0.053312,,,,152231.57*42

2021-02-16T15:22:31.437Z,1613488951.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.740005 m, bearing: 20.287738 deg, deltaT: 4.453519 s, approachRate: -0.794876 m/s, LOS rate: 0.130830 deg/s, posRepo size: 4
2021-02-16T15:22:31.441Z,1613488951.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.740005 m,
      bearing: 20.287738 deg,
      approachRate: -0.794876 m/s,
      LOS rate: 0.130830 deg/s,
      cmd update: 0.392490 deg/s,
      cmd heading: 14.414860 deg,
      new cmd heading: 14.110971 deg.

2021-02-16T15:22:33.830Z,1613488953.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:34.618Z,1613488954.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:35.006Z,1613488955.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:35.840Z,1613488955.840 [Micromodem](INFO): Nmea in: $SNTTA,0.050748,,,,152236.03*4C

2021-02-16T15:22:35.864Z,1613488955.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 19.673924 deg, deltaT: 4.417202 s, approachRate: -0.869330 m/s, LOS rate: -0.138960 deg/s, posRepo size: 4
2021-02-16T15:22:35.866Z,1613488955.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 19.673924 deg,
      approachRate: -0.869330 m/s,
      LOS rate: -0.138960 deg/s,
      cmd update: -0.416880 deg/s,
      cmd heading: 16.150131 deg,
      new cmd heading: 16.317224 deg.

2021-02-16T15:22:38.291Z,1613488958.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:39.062Z,1613488959.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:39.462Z,1613488959.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:40.285Z,1613488960.285 [Micromodem](INFO): Nmea in: $SNTTA,0.048347,,,,152240.47*4F

2021-02-16T15:22:40.326Z,1613488960.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.300003 m, bearing: 19.726355 deg, deltaT: 4.470453 s, approachRate: -0.805287 m/s, LOS rate: 0.011728 deg/s, posRepo size: 4
2021-02-16T15:22:40.328Z,1613488960.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.300003 m,
      bearing: 19.726355 deg,
      approachRate: -0.805287 m/s,
      LOS rate: 0.011728 deg/s,
      cmd update: 0.035185 deg/s,
      cmd heading: 14.290929 deg,
      new cmd heading: 14.112350 deg.

2021-02-16T15:22:42.770Z,1613488962.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:43.493Z,1613488963.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:43.918Z,1613488963.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:44.728Z,1613488964.728 [Micromodem](INFO): Nmea in: $SNTTA,0.046139,,,,152244.90*44

2021-02-16T15:22:44.775Z,1613488964.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.000008 m, bearing: 20.769214 deg, deltaT: 4.413221 s, approachRate: -0.747752 m/s, LOS rate: 0.236303 deg/s, posRepo size: 4
2021-02-16T15:22:44.777Z,1613488964.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 20.769214 deg,
      approachRate: -0.747752 m/s,
      LOS rate: 0.236303 deg/s,
      cmd update: 0.708910 deg/s,
      cmd heading: 14.446581 deg,
      new cmd heading: 14.462508 deg.

2021-02-16T15:22:47.184Z,1613488967.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:47.937Z,1613488967.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:48.338Z,1613488968.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:49.172Z,1613488969.172 [Micromodem](INFO): Nmea in: $SNTTA,0.043697,,,,152249.34*41

2021-02-16T15:22:49.211Z,1613488969.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.339996 m, bearing: 20.302703 deg, deltaT: 4.471681 s, approachRate: -0.818487 m/s, LOS rate: -0.104326 deg/s, posRepo size: 4
2021-02-16T15:22:49.213Z,1613488969.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.339996 m,
      bearing: 20.302703 deg,
      approachRate: -0.818487 m/s,
      LOS rate: -0.104326 deg/s,
      cmd update: -0.312977 deg/s,
      cmd heading: 17.613771 deg,
      new cmd heading: 17.912462 deg.

2021-02-16T15:22:51.642Z,1613488971.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:52.376Z,1613488972.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:52.787Z,1613488972.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:53.604Z,1613488973.604 [Micromodem](INFO): Nmea in: $SNTTA,0.041233,,,,152253.78*4A

2021-02-16T15:22:53.653Z,1613488973.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 19.890288 deg, deltaT: 4.427111 s, approachRate: -0.840277 m/s, LOS rate: -0.093157 deg/s, posRepo size: 4
2021-02-16T15:22:53.656Z,1613488973.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.619995 m,
      bearing: 19.890288 deg,
      approachRate: -0.840277 m/s,
      LOS rate: -0.093157 deg/s,
      cmd update: -0.279470 deg/s,
      cmd heading: 16.226950 deg,
      new cmd heading: 16.091498 deg.

2021-02-16T15:22:56.047Z,1613488976.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:22:56.826Z,1613488976.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:22:57.239Z,1613488977.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:22:58.052Z,1613488978.052 [Micromodem](INFO): Nmea in: $SNTTA,0.038787,,,,152258.23*4B

2021-02-16T15:22:58.090Z,1613488978.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.959999 m, bearing: 20.567706 deg, deltaT: 4.481159 s, approachRate: -0.816752 m/s, LOS rate: 0.151170 deg/s, posRepo size: 4
2021-02-16T15:22:58.096Z,1613488978.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.959999 m,
      bearing: 20.567706 deg,
      approachRate: -0.816752 m/s,
      LOS rate: 0.151170 deg/s,
      cmd update: 0.453511 deg/s,
      cmd heading: 14.980160 deg,
      new cmd heading: 14.866154 deg.

2021-02-16T15:23:00.495Z,1613488980.495 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:01.279Z,1613488981.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:01.717Z,1613488981.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:02.500Z,1613488982.500 [Micromodem](INFO): Nmea in: $SNTTA,0.036381,,,,152302.68*46

2021-02-16T15:23:02.539Z,1613488982.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 20.579486 deg, deltaT: 4.384961 s, approachRate: -0.820989 m/s, LOS rate: 0.002687 deg/s, posRepo size: 4
2021-02-16T15:23:02.541Z,1613488982.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 20.579486 deg,
      approachRate: -0.820989 m/s,
      LOS rate: 0.002687 deg/s,
      cmd update: 0.008060 deg/s,
      cmd heading: 16.977811 deg,
      new cmd heading: 17.182861 deg.

2021-02-16T15:23:04.949Z,1613488984.949 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:05.719Z,1613488985.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:06.151Z,1613488986.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:06.944Z,1613488986.944 [Micromodem](INFO): Nmea in: $SNTTA,0.033909,,,,152307.12*41

2021-02-16T15:23:06.989Z,1613488986.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.639996 m, bearing: 20.616923 deg, deltaT: 4.448451 s, approachRate: -0.836246 m/s, LOS rate: 0.008416 deg/s, posRepo size: 4
2021-02-16T15:23:06.990Z,1613488986.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.639996 m,
      bearing: 20.616923 deg,
      approachRate: -0.836246 m/s,
      LOS rate: 0.008416 deg/s,
      cmd update: 0.025247 deg/s,
      cmd heading: 17.013664 deg,
      new cmd heading: 17.017319 deg.

2021-02-16T15:23:09.390Z,1613488989.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:10.165Z,1613488990.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:10.557Z,1613488990.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:11.388Z,1613488991.388 [Micromodem](INFO): Nmea in: $SNTTA,0.031404,,,,152311.57*45

2021-02-16T15:23:11.433Z,1613488991.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.919994 m, bearing: 19.926536 deg, deltaT: 4.449751 s, approachRate: -0.836002 m/s, LOS rate: -0.155152 deg/s, posRepo size: 4
2021-02-16T15:23:11.439Z,1613488991.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 19.926536 deg,
      approachRate: -0.836002 m/s,
      LOS rate: -0.155152 deg/s,
      cmd update: -0.465456 deg/s,
      cmd heading: 17.126004 deg,
      new cmd heading: 17.137316 deg.

2021-02-16T15:23:13.856Z,1613488993.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:14.603Z,1613488994.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:15.002Z,1613488995.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:15.828Z,1613488995.828 [Micromodem](INFO): Nmea in: $SNTTA,0.028990,,,,152316.01*49

2021-02-16T15:23:15.876Z,1613488995.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 19.594776 deg, deltaT: 4.463658 s, approachRate: -0.819954 m/s, LOS rate: -0.074325 deg/s, posRepo size: 4
2021-02-16T15:23:15.878Z,1613488995.878 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.259998 m,
      bearing: 19.594776 deg,
      approachRate: -0.819954 m/s,
      LOS rate: -0.074325 deg/s,
      cmd update: -0.222974 deg/s,
      cmd heading: 15.050182 deg,
      new cmd heading: 14.851303 deg.

2021-02-16T15:23:18.285Z,1613488998.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:19.046Z,1613488999.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:19.447Z,1613488999.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:20.277Z,1613489000.277 [Micromodem](INFO): Nmea in: $SNTTA,0.026576,,,,152320.45*46

2021-02-16T15:23:20.321Z,1613489000.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 19.534630 deg, deltaT: 4.456118 s, approachRate: -0.807878 m/s, LOS rate: -0.013498 deg/s, posRepo size: 4
2021-02-16T15:23:20.322Z,1613489000.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.66 m.
2021-02-16T15:23:20.324Z,1613489000.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.660000 m,
      bearing: 19.534630 deg,
      approachRate: -0.807878 m/s,
      LOS rate: -0.013498 deg/s,
      cmd update: -0.040493 deg/s,
      cmd heading: 14.056593 deg,
      new cmd heading: 13.962846 deg.

2021-02-16T15:23:20.698Z,1613489000.698 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:23:22.728Z,1613489002.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:23.489Z,1613489003.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:23.916Z,1613489003.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:24.732Z,1613489004.732 [Micromodem](INFO): Nmea in: $SNTTA,0.024348,,,,152324.90*43

2021-02-16T15:23:24.784Z,1613489004.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.299995 m, bearing: 18.963756 deg, deltaT: 4.444411 s, approachRate: -0.756007 m/s, LOS rate: -0.128448 deg/s, posRepo size: 4
2021-02-16T15:23:24.785Z,1613489004.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m.
2021-02-16T15:23:24.785Z,1613489004.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.30 m.
2021-02-16T15:23:24.785Z,1613489004.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:23:24.791Z,1613489004.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.299995 m,
      bearing: 18.963756 deg,
      approachRate: -0.756007 m/s,
      LOS rate: -0.128448 deg/s,
      cmd update: -0.385343 deg/s,
      cmd heading: 13.876464 deg,
      new cmd heading: 13.859991 deg.

2021-02-16T15:23:27.213Z,1613489007.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:27.928Z,1613489007.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:28.339Z,1613489008.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:29.183Z,1613489009.183 [Micromodem](INFO): Nmea in: $SNTTA,0.021877,,,,152329.34*42

2021-02-16T15:23:29.208Z,1613489009.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 19.251095 deg, deltaT: 4.431336 s, approachRate: -0.825935 m/s, LOS rate: 0.064843 deg/s, posRepo size: 4
2021-02-16T15:23:29.210Z,1613489009.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.639999 m,
      bearing: 19.251095 deg,
      approachRate: -0.825935 m/s,
      LOS rate: 0.064843 deg/s,
      cmd update: 0.194528 deg/s,
      cmd heading: 12.170423 deg,
      new cmd heading: 12.004265 deg.

2021-02-16T15:23:31.586Z,1613489011.586 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:32.374Z,1613489012.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:32.784Z,1613489012.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:33.611Z,1613489013.611 [Micromodem](INFO): Nmea in: $SNTTA,0.019425,,,,152333.78*41

2021-02-16T15:23:33.634Z,1613489013.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.920000 m, bearing: 19.032146 deg, deltaT: 4.442028 s, approachRate: -0.837455 m/s, LOS rate: -0.049290 deg/s, posRepo size: 4
2021-02-16T15:23:33.636Z,1613489013.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.920000 m,
      bearing: 19.032146 deg,
      approachRate: -0.837455 m/s,
      LOS rate: -0.049290 deg/s,
      cmd update: -0.147871 deg/s,
      cmd heading: 13.035294 deg,
      new cmd heading: 13.115393 deg.

2021-02-16T15:23:36.058Z,1613489016.058 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:36.817Z,1613489016.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:37.222Z,1613489017.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:38.048Z,1613489018.048 [Micromodem](INFO): Nmea in: $SNTTA,0.016889,,0.035545,,152338.22*5C

2021-02-16T15:23:38.088Z,1613489018.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 18.774602 deg, deltaT: 4.460851 s, approachRate: -0.860823 m/s, LOS rate: -0.057734 deg/s, posRepo size: 4
2021-02-16T15:23:38.089Z,1613489018.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 18.774602 deg,
      approachRate: -0.860823 m/s,
      LOS rate: -0.057734 deg/s,
      cmd update: -0.173203 deg/s,
      cmd heading: 12.378986 deg,
      new cmd heading: 12.315951 deg.

2021-02-16T15:23:40.487Z,1613489020.487 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:41.266Z,1613489021.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:41.694Z,1613489021.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:42.492Z,1613489022.492 [Micromodem](INFO): Nmea in: $SNTTA,0.014387,,,,152342.67*4B

2021-02-16T15:23:42.532Z,1613489022.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 18.848225 deg, deltaT: 4.468829 s, approachRate: -0.832433 m/s, LOS rate: 0.016475 deg/s, posRepo size: 4
2021-02-16T15:23:42.534Z,1613489022.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.359999 m,
      bearing: 18.848225 deg,
      approachRate: -0.832433 m/s,
      LOS rate: 0.016475 deg/s,
      cmd update: 0.049424 deg/s,
      cmd heading: 11.606160 deg,
      new cmd heading: 11.535236 deg.

2021-02-16T15:23:44.943Z,1613489024.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:45.710Z,1613489025.710 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:46.139Z,1613489026.139 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:46.944Z,1613489026.944 [Micromodem](INFO): Nmea in: $SNTTA,0.012104,,,,152347.12*43

2021-02-16T15:23:46.989Z,1613489026.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.939997 m, bearing: 18.464054 deg, deltaT: 4.374205 s, approachRate: -0.781857 m/s, LOS rate: -0.087826 deg/s, posRepo size: 4
2021-02-16T15:23:46.995Z,1613489026.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.939997 m,
      bearing: 18.464054 deg,
      approachRate: -0.781857 m/s,
      LOS rate: -0.087826 deg/s,
      cmd update: -0.263479 deg/s,
      cmd heading: 11.823801 deg,
      new cmd heading: 11.846672 deg.

2021-02-16T15:23:49.387Z,1613489029.387 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:50.181Z,1613489030.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:50.559Z,1613489030.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:51.396Z,1613489031.396 [Micromodem](INFO): Nmea in: $SNTTA,0.009798,,,0.013229,152351.59*57

2021-02-16T15:23:51.440Z,1613489031.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.459998 m, bearing: 19.789964 deg, deltaT: 4.453779 s, approachRate: -0.781359 m/s, LOS rate: 0.297705 deg/s, posRepo size: 4
2021-02-16T15:23:51.442Z,1613489031.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.459998 m,
      bearing: 19.789964 deg,
      approachRate: -0.781359 m/s,
      LOS rate: 0.297705 deg/s,
      cmd update: 0.893114 deg/s,
      cmd heading: 10.650379 deg,
      new cmd heading: 10.529054 deg.

2021-02-16T15:23:53.846Z,1613489033.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:54.592Z,1613489034.592 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:54.998Z,1613489034.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:23:55.836Z,1613489035.836 [Micromodem](INFO): Nmea in: $SNTTA,0.007539,,,,152356.00*4E

2021-02-16T15:23:55.872Z,1613489035.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.039997 m, bearing: 21.273032 deg, deltaT: 4.473672 s, approachRate: -0.764473 m/s, LOS rate: 0.331510 deg/s, posRepo size: 4
2021-02-16T15:23:55.873Z,1613489035.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 21.273032 deg,
      approachRate: -0.764473 m/s,
      LOS rate: 0.331510 deg/s,
      cmd update: 0.994531 deg/s,
      cmd heading: 14.646067 deg,
      new cmd heading: 15.018926 deg.

2021-02-16T15:23:58.265Z,1613489038.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:23:59.042Z,1613489039.042 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:23:59.618Z,1613489039.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:00.300Z,1613489040.300 [Micromodem](INFO): Nmea in: $SNTTA,0.005300,,,,152400.45*45

2021-02-16T15:24:00.330Z,1613489040.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.740000 m, bearing: 20.202057 deg, deltaT: 4.436589 s, approachRate: -0.743814 m/s, LOS rate: -0.241396 deg/s, posRepo size: 4
2021-02-16T15:24:00.332Z,1613489040.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 20.202057 deg,
      approachRate: -0.743814 m/s,
      LOS rate: -0.241396 deg/s,
      cmd update: -0.724188 deg/s,
      cmd heading: 19.058379 deg,
      new cmd heading: 19.495467 deg.

2021-02-16T15:24:02.739Z,1613489042.739 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:03.505Z,1613489043.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:03.908Z,1613489043.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:04.752Z,1613489044.752 [Micromodem](INFO): Nmea in: $SNTTA,0.003437,,0.027743,,152404.91*56

2021-02-16T15:24:04.774Z,1613489044.774 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:24:04.774Z,1613489044.774 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:24:04.774Z,1613489044.774 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:24:04.774Z,1613489044.774 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:24:04.774Z,1613489044.774 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:24:04.775Z,1613489044.775 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-02-16T15:24:04.775Z,1613489044.775 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:24:04.775Z,1613489044.775 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:24:04.775Z,1613489044.775 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:24:04.778Z,1613489044.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 16.518865 deg, deltaT: 4.507841 s, approachRate: -0.638887 m/s, LOS rate: -0.817063 deg/s, posRepo size: 4
2021-02-16T15:24:04.780Z,1613489044.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 16.518865 deg,
      approachRate: -0.638887 m/s,
      LOS rate: -0.817063 deg/s,
      cmd update: -2.451190 deg/s,
      cmd heading: 15.796762 deg,
      new cmd heading: 15.519159 deg.

2021-02-16T15:24:05.185Z,1613489045.185 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T152405: (41.552319, -70.708603)
2021-02-16T15:24:05.185Z,1613489045.185 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:24:05.185Z,1613489045.185 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:24:05.185Z,1613489045.185 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:24:05.185Z,1613489045.185 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:24:05.186Z,1613489045.186 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:24:05.186Z,1613489045.186 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:24:05.186Z,1613489045.186 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:24:05.186Z,1613489045.186 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:24:07.184Z,1613489047.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:07.942Z,1613489047.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:08.351Z,1613489048.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:09.177Z,1613489049.177 [Micromodem](INFO): Nmea in: $SNTTA,0.002302,0.014133,,,152409.35*54

2021-02-16T15:24:09.230Z,1613489049.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.300000 m, bearing: 5.032613 deg, deltaT: 4.390397 s, approachRate: -0.355321 m/s, LOS rate: -2.616222 deg/s, posRepo size: 4
2021-02-16T15:24:09.236Z,1613489049.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.300000 m,
      bearing: 5.032613 deg,
      approachRate: -0.355321 m/s,
      LOS rate: -2.616222 deg/s,
      cmd update: -7.848665 deg/s,
      cmd heading: 5.064524 deg,
      new cmd heading: 3.942970 deg.

2021-02-16T15:24:11.592Z,1613489051.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:12.384Z,1613489052.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:12.799Z,1613489052.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:13.619Z,1613489053.619 [Micromodem](INFO): Nmea in: $SNTTA,0.003065,,,,152413.79*4E

2021-02-16T15:24:13.638Z,1613489053.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.679999 m, bearing: 357.909262 deg, deltaT: 4.440910 s, approachRate: 0.310747 m/s, LOS rate: -1.604031 deg/s, posRepo size: 4
2021-02-16T15:24:13.640Z,1613489053.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 357.909262 deg,
      approachRate: 0.310747 m/s,
      LOS rate: -1.604031 deg/s,
      cmd update: -4.812094 deg/s,
      cmd heading: 330.083094 deg,
      new cmd heading: 326.878429 deg.

2021-02-16T15:24:16.053Z,1613489056.053 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:16.828Z,1613489056.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:17.235Z,1613489057.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:18.067Z,1613489058.067 [Micromodem](INFO): Nmea in: $SNTTA,0.004801,,0.020420,,152418.23*5D

2021-02-16T15:24:18.091Z,1613489058.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.320000 m, bearing: 330.503155 deg, deltaT: 4.460796 s, approachRate: 0.591823 m/s, LOS rate: -6.143771 deg/s, posRepo size: 4
2021-02-16T15:24:18.093Z,1613489058.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 330.503155 deg,
      approachRate: 0.591823 m/s,
      LOS rate: -6.143771 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 308.749995 deg,
      new cmd heading: 306.690593 deg.

2021-02-16T15:24:20.490Z,1613489060.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:21.279Z,1613489061.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:21.709Z,1613489061.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:22.504Z,1613489062.504 [Micromodem](INFO): Nmea in: $SNTTA,0.006774,,,,152422.68*4E

2021-02-16T15:24:22.544Z,1613489062.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.260000 m, bearing: 333.118762 deg, deltaT: 4.466210 s, approachRate: 0.658276 m/s, LOS rate: 0.585644 deg/s, posRepo size: 4
2021-02-16T15:24:22.546Z,1613489062.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.260000 m,
      bearing: 333.118762 deg,
      approachRate: 0.658276 m/s,
      LOS rate: 0.585644 deg/s,
      cmd update: 1.756931 deg/s,
      cmd heading: 255.132878 deg,
      new cmd heading: 250.175930 deg.

2021-02-16T15:24:24.947Z,1613489064.947 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:25.726Z,1613489065.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:26.157Z,1613489066.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:26.956Z,1613489066.956 [Micromodem](INFO): Nmea in: $SNTTA,0.008402,,,,152427.13*4B

2021-02-16T15:24:27.005Z,1613489067.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 328.212255 deg, deltaT: 4.381723 s, approachRate: 0.575115 m/s, LOS rate: -1.119767 deg/s, posRepo size: 4
2021-02-16T15:24:27.005Z,1613489067.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.78 m. Rolling out.
2021-02-16T15:24:27.005Z,1613489067.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:24:29.061Z,1613489069.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:29.756Z,1613489069.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:30.170Z,1613489070.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:31.000Z,1613489071.000 [Micromodem](INFO): Nmea in: $SNTTA,0.009338,,,,152431.16*46

2021-02-16T15:24:31.025Z,1613489071.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 305.608017 deg, deltaT: 4.070088 s, approachRate: 0.324318 m/s, LOS rate: -5.553747 deg/s, posRepo size: 4
2021-02-16T15:24:33.431Z,1613489073.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:34.206Z,1613489074.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:34.611Z,1613489074.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:35.436Z,1613489075.436 [Micromodem](INFO): Nmea in: $SNTTA,0.010683,,,,152435.61*4F

2021-02-16T15:24:35.486Z,1613489075.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.019999 m, bearing: 246.338012 deg, deltaT: 4.446466 s, approachRate: 0.431803 m/s, LOS rate: -13.329688 deg/s, posRepo size: 4
2021-02-16T15:24:37.886Z,1613489077.886 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:38.663Z,1613489078.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:39.054Z,1613489079.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:39.888Z,1613489079.888 [Micromodem](INFO): Nmea in: $SNTTA,0.011610,,,,152440.07*46

2021-02-16T15:24:39.939Z,1613489079.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 240.113442 deg, deltaT: 4.427591 s, approachRate: 0.325233 m/s, LOS rate: -1.405859 deg/s, posRepo size: 4
2021-02-16T15:24:42.313Z,1613489082.313 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:43.097Z,1613489083.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:43.495Z,1613489083.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:44.332Z,1613489084.332 [Micromodem](INFO): Nmea in: $SNTTA,0.012443,,,,152444.50*47

2021-02-16T15:24:44.358Z,1613489084.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.659996 m, bearing: 244.701526 deg, deltaT: 4.444607 s, approachRate: 0.269989 m/s, LOS rate: 1.032281 deg/s, posRepo size: 4
2021-02-16T15:24:46.749Z,1613489086.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:47.532Z,1613489087.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:47.955Z,1613489087.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:48.760Z,1613489088.760 [Micromodem](INFO): Nmea in: $SNTTA,0.013513,,,,152448.94*46

2021-02-16T15:24:48.814Z,1613489088.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.339998 m, bearing: 250.876728 deg, deltaT: 4.451328 s, approachRate: 0.377416 m/s, LOS rate: 1.387272 deg/s, posRepo size: 4
2021-02-16T15:24:51.207Z,1613489091.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:51.976Z,1613489091.976 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:52.385Z,1613489092.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:53.215Z,1613489093.215 [Micromodem](INFO): Nmea in: $SNTTA,0.014788,,,0.047737,152453.38*53

2021-02-16T15:24:53.240Z,1613489093.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 250.678652 deg, deltaT: 4.443802 s, approachRate: 0.445565 m/s, LOS rate: -0.044573 deg/s, posRepo size: 4
2021-02-16T15:24:55.224Z,1613489095.224 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:24:55.636Z,1613489095.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:24:56.429Z,1613489096.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:24:56.839Z,1613489096.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:24:57.657Z,1613489097.657 [Micromodem](INFO): Nmea in: $SNTTA,0.016208,,,,152457.83*46

2021-02-16T15:24:57.726Z,1613489097.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.480000 m, bearing: 253.246011 deg, deltaT: 4.458034 s, approachRate: 0.484518 m/s, LOS rate: 0.575895 deg/s, posRepo size: 4
2021-02-16T15:25:00.090Z,1613489100.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:00.864Z,1613489100.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:01.289Z,1613489101.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:02.092Z,1613489102.092 [Micromodem](INFO): Nmea in: $SNTTA,0.017803,,,,152502.27*49

2021-02-16T15:25:02.172Z,1613489102.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.880001 m, bearing: 264.685758 deg, deltaT: 4.446083 s, approachRate: 0.539801 m/s, LOS rate: 2.572995 deg/s, posRepo size: 4
2021-02-16T15:25:04.549Z,1613489104.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:05.313Z,1613489105.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:05.714Z,1613489105.714 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:06.540Z,1613489106.540 [Micromodem](INFO): Nmea in: $SNTTA,0.019483,,,,152506.72*47

2021-02-16T15:25:06.562Z,1613489106.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.340000 m, bearing: 214.228214 deg, deltaT: 4.464339 s, approachRate: 0.551033 m/s, LOS rate: -11.302355 deg/s, posRepo size: 4
2021-02-16T15:25:09.016Z,1613489109.016 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:09.754Z,1613489109.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:10.168Z,1613489110.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:10.984Z,1613489110.984 [Micromodem](INFO): Nmea in: $SNTTA,0.021142,,,,152511.16*40

2021-02-16T15:25:11.023Z,1613489111.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.859997 m, bearing: 231.591907 deg, deltaT: 4.403440 s, approachRate: 0.572279 m/s, LOS rate: 3.943211 deg/s, posRepo size: 4
2021-02-16T15:25:13.417Z,1613489113.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:14.202Z,1613489114.202 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:14.642Z,1613489114.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:15.448Z,1613489115.448 [Micromodem](INFO): Nmea in: $SNTTA,0.022803,,,,152515.61*4B

2021-02-16T15:25:15.489Z,1613489115.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.439999 m, bearing: 214.846278 deg, deltaT: 4.439244 s, approachRate: 0.581180 m/s, LOS rate: -3.772180 deg/s, posRepo size: 4
2021-02-16T15:25:17.856Z,1613489117.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:18.644Z,1613489118.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:19.046Z,1613489119.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:19.882Z,1613489119.882 [Micromodem](INFO): Nmea in: $SNTTA,0.024526,,0.042513,,152520.05*5C

2021-02-16T15:25:19.936Z,1613489119.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 218.397416 deg, deltaT: 4.531735 s, approachRate: 0.556078 m/s, LOS rate: 0.783616 deg/s, posRepo size: 4
2021-02-16T15:25:22.334Z,1613489122.334 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:23.092Z,1613489123.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:23.490Z,1613489123.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:24.328Z,1613489124.328 [Micromodem](INFO): Nmea in: $SNTTA,0.026379,,,,152524.50*49

2021-02-16T15:25:24.366Z,1613489124.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.660000 m, bearing: 275.035845 deg, deltaT: 4.350208 s, approachRate: 0.620660 m/s, LOS rate: 13.019706 deg/s, posRepo size: 4
2021-02-16T15:25:26.764Z,1613489126.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:27.534Z,1613489127.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:27.933Z,1613489127.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:28.760Z,1613489128.760 [Micromodem](INFO): Nmea in: $SNTTA,0.028203,,,,152528.94*4F

2021-02-16T15:25:28.812Z,1613489128.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 250.985273 deg, deltaT: 4.493172 s, approachRate: 0.614265 m/s, LOS rate: -5.352693 deg/s, posRepo size: 4
2021-02-16T15:25:31.201Z,1613489131.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:31.977Z,1613489131.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:32.398Z,1613489132.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:33.204Z,1613489133.204 [Micromodem](INFO): Nmea in: $SNTTA,0.029903,,,,152533.38*49

2021-02-16T15:25:33.249Z,1613489133.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.059998 m, bearing: 294.516637 deg, deltaT: 4.395377 s, approachRate: 0.600631 m/s, LOS rate: 9.903897 deg/s, posRepo size: 4
2021-02-16T15:25:35.638Z,1613489135.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:36.416Z,1613489136.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:36.849Z,1613489136.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:37.644Z,1613489137.644 [Micromodem](INFO): Nmea in: $SNTTA,0.031815,,,,152537.82*43

2021-02-16T15:25:37.720Z,1613489137.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.880001 m, bearing: 299.743835 deg, deltaT: 4.491813 s, approachRate: 0.627810 m/s, LOS rate: 1.163717 deg/s, posRepo size: 4
2021-02-16T15:25:40.084Z,1613489140.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:40.860Z,1613489140.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:41.291Z,1613489141.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:42.096Z,1613489142.096 [Micromodem](INFO): Nmea in: $SNTTA,0.033551,,,,152542.27*41

2021-02-16T15:25:42.171Z,1613489142.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.459995 m, bearing: 271.777544 deg, deltaT: 4.442870 s, approachRate: 0.580704 m/s, LOS rate: -6.294646 deg/s, posRepo size: 4
2021-02-16T15:25:44.545Z,1613489144.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:45.319Z,1613489145.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:45.730Z,1613489145.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:46.544Z,1613489146.544 [Micromodem](INFO): Nmea in: $SNTTA,0.035556,,,,152546.72*44

2021-02-16T15:25:46.566Z,1613489146.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 276.938107 deg, deltaT: 4.444446 s, approachRate: 0.675002 m/s, LOS rate: 1.161126 deg/s, posRepo size: 4
2021-02-16T15:25:48.980Z,1613489148.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:49.748Z,1613489149.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:50.168Z,1613489150.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:50.976Z,1613489150.976 [Micromodem](INFO): Nmea in: $SNTTA,0.037278,,,,152551.15*4A

2021-02-16T15:25:51.014Z,1613489151.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.099998 m, bearing: 218.406650 deg, deltaT: 4.419352 s, approachRate: 0.597372 m/s, LOS rate: -13.244352 deg/s, posRepo size: 4
2021-02-16T15:25:53.425Z,1613489153.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:54.198Z,1613489154.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:54.600Z,1613489154.600 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:55.436Z,1613489155.436 [Micromodem](INFO): Nmea in: $SNTTA,0.039155,,,,152555.60*4E

2021-02-16T15:25:55.475Z,1613489155.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 225.479134 deg, deltaT: 4.438553 s, approachRate: 0.621826 m/s, LOS rate: 1.593421 deg/s, posRepo size: 4
2021-02-16T15:25:57.852Z,1613489157.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:25:58.643Z,1613489158.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:25:59.072Z,1613489159.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:25:59.872Z,1613489159.872 [Micromodem](INFO): Nmea in: $SNTTA,0.041069,,,,152600.05*4F

2021-02-16T15:25:59.910Z,1613489159.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 227.728383 deg, deltaT: 4.449951 s, approachRate: 0.647198 m/s, LOS rate: 0.505455 deg/s, posRepo size: 4
2021-02-16T15:26:02.317Z,1613489162.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:03.080Z,1613489163.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:03.491Z,1613489163.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:04.315Z,1613489164.315 [Micromodem](INFO): Nmea in: $SNTTA,0.042874,,,,152604.48*45

2021-02-16T15:26:04.340Z,1613489164.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.440002 m, bearing: 226.586581 deg, deltaT: 4.432276 s, approachRate: 0.609168 m/s, LOS rate: -0.257611 deg/s, posRepo size: 4
2021-02-16T15:26:06.742Z,1613489166.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:07.529Z,1613489167.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:07.947Z,1613489167.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:08.756Z,1613489168.756 [Micromodem](INFO): Nmea in: $SNTTA,0.044751,,,,152608.93*41

2021-02-16T15:26:08.780Z,1613489168.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.260002 m, bearing: 227.422309 deg, deltaT: 4.442653 s, approachRate: 0.634756 m/s, LOS rate: 0.188115 deg/s, posRepo size: 4
2021-02-16T15:26:11.210Z,1613489171.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:11.975Z,1613489171.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:12.373Z,1613489172.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:13.204Z,1613489173.204 [Micromodem](INFO): Nmea in: $SNTTA,0.046579,,,0.049099,152613.38*53

2021-02-16T15:26:13.289Z,1613489173.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.020004 m, bearing: 231.192423 deg, deltaT: 4.454563 s, approachRate: 0.619590 m/s, LOS rate: 0.846349 deg/s, posRepo size: 4
2021-02-16T15:26:13.452Z,1613489173.452 [CTD_Seabird](ERROR): Failed to parse device response: 64,2911.70
2021-02-16T15:26:15.635Z,1613489175.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:16.413Z,1613489176.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:16.818Z,1613489176.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:17.644Z,1613489177.644 [Micromodem](INFO): Nmea in: $SNTTA,0.048440,,,,152617.82*40

2021-02-16T15:26:17.714Z,1613489177.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.779999 m, bearing: 240.399545 deg, deltaT: 4.467030 s, approachRate: 0.617859 m/s, LOS rate: 2.061128 deg/s, posRepo size: 4
2021-02-16T15:26:20.087Z,1613489180.087 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:20.862Z,1613489180.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:21.274Z,1613489181.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:22.094Z,1613489182.094 [Micromodem](INFO): Nmea in: $SNTTA,0.050250,,,,152622.27*47

2021-02-16T15:26:22.177Z,1613489182.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.540001 m, bearing: 231.981474 deg, deltaT: 4.443578 s, approachRate: 0.621122 m/s, LOS rate: -1.894435 deg/s, posRepo size: 4
2021-02-16T15:26:24.565Z,1613489184.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:25.302Z,1613489185.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:25.721Z,1613489185.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:26.536Z,1613489186.536 [Micromodem](INFO): Nmea in: $SNTTA,0.052085,,,,152626.71*48

2021-02-16T15:26:26.582Z,1613489186.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 231.716927 deg, deltaT: 4.440920 s, approachRate: 0.621493 m/s, LOS rate: -0.059570 deg/s, posRepo size: 4
2021-02-16T15:26:28.972Z,1613489188.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:29.744Z,1613489189.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:30.165Z,1613489190.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:30.972Z,1613489190.972 [Micromodem](INFO): Nmea in: $SNTTA,0.053987,,,,152631.15*46

2021-02-16T15:26:31.009Z,1613489191.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.120003 m, bearing: 235.706359 deg, deltaT: 4.410900 s, approachRate: 0.639325 m/s, LOS rate: 0.904448 deg/s, posRepo size: 4
2021-02-16T15:26:33.393Z,1613489193.393 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:26:33.408Z,1613489193.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:34.194Z,1613489194.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:34.601Z,1613489194.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:35.427Z,1613489195.427 [Micromodem](INFO): Nmea in: $SNTTA,0.055815,,,,152635.60*4C

2021-02-16T15:26:35.502Z,1613489195.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.880005 m, bearing: 233.918570 deg, deltaT: 4.448928 s, approachRate: 0.620375 m/s, LOS rate: -0.401847 deg/s, posRepo size: 4
2021-02-16T15:26:37.854Z,1613489197.854 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:38.636Z,1613489198.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:39.038Z,1613489199.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:39.868Z,1613489199.868 [Micromodem](INFO): Nmea in: $SNTTA,0.057622,,,,152640.04*44

2021-02-16T15:26:39.910Z,1613489199.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.639999 m, bearing: 234.611507 deg, deltaT: 4.460523 s, approachRate: 0.618760 m/s, LOS rate: 0.155349 deg/s, posRepo size: 4
2021-02-16T15:26:42.307Z,1613489202.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:43.076Z,1613489203.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:43.482Z,1613489203.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:44.308Z,1613489204.308 [Micromodem](INFO): Nmea in: $SNTTA,0.059410,,,,152644.48*45

2021-02-16T15:26:44.333Z,1613489204.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.279999 m, bearing: 235.835586 deg, deltaT: 4.417224 s, approachRate: 0.597660 m/s, LOS rate: 0.277115 deg/s, posRepo size: 4
2021-02-16T15:26:46.789Z,1613489206.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:47.528Z,1613489207.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:47.925Z,1613489207.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:48.771Z,1613489208.771 [Micromodem](INFO): Nmea in: $SNTTA,0.061199,,,,152648.93*40

2021-02-16T15:26:48.800Z,1613489208.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.979996 m, bearing: 245.649748 deg, deltaT: 4.458676 s, approachRate: 0.605560 m/s, LOS rate: 2.201138 deg/s, posRepo size: 4
2021-02-16T15:26:51.197Z,1613489211.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:51.969Z,1613489211.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:52.370Z,1613489212.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:53.200Z,1613489213.200 [Micromodem](INFO): Nmea in: $SNTTA,0.063068,,,,152653.37*49

2021-02-16T15:26:53.245Z,1613489213.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.740005 m, bearing: 243.593506 deg, deltaT: 4.453667 s, approachRate: 0.619716 m/s, LOS rate: -0.461696 deg/s, posRepo size: 4
2021-02-16T15:26:55.620Z,1613489215.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:26:56.410Z,1613489216.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:26:56.822Z,1613489216.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:26:57.660Z,1613489217.660 [Micromodem](INFO): Nmea in: $SNTTA,0.064912,,,,152657.81*43

2021-02-16T15:26:57.719Z,1613489217.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.500008 m, bearing: 241.482486 deg, deltaT: 4.438871 s, approachRate: 0.621780 m/s, LOS rate: -0.475576 deg/s, posRepo size: 4
2021-02-16T15:27:00.065Z,1613489220.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:00.857Z,1613489220.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:01.270Z,1613489221.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:02.084Z,1613489222.084 [Micromodem](INFO): Nmea in: $SNTTA,0.066729,,,,152702.26*4B

2021-02-16T15:27:02.163Z,1613489222.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.260002 m, bearing: 242.109552 deg, deltaT: 4.493006 s, approachRate: 0.614287 m/s, LOS rate: 0.139565 deg/s, posRepo size: 4
2021-02-16T15:27:04.585Z,1613489224.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:05.301Z,1613489225.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:05.722Z,1613489225.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:06.535Z,1613489226.535 [Micromodem](INFO): Nmea in: $SNTTA,0.068804,,,,152706.71*43

2021-02-16T15:27:06.560Z,1613489226.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.320000 m, bearing: 246.213676 deg, deltaT: 4.419037 s, approachRate: 0.692458 m/s, LOS rate: 0.928737 deg/s, posRepo size: 4
2021-02-16T15:27:08.958Z,1613489228.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:09.740Z,1613489229.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:10.166Z,1613489230.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:10.975Z,1613489230.975 [Micromodem](INFO): Nmea in: $SNTTA,0.070566,,,,152711.14*46

2021-02-16T15:27:10.999Z,1613489230.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 247.407538 deg, deltaT: 4.406601 s, approachRate: 0.599103 m/s, LOS rate: 0.270926 deg/s, posRepo size: 4
2021-02-16T15:27:13.402Z,1613489233.402 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:14.190Z,1613489234.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:14.590Z,1613489234.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:15.424Z,1613489235.424 [Micromodem](INFO): Nmea in: $SNTTA,0.072371,,,,152715.59*49

2021-02-16T15:27:15.472Z,1613489235.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.720001 m, bearing: 241.035600 deg, deltaT: 4.481873 s, approachRate: 0.615813 m/s, LOS rate: -1.421713 deg/s, posRepo size: 4
2021-02-16T15:27:17.853Z,1613489237.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:18.635Z,1613489238.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:19.034Z,1613489239.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:19.860Z,1613489239.860 [Micromodem](INFO): Nmea in: $SNTTA,0.074272,,,,152720.04*43

2021-02-16T15:27:19.904Z,1613489239.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.599998 m, bearing: 235.554155 deg, deltaT: 4.420566 s, approachRate: 0.651500 m/s, LOS rate: -1.239987 deg/s, posRepo size: 4
2021-02-16T15:27:22.316Z,1613489242.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:23.089Z,1613489243.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:23.497Z,1613489243.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:24.312Z,1613489244.312 [Micromodem](INFO): Nmea in: $SNTTA,0.076268,,,,152724.50*4F

2021-02-16T15:27:24.359Z,1613489244.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.540001 m, bearing: 246.483659 deg, deltaT: 4.457607 s, approachRate: 0.659547 m/s, LOS rate: 2.451877 deg/s, posRepo size: 4
2021-02-16T15:27:26.768Z,1613489246.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:27.532Z,1613489247.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:27.922Z,1613489247.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:28.756Z,1613489248.756 [Micromodem](INFO): Nmea in: $SNTTA,0.078096,,,,152728.94*46

2021-02-16T15:27:28.784Z,1613489248.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.300011 m, bearing: 240.091613 deg, deltaT: 4.415444 s, approachRate: 0.625081 m/s, LOS rate: -1.447656 deg/s, posRepo size: 4
2021-02-16T15:27:31.208Z,1613489251.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:31.960Z,1613489251.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:32.373Z,1613489252.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:33.204Z,1613489253.204 [Micromodem](INFO): Nmea in: $SNTTA,0.079930,,,,152733.36*40

2021-02-16T15:27:33.229Z,1613489253.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 228.088990 deg, deltaT: 4.475212 s, approachRate: 0.630136 m/s, LOS rate: -2.682023 deg/s, posRepo size: 4
2021-02-16T15:27:35.615Z,1613489255.615 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:36.409Z,1613489256.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:36.836Z,1613489256.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:37.661Z,1613489257.661 [Micromodem](INFO): Nmea in: $SNTTA,0.081759,,,0.084290,152737.82*54

2021-02-16T15:27:37.718Z,1613489257.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.760002 m, bearing: 237.707221 deg, deltaT: 4.485194 s, approachRate: 0.588603 m/s, LOS rate: 2.144440 deg/s, posRepo size: 4
2021-02-16T15:27:39.269Z,1613489259.269 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:27:40.075Z,1613489260.075 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:40.857Z,1613489260.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:41.257Z,1613489261.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:42.084Z,1613489262.084 [Micromodem](INFO): Nmea in: $SNTTA,0.083589,,,,152742.26*4C

2021-02-16T15:27:42.168Z,1613489262.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.579994 m, bearing: 240.286192 deg, deltaT: 4.402523 s, approachRate: 0.640540 m/s, LOS rate: 0.585794 deg/s, posRepo size: 4
2021-02-16T15:27:44.488Z,1613489264.488 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:27:44.527Z,1613489264.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:45.297Z,1613489265.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:45.702Z,1613489265.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:46.524Z,1613489266.524 [Micromodem](INFO): Nmea in: $SNTTA,0.085660,,,,152746.70*49

2021-02-16T15:27:46.562Z,1613489266.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 235.480744 deg, deltaT: 4.456007 s, approachRate: 0.686718 m/s, LOS rate: -1.078420 deg/s, posRepo size: 4
2021-02-16T15:27:48.960Z,1613489268.960 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:49.354Z,1613489269.354 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:27:49.736Z,1613489269.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:50.166Z,1613489270.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:50.964Z,1613489270.964 [Micromodem](INFO): Nmea in: $SNTTA,0.087478,,,,152751.14*44

2021-02-16T15:27:51.002Z,1613489271.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.399994 m, bearing: 240.386104 deg, deltaT: 4.414928 s, approachRate: 0.625147 m/s, LOS rate: 1.111085 deg/s, posRepo size: 4
2021-02-16T15:27:53.406Z,1613489273.406 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:54.198Z,1613489274.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:54.593Z,1613489274.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:55.420Z,1613489275.420 [Micromodem](INFO): Nmea in: $SNTTA,0.089597,,,,152755.60*4D

2021-02-16T15:27:55.466Z,1613489275.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.580002 m, bearing: 257.290111 deg, deltaT: 4.452521 s, approachRate: 0.714204 m/s, LOS rate: 3.796503 deg/s, posRepo size: 4
2021-02-16T15:27:57.853Z,1613489277.853 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:27:58.633Z,1613489278.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:27:59.035Z,1613489279.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:27:59.452Z,1613489279.452 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:27:59.867Z,1613489279.867 [Micromodem](INFO): Nmea in: $SNTTA,0.091378,,,,152800.04*4E

2021-02-16T15:27:59.938Z,1613489279.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.279999 m, bearing: 234.541921 deg, deltaT: 4.441530 s, approachRate: 0.607898 m/s, LOS rate: -5.121701 deg/s, posRepo size: 4
2021-02-16T15:28:02.307Z,1613489282.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:03.080Z,1613489283.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:03.481Z,1613489283.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:04.311Z,1613489284.311 [Micromodem](INFO): Nmea in: $SNTTA,0.093228,,,,152804.49*45

2021-02-16T15:28:04.333Z,1613489284.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.980011 m, bearing: 240.864517 deg, deltaT: 4.438045 s, approachRate: 0.608379 m/s, LOS rate: 1.424636 deg/s, posRepo size: 4
2021-02-16T15:28:06.742Z,1613489286.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:07.518Z,1613489287.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:07.918Z,1613489287.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:08.752Z,1613489288.752 [Micromodem](INFO): Nmea in: $SNTTA,0.095183,,,,152808.92*4B

2021-02-16T15:28:08.777Z,1613489288.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 249.063340 deg, deltaT: 4.461447 s, approachRate: 0.672424 m/s, LOS rate: 1.837705 deg/s, posRepo size: 4
2021-02-16T15:28:09.194Z,1613489289.194 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:28:11.207Z,1613489291.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:11.956Z,1613489291.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:12.361Z,1613489292.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:13.188Z,1613489293.188 [Micromodem](INFO): Nmea in: $SNTTA,0.097052,,,0.099571,152813.36*5D

2021-02-16T15:28:13.213Z,1613489293.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.740005 m, bearing: 253.207243 deg, deltaT: 4.431165 s, approachRate: 0.622863 m/s, LOS rate: 0.935172 deg/s, posRepo size: 4
2021-02-16T15:28:15.607Z,1613489295.607 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:16.401Z,1613489296.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:16.826Z,1613489296.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:17.628Z,1613489297.628 [Micromodem](INFO): Nmea in: $SNTTA,0.098989,,,,152817.81*48

2021-02-16T15:28:17.706Z,1613489297.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.620010 m, bearing: 251.300281 deg, deltaT: 4.453981 s, approachRate: 0.646614 m/s, LOS rate: -0.428148 deg/s, posRepo size: 4
2021-02-16T15:28:19.251Z,1613489299.251 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:28:20.076Z,1613489300.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:20.845Z,1613489300.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:21.266Z,1613489301.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:22.062Z,1613489302.062 [Micromodem](INFO): Nmea in: $SNTTA,0.100951,,,,152822.25*45

2021-02-16T15:28:22.902Z,1613489302.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:24.498Z,1613489304.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:28:25.728Z,1613489305.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:26.505Z,1613489306.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:26.520Z,1613489306.520 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:28:26.913Z,1613489306.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:27.756Z,1613489307.756 [Micromodem](INFO): Nmea in: $SNTTA,0.103437,,,,152827.91*41

2021-02-16T15:28:27.797Z,1613489307.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.279999 m, bearing: 235.528063 deg, deltaT: 10.087568 s, approachRate: 0.660217 m/s, LOS rate: -1.563530 deg/s, posRepo size: 4
2021-02-16T15:28:27.798Z,1613489307.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 155.28 m. Resuming terminal guidance.
2021-02-16T15:28:27.798Z,1613489307.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:28:29.353Z,1613489309.353 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:28:30.185Z,1613489310.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:30.944Z,1613489310.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:31.350Z,1613489311.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:32.176Z,1613489312.176 [Micromodem](INFO): Nmea in: $SNTTA,0.105359,,,,152832.35*42

2021-02-16T15:28:32.226Z,1613489312.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.220016 m, bearing: 239.050556 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:28:32.226Z,1613489312.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 239.050556deg and heading rate command to 0 deg/s.
2021-02-16T15:28:34.611Z,1613489314.611 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:35.394Z,1613489315.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:35.794Z,1613489315.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:36.624Z,1613489316.624 [Micromodem](INFO): Nmea in: $SNTTA,0.107274,,,,152836.80*44

2021-02-16T15:28:36.704Z,1613489316.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.039993 m, bearing: 233.707845 deg, deltaT: 4.469272 s, approachRate: 0.630970 m/s, LOS rate: -1.195432 deg/s, posRepo size: 2
2021-02-16T15:28:36.706Z,1613489316.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.039993 m,
      bearing: 233.707845 deg,
      approachRate: 0.630970 m/s,
      LOS rate: -1.195432 deg/s,
      cmd update: -3.586296 deg/s,
      cmd heading: 239.050556 deg,
      new cmd heading: 239.050556 deg.

2021-02-16T15:28:39.054Z,1613489319.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:39.832Z,1613489319.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:40.246Z,1613489320.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:41.048Z,1613489321.048 [Micromodem](INFO): Nmea in: $SNTTA,0.109050,,,,152841.24*40

2021-02-16T15:28:41.890Z,1613489321.890 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:43.472Z,1613489323.472 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:28:44.729Z,1613489324.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:45.493Z,1613489325.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:45.894Z,1613489325.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:46.300Z,1613489326.300 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,0CC,000,004
D,186,80,80,6D,FF
2021-02-16T15:28:46.709Z,1613489326.709 [Micromodem](INFO): Nmea in: $SNTTA,0.110959,,,,152846.90*40

2021-02-16T15:28:47.540Z,1613489327.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:50.370Z,1613489330.370 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:53.199Z,1613489333.199 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:53.978Z,1613489333.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:28:54.395Z,1613489334.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:28:54.789Z,1613489334.789 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,502,000,004
D,186,80,80,6D,FF
2021-02-16T15:28:55.199Z,1613489335.199 [Micromodem](INFO): Nmea in: $SNTTA,0.112255,,,,152855.38*45

2021-02-16T15:28:56.019Z,1613489336.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:28:58.845Z,1613489338.845 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:01.669Z,1613489341.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:02.457Z,1613489342.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:02.862Z,1613489342.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:03.710Z,1613489343.710 [Micromodem](INFO): Nmea in: $SNTTA,0.111731,,,,152903.86*46

2021-02-16T15:29:03.734Z,1613489343.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.520020 m, bearing: 159.247773 deg, deltaT: 27.045431 s, approachRate: 0.239598 m/s, LOS rate: -2.753148 deg/s, posRepo size: 3
2021-02-16T15:29:03.736Z,1613489343.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 159.247773 deg,
      approachRate: 0.239598 m/s,
      LOS rate: -2.753148 deg/s,
      cmd update: -8.259444 deg/s,
      cmd heading: 142.019692 deg,
      new cmd heading: 140.526179 deg.

2021-02-16T15:29:06.113Z,1613489346.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:06.902Z,1613489346.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:07.306Z,1613489347.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:08.159Z,1613489348.159 [Micromodem](INFO): Nmea in: $SNTTA,0.110465,,,,152908.31*42

2021-02-16T15:29:08.188Z,1613489348.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.599991 m, bearing: 81.066887 deg, deltaT: 4.452620 s, approachRate: -0.431213 m/s, LOS rate: -17.558401 deg/s, posRepo size: 4
2021-02-16T15:29:08.188Z,1613489348.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.558401 deg/s. Setting heading cmd to target bearing of 81.066887deg and heading rate command to 0 deg/s.
2021-02-16T15:29:10.567Z,1613489350.567 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:11.353Z,1613489351.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:11.754Z,1613489351.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:12.580Z,1613489352.580 [Micromodem](INFO): Nmea in: $SNTTA,0.108943,,,,152912.76*4A

2021-02-16T15:29:12.616Z,1613489352.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.320007 m, bearing: 89.672604 deg, deltaT: 4.451953 s, approachRate: -0.512131 m/s, LOS rate: 1.933021 deg/s, posRepo size: 4
2021-02-16T15:29:12.618Z,1613489352.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.320007 m,
      bearing: 89.672604 deg,
      approachRate: -0.512131 m/s,
      LOS rate: 1.933021 deg/s,
      cmd update: 5.799062 deg/s,
      cmd heading: 81.066887 deg,
      new cmd heading: 81.066887 deg.

2021-02-16T15:29:15.014Z,1613489355.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:15.788Z,1613489355.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:16.210Z,1613489356.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:17.023Z,1613489357.023 [Micromodem](INFO): Nmea in: $SNTTA,0.107146,,,,152917.19*44

2021-02-16T15:29:17.047Z,1613489357.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.379990 m, bearing: 83.453164 deg, deltaT: 4.417139 s, approachRate: -0.665593 m/s, LOS rate: -1.408025 deg/s, posRepo size: 4
2021-02-16T15:29:17.049Z,1613489357.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.379990 m,
      bearing: 83.453164 deg,
      approachRate: -0.665593 m/s,
      LOS rate: -1.408025 deg/s,
      cmd update: -4.224074 deg/s,
      cmd heading: 106.658602 deg,
      new cmd heading: 109.044551 deg.

2021-02-16T15:29:19.455Z,1613489359.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:20.232Z,1613489360.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:20.643Z,1613489360.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:21.473Z,1613489361.473 [Micromodem](INFO): Nmea in: $SNTTA,0.104937,,,,152921.64*46

2021-02-16T15:29:21.528Z,1613489361.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.019989 m, bearing: 84.252050 deg, deltaT: 4.433733 s, approachRate: -0.757827 m/s, LOS rate: 0.180184 deg/s, posRepo size: 4
2021-02-16T15:29:21.530Z,1613489361.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.019989 m,
      bearing: 84.252050 deg,
      approachRate: -0.757827 m/s,
      LOS rate: 0.180184 deg/s,
      cmd update: 0.540551 deg/s,
      cmd heading: 87.913274 deg,
      new cmd heading: 86.009995 deg.

2021-02-16T15:29:23.894Z,1613489363.894 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:24.709Z,1613489364.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:25.082Z,1613489365.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:25.924Z,1613489365.924 [Micromodem](INFO): Nmea in: $SNTTA,0.102302,,,,152926.12*4A

2021-02-16T15:29:25.972Z,1613489365.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.019989 m, bearing: 85.166483 deg, deltaT: 4.468726 s, approachRate: 0.000000 m/s, LOS rate: 0.204629 deg/s, posRepo size: 4
2021-02-16T15:29:25.974Z,1613489365.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.019989 m,
      bearing: 85.166483 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.204629 deg/s,
      cmd update: 0.613888 deg/s,
      cmd heading: 90.320015 deg,
      new cmd heading: 90.558940 deg.

2021-02-16T15:29:28.355Z,1613489368.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:29.146Z,1613489369.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:29.526Z,1613489369.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:30.368Z,1613489370.368 [Micromodem](INFO): Nmea in: $SNTTA,0.099838,,,,152930.55*4F

2021-02-16T15:29:30.410Z,1613489370.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.580002 m, bearing: 86.062105 deg, deltaT: 4.460217 s, approachRate: -1.668077 m/s, LOS rate: 0.200802 deg/s, posRepo size: 4
2021-02-16T15:29:30.412Z,1613489370.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.580002 m,
      bearing: 86.062105 deg,
      approachRate: -1.668077 m/s,
      LOS rate: 0.200802 deg/s,
      cmd update: 0.602407 deg/s,
      cmd heading: 93.067742 deg,
      new cmd heading: 93.318551 deg.

2021-02-16T15:29:32.780Z,1613489372.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:33.576Z,1613489373.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:33.990Z,1613489373.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:34.800Z,1613489374.800 [Micromodem](INFO): Nmea in: $SNTTA,0.097476,,,,152934.98*42

2021-02-16T15:29:34.845Z,1613489374.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 86.373958 deg, deltaT: 4.421488 s, approachRate: -0.814207 m/s, LOS rate: 0.070531 deg/s, posRepo size: 4
2021-02-16T15:29:34.851Z,1613489374.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 86.373958 deg,
      approachRate: -0.814207 m/s,
      LOS rate: 0.070531 deg/s,
      cmd update: 0.211594 deg/s,
      cmd heading: 95.729268 deg,
      new cmd heading: 95.985411 deg.

2021-02-16T15:29:37.226Z,1613489377.226 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:38.015Z,1613489378.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:38.421Z,1613489378.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:39.344Z,1613489379.344 [Micromodem](INFO): Nmea in: $SNTTA,0.094867,,,,152939.42*47

2021-02-16T15:29:39.385Z,1613489379.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 86.318797 deg, deltaT: 4.449438 s, approachRate: -0.863030 m/s, LOS rate: -0.012397 deg/s, posRepo size: 4
2021-02-16T15:29:39.387Z,1613489379.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.139999 m,
      bearing: 86.318797 deg,
      approachRate: -0.863030 m/s,
      LOS rate: -0.012397 deg/s,
      cmd update: -0.037192 deg/s,
      cmd heading: 96.670743 deg,
      new cmd heading: 96.779846 deg.

2021-02-16T15:29:41.718Z,1613489381.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:42.457Z,1613489382.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:42.864Z,1613489382.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:43.716Z,1613489383.716 [Micromodem](INFO): Nmea in: $SNTTA,0.092298,,,,152943.86*4E

2021-02-16T15:29:43.789Z,1613489383.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 85.152843 deg, deltaT: 4.444542 s, approachRate: -0.863980 m/s, LOS rate: -0.262334 deg/s, posRepo size: 4
2021-02-16T15:29:43.790Z,1613489383.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.300003 m,
      bearing: 85.152843 deg,
      approachRate: -0.863980 m/s,
      LOS rate: -0.262334 deg/s,
      cmd update: -0.787002 deg/s,
      cmd heading: 96.505293 deg,
      new cmd heading: 96.487786 deg.

2021-02-16T15:29:46.113Z,1613489386.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:46.904Z,1613489386.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:47.309Z,1613489387.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:48.161Z,1613489388.161 [Micromodem](INFO): Nmea in: $SNTTA,0.089912,,,0.092394,152948.31*51

2021-02-16T15:29:48.197Z,1613489388.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 86.188969 deg, deltaT: 4.436265 s, approachRate: -0.811495 m/s, LOS rate: 0.233558 deg/s, posRepo size: 4
2021-02-16T15:29:48.199Z,1613489388.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.699997 m,
      bearing: 86.188969 deg,
      approachRate: -0.811495 m/s,
      LOS rate: 0.233558 deg/s,
      cmd update: 0.700675 deg/s,
      cmd heading: 93.013969 deg,
      new cmd heading: 92.665101 deg.

2021-02-16T15:29:50.553Z,1613489390.553 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:51.350Z,1613489391.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:51.746Z,1613489391.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:52.576Z,1613489392.576 [Micromodem](INFO): Nmea in: $SNTTA,0.087500,,,,152952.76*43

2021-02-16T15:29:52.598Z,1613489392.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.100006 m, bearing: 86.500630 deg, deltaT: 4.472431 s, approachRate: -0.804929 m/s, LOS rate: 0.069685 deg/s, posRepo size: 4
2021-02-16T15:29:52.620Z,1613489392.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.100006 m,
      bearing: 86.500630 deg,
      approachRate: -0.804929 m/s,
      LOS rate: 0.069685 deg/s,
      cmd update: 0.209055 deg/s,
      cmd heading: 96.140156 deg,
      new cmd heading: 96.408061 deg.

2021-02-16T15:29:55.006Z,1613489395.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:29:55.784Z,1613489395.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:29:56.192Z,1613489396.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:29:57.012Z,1613489397.012 [Micromodem](INFO): Nmea in: $SNTTA,0.085131,,,,152957.19*4B

2021-02-16T15:29:57.050Z,1613489397.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.439995 m, bearing: 85.371552 deg, deltaT: 4.396175 s, approachRate: -0.832545 m/s, LOS rate: -0.256832 deg/s, posRepo size: 4
2021-02-16T15:29:57.052Z,1613489397.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.439995 m,
      bearing: 85.371552 deg,
      approachRate: -0.832545 m/s,
      LOS rate: -0.256832 deg/s,
      cmd update: -0.770496 deg/s,
      cmd heading: 97.060564 deg,
      new cmd heading: 97.150776 deg.

2021-02-16T15:29:59.613Z,1613489399.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:00.329Z,1613489400.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:00.728Z,1613489400.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:01.552Z,1613489401.552 [Micromodem](INFO): Nmea in: $SNTTA,0.082700,,,,153001.73*4F

2021-02-16T15:30:01.592Z,1613489401.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.900009 m, bearing: 85.668153 deg, deltaT: 4.582917 s, approachRate: -0.772431 m/s, LOS rate: 0.064719 deg/s, posRepo size: 4
2021-02-16T15:30:01.594Z,1613489401.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.900009 m,
      bearing: 85.668153 deg,
      approachRate: -0.772431 m/s,
      LOS rate: 0.064719 deg/s,
      cmd update: 0.194156 deg/s,
      cmd heading: 93.532439 deg,
      new cmd heading: 93.228099 deg.

2021-02-16T15:30:03.980Z,1613489403.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:04.756Z,1613489404.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:05.169Z,1613489405.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:05.989Z,1613489405.989 [Micromodem](INFO): Nmea in: $SNTTA,0.080189,,,,153006.16*4E

2021-02-16T15:30:06.061Z,1613489406.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.059998 m, bearing: 86.267919 deg, deltaT: 4.372877 s, approachRate: -0.878143 m/s, LOS rate: 0.137156 deg/s, posRepo size: 4
2021-02-16T15:30:06.062Z,1613489406.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.059998 m,
      bearing: 86.267919 deg,
      approachRate: -0.878143 m/s,
      LOS rate: 0.137156 deg/s,
      cmd update: 0.411468 deg/s,
      cmd heading: 94.382965 deg,
      new cmd heading: 94.476662 deg.

2021-02-16T15:30:08.439Z,1613489408.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:09.207Z,1613489409.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:09.607Z,1613489409.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:10.456Z,1613489410.456 [Micromodem](INFO): Nmea in: $SNTTA,0.077799,,,,153010.62*45

2021-02-16T15:30:10.497Z,1613489410.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.519997 m, bearing: 84.997470 deg, deltaT: 4.475387 s, approachRate: -0.790993 m/s, LOS rate: -0.283875 deg/s, posRepo size: 4
2021-02-16T15:30:10.503Z,1613489410.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.519997 m,
      bearing: 84.997470 deg,
      approachRate: -0.790993 m/s,
      LOS rate: -0.283875 deg/s,
      cmd update: -0.851624 deg/s,
      cmd heading: 96.224509 deg,
      new cmd heading: 96.407124 deg.

2021-02-16T15:30:12.873Z,1613489412.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:13.653Z,1613489413.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:14.050Z,1613489414.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:14.880Z,1613489414.880 [Micromodem](INFO): Nmea in: $SNTTA,0.075464,,,,153015.06*41

2021-02-16T15:30:14.928Z,1613489414.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.979996 m, bearing: 83.711680 deg, deltaT: 4.466023 s, approachRate: -0.792652 m/s, LOS rate: -0.287905 deg/s, posRepo size: 4
2021-02-16T15:30:14.930Z,1613489414.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.979996 m,
      bearing: 83.711680 deg,
      approachRate: -0.792652 m/s,
      LOS rate: -0.287905 deg/s,
      cmd update: -0.863715 deg/s,
      cmd heading: 92.425339 deg,
      new cmd heading: 92.073311 deg.

2021-02-16T15:30:17.337Z,1613489417.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:18.097Z,1613489418.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:18.494Z,1613489418.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:19.328Z,1613489419.328 [Micromodem](INFO): Nmea in: $SNTTA,0.072988,,,,153019.50*46

2021-02-16T15:30:19.373Z,1613489419.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.320000 m, bearing: 86.288259 deg, deltaT: 4.399395 s, approachRate: -0.831932 m/s, LOS rate: 0.585667 deg/s, posRepo size: 4
2021-02-16T15:30:19.375Z,1613489419.375 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 86.288259 deg,
      approachRate: -0.831932 m/s,
      LOS rate: 0.585667 deg/s,
      cmd update: 1.757000 deg/s,
      cmd heading: 88.621259 deg,
      new cmd heading: 88.229038 deg.

2021-02-16T15:30:21.767Z,1613489421.767 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:22.537Z,1613489422.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:22.942Z,1613489422.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:23.768Z,1613489423.768 [Micromodem](INFO): Nmea in: $SNTTA,0.070587,,,,153023.94*46

2021-02-16T15:30:23.812Z,1613489423.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.720009 m, bearing: 86.183532 deg, deltaT: 4.470702 s, approachRate: -0.805241 m/s, LOS rate: -0.023425 deg/s, posRepo size: 4
2021-02-16T15:30:23.814Z,1613489423.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.720009 m,
      bearing: 86.183532 deg,
      approachRate: -0.805241 m/s,
      LOS rate: -0.023425 deg/s,
      cmd update: -0.070276 deg/s,
      cmd heading: 96.469507 deg,
      new cmd heading: 97.217858 deg.

2021-02-16T15:30:26.217Z,1613489426.217 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:26.982Z,1613489426.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:27.382Z,1613489427.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:28.208Z,1613489428.208 [Micromodem](INFO): Nmea in: $SNTTA,0.068183,,,,153028.39*43

2021-02-16T15:30:28.272Z,1613489428.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.059998 m, bearing: 84.917010 deg, deltaT: 4.447996 s, approachRate: -0.822845 m/s, LOS rate: -0.284740 deg/s, posRepo size: 4
2021-02-16T15:30:28.280Z,1613489428.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.059998 m,
      bearing: 84.917010 deg,
      approachRate: -0.822845 m/s,
      LOS rate: -0.284740 deg/s,
      cmd update: -0.854220 deg/s,
      cmd heading: 96.156930 deg,
      new cmd heading: 96.126518 deg.

2021-02-16T15:30:30.633Z,1613489430.633 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:31.425Z,1613489431.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:31.826Z,1613489431.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:32.654Z,1613489432.654 [Micromodem](INFO): Nmea in: $SNTTA,0.065688,,,,153032.83*48

2021-02-16T15:30:32.718Z,1613489432.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.339996 m, bearing: 84.324245 deg, deltaT: 4.456272 s, approachRate: -0.834779 m/s, LOS rate: -0.133018 deg/s, posRepo size: 4
2021-02-16T15:30:32.724Z,1613489432.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 84.324245 deg,
      approachRate: -0.834779 m/s,
      LOS rate: -0.133018 deg/s,
      cmd update: -0.399054 deg/s,
      cmd heading: 92.350145 deg,
      new cmd heading: 91.984854 deg.

2021-02-16T15:30:35.108Z,1613489435.108 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:35.869Z,1613489435.869 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:36.288Z,1613489436.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:37.098Z,1613489437.098 [Micromodem](INFO): Nmea in: $SNTTA,0.063188,,0.085812,,153037.27*5A

2021-02-16T15:30:37.173Z,1613489437.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 85.406359 deg, deltaT: 4.444209 s, approachRate: -0.850543 m/s, LOS rate: 0.243488 deg/s, posRepo size: 4
2021-02-16T15:30:37.174Z,1613489437.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.560005 m,
      bearing: 85.406359 deg,
      approachRate: -0.850543 m/s,
      LOS rate: 0.243488 deg/s,
      cmd update: 0.730465 deg/s,
      cmd heading: 90.575815 deg,
      new cmd heading: 90.403609 deg.

2021-02-16T15:30:39.544Z,1613489439.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:40.315Z,1613489440.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:40.721Z,1613489440.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:41.540Z,1613489441.540 [Micromodem](INFO): Nmea in: $SNTTA,0.060689,,,,153041.72*46

2021-02-16T15:30:41.597Z,1613489441.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 85.408203 deg, deltaT: 4.449807 s, approachRate: -0.835992 m/s, LOS rate: 0.000414 deg/s, posRepo size: 4
2021-02-16T15:30:41.603Z,1613489441.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.840004 m,
      bearing: 85.408203 deg,
      approachRate: -0.835992 m/s,
      LOS rate: 0.000414 deg/s,
      cmd update: 0.001243 deg/s,
      cmd heading: 93.821642 deg,
      new cmd heading: 94.126561 deg.

2021-02-16T15:30:43.960Z,1613489443.960 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T15:30:43.979Z,1613489443.979 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:44.752Z,1613489444.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:45.173Z,1613489445.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:45.989Z,1613489445.989 [Micromodem](INFO): Nmea in: $SNTTA,0.058224,,,,153046.16*4B

2021-02-16T15:30:46.028Z,1613489446.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 84.271038 deg, deltaT: 4.412131 s, approachRate: -0.843130 m/s, LOS rate: -0.257736 deg/s, posRepo size: 4
2021-02-16T15:30:46.030Z,1613489446.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.120003 m,
      bearing: 84.271038 deg,
      approachRate: -0.843130 m/s,
      LOS rate: -0.257736 deg/s,
      cmd update: -0.773208 deg/s,
      cmd heading: 93.827136 deg,
      new cmd heading: 93.827669 deg.

2021-02-16T15:30:48.445Z,1613489448.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:49.197Z,1613489449.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:49.607Z,1613489449.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:50.447Z,1613489450.447 [Micromodem](INFO): Nmea in: $SNTTA,0.055507,,,,153050.60*46

2021-02-16T15:30:50.472Z,1613489450.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.099998 m, bearing: 84.678035 deg, deltaT: 4.443149 s, approachRate: -0.904765 m/s, LOS rate: 0.091601 deg/s, posRepo size: 4
2021-02-16T15:30:50.474Z,1613489450.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.099998 m,
      bearing: 84.678035 deg,
      approachRate: -0.904765 m/s,
      LOS rate: 0.091601 deg/s,
      cmd update: 0.274803 deg/s,
      cmd heading: 90.403095 deg,
      new cmd heading: 90.059613 deg.

2021-02-16T15:30:52.870Z,1613489452.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:53.643Z,1613489453.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:54.061Z,1613489454.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:54.891Z,1613489454.891 [Micromodem](INFO): Nmea in: $SNTTA,0.053474,,,,153055.05*43

2021-02-16T15:30:54.915Z,1613489454.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.040001 m, bearing: 85.077922 deg, deltaT: 4.458921 s, approachRate: -0.686264 m/s, LOS rate: 0.089682 deg/s, posRepo size: 4
2021-02-16T15:30:54.917Z,1613489454.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.040001 m,
      bearing: 85.077922 deg,
      approachRate: -0.686264 m/s,
      LOS rate: 0.089682 deg/s,
      cmd update: 0.269047 deg/s,
      cmd heading: 91.631746 deg,
      new cmd heading: 91.746218 deg.

2021-02-16T15:30:57.317Z,1613489457.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:30:58.084Z,1613489458.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:30:58.491Z,1613489458.491 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:30:59.326Z,1613489459.326 [Micromodem](INFO): Nmea in: $SNTTA,0.050977,,,,153059.49*4A

2021-02-16T15:30:59.352Z,1613489459.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 84.436772 deg, deltaT: 4.432501 s, approachRate: -0.852793 m/s, LOS rate: -0.144647 deg/s, posRepo size: 4
2021-02-16T15:30:59.353Z,1613489459.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 84.436772 deg,
      approachRate: -0.852793 m/s,
      LOS rate: -0.144647 deg/s,
      cmd update: -0.433942 deg/s,
      cmd heading: 92.824302 deg,
      new cmd heading: 92.937402 deg.

2021-02-16T15:31:01.762Z,1613489461.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:02.533Z,1613489462.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:02.943Z,1613489462.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:03.763Z,1613489463.763 [Micromodem](INFO): Nmea in: $SNTTA,0.048449,,,,153103.94*4D

2021-02-16T15:31:03.787Z,1613489463.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.480003 m, bearing: 83.657475 deg, deltaT: 4.436861 s, approachRate: -0.851952 m/s, LOS rate: -0.175642 deg/s, posRepo size: 4
2021-02-16T15:31:03.789Z,1613489463.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 83.657475 deg,
      approachRate: -0.851952 m/s,
      LOS rate: -0.175642 deg/s,
      cmd update: -0.526925 deg/s,
      cmd heading: 90.897226 deg,
      new cmd heading: 90.717149 deg.

2021-02-16T15:31:06.201Z,1613489466.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:06.972Z,1613489466.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:07.395Z,1613489467.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:08.200Z,1613489468.200 [Micromodem](INFO): Nmea in: $SNTTA,0.045925,,,,153108.38*4A

2021-02-16T15:31:08.254Z,1613489468.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.699997 m, bearing: 84.584701 deg, deltaT: 4.462030 s, approachRate: -0.847149 m/s, LOS rate: 0.207804 deg/s, posRepo size: 4
2021-02-16T15:31:08.261Z,1613489468.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.699997 m,
      bearing: 84.584701 deg,
      approachRate: -0.847149 m/s,
      LOS rate: 0.207804 deg/s,
      cmd update: 0.623411 deg/s,
      cmd heading: 88.548218 deg,
      new cmd heading: 88.325000 deg.

2021-02-16T15:31:10.646Z,1613489470.646 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:11.418Z,1613489471.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:11.827Z,1613489471.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:12.648Z,1613489472.648 [Micromodem](INFO): Nmea in: $SNTTA,0.043546,,,,153112.82*4F

2021-02-16T15:31:12.707Z,1613489472.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.100006 m, bearing: 84.250486 deg, deltaT: 4.448037 s, approachRate: -0.809344 m/s, LOS rate: -0.075138 deg/s, posRepo size: 4
2021-02-16T15:31:12.718Z,1613489472.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.100006 m,
      bearing: 84.250486 deg,
      approachRate: -0.809344 m/s,
      LOS rate: -0.075138 deg/s,
      cmd update: -0.225413 deg/s,
      cmd heading: 91.307208 deg,
      new cmd heading: 91.566639 deg.

2021-02-16T15:31:15.103Z,1613489475.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:15.860Z,1613489475.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:16.276Z,1613489476.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:17.113Z,1613489477.113 [Micromodem](INFO): Nmea in: $SNTTA,0.040882,,,,153117.26*42

2021-02-16T15:31:17.173Z,1613489477.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.140003 m, bearing: 83.921660 deg, deltaT: 4.465969 s, approachRate: -0.886706 m/s, LOS rate: -0.073629 deg/s, posRepo size: 4
2021-02-16T15:31:17.174Z,1613489477.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.140003 m,
      bearing: 83.921660 deg,
      approachRate: -0.886706 m/s,
      LOS rate: -0.073629 deg/s,
      cmd update: -0.220888 deg/s,
      cmd heading: 90.294556 deg,
      new cmd heading: 90.198768 deg.

2021-02-16T15:31:19.551Z,1613489479.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:20.316Z,1613489480.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:20.737Z,1613489480.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:21.544Z,1613489481.544 [Micromodem](INFO): Nmea in: $SNTTA,0.038310,,,,153121.72*49

2021-02-16T15:31:21.585Z,1613489481.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.299999 m, bearing: 83.991622 deg, deltaT: 4.454570 s, approachRate: -0.862037 m/s, LOS rate: 0.015706 deg/s, posRepo size: 4
2021-02-16T15:31:21.586Z,1613489481.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.299999 m,
      bearing: 83.991622 deg,
      approachRate: -0.862037 m/s,
      LOS rate: 0.015706 deg/s,
      cmd update: 0.047117 deg/s,
      cmd heading: 89.310599 deg,
      new cmd heading: 89.226139 deg.

2021-02-16T15:31:23.998Z,1613489483.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:24.748Z,1613489484.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:25.165Z,1613489485.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:25.980Z,1613489485.980 [Micromodem](INFO): Nmea in: $SNTTA,0.035854,,,,153126.15*49

2021-02-16T15:31:26.005Z,1613489486.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 84.641193 deg, deltaT: 4.368969 s, approachRate: -0.851460 m/s, LOS rate: 0.148678 deg/s, posRepo size: 4
2021-02-16T15:31:26.007Z,1613489486.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.579998 m,
      bearing: 84.641193 deg,
      approachRate: -0.851460 m/s,
      LOS rate: 0.148678 deg/s,
      cmd update: 0.446035 deg/s,
      cmd heading: 89.516452 deg,
      new cmd heading: 89.536880 deg.

2021-02-16T15:31:28.439Z,1613489488.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:29.209Z,1613489489.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:29.599Z,1613489489.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:30.432Z,1613489490.432 [Micromodem](INFO): Nmea in: $SNTTA,0.033326,,,,153130.61*45

2021-02-16T15:31:30.457Z,1613489490.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.800003 m, bearing: 83.812623 deg, deltaT: 4.469788 s, approachRate: -0.845677 m/s, LOS rate: -0.185371 deg/s, posRepo size: 4
2021-02-16T15:31:30.458Z,1613489490.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.800003 m,
      bearing: 83.812623 deg,
      approachRate: -0.845677 m/s,
      LOS rate: -0.185371 deg/s,
      cmd update: -0.556114 deg/s,
      cmd heading: 91.510137 deg,
      new cmd heading: 91.695451 deg.

2021-02-16T15:31:32.860Z,1613489492.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:33.655Z,1613489493.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:34.043Z,1613489494.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:34.880Z,1613489494.880 [Micromodem](INFO): Nmea in: $SNTTA,0.030697,,,,153135.06*4D

2021-02-16T15:31:34.904Z,1613489494.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.899998 m, bearing: 83.538336 deg, deltaT: 4.442315 s, approachRate: -0.877922 m/s, LOS rate: -0.061744 deg/s, posRepo size: 4
2021-02-16T15:31:34.906Z,1613489494.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.899998 m,
      bearing: 83.538336 deg,
      approachRate: -0.877922 m/s,
      LOS rate: -0.061744 deg/s,
      cmd update: -0.185232 deg/s,
      cmd heading: 89.039845 deg,
      new cmd heading: 88.805844 deg.

2021-02-16T15:31:37.321Z,1613489497.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:38.086Z,1613489498.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:38.486Z,1613489498.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:39.345Z,1613489499.345 [Micromodem](INFO): Nmea in: $SNTTA,0.028242,,,,153139.49*4F

2021-02-16T15:31:39.374Z,1613489499.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.179996 m, bearing: 84.628721 deg, deltaT: 4.427913 s, approachRate: -0.840125 m/s, LOS rate: 0.246253 deg/s, posRepo size: 4
2021-02-16T15:31:39.376Z,1613489499.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.179996 m,
      bearing: 84.628721 deg,
      approachRate: -0.840125 m/s,
      LOS rate: 0.246253 deg/s,
      cmd update: 0.738758 deg/s,
      cmd heading: 88.219610 deg,
      new cmd heading: 88.133850 deg.

2021-02-16T15:31:41.747Z,1613489501.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:42.524Z,1613489502.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:42.941Z,1613489502.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:43.756Z,1613489503.756 [Micromodem](INFO): Nmea in: $SNTTA,0.025738,,0.042852,,153143.93*57

2021-02-16T15:31:43.796Z,1613489503.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.399998 m, bearing: 84.653754 deg, deltaT: 4.473227 s, approachRate: -0.845027 m/s, LOS rate: 0.005596 deg/s, posRepo size: 4
2021-02-16T15:31:43.796Z,1613489503.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.40 m.
2021-02-16T15:31:43.798Z,1613489503.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.399998 m,
      bearing: 84.653754 deg,
      approachRate: -0.845027 m/s,
      LOS rate: 0.005596 deg/s,
      cmd update: 0.016788 deg/s,
      cmd heading: 91.521325 deg,
      new cmd heading: 91.827816 deg.

2021-02-16T15:31:44.173Z,1613489504.173 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:31:46.215Z,1613489506.215 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:46.968Z,1613489506.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:47.379Z,1613489507.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:48.196Z,1613489508.196 [Micromodem](INFO): Nmea in: $SNTTA,0.023127,,,,153148.37*4B

2021-02-16T15:31:48.221Z,1613489508.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.500000 m, bearing: 82.228402 deg, deltaT: 4.460099 s, approachRate: -0.874420 m/s, LOS rate: -0.543789 deg/s, posRepo size: 4
2021-02-16T15:31:48.222Z,1613489508.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.50 m.
2021-02-16T15:31:48.222Z,1613489508.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.50 m.
2021-02-16T15:31:48.222Z,1613489508.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:31:48.244Z,1613489508.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.500000 m,
      bearing: 82.228402 deg,
      approachRate: -0.874420 m/s,
      LOS rate: -0.543789 deg/s,
      cmd update: -1.631367 deg/s,
      cmd heading: 91.596202 deg,
      new cmd heading: 91.602588 deg.

2021-02-16T15:31:50.619Z,1613489510.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:51.412Z,1613489511.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:51.823Z,1613489511.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:52.653Z,1613489512.653 [Micromodem](INFO): Nmea in: $SNTTA,0.020643,0.034780,,,153152.82*5E

2021-02-16T15:31:52.714Z,1613489512.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.779999 m, bearing: 81.635152 deg, deltaT: 4.445692 s, approachRate: -0.836765 m/s, LOS rate: -0.133444 deg/s, posRepo size: 4
2021-02-16T15:31:52.716Z,1613489512.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.779999 m,
      bearing: 81.635152 deg,
      approachRate: -0.836765 m/s,
      LOS rate: -0.133444 deg/s,
      cmd update: -0.400331 deg/s,
      cmd heading: 84.344997 deg,
      new cmd heading: 83.646815 deg.

2021-02-16T15:31:55.105Z,1613489515.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:31:55.861Z,1613489515.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:31:56.276Z,1613489516.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:31:57.088Z,1613489517.088 [Micromodem](INFO): Nmea in: $SNTTA,0.018032,,,,153157.26*48

2021-02-16T15:31:57.169Z,1613489517.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.880001 m, bearing: 85.749986 deg, deltaT: 4.440056 s, approachRate: -0.878367 m/s, LOS rate: 0.926753 deg/s, posRepo size: 4
2021-02-16T15:31:57.171Z,1613489517.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.880001 m,
      bearing: 85.749986 deg,
      approachRate: -0.878367 m/s,
      LOS rate: 0.926753 deg/s,
      cmd update: 2.780258 deg/s,
      cmd heading: 82.567203 deg,
      new cmd heading: 82.389989 deg.

2021-02-16T15:31:59.519Z,1613489519.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:00.305Z,1613489520.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:00.720Z,1613489520.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:01.537Z,1613489521.537 [Micromodem](INFO): Nmea in: $SNTTA,0.015509,,,,153201.71*4A

2021-02-16T15:32:01.584Z,1613489521.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.039999 m, bearing: 86.089323 deg, deltaT: 4.462113 s, approachRate: -0.860579 m/s, LOS rate: 0.076049 deg/s, posRepo size: 4
2021-02-16T15:32:01.586Z,1613489521.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.039999 m,
      bearing: 86.089323 deg,
      approachRate: -0.860579 m/s,
      LOS rate: 0.076049 deg/s,
      cmd update: 0.228146 deg/s,
      cmd heading: 94.984353 deg,
      new cmd heading: 96.073889 deg.

2021-02-16T15:32:03.987Z,1613489523.987 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:04.752Z,1613489524.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:05.172Z,1613489525.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:05.980Z,1613489525.980 [Micromodem](INFO): Nmea in: $SNTTA,0.013165,,,0.028490,153206.16*5D

2021-02-16T15:32:06.029Z,1613489526.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.379997 m, bearing: 80.735561 deg, deltaT: 4.373701 s, approachRate: -0.836820 m/s, LOS rate: -1.224080 deg/s, posRepo size: 4
2021-02-16T15:32:06.035Z,1613489526.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.379997 m,
      bearing: 80.735561 deg,
      approachRate: -0.836820 m/s,
      LOS rate: -1.224080 deg/s,
      cmd update: -3.672241 deg/s,
      cmd heading: 95.982187 deg,
      new cmd heading: 96.087797 deg.

2021-02-16T15:32:08.425Z,1613489528.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:09.190Z,1613489529.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:09.595Z,1613489529.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:10.424Z,1613489530.424 [Micromodem](INFO): Nmea in: $SNTTA,0.010874,,0.025998,,153210.59*53

2021-02-16T15:32:10.450Z,1613489530.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 82.638165 deg, deltaT: 4.494228 s, approachRate: -0.734275 m/s, LOS rate: 0.423344 deg/s, posRepo size: 4
2021-02-16T15:32:10.472Z,1613489530.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 82.638165 deg,
      approachRate: -0.734275 m/s,
      LOS rate: 0.423344 deg/s,
      cmd update: 1.270032 deg/s,
      cmd heading: 79.516712 deg,
      new cmd heading: 78.049667 deg.

2021-02-16T15:32:12.869Z,1613489532.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:13.653Z,1613489533.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:14.049Z,1613489534.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:14.892Z,1613489534.892 [Micromodem](INFO): Nmea in: $SNTTA,0.008640,,0.074965,,153215.06*5A

2021-02-16T15:32:14.917Z,1613489534.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.719999 m, bearing: 86.537001 deg, deltaT: 4.424971 s, approachRate: -0.759326 m/s, LOS rate: 0.881099 deg/s, posRepo size: 4
2021-02-16T15:32:14.919Z,1613489534.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 86.537001 deg,
      approachRate: -0.759326 m/s,
      LOS rate: 0.881099 deg/s,
      cmd update: 2.643296 deg/s,
      cmd heading: 85.144447 deg,
      new cmd heading: 85.697693 deg.

2021-02-16T15:32:17.318Z,1613489537.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:18.081Z,1613489538.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:18.489Z,1613489538.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:19.308Z,1613489539.308 [Micromodem](INFO): Nmea in: $SNTTA,0.006306,,,,153219.49*43

2021-02-16T15:32:19.380Z,1613489539.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.120000 m, bearing: 84.317709 deg, deltaT: 4.438341 s, approachRate: -0.811114 m/s, LOS rate: -0.500027 deg/s, posRepo size: 4
2021-02-16T15:32:19.382Z,1613489539.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 84.317709 deg,
      approachRate: -0.811114 m/s,
      LOS rate: -0.500027 deg/s,
      cmd update: -1.500082 deg/s,
      cmd heading: 96.845204 deg,
      new cmd heading: 98.082283 deg.

2021-02-16T15:32:21.769Z,1613489541.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:22.537Z,1613489542.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:22.926Z,1613489542.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:23.760Z,1613489543.760 [Micromodem](INFO): Nmea in: $SNTTA,0.003902,,0.029776,,153223.94*52

2021-02-16T15:32:23.825Z,1613489543.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.699999 m, bearing: 85.251689 deg, deltaT: 4.434566 s, approachRate: -0.771214 m/s, LOS rate: 0.210614 deg/s, posRepo size: 4
2021-02-16T15:32:23.830Z,1613489543.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 85.251689 deg,
      approachRate: -0.771214 m/s,
      LOS rate: 0.210614 deg/s,
      cmd update: 0.631841 deg/s,
      cmd heading: 90.168988 deg,
      new cmd heading: 89.477614 deg.

2021-02-16T15:32:26.197Z,1613489546.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:26.970Z,1613489546.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:27.375Z,1613489547.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:28.209Z,1613489548.209 [Micromodem](INFO): Nmea in: $SNTTA,0.002486,,,,153228.38*4C

2021-02-16T15:32:28.251Z,1613489548.251 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:32:28.252Z,1613489548.252 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:32:28.252Z,1613489548.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:32:28.252Z,1613489548.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:32:28.252Z,1613489548.252 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:32:28.253Z,1613489548.253 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.479999 m 
2021-02-16T15:32:28.253Z,1613489548.253 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:32:28.253Z,1613489548.253 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:32:28.253Z,1613489548.253 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:32:28.257Z,1613489548.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 74.781644 deg, deltaT: 4.470298 s, approachRate: -0.496611 m/s, LOS rate: -2.342136 deg/s, posRepo size: 4
2021-02-16T15:32:28.259Z,1613489548.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 74.781644 deg,
      approachRate: -0.496611 m/s,
      LOS rate: -2.342136 deg/s,
      cmd update: -7.026407 deg/s,
      cmd heading: 92.990980 deg,
      new cmd heading: 93.263297 deg.

2021-02-16T15:32:28.632Z,1613489548.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T153228: (41.552319, -70.708603)
2021-02-16T15:32:28.632Z,1613489548.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:32:28.633Z,1613489548.633 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:32:30.621Z,1613489550.621 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:31.408Z,1613489551.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:31.815Z,1613489551.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:32.643Z,1613489552.643 [Micromodem](INFO): Nmea in: $SNTTA,0.002848,,,,153232.81*4B

2021-02-16T15:32:32.676Z,1613489552.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.319999 m, bearing: 75.013659 deg, deltaT: 4.433795 s, approachRate: 0.189454 m/s, LOS rate: 0.052329 deg/s, posRepo size: 4
2021-02-16T15:32:32.682Z,1613489552.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.319999 m,
      bearing: 75.013659 deg,
      approachRate: 0.189454 m/s,
      LOS rate: 0.052329 deg/s,
      cmd update: 0.156986 deg/s,
      cmd heading: 61.834845 deg,
      new cmd heading: 58.926313 deg.

2021-02-16T15:32:35.076Z,1613489555.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:35.857Z,1613489555.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:36.264Z,1613489556.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:37.088Z,1613489557.088 [Micromodem](INFO): Nmea in: $SNTTA,0.004751,,,,153237.26*42

2021-02-16T15:32:37.107Z,1613489557.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.199999 m, bearing: 75.902513 deg, deltaT: 4.473931 s, approachRate: 0.643729 m/s, LOS rate: 0.198674 deg/s, posRepo size: 4
2021-02-16T15:32:37.109Z,1613489557.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.199999 m,
      bearing: 75.902513 deg,
      approachRate: 0.643729 m/s,
      LOS rate: 0.198674 deg/s,
      cmd update: 0.596022 deg/s,
      cmd heading: 62.537246 deg,
      new cmd heading: 62.595961 deg.

2021-02-16T15:32:39.519Z,1613489559.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:40.318Z,1613489560.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:40.717Z,1613489560.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:41.540Z,1613489561.540 [Micromodem](INFO): Nmea in: $SNTTA,0.007098,,,,153241.72*43

2021-02-16T15:32:41.565Z,1613489561.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.739998 m, bearing: 35.721316 deg, deltaT: 4.438052 s, approachRate: 0.797647 m/s, LOS rate: -9.053791 deg/s, posRepo size: 4
2021-02-16T15:32:41.567Z,1613489561.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 35.721316 deg,
      approachRate: 0.797647 m/s,
      LOS rate: -9.053791 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 65.172245 deg,
      new cmd heading: 65.417235 deg.

2021-02-16T15:32:43.986Z,1613489563.986 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:44.742Z,1613489564.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:45.163Z,1613489565.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:45.968Z,1613489565.968 [Micromodem](INFO): Nmea in: $SNTTA,0.009313,,,,153246.14*4A

2021-02-16T15:32:46.017Z,1613489566.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.039998 m, bearing: 48.783953 deg, deltaT: 4.388044 s, approachRate: 0.752044 m/s, LOS rate: 2.976870 deg/s, posRepo size: 4
2021-02-16T15:32:46.019Z,1613489566.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 48.783953 deg,
      approachRate: 0.752044 m/s,
      LOS rate: 2.976870 deg/s,
      cmd update: 8.930611 deg/s,
      cmd heading: 12.271431 deg,
      new cmd heading: 6.818307 deg.

2021-02-16T15:32:48.418Z,1613489568.418 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:49.185Z,1613489569.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:49.589Z,1613489569.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:50.416Z,1613489570.416 [Micromodem](INFO): Nmea in: $SNTTA,0.011501,,,,153250.59*48

2021-02-16T15:32:50.442Z,1613489570.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.400002 m, bearing: 71.479753 deg, deltaT: 4.453202 s, approachRate: 0.754514 m/s, LOS rate: 5.096513 deg/s, posRepo size: 4
2021-02-16T15:32:50.442Z,1613489570.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.40 m. Rolling out.
2021-02-16T15:32:50.442Z,1613489570.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:32:52.455Z,1613489572.455 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:32:52.864Z,1613489572.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:53.630Z,1613489573.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:54.040Z,1613489574.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:54.864Z,1613489574.864 [Micromodem](INFO): Nmea in: $SNTTA,0.013527,,,,153255.03*44

2021-02-16T15:32:54.909Z,1613489574.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.459999 m, bearing: 58.072871 deg, deltaT: 4.481269 s, approachRate: 0.682842 m/s, LOS rate: -2.991760 deg/s, posRepo size: 4
2021-02-16T15:32:57.318Z,1613489577.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:32:58.077Z,1613489578.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:32:58.502Z,1613489578.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:32:59.308Z,1613489579.308 [Micromodem](INFO): Nmea in: $SNTTA,0.015619,,,,153259.48*4F

2021-02-16T15:32:59.398Z,1613489579.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.580000 m, bearing: 61.007639 deg, deltaT: 4.410772 s, approachRate: 0.707359 m/s, LOS rate: 0.665364 deg/s, posRepo size: 4
2021-02-16T15:33:01.759Z,1613489581.759 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:02.528Z,1613489582.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:02.936Z,1613489582.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:03.756Z,1613489583.756 [Micromodem](INFO): Nmea in: $SNTTA,0.018047,,,,153303.93*47

2021-02-16T15:33:03.801Z,1613489583.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.180000 m, bearing: 26.013441 deg, deltaT: 4.470691 s, approachRate: 0.805245 m/s, LOS rate: -7.827469 deg/s, posRepo size: 4
2021-02-16T15:33:06.242Z,1613489586.242 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:06.981Z,1613489586.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:07.390Z,1613489587.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:08.216Z,1613489588.216 [Micromodem](INFO): Nmea in: $SNTTA,0.020594,,,,153308.39*4C

2021-02-16T15:33:08.253Z,1613489588.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.080000 m, bearing: 68.855998 deg, deltaT: 4.458233 s, approachRate: 0.874786 m/s, LOS rate: 9.609762 deg/s, posRepo size: 4
2021-02-16T15:33:10.629Z,1613489590.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:11.420Z,1613489591.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:11.837Z,1613489591.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:12.654Z,1613489592.654 [Micromodem](INFO): Nmea in: $SNTTA,0.023123,,,0.047861,153312.82*5E

2021-02-16T15:33:12.728Z,1613489592.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 41.905529 deg, deltaT: 4.450049 s, approachRate: 0.835946 m/s, LOS rate: -6.056218 deg/s, posRepo size: 4
2021-02-16T15:33:15.095Z,1613489595.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:15.881Z,1613489595.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:16.287Z,1613489596.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:17.104Z,1613489597.104 [Micromodem](INFO): Nmea in: $SNTTA,0.025252,,0.026389,,153317.28*52

2021-02-16T15:33:17.174Z,1613489597.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.040001 m, bearing: 41.448979 deg, deltaT: 4.494621 s, approachRate: 0.720862 m/s, LOS rate: -0.101577 deg/s, posRepo size: 4
2021-02-16T15:33:18.727Z,1613489598.727 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:33:19.537Z,1613489599.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:20.313Z,1613489600.313 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:20.724Z,1613489600.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:21.540Z,1613489601.540 [Micromodem](INFO): Nmea in: $SNTTA,0.027882,,,,153321.72*45

2021-02-16T15:33:21.577Z,1613489601.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.000000 m, bearing: 35.335499 deg, deltaT: 4.418286 s, approachRate: 0.896275 m/s, LOS rate: -1.383677 deg/s, posRepo size: 4
2021-02-16T15:33:23.976Z,1613489603.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:24.752Z,1613489604.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:25.176Z,1613489605.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:25.980Z,1613489605.980 [Micromodem](INFO): Nmea in: $SNTTA,0.030302,,,,153326.16*45

2021-02-16T15:33:26.038Z,1613489606.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.599998 m, bearing: 32.368311 deg, deltaT: 4.374358 s, approachRate: 0.822978 m/s, LOS rate: -0.678314 deg/s, posRepo size: 4
2021-02-16T15:33:28.440Z,1613489608.440 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:29.205Z,1613489609.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:29.603Z,1613489609.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:30.432Z,1613489610.432 [Micromodem](INFO): Nmea in: $SNTTA,0.032461,,,,153330.61*42

2021-02-16T15:33:30.487Z,1613489610.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.839996 m, bearing: 40.012887 deg, deltaT: 4.470810 s, approachRate: 0.724700 m/s, LOS rate: 1.709886 deg/s, posRepo size: 4
2021-02-16T15:33:32.880Z,1613489612.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:33.641Z,1613489613.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:34.046Z,1613489614.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:34.880Z,1613489614.880 [Micromodem](INFO): Nmea in: $SNTTA,0.035158,,,,153335.05*4D

2021-02-16T15:33:34.904Z,1613489614.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.860004 m, bearing: 36.751254 deg, deltaT: 4.438004 s, approachRate: 0.905814 m/s, LOS rate: -0.734933 deg/s, posRepo size: 4
2021-02-16T15:33:37.335Z,1613489617.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:38.096Z,1613489618.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:38.496Z,1613489618.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:39.328Z,1613489619.328 [Micromodem](INFO): Nmea in: $SNTTA,0.037571,,,,153339.50*4C

2021-02-16T15:33:39.373Z,1613489619.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.459995 m, bearing: 23.886133 deg, deltaT: 4.432553 s, approachRate: 0.812171 m/s, LOS rate: -2.902418 deg/s, posRepo size: 4
2021-02-16T15:33:41.745Z,1613489621.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:42.529Z,1613489622.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:42.935Z,1613489622.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:43.760Z,1613489623.760 [Micromodem](INFO): Nmea in: $SNTTA,0.040014,,,,153343.93*48

2021-02-16T15:33:43.804Z,1613489623.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.179996 m, bearing: 40.038422 deg, deltaT: 4.463021 s, approachRate: 0.833516 m/s, LOS rate: 3.619138 deg/s, posRepo size: 4
2021-02-16T15:33:46.222Z,1613489626.222 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:46.974Z,1613489626.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:47.391Z,1613489627.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:48.205Z,1613489628.205 [Micromodem](INFO): Nmea in: $SNTTA,0.042516,,0.062123,,153348.38*5D

2021-02-16T15:33:48.249Z,1613489628.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.899998 m, bearing: 30.163413 deg, deltaT: 4.442809 s, approachRate: 0.837308 m/s, LOS rate: -2.222695 deg/s, posRepo size: 4
2021-02-16T15:33:50.661Z,1613489630.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:51.422Z,1613489631.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:51.822Z,1613489631.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:52.659Z,1613489632.659 [Micromodem](INFO): Nmea in: $SNTTA,0.044848,,,,153352.82*4D

2021-02-16T15:33:52.726Z,1613489632.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 24.661346 deg, deltaT: 4.461726 s, approachRate: 0.793416 m/s, LOS rate: -1.233170 deg/s, posRepo size: 4
2021-02-16T15:33:55.081Z,1613489635.081 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:33:55.860Z,1613489635.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:33:56.274Z,1613489636.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:33:57.094Z,1613489637.094 [Micromodem](INFO): Nmea in: $SNTTA,0.047586,,,,153357.26*4A

2021-02-16T15:33:57.170Z,1613489637.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 30.300222 deg, deltaT: 4.461911 s, approachRate: 0.914405 m/s, LOS rate: 1.263781 deg/s, posRepo size: 4
2021-02-16T15:33:59.528Z,1613489639.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:00.304Z,1613489640.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:00.726Z,1613489640.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:01.532Z,1613489641.532 [Micromodem](INFO): Nmea in: $SNTTA,0.049657,,,,153401.71*4D

2021-02-16T15:34:01.568Z,1613489641.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 26.796581 deg, deltaT: 4.428131 s, approachRate: 0.704587 m/s, LOS rate: -0.791223 deg/s, posRepo size: 4
2021-02-16T15:34:03.972Z,1613489643.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:04.750Z,1613489644.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:05.167Z,1613489645.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:05.987Z,1613489645.987 [Micromodem](INFO): Nmea in: $SNTTA,0.052394,,,,153406.16*4B

2021-02-16T15:34:06.015Z,1613489646.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 40.455426 deg, deltaT: 4.431609 s, approachRate: 0.920661 m/s, LOS rate: 3.082141 deg/s, posRepo size: 4
2021-02-16T15:34:08.420Z,1613489648.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:09.209Z,1613489649.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:09.607Z,1613489649.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:10.440Z,1613489650.440 [Micromodem](INFO): Nmea in: $SNTTA,0.054775,,,,153410.61*41

2021-02-16T15:34:10.475Z,1613489650.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.320000 m, bearing: 39.938657 deg, deltaT: 4.435582 s, approachRate: 0.811616 m/s, LOS rate: -0.116505 deg/s, posRepo size: 4
2021-02-16T15:34:12.859Z,1613489652.859 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:13.641Z,1613489653.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:14.051Z,1613489654.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:14.868Z,1613489654.868 [Micromodem](INFO): Nmea in: $SNTTA,0.057440,,,,153415.05*40

2021-02-16T15:34:14.892Z,1613489654.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 31.750124 deg, deltaT: 4.474773 s, approachRate: 0.884963 m/s, LOS rate: -1.829933 deg/s, posRepo size: 4
2021-02-16T15:34:17.337Z,1613489657.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:18.080Z,1613489658.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:18.492Z,1613489658.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:19.320Z,1613489659.320 [Micromodem](INFO): Nmea in: $SNTTA,0.059943,,,,153419.48*45

2021-02-16T15:34:19.378Z,1613489659.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.060005 m, bearing: 29.253775 deg, deltaT: 4.398065 s, approachRate: 0.859469 m/s, LOS rate: -0.567602 deg/s, posRepo size: 4
2021-02-16T15:34:21.754Z,1613489661.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:22.531Z,1613489662.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:22.947Z,1613489662.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:23.756Z,1613489663.756 [Micromodem](INFO): Nmea in: $SNTTA,0.062625,,,,153423.93*4D

2021-02-16T15:34:23.793Z,1613489663.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.080002 m, bearing: 26.966232 deg, deltaT: 4.463563 s, approachRate: 0.900625 m/s, LOS rate: -0.512493 deg/s, posRepo size: 4
2021-02-16T15:34:26.192Z,1613489666.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:26.973Z,1613489666.973 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:27.374Z,1613489667.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:28.200Z,1613489668.200 [Micromodem](INFO): Nmea in: $SNTTA,0.065171,,,,153428.38*46

2021-02-16T15:34:28.245Z,1613489668.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.919998 m, bearing: 42.126189 deg, deltaT: 4.474839 s, approachRate: 0.858131 m/s, LOS rate: 3.387822 deg/s, posRepo size: 4
2021-02-16T15:34:30.620Z,1613489670.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:31.412Z,1613489671.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:31.825Z,1613489671.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:32.640Z,1613489672.640 [Micromodem](INFO): Nmea in: $SNTTA,0.067778,,,,153432.81*42

2021-02-16T15:34:32.719Z,1613489672.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.760002 m, bearing: 42.389862 deg, deltaT: 4.413831 s, approachRate: 0.869993 m/s, LOS rate: 0.059738 deg/s, posRepo size: 4
2021-02-16T15:34:35.088Z,1613489675.088 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:35.857Z,1613489675.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:36.280Z,1613489676.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:37.101Z,1613489677.101 [Micromodem](INFO): Nmea in: $SNTTA,0.070308,,,,153437.26*4F

2021-02-16T15:34:37.166Z,1613489677.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.599998 m, bearing: 43.221693 deg, deltaT: 4.484535 s, approachRate: 0.856275 m/s, LOS rate: 0.185489 deg/s, posRepo size: 4
2021-02-16T15:34:39.568Z,1613489679.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:40.318Z,1613489680.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:40.726Z,1613489680.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:41.573Z,1613489681.573 [Micromodem](INFO): Nmea in: $SNTTA,0.072760,,,,153441.72*47

2021-02-16T15:34:41.626Z,1613489681.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.260010 m, bearing: 42.196772 deg, deltaT: 4.427461 s, approachRate: 0.826661 m/s, LOS rate: -0.231492 deg/s, posRepo size: 4
2021-02-16T15:34:43.978Z,1613489683.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:44.758Z,1613489684.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:45.163Z,1613489685.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:45.984Z,1613489685.984 [Micromodem](INFO): Nmea in: $SNTTA,0.075444,,,,153446.16*40

2021-02-16T15:34:46.034Z,1613489686.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 38.585726 deg, deltaT: 4.393710 s, approachRate: 0.928599 m/s, LOS rate: -0.821867 deg/s, posRepo size: 4
2021-02-16T15:34:47.249Z,1613489687.249 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:34:48.427Z,1613489688.427 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:49.188Z,1613489689.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:49.607Z,1613489689.607 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:50.420Z,1613489690.420 [Micromodem](INFO): Nmea in: $SNTTA,0.078028,,,,153450.59*4F

2021-02-16T15:34:50.459Z,1613489690.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 34.860254 deg, deltaT: 4.468091 s, approachRate: 0.859427 m/s, LOS rate: -0.833795 deg/s, posRepo size: 4
2021-02-16T15:34:52.850Z,1613489692.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:53.638Z,1613489693.638 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:54.039Z,1613489694.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:54.872Z,1613489694.872 [Micromodem](INFO): Nmea in: $SNTTA,0.080585,,,,153455.04*47

2021-02-16T15:34:54.897Z,1613489694.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.019997 m, bearing: 46.642419 deg, deltaT: 4.488334 s, approachRate: 0.855550 m/s, LOS rate: 2.625064 deg/s, posRepo size: 4
2021-02-16T15:34:57.342Z,1613489697.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:34:58.114Z,1613489698.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:34:58.529Z,1613489698.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:34:59.332Z,1613489699.332 [Micromodem](INFO): Nmea in: $SNTTA,0.083041,,0.109665,,153459.52*55

2021-02-16T15:34:59.381Z,1613489699.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 37.712797 deg, deltaT: 4.401555 s, approachRate: 0.845156 m/s, LOS rate: -2.028742 deg/s, posRepo size: 4
2021-02-16T15:35:01.775Z,1613489701.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:02.520Z,1613489702.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:02.943Z,1613489702.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:03.748Z,1613489703.748 [Micromodem](INFO): Nmea in: $SNTTA,0.085659,,,,153503.92*4D

2021-02-16T15:35:03.794Z,1613489703.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.640015 m, bearing: 36.832120 deg, deltaT: 4.441314 s, approachRate: 0.878122 m/s, LOS rate: -0.198292 deg/s, posRepo size: 4
2021-02-16T15:35:06.191Z,1613489706.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:06.965Z,1613489706.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:07.371Z,1613489707.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:08.196Z,1613489708.196 [Micromodem](INFO): Nmea in: $SNTTA,0.088100,,,,153508.37*4F

2021-02-16T15:35:08.241Z,1613489708.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.300003 m, bearing: 45.000657 deg, deltaT: 4.458537 s, approachRate: 0.820894 m/s, LOS rate: 1.832112 deg/s, posRepo size: 4
2021-02-16T15:35:10.737Z,1613489710.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:11.437Z,1613489711.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:11.847Z,1613489711.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:12.655Z,1613489712.655 [Micromodem](INFO): Nmea in: $SNTTA,0.090700,,,,153512.84*43

2021-02-16T15:35:12.728Z,1613489712.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.199997 m, bearing: 48.056504 deg, deltaT: 4.444384 s, approachRate: 0.877511 m/s, LOS rate: 0.687575 deg/s, posRepo size: 4
2021-02-16T15:35:15.083Z,1613489715.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:15.857Z,1613489715.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:16.285Z,1613489716.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:17.094Z,1613489717.094 [Micromodem](INFO): Nmea in: $SNTTA,0.092687,,,,153517.26*42

2021-02-16T15:35:17.165Z,1613489717.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.199997 m, bearing: 40.525298 deg, deltaT: 4.477233 s, approachRate: 0.670057 m/s, LOS rate: -1.682112 deg/s, posRepo size: 4
2021-02-16T15:35:19.542Z,1613489719.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:20.305Z,1613489720.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:20.728Z,1613489720.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:21.532Z,1613489721.532 [Micromodem](INFO): Nmea in: $SNTTA,0.095107,,,,153521.71*4D

2021-02-16T15:35:21.572Z,1613489721.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.800003 m, bearing: 46.046011 deg, deltaT: 4.434686 s, approachRate: 0.811784 m/s, LOS rate: 1.244894 deg/s, posRepo size: 4
2021-02-16T15:35:24.042Z,1613489724.042 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:24.773Z,1613489724.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:25.202Z,1613489725.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:25.985Z,1613489725.985 [Micromodem](INFO): Nmea in: $SNTTA,0.097682,,,,153526.18*4D

2021-02-16T15:35:26.009Z,1613489726.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.699997 m, bearing: 42.159995 deg, deltaT: 4.420039 s, approachRate: 0.882344 m/s, LOS rate: -0.879181 deg/s, posRepo size: 4
2021-02-16T15:35:28.403Z,1613489728.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:29.185Z,1613489729.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:29.598Z,1613489729.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:30.429Z,1613489730.429 [Micromodem](INFO): Nmea in: $SNTTA,0.100088,,,,153530.59*4C

2021-02-16T15:35:30.498Z,1613489730.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.300003 m, bearing: 42.801380 deg, deltaT: 4.428429 s, approachRate: 0.812931 m/s, LOS rate: 0.144834 deg/s, posRepo size: 4
2021-02-16T15:35:30.503Z,1613489730.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.30 m. Resuming terminal guidance.
2021-02-16T15:35:30.503Z,1613489730.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:35:32.879Z,1613489732.879 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:33.633Z,1613489733.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:34.040Z,1613489734.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:34.876Z,1613489734.876 [Micromodem](INFO): Nmea in: $SNTTA,0.102570,,,,153535.04*41

2021-02-16T15:35:34.900Z,1613489734.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 42.018952 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:35:34.900Z,1613489734.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 42.018952deg and heading rate command to 0 deg/s.
2021-02-16T15:35:37.310Z,1613489737.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:38.236Z,1613489738.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:38.501Z,1613489738.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:39.728Z,1613489739.728 [Micromodem](INFO): Nmea in: $SNTTA,0.105262,,,,153539.64*48

2021-02-16T15:35:39.752Z,1613489739.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.100006 m, bearing: 40.708529 deg, deltaT: 4.801268 s, approachRate: 0.849776 m/s, LOS rate: -0.272933 deg/s, posRepo size: 2
2021-02-16T15:35:39.754Z,1613489739.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.100006 m,
      bearing: 40.708529 deg,
      approachRate: 0.849776 m/s,
      LOS rate: -0.272933 deg/s,
      cmd update: -0.818798 deg/s,
      cmd heading: 42.018952 deg,
      new cmd heading: 42.018952 deg.

2021-02-16T15:35:42.260Z,1613489742.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:42.929Z,1613489742.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:43.334Z,1613489743.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:44.179Z,1613489744.179 [Micromodem](INFO): Nmea in: $SNTTA,0.107789,,,,153544.33*42

2021-02-16T15:35:44.204Z,1613489744.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.820007 m, bearing: 59.916113 deg, deltaT: 4.427976 s, approachRate: 0.840113 m/s, LOS rate: 4.337780 deg/s, posRepo size: 3
2021-02-16T15:35:44.205Z,1613489744.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 59.916113 deg,
      approachRate: 0.840113 m/s,
      LOS rate: 4.337780 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 38.396361 deg,
      new cmd heading: 38.063416 deg.

2021-02-16T15:35:46.589Z,1613489746.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:47.374Z,1613489747.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:47.778Z,1613489747.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:48.604Z,1613489748.604 [Micromodem](INFO): Nmea in: $SNTTA,0.110186,,,0.112710,153548.78*54

2021-02-16T15:35:48.644Z,1613489748.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.180008 m, bearing: 0.038445 deg, deltaT: 4.430619 s, approachRate: 3.466784 m/s, LOS rate: -13.514515 deg/s, posRepo size: 4
2021-02-16T15:35:48.645Z,1613489748.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.514515 deg/s. Setting heading cmd to target bearing of 0.038445deg and heading rate command to 0 deg/s.
2021-02-16T15:35:51.050Z,1613489751.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:51.839Z,1613489751.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:52.261Z,1613489752.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:53.068Z,1613489753.068 [Micromodem](INFO): Nmea in: $SNTTA,0.112470,,,,153553.24*43

2021-02-16T15:35:53.090Z,1613489753.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.900009 m, bearing: 73.559129 deg, deltaT: 4.487983 s, approachRate: -1.844926 m/s, LOS rate: 16.381676 deg/s, posRepo size: 4
2021-02-16T15:35:53.091Z,1613489753.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.381676 deg/s. Setting heading cmd to target bearing of 73.559129deg and heading rate command to 0 deg/s.
2021-02-16T15:35:55.511Z,1613489755.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:56.265Z,1613489756.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:35:56.695Z,1613489756.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:35:57.480Z,1613489757.480 [Micromodem](INFO): Nmea in: $SNTTA,0.114843,,,,153557.67*4A

2021-02-16T15:35:58.320Z,1613489758.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:35:59.896Z,1613489759.896 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:36:01.175Z,1613489761.175 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:01.917Z,1613489761.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:02.323Z,1613489762.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:02.728Z,1613489762.728 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,B84,0,63,E4
0,186,80,80,83,FF
2021-02-16T15:36:03.160Z,1613489763.160 [Micromodem](INFO): Nmea in: $SNTTA,0.117677,,,,153603.32*42

2021-02-16T15:36:03.966Z,1613489763.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:06.800Z,1613489766.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:09.800Z,1613489769.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:10.417Z,1613489770.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:10.813Z,1613489770.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:11.628Z,1613489771.628 [Micromodem](INFO): Nmea in: $SNTTA,0.121996,,,,153611.82*4F

2021-02-16T15:36:12.055Z,1613489772.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.180008 m, bearing: 122.774180 deg, deltaT: 18.997478 s, approachRate: 0.751679 m/s, LOS rate: 2.590610 deg/s, posRepo size: 4
2021-02-16T15:36:12.057Z,1613489772.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.180008 m,
      bearing: 122.774180 deg,
      approachRate: 0.751679 m/s,
      LOS rate: 2.590610 deg/s,
      cmd update: 7.771829 deg/s,
      cmd heading: 73.559129 deg,
      new cmd heading: 73.559129 deg.

2021-02-16T15:36:14.578Z,1613489774.578 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:15.258Z,1613489775.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:15.659Z,1613489775.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:16.472Z,1613489776.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153616.66*58

2021-02-16T15:36:16.899Z,1613489776.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.500000 m, bearing: 126.161203 deg, deltaT: 4.779779 s, approachRate: 0.903806 m/s, LOS rate: 0.708615 deg/s, posRepo size: 4
2021-02-16T15:36:16.901Z,1613489776.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.500000 m,
      bearing: 126.161203 deg,
      approachRate: 0.903806 m/s,
      LOS rate: 0.708615 deg/s,
      cmd update: 2.125845 deg/s,
      cmd heading: 111.014705 deg,
      new cmd heading: 114.141879 deg.

2021-02-16T15:36:19.360Z,1613489779.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:20.100Z,1613489780.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:20.503Z,1613489780.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:21.317Z,1613489781.317 [Micromodem](INFO): Nmea in: $SNTTA,0.127191,,,,153621.50*4A

2021-02-16T15:36:21.771Z,1613489781.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.919998 m, bearing: 99.824198 deg, deltaT: 4.869562 s, approachRate: 0.702322 m/s, LOS rate: -5.408496 deg/s, posRepo size: 4
2021-02-16T15:36:21.773Z,1613489781.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.919998 m,
      bearing: 99.824198 deg,
      approachRate: 0.702322 m/s,
      LOS rate: -5.408496 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 121.366365 deg,
      new cmd heading: 122.227186 deg.

2021-02-16T15:36:24.188Z,1613489784.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:24.961Z,1613489784.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:25.358Z,1613489785.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:26.173Z,1613489786.173 [Micromodem](INFO): Nmea in: $SNTTA,0.128815,,,,153626.36*47

2021-02-16T15:36:26.594Z,1613489786.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.199982 m, bearing: 122.110095 deg, deltaT: 4.851345 s, approachRate: 0.469969 m/s, LOS rate: 4.593756 deg/s, posRepo size: 4
2021-02-16T15:36:26.596Z,1613489786.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.199982 m,
      bearing: 122.110095 deg,
      approachRate: 0.469969 m/s,
      LOS rate: 4.593756 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 63.151039 deg,
      new cmd heading: 58.630303 deg.

2021-02-16T15:36:29.023Z,1613489789.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:29.793Z,1613489789.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:30.209Z,1613489790.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:31.015Z,1613489791.015 [Micromodem](INFO): Nmea in: $SNTTA,0.130489,,,,153631.20*46

2021-02-16T15:36:31.524Z,1613489791.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.719986 m, bearing: 123.686243 deg, deltaT: 4.857998 s, approachRate: 0.518733 m/s, LOS rate: 0.324444 deg/s, posRepo size: 4
2021-02-16T15:36:31.526Z,1613489791.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.719986 m,
      bearing: 123.686243 deg,
      approachRate: 0.518733 m/s,
      LOS rate: 0.324444 deg/s,
      cmd update: 0.973332 deg/s,
      cmd heading: 121.397193 deg,
      new cmd heading: 126.638289 deg.

2021-02-16T15:36:33.885Z,1613489793.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:34.640Z,1613489794.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:35.059Z,1613489795.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:35.859Z,1613489795.859 [Micromodem](INFO): Nmea in: $SNTTA,0.132428,,,,153636.04*4E

2021-02-16T15:36:36.314Z,1613489796.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.779984 m, bearing: 125.646329 deg, deltaT: 4.839962 s, approachRate: 0.632236 m/s, LOS rate: 0.404980 deg/s, posRepo size: 4
2021-02-16T15:36:36.316Z,1613489796.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.779984 m,
      bearing: 125.646329 deg,
      approachRate: 0.632236 m/s,
      LOS rate: 0.404980 deg/s,
      cmd update: 1.214939 deg/s,
      cmd heading: 126.108183 deg,
      new cmd heading: 126.499763 deg.

2021-02-16T15:36:38.732Z,1613489798.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:39.493Z,1613489799.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:39.896Z,1613489799.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:40.715Z,1613489800.715 [Micromodem](INFO): Nmea in: $SNTTA,0.134494,,,,153640.90*43

2021-02-16T15:36:41.176Z,1613489801.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 133.888387 deg, deltaT: 4.850944 s, approachRate: 0.643176 m/s, LOS rate: 1.699063 deg/s, posRepo size: 4
2021-02-16T15:36:41.178Z,1613489801.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 133.888387 deg,
      approachRate: 0.643176 m/s,
      LOS rate: 1.699063 deg/s,
      cmd update: 5.097188 deg/s,
      cmd heading: 132.001887 deg,
      new cmd heading: 132.504563 deg.

2021-02-16T15:36:43.545Z,1613489803.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:44.341Z,1613489804.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:44.807Z,1613489804.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:45.593Z,1613489805.593 [Micromodem](INFO): Nmea in: $SNTTA,0.136085,,,,153645.74*4A

2021-02-16T15:36:46.074Z,1613489806.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.119995 m, bearing: 158.522584 deg, deltaT: 4.873960 s, approachRate: 0.455482 m/s, LOS rate: 5.054247 deg/s, posRepo size: 4
2021-02-16T15:36:46.076Z,1613489806.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.119995 m,
      bearing: 158.522584 deg,
      approachRate: 0.455482 m/s,
      LOS rate: 5.054247 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 156.846146 deg,
      new cmd heading: 159.078684 deg.

2021-02-16T15:36:48.426Z,1613489808.426 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:49.193Z,1613489809.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:49.611Z,1613489809.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:50.427Z,1613489810.427 [Micromodem](INFO): Nmea in: $SNTTA,0.137333,,,,153650.60*44

2021-02-16T15:36:50.835Z,1613489810.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.979996 m, bearing: 193.303752 deg, deltaT: 4.825671 s, approachRate: 0.385439 m/s, LOS rate: 7.207530 deg/s, posRepo size: 4
2021-02-16T15:36:50.837Z,1613489810.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.979996 m,
      bearing: 193.303752 deg,
      approachRate: 0.385439 m/s,
      LOS rate: 7.207530 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 214.802140 deg,
      new cmd heading: 219.230848 deg.

2021-02-16T15:36:53.257Z,1613489813.257 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:54.037Z,1613489814.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:54.455Z,1613489814.455 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:36:55.254Z,1613489815.254 [Micromodem](INFO): Nmea in: $SNTTA,0.137865,,,,153655.44*4F

2021-02-16T15:36:55.723Z,1613489815.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.819992 m, bearing: 130.860373 deg, deltaT: 4.857051 s, approachRate: 0.172944 m/s, LOS rate: -12.856233 deg/s, posRepo size: 4
2021-02-16T15:36:55.724Z,1613489815.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.856233 deg/s. Setting heading cmd to target bearing of 130.860373deg and heading rate command to 0 deg/s.
2021-02-16T15:36:58.105Z,1613489818.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:36:58.898Z,1613489818.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:36:59.306Z,1613489819.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:00.164Z,1613489820.164 [Micromodem](INFO): Nmea in: $SNTTA,0.137624,,,,153700.30*46

2021-02-16T15:37:00.205Z,1613489820.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.279999 m, bearing: 237.989363 deg, deltaT: 4.508863 s, approachRate: -0.119763 m/s, LOS rate: 23.759646 deg/s, posRepo size: 4
2021-02-16T15:37:00.206Z,1613489820.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.759646 deg/s. Setting heading cmd to target bearing of 237.989363deg and heading rate command to 0 deg/s.
2021-02-16T15:37:02.545Z,1613489822.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:03.329Z,1613489823.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:03.737Z,1613489823.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:04.545Z,1613489824.545 [Micromodem](INFO): Nmea in: $SNTTA,0.136996,,,,153704.73*42

2021-02-16T15:37:04.975Z,1613489824.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.259995 m, bearing: 249.278327 deg, deltaT: 4.763835 s, approachRate: -0.214114 m/s, LOS rate: 2.369722 deg/s, posRepo size: 4
2021-02-16T15:37:04.988Z,1613489824.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.259995 m,
      bearing: 249.278327 deg,
      approachRate: -0.214114 m/s,
      LOS rate: 2.369722 deg/s,
      cmd update: 7.109166 deg/s,
      cmd heading: 237.989363 deg,
      new cmd heading: 237.989363 deg.

2021-02-16T15:37:07.397Z,1613489827.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:08.181Z,1613489828.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:08.587Z,1613489828.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:09.395Z,1613489829.395 [Micromodem](INFO): Nmea in: $SNTTA,0.135699,,,,153709.58*45

2021-02-16T15:37:09.846Z,1613489829.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.339981 m, bearing: 238.967446 deg, deltaT: 4.861695 s, approachRate: -0.394927 m/s, LOS rate: -2.120841 deg/s, posRepo size: 4
2021-02-16T15:37:09.848Z,1613489829.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.339981 m,
      bearing: 238.967446 deg,
      approachRate: -0.394927 m/s,
      LOS rate: -2.120841 deg/s,
      cmd update: -6.362522 deg/s,
      cmd heading: 272.776849 deg,
      new cmd heading: 275.568078 deg.

2021-02-16T15:37:12.269Z,1613489832.269 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:13.085Z,1613489833.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:13.451Z,1613489833.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:13.497Z,1613489833.497 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T15:37:13.497Z,1613489833.497 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T15:37:13.498Z,1613489833.498 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T15:37:13.498Z,1613489833.498 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T15:37:13.498Z,1613489833.498 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T15:37:13.891Z,1613489833.891 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60700000005D000004003E0000000000000000151D80030C5669BF92F9E5721862370154D914972B7F1CD33379A0283E1C9B5CB85A65A3D000C6AEC431
2021-02-16T15:37:13.892Z,1613489833.892 [Micromodem](INFO): Outgoing frame #2, 17 bytes: A16E5D08F272AD997FFDED441BCE449B00
2021-02-16T15:37:13.892Z,1613489833.892 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T15:37:14.272Z,1613489834.272 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T15:37:14.657Z,1613489834.657 [Micromodem](INFO): Nmea in: $CADRQ,153715,1,10,0,64,1*72

2021-02-16T15:37:14.657Z,1613489834.657 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60700000005D000004003E0000000000000000151D80030C5669BF92F9E5721862370154D914972B7F1CD33379A0283E1C9B5CB85A65A3D000C6AEC431*30

2021-02-16T15:37:14.786Z,1613489834.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 239.405398 deg, deltaT: 4.848848 s, approachRate: -0.581577 m/s, LOS rate: 0.090321 deg/s, posRepo size: 4
2021-02-16T15:37:14.788Z,1613489834.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 239.405398 deg,
      approachRate: -0.581577 m/s,
      LOS rate: 0.090321 deg/s,
      cmd update: 0.270962 deg/s,
      cmd heading: 241.898880 deg,
      new cmd heading: 238.844945 deg.

2021-02-16T15:37:15.060Z,1613489835.060 [Micromodem](INFO): Nmea in: $SNTTA,0.133819,,,,153714.49*49

2021-02-16T15:37:15.061Z,1613489835.061 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.133819,,,,153714.49*49

2021-02-16T15:37:16.273Z,1613489836.273 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T15:37:16.675Z,1613489836.675 [Micromodem](INFO): Nmea in: $CADRQ,153716,1,10,0,64,2*72

2021-02-16T15:37:16.676Z,1613489836.676 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A16E5D08F272AD997FFDED441BCE449B00*3B

2021-02-16T15:37:17.065Z,1613489837.065 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,17*4D

2021-02-16T15:37:17.100Z,1613489837.100 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:17.485Z,1613489837.485 [Micromodem](INFO): Nmea in: $CATXP,81*7B

2021-02-16T15:37:17.877Z,1613489837.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:19.662Z,1613489839.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:19.905Z,1613489839.905 [Micromodem](INFO): Nmea in: $CATXF,81*6D

2021-02-16T15:37:19.905Z,1613489839.905 [Micromodem](ERROR): Response from modem unexpected: $CATXF,81*6D

2021-02-16T15:37:20.302Z,1613489840.302 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,153718.064445,3,0,200,4000,14500,1,1,10,1,2,2,3,81*40

2021-02-16T15:37:20.302Z,1613489840.302 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,153718.064445,3,0,200,4000,14500,1,1,10,1,2,2,3,81*40

2021-02-16T15:37:22.357Z,1613489842.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:22.745Z,1613489842.745 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T15:37:23.147Z,1613489843.147 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T15:37:23.149Z,1613489843.149 [Micromodem](INFO): Sent 73 bytes from file Logs/20210216T042015/Courier0112.lzma.parts
2021-02-16T15:37:23.149Z,1613489843.149 [Micromodem](INFO): Packets left to send: 0
2021-02-16T15:37:23.542Z,1613489843.542 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216153722.922214,06,3889,35,0253,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,16.1,7.00,14,-4.00,-01,1.35,34,14500,4000*55

2021-02-16T15:37:23.543Z,1613489843.543 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216153722.922214,06,3889,35,0253,0150,59,02,02,00,02,1,010,001,0,4,1,0,150,16.1,7.00,14,-4.00,-01,1.35,34,14500,4000*55

2021-02-16T15:37:23.612Z,1613489843.612 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T15:37:23.612Z,1613489843.612 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T15:37:23.612Z,1613489843.612 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T15:37:23.612Z,1613489843.612 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T15:37:23.612Z,1613489843.612 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T15:37:24.873Z,1613489844.873 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:27.601Z,1613489847.601 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:29.181Z,1613489849.181 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:29.586Z,1613489849.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:30.416Z,1613489850.416 [Micromodem](INFO): Nmea in: $SNTTA,0.127018,,,,153730.58*43

2021-02-16T15:37:30.466Z,1613489850.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 237.005488 deg, deltaT: 15.744436 s, approachRate: 0.000000 m/s, LOS rate: -0.152429 deg/s, posRepo size: 4
2021-02-16T15:37:30.472Z,1613489850.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 237.005488 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.152429 deg/s,
      cmd update: -0.457287 deg/s,
      cmd heading: 246.165023 deg,
      new cmd heading: 246.277447 deg.

2021-02-16T15:37:32.865Z,1613489852.865 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:33.632Z,1613489853.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:34.035Z,1613489854.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:34.849Z,1613489854.849 [Micromodem](INFO): Nmea in: $SNTTA,0.125149,,,,153735.03*4F

2021-02-16T15:37:35.301Z,1613489855.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.559998 m, bearing: 236.774901 deg, deltaT: 4.822764 s, approachRate: -2.687257 m/s, LOS rate: -0.047812 deg/s, posRepo size: 4
2021-02-16T15:37:35.303Z,1613489855.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.559998 m,
      bearing: 236.774901 deg,
      approachRate: -2.687257 m/s,
      LOS rate: -0.047812 deg/s,
      cmd update: -0.143437 deg/s,
      cmd heading: 243.959655 deg,
      new cmd heading: 243.764053 deg.

2021-02-16T15:37:37.738Z,1613489857.738 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:38.479Z,1613489858.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:38.900Z,1613489858.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:39.744Z,1613489859.744 [Micromodem](INFO): Nmea in: $SNTTA,0.122979,,,,153739.88*4C

2021-02-16T15:37:39.787Z,1613489859.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.259995 m, bearing: 236.962048 deg, deltaT: 4.484289 s, approachRate: -0.735903 m/s, LOS rate: 0.041734 deg/s, posRepo size: 4
2021-02-16T15:37:39.789Z,1613489859.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.259995 m,
      bearing: 236.962048 deg,
      approachRate: -0.735903 m/s,
      LOS rate: 0.041734 deg/s,
      cmd update: 0.125202 deg/s,
      cmd heading: 243.317028 deg,
      new cmd heading: 243.254908 deg.

2021-02-16T15:37:42.192Z,1613489862.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:42.922Z,1613489862.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:43.326Z,1613489863.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:44.172Z,1613489864.172 [Micromodem](INFO): Nmea in: $SNTTA,0.120940,,,,153744.32*4F

2021-02-16T15:37:44.211Z,1613489864.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.259995 m, bearing: 237.392104 deg, deltaT: 4.423291 s, approachRate: 0.000000 m/s, LOS rate: 0.097225 deg/s, posRepo size: 4
2021-02-16T15:37:44.213Z,1613489864.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.259995 m,
      bearing: 237.392104 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.097225 deg/s,
      cmd update: 0.291676 deg/s,
      cmd heading: 243.870854 deg,
      new cmd heading: 243.925163 deg.

2021-02-16T15:37:46.573Z,1613489866.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:47.365Z,1613489867.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:47.766Z,1613489867.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:48.592Z,1613489868.592 [Micromodem](INFO): Nmea in: $SNTTA,0.119004,,,,153748.77*41

2021-02-16T15:37:48.614Z,1613489868.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.259995 m, bearing: 237.929940 deg, deltaT: 4.445162 s, approachRate: 0.000000 m/s, LOS rate: 0.120994 deg/s, posRepo size: 4
2021-02-16T15:37:48.616Z,1613489868.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.259995 m,
      bearing: 237.929940 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.120994 deg/s,
      cmd update: 0.362981 deg/s,
      cmd heading: 245.163714 deg,
      new cmd heading: 245.281704 deg.

2021-02-16T15:37:51.086Z,1613489871.086 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:51.822Z,1613489871.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:52.237Z,1613489872.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:53.062Z,1613489873.062 [Micromodem](INFO): Nmea in: $SNTTA,0.116932,,,,153753.23*49

2021-02-16T15:37:53.086Z,1613489873.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.259995 m, bearing: 236.233376 deg, deltaT: 4.470563 s, approachRate: 0.000000 m/s, LOS rate: -0.379497 deg/s, posRepo size: 4
2021-02-16T15:37:53.088Z,1613489873.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.259995 m,
      bearing: 236.233376 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.379497 deg/s,
      cmd update: -1.138490 deg/s,
      cmd heading: 246.783243 deg,
      new cmd heading: 246.933792 deg.

2021-02-16T15:37:55.491Z,1613489875.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:37:56.259Z,1613489876.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:37:56.663Z,1613489876.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:37:57.080Z,1613489877.080 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T15:37:57.484Z,1613489877.484 [Micromodem](INFO): Nmea in: $SNTTA,0.114993,,,,153757.66*45

2021-02-16T15:37:57.537Z,1613489877.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 172.260010 m, bearing: 236.900658 deg, deltaT: 4.473169 s, approachRate: -2.682658 m/s, LOS rate: 0.149174 deg/s, posRepo size: 4
2021-02-16T15:37:57.543Z,1613489877.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.260010 m,
      bearing: 236.900658 deg,
      approachRate: -2.682658 m/s,
      LOS rate: 0.149174 deg/s,
      cmd update: 0.447523 deg/s,
      cmd heading: 241.666427 deg,
      new cmd heading: 241.243946 deg.

2021-02-16T15:37:59.909Z,1613489879.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:00.719Z,1613489880.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:01.105Z,1613489881.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:01.936Z,1613489881.936 [Micromodem](INFO): Nmea in: $SNTTA,0.112762,,,,153802.12*4F

2021-02-16T15:38:02.363Z,1613489882.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.960007 m, bearing: 237.367624 deg, deltaT: 4.795823 s, approachRate: -0.688099 m/s, LOS rate: 0.097369 deg/s, posRepo size: 4
2021-02-16T15:38:02.365Z,1613489882.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.960007 m,
      bearing: 237.367624 deg,
      approachRate: -0.688099 m/s,
      LOS rate: 0.097369 deg/s,
      cmd update: 0.292108 deg/s,
      cmd heading: 243.813876 deg,
      new cmd heading: 243.992328 deg.

2021-02-16T15:38:04.839Z,1613489884.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:05.566Z,1613489885.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:05.946Z,1613489885.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:06.788Z,1613489886.788 [Micromodem](INFO): Nmea in: $SNTTA,0.110417,,,,153806.97*45

2021-02-16T15:38:06.828Z,1613489886.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.960007 m, bearing: 225.991371 deg, deltaT: 4.423166 s, approachRate: 0.000000 m/s, LOS rate: -2.571971 deg/s, posRepo size: 4
2021-02-16T15:38:06.830Z,1613489886.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.960007 m,
      bearing: 225.991371 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.571971 deg/s,
      cmd update: -7.715912 deg/s,
      cmd heading: 245.105904 deg,
      new cmd heading: 245.229781 deg.

2021-02-16T15:38:09.204Z,1613489889.204 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:09.989Z,1613489889.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:10.398Z,1613489890.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:11.235Z,1613489891.235 [Micromodem](INFO): Nmea in: $SNTTA,0.108610,,,,153811.39*4B

2021-02-16T15:38:11.266Z,1613489891.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 236.344517 deg, deltaT: 4.463348 s, approachRate: -1.398055 m/s, LOS rate: 2.319592 deg/s, posRepo size: 4
2021-02-16T15:38:11.269Z,1613489891.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 236.344517 deg,
      approachRate: -1.398055 m/s,
      LOS rate: 2.319592 deg/s,
      cmd update: 6.958776 deg/s,
      cmd heading: 210.719380 deg,
      new cmd heading: 207.471883 deg.

2021-02-16T15:38:13.638Z,1613489893.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:14.429Z,1613489894.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:14.843Z,1613489894.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:15.670Z,1613489895.670 [Micromodem](INFO): Nmea in: $SNTTA,0.106703,,,,153815.83*43

2021-02-16T15:38:15.738Z,1613489895.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.839996 m, bearing: 236.568929 deg, deltaT: 4.439288 s, approachRate: -0.648754 m/s, LOS rate: 0.050552 deg/s, posRepo size: 4
2021-02-16T15:38:15.744Z,1613489895.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.839996 m,
      bearing: 236.568929 deg,
      approachRate: -0.648754 m/s,
      LOS rate: 0.050552 deg/s,
      cmd update: 0.151655 deg/s,
      cmd heading: 241.669385 deg,
      new cmd heading: 244.773966 deg.

2021-02-16T15:38:17.819Z,1613489897.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:18.490Z,1613489898.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:18.906Z,1613489898.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:19.728Z,1613489899.728 [Micromodem](INFO): Nmea in: $SNTTA,0.105097,,,,153819.89*4C

2021-02-16T15:38:19.752Z,1613489899.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.440002 m, bearing: 239.260161 deg, deltaT: 4.034894 s, approachRate: -0.594810 m/s, LOS rate: 0.666989 deg/s, posRepo size: 4
2021-02-16T15:38:19.754Z,1613489899.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.440002 m,
      bearing: 239.260161 deg,
      approachRate: -0.594810 m/s,
      LOS rate: 0.666989 deg/s,
      cmd update: 2.000968 deg/s,
      cmd heading: 242.281259 deg,
      new cmd heading: 242.345774 deg.

2021-02-16T15:38:22.171Z,1613489902.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:22.914Z,1613489902.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:23.336Z,1613489903.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:24.169Z,1613489904.169 [Micromodem](INFO): Nmea in: $SNTTA,0.103453,,,,153824.32*48

2021-02-16T15:38:24.235Z,1613489904.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.979996 m, bearing: 239.572410 deg, deltaT: 4.439995 s, approachRate: -0.554056 m/s, LOS rate: 0.070326 deg/s, posRepo size: 4
2021-02-16T15:38:24.237Z,1613489904.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.979996 m,
      bearing: 239.572410 deg,
      approachRate: -0.554056 m/s,
      LOS rate: 0.070326 deg/s,
      cmd update: 0.210979 deg/s,
      cmd heading: 251.165639 deg,
      new cmd heading: 252.094880 deg.

2021-02-16T15:38:26.574Z,1613489906.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:27.365Z,1613489907.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:27.762Z,1613489907.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:28.592Z,1613489908.592 [Micromodem](INFO): Nmea in: $SNTTA,0.101398,,,,153828.77*47

2021-02-16T15:38:28.628Z,1613489908.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.860001 m, bearing: 236.555433 deg, deltaT: 4.452428 s, approachRate: -0.700740 m/s, LOS rate: -0.677603 deg/s, posRepo size: 4
2021-02-16T15:38:28.630Z,1613489908.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.860001 m,
      bearing: 236.555433 deg,
      approachRate: -0.700740 m/s,
      LOS rate: -0.677603 deg/s,
      cmd update: -2.032808 deg/s,
      cmd heading: 252.105043 deg,
      new cmd heading: 252.191438 deg.

2021-02-16T15:38:31.034Z,1613489911.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:31.809Z,1613489911.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:32.225Z,1613489912.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:33.036Z,1613489913.036 [Micromodem](INFO): Nmea in: $SNTTA,0.099408,,,,153833.21*40

2021-02-16T15:38:33.074Z,1613489913.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.919998 m, bearing: 238.236698 deg, deltaT: 4.454646 s, approachRate: -0.659986 m/s, LOS rate: 0.377418 deg/s, posRepo size: 4
2021-02-16T15:38:33.076Z,1613489913.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.919998 m,
      bearing: 238.236698 deg,
      approachRate: -0.659986 m/s,
      LOS rate: 0.377418 deg/s,
      cmd update: 1.132255 deg/s,
      cmd heading: 243.062812 deg,
      new cmd heading: 242.235626 deg.

2021-02-16T15:38:35.474Z,1613489915.474 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:36.245Z,1613489916.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:36.664Z,1613489916.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:37.480Z,1613489917.480 [Micromodem](INFO): Nmea in: $SNTTA,0.097421,,,,153837.65*41

2021-02-16T15:38:37.525Z,1613489917.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 238.885593 deg, deltaT: 4.425468 s, approachRate: -0.664337 m/s, LOS rate: 0.146627 deg/s, posRepo size: 4
2021-02-16T15:38:37.527Z,1613489917.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.979996 m,
      bearing: 238.885593 deg,
      approachRate: -0.664337 m/s,
      LOS rate: 0.146627 deg/s,
      cmd update: 0.439882 deg/s,
      cmd heading: 248.080962 deg,
      new cmd heading: 248.563162 deg.

2021-02-16T15:38:39.920Z,1613489919.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:40.712Z,1613489920.712 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:41.127Z,1613489921.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:41.932Z,1613489921.932 [Micromodem](INFO): Nmea in: $SNTTA,0.095418,,,,153842.11*48

2021-02-16T15:38:41.978Z,1613489921.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.979996 m, bearing: 237.777217 deg, deltaT: 4.454593 s, approachRate: -0.673462 m/s, LOS rate: -0.248816 deg/s, posRepo size: 4
2021-02-16T15:38:41.980Z,1613489921.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.979996 m,
      bearing: 237.777217 deg,
      approachRate: -0.673462 m/s,
      LOS rate: -0.248816 deg/s,
      cmd update: -0.746449 deg/s,
      cmd heading: 250.035130 deg,
      new cmd heading: 250.226935 deg.

2021-02-16T15:38:44.369Z,1613489924.369 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:45.185Z,1613489925.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:45.560Z,1613489925.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:46.378Z,1613489926.378 [Micromodem](INFO): Nmea in: $SNTTA,0.093346,,,,153846.59*4A

2021-02-16T15:38:46.415Z,1613489926.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.860001 m, bearing: 237.702222 deg, deltaT: 4.440592 s, approachRate: -0.702608 m/s, LOS rate: -0.016889 deg/s, posRepo size: 4
2021-02-16T15:38:46.418Z,1613489926.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.860001 m,
      bearing: 237.702222 deg,
      approachRate: -0.702608 m/s,
      LOS rate: -0.016889 deg/s,
      cmd update: -0.050666 deg/s,
      cmd heading: 246.711559 deg,
      new cmd heading: 246.397851 deg.

2021-02-16T15:38:48.798Z,1613489928.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:49.577Z,1613489929.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:49.982Z,1613489929.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:50.808Z,1613489930.808 [Micromodem](INFO): Nmea in: $SNTTA,0.091254,,,,153850.98*40

2021-02-16T15:38:50.861Z,1613489930.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.680008 m, bearing: 237.787599 deg, deltaT: 4.440187 s, approachRate: -0.716184 m/s, LOS rate: 0.019228 deg/s, posRepo size: 4
2021-02-16T15:38:50.862Z,1613489930.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.680008 m,
      bearing: 237.787599 deg,
      approachRate: -0.716184 m/s,
      LOS rate: 0.019228 deg/s,
      cmd update: 0.057685 deg/s,
      cmd heading: 246.486588 deg,
      new cmd heading: 246.464992 deg.

2021-02-16T15:38:53.255Z,1613489933.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:54.022Z,1613489934.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:54.426Z,1613489934.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:55.248Z,1613489935.248 [Micromodem](INFO): Nmea in: $SNTTA,0.089066,,,,153855.42*48

2021-02-16T15:38:55.305Z,1613489935.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 238.791172 deg, deltaT: 4.434898 s, approachRate: -0.730570 m/s, LOS rate: 0.226290 deg/s, posRepo size: 4
2021-02-16T15:38:55.307Z,1613489935.307 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.440002 m,
      bearing: 238.791172 deg,
      approachRate: -0.730570 m/s,
      LOS rate: 0.226290 deg/s,
      cmd update: 0.678870 deg/s,
      cmd heading: 246.742192 deg,
      new cmd heading: 246.767555 deg.

2021-02-16T15:38:57.798Z,1613489937.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:38:58.485Z,1613489938.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:38:58.896Z,1613489938.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:38:59.749Z,1613489939.749 [Micromodem](INFO): Nmea in: $SNTTA,0.087236,,,0.089723,153859.89*53

2021-02-16T15:38:59.753Z,1613489939.753 [RDI_PathfinderUp](ERROR): only read -1 of 1 data item for BIT error
2021-02-16T15:38:59.765Z,1613489939.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.680008 m, bearing: 238.076407 deg, deltaT: 4.463208 s, approachRate: -0.618388 m/s, LOS rate: -0.160146 deg/s, posRepo size: 4
2021-02-16T15:38:59.767Z,1613489939.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.680008 m,
      bearing: 238.076407 deg,
      approachRate: -0.618388 m/s,
      LOS rate: -0.160146 deg/s,
      cmd update: -0.480438 deg/s,
      cmd heading: 249.769044 deg,
      new cmd heading: 250.068669 deg.

2021-02-16T15:39:02.168Z,1613489942.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:02.926Z,1613489942.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:03.314Z,1613489943.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:04.172Z,1613489944.172 [Micromodem](INFO): Nmea in: $SNTTA,0.085422,,,,153904.33*43

2021-02-16T15:39:04.197Z,1613489944.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.919998 m, bearing: 237.657416 deg, deltaT: 4.468550 s, approachRate: -0.617652 m/s, LOS rate: -0.093764 deg/s, posRepo size: 4
2021-02-16T15:39:04.199Z,1613489944.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.919998 m,
      bearing: 237.657416 deg,
      approachRate: -0.617652 m/s,
      LOS rate: -0.093764 deg/s,
      cmd update: -0.281293 deg/s,
      cmd heading: 247.620099 deg,
      new cmd heading: 247.427933 deg.

2021-02-16T15:39:04.959Z,1613489944.959 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:39:06.589Z,1613489946.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:07.354Z,1613489947.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:07.770Z,1613489947.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:08.585Z,1613489948.585 [Micromodem](INFO): Nmea in: $SNTTA,0.083334,,,0.086534,153908.76*5A

2021-02-16T15:39:08.620Z,1613489948.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.800003 m, bearing: 236.750285 deg, deltaT: 4.417970 s, approachRate: -0.706206 m/s, LOS rate: -0.205328 deg/s, posRepo size: 4
2021-02-16T15:39:08.622Z,1613489948.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.800003 m,
      bearing: 236.750285 deg,
      approachRate: -0.706206 m/s,
      LOS rate: -0.205328 deg/s,
      cmd update: -0.615983 deg/s,
      cmd heading: 246.377402 deg,
      new cmd heading: 246.263435 deg.

2021-02-16T15:39:10.728Z,1613489950.728 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:11.414Z,1613489951.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:11.817Z,1613489951.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:12.632Z,1613489952.632 [Micromodem](INFO): Nmea in: $SNTTA,0.081581,,,,153912.82*42

2021-02-16T15:39:12.749Z,1613489952.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.220009 m, bearing: 237.224655 deg, deltaT: 4.039038 s, approachRate: -0.638765 m/s, LOS rate: 0.117446 deg/s, posRepo size: 4
2021-02-16T15:39:12.755Z,1613489952.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.220009 m,
      bearing: 237.224655 deg,
      approachRate: -0.638765 m/s,
      LOS rate: 0.117446 deg/s,
      cmd update: 0.352339 deg/s,
      cmd heading: 243.893265 deg,
      new cmd heading: 243.584166 deg.

2021-02-16T15:39:15.101Z,1613489955.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:15.862Z,1613489955.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:16.246Z,1613489956.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:17.080Z,1613489957.080 [Micromodem](INFO): Nmea in: $SNTTA,0.079822,,,,153917.26*4A

2021-02-16T15:39:17.162Z,1613489957.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 237.982943 deg, deltaT: 4.449301 s, approachRate: -0.593355 m/s, LOS rate: 0.170428 deg/s, posRepo size: 4
2021-02-16T15:39:17.169Z,1613489957.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 237.982943 deg,
      approachRate: -0.593355 m/s,
      LOS rate: 0.170428 deg/s,
      cmd update: 0.511285 deg/s,
      cmd heading: 245.457280 deg,
      new cmd heading: 245.624809 deg.

2021-02-16T15:39:19.506Z,1613489959.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:20.288Z,1613489960.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:20.717Z,1613489960.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:21.512Z,1613489961.512 [Micromodem](INFO): Nmea in: $SNTTA,0.077615,,,,153921.69*40

2021-02-16T15:39:21.552Z,1613489961.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.220001 m, bearing: 237.217196 deg, deltaT: 4.446937 s, approachRate: -0.755575 m/s, LOS rate: -0.172196 deg/s, posRepo size: 4
2021-02-16T15:39:21.554Z,1613489961.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 237.217196 deg,
      approachRate: -0.755575 m/s,
      LOS rate: -0.172196 deg/s,
      cmd update: -0.516589 deg/s,
      cmd heading: 247.734655 deg,
      new cmd heading: 247.944677 deg.

2021-02-16T15:39:24.006Z,1613489964.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:24.772Z,1613489964.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:25.180Z,1613489965.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:25.966Z,1613489965.966 [Micromodem](INFO): Nmea in: $SNTTA,0.075674,,,,153926.17*4B

2021-02-16T15:39:26.020Z,1613489966.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 237.633592 deg, deltaT: 4.404201 s, approachRate: -0.653920 m/s, LOS rate: 0.094545 deg/s, posRepo size: 4
2021-02-16T15:39:26.021Z,1613489966.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 237.633592 deg,
      approachRate: -0.653920 m/s,
      LOS rate: 0.094545 deg/s,
      cmd update: 0.283635 deg/s,
      cmd heading: 245.452550 deg,
      new cmd heading: 245.214362 deg.

2021-02-16T15:39:28.403Z,1613489968.403 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:29.169Z,1613489969.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:29.575Z,1613489969.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:30.396Z,1613489970.396 [Micromodem](INFO): Nmea in: $SNTTA,0.073353,,,,153930.57*4E

2021-02-16T15:39:30.441Z,1613489970.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 237.031169 deg, deltaT: 4.462468 s, approachRate: -0.779837 m/s, LOS rate: -0.134998 deg/s, posRepo size: 4
2021-02-16T15:39:30.447Z,1613489970.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.860008 m,
      bearing: 237.031169 deg,
      approachRate: -0.779837 m/s,
      LOS rate: -0.134998 deg/s,
      cmd update: -0.404993 deg/s,
      cmd heading: 246.717170 deg,
      new cmd heading: 246.837424 deg.

2021-02-16T15:39:32.848Z,1613489972.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:33.614Z,1613489973.614 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:34.018Z,1613489974.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:34.852Z,1613489974.852 [Micromodem](INFO): Nmea in: $SNTTA,0.071665,,0.072853,,153935.02*5C

2021-02-16T15:39:34.905Z,1613489974.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.279999 m, bearing: 237.648782 deg, deltaT: 4.445167 s, approachRate: -0.580408 m/s, LOS rate: 0.138940 deg/s, posRepo size: 4
2021-02-16T15:39:34.911Z,1613489974.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.279999 m,
      bearing: 237.648782 deg,
      approachRate: -0.580408 m/s,
      LOS rate: 0.138940 deg/s,
      cmd update: 0.416821 deg/s,
      cmd heading: 244.921737 deg,
      new cmd heading: 244.737566 deg.

2021-02-16T15:39:37.384Z,1613489977.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:38.078Z,1613489978.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:38.485Z,1613489978.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:39.300Z,1613489979.300 [Micromodem](INFO): Nmea in: $SNTTA,0.069744,,,,153939.48*40

2021-02-16T15:39:39.339Z,1613489979.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 237.010488 deg, deltaT: 4.446919 s, approachRate: -0.634145 m/s, LOS rate: -0.143536 deg/s, posRepo size: 4
2021-02-16T15:39:39.341Z,1613489979.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 237.010488 deg,
      approachRate: -0.634145 m/s,
      LOS rate: -0.143536 deg/s,
      cmd update: -0.430609 deg/s,
      cmd heading: 246.780298 deg,
      new cmd heading: 246.959530 deg.

2021-02-16T15:39:39.739Z,1613489979.739 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:39:41.793Z,1613489981.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:42.521Z,1613489982.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:42.935Z,1613489982.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:43.752Z,1613489983.752 [Micromodem](INFO): Nmea in: $SNTTA,0.067870,,,,153943.92*4C

2021-02-16T15:39:43.794Z,1613489983.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.580002 m, bearing: 237.315660 deg, deltaT: 4.451466 s, approachRate: -0.646979 m/s, LOS rate: 0.068556 deg/s, posRepo size: 4
2021-02-16T15:39:43.796Z,1613489983.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 237.315660 deg,
      approachRate: -0.646979 m/s,
      LOS rate: 0.068556 deg/s,
      cmd update: 0.205667 deg/s,
      cmd heading: 244.861712 deg,
      new cmd heading: 244.676648 deg.

2021-02-16T15:39:46.198Z,1613489986.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:46.964Z,1613489986.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:47.383Z,1613489987.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:48.207Z,1613489988.207 [Micromodem](INFO): Nmea in: $SNTTA,0.065996,,,,153948.37*43

2021-02-16T15:39:48.232Z,1613489988.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.820000 m, bearing: 236.866179 deg, deltaT: 4.452344 s, approachRate: -0.619899 m/s, LOS rate: -0.100954 deg/s, posRepo size: 4
2021-02-16T15:39:48.234Z,1613489988.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.820000 m,
      bearing: 236.866179 deg,
      approachRate: -0.619899 m/s,
      LOS rate: -0.100954 deg/s,
      cmd update: -0.302861 deg/s,
      cmd heading: 245.777394 deg,
      new cmd heading: 245.862742 deg.

2021-02-16T15:39:50.731Z,1613489990.731 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:51.430Z,1613489991.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:51.841Z,1613489991.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:52.650Z,1613489992.650 [Micromodem](INFO): Nmea in: $SNTTA,0.064146,,,,153952.83*43

2021-02-16T15:39:52.718Z,1613489992.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 237.768010 deg, deltaT: 4.423572 s, approachRate: -0.623929 m/s, LOS rate: 0.203869 deg/s, posRepo size: 4
2021-02-16T15:39:52.724Z,1613489992.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 237.768010 deg,
      approachRate: -0.623929 m/s,
      LOS rate: 0.203869 deg/s,
      cmd update: 0.611608 deg/s,
      cmd heading: 244.437644 deg,
      new cmd heading: 244.293130 deg.

2021-02-16T15:39:54.753Z,1613489994.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:55.457Z,1613489995.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:39:55.883Z,1613489995.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:39:56.708Z,1613489996.708 [Micromodem](INFO): Nmea in: $SNTTA,0.062437,,,,153956.86*47

2021-02-16T15:39:56.742Z,1613489996.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 236.827876 deg, deltaT: 4.079784 s, approachRate: -0.632387 m/s, LOS rate: -0.230437 deg/s, posRepo size: 4
2021-02-16T15:39:56.744Z,1613489996.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 236.827876 deg,
      approachRate: -0.632387 m/s,
      LOS rate: -0.230437 deg/s,
      cmd update: -0.691312 deg/s,
      cmd heading: 246.932887 deg,
      new cmd heading: 247.190583 deg.

2021-02-16T15:39:59.138Z,1613489999.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:39:59.898Z,1613489999.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:00.305Z,1613490000.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:01.152Z,1613490001.152 [Micromodem](INFO): Nmea in: $SNTTA,0.060515,,0.076358,,154001.30*54

2021-02-16T15:40:01.194Z,1613490001.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.600006 m, bearing: 236.137125 deg, deltaT: 4.426750 s, approachRate: -0.650590 m/s, LOS rate: -0.156040 deg/s, posRepo size: 4
2021-02-16T15:40:01.200Z,1613490001.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.600006 m,
      bearing: 236.137125 deg,
      approachRate: -0.650590 m/s,
      LOS rate: -0.156040 deg/s,
      cmd update: -0.468120 deg/s,
      cmd heading: 243.872670 deg,
      new cmd heading: 243.563342 deg.

2021-02-16T15:40:03.565Z,1613490003.565 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:04.361Z,1613490004.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:04.783Z,1613490004.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:05.580Z,1613490005.580 [Micromodem](INFO): Nmea in: $SNTTA,0.058434,,,,154005.76*4A

2021-02-16T15:40:05.614Z,1613490005.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.480003 m, bearing: 237.525812 deg, deltaT: 4.459062 s, approachRate: -0.699699 m/s, LOS rate: 0.311430 deg/s, posRepo size: 4
2021-02-16T15:40:05.616Z,1613490005.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.480003 m,
      bearing: 237.525812 deg,
      approachRate: -0.699699 m/s,
      LOS rate: 0.311430 deg/s,
      cmd update: 0.934291 deg/s,
      cmd heading: 241.785296 deg,
      new cmd heading: 241.594219 deg.

2021-02-16T15:40:07.998Z,1613490007.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:08.845Z,1613490008.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:09.193Z,1613490009.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:10.031Z,1613490010.031 [Micromodem](INFO): Nmea in: $SNTTA,0.056317,,,,154010.25*40

2021-02-16T15:40:10.065Z,1613490010.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.240005 m, bearing: 236.226491 deg, deltaT: 4.424030 s, approachRate: -0.732363 m/s, LOS rate: -0.293696 deg/s, posRepo size: 4
2021-02-16T15:40:10.067Z,1613490010.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.240005 m,
      bearing: 236.226491 deg,
      approachRate: -0.732363 m/s,
      LOS rate: -0.293696 deg/s,
      cmd update: -0.881088 deg/s,
      cmd heading: 245.918670 deg,
      new cmd heading: 246.325245 deg.

2021-02-16T15:40:12.463Z,1613490012.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:13.234Z,1613490013.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:13.630Z,1613490013.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:14.464Z,1613490014.464 [Micromodem](INFO): Nmea in: $SNTTA,0.054342,,,,154014.64*43

2021-02-16T15:40:14.504Z,1613490014.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.300003 m, bearing: 237.152091 deg, deltaT: 4.445024 s, approachRate: -0.661414 m/s, LOS rate: 0.208233 deg/s, posRepo size: 4
2021-02-16T15:40:14.506Z,1613490014.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.300003 m,
      bearing: 237.152091 deg,
      approachRate: -0.661414 m/s,
      LOS rate: 0.208233 deg/s,
      cmd update: 0.624698 deg/s,
      cmd heading: 242.005790 deg,
      new cmd heading: 241.624342 deg.

2021-02-16T15:40:16.910Z,1613490016.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:17.770Z,1613490017.770 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:18.081Z,1613490018.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:18.977Z,1613490018.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 237.326534 deg, deltaT: 4.463511 s, approachRate: -0.672117 m/s, LOS rate: 0.039082 deg/s, posRepo size: 4
2021-02-16T15:40:18.995Z,1613490018.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 237.326534 deg,
      approachRate: -0.672117 m/s,
      LOS rate: 0.039082 deg/s,
      cmd update: 0.117246 deg/s,
      cmd heading: 244.796639 deg,
      new cmd heading: 245.070535 deg.

2021-02-16T15:40:19.318Z,1613490019.318 [Micromodem](INFO): Nmea in: $SNTTA,0.052308,,,,154019.17*42

2021-02-16T15:40:21.344Z,1613490021.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:22.173Z,1613490022.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:22.543Z,1613490022.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:23.346Z,1613490023.346 [Micromodem](INFO): Nmea in: $SNTTA,0.050288,,,,154023.58*4B

2021-02-16T15:40:23.409Z,1613490023.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 236.211656 deg, deltaT: 4.434924 s, approachRate: -0.676449 m/s, LOS rate: -0.251386 deg/s, posRepo size: 4
2021-02-16T15:40:23.410Z,1613490023.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 236.211656 deg,
      approachRate: -0.676449 m/s,
      LOS rate: -0.251386 deg/s,
      cmd update: -0.754158 deg/s,
      cmd heading: 245.316625 deg,
      new cmd heading: 245.367644 deg.

2021-02-16T15:40:25.789Z,1613490025.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:26.558Z,1613490026.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:26.969Z,1613490026.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:27.799Z,1613490027.799 [Micromodem](INFO): Nmea in: $SNTTA,0.048264,,,,154027.96*46

2021-02-16T15:40:27.824Z,1613490027.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.180000 m, bearing: 236.336075 deg, deltaT: 4.427249 s, approachRate: -0.704727 m/s, LOS rate: 0.028103 deg/s, posRepo size: 4
2021-02-16T15:40:27.826Z,1613490027.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.180000 m,
      bearing: 236.336075 deg,
      approachRate: -0.704727 m/s,
      LOS rate: 0.028103 deg/s,
      cmd update: 0.084309 deg/s,
      cmd heading: 241.977758 deg,
      new cmd heading: 241.658742 deg.

2021-02-16T15:40:30.238Z,1613490030.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:31.074Z,1613490031.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:31.422Z,1613490031.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:32.250Z,1613490032.250 [Micromodem](INFO): Nmea in: $SNTTA,0.046317,,,,154032.48*4A

2021-02-16T15:40:32.319Z,1613490032.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.300003 m, bearing: 236.048770 deg, deltaT: 4.464940 s, approachRate: -0.645025 m/s, LOS rate: -0.064347 deg/s, posRepo size: 4
2021-02-16T15:40:32.321Z,1613490032.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.300003 m,
      bearing: 236.048770 deg,
      approachRate: -0.645025 m/s,
      LOS rate: -0.064347 deg/s,
      cmd update: -0.193041 deg/s,
      cmd heading: 242.353853 deg,
      new cmd heading: 242.391384 deg.

2021-02-16T15:40:34.654Z,1613490034.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:35.451Z,1613490035.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:35.871Z,1613490035.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:36.705Z,1613490036.705 [Micromodem](INFO): Nmea in: $SNTTA,0.044509,,0.045647,,154036.85*5E

2021-02-16T15:40:36.753Z,1613490036.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.599998 m, bearing: 236.786403 deg, deltaT: 4.441020 s, approachRate: -0.607969 m/s, LOS rate: 0.166095 deg/s, posRepo size: 4
2021-02-16T15:40:36.754Z,1613490036.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.599998 m,
      bearing: 236.786403 deg,
      approachRate: -0.607969 m/s,
      LOS rate: 0.166095 deg/s,
      cmd update: 0.498286 deg/s,
      cmd heading: 241.495780 deg,
      new cmd heading: 241.409740 deg.

2021-02-16T15:40:39.163Z,1613490039.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:39.898Z,1613490039.898 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:40.316Z,1613490040.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:41.136Z,1613490041.136 [Micromodem](INFO): Nmea in: $SNTTA,0.042492,,,,154041.30*4F

2021-02-16T15:40:41.200Z,1613490041.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.540001 m, bearing: 236.752962 deg, deltaT: 4.461260 s, approachRate: -0.685904 m/s, LOS rate: -0.007496 deg/s, posRepo size: 4
2021-02-16T15:40:41.202Z,1613490041.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.540001 m,
      bearing: 236.752962 deg,
      approachRate: -0.685904 m/s,
      LOS rate: -0.007496 deg/s,
      cmd update: -0.022487 deg/s,
      cmd heading: 243.714420 deg,
      new cmd heading: 243.934008 deg.

2021-02-16T15:40:43.545Z,1613490043.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:44.353Z,1613490044.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:44.786Z,1613490044.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:45.576Z,1613490045.576 [Micromodem](INFO): Nmea in: $SNTTA,0.040479,,,,154045.76*4E

2021-02-16T15:40:45.598Z,1613490045.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 236.149310 deg, deltaT: 4.451756 s, approachRate: -0.673891 m/s, LOS rate: -0.135599 deg/s, posRepo size: 4
2021-02-16T15:40:45.616Z,1613490045.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.540005 m,
      bearing: 236.149310 deg,
      approachRate: -0.673891 m/s,
      LOS rate: -0.135599 deg/s,
      cmd update: -0.406796 deg/s,
      cmd heading: 243.614116 deg,
      new cmd heading: 243.605605 deg.

2021-02-16T15:40:48.010Z,1613490048.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:48.776Z,1613490048.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:49.251Z,1613490049.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:50.032Z,1613490050.032 [Micromodem](INFO): Nmea in: $SNTTA,0.038655,,,,154050.18*41

2021-02-16T15:40:50.056Z,1613490050.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 236.158490 deg, deltaT: 4.414043 s, approachRate: -0.625278 m/s, LOS rate: 0.002080 deg/s, posRepo size: 4
2021-02-16T15:40:50.058Z,1613490050.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.780003 m,
      bearing: 236.158490 deg,
      approachRate: -0.625278 m/s,
      LOS rate: 0.002080 deg/s,
      cmd update: 0.006239 deg/s,
      cmd heading: 241.820129 deg,
      new cmd heading: 241.646822 deg.

2021-02-16T15:40:52.445Z,1613490052.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:53.226Z,1613490053.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:53.640Z,1613490053.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:54.580Z,1613490054.580 [Micromodem](INFO): Nmea in: $SNTTA,0.036469,,,,154054.63*4A

2021-02-16T15:40:54.833Z,1613490054.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.480000 m, bearing: 236.269467 deg, deltaT: 4.424623 s, approachRate: -0.745827 m/s, LOS rate: 0.025082 deg/s, posRepo size: 4
2021-02-16T15:40:54.840Z,1613490054.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 236.269467 deg,
      approachRate: -0.745827 m/s,
      LOS rate: 0.025082 deg/s,
      cmd update: 0.075245 deg/s,
      cmd heading: 241.847728 deg,
      new cmd heading: 241.852594 deg.

2021-02-16T15:40:56.644Z,1613490056.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:40:57.429Z,1613490057.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:40:57.847Z,1613490057.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:40:58.656Z,1613490058.656 [Micromodem](INFO): Nmea in: $SNTTA,0.034528,,0.045270,,154058.83*54

2021-02-16T15:40:58.725Z,1613490058.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.600002 m, bearing: 237.761863 deg, deltaT: 4.233266 s, approachRate: -0.680325 m/s, LOS rate: 0.352540 deg/s, posRepo size: 4
2021-02-16T15:40:58.731Z,1613490058.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.600002 m,
      bearing: 237.761863 deg,
      approachRate: -0.680325 m/s,
      LOS rate: 0.352540 deg/s,
      cmd update: 1.057621 deg/s,
      cmd heading: 242.166625 deg,
      new cmd heading: 242.199262 deg.

2021-02-16T15:41:01.112Z,1613490061.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:01.925Z,1613490061.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:02.303Z,1613490062.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:03.132Z,1613490063.132 [Micromodem](INFO): Nmea in: $SNTTA,0.032314,,,,154103.33*45

2021-02-16T15:41:03.226Z,1613490063.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.300003 m, bearing: 237.932590 deg, deltaT: 4.445422 s, approachRate: -0.742337 m/s, LOS rate: 0.038405 deg/s, posRepo size: 4
2021-02-16T15:41:03.232Z,1613490063.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.300003 m,
      bearing: 237.932590 deg,
      approachRate: -0.742337 m/s,
      LOS rate: 0.038405 deg/s,
      cmd update: 0.115216 deg/s,
      cmd heading: 246.868353 deg,
      new cmd heading: 247.385442 deg.

2021-02-16T15:41:05.528Z,1613490065.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:06.325Z,1613490066.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:06.728Z,1613490066.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:07.568Z,1613490067.568 [Micromodem](INFO): Nmea in: $SNTTA,0.030472,,,,154107.73*40

2021-02-16T15:41:07.590Z,1613490067.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.540001 m, bearing: 235.927602 deg, deltaT: 4.483683 s, approachRate: -0.615566 m/s, LOS rate: -0.447174 deg/s, posRepo size: 4
2021-02-16T15:41:07.617Z,1613490067.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.540001 m,
      bearing: 235.927602 deg,
      approachRate: -0.615566 m/s,
      LOS rate: -0.447174 deg/s,
      cmd update: -1.341523 deg/s,
      cmd heading: 247.383908 deg,
      new cmd heading: 247.427521 deg.

2021-02-16T15:41:10.049Z,1613490070.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:10.781Z,1613490070.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:11.198Z,1613490071.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:12.008Z,1613490072.008 [Micromodem](INFO): Nmea in: $SNTTA,0.028473,,,0.045804,154112.19*53

2021-02-16T15:41:12.054Z,1613490072.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.540001 m, bearing: 235.325589 deg, deltaT: 4.370879 s, approachRate: -0.686361 m/s, LOS rate: -0.137733 deg/s, posRepo size: 4
2021-02-16T15:41:12.056Z,1613490072.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.540001 m,
      bearing: 235.325589 deg,
      approachRate: -0.686361 m/s,
      LOS rate: -0.137733 deg/s,
      cmd update: -0.413198 deg/s,
      cmd heading: 241.508175 deg,
      new cmd heading: 240.887509 deg.

2021-02-16T15:41:14.452Z,1613490074.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:15.230Z,1613490075.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:15.617Z,1613490075.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:16.468Z,1613490076.468 [Micromodem](INFO): Nmea in: $SNTTA,0.026476,,,,154116.63*42

2021-02-16T15:41:16.511Z,1613490076.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.540001 m, bearing: 237.085346 deg, deltaT: 4.453604 s, approachRate: -0.673612 m/s, LOS rate: 0.395131 deg/s, posRepo size: 4
2021-02-16T15:41:16.512Z,1613490076.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.54 m.
2021-02-16T15:41:16.513Z,1613490076.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.540001 m,
      bearing: 237.085346 deg,
      approachRate: -0.673612 m/s,
      LOS rate: 0.395131 deg/s,
      cmd update: 1.185393 deg/s,
      cmd heading: 239.667957 deg,
      new cmd heading: 239.475601 deg.

2021-02-16T15:41:16.833Z,1613490076.833 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T15:41:16.835Z,1613490076.835 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T15:41:16.853Z,1613490076.853 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:41:18.870Z,1613490078.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:19.657Z,1613490079.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:20.057Z,1613490080.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:20.884Z,1613490080.884 [Micromodem](INFO): Nmea in: $SNTTA,0.024135,,,,154121.06*45

2021-02-16T15:41:20.928Z,1613490080.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.999996 m, bearing: 239.608282 deg, deltaT: 4.461007 s, approachRate: -0.793544 m/s, LOS rate: 0.565553 deg/s, posRepo size: 4
2021-02-16T15:41:20.929Z,1613490080.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-02-16T15:41:20.929Z,1613490080.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.00 m.
2021-02-16T15:41:20.929Z,1613490080.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:41:20.931Z,1613490080.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 239.608282 deg,
      approachRate: -0.793544 m/s,
      LOS rate: 0.565553 deg/s,
      cmd update: 1.696658 deg/s,
      cmd heading: 244.937043 deg,
      new cmd heading: 245.456267 deg.

2021-02-16T15:41:23.345Z,1613490083.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:24.102Z,1613490084.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:24.507Z,1613490084.507 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:25.328Z,1613490085.328 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154125.51*5C

2021-02-16T15:41:25.373Z,1613490085.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.419998 m, bearing: 235.405584 deg, deltaT: 4.450817 s, approachRate: -0.579668 m/s, LOS rate: -0.944253 deg/s, posRepo size: 4
2021-02-16T15:41:25.377Z,1613490085.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.419998 m,
      bearing: 235.405584 deg,
      approachRate: -0.579668 m/s,
      LOS rate: -0.944253 deg/s,
      cmd update: -2.832759 deg/s,
      cmd heading: 252.515723 deg,
      new cmd heading: 253.220768 deg.

2021-02-16T15:41:27.772Z,1613490087.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:28.546Z,1613490088.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:28.951Z,1613490088.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:29.784Z,1613490089.784 [Micromodem](INFO): Nmea in: $SNTTA,0.020517,,,,154129.95*47

2021-02-16T15:41:29.849Z,1613490089.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.419996 m, bearing: 232.883250 deg, deltaT: 4.441056 s, approachRate: -0.675515 m/s, LOS rate: -0.567958 deg/s, posRepo size: 4
2021-02-16T15:41:29.851Z,1613490089.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.419996 m,
      bearing: 232.883250 deg,
      approachRate: -0.675515 m/s,
      LOS rate: -0.567958 deg/s,
      cmd update: -1.703875 deg/s,
      cmd heading: 239.992194 deg,
      new cmd heading: 238.658874 deg.

2021-02-16T15:41:32.208Z,1613490092.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:32.984Z,1613490092.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:33.389Z,1613490093.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:34.216Z,1613490094.216 [Micromodem](INFO): Nmea in: $SNTTA,0.018756,0.054656,,,154134.39*5B

2021-02-16T15:41:34.262Z,1613490094.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.900000 m, bearing: 237.378280 deg, deltaT: 4.417516 s, approachRate: -0.570456 m/s, LOS rate: 1.017547 deg/s, posRepo size: 4
2021-02-16T15:41:34.269Z,1613490094.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.900000 m,
      bearing: 237.378280 deg,
      approachRate: -0.570456 m/s,
      LOS rate: 1.017547 deg/s,
      cmd update: 3.052641 deg/s,
      cmd heading: 232.431096 deg,
      new cmd heading: 231.671244 deg.

2021-02-16T15:41:36.640Z,1613490096.640 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:37.428Z,1613490097.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:37.836Z,1613490097.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:38.684Z,1613490098.684 [Micromodem](INFO): Nmea in: $SNTTA,0.016862,,,,154138.83*4A

2021-02-16T15:41:38.743Z,1613490098.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 239.494354 deg, deltaT: 4.493227 s, approachRate: -0.627612 m/s, LOS rate: 0.470948 deg/s, posRepo size: 4
2021-02-16T15:41:38.745Z,1613490098.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 239.494354 deg,
      approachRate: -0.627612 m/s,
      LOS rate: 0.470948 deg/s,
      cmd update: 1.412843 deg/s,
      cmd heading: 246.098577 deg,
      new cmd heading: 247.471657 deg.

2021-02-16T15:41:41.107Z,1613490101.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:41.891Z,1613490101.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:42.285Z,1613490102.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:43.120Z,1613490103.120 [Micromodem](INFO): Nmea in: $SNTTA,0.030851,,,,154143.29*42

2021-02-16T15:41:43.181Z,1613490103.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 235.409191 deg, deltaT: 4.448175 s, approachRate: -0.593501 m/s, LOS rate: -0.918391 deg/s, posRepo size: 4
2021-02-16T15:41:43.189Z,1613490103.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 235.409191 deg,
      approachRate: -0.593501 m/s,
      LOS rate: -0.918391 deg/s,
      cmd update: -2.755173 deg/s,
      cmd heading: 252.405571 deg,
      new cmd heading: 253.004995 deg.

2021-02-16T15:41:45.539Z,1613490105.539 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:46.319Z,1613490106.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:46.743Z,1613490106.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:47.562Z,1613490107.562 [Micromodem](INFO): Nmea in: $SNTTA,0.013320,,,,154147.72*44

2021-02-16T15:41:47.582Z,1613490107.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.680002 m, bearing: 232.075157 deg, deltaT: 4.439985 s, approachRate: -0.621623 m/s, LOS rate: -0.750911 deg/s, posRepo size: 4
2021-02-16T15:41:47.584Z,1613490107.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 232.075157 deg,
      approachRate: -0.621623 m/s,
      LOS rate: -0.750911 deg/s,
      cmd update: -2.252733 deg/s,
      cmd heading: 240.172398 deg,
      new cmd heading: 239.111172 deg.

2021-02-16T15:41:49.984Z,1613490109.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:50.768Z,1613490110.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:51.180Z,1613490111.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:51.996Z,1613490111.996 [Micromodem](INFO): Nmea in: $SNTTA,0.011561,,,,154152.17*42

2021-02-16T15:41:52.035Z,1613490112.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 234.713112 deg, deltaT: 4.401316 s, approachRate: -0.599821 m/s, LOS rate: 0.599356 deg/s, posRepo size: 4
2021-02-16T15:41:52.037Z,1613490112.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 234.713112 deg,
      approachRate: -0.599821 m/s,
      LOS rate: 0.599356 deg/s,
      cmd update: 1.798068 deg/s,
      cmd heading: 230.257403 deg,
      new cmd heading: 229.273508 deg.

2021-02-16T15:41:54.448Z,1613490114.448 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:55.214Z,1613490115.214 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:41:55.614Z,1613490115.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:41:56.448Z,1613490116.448 [Micromodem](INFO): Nmea in: $SNTTA,0.009738,,,,154156.62*43

2021-02-16T15:41:56.494Z,1613490116.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.339997 m, bearing: 236.418857 deg, deltaT: 4.441441 s, approachRate: -0.607911 m/s, LOS rate: 0.384052 deg/s, posRepo size: 4
2021-02-16T15:41:56.500Z,1613490116.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.339997 m,
      bearing: 236.418857 deg,
      approachRate: -0.607911 m/s,
      LOS rate: 0.384052 deg/s,
      cmd update: 1.152156 deg/s,
      cmd heading: 238.243445 deg,
      new cmd heading: 239.059177 deg.

2021-02-16T15:41:58.870Z,1613490118.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:41:59.660Z,1613490119.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:00.058Z,1613490120.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:00.884Z,1613490120.884 [Micromodem](INFO): Nmea in: $SNTTA,0.007809,,,,154201.06*43

2021-02-16T15:42:00.930Z,1613490120.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.459998 m, bearing: 235.798839 deg, deltaT: 4.467631 s, approachRate: -0.644637 m/s, LOS rate: -0.138780 deg/s, posRepo size: 4
2021-02-16T15:42:00.932Z,1613490120.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.459998 m,
      bearing: 235.798839 deg,
      approachRate: -0.644637 m/s,
      LOS rate: -0.138780 deg/s,
      cmd update: -0.416340 deg/s,
      cmd heading: 243.390856 deg,
      new cmd heading: 243.877726 deg.

2021-02-16T15:42:03.352Z,1613490123.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:04.112Z,1613490124.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:04.502Z,1613490124.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:05.336Z,1613490125.336 [Micromodem](INFO): Nmea in: $SNTTA,0.005719,,,,154205.52*4A

2021-02-16T15:42:05.381Z,1613490125.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 233.612878 deg, deltaT: 4.425993 s, approachRate: -0.732039 m/s, LOS rate: -0.493892 deg/s, posRepo size: 4
2021-02-16T15:42:05.383Z,1613490125.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 233.612878 deg,
      approachRate: -0.732039 m/s,
      LOS rate: -0.493892 deg/s,
      cmd update: -1.481675 deg/s,
      cmd heading: 241.548149 deg,
      new cmd heading: 241.361734 deg.

2021-02-16T15:42:07.771Z,1613490127.771 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:08.542Z,1613490128.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:08.965Z,1613490128.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:09.776Z,1613490129.776 [Micromodem](INFO): Nmea in: $SNTTA,0.004153,,,,154209.94*45

2021-02-16T15:42:09.801Z,1613490129.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 236.368504 deg, deltaT: 4.465530 s, approachRate: -0.510577 m/s, LOS rate: 0.617088 deg/s, posRepo size: 4
2021-02-16T15:42:09.819Z,1613490129.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 236.368504 deg,
      approachRate: -0.510577 m/s,
      LOS rate: 0.617088 deg/s,
      cmd update: 1.851265 deg/s,
      cmd heading: 234.931664 deg,
      new cmd heading: 234.336052 deg.

2021-02-16T15:42:12.203Z,1613490132.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:12.989Z,1613490132.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:13.389Z,1613490133.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:14.224Z,1613490134.224 [Micromodem](INFO): Nmea in: $SNTTA,0.003149,,0.041712,,154214.39*5D

2021-02-16T15:42:14.254Z,1613490134.254 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:42:14.254Z,1613490134.254 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:42:14.254Z,1613490134.254 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:42:14.254Z,1613490134.254 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:42:14.254Z,1613490134.254 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:42:14.256Z,1613490134.256 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.140001 m 
2021-02-16T15:42:14.256Z,1613490134.256 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:42:14.257Z,1613490134.257 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:42:14.257Z,1613490134.257 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:42:14.260Z,1613490134.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 231.082730 deg, deltaT: 4.424188 s, approachRate: -0.406854 m/s, LOS rate: -1.194744 deg/s, posRepo size: 4
2021-02-16T15:42:14.283Z,1613490134.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.140001 m,
      bearing: 231.082730 deg,
      approachRate: -0.406854 m/s,
      LOS rate: -1.194744 deg/s,
      cmd update: -3.584234 deg/s,
      cmd heading: 243.122009 deg,
      new cmd heading: 243.929458 deg.

2021-02-16T15:42:14.637Z,1613490134.637 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T154214: (41.552319, -70.708603)
2021-02-16T15:42:14.637Z,1613490134.637 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:42:14.637Z,1613490134.637 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:42:14.638Z,1613490134.638 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:42:16.662Z,1613490136.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:17.437Z,1613490137.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:17.836Z,1613490137.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:18.671Z,1613490138.671 [Micromodem](INFO): Nmea in: $SNTTA,0.002342,,,,154218.84*40

2021-02-16T15:42:18.750Z,1613490138.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.479999 m, bearing: 236.603244 deg, deltaT: 4.485048 s, approachRate: -0.147156 m/s, LOS rate: 1.230871 deg/s, posRepo size: 4
2021-02-16T15:42:18.768Z,1613490138.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.479999 m,
      bearing: 236.603244 deg,
      approachRate: -0.147156 m/s,
      LOS rate: 1.230871 deg/s,
      cmd update: 3.692612 deg/s,
      cmd heading: 227.083004 deg,
      new cmd heading: 225.461583 deg.

2021-02-16T15:42:21.138Z,1613490141.138 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:21.874Z,1613490141.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:22.296Z,1613490142.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:23.120Z,1613490143.120 [Micromodem](INFO): Nmea in: $SNTTA,0.003457,,,,154223.28*4C

2021-02-16T15:42:23.158Z,1613490143.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.279998 m, bearing: 229.261201 deg, deltaT: 4.454797 s, approachRate: 0.404059 m/s, LOS rate: -1.648121 deg/s, posRepo size: 4
2021-02-16T15:42:23.180Z,1613490143.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.279998 m,
      bearing: 229.261201 deg,
      approachRate: 0.404059 m/s,
      LOS rate: -1.648121 deg/s,
      cmd update: -4.944362 deg/s,
      cmd heading: 243.498659 deg,
      new cmd heading: 245.029992 deg.

2021-02-16T15:42:25.549Z,1613490145.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:26.318Z,1613490146.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:26.726Z,1613490146.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:27.556Z,1613490147.556 [Micromodem](INFO): Nmea in: $SNTTA,0.005000,,,,154227.72*47

2021-02-16T15:42:27.582Z,1613490147.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.559999 m, bearing: 238.523156 deg, deltaT: 4.418537 s, approachRate: 0.516008 m/s, LOS rate: 2.096159 deg/s, posRepo size: 4
2021-02-16T15:42:27.584Z,1613490147.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.559999 m,
      bearing: 238.523156 deg,
      approachRate: 0.516008 m/s,
      LOS rate: 2.096159 deg/s,
      cmd update: 6.288477 deg/s,
      cmd heading: 221.555806 deg,
      new cmd heading: 219.575405 deg.

2021-02-16T15:42:29.982Z,1613490149.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:30.765Z,1613490150.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:31.188Z,1613490151.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:31.995Z,1613490151.995 [Micromodem](INFO): Nmea in: $SNTTA,0.008098,,,,154232.17*4C

2021-02-16T15:42:32.019Z,1613490152.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.120000 m, bearing: 233.742406 deg, deltaT: 4.418834 s, approachRate: 1.031947 m/s, LOS rate: -1.081903 deg/s, posRepo size: 4
2021-02-16T15:42:32.021Z,1613490152.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 233.742406 deg,
      approachRate: 1.031947 m/s,
      LOS rate: -1.081903 deg/s,
      cmd update: -3.245709 deg/s,
      cmd heading: 249.343697 deg,
      new cmd heading: 251.975343 deg.

2021-02-16T15:42:34.429Z,1613490154.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:35.204Z,1613490155.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:35.616Z,1613490155.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:36.432Z,1613490156.432 [Micromodem](INFO): Nmea in: $SNTTA,0.010587,,,,154236.61*4B

2021-02-16T15:42:36.501Z,1613490156.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.280000 m, bearing: 234.766388 deg, deltaT: 4.460907 s, approachRate: 0.484206 m/s, LOS rate: 0.229546 deg/s, posRepo size: 4
2021-02-16T15:42:36.501Z,1613490156.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 14.28 m. Rolling out.
2021-02-16T15:42:36.502Z,1613490156.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:42:38.897Z,1613490158.897 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:39.658Z,1613490159.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:40.074Z,1613490160.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:40.884Z,1613490160.884 [Micromodem](INFO): Nmea in: $SNTTA,0.011389,,,,154241.06*43

2021-02-16T15:42:40.908Z,1613490160.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.980001 m, bearing: 249.163716 deg, deltaT: 4.419095 s, approachRate: 0.610985 m/s, LOS rate: 3.257981 deg/s, posRepo size: 4
2021-02-16T15:42:43.316Z,1613490163.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:44.108Z,1613490164.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:44.498Z,1613490164.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:45.332Z,1613490165.332 [Micromodem](INFO): Nmea in: $SNTTA,0.012037,,,,154245.51*40

2021-02-16T15:42:45.357Z,1613490165.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 237.220038 deg, deltaT: 4.515413 s, approachRate: 0.252468 m/s, LOS rate: -2.645091 deg/s, posRepo size: 4
2021-02-16T15:42:47.753Z,1613490167.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:48.542Z,1613490168.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:48.942Z,1613490168.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:49.772Z,1613490169.772 [Micromodem](INFO): Nmea in: $SNTTA,0.014053,0.061551,,,154249.94*59

2021-02-16T15:42:49.797Z,1613490169.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.179998 m, bearing: 236.068768 deg, deltaT: 4.372632 s, approachRate: 0.699807 m/s, LOS rate: -0.263290 deg/s, posRepo size: 4
2021-02-16T15:42:51.376Z,1613490171.376 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:42:52.223Z,1613490172.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:52.988Z,1613490172.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:53.386Z,1613490173.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:54.216Z,1613490174.216 [Micromodem](INFO): Nmea in: $SNTTA,0.015849,,,,154254.39*48

2021-02-16T15:42:54.287Z,1613490174.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.880001 m, bearing: 234.876955 deg, deltaT: 4.454965 s, approachRate: 0.606066 m/s, LOS rate: -0.267525 deg/s, posRepo size: 4
2021-02-16T15:42:56.665Z,1613490176.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:42:57.435Z,1613490177.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:42:57.847Z,1613490177.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:42:58.683Z,1613490178.683 [Micromodem](INFO): Nmea in: $SNTTA,0.017996,,,,154258.84*43

2021-02-16T15:42:58.733Z,1613490178.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 242.383688 deg, deltaT: 4.476019 s, approachRate: 0.710452 m/s, LOS rate: 1.677100 deg/s, posRepo size: 4
2021-02-16T15:43:01.083Z,1613490181.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:01.874Z,1613490181.874 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:02.292Z,1613490182.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:03.100Z,1613490183.100 [Micromodem](INFO): Nmea in: $SNTTA,0.019663,,,,154303.28*41

2021-02-16T15:43:03.169Z,1613490183.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.639999 m, bearing: 246.797548 deg, deltaT: 4.430262 s, approachRate: 0.582358 m/s, LOS rate: 0.996298 deg/s, posRepo size: 4
2021-02-16T15:43:05.545Z,1613490185.545 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:06.312Z,1613490186.312 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:06.729Z,1613490186.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:07.540Z,1613490187.540 [Micromodem](INFO): Nmea in: $SNTTA,0.021472,,,,154307.71*40

2021-02-16T15:43:07.576Z,1613490187.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 251.560075 deg, deltaT: 4.470030 s, approachRate: 0.604023 m/s, LOS rate: 1.065435 deg/s, posRepo size: 4
2021-02-16T15:43:09.985Z,1613490189.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:10.761Z,1613490190.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:11.174Z,1613490191.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:11.992Z,1613490191.992 [Micromodem](INFO): Nmea in: $SNTTA,0.023277,,,,154312.16*44

2021-02-16T15:43:12.030Z,1613490192.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.040001 m, bearing: 256.496826 deg, deltaT: 4.397901 s, approachRate: 0.613929 m/s, LOS rate: 1.122524 deg/s, posRepo size: 4
2021-02-16T15:43:14.562Z,1613490194.562 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:15.218Z,1613490195.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:15.606Z,1613490195.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:16.440Z,1613490196.440 [Micromodem](INFO): Nmea in: $SNTTA,0.025098,,,,154316.62*46

2021-02-16T15:43:16.484Z,1613490196.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 259.734745 deg, deltaT: 4.434472 s, approachRate: 0.622396 m/s, LOS rate: 0.730170 deg/s, posRepo size: 4
2021-02-16T15:43:18.892Z,1613490198.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:19.649Z,1613490199.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:20.056Z,1613490200.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:20.876Z,1613490200.876 [Micromodem](INFO): Nmea in: $SNTTA,0.027002,,,,154321.05*42

2021-02-16T15:43:20.920Z,1613490200.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 253.356551 deg, deltaT: 4.443693 s, approachRate: 0.634608 m/s, LOS rate: -1.435337 deg/s, posRepo size: 4
2021-02-16T15:43:23.323Z,1613490203.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:24.089Z,1613490204.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:24.493Z,1613490204.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:25.320Z,1613490205.320 [Micromodem](INFO): Nmea in: $SNTTA,0.029104,,,0.056154,154325.49*5A

2021-02-16T15:43:25.365Z,1613490205.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.799999 m, bearing: 247.510756 deg, deltaT: 4.495160 s, approachRate: 0.707427 m/s, LOS rate: -1.300464 deg/s, posRepo size: 4
2021-02-16T15:43:27.777Z,1613490207.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:28.533Z,1613490208.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:28.959Z,1613490208.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:29.764Z,1613490209.764 [Micromodem](INFO): Nmea in: $SNTTA,0.030960,,,,154329.94*49

2021-02-16T15:43:29.817Z,1613490209.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.560001 m, bearing: 241.937294 deg, deltaT: 4.435899 s, approachRate: 0.622197 m/s, LOS rate: -1.256445 deg/s, posRepo size: 4
2021-02-16T15:43:32.279Z,1613490212.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:32.987Z,1613490212.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:33.386Z,1613490213.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:34.212Z,1613490214.212 [Micromodem](INFO): Nmea in: $SNTTA,0.033022,,,,154334.39*4E

2021-02-16T15:43:34.262Z,1613490214.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.619995 m, bearing: 239.110142 deg, deltaT: 4.430032 s, approachRate: 0.690738 m/s, LOS rate: -0.638179 deg/s, posRepo size: 4
2021-02-16T15:43:36.627Z,1613490216.627 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:37.420Z,1613490217.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:37.832Z,1613490217.832 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:38.648Z,1613490218.648 [Micromodem](INFO): Nmea in: $SNTTA,0.034858,,,,154338.82*40

2021-02-16T15:43:38.666Z,1613490218.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.440002 m, bearing: 246.528056 deg, deltaT: 4.420175 s, approachRate: 0.637985 m/s, LOS rate: 1.678194 deg/s, posRepo size: 4
2021-02-16T15:43:41.102Z,1613490221.102 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:41.864Z,1613490221.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:42.280Z,1613490222.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:43.103Z,1613490223.103 [Micromodem](INFO): Nmea in: $SNTTA,0.036791,,,,154343.27*4B

2021-02-16T15:43:43.163Z,1613490223.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.320004 m, bearing: 251.618049 deg, deltaT: 4.496532 s, approachRate: 0.640494 m/s, LOS rate: 1.131982 deg/s, posRepo size: 4
2021-02-16T15:43:45.526Z,1613490225.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:46.308Z,1613490226.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:46.726Z,1613490226.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:47.543Z,1613490227.543 [Micromodem](INFO): Nmea in: $SNTTA,0.038787,,,,154347.71*45

2021-02-16T15:43:47.562Z,1613490227.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.319996 m, bearing: 243.516680 deg, deltaT: 4.440162 s, approachRate: 0.675649 m/s, LOS rate: -1.824566 deg/s, posRepo size: 4
2021-02-16T15:43:49.790Z,1613490229.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:50.377Z,1613490230.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:50.783Z,1613490230.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:51.611Z,1613490231.611 [Micromodem](INFO): Nmea in: $SNTTA,0.040749,,,,154351.78*46

2021-02-16T15:43:51.630Z,1613490231.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 247.399588 deg, deltaT: 4.113841 s, approachRate: 0.714661 m/s, LOS rate: 0.943864 deg/s, posRepo size: 4
2021-02-16T15:43:54.050Z,1613490234.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:54.827Z,1613490234.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:55.243Z,1613490235.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:43:56.052Z,1613490236.052 [Micromodem](INFO): Nmea in: $SNTTA,0.042668,,,,154356.23*4F

2021-02-16T15:43:56.092Z,1613490236.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.139999 m, bearing: 229.157655 deg, deltaT: 4.362490 s, approachRate: 0.660174 m/s, LOS rate: -4.181541 deg/s, posRepo size: 4
2021-02-16T15:43:58.498Z,1613490238.498 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:43:59.269Z,1613490239.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:43:59.675Z,1613490239.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:00.496Z,1613490240.496 [Micromodem](INFO): Nmea in: $SNTTA,0.044555,,,,154400.67*40

2021-02-16T15:44:00.503Z,1613490240.503 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:44:00.547Z,1613490240.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.900002 m, bearing: 241.044698 deg, deltaT: 4.480282 s, approachRate: 0.616033 m/s, LOS rate: 2.653191 deg/s, posRepo size: 4
2021-02-16T15:44:02.946Z,1613490242.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:03.727Z,1613490243.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:04.156Z,1613490244.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:04.980Z,1613490244.980 [Micromodem](INFO): Nmea in: $SNTTA,0.046552,,,,154405.13*43

2021-02-16T15:44:05.005Z,1613490245.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 247.903929 deg, deltaT: 4.389164 s, approachRate: 0.697171 m/s, LOS rate: 1.562765 deg/s, posRepo size: 4
2021-02-16T15:44:07.385Z,1613490247.385 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:08.166Z,1613490248.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:08.557Z,1613490248.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:09.388Z,1613490249.388 [Micromodem](INFO): Nmea in: $SNTTA,0.048352,,,,154409.57*47

2021-02-16T15:44:09.434Z,1613490249.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.720009 m, bearing: 244.751797 deg, deltaT: 4.459791 s, approachRate: 0.618865 m/s, LOS rate: -0.706789 deg/s, posRepo size: 4
2021-02-16T15:44:11.820Z,1613490251.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:12.596Z,1613490252.596 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:13.009Z,1613490253.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:13.824Z,1613490253.824 [Micromodem](INFO): Nmea in: $SNTTA,0.050096,,,,154414.00*4B

2021-02-16T15:44:13.863Z,1613490253.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.300003 m, bearing: 249.958559 deg, deltaT: 4.446633 s, approachRate: 0.580213 m/s, LOS rate: 1.170945 deg/s, posRepo size: 4
2021-02-16T15:44:16.279Z,1613490256.279 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:17.040Z,1613490257.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:17.463Z,1613490257.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:18.277Z,1613490258.277 [Micromodem](INFO): Nmea in: $SNTTA,0.052062,,,,154418.44*4E

2021-02-16T15:44:18.306Z,1613490258.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.240005 m, bearing: 241.229960 deg, deltaT: 4.430937 s, approachRate: 0.663517 m/s, LOS rate: -1.969922 deg/s, posRepo size: 4
2021-02-16T15:44:20.735Z,1613490260.735 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:21.501Z,1613490261.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:21.908Z,1613490261.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:22.748Z,1613490262.748 [Micromodem](INFO): Nmea in: $SNTTA,0.054106,,,,154422.90*4B

2021-02-16T15:44:22.758Z,1613490262.758 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:44:22.774Z,1613490262.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.300003 m, bearing: 240.244118 deg, deltaT: 4.461807 s, approachRate: 0.685820 m/s, LOS rate: -0.220951 deg/s, posRepo size: 4
2021-02-16T15:44:23.119Z,1613490263.119 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,154423,*45
 expected 46
2021-02-16T15:44:25.192Z,1613490265.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:25.945Z,1613490265.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:26.335Z,1613490266.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:27.173Z,1613490267.173 [Micromodem](INFO): Nmea in: $SNTTA,0.056117,,,,154427.35*43

2021-02-16T15:44:27.197Z,1613490267.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.300011 m, bearing: 244.688440 deg, deltaT: 4.433147 s, approachRate: 0.676722 m/s, LOS rate: 1.002521 deg/s, posRepo size: 4
2021-02-16T15:44:29.579Z,1613490269.579 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:30.378Z,1613490270.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:30.785Z,1613490270.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:31.611Z,1613490271.611 [Micromodem](INFO): Nmea in: $SNTTA,0.058260,,,,154431.78*40

2021-02-16T15:44:31.630Z,1613490271.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.540001 m, bearing: 246.276377 deg, deltaT: 4.451983 s, approachRate: 0.727763 m/s, LOS rate: 0.356681 deg/s, posRepo size: 4
2021-02-16T15:44:34.038Z,1613490274.038 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:34.816Z,1613490274.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:35.230Z,1613490275.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:36.057Z,1613490276.057 [Micromodem](INFO): Nmea in: $SNTTA,0.060221,,,,154436.22*46

2021-02-16T15:44:36.132Z,1613490276.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.480011 m, bearing: 247.679024 deg, deltaT: 4.414022 s, approachRate: 0.666061 m/s, LOS rate: 0.317771 deg/s, posRepo size: 4
2021-02-16T15:44:38.483Z,1613490278.483 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:39.273Z,1613490279.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:39.701Z,1613490279.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:40.501Z,1613490280.501 [Micromodem](INFO): Nmea in: $SNTTA,0.062231,,,,154440.68*4A

2021-02-16T15:44:40.554Z,1613490280.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 250.484128 deg, deltaT: 4.449412 s, approachRate: 0.674245 m/s, LOS rate: 0.630444 deg/s, posRepo size: 4
2021-02-16T15:44:42.945Z,1613490282.945 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:43.717Z,1613490283.717 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:44.124Z,1613490284.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:44.944Z,1613490284.944 [Micromodem](INFO): Nmea in: $SNTTA,0.063974,,,,154445.12*49

2021-02-16T15:44:45.014Z,1613490285.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.120003 m, bearing: 252.333170 deg, deltaT: 4.440122 s, approachRate: 0.594578 m/s, LOS rate: 0.416439 deg/s, posRepo size: 4
2021-02-16T15:44:47.391Z,1613490287.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:48.169Z,1613490288.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:48.554Z,1613490288.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:49.392Z,1613490289.392 [Micromodem](INFO): Nmea in: $SNTTA,0.065748,,,,154449.57*43

2021-02-16T15:44:49.429Z,1613490289.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.759995 m, bearing: 248.750982 deg, deltaT: 4.495296 s, approachRate: 0.587279 m/s, LOS rate: -0.796875 deg/s, posRepo size: 4
2021-02-16T15:44:51.824Z,1613490291.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:52.597Z,1613490292.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:53.017Z,1613490293.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:53.824Z,1613490293.824 [Micromodem](INFO): Nmea in: $SNTTA,0.067811,,,,154454.00*4C

2021-02-16T15:44:53.868Z,1613490293.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.820007 m, bearing: 245.548388 deg, deltaT: 4.401906 s, approachRate: 0.695156 m/s, LOS rate: -0.727547 deg/s, posRepo size: 4
2021-02-16T15:44:56.287Z,1613490296.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:44:57.054Z,1613490297.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:44:57.450Z,1613490297.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:44:58.289Z,1613490298.289 [Micromodem](INFO): Nmea in: $SNTTA,0.069734,,,,154458.45*47

2021-02-16T15:44:58.334Z,1613490298.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.820000 m, bearing: 253.529327 deg, deltaT: 4.444871 s, approachRate: 0.674933 m/s, LOS rate: 1.795539 deg/s, posRepo size: 4
2021-02-16T15:45:00.745Z,1613490300.745 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:01.480Z,1613490301.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:01.885Z,1613490301.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:02.728Z,1613490302.728 [Micromodem](INFO): Nmea in: $SNTTA,0.071616,,,,154502.88*40

2021-02-16T15:45:02.764Z,1613490302.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.580009 m, bearing: 248.284261 deg, deltaT: 4.460046 s, approachRate: 0.618830 m/s, LOS rate: -1.176012 deg/s, posRepo size: 4
2021-02-16T15:45:05.288Z,1613490305.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:05.932Z,1613490305.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:06.335Z,1613490306.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:07.172Z,1613490307.172 [Micromodem](INFO): Nmea in: $SNTTA,0.073760,,,,154507.33*47

2021-02-16T15:45:07.225Z,1613490307.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.820000 m, bearing: 241.611084 deg, deltaT: 4.426801 s, approachRate: 0.731903 m/s, LOS rate: -1.507449 deg/s, posRepo size: 4
2021-02-16T15:45:09.574Z,1613490309.574 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:10.388Z,1613490310.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:10.794Z,1613490310.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:11.619Z,1613490311.619 [Micromodem](INFO): Nmea in: $SNTTA,0.075830,,,,154511.79*42

2021-02-16T15:45:11.638Z,1613490311.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.879997 m, bearing: 247.671183 deg, deltaT: 4.503184 s, approachRate: 0.679519 m/s, LOS rate: 1.345736 deg/s, posRepo size: 4
2021-02-16T15:45:14.049Z,1613490314.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:14.812Z,1613490314.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:15.229Z,1613490315.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:16.040Z,1613490316.040 [Micromodem](INFO): Nmea in: $SNTTA,0.077858,,,,154516.21*44

2021-02-16T15:45:16.079Z,1613490316.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.940002 m, bearing: 252.051165 deg, deltaT: 4.390499 s, approachRate: 0.696961 m/s, LOS rate: 0.997605 deg/s, posRepo size: 4
2021-02-16T15:45:18.494Z,1613490318.494 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:19.268Z,1613490319.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:19.666Z,1613490319.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:20.492Z,1613490320.492 [Micromodem](INFO): Nmea in: $SNTTA,0.079814,,,,154520.67*45

2021-02-16T15:45:20.532Z,1613490320.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.880005 m, bearing: 246.438689 deg, deltaT: 4.461031 s, approachRate: 0.659041 m/s, LOS rate: -1.258112 deg/s, posRepo size: 4
2021-02-16T15:45:22.946Z,1613490322.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:23.720Z,1613490323.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:24.112Z,1613490324.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:24.940Z,1613490324.940 [Micromodem](INFO): Nmea in: $SNTTA,0.081811,,,,154525.12*40

2021-02-16T15:45:25.036Z,1613490325.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.879997 m, bearing: 251.486828 deg, deltaT: 4.451286 s, approachRate: 0.673961 m/s, LOS rate: 1.134085 deg/s, posRepo size: 4
2021-02-16T15:45:27.361Z,1613490327.361 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:28.161Z,1613490328.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:28.550Z,1613490328.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:29.384Z,1613490329.384 [Micromodem](INFO): Nmea in: $SNTTA,0.083655,,,,154529.56*40

2021-02-16T15:45:29.433Z,1613490329.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.579994 m, bearing: 249.833676 deg, deltaT: 4.453041 s, approachRate: 0.606327 m/s, LOS rate: -0.371241 deg/s, posRepo size: 4
2021-02-16T15:45:31.816Z,1613490331.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:32.593Z,1613490332.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:32.993Z,1613490332.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:33.828Z,1613490333.828 [Micromodem](INFO): Nmea in: $SNTTA,0.085504,,,,154533.99*49

2021-02-16T15:45:33.872Z,1613490333.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.400009 m, bearing: 243.608532 deg, deltaT: 4.406300 s, approachRate: 0.639996 m/s, LOS rate: -1.412783 deg/s, posRepo size: 4
2021-02-16T15:45:36.261Z,1613490336.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:37.040Z,1613490337.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:37.457Z,1613490337.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:38.269Z,1613490338.269 [Micromodem](INFO): Nmea in: $SNTTA,0.087641,,,,154538.44*42

2021-02-16T15:45:38.334Z,1613490338.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.580002 m, bearing: 245.965876 deg, deltaT: 4.463256 s, approachRate: 0.712483 m/s, LOS rate: 0.528167 deg/s, posRepo size: 4
2021-02-16T15:45:40.732Z,1613490340.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:41.481Z,1613490341.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:41.883Z,1613490341.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:42.733Z,1613490342.733 [Micromodem](INFO): Nmea in: $SNTTA,0.089403,,,,154542.88*45

2021-02-16T15:45:42.813Z,1613490342.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.220001 m, bearing: 246.543109 deg, deltaT: 4.445566 s, approachRate: 0.593850 m/s, LOS rate: 0.129845 deg/s, posRepo size: 4
2021-02-16T15:45:45.205Z,1613490345.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:45.924Z,1613490345.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:46.344Z,1613490346.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:47.188Z,1613490347.188 [Micromodem](INFO): Nmea in: $SNTTA,0.091258,,,,154547.33*41

2021-02-16T15:45:47.229Z,1613490347.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.040009 m, bearing: 247.919857 deg, deltaT: 4.444765 s, approachRate: 0.634456 m/s, LOS rate: 0.309746 deg/s, posRepo size: 4
2021-02-16T15:45:49.582Z,1613490349.582 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:50.368Z,1613490350.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:50.779Z,1613490350.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:51.601Z,1613490351.601 [Micromodem](INFO): Nmea in: $SNTTA,0.093386,,,,154551.77*46

2021-02-16T15:45:52.415Z,1613490352.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:53.999Z,1613490353.999 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:45:55.270Z,1613490355.270 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:45:56.031Z,1613490356.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:45:56.431Z,1613490356.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:45:57.261Z,1613490357.261 [Micromodem](INFO): Nmea in: $SNTTA,0.095581,,0.102474,,154557.43*5A

2021-02-16T15:45:57.309Z,1613490357.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.520004 m, bearing: 253.893049 deg, deltaT: 10.115319 s, approachRate: 0.640612 m/s, LOS rate: 0.590509 deg/s, posRepo size: 4
2021-02-16T15:45:59.721Z,1613490359.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:00.470Z,1613490360.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:00.887Z,1613490360.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:01.724Z,1613490361.724 [Micromodem](INFO): Nmea in: $SNTTA,0.097683,,,,154601.87*4B

2021-02-16T15:46:01.748Z,1613490361.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.540009 m, bearing: 234.070118 deg, deltaT: 4.429822 s, approachRate: 0.907487 m/s, LOS rate: -4.474882 deg/s, posRepo size: 4
2021-02-16T15:46:04.172Z,1613490364.172 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:04.913Z,1613490364.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:05.322Z,1613490365.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:06.164Z,1613490366.164 [Micromodem](INFO): Nmea in: $SNTTA,0.099468,,,,154606.31*48

2021-02-16T15:46:06.203Z,1613490366.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.239990 m, bearing: 246.384840 deg, deltaT: 4.430833 s, approachRate: 0.609362 m/s, LOS rate: 2.779324 deg/s, posRepo size: 4
2021-02-16T15:46:06.203Z,1613490366.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.24 m. Resuming terminal guidance.
2021-02-16T15:46:06.204Z,1613490366.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:46:08.559Z,1613490368.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:09.359Z,1613490369.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:09.758Z,1613490369.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:10.585Z,1613490370.585 [Micromodem](INFO): Nmea in: $SNTTA,0.101265,,,,154610.76*47

2021-02-16T15:46:10.608Z,1613490370.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 242.981357 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:46:10.609Z,1613490370.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 242.981357deg and heading rate command to 0 deg/s.
2021-02-16T15:46:13.014Z,1613490373.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:13.803Z,1613490373.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:14.202Z,1613490374.202 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:15.030Z,1613490375.030 [Micromodem](INFO): Nmea in: $SNTTA,0.103160,,,,154615.21*44

2021-02-16T15:46:15.106Z,1613490375.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.919998 m, bearing: 258.758165 deg, deltaT: 4.588828 s, approachRate: 0.444557 m/s, LOS rate: 3.438091 deg/s, posRepo size: 2
2021-02-16T15:46:15.120Z,1613490375.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 258.758165 deg,
      approachRate: 0.444557 m/s,
      LOS rate: 3.438091 deg/s,
      cmd update: 10.314273 deg/s,
      cmd heading: 242.981357 deg,
      new cmd heading: 242.981357 deg.

2021-02-16T15:46:17.480Z,1613490377.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:18.240Z,1613490378.240 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:18.651Z,1613490378.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:19.496Z,1613490379.496 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154619.65*53

2021-02-16T15:46:19.541Z,1613490379.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 285.314214 deg, deltaT: 4.359934 s, approachRate: 0.633036 m/s, LOS rate: 6.090929 deg/s, posRepo size: 3
2021-02-16T15:46:19.543Z,1613490379.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 285.314214 deg,
      approachRate: 0.633036 m/s,
      LOS rate: 6.090929 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 287.679465 deg,
      new cmd heading: 292.032140 deg.

2021-02-16T15:46:21.902Z,1613490381.902 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:22.714Z,1613490382.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:23.092Z,1613490383.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:23.932Z,1613490383.932 [Micromodem](INFO): Nmea in: $SNTTA,0.106790,,,,154624.12*4A

2021-02-16T15:46:23.956Z,1613490383.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 301.845539 deg, deltaT: 4.417203 s, approachRate: 0.000000 m/s, LOS rate: 3.742487 deg/s, posRepo size: 4
2021-02-16T15:46:23.958Z,1613490383.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 301.845539 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.742487 deg/s,
      cmd update: 11.227462 deg/s,
      cmd heading: 340.953779 deg,
      new cmd heading: 345.716243 deg.

2021-02-16T15:46:26.354Z,1613490386.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:27.155Z,1613490387.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:27.542Z,1613490387.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:28.372Z,1613490388.372 [Micromodem](INFO): Nmea in: $SNTTA,0.108361,,,,154628.56*42

2021-02-16T15:46:28.411Z,1613490388.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 324.354100 deg, deltaT: 4.432785 s, approachRate: 0.000000 m/s, LOS rate: 5.077747 deg/s, posRepo size: 4
2021-02-16T15:46:28.413Z,1613490388.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 324.354100 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.077747 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 30.768139 deg,
      new cmd heading: 35.427659 deg.

2021-02-16T15:46:30.808Z,1613490390.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:31.578Z,1613490391.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:31.978Z,1613490391.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:32.804Z,1613490392.804 [Micromodem](INFO): Nmea in: $SNTTA,0.109493,,,,154632.98*40

2021-02-16T15:46:32.829Z,1613490392.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.340012 m, bearing: 292.601889 deg, deltaT: 4.419953 s, approachRate: 1.506808 m/s, LOS rate: -7.183834 deg/s, posRepo size: 4
2021-02-16T15:46:32.830Z,1613490392.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.340012 m,
      bearing: 292.601889 deg,
      approachRate: 1.506808 m/s,
      LOS rate: -7.183834 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 83.807553 deg,
      new cmd heading: 88.764213 deg.

2021-02-16T15:46:35.239Z,1613490395.239 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:36.016Z,1613490396.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:36.427Z,1613490396.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:37.251Z,1613490397.251 [Micromodem](INFO): Nmea in: $SNTTA,0.110179,,,,154637.42*4B

2021-02-16T15:46:37.288Z,1613490397.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.299988 m, bearing: 0.759828 deg, deltaT: 4.449748 s, approachRate: 0.215737 m/s, LOS rate: 15.317256 deg/s, posRepo size: 4
2021-02-16T15:46:37.289Z,1613490397.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.317256 deg/s. Setting heading cmd to target bearing of 0.759828deg and heading rate command to 0 deg/s.
2021-02-16T15:46:39.705Z,1613490399.705 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:40.460Z,1613490400.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:40.871Z,1613490400.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:41.712Z,1613490401.712 [Micromodem](INFO): Nmea in: $SNTTA,0.110298,,,,154641.86*4E

2021-02-16T15:46:41.760Z,1613490401.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 292.093040 deg, deltaT: 4.442126 s, approachRate: 0.027016 m/s, LOS rate: -15.458089 deg/s, posRepo size: 4
2021-02-16T15:46:41.761Z,1613490401.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.458089 deg/s. Setting heading cmd to target bearing of 292.093040deg and heading rate command to 0 deg/s.
2021-02-16T15:46:44.146Z,1613490404.146 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:44.915Z,1613490404.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:45.317Z,1613490405.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:46.168Z,1613490406.168 [Micromodem](INFO): Nmea in: $SNTTA,0.110186,,,,154646.32*4A

2021-02-16T15:46:46.206Z,1613490406.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 316.912936 deg, deltaT: 4.453809 s, approachRate: -0.040413 m/s, LOS rate: 5.572735 deg/s, posRepo size: 4
2021-02-16T15:46:46.219Z,1613490406.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.240005 m,
      bearing: 316.912936 deg,
      approachRate: -0.040413 m/s,
      LOS rate: 5.572735 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 292.093040 deg,
      new cmd heading: 292.093040 deg.

2021-02-16T15:46:46.304Z,1613490406.304 [ThrusterServo](FAULT): Invalid EZ Servo response:""
2021-02-16T15:46:46.304Z,1613490406.304 [ThrusterServo] Communications Fault, FailCount= 1
2021-02-16T15:46:46.304Z,1613490406.304 [ThrusterServo](ERROR): Communications Fault
2021-02-16T15:46:46.308Z,1613490406.308 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-02-16T15:46:46.592Z,1613490406.592 [CTD_Seabird](ERROR): Failed to parse device response: 5.69,1.7097,2.788.67
2021-02-16T15:46:46.596Z,1613490406.596 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T15:46:46.596Z,1613490406.596 [ThrusterServo](INFO): Powering down
2021-02-16T15:46:47.008Z,1613490407.008 [ThrusterServo](FAULT): LCB fault:  Hardware Overcurrent Shutdown. Current Limiter Activated.
2021-02-16T15:46:47.008Z,1613490407.008 [ThrusterServo] Hardware Fault, FailCount= 1
2021-02-16T15:46:47.008Z,1613490407.008 [ThrusterServo](ERROR): Hardware Fault
2021-02-16T15:46:47.472Z,1613490407.472 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-02-16T15:46:47.592Z,1613490407.592 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-02-16T15:46:47.600Z,1613490407.600 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-02-16T15:46:47.600Z,1613490407.600 [ThrusterServo] No Fault, FailCount= 1
2021-02-16T15:46:48.555Z,1613490408.555 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:49.365Z,1613490409.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:49.754Z,1613490409.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:50.588Z,1613490410.588 [Micromodem](INFO): Nmea in: $SNTTA,0.109440,,,,154650.77*4B

2021-02-16T15:46:50.636Z,1613490410.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.240005 m, bearing: 316.564023 deg, deltaT: 4.464940 s, approachRate: 0.000000 m/s, LOS rate: -0.078145 deg/s, posRepo size: 4
2021-02-16T15:46:50.637Z,1613490410.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.240005 m,
      bearing: 316.564023 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.078145 deg/s,
      cmd update: -0.234435 deg/s,
      cmd heading: 345.626469 deg,
      new cmd heading: 350.588961 deg.

2021-02-16T15:46:53.061Z,1613490413.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:53.800Z,1613490413.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:54.215Z,1613490414.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:55.028Z,1613490415.028 [Micromodem](INFO): Nmea in: $SNTTA,0.109012,,,,154655.20*4F

2021-02-16T15:46:55.122Z,1613490415.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.439987 m, bearing: 35.881149 deg, deltaT: 4.631562 s, approachRate: -0.388642 m/s, LOS rate: 17.125350 deg/s, posRepo size: 4
2021-02-16T15:46:55.129Z,1613490415.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.125350 deg/s. Setting heading cmd to target bearing of 35.881149deg and heading rate command to 0 deg/s.
2021-02-16T15:46:55.428Z,1613490415.428 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:46:57.461Z,1613490417.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:46:58.242Z,1613490418.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:46:58.647Z,1613490418.647 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:46:59.489Z,1613490419.489 [Micromodem](INFO): Nmea in: $SNTTA,0.108705,,0.112005,,154659.64*5A

2021-02-16T15:46:59.533Z,1613490419.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 309.334678 deg, deltaT: 4.221289 s, approachRate: -0.085279 m/s, LOS rate: -20.502379 deg/s, posRepo size: 4
2021-02-16T15:46:59.534Z,1613490419.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.502379 deg/s. Setting heading cmd to target bearing of 309.334678deg and heading rate command to 0 deg/s.
2021-02-16T15:47:01.903Z,1613490421.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:02.716Z,1613490422.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:03.086Z,1613490423.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:03.918Z,1613490423.918 [Micromodem](INFO): Nmea in: $SNTTA,0.108301,,,,154704.12*4B

2021-02-16T15:47:04.340Z,1613490424.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.300003 m, bearing: 38.992109 deg, deltaT: 4.881257 s, approachRate: -0.159795 m/s, LOS rate: 18.367692 deg/s, posRepo size: 4
2021-02-16T15:47:04.341Z,1613490424.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.367692 deg/s. Setting heading cmd to target bearing of 38.992109deg and heading rate command to 0 deg/s.
2021-02-16T15:47:06.805Z,1613490426.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:07.528Z,1613490427.528 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:07.934Z,1613490427.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:08.772Z,1613490428.772 [Micromodem](INFO): Nmea in: $SNTTA,0.107244,,,0.109749,154708.93*5D

2021-02-16T15:47:08.796Z,1613490428.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.860001 m, bearing: 32.099847 deg, deltaT: 4.412007 s, approachRate: -0.326383 m/s, LOS rate: -1.562160 deg/s, posRepo size: 4
2021-02-16T15:47:08.797Z,1613490428.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.860001 m,
      bearing: 32.099847 deg,
      approachRate: -0.326383 m/s,
      LOS rate: -1.562160 deg/s,
      cmd update: -4.686481 deg/s,
      cmd heading: 38.992109 deg,
      new cmd heading: 38.992109 deg.

2021-02-16T15:47:11.201Z,1613490431.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:11.972Z,1613490431.972 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:12.379Z,1613490432.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:13.211Z,1613490433.211 [Micromodem](INFO): Nmea in: $SNTTA,0.106244,,0.109005,,154713.37*57

2021-02-16T15:47:13.236Z,1613490433.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.539993 m, bearing: 40.987866 deg, deltaT: 4.486308 s, approachRate: -0.294230 m/s, LOS rate: 1.981143 deg/s, posRepo size: 4
2021-02-16T15:47:13.238Z,1613490433.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.539993 m,
      bearing: 40.987866 deg,
      approachRate: -0.294230 m/s,
      LOS rate: 1.981143 deg/s,
      cmd update: 5.943430 deg/s,
      cmd heading: 17.984965 deg,
      new cmd heading: 16.196965 deg.

2021-02-16T15:47:15.623Z,1613490435.623 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:16.422Z,1613490436.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:16.824Z,1613490436.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:17.648Z,1613490437.648 [Micromodem](INFO): Nmea in: $SNTTA,0.104854,,,,154717.82*47

2021-02-16T15:47:17.730Z,1613490437.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.139999 m, bearing: 82.002746 deg, deltaT: 4.420363 s, approachRate: -0.542940 m/s, LOS rate: 9.278622 deg/s, posRepo size: 4
2021-02-16T15:47:17.736Z,1613490437.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 82.002746 deg,
      approachRate: -0.542940 m/s,
      LOS rate: 9.278622 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 44.269493 deg,
      new cmd heading: 46.959679 deg.

2021-02-16T15:47:20.161Z,1613490440.161 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:20.865Z,1613490440.865 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:21.271Z,1613490441.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:22.099Z,1613490442.099 [Micromodem](INFO): Nmea in: $SNTTA,0.103096,0.110988,,,154722.27*58

2021-02-16T15:47:22.189Z,1613490442.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 68.656030 deg, deltaT: 4.474126 s, approachRate: -0.590056 m/s, LOS rate: -2.983089 deg/s, posRepo size: 4
2021-02-16T15:47:22.199Z,1613490442.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.500015 m,
      bearing: 68.656030 deg,
      approachRate: -0.590056 m/s,
      LOS rate: -2.983089 deg/s,
      cmd update: -8.949267 deg/s,
      cmd heading: 97.845835 deg,
      new cmd heading: 103.215907 deg.

2021-02-16T15:47:24.540Z,1613490444.540 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:25.326Z,1613490445.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:25.731Z,1613490445.731 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:26.545Z,1613490446.545 [Micromodem](INFO): Nmea in: $SNTTA,0.101120,,0.103882,,154726.73*5A

2021-02-16T15:47:26.581Z,1613490446.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.500000 m, bearing: 69.730282 deg, deltaT: 4.445925 s, approachRate: -0.674779 m/s, LOS rate: 0.241626 deg/s, posRepo size: 4
2021-02-16T15:47:26.583Z,1613490446.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.500000 m,
      bearing: 69.730282 deg,
      approachRate: -0.674779 m/s,
      LOS rate: 0.241626 deg/s,
      cmd update: 0.724879 deg/s,
      cmd heading: 57.992456 deg,
      new cmd heading: 54.532571 deg.

2021-02-16T15:47:28.999Z,1613490448.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:29.754Z,1613490449.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:30.184Z,1613490450.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:30.980Z,1613490450.980 [Micromodem](INFO): Nmea in: $SNTTA,0.098859,,,,154731.15*44

2021-02-16T15:47:31.033Z,1613490451.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.080002 m, bearing: 70.723638 deg, deltaT: 4.376419 s, approachRate: -0.781460 m/s, LOS rate: 0.226979 deg/s, posRepo size: 4
2021-02-16T15:47:31.034Z,1613490451.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.080002 m,
      bearing: 70.723638 deg,
      approachRate: -0.781460 m/s,
      LOS rate: 0.226979 deg/s,
      cmd update: 0.680937 deg/s,
      cmd heading: 61.167708 deg,
      new cmd heading: 61.499223 deg.

2021-02-16T15:47:33.441Z,1613490453.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:34.192Z,1613490454.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:34.612Z,1613490454.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:35.429Z,1613490455.429 [Micromodem](INFO): Nmea in: $SNTTA,0.096680,,,,154735.59*4C

2021-02-16T15:47:35.442Z,1613490455.442 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-02-16T15:47:35.477Z,1613490455.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.839996 m, bearing: 69.635595 deg, deltaT: 4.469805 s, approachRate: -0.724865 m/s, LOS rate: -0.243421 deg/s, posRepo size: 4
2021-02-16T15:47:35.478Z,1613490455.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.839996 m,
      bearing: 69.635595 deg,
      approachRate: -0.724865 m/s,
      LOS rate: -0.243421 deg/s,
      cmd update: -0.730262 deg/s,
      cmd heading: 64.211396 deg,
      new cmd heading: 64.505294 deg.

2021-02-16T15:47:37.874Z,1613490457.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:38.641Z,1613490458.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:39.047Z,1613490459.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:39.873Z,1613490459.873 [Micromodem](INFO): Nmea in: $SNTTA,0.094205,,,0.096730,154740.04*58

2021-02-16T15:47:39.910Z,1613490459.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.059998 m, bearing: 71.371215 deg, deltaT: 4.439494 s, approachRate: -0.851448 m/s, LOS rate: 0.390950 deg/s, posRepo size: 4
2021-02-16T15:47:39.912Z,1613490459.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.059998 m,
      bearing: 71.371215 deg,
      approachRate: -0.851448 m/s,
      LOS rate: 0.390950 deg/s,
      cmd update: 1.172849 deg/s,
      cmd heading: 60.969385 deg,
      new cmd heading: 60.659028 deg.

2021-02-16T15:47:42.316Z,1613490462.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:43.086Z,1613490463.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:43.488Z,1613490463.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:44.315Z,1613490464.315 [Micromodem](INFO): Nmea in: $SNTTA,0.091914,,,,154744.49*4E

2021-02-16T15:47:44.340Z,1613490464.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 71.904994 deg, deltaT: 4.449734 s, approachRate: -0.768585 m/s, LOS rate: 0.119958 deg/s, posRepo size: 4
2021-02-16T15:47:44.342Z,1613490464.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.639999 m,
      bearing: 71.904994 deg,
      approachRate: -0.768585 m/s,
      LOS rate: 0.119958 deg/s,
      cmd update: 0.359873 deg/s,
      cmd heading: 66.188100 deg,
      new cmd heading: 66.664311 deg.

2021-02-16T15:47:45.175Z,1613490465.175 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:47:46.760Z,1613490466.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:47.524Z,1613490467.524 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:47.947Z,1613490467.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:48.756Z,1613490468.756 [Micromodem](INFO): Nmea in: $SNTTA,0.089500,,,,154748.93*45

2021-02-16T15:47:48.794Z,1613490468.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.039993 m, bearing: 72.237092 deg, deltaT: 4.434856 s, approachRate: -0.811753 m/s, LOS rate: 0.074883 deg/s, posRepo size: 4
2021-02-16T15:47:48.796Z,1613490468.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.039993 m,
      bearing: 72.237092 deg,
      approachRate: -0.811753 m/s,
      LOS rate: 0.074883 deg/s,
      cmd update: 0.224650 deg/s,
      cmd heading: 67.784132 deg,
      new cmd heading: 67.936918 deg.

2021-02-16T15:47:50.370Z,1613490470.370 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:47:51.193Z,1613490471.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:51.968Z,1613490471.968 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:52.401Z,1613490472.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:53.204Z,1613490473.204 [Micromodem](INFO): Nmea in: $SNTTA,0.087156,,,,154753.37*48

2021-02-16T15:47:53.228Z,1613490473.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.500000 m, bearing: 72.988651 deg, deltaT: 4.441529 s, approachRate: -0.797021 m/s, LOS rate: 0.169212 deg/s, posRepo size: 4
2021-02-16T15:47:53.230Z,1613490473.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.500000 m,
      bearing: 72.988651 deg,
      approachRate: -0.797021 m/s,
      LOS rate: 0.169212 deg/s,
      cmd update: 0.507636 deg/s,
      cmd heading: 68.781872 deg,
      new cmd heading: 68.875721 deg.

2021-02-16T15:47:55.221Z,1613490475.221 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:47:55.634Z,1613490475.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:47:56.418Z,1613490476.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:47:56.825Z,1613490476.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:47:57.645Z,1613490477.645 [Micromodem](INFO): Nmea in: $SNTTA,0.084554,,,,154757.82*47

2021-02-16T15:47:57.739Z,1613490477.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.599998 m, bearing: 73.233746 deg, deltaT: 4.449760 s, approachRate: -0.876452 m/s, LOS rate: 0.055080 deg/s, posRepo size: 4
2021-02-16T15:47:57.741Z,1613490477.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.599998 m,
      bearing: 73.233746 deg,
      approachRate: -0.876452 m/s,
      LOS rate: 0.055080 deg/s,
      cmd update: 0.165241 deg/s,
      cmd heading: 71.039747 deg,
      new cmd heading: 71.281651 deg.

2021-02-16T15:48:00.162Z,1613490480.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:00.471Z,1613490480.471 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:48:00.871Z,1613490480.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:01.265Z,1613490481.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:02.100Z,1613490482.100 [Micromodem](INFO): Nmea in: $SNTTA,0.082063,,,,154802.28*4F

2021-02-16T15:48:02.171Z,1613490482.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.940002 m, bearing: 73.847233 deg, deltaT: 4.471253 s, approachRate: -0.818562 m/s, LOS rate: 0.137207 deg/s, posRepo size: 4
2021-02-16T15:48:02.173Z,1613490482.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 73.847233 deg,
      approachRate: -0.818562 m/s,
      LOS rate: 0.137207 deg/s,
      cmd update: 0.411621 deg/s,
      cmd heading: 71.778275 deg,
      new cmd heading: 71.850873 deg.

2021-02-16T15:48:04.517Z,1613490484.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:05.302Z,1613490485.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:05.354Z,1613490485.354 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:48:05.723Z,1613490485.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:06.548Z,1613490486.548 [Micromodem](INFO): Nmea in: $SNTTA,0.079860,,,0.082360,154806.70*58

2021-02-16T15:48:06.605Z,1613490486.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 73.276913 deg, deltaT: 4.459242 s, approachRate: -0.753493 m/s, LOS rate: -0.127896 deg/s, posRepo size: 4
2021-02-16T15:48:06.607Z,1613490486.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 73.276913 deg,
      approachRate: -0.753493 m/s,
      LOS rate: -0.127896 deg/s,
      cmd update: -0.383689 deg/s,
      cmd heading: 73.613653 deg,
      new cmd heading: 73.785812 deg.

2021-02-16T15:48:08.970Z,1613490488.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:09.746Z,1613490489.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:10.179Z,1613490490.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:10.199Z,1613490490.199 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T15:48:10.980Z,1613490490.980 [Micromodem](INFO): Nmea in: $SNTTA,0.077373,,,,154811.15*4B

2021-02-16T15:48:11.020Z,1613490491.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.860008 m, bearing: 73.261251 deg, deltaT: 4.380562 s, approachRate: -0.849203 m/s, LOS rate: -0.003575 deg/s, posRepo size: 4
2021-02-16T15:48:11.021Z,1613490491.021 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.860008 m,
      bearing: 73.261251 deg,
      approachRate: -0.849203 m/s,
      LOS rate: -0.003575 deg/s,
      cmd update: -0.010726 deg/s,
      cmd heading: 71.931343 deg,
      new cmd heading: 71.759337 deg.

2021-02-16T15:48:13.407Z,1613490493.407 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:14.193Z,1613490494.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:14.593Z,1613490494.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:15.424Z,1613490495.424 [Micromodem](INFO): Nmea in: $SNTTA,0.074846,,,,154815.60*43

2021-02-16T15:48:15.445Z,1613490495.445 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:48:15.473Z,1613490495.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.080002 m, bearing: 73.474674 deg, deltaT: 4.466136 s, approachRate: -0.846371 m/s, LOS rate: 0.047787 deg/s, posRepo size: 4
2021-02-16T15:48:15.475Z,1613490495.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.080002 m,
      bearing: 73.474674 deg,
      approachRate: -0.846371 m/s,
      LOS rate: 0.047787 deg/s,
      cmd update: 0.143361 deg/s,
      cmd heading: 71.883438 deg,
      new cmd heading: 71.878764 deg.

2021-02-16T15:48:17.872Z,1613490497.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:18.632Z,1613490498.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:19.043Z,1613490499.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:19.864Z,1613490499.864 [Micromodem](INFO): Nmea in: $SNTTA,0.072355,,,0.074861,154820.03*5D

2021-02-16T15:48:19.930Z,1613490499.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.300003 m, bearing: 73.455625 deg, deltaT: 4.452425 s, approachRate: -0.848975 m/s, LOS rate: -0.004278 deg/s, posRepo size: 4
2021-02-16T15:48:19.937Z,1613490499.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.300003 m,
      bearing: 73.455625 deg,
      approachRate: -0.848975 m/s,
      LOS rate: -0.004278 deg/s,
      cmd update: -0.012835 deg/s,
      cmd heading: 72.521171 deg,
      new cmd heading: 72.584826 deg.

2021-02-16T15:48:22.316Z,1613490502.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:23.077Z,1613490503.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:23.481Z,1613490503.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:24.308Z,1613490504.308 [Micromodem](INFO): Nmea in: $SNTTA,0.069708,,,,154824.48*42

2021-02-16T15:48:24.333Z,1613490504.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 74.649521 deg, deltaT: 4.455090 s, approachRate: -0.888872 m/s, LOS rate: 0.267985 deg/s, posRepo size: 4
2021-02-16T15:48:24.335Z,1613490504.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.339996 m,
      bearing: 74.649521 deg,
      approachRate: -0.888872 m/s,
      LOS rate: 0.267985 deg/s,
      cmd update: 0.803955 deg/s,
      cmd heading: 72.463989 deg,
      new cmd heading: 72.458954 deg.

2021-02-16T15:48:26.769Z,1613490506.769 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:27.521Z,1613490507.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:27.925Z,1613490507.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:28.769Z,1613490508.769 [Micromodem](INFO): Nmea in: $SNTTA,0.067472,,,0.069991,154828.92*59

2021-02-16T15:48:28.792Z,1613490508.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.040001 m, bearing: 73.300730 deg, deltaT: 4.427002 s, approachRate: -0.745424 m/s, LOS rate: -0.304674 deg/s, posRepo size: 4
2021-02-16T15:48:28.794Z,1613490508.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.040001 m,
      bearing: 73.300730 deg,
      approachRate: -0.745424 m/s,
      LOS rate: -0.304674 deg/s,
      cmd update: -0.914021 deg/s,
      cmd heading: 76.023106 deg,
      new cmd heading: 76.363793 deg.

2021-02-16T15:48:31.210Z,1613490511.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:31.981Z,1613490511.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:32.370Z,1613490512.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:33.204Z,1613490513.204 [Micromodem](INFO): Nmea in: $SNTTA,0.064862,,,,154833.39*4C

2021-02-16T15:48:33.262Z,1613490513.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.139999 m, bearing: 74.411154 deg, deltaT: 4.423257 s, approachRate: -0.881704 m/s, LOS rate: 0.251042 deg/s, posRepo size: 4
2021-02-16T15:48:33.269Z,1613490513.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.139999 m,
      bearing: 74.411154 deg,
      approachRate: -0.881704 m/s,
      LOS rate: 0.251042 deg/s,
      cmd update: 0.753127 deg/s,
      cmd heading: 71.976306 deg,
      new cmd heading: 71.550381 deg.

2021-02-16T15:48:35.228Z,1613490515.228 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:48:35.636Z,1613490515.636 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:36.430Z,1613490516.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:36.831Z,1613490516.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:37.655Z,1613490517.655 [Micromodem](INFO): Nmea in: $SNTTA,0.062499,,,,154837.83*47

2021-02-16T15:48:37.724Z,1613490517.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 74.416721 deg, deltaT: 4.495919 s, approachRate: -0.814071 m/s, LOS rate: 0.001238 deg/s, posRepo size: 4
2021-02-16T15:48:37.725Z,1613490517.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.480003 m,
      bearing: 74.416721 deg,
      approachRate: -0.814071 m/s,
      LOS rate: 0.001238 deg/s,
      cmd update: 0.003714 deg/s,
      cmd heading: 75.358913 deg,
      new cmd heading: 75.687696 deg.

2021-02-16T15:48:40.176Z,1613490520.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:40.466Z,1613490520.466 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:48:40.853Z,1613490520.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:41.277Z,1613490521.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:42.088Z,1613490522.088 [Micromodem](INFO): Nmea in: $SNTTA,0.059932,,0.099790,,154842.25*5D

2021-02-16T15:48:42.172Z,1613490522.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.699997 m, bearing: 75.116597 deg, deltaT: 4.432731 s, approachRate: -0.852749 m/s, LOS rate: 0.157888 deg/s, posRepo size: 4
2021-02-16T15:48:42.175Z,1613490522.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.699997 m,
      bearing: 75.116597 deg,
      approachRate: -0.852749 m/s,
      LOS rate: 0.157888 deg/s,
      cmd update: 0.473665 deg/s,
      cmd heading: 75.375364 deg,
      new cmd heading: 75.377049 deg.

2021-02-16T15:48:44.665Z,1613490524.665 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:45.306Z,1613490525.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:45.727Z,1613490525.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:46.531Z,1613490526.531 [Micromodem](INFO): Nmea in: $SNTTA,0.057592,,,,154846.71*40

2021-02-16T15:48:46.554Z,1613490526.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 74.671952 deg, deltaT: 4.458764 s, approachRate: -0.793942 m/s, LOS rate: -0.099724 deg/s, posRepo size: 4
2021-02-16T15:48:46.556Z,1613490526.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.159996 m,
      bearing: 74.671952 deg,
      approachRate: -0.793942 m/s,
      LOS rate: -0.099724 deg/s,
      cmd update: -0.299172 deg/s,
      cmd heading: 77.491182 deg,
      new cmd heading: 77.666750 deg.

2021-02-16T15:48:48.958Z,1613490528.958 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:49.746Z,1613490529.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:50.187Z,1613490530.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:50.972Z,1613490530.972 [Micromodem](INFO): Nmea in: $SNTTA,0.054900,,,,154851.15*40

2021-02-16T15:48:51.012Z,1613490531.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.139999 m, bearing: 75.174162 deg, deltaT: 4.394870 s, approachRate: -0.914702 m/s, LOS rate: 0.114272 deg/s, posRepo size: 4
2021-02-16T15:48:51.014Z,1613490531.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.139999 m,
      bearing: 75.174162 deg,
      approachRate: -0.914702 m/s,
      LOS rate: 0.114272 deg/s,
      cmd update: 0.342816 deg/s,
      cmd heading: 76.176346 deg,
      new cmd heading: 76.046302 deg.

2021-02-16T15:48:53.416Z,1613490533.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:54.197Z,1613490534.197 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:54.590Z,1613490534.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:55.437Z,1613490535.437 [Micromodem](INFO): Nmea in: $SNTTA,0.052355,,0.078617,0.054862,154855.60*48

2021-02-16T15:48:55.461Z,1613490535.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.360001 m, bearing: 75.819628 deg, deltaT: 4.453119 s, approachRate: -0.848843 m/s, LOS rate: 0.144947 deg/s, posRepo size: 4
2021-02-16T15:48:55.463Z,1613490535.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.360001 m,
      bearing: 75.819628 deg,
      approachRate: -0.848843 m/s,
      LOS rate: 0.144947 deg/s,
      cmd update: 0.434841 deg/s,
      cmd heading: 77.697453 deg,
      new cmd heading: 77.850507 deg.

2021-02-16T15:48:57.862Z,1613490537.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:48:58.628Z,1613490538.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:48:59.039Z,1613490539.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:48:59.856Z,1613490539.856 [Micromodem](INFO): Nmea in: $SNTTA,0.049908,,,,154900.03*46

2021-02-16T15:48:59.894Z,1613490539.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.639999 m, bearing: 76.059791 deg, deltaT: 4.448024 s, approachRate: -0.836327 m/s, LOS rate: 0.053993 deg/s, posRepo size: 4
2021-02-16T15:48:59.896Z,1613490539.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 76.059791 deg,
      approachRate: -0.836327 m/s,
      LOS rate: 0.053993 deg/s,
      cmd update: 0.161980 deg/s,
      cmd heading: 79.638587 deg,
      new cmd heading: 79.819074 deg.

2021-02-16T15:49:02.305Z,1613490542.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:03.072Z,1613490543.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:03.479Z,1613490543.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:04.304Z,1613490544.304 [Micromodem](INFO): Nmea in: $SNTTA,0.047524,,,,154904.47*4E

2021-02-16T15:49:04.329Z,1613490544.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.100006 m, bearing: 75.502018 deg, deltaT: 4.431649 s, approachRate: -0.798798 m/s, LOS rate: -0.125861 deg/s, posRepo size: 4
2021-02-16T15:49:04.331Z,1613490544.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.100006 m,
      bearing: 75.502018 deg,
      approachRate: -0.798798 m/s,
      LOS rate: -0.125861 deg/s,
      cmd update: -0.377584 deg/s,
      cmd heading: 80.356420 deg,
      new cmd heading: 80.424251 deg.

2021-02-16T15:49:06.748Z,1613490546.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:07.166Z,1613490547.166 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:49:07.521Z,1613490547.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:07.921Z,1613490547.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:08.764Z,1613490548.764 [Micromodem](INFO): Nmea in: $SNTTA,0.045092,,,,154908.92*40

2021-02-16T15:49:08.788Z,1613490548.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.440002 m, bearing: 75.497380 deg, deltaT: 4.468566 s, approachRate: -0.819055 m/s, LOS rate: -0.001038 deg/s, posRepo size: 4
2021-02-16T15:49:08.790Z,1613490548.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.440002 m,
      bearing: 75.497380 deg,
      approachRate: -0.819055 m/s,
      LOS rate: -0.001038 deg/s,
      cmd update: -0.003114 deg/s,
      cmd heading: 78.670652 deg,
      new cmd heading: 78.514934 deg.

2021-02-16T15:49:11.209Z,1613490551.209 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:11.965Z,1613490551.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:12.374Z,1613490552.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:13.196Z,1613490553.196 [Micromodem](INFO): Nmea in: $SNTTA,0.042684,,,,154913.37*43

2021-02-16T15:49:13.247Z,1613490553.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.840004 m, bearing: 75.553886 deg, deltaT: 4.428484 s, approachRate: -0.812919 m/s, LOS rate: 0.012760 deg/s, posRepo size: 4
2021-02-16T15:49:13.249Z,1613490553.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.840004 m,
      bearing: 75.553886 deg,
      approachRate: -0.812919 m/s,
      LOS rate: 0.012760 deg/s,
      cmd update: 0.038279 deg/s,
      cmd heading: 78.656851 deg,
      new cmd heading: 78.655495 deg.

2021-02-16T15:49:15.613Z,1613490555.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:16.410Z,1613490556.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:16.810Z,1613490556.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:17.636Z,1613490557.636 [Micromodem](INFO): Nmea in: $SNTTA,0.040162,,,,154917.81*47

2021-02-16T15:49:17.714Z,1613490557.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.060001 m, bearing: 76.275134 deg, deltaT: 4.482335 s, approachRate: -0.843311 m/s, LOS rate: 0.160909 deg/s, posRepo size: 4
2021-02-16T15:49:17.720Z,1613490557.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.060001 m,
      bearing: 76.275134 deg,
      approachRate: -0.843311 m/s,
      LOS rate: 0.160909 deg/s,
      cmd update: 0.482727 deg/s,
      cmd heading: 78.828234 deg,
      new cmd heading: 78.844665 deg.

2021-02-16T15:49:20.085Z,1613490560.085 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:20.853Z,1613490560.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:21.265Z,1613490561.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:22.084Z,1613490562.084 [Micromodem](INFO): Nmea in: $SNTTA,0.037792,,,,154922.25*46

2021-02-16T15:49:22.167Z,1613490562.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 75.045952 deg, deltaT: 4.429658 s, approachRate: -0.799159 m/s, LOS rate: -0.277489 deg/s, posRepo size: 4
2021-02-16T15:49:22.169Z,1613490562.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.520000 m,
      bearing: 75.045952 deg,
      approachRate: -0.799159 m/s,
      LOS rate: -0.277489 deg/s,
      cmd update: -0.832467 deg/s,
      cmd heading: 80.967628 deg,
      new cmd heading: 81.182988 deg.

2021-02-16T15:49:24.538Z,1613490564.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:25.299Z,1613490565.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:25.728Z,1613490565.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:26.532Z,1613490566.532 [Micromodem](INFO): Nmea in: $SNTTA,0.035274,,,,154926.70*4D

2021-02-16T15:49:26.557Z,1613490566.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.739998 m, bearing: 76.589015 deg, deltaT: 4.446100 s, approachRate: -0.850184 m/s, LOS rate: 0.347060 deg/s, posRepo size: 4
2021-02-16T15:49:26.558Z,1613490566.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.739998 m,
      bearing: 76.589015 deg,
      approachRate: -0.850184 m/s,
      LOS rate: 0.347060 deg/s,
      cmd update: 1.041179 deg/s,
      cmd heading: 77.267318 deg,
      new cmd heading: 76.938524 deg.

2021-02-16T15:49:28.970Z,1613490568.970 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:29.758Z,1613490569.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:30.165Z,1613490570.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:30.985Z,1613490570.985 [Micromodem](INFO): Nmea in: $SNTTA,0.032862,,,,154931.16*41

2021-02-16T15:49:31.023Z,1613490571.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.140003 m, bearing: 77.097543 deg, deltaT: 4.418186 s, approachRate: -0.814813 m/s, LOS rate: 0.115099 deg/s, posRepo size: 4
2021-02-16T15:49:31.025Z,1613490571.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.140003 m,
      bearing: 77.097543 deg,
      approachRate: -0.814813 m/s,
      LOS rate: 0.115099 deg/s,
      cmd update: 0.345297 deg/s,
      cmd heading: 81.871488 deg,
      new cmd heading: 82.328938 deg.

2021-02-16T15:49:33.421Z,1613490573.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:34.189Z,1613490574.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:34.590Z,1613490574.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:35.416Z,1613490575.416 [Micromodem](INFO): Nmea in: $SNTTA,0.030536,,,,154935.59*40

2021-02-16T15:49:35.441Z,1613490575.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.599998 m, bearing: 75.465770 deg, deltaT: 4.457271 s, approachRate: -0.794209 m/s, LOS rate: -0.366092 deg/s, posRepo size: 4
2021-02-16T15:49:35.463Z,1613490575.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 75.465770 deg,
      approachRate: -0.794209 m/s,
      LOS rate: -0.366092 deg/s,
      cmd update: -1.098277 deg/s,
      cmd heading: 83.410581 deg,
      new cmd heading: 83.548761 deg.

2021-02-16T15:49:37.870Z,1613490577.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:38.636Z,1613490578.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:39.033Z,1613490579.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:39.880Z,1613490579.880 [Micromodem](INFO): Nmea in: $SNTTA,0.028059,,0.029216,,154940.04*5F

2021-02-16T15:49:39.915Z,1613490579.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.879997 m, bearing: 74.642452 deg, deltaT: 4.504405 s, approachRate: -0.825859 m/s, LOS rate: -0.182781 deg/s, posRepo size: 4
2021-02-16T15:49:39.917Z,1613490579.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.879997 m,
      bearing: 74.642452 deg,
      approachRate: -0.825859 m/s,
      LOS rate: -0.182781 deg/s,
      cmd update: -0.548342 deg/s,
      cmd heading: 78.463668 deg,
      new cmd heading: 78.057442 deg.

2021-02-16T15:49:42.317Z,1613490582.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:43.095Z,1613490583.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:43.483Z,1613490583.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:44.324Z,1613490584.324 [Micromodem](INFO): Nmea in: $SNTTA,0.025769,,,,154944.50*43

2021-02-16T15:49:44.369Z,1613490584.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.459995 m, bearing: 76.761306 deg, deltaT: 4.378745 s, approachRate: -0.781046 m/s, LOS rate: 0.483895 deg/s, posRepo size: 4
2021-02-16T15:49:44.369Z,1613490584.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-02-16T15:49:44.371Z,1613490584.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 76.761306 deg,
      approachRate: -0.781046 m/s,
      LOS rate: 0.483895 deg/s,
      cmd update: 1.451686 deg/s,
      cmd heading: 76.071223 deg,
      new cmd heading: 75.818851 deg.

2021-02-16T15:49:44.750Z,1613490584.750 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:49:46.754Z,1613490586.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:47.517Z,1613490587.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:47.941Z,1613490587.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:48.748Z,1613490588.748 [Micromodem](INFO): Nmea in: $SNTTA,0.023338,,,0.062981,154948.92*5D

2021-02-16T15:49:48.809Z,1613490588.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.799999 m, bearing: 76.849348 deg, deltaT: 4.473342 s, approachRate: -0.818179 m/s, LOS rate: 0.019681 deg/s, posRepo size: 4
2021-02-16T15:49:48.809Z,1613490588.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.80 m.
2021-02-16T15:49:48.810Z,1613490588.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.80 m.
2021-02-16T15:49:48.810Z,1613490588.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:49:48.816Z,1613490588.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.799999 m,
      bearing: 76.849348 deg,
      approachRate: -0.818179 m/s,
      LOS rate: 0.019681 deg/s,
      cmd update: 0.059044 deg/s,
      cmd heading: 82.582336 deg,
      new cmd heading: 83.185498 deg.

2021-02-16T15:49:51.202Z,1613490591.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:51.961Z,1613490591.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:52.384Z,1613490592.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:53.193Z,1613490593.193 [Micromodem](INFO): Nmea in: $SNTTA,0.021156,,,,154953.36*4B

2021-02-16T15:49:53.254Z,1613490593.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 74.584102 deg, deltaT: 4.424627 s, approachRate: -0.732265 m/s, LOS rate: -0.511963 deg/s, posRepo size: 4
2021-02-16T15:49:53.257Z,1613490593.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.559998 m,
      bearing: 74.584102 deg,
      approachRate: -0.732265 m/s,
      LOS rate: -0.511963 deg/s,
      cmd update: -1.535889 deg/s,
      cmd heading: 82.843584 deg,
      new cmd heading: 82.869248 deg.

2021-02-16T15:49:55.613Z,1613490595.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:49:56.412Z,1613490596.412 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:49:56.815Z,1613490596.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:49:57.636Z,1613490597.636 [Micromodem](INFO): Nmea in: $SNTTA,0.018797,,,,154957.81*42

2021-02-16T15:49:57.687Z,1613490597.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.959997 m, bearing: 73.463179 deg, deltaT: 4.434672 s, approachRate: -0.811785 m/s, LOS rate: -0.252763 deg/s, posRepo size: 4
2021-02-16T15:49:57.689Z,1613490597.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.959997 m,
      bearing: 73.463179 deg,
      approachRate: -0.811785 m/s,
      LOS rate: -0.252763 deg/s,
      cmd update: -0.758290 deg/s,
      cmd heading: 76.058524 deg,
      new cmd heading: 75.372195 deg.

2021-02-16T15:50:00.065Z,1613490600.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:00.856Z,1613490600.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:01.254Z,1613490601.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:02.080Z,1613490602.080 [Micromodem](INFO): Nmea in: $SNTTA,0.016375,,,,155002.26*41

2021-02-16T15:50:02.167Z,1613490602.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.359999 m, bearing: 77.108963 deg, deltaT: 4.457058 s, approachRate: -0.807707 m/s, LOS rate: 0.817980 deg/s, posRepo size: 4
2021-02-16T15:50:02.169Z,1613490602.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.359999 m,
      bearing: 77.108963 deg,
      approachRate: -0.807707 m/s,
      LOS rate: 0.817980 deg/s,
      cmd update: 2.453940 deg/s,
      cmd heading: 72.678613 deg,
      new cmd heading: 72.322283 deg.

2021-02-16T15:50:04.510Z,1613490604.510 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:05.297Z,1613490605.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:05.723Z,1613490605.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:06.527Z,1613490606.527 [Micromodem](INFO): Nmea in: $SNTTA,0.013850,,,,155006.70*4F

2021-02-16T15:50:06.552Z,1613490606.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 78.781615 deg, deltaT: 4.457498 s, approachRate: -0.861470 m/s, LOS rate: 0.375245 deg/s, posRepo size: 4
2021-02-16T15:50:06.554Z,1613490606.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.519997 m,
      bearing: 78.781615 deg,
      approachRate: -0.861470 m/s,
      LOS rate: 0.375245 deg/s,
      cmd update: 1.125734 deg/s,
      cmd heading: 83.628743 deg,
      new cmd heading: 84.602692 deg.

2021-02-16T15:50:08.985Z,1613490608.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:09.746Z,1613490609.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:10.169Z,1613490610.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:10.968Z,1613490610.968 [Micromodem](INFO): Nmea in: $SNTTA,0.011476,,,,155011.15*40

2021-02-16T15:50:11.018Z,1613490611.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.039999 m, bearing: 75.262667 deg, deltaT: 4.402673 s, approachRate: -0.790428 m/s, LOS rate: -0.799275 deg/s, posRepo size: 4
2021-02-16T15:50:11.024Z,1613490611.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.039999 m,
      bearing: 75.262667 deg,
      approachRate: -0.790428 m/s,
      LOS rate: -0.799275 deg/s,
      cmd update: -2.397826 deg/s,
      cmd heading: 88.585038 deg,
      new cmd heading: 89.103204 deg.

2021-02-16T15:50:13.423Z,1613490613.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:14.180Z,1613490614.180 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:14.594Z,1613490614.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:15.428Z,1613490615.428 [Micromodem](INFO): Nmea in: $SNTTA,0.009080,,0.041098,,155015.58*53

2021-02-16T15:50:15.463Z,1613490615.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.439999 m, bearing: 74.229642 deg, deltaT: 4.470635 s, approachRate: -0.805255 m/s, LOS rate: -0.231069 deg/s, posRepo size: 4
2021-02-16T15:50:15.466Z,1613490615.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.439999 m,
      bearing: 74.229642 deg,
      approachRate: -0.805255 m/s,
      LOS rate: -0.231069 deg/s,
      cmd update: -0.693207 deg/s,
      cmd heading: 77.868042 deg,
      new cmd heading: 76.825340 deg.

2021-02-16T15:50:17.861Z,1613490617.861 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:18.631Z,1613490618.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:19.043Z,1613490619.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:19.867Z,1613490619.867 [Micromodem](INFO): Nmea in: $SNTTA,0.006861,,,,155020.03*49

2021-02-16T15:50:19.891Z,1613490619.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.019998 m, bearing: 77.022500 deg, deltaT: 4.431082 s, approachRate: -0.771821 m/s, LOS rate: 0.630288 deg/s, posRepo size: 4
2021-02-16T15:50:19.893Z,1613490619.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.019998 m,
      bearing: 77.022500 deg,
      approachRate: -0.771821 m/s,
      LOS rate: 0.630288 deg/s,
      cmd update: 1.890864 deg/s,
      cmd heading: 74.784481 deg,
      new cmd heading: 74.496720 deg.

2021-02-16T15:50:22.300Z,1613490622.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:23.068Z,1613490623.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:23.081Z,1613490623.081 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:50:23.474Z,1613490623.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:24.316Z,1613490624.316 [Micromodem](INFO): Nmea in: $SNTTA,0.004635,,,,155024.47*40

2021-02-16T15:50:24.368Z,1613490624.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.719998 m, bearing: 78.035997 deg, deltaT: 4.425668 s, approachRate: -0.745650 m/s, LOS rate: 0.229004 deg/s, posRepo size: 4
2021-02-16T15:50:24.370Z,1613490624.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.719998 m,
      bearing: 78.035997 deg,
      approachRate: -0.745650 m/s,
      LOS rate: 0.229004 deg/s,
      cmd update: 0.687013 deg/s,
      cmd heading: 83.152835 deg,
      new cmd heading: 84.035759 deg.

2021-02-16T15:50:26.761Z,1613490626.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:27.523Z,1613490627.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:27.918Z,1613490627.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:28.748Z,1613490628.748 [Micromodem](INFO): Nmea in: $SNTTA,0.002648,,,,155028.92*48

2021-02-16T15:50:28.771Z,1613490628.771 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T15:50:28.791Z,1613490628.791 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:50:28.791Z,1613490628.791 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T15:50:28.791Z,1613490628.791 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:50:28.791Z,1613490628.791 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T15:50:28.792Z,1613490628.792 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.599999 m 
2021-02-16T15:50:28.792Z,1613490628.792 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T15:50:28.792Z,1613490628.792 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T15:50:28.792Z,1613490628.792 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T15:50:28.794Z,1613490628.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 80.502905 deg, deltaT: 4.443725 s, approachRate: -0.702113 m/s, LOS rate: 0.555144 deg/s, posRepo size: 4
2021-02-16T15:50:28.796Z,1613490628.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 80.502905 deg,
      approachRate: -0.702113 m/s,
      LOS rate: 0.555144 deg/s,
      cmd update: 1.665432 deg/s,
      cmd heading: 86.205731 deg,
      new cmd heading: 86.514139 deg.

2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T155029: (41.552319, -70.708603)
2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T15:50:29.196Z,1613490629.196 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T15:50:29.197Z,1613490629.197 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T15:50:29.197Z,1613490629.197 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T15:50:29.197Z,1613490629.197 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T15:50:31.212Z,1613490631.212 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:31.961Z,1613490631.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:32.367Z,1613490632.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:33.196Z,1613490633.196 [Micromodem](INFO): Nmea in: $SNTTA,0.002046,,,,155033.36*44

2021-02-16T15:50:33.221Z,1613490633.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.059998 m, bearing: 82.442009 deg, deltaT: 4.453902 s, approachRate: -0.121242 m/s, LOS rate: 0.435372 deg/s, posRepo size: 4
2021-02-16T15:50:33.223Z,1613490633.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.059998 m,
      bearing: 82.442009 deg,
      approachRate: -0.121242 m/s,
      LOS rate: 0.435372 deg/s,
      cmd update: 1.306116 deg/s,
      cmd heading: 93.623197 deg,
      new cmd heading: 94.326218 deg.

2021-02-16T15:50:35.647Z,1613490635.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:36.404Z,1613490636.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:36.810Z,1613490636.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:37.637Z,1613490637.637 [Micromodem](INFO): Nmea in: $SNTTA,0.004095,,0.005264,,155037.80*5E

2021-02-16T15:50:37.652Z,1613490637.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.880000 m, bearing: 97.762704 deg, deltaT: 4.456686 s, approachRate: 0.632758 m/s, LOS rate: 3.437688 deg/s, posRepo size: 4
2021-02-16T15:50:37.654Z,1613490637.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.880000 m,
      bearing: 97.762704 deg,
      approachRate: 0.632758 m/s,
      LOS rate: 3.437688 deg/s,
      cmd update: 10.313063 deg/s,
      cmd heading: 99.441692 deg,
      new cmd heading: 99.961189 deg.

2021-02-16T15:50:40.076Z,1613490640.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:40.849Z,1613490640.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:41.254Z,1613490641.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:42.076Z,1613490642.076 [Micromodem](INFO): Nmea in: $SNTTA,0.006092,,,,155042.25*4D

2021-02-16T15:50:42.156Z,1613490642.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 107.393585 deg, deltaT: 4.458118 s, approachRate: 0.713305 m/s, LOS rate: 2.160302 deg/s, posRepo size: 4
2021-02-16T15:50:42.158Z,1613490642.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 107.393585 deg,
      approachRate: 0.713305 m/s,
      LOS rate: 2.160302 deg/s,
      cmd update: 6.480906 deg/s,
      cmd heading: 145.244512 deg,
      new cmd heading: 150.001093 deg.

2021-02-16T15:50:44.716Z,1613490644.716 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:45.301Z,1613490645.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:45.727Z,1613490645.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:46.527Z,1613490646.527 [Micromodem](INFO): Nmea in: $SNTTA,0.008142,,,,155046.70*4B

2021-02-16T15:50:46.552Z,1613490646.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.240001 m, bearing: 82.558723 deg, deltaT: 4.468139 s, approachRate: 0.711706 m/s, LOS rate: -5.558212 deg/s, posRepo size: 4
2021-02-16T15:50:46.554Z,1613490646.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.240001 m,
      bearing: 82.558723 deg,
      approachRate: 0.711706 m/s,
      LOS rate: -5.558212 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 174.263475 deg,
      new cmd heading: 176.720166 deg.

2021-02-16T15:50:48.968Z,1613490648.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:49.754Z,1613490649.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:50.162Z,1613490650.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:50.976Z,1613490650.976 [Micromodem](INFO): Nmea in: $SNTTA,0.010151,,,,155051.16*46

2021-02-16T15:50:51.026Z,1613490651.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.299999 m, bearing: 164.495093 deg, deltaT: 4.399290 s, approachRate: 0.695566 m/s, LOS rate: 18.624908 deg/s, posRepo size: 4
2021-02-16T15:50:51.026Z,1613490651.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.30 m. Rolling out.
2021-02-16T15:50:51.027Z,1613490651.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T15:50:53.412Z,1613490653.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:54.185Z,1613490654.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:54.586Z,1613490654.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:55.416Z,1613490655.416 [Micromodem](INFO): Nmea in: $SNTTA,0.011744,,,0.067407,155055.59*56

2021-02-16T15:50:55.466Z,1613490655.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 168.215647 deg, deltaT: 4.447679 s, approachRate: 0.566588 m/s, LOS rate: 0.836516 deg/s, posRepo size: 4
2021-02-16T15:50:57.864Z,1613490657.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:50:58.630Z,1613490658.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:50:59.030Z,1613490659.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:50:59.856Z,1613490659.856 [Micromodem](INFO): Nmea in: $SNTTA,0.013452,,,,155100.03*42

2021-02-16T15:50:59.905Z,1613490659.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.400002 m, bearing: 130.905302 deg, deltaT: 4.454544 s, approachRate: 0.579184 m/s, LOS rate: -8.375794 deg/s, posRepo size: 4
2021-02-16T15:51:02.308Z,1613490662.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:03.069Z,1613490663.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:03.481Z,1613490663.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:04.304Z,1613490664.304 [Micromodem](INFO): Nmea in: $SNTTA,0.015695,,,,155104.47*49

2021-02-16T15:51:04.354Z,1613490664.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 165.968447 deg, deltaT: 4.449224 s, approachRate: 0.755188 m/s, LOS rate: 7.880733 deg/s, posRepo size: 4
2021-02-16T15:51:06.794Z,1613490666.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:07.520Z,1613490667.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:07.926Z,1613490667.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:08.756Z,1613490668.756 [Micromodem](INFO): Nmea in: $SNTTA,0.018106,,,,155108.92*4D

2021-02-16T15:51:08.801Z,1613490668.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.119997 m, bearing: 138.143240 deg, deltaT: 4.442758 s, approachRate: 0.756286 m/s, LOS rate: -6.263048 deg/s, posRepo size: 4
2021-02-16T15:51:11.203Z,1613490671.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:11.969Z,1613490671.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:12.387Z,1613490672.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:13.182Z,1613490673.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155113.37*58

2021-02-16T15:51:14.017Z,1613490674.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:15.604Z,1613490675.604 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:51:16.837Z,1613490676.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:17.620Z,1613490677.620 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:18.037Z,1613490678.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:18.855Z,1613490678.855 [Micromodem](INFO): Nmea in: $SNTTA,0.023531,,0.032614,,155119.02*50

2021-02-16T15:51:18.880Z,1613490678.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.399998 m, bearing: 136.122392 deg, deltaT: 10.094209 s, approachRate: 0.820272 m/s, LOS rate: -0.200199 deg/s, posRepo size: 4
2021-02-16T15:51:19.249Z,1613490679.249 [PowerOnly](INFO): Powering down loadControl
2021-02-16T15:51:21.297Z,1613490681.297 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:22.064Z,1613490682.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:22.470Z,1613490682.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:23.302Z,1613490683.302 [Micromodem](INFO): Nmea in: $SNTTA,0.025825,,0.043699,,155123.46*54

2021-02-16T15:51:23.370Z,1613490683.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 140.603406 deg, deltaT: 4.427588 s, approachRate: 0.785981 m/s, LOS rate: 1.012067 deg/s, posRepo size: 4
2021-02-16T15:51:25.756Z,1613490685.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:26.523Z,1613490686.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:26.937Z,1613490686.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:27.748Z,1613490687.748 [Micromodem](INFO): Nmea in: $SNTTA,0.028298,,,,155127.92*47

2021-02-16T15:51:27.796Z,1613490687.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.599998 m, bearing: 138.695638 deg, deltaT: 4.463282 s, approachRate: 0.833468 m/s, LOS rate: -0.427436 deg/s, posRepo size: 4
2021-02-16T15:51:30.188Z,1613490690.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:30.957Z,1613490690.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:31.358Z,1613490691.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:32.184Z,1613490692.184 [Micromodem](INFO): Nmea in: $SNTTA,0.030836,,,,155132.36*4A

2021-02-16T15:51:32.224Z,1613490692.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.380001 m, bearing: 137.634377 deg, deltaT: 4.464635 s, approachRate: 0.846654 m/s, LOS rate: -0.237704 deg/s, posRepo size: 4
2021-02-16T15:51:34.618Z,1613490694.618 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:35.401Z,1613490695.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:35.807Z,1613490695.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:36.628Z,1613490696.628 [Micromodem](INFO): Nmea in: $SNTTA,0.033177,,,,155136.80*4C

2021-02-16T15:51:36.678Z,1613490696.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 137.697816 deg, deltaT: 4.402483 s, approachRate: 0.804092 m/s, LOS rate: 0.014410 deg/s, posRepo size: 4
2021-02-16T15:51:39.082Z,1613490699.082 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:39.841Z,1613490699.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:40.245Z,1613490700.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:41.068Z,1613490701.068 [Micromodem](INFO): Nmea in: $SNTTA,0.035683,,,,155141.24*48

2021-02-16T15:51:41.118Z,1613490701.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.639999 m, bearing: 138.221200 deg, deltaT: 4.466663 s, approachRate: 0.832836 m/s, LOS rate: 0.117176 deg/s, posRepo size: 4
2021-02-16T15:51:41.881Z,1613490701.881 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T15:51:43.523Z,1613490703.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:44.294Z,1613490704.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:44.739Z,1613490704.739 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:45.521Z,1613490705.521 [Micromodem](INFO): Nmea in: $SNTTA,0.038033,,0.039277,,155145.69*53

2021-02-16T15:51:45.558Z,1613490705.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.180004 m, bearing: 138.526345 deg, deltaT: 4.469692 s, approachRate: 0.792002 m/s, LOS rate: 0.068270 deg/s, posRepo size: 4
2021-02-16T15:51:47.969Z,1613490707.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:48.730Z,1613490708.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:49.161Z,1613490709.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:49.960Z,1613490709.960 [Micromodem](INFO): Nmea in: $SNTTA,0.040341,,,,155150.13*45

2021-02-16T15:51:49.999Z,1613490709.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.660000 m, bearing: 138.984582 deg, deltaT: 4.405909 s, approachRate: 0.789847 m/s, LOS rate: 0.104005 deg/s, posRepo size: 4
2021-02-16T15:51:52.400Z,1613490712.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:53.174Z,1613490713.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:53.578Z,1613490713.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:54.404Z,1613490714.404 [Micromodem](INFO): Nmea in: $SNTTA,0.042714,,,,155154.57*47

2021-02-16T15:51:54.449Z,1613490714.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.200005 m, bearing: 131.417703 deg, deltaT: 4.453305 s, approachRate: 0.794916 m/s, LOS rate: -1.699160 deg/s, posRepo size: 4
2021-02-16T15:51:56.863Z,1613490716.863 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:51:57.618Z,1613490717.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:51:58.022Z,1613490718.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:51:58.849Z,1613490718.849 [Micromodem](INFO): Nmea in: $SNTTA,0.045094,,,,155159.02*42

2021-02-16T15:51:58.900Z,1613490718.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.160004 m, bearing: 147.595019 deg, deltaT: 4.464899 s, approachRate: 0.886918 m/s, LOS rate: 3.623221 deg/s, posRepo size: 4
2021-02-16T15:52:01.302Z,1613490721.302 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:02.062Z,1613490722.062 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:02.466Z,1613490722.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:03.308Z,1613490723.308 [Micromodem](INFO): Nmea in: $SNTTA,0.047259,,,,155203.46*4F

2021-02-16T15:52:03.342Z,1613490723.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.040001 m, bearing: 149.118753 deg, deltaT: 4.424673 s, approachRate: 0.650895 m/s, LOS rate: 0.344372 deg/s, posRepo size: 4
2021-02-16T15:52:05.757Z,1613490725.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:06.512Z,1613490726.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:06.925Z,1613490726.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:07.345Z,1613490727.345 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T15:52:07.766Z,1613490727.766 [Micromodem](INFO): Nmea in: $SNTTA,0.049626,,,,155207.91*43

2021-02-16T15:52:07.807Z,1613490727.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 134.942818 deg, deltaT: 4.445030 s, approachRate: 0.782898 m/s, LOS rate: -3.189165 deg/s, posRepo size: 4
2021-02-16T15:52:10.188Z,1613490730.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:10.956Z,1613490730.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:11.363Z,1613490731.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:12.192Z,1613490732.192 [Micromodem](INFO): Nmea in: $SNTTA,0.052110,,,,155212.36*42

2021-02-16T15:52:12.217Z,1613490732.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 138.530730 deg, deltaT: 4.435360 s, approachRate: 0.852242 m/s, LOS rate: 0.808934 deg/s, posRepo size: 4
2021-02-16T15:52:14.612Z,1613490734.612 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:15.403Z,1613490735.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:15.806Z,1613490735.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:16.632Z,1613490736.632 [Micromodem](INFO): Nmea in: $SNTTA,0.054450,,,,155216.80*4C

2021-02-16T15:52:16.694Z,1613490736.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.780006 m, bearing: 136.644437 deg, deltaT: 4.459146 s, approachRate: 0.780419 m/s, LOS rate: -0.423017 deg/s, posRepo size: 4
2021-02-16T15:52:19.073Z,1613490739.073 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:19.845Z,1613490739.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:20.250Z,1613490740.250 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:21.080Z,1613490741.080 [Micromodem](INFO): Nmea in: $SNTTA,0.056870,,,,155221.25*4B

2021-02-16T15:52:21.161Z,1613490741.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.440002 m, bearing: 138.817297 deg, deltaT: 4.448453 s, approachRate: 0.822757 m/s, LOS rate: 0.488453 deg/s, posRepo size: 4
2021-02-16T15:52:23.516Z,1613490743.516 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:24.297Z,1613490744.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:24.710Z,1613490744.710 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:25.509Z,1613490745.509 [Micromodem](INFO): Nmea in: $SNTTA,0.059232,,,,155225.70*4C

2021-02-16T15:52:26.350Z,1613490746.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:27.928Z,1613490747.928 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:52:29.206Z,1613490749.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:29.946Z,1613490749.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:30.377Z,1613490750.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:31.193Z,1613490751.193 [Micromodem](INFO): Nmea in: $SNTTA,0.062284,,,,155231.35*4D

2021-02-16T15:52:31.238Z,1613490751.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.599998 m, bearing: 132.167412 deg, deltaT: 10.107216 s, approachRate: 0.807344 m/s, LOS rate: -0.657934 deg/s, posRepo size: 4
2021-02-16T15:52:33.609Z,1613490753.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:34.397Z,1613490754.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:34.800Z,1613490754.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:35.624Z,1613490755.624 [Micromodem](INFO): Nmea in: $SNTTA,0.064767,,,,155235.80*49

2021-02-16T15:52:35.646Z,1613490755.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 133.833650 deg, deltaT: 4.424440 s, approachRate: 0.827224 m/s, LOS rate: 0.376599 deg/s, posRepo size: 4
2021-02-16T15:52:38.050Z,1613490758.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:38.837Z,1613490758.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:39.251Z,1613490759.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:40.080Z,1613490760.080 [Micromodem](INFO): Nmea in: $SNTTA,0.067061,,,,155240.24*47

2021-02-16T15:52:40.116Z,1613490760.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.740005 m, bearing: 134.471658 deg, deltaT: 4.483188 s, approachRate: 0.776234 m/s, LOS rate: 0.142311 deg/s, posRepo size: 4
2021-02-16T15:52:42.504Z,1613490762.504 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:43.284Z,1613490763.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:43.715Z,1613490763.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:44.640Z,1613490764.640 [Micromodem](INFO): Nmea in: $SNTTA,0.069472,,,,155244.69*42

2021-02-16T15:52:44.764Z,1613490764.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 139.401333 deg, deltaT: 4.444768 s, approachRate: 0.809939 m/s, LOS rate: 1.109096 deg/s, posRepo size: 4
2021-02-16T15:52:46.953Z,1613490766.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:47.728Z,1613490767.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:48.176Z,1613490768.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:48.967Z,1613490768.967 [Micromodem](INFO): Nmea in: $SNTTA,0.071950,,,,155249.13*46

2021-02-16T15:52:48.991Z,1613490768.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.059998 m, bearing: 137.608286 deg, deltaT: 4.402964 s, approachRate: 0.844886 m/s, LOS rate: -0.407237 deg/s, posRepo size: 4
2021-02-16T15:52:51.409Z,1613490771.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:52.186Z,1613490772.186 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:52.590Z,1613490772.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:53.433Z,1613490773.433 [Micromodem](INFO): Nmea in: $SNTTA,0.074351,,,,155253.59*4D

2021-02-16T15:52:53.469Z,1613490773.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.660004 m, bearing: 137.619842 deg, deltaT: 4.478647 s, approachRate: 0.803816 m/s, LOS rate: 0.002580 deg/s, posRepo size: 4
2021-02-16T15:52:55.864Z,1613490775.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:52:56.636Z,1613490776.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:52:57.035Z,1613490777.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:52:57.849Z,1613490777.849 [Micromodem](INFO): Nmea in: $SNTTA,0.076741,,,,155258.04*49

2021-02-16T15:52:58.668Z,1613490778.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:00.269Z,1613490780.269 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:53:01.538Z,1613490781.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:02.300Z,1613490782.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:02.732Z,1613490782.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:03.529Z,1613490783.529 [Micromodem](INFO): Nmea in: $SNTTA,0.080409,,,,155303.70*43

2021-02-16T15:53:03.577Z,1613490783.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.700005 m, bearing: 141.366146 deg, deltaT: 10.077539 s, approachRate: 0.797814 m/s, LOS rate: 0.371748 deg/s, posRepo size: 4
2021-02-16T15:53:05.971Z,1613490785.971 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:06.739Z,1613490786.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:07.162Z,1613490787.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:07.964Z,1613490787.964 [Micromodem](INFO): Nmea in: $SNTTA,0.082205,,,,155308.14*42

2021-02-16T15:53:08.009Z,1613490788.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.480003 m, bearing: 140.071156 deg, deltaT: 4.432791 s, approachRate: 0.852736 m/s, LOS rate: -0.292139 deg/s, posRepo size: 4
2021-02-16T15:53:10.509Z,1613490790.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:11.178Z,1613490791.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:11.578Z,1613490791.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:12.420Z,1613490792.420 [Micromodem](INFO): Nmea in: $SNTTA,0.084556,,,,155312.58*46

2021-02-16T15:53:12.445Z,1613490792.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.019997 m, bearing: 149.260479 deg, deltaT: 4.484948 s, approachRate: 0.789305 m/s, LOS rate: 2.048925 deg/s, posRepo size: 4
2021-02-16T15:53:14.842Z,1613490794.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:15.616Z,1613490795.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:16.022Z,1613490796.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:16.840Z,1613490796.840 [Micromodem](INFO): Nmea in: $SNTTA,0.086925,,,,155317.02*46

2021-02-16T15:53:17.650Z,1613490797.650 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:19.261Z,1613490799.261 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:53:20.514Z,1613490800.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:21.295Z,1613490801.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:21.697Z,1613490801.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:22.516Z,1613490802.516 [Micromodem](INFO): Nmea in: $SNTTA,0.089823,,,,155322.70*4D

2021-02-16T15:53:22.561Z,1613490802.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.880005 m, bearing: 144.486778 deg, deltaT: 10.079897 s, approachRate: 0.779771 m/s, LOS rate: -0.473586 deg/s, posRepo size: 4
2021-02-16T15:53:24.938Z,1613490804.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:25.728Z,1613490805.728 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:26.158Z,1613490806.158 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:26.952Z,1613490806.952 [Micromodem](INFO): Nmea in: $SNTTA,0.092257,,,,155327.13*4E

2021-02-16T15:53:26.997Z,1613490806.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.540009 m, bearing: 140.181573 deg, deltaT: 4.432700 s, approachRate: 0.825683 m/s, LOS rate: -0.971238 deg/s, posRepo size: 4
2021-02-16T15:53:29.389Z,1613490809.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:30.167Z,1613490810.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:30.574Z,1613490810.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:31.408Z,1613490811.408 [Micromodem](INFO): Nmea in: $SNTTA,0.094660,,,,155331.57*4F

2021-02-16T15:53:31.446Z,1613490811.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.139999 m, bearing: 130.505408 deg, deltaT: 4.462170 s, approachRate: 0.806780 m/s, LOS rate: -2.168489 deg/s, posRepo size: 4
2021-02-16T15:53:33.840Z,1613490813.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:34.621Z,1613490814.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:35.016Z,1613490815.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:35.845Z,1613490815.845 [Micromodem](INFO): Nmea in: $SNTTA,0.097171,,,,155336.02*4C

2021-02-16T15:53:35.902Z,1613490815.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.919998 m, bearing: 129.401390 deg, deltaT: 4.471498 s, approachRate: 0.845354 m/s, LOS rate: -0.246901 deg/s, posRepo size: 4
2021-02-16T15:53:38.293Z,1613490818.293 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:39.074Z,1613490819.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:39.464Z,1613490819.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:40.296Z,1613490820.296 [Micromodem](INFO): Nmea in: $SNTTA,0.099574,,,,155340.47*43

2021-02-16T15:53:40.341Z,1613490820.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.460007 m, bearing: 144.780654 deg, deltaT: 4.440461 s, approachRate: 0.797216 m/s, LOS rate: 3.463438 deg/s, posRepo size: 4
2021-02-16T15:53:42.747Z,1613490822.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:43.509Z,1613490823.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:43.898Z,1613490823.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:44.747Z,1613490824.747 [Micromodem](INFO): Nmea in: $SNTTA,0.101869,,,,155344.91*4D

2021-02-16T15:53:44.771Z,1613490824.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.880005 m, bearing: 143.449545 deg, deltaT: 4.442834 s, approachRate: 0.769778 m/s, LOS rate: -0.299608 deg/s, posRepo size: 4
2021-02-16T15:53:44.771Z,1613490824.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.88 m. Resuming terminal guidance.
2021-02-16T15:53:44.772Z,1613490824.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T15:53:47.184Z,1613490827.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:47.938Z,1613490827.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:48.344Z,1613490828.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:49.176Z,1613490829.176 [Micromodem](INFO): Nmea in: $SNTTA,0.104245,,,,155349.34*4E

2021-02-16T15:53:49.201Z,1613490829.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.540009 m, bearing: 140.248126 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T15:53:49.201Z,1613490829.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 140.248126deg and heading rate command to 0 deg/s.
2021-02-16T15:53:51.589Z,1613490831.589 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:52.384Z,1613490832.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:52.795Z,1613490832.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:53.600Z,1613490833.600 [Micromodem](INFO): Nmea in: $SNTTA,0.106595,,,,155353.78*45

2021-02-16T15:53:54.430Z,1613490834.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:56.026Z,1613490836.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T15:53:57.299Z,1613490837.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:53:58.036Z,1613490838.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:53:58.446Z,1613490838.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:53:59.271Z,1613490839.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155359.44*50

2021-02-16T15:53:59.302Z,1613490839.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 117.032464 deg, deltaT: 10.091151 s, approachRate: 0.796737 m/s, LOS rate: -2.300596 deg/s, posRepo size: 2
2021-02-16T15:53:59.304Z,1613490839.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 117.032464 deg,
      approachRate: 0.796737 m/s,
      LOS rate: -2.300596 deg/s,
      cmd update: -6.901788 deg/s,
      cmd heading: 140.248126 deg,
      new cmd heading: 140.248126 deg.

2021-02-16T15:54:01.741Z,1613490841.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:02.490Z,1613490842.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:02.890Z,1613490842.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:03.748Z,1613490843.748 [Micromodem](INFO): Nmea in: $SNTTA,0.111906,,,,155403.89*49

2021-02-16T15:54:03.772Z,1613490843.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 121.238508 deg, deltaT: 4.466380 s, approachRate: 0.000000 m/s, LOS rate: 0.941712 deg/s, posRepo size: 3
2021-02-16T15:54:03.774Z,1613490843.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 121.238508 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.941712 deg/s,
      cmd update: 2.825136 deg/s,
      cmd heading: 109.421703 deg,
      new cmd heading: 106.493081 deg.

2021-02-16T15:54:06.198Z,1613490846.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:06.934Z,1613490846.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:07.334Z,1613490847.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:08.177Z,1613490848.177 [Micromodem](INFO): Nmea in: $SNTTA,0.114000,,,,155408.33*49

2021-02-16T15:54:08.220Z,1613490848.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.179993 m, bearing: 136.749608 deg, deltaT: 4.447014 s, approachRate: 1.484140 m/s, LOS rate: 3.487981 deg/s, posRepo size: 4
2021-02-16T15:54:08.222Z,1613490848.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.179993 m,
      bearing: 136.749608 deg,
      approachRate: 1.484140 m/s,
      LOS rate: 3.487981 deg/s,
      cmd update: 10.463943 deg/s,
      cmd heading: 121.984107 deg,
      new cmd heading: 123.187697 deg.

2021-02-16T15:54:10.585Z,1613490850.585 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:11.377Z,1613490851.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:11.779Z,1613490851.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:12.620Z,1613490852.620 [Micromodem](INFO): Nmea in: $SNTTA,0.116509,,,,155412.78*43

2021-02-16T15:54:12.642Z,1613490852.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.899994 m, bearing: 114.180832 deg, deltaT: 4.451754 s, approachRate: 0.835626 m/s, LOS rate: -5.069637 deg/s, posRepo size: 4
2021-02-16T15:54:12.644Z,1613490852.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 174.899994 m,
      bearing: 114.180832 deg,
      approachRate: 0.835626 m/s,
      LOS rate: -5.069637 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 168.403863 deg,
      new cmd heading: 172.710435 deg.

2021-02-16T15:54:15.057Z,1613490855.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:15.816Z,1613490855.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:16.222Z,1613490856.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:17.056Z,1613490857.056 [Micromodem](INFO): Nmea in: $SNTTA,0.118771,,,,155417.22*4A

2021-02-16T15:54:17.080Z,1613490857.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 174.899994 m, bearing: 168.815324 deg, deltaT: 4.411153 s, approachRate: 0.000000 m/s, LOS rate: 12.385535 deg/s, posRepo size: 4
2021-02-16T15:54:17.081Z,1613490857.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.385535 deg/s. Setting heading cmd to target bearing of 168.815324deg and heading rate command to 0 deg/s.
2021-02-16T15:54:19.526Z,1613490859.526 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:20.264Z,1613490860.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:20.669Z,1613490860.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:21.480Z,1613490861.480 [Micromodem](INFO): Nmea in: $SNTTA,0.121122,,,,155421.66*45

2021-02-16T15:54:21.911Z,1613490861.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 181.800003 m, bearing: 125.215782 deg, deltaT: 4.899544 s, approachRate: 1.408296 m/s, LOS rate: -8.898694 deg/s, posRepo size: 4
2021-02-16T15:54:21.913Z,1613490861.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.800003 m,
      bearing: 125.215782 deg,
      approachRate: 1.408296 m/s,
      LOS rate: -8.898694 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 168.815324 deg,
      new cmd heading: 168.815324 deg.

2021-02-16T15:54:24.331Z,1613490864.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:25.113Z,1613490865.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:25.520Z,1613490865.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:26.327Z,1613490866.327 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155426.51*5B

2021-02-16T15:54:26.779Z,1613490866.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 185.220001 m, bearing: 120.264823 deg, deltaT: 4.817959 s, approachRate: 0.709844 m/s, LOS rate: -1.027605 deg/s, posRepo size: 4
2021-02-16T15:54:26.781Z,1613490866.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 185.220001 m,
      bearing: 120.264823 deg,
      approachRate: 0.709844 m/s,
      LOS rate: -1.027605 deg/s,
      cmd update: -3.082814 deg/s,
      cmd heading: 110.949810 deg,
      new cmd heading: 106.100658 deg.

2021-02-16T15:54:29.191Z,1613490869.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:29.962Z,1613490869.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:30.367Z,1613490870.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:31.179Z,1613490871.179 [Micromodem](INFO): Nmea in: $SNTTA,0.125600,,,,155431.36*42

2021-02-16T15:54:31.614Z,1613490871.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 188.579987 m, bearing: 143.302505 deg, deltaT: 4.852579 s, approachRate: 0.692412 m/s, LOS rate: 4.747513 deg/s, posRepo size: 4
2021-02-16T15:54:31.616Z,1613490871.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.579987 m,
      bearing: 143.302505 deg,
      approachRate: 0.692412 m/s,
      LOS rate: 4.747513 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 96.064225 deg,
      new cmd heading: 94.799195 deg.

2021-02-16T15:54:34.028Z,1613490874.028 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:34.804Z,1613490874.804 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:35.230Z,1613490875.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:36.024Z,1613490876.024 [Micromodem](INFO): Nmea in: $SNTTA,0.127942,,,,155436.20*49

2021-02-16T15:54:36.034Z,1613490876.034 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:54:36.472Z,1613490876.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.719986 m, bearing: 142.698566 deg, deltaT: 4.818475 s, approachRate: 0.859193 m/s, LOS rate: -0.125338 deg/s, posRepo size: 4
2021-02-16T15:54:36.473Z,1613490876.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.719986 m,
      bearing: 142.698566 deg,
      approachRate: 0.859193 m/s,
      LOS rate: -0.125338 deg/s,
      cmd update: -0.376015 deg/s,
      cmd heading: 154.173999 deg,
      new cmd heading: 159.277971 deg.

2021-02-16T15:54:38.874Z,1613490878.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:39.662Z,1613490879.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:40.058Z,1613490880.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:40.892Z,1613490880.892 [Micromodem](INFO): Nmea in: $SNTTA,0.130388,,,,155441.06*47

2021-02-16T15:54:40.917Z,1613490880.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 192.719986 m, bearing: 170.387962 deg, deltaT: 4.508560 s, approachRate: 0.000000 m/s, LOS rate: 6.141517 deg/s, posRepo size: 4
2021-02-16T15:54:40.918Z,1613490880.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 192.719986 m,
      bearing: 170.387962 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 6.141517 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 152.478728 deg,
      new cmd heading: 152.342644 deg.

2021-02-16T15:54:43.336Z,1613490883.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:44.107Z,1613490884.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:44.502Z,1613490884.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:45.344Z,1613490885.344 [Micromodem](INFO): Nmea in: $SNTTA,0.132484,,,,155445.51*48

2021-02-16T15:54:45.766Z,1613490885.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.779984 m, bearing: 132.949386 deg, deltaT: 4.828465 s, approachRate: 1.255057 m/s, LOS rate: -7.753722 deg/s, posRepo size: 4
2021-02-16T15:54:45.785Z,1613490885.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.779984 m,
      bearing: 132.949386 deg,
      approachRate: 1.255057 m/s,
      LOS rate: -7.753722 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 210.418162 deg,
      new cmd heading: 215.018350 deg.

2021-02-16T15:54:48.193Z,1613490888.193 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:48.951Z,1613490888.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:49.354Z,1613490889.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:50.168Z,1613490890.168 [Micromodem](INFO): Nmea in: $SNTTA,0.134510,,,,155450.35*44

2021-02-16T15:54:50.594Z,1613490890.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 201.899994 m, bearing: 174.315949 deg, deltaT: 4.841613 s, approachRate: 0.644415 m/s, LOS rate: 8.543963 deg/s, posRepo size: 4
2021-02-16T15:54:50.596Z,1613490890.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.899994 m,
      bearing: 174.315949 deg,
      approachRate: 0.644415 m/s,
      LOS rate: 8.543963 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 152.363289 deg,
      new cmd heading: 147.882945 deg.

2021-02-16T15:54:53.014Z,1613490893.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:53.793Z,1613490893.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:54.198Z,1613490894.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:55.012Z,1613490895.012 [Micromodem](INFO): Nmea in: $SNTTA,0.136155,,,,155455.19*48

2021-02-16T15:54:55.497Z,1613490895.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.359985 m, bearing: 165.130533 deg, deltaT: 4.811399 s, approachRate: 0.511284 m/s, LOS rate: -1.909095 deg/s, posRepo size: 4
2021-02-16T15:54:55.503Z,1613490895.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.359985 m,
      bearing: 165.130533 deg,
      approachRate: 0.511284 m/s,
      LOS rate: -1.909095 deg/s,
      cmd update: -5.727284 deg/s,
      cmd heading: 210.145619 deg,
      new cmd heading: 215.495939 deg.

2021-02-16T15:54:57.862Z,1613490897.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:54:58.640Z,1613490898.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:54:59.051Z,1613490899.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:54:59.867Z,1613490899.867 [Micromodem](INFO): Nmea in: $SNTTA,0.137735,,,,155500.04*44

2021-02-16T15:55:00.306Z,1613490900.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.579987 m, bearing: 198.606916 deg, deltaT: 4.854333 s, approachRate: 0.457324 m/s, LOS rate: 6.896186 deg/s, posRepo size: 4
2021-02-16T15:55:00.308Z,1613490900.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.579987 m,
      bearing: 198.606916 deg,
      approachRate: 0.457324 m/s,
      LOS rate: 6.896186 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 182.342720 deg,
      new cmd heading: 179.961704 deg.

2021-02-16T15:55:02.793Z,1613490902.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:03.488Z,1613490903.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:03.900Z,1613490903.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:04.738Z,1613490904.738 [Micromodem](INFO): Nmea in: $SNTTA,0.139172,,,0.141666,155504.89*52

2021-02-16T15:55:05.180Z,1613490905.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.739990 m, bearing: 239.580961 deg, deltaT: 4.870932 s, approachRate: 0.443448 m/s, LOS rate: 8.411952 deg/s, posRepo size: 4
2021-02-16T15:55:05.181Z,1613490905.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.739990 m,
      bearing: 239.580961 deg,
      approachRate: 0.443448 m/s,
      LOS rate: 8.411952 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 240.794554 deg,
      new cmd heading: 245.807578 deg.

2021-02-16T15:55:07.559Z,1613490907.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:08.341Z,1613490908.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:08.747Z,1613490908.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:09.590Z,1613490909.590 [Micromodem](INFO): Nmea in: $SNTTA,0.139995,,,,155509.74*40

2021-02-16T15:55:09.992Z,1613490909.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.939987 m, bearing: 262.074768 deg, deltaT: 4.900873 s, approachRate: 0.244854 m/s, LOS rate: 4.589755 deg/s, posRepo size: 4
2021-02-16T15:55:09.993Z,1613490909.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.939987 m,
      bearing: 262.074768 deg,
      approachRate: 0.244854 m/s,
      LOS rate: 4.589755 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 299.565131 deg,
      new cmd heading: 303.553475 deg.

2021-02-16T15:55:12.409Z,1613490912.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:13.184Z,1613490913.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:13.589Z,1613490913.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:14.409Z,1613490914.409 [Micromodem](INFO): Nmea in: $SNTTA,0.140361,,,,155514.58*4D

2021-02-16T15:55:14.839Z,1613490914.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.539993 m, bearing: 189.669067 deg, deltaT: 4.806993 s, approachRate: 0.124819 m/s, LOS rate: -15.062577 deg/s, posRepo size: 4
2021-02-16T15:55:14.840Z,1613490914.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.062577 deg/s. Setting heading cmd to target bearing of 189.669067deg and heading rate command to 0 deg/s.
2021-02-16T15:55:17.271Z,1613490917.271 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:18.037Z,1613490918.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:18.438Z,1613490918.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:19.256Z,1613490919.256 [Micromodem](INFO): Nmea in: $SNTTA,0.139938,,,,155519.44*45

2021-02-16T15:55:19.700Z,1613490919.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 209.759995 m, bearing: 297.791112 deg, deltaT: 4.855063 s, approachRate: -0.160657 m/s, LOS rate: 22.269956 deg/s, posRepo size: 4
2021-02-16T15:55:19.720Z,1613490919.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.269956 deg/s. Setting heading cmd to target bearing of 297.791112deg and heading rate command to 0 deg/s.
2021-02-16T15:55:22.147Z,1613490922.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:22.892Z,1613490922.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:23.296Z,1613490923.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:24.118Z,1613490924.118 [Micromodem](INFO): Nmea in: $SNTTA,0.138907,,,,155524.29*4D

2021-02-16T15:55:24.545Z,1613490924.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 208.199997 m, bearing: 297.729858 deg, deltaT: 4.851767 s, approachRate: -0.321532 m/s, LOS rate: -0.012625 deg/s, posRepo size: 4
2021-02-16T15:55:24.547Z,1613490924.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.199997 m,
      bearing: 297.729858 deg,
      approachRate: -0.321532 m/s,
      LOS rate: -0.012625 deg/s,
      cmd update: -0.037875 deg/s,
      cmd heading: 297.791112 deg,
      new cmd heading: 297.791112 deg.

2021-02-16T15:55:26.950Z,1613490926.950 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:27.732Z,1613490927.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:28.159Z,1613490928.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:28.951Z,1613490928.951 [Micromodem](INFO): Nmea in: $SNTTA,0.137395,,,,155529.13*47

2021-02-16T15:55:29.384Z,1613490929.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.859985 m, bearing: 299.624280 deg, deltaT: 4.798631 s, approachRate: -0.487641 m/s, LOS rate: 0.394784 deg/s, posRepo size: 4
2021-02-16T15:55:29.385Z,1613490929.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.859985 m,
      bearing: 299.624280 deg,
      approachRate: -0.487641 m/s,
      LOS rate: 0.394784 deg/s,
      cmd update: 1.184351 deg/s,
      cmd heading: 297.608908 deg,
      new cmd heading: 297.593427 deg.

2021-02-16T15:55:31.794Z,1613490931.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:32.581Z,1613490932.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:32.987Z,1613490932.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:33.799Z,1613490933.799 [Micromodem](INFO): Nmea in: $SNTTA,0.135477,,,,155533.98*46

2021-02-16T15:55:34.240Z,1613490934.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.979996 m, bearing: 299.977537 deg, deltaT: 4.851517 s, approachRate: -0.593627 m/s, LOS rate: 0.072814 deg/s, posRepo size: 4
2021-02-16T15:55:34.242Z,1613490934.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.979996 m,
      bearing: 299.977537 deg,
      approachRate: -0.593627 m/s,
      LOS rate: 0.072814 deg/s,
      cmd update: 0.218441 deg/s,
      cmd heading: 303.355077 deg,
      new cmd heading: 303.845510 deg.

2021-02-16T15:55:36.637Z,1613490936.637 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:37.424Z,1613490937.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:37.835Z,1613490937.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:38.643Z,1613490938.643 [Micromodem](INFO): Nmea in: $SNTTA,0.133445,,,,155538.82*41

2021-02-16T15:55:39.097Z,1613490939.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 199.919998 m, bearing: 298.926617 deg, deltaT: 4.888717 s, approachRate: -0.625931 m/s, LOS rate: -0.214969 deg/s, posRepo size: 4
2021-02-16T15:55:39.099Z,1613490939.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.919998 m,
      bearing: 298.926617 deg,
      approachRate: -0.625931 m/s,
      LOS rate: -0.214969 deg/s,
      cmd update: -0.644906 deg/s,
      cmd heading: 304.420285 deg,
      new cmd heading: 304.506175 deg.

2021-02-16T15:55:41.513Z,1613490941.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:42.282Z,1613490942.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:42.716Z,1613490942.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:43.497Z,1613490943.497 [Micromodem](INFO): Nmea in: $SNTTA,0.131371,,,,155543.68*4B

2021-02-16T15:55:43.932Z,1613490943.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 196.919983 m, bearing: 298.444952 deg, deltaT: 4.834413 s, approachRate: -0.620554 m/s, LOS rate: -0.099633 deg/s, posRepo size: 4
2021-02-16T15:55:43.933Z,1613490943.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 196.919983 m,
      bearing: 298.444952 deg,
      approachRate: -0.620554 m/s,
      LOS rate: -0.099633 deg/s,
      cmd update: -0.298898 deg/s,
      cmd heading: 301.297176 deg,
      new cmd heading: 301.048435 deg.

2021-02-16T15:55:46.355Z,1613490946.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:47.143Z,1613490947.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:47.525Z,1613490947.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:48.353Z,1613490948.353 [Micromodem](INFO): Nmea in: $SNTTA,0.129226,,,,155548.54*45

2021-02-16T15:55:48.776Z,1613490948.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.679993 m, bearing: 298.232697 deg, deltaT: 4.857735 s, approachRate: -0.666975 m/s, LOS rate: -0.043694 deg/s, posRepo size: 4
2021-02-16T15:55:48.777Z,1613490948.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.679993 m,
      bearing: 298.232697 deg,
      approachRate: -0.666975 m/s,
      LOS rate: -0.043694 deg/s,
      cmd update: -0.131083 deg/s,
      cmd heading: 299.844009 deg,
      new cmd heading: 299.733979 deg.

2021-02-16T15:55:51.201Z,1613490951.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:51.981Z,1613490951.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:52.379Z,1613490952.379 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:53.196Z,1613490953.196 [Micromodem](INFO): Nmea in: $SNTTA,0.127072,,,,155553.39*49

2021-02-16T15:55:53.620Z,1613490953.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.380005 m, bearing: 298.216222 deg, deltaT: 4.842803 s, approachRate: -0.681421 m/s, LOS rate: -0.003402 deg/s, posRepo size: 4
2021-02-16T15:55:53.624Z,1613490953.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.380005 m,
      bearing: 298.216222 deg,
      approachRate: -0.681421 m/s,
      LOS rate: -0.003402 deg/s,
      cmd update: -0.010206 deg/s,
      cmd heading: 299.209727 deg,
      new cmd heading: 299.161315 deg.

2021-02-16T15:55:56.061Z,1613490956.061 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:55:56.832Z,1613490956.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:55:57.245Z,1613490957.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:55:58.045Z,1613490958.045 [Micromodem](INFO): Nmea in: $SNTTA,0.124822,,,,155558.23*47

2021-02-16T15:55:58.472Z,1613490958.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 187.020004 m, bearing: 298.482327 deg, deltaT: 4.819217 s, approachRate: -0.697209 m/s, LOS rate: 0.055217 deg/s, posRepo size: 4
2021-02-16T15:55:58.474Z,1613490958.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.020004 m,
      bearing: 298.482327 deg,
      approachRate: -0.697209 m/s,
      LOS rate: 0.055217 deg/s,
      cmd update: 0.165652 deg/s,
      cmd heading: 299.160504 deg,
      new cmd heading: 299.156394 deg.

2021-02-16T15:56:00.881Z,1613490960.881 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:01.673Z,1613490961.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:02.069Z,1613490962.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:02.888Z,1613490962.888 [Micromodem](INFO): Nmea in: $SNTTA,0.122615,,,,155603.07*40

2021-02-16T15:56:03.324Z,1613490963.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 297.812804 deg, deltaT: 4.843064 s, approachRate: -0.681387 m/s, LOS rate: -0.138244 deg/s, posRepo size: 4
2021-02-16T15:56:03.326Z,1613490963.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.720001 m,
      bearing: 297.812804 deg,
      approachRate: -0.681387 m/s,
      LOS rate: -0.138244 deg/s,
      cmd update: -0.414731 deg/s,
      cmd heading: 299.962759 deg,
      new cmd heading: 300.030943 deg.

2021-02-16T15:56:05.761Z,1613490965.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:06.512Z,1613490966.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:06.929Z,1613490966.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:07.740Z,1613490967.740 [Micromodem](INFO): Nmea in: $SNTTA,0.120387,,,,155607.91*47

2021-02-16T15:56:07.780Z,1613490967.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.720001 m, bearing: 298.908968 deg, deltaT: 4.462003 s, approachRate: 0.000000 m/s, LOS rate: 0.245666 deg/s, posRepo size: 4
2021-02-16T15:56:07.781Z,1613490967.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.720001 m,
      bearing: 298.908968 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.245666 deg/s,
      cmd update: 0.736999 deg/s,
      cmd heading: 298.112279 deg,
      new cmd heading: 297.944197 deg.

2021-02-16T15:56:10.198Z,1613490970.198 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:10.963Z,1613490970.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:11.362Z,1613490971.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:12.187Z,1613490972.187 [Micromodem](INFO): Nmea in: $SNTTA,0.118149,,,,155612.36*45

2021-02-16T15:56:12.635Z,1613490972.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.000015 m, bearing: 298.453585 deg, deltaT: 4.870223 s, approachRate: -1.379811 m/s, LOS rate: -0.093503 deg/s, posRepo size: 4
2021-02-16T15:56:12.637Z,1613490972.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.000015 m,
      bearing: 298.453585 deg,
      approachRate: -1.379811 m/s,
      LOS rate: -0.093503 deg/s,
      cmd update: -0.280510 deg/s,
      cmd heading: 301.698809 deg,
      new cmd heading: 301.989373 deg.

2021-02-16T15:56:15.045Z,1613490975.045 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:15.805Z,1613490975.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:16.210Z,1613490976.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:17.060Z,1613490977.060 [Micromodem](INFO): Nmea in: $SNTTA,0.115972,,,,155617.21*4B

2021-02-16T15:56:17.083Z,1613490977.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.000015 m, bearing: 299.394075 deg, deltaT: 4.413262 s, approachRate: 0.000000 m/s, LOS rate: 0.213105 deg/s, posRepo size: 4
2021-02-16T15:56:17.085Z,1613490977.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.000015 m,
      bearing: 299.394075 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.213105 deg/s,
      cmd update: 0.639316 deg/s,
      cmd heading: 300.466369 deg,
      new cmd heading: 300.340417 deg.

2021-02-16T15:56:19.718Z,1613490979.718 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:20.254Z,1613490980.254 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:20.664Z,1613490980.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:21.480Z,1613490981.480 [Micromodem](INFO): Nmea in: $SNTTA,0.113928,,,,155621.65*47

2021-02-16T15:56:21.520Z,1613490981.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.000015 m, bearing: 299.661163 deg, deltaT: 4.494459 s, approachRate: 0.000000 m/s, LOS rate: 0.059426 deg/s, posRepo size: 4
2021-02-16T15:56:21.522Z,1613490981.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.000015 m,
      bearing: 299.661163 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.059426 deg/s,
      cmd update: 0.178278 deg/s,
      cmd heading: 303.334207 deg,
      new cmd heading: 303.590028 deg.

2021-02-16T15:56:23.914Z,1613490983.914 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:24.720Z,1613490984.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:25.107Z,1613490985.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:25.928Z,1613490985.928 [Micromodem](INFO): Nmea in: $SNTTA,0.111875,,,,155626.12*4B

2021-02-16T15:56:26.365Z,1613490986.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.639999 m, bearing: 298.835775 deg, deltaT: 4.854143 s, approachRate: -1.928253 m/s, LOS rate: -0.170038 deg/s, posRepo size: 4
2021-02-16T15:56:26.367Z,1613490986.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.639999 m,
      bearing: 298.835775 deg,
      approachRate: -1.928253 m/s,
      LOS rate: -0.170038 deg/s,
      cmd update: -0.510113 deg/s,
      cmd heading: 304.205359 deg,
      new cmd heading: 304.269332 deg.

2021-02-16T15:56:28.778Z,1613490988.778 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:29.557Z,1613490989.557 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:29.953Z,1613490989.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:30.789Z,1613490990.789 [Micromodem](INFO): Nmea in: $SNTTA,0.109650,,,,155630.97*41

2021-02-16T15:56:31.224Z,1613490991.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.279999 m, bearing: 299.480654 deg, deltaT: 4.806593 s, approachRate: -0.699040 m/s, LOS rate: 0.134166 deg/s, posRepo size: 4
2021-02-16T15:56:31.226Z,1613490991.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.279999 m,
      bearing: 299.480654 deg,
      approachRate: -0.699040 m/s,
      LOS rate: 0.134166 deg/s,
      cmd update: 0.402497 deg/s,
      cmd heading: 301.753460 deg,
      new cmd heading: 301.543860 deg.

2021-02-16T15:56:33.597Z,1613490993.597 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:34.388Z,1613490994.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:34.801Z,1613490994.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:35.632Z,1613490995.632 [Micromodem](INFO): Nmea in: $SNTTA,0.107418,,,,155635.79*44

2021-02-16T15:56:35.658Z,1613490995.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 298.855993 deg, deltaT: 4.427460 s, approachRate: -0.758897 m/s, LOS rate: -0.141088 deg/s, posRepo size: 4
2021-02-16T15:56:35.660Z,1613490995.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 298.855993 deg,
      approachRate: -0.758897 m/s,
      LOS rate: -0.141088 deg/s,
      cmd update: -0.423264 deg/s,
      cmd heading: 303.535505 deg,
      new cmd heading: 303.703609 deg.

2021-02-16T15:56:38.056Z,1613490998.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:38.832Z,1613490998.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:39.253Z,1613490999.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:40.060Z,1613491000.060 [Micromodem](INFO): Nmea in: $SNTTA,0.105271,,,,155640.23*42

2021-02-16T15:56:40.102Z,1613491000.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.679993 m, bearing: 298.336680 deg, deltaT: 4.459223 s, approachRate: -0.726589 m/s, LOS rate: -0.116458 deg/s, posRepo size: 4
2021-02-16T15:56:40.109Z,1613491000.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.679993 m,
      bearing: 298.336680 deg,
      approachRate: -0.726589 m/s,
      LOS rate: -0.116458 deg/s,
      cmd update: -0.349375 deg/s,
      cmd heading: 301.653341 deg,
      new cmd heading: 301.478207 deg.

2021-02-16T15:56:42.501Z,1613491002.501 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:43.284Z,1613491003.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:43.727Z,1613491003.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:44.521Z,1613491004.521 [Micromodem](INFO): Nmea in: $SNTTA,0.103248,,,,155644.68*45

2021-02-16T15:56:44.592Z,1613491004.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 298.911235 deg, deltaT: 4.458153 s, approachRate: -0.686382 m/s, LOS rate: 0.128877 deg/s, posRepo size: 4
2021-02-16T15:56:44.594Z,1613491004.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.619995 m,
      bearing: 298.911235 deg,
      approachRate: -0.686382 m/s,
      LOS rate: 0.128877 deg/s,
      cmd update: 0.386632 deg/s,
      cmd heading: 300.098302 deg,
      new cmd heading: 299.941213 deg.

2021-02-16T15:56:46.942Z,1613491006.942 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:47.747Z,1613491007.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:48.165Z,1613491008.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:48.968Z,1613491008.968 [Micromodem](INFO): Nmea in: $SNTTA,0.101148,,,,155649.15*43

2021-02-16T15:56:49.010Z,1613491009.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.619995 m, bearing: 298.409899 deg, deltaT: 4.394929 s, approachRate: 0.000000 m/s, LOS rate: -0.114071 deg/s, posRepo size: 4
2021-02-16T15:56:49.012Z,1613491009.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.619995 m,
      bearing: 298.409899 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.114071 deg/s,
      cmd update: -0.342214 deg/s,
      cmd heading: 301.804365 deg,
      new cmd heading: 301.981973 deg.

2021-02-16T15:56:51.399Z,1613491011.399 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:52.183Z,1613491012.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:52.570Z,1613491012.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:53.411Z,1613491013.411 [Micromodem](INFO): Nmea in: $SNTTA,0.099064,,,,155653.58*4E

2021-02-16T15:56:53.436Z,1613491013.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.440002 m, bearing: 299.003224 deg, deltaT: 4.494689 s, approachRate: -1.374954 m/s, LOS rate: 0.132006 deg/s, posRepo size: 4
2021-02-16T15:56:53.438Z,1613491013.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.440002 m,
      bearing: 299.003224 deg,
      approachRate: -1.374954 m/s,
      LOS rate: 0.132006 deg/s,
      cmd update: 0.396017 deg/s,
      cmd heading: 300.268882 deg,
      new cmd heading: 300.132639 deg.

2021-02-16T15:56:55.844Z,1613491015.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:56:56.610Z,1613491016.610 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:56:57.014Z,1613491017.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:56:57.840Z,1613491017.840 [Micromodem](INFO): Nmea in: $SNTTA,0.097053,,,,155658.01*43

2021-02-16T15:56:57.865Z,1613491017.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.380005 m, bearing: 299.749627 deg, deltaT: 4.422440 s, approachRate: -0.691925 m/s, LOS rate: 0.168776 deg/s, posRepo size: 4
2021-02-16T15:56:57.866Z,1613491017.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 299.749627 deg,
      approachRate: -0.691925 m/s,
      LOS rate: 0.168776 deg/s,
      cmd update: 0.506329 deg/s,
      cmd heading: 302.024034 deg,
      new cmd heading: 302.180468 deg.

2021-02-16T15:57:00.318Z,1613491020.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:01.052Z,1613491021.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:01.458Z,1613491021.458 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:02.287Z,1613491022.287 [Micromodem](INFO): Nmea in: $SNTTA,0.095077,,,,155702.45*49

2021-02-16T15:57:02.317Z,1613491022.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.440002 m, bearing: 299.094093 deg, deltaT: 4.427236 s, approachRate: -0.664072 m/s, LOS rate: -0.148069 deg/s, posRepo size: 4
2021-02-16T15:57:02.318Z,1613491022.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.440002 m,
      bearing: 299.094093 deg,
      approachRate: -0.664072 m/s,
      LOS rate: -0.148069 deg/s,
      cmd update: -0.444206 deg/s,
      cmd heading: 304.265774 deg,
      new cmd heading: 304.478256 deg.

2021-02-16T15:57:04.761Z,1613491024.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:05.501Z,1613491025.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:05.905Z,1613491025.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:06.756Z,1613491026.756 [Micromodem](INFO): Nmea in: $SNTTA,0.093117,,,,155706.90*44

2021-02-16T15:57:06.805Z,1613491026.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 299.398255 deg, deltaT: 4.436127 s, approachRate: -0.662741 m/s, LOS rate: 0.068565 deg/s, posRepo size: 4
2021-02-16T15:57:06.808Z,1613491026.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.500000 m,
      bearing: 299.398255 deg,
      approachRate: -0.662741 m/s,
      LOS rate: 0.068565 deg/s,
      cmd update: 0.205694 deg/s,
      cmd heading: 302.295217 deg,
      new cmd heading: 302.085846 deg.

2021-02-16T15:57:09.218Z,1613491029.218 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:09.940Z,1613491029.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:10.351Z,1613491030.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:11.176Z,1613491031.176 [Micromodem](INFO): Nmea in: $SNTTA,0.090932,,,0.093463,155711.34*55

2021-02-16T15:57:11.225Z,1613491031.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.260010 m, bearing: 298.717340 deg, deltaT: 4.468087 s, approachRate: -0.725140 m/s, LOS rate: -0.152395 deg/s, posRepo size: 4
2021-02-16T15:57:11.226Z,1613491031.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.260010 m,
      bearing: 298.717340 deg,
      approachRate: -0.725140 m/s,
      LOS rate: -0.152395 deg/s,
      cmd update: -0.457186 deg/s,
      cmd heading: 303.213381 deg,
      new cmd heading: 303.301329 deg.

2021-02-16T15:57:13.610Z,1613491033.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:14.389Z,1613491034.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:14.789Z,1613491034.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:15.628Z,1613491035.628 [Micromodem](INFO): Nmea in: $SNTTA,0.088868,,,,155715.79*4A

2021-02-16T15:57:15.709Z,1613491035.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.139999 m, bearing: 298.702477 deg, deltaT: 4.420890 s, approachRate: -0.705743 m/s, LOS rate: -0.003362 deg/s, posRepo size: 4
2021-02-16T15:57:15.710Z,1613491035.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.139999 m,
      bearing: 298.702477 deg,
      approachRate: -0.705743 m/s,
      LOS rate: -0.003362 deg/s,
      cmd update: -0.010086 deg/s,
      cmd heading: 301.190320 deg,
      new cmd heading: 300.970013 deg.

2021-02-16T15:57:18.068Z,1613491038.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:18.833Z,1613491038.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:19.247Z,1613491039.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:20.060Z,1613491040.060 [Micromodem](INFO): Nmea in: $SNTTA,0.086779,,,,155720.23*42

2021-02-16T15:57:20.104Z,1613491040.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.020004 m, bearing: 299.730858 deg, deltaT: 4.428359 s, approachRate: -0.704549 m/s, LOS rate: 0.232226 deg/s, posRepo size: 4
2021-02-16T15:57:20.106Z,1613491040.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.020004 m,
      bearing: 299.730858 deg,
      approachRate: -0.704549 m/s,
      LOS rate: 0.232226 deg/s,
      cmd update: 0.696678 deg/s,
      cmd heading: 301.145657 deg,
      new cmd heading: 301.141082 deg.

2021-02-16T15:57:22.154Z,1613491042.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:22.868Z,1613491042.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:23.303Z,1613491043.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:24.098Z,1613491044.098 [Micromodem](INFO): Nmea in: $SNTTA,0.085052,,,,155724.27*4F

2021-02-16T15:57:24.165Z,1613491044.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.380005 m, bearing: 298.956697 deg, deltaT: 4.110275 s, approachRate: -0.642293 m/s, LOS rate: -0.188348 deg/s, posRepo size: 4
2021-02-16T15:57:24.166Z,1613491044.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.380005 m,
      bearing: 298.956697 deg,
      approachRate: -0.642293 m/s,
      LOS rate: -0.188348 deg/s,
      cmd update: -0.565043 deg/s,
      cmd heading: 304.007465 deg,
      new cmd heading: 304.290592 deg.

2021-02-16T15:57:26.557Z,1613491046.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:27.326Z,1613491047.326 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:27.729Z,1613491047.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:28.552Z,1613491048.552 [Micromodem](INFO): Nmea in: $SNTTA,0.082807,,,,155728.73*4D

2021-02-16T15:57:28.574Z,1613491048.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.020004 m, bearing: 297.982548 deg, deltaT: 4.428888 s, approachRate: -0.758656 m/s, LOS rate: -0.219953 deg/s, posRepo size: 4
2021-02-16T15:57:28.576Z,1613491048.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.020004 m,
      bearing: 297.982548 deg,
      approachRate: -0.758656 m/s,
      LOS rate: -0.219953 deg/s,
      cmd update: -0.659860 deg/s,
      cmd heading: 301.503392 deg,
      new cmd heading: 301.286225 deg.

2021-02-16T15:57:30.978Z,1613491050.978 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:31.756Z,1613491051.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:32.177Z,1613491052.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:32.984Z,1613491052.984 [Micromodem](INFO): Nmea in: $SNTTA,0.080874,,,,155733.16*42

2021-02-16T15:57:33.029Z,1613491053.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 298.773129 deg, deltaT: 4.414111 s, approachRate: -0.652454 m/s, LOS rate: 0.179103 deg/s, posRepo size: 4
2021-02-16T15:57:33.030Z,1613491053.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.139999 m,
      bearing: 298.773129 deg,
      approachRate: -0.652454 m/s,
      LOS rate: 0.179103 deg/s,
      cmd update: 0.537309 deg/s,
      cmd heading: 298.593580 deg,
      new cmd heading: 298.310338 deg.

2021-02-16T15:57:35.466Z,1613491055.466 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:36.201Z,1613491056.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:36.605Z,1613491056.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:37.432Z,1613491057.432 [Micromodem](INFO): Nmea in: $SNTTA,0.078676,,,,155737.60*4C

2021-02-16T15:57:37.470Z,1613491057.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.840004 m, bearing: 297.971319 deg, deltaT: 4.455469 s, approachRate: -0.740662 m/s, LOS rate: -0.179961 deg/s, posRepo size: 4
2021-02-16T15:57:37.472Z,1613491057.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.840004 m,
      bearing: 297.971319 deg,
      approachRate: -0.740662 m/s,
      LOS rate: -0.179961 deg/s,
      cmd update: -0.539882 deg/s,
      cmd heading: 300.989859 deg,
      new cmd heading: 301.210454 deg.

2021-02-16T15:57:39.598Z,1613491059.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:40.242Z,1613491060.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:40.646Z,1613491060.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:41.476Z,1613491061.476 [Micromodem](INFO): Nmea in: $SNTTA,0.076773,,,,155741.64*43

2021-02-16T15:57:41.521Z,1613491061.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.960007 m, bearing: 298.722285 deg, deltaT: 4.017760 s, approachRate: -0.716817 m/s, LOS rate: 0.186912 deg/s, posRepo size: 4
2021-02-16T15:57:41.527Z,1613491061.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.960007 m,
      bearing: 298.722285 deg,
      approachRate: -0.716817 m/s,
      LOS rate: 0.186912 deg/s,
      cmd update: 0.560735 deg/s,
      cmd heading: 298.820735 deg,
      new cmd heading: 298.581110 deg.

2021-02-16T15:57:43.933Z,1613491063.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:44.709Z,1613491064.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:45.090Z,1613491065.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:45.928Z,1613491065.928 [Micromodem](INFO): Nmea in: $SNTTA,0.074699,,,,155746.11*41

2021-02-16T15:57:45.964Z,1613491065.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.840004 m, bearing: 298.802389 deg, deltaT: 4.465033 s, approachRate: -0.698764 m/s, LOS rate: 0.017940 deg/s, posRepo size: 4
2021-02-16T15:57:45.966Z,1613491065.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.840004 m,
      bearing: 298.802389 deg,
      approachRate: -0.698764 m/s,
      LOS rate: 0.017940 deg/s,
      cmd update: 0.053821 deg/s,
      cmd heading: 301.322087 deg,
      new cmd heading: 301.561153 deg.

2021-02-16T15:57:48.356Z,1613491068.356 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:49.155Z,1613491069.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:49.539Z,1613491069.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:50.372Z,1613491070.372 [Micromodem](INFO): Nmea in: $SNTTA,0.072575,,,,155750.55*41

2021-02-16T15:57:50.429Z,1613491070.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.659996 m, bearing: 298.763157 deg, deltaT: 4.418838 s, approachRate: -0.719648 m/s, LOS rate: -0.008878 deg/s, posRepo size: 4
2021-02-16T15:57:50.439Z,1613491070.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.659996 m,
      bearing: 298.763157 deg,
      approachRate: -0.719648 m/s,
      LOS rate: -0.008878 deg/s,
      cmd update: -0.026635 deg/s,
      cmd heading: 301.560140 deg,
      new cmd heading: 301.585329 deg.

2021-02-16T15:57:52.804Z,1613491072.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:53.580Z,1613491073.580 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:53.978Z,1613491073.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:54.808Z,1613491074.808 [Micromodem](INFO): Nmea in: $SNTTA,0.070504,,,,155754.98*40

2021-02-16T15:57:54.850Z,1613491074.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.599998 m, bearing: 297.773353 deg, deltaT: 4.466849 s, approachRate: -0.685046 m/s, LOS rate: -0.221589 deg/s, posRepo size: 4
2021-02-16T15:57:54.852Z,1613491074.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.599998 m,
      bearing: 297.773353 deg,
      approachRate: -0.685046 m/s,
      LOS rate: -0.221589 deg/s,
      cmd update: -0.664766 deg/s,
      cmd heading: 301.441796 deg,
      new cmd heading: 301.429925 deg.

2021-02-16T15:57:57.254Z,1613491077.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:57:58.033Z,1613491078.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:57:58.421Z,1613491078.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:57:59.268Z,1613491079.268 [Micromodem](INFO): Nmea in: $SNTTA,0.068513,,,,155759.43*44

2021-02-16T15:57:59.300Z,1613491079.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 298.370202 deg, deltaT: 4.430928 s, approachRate: -0.677057 m/s, LOS rate: 0.134701 deg/s, posRepo size: 4
2021-02-16T15:57:59.302Z,1613491079.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.600006 m,
      bearing: 298.370202 deg,
      approachRate: -0.677057 m/s,
      LOS rate: 0.134701 deg/s,
      cmd update: 0.404102 deg/s,
      cmd heading: 298.480612 deg,
      new cmd heading: 298.186826 deg.

2021-02-16T15:58:01.679Z,1613491081.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:02.464Z,1613491082.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:02.872Z,1613491082.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:03.708Z,1613491083.708 [Micromodem](INFO): Nmea in: $SNTTA,0.066399,,,,155803.86*47

2021-02-16T15:58:03.754Z,1613491083.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.419998 m, bearing: 297.724394 deg, deltaT: 4.451257 s, approachRate: -0.714407 m/s, LOS rate: -0.145084 deg/s, posRepo size: 4
2021-02-16T15:58:03.756Z,1613491083.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 297.724394 deg,
      approachRate: -0.714407 m/s,
      LOS rate: -0.145084 deg/s,
      cmd update: -0.435253 deg/s,
      cmd heading: 300.279458 deg,
      new cmd heading: 300.458855 deg.

2021-02-16T15:58:06.176Z,1613491086.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:06.910Z,1613491086.910 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:07.310Z,1613491087.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:08.166Z,1613491088.166 [Micromodem](INFO): Nmea in: $SNTTA,0.064292,,,,155808.31*48

2021-02-16T15:58:08.196Z,1613491088.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.240005 m, bearing: 297.476540 deg, deltaT: 4.453181 s, approachRate: -0.714095 m/s, LOS rate: -0.055658 deg/s, posRepo size: 4
2021-02-16T15:58:08.198Z,1613491088.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 297.476540 deg,
      approachRate: -0.714095 m/s,
      LOS rate: -0.055658 deg/s,
      cmd update: -0.166973 deg/s,
      cmd heading: 298.342960 deg,
      new cmd heading: 298.152816 deg.

2021-02-16T15:58:10.569Z,1613491090.569 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:11.353Z,1613491091.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:11.760Z,1613491091.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:12.590Z,1613491092.590 [Micromodem](INFO): Nmea in: $SNTTA,0.062239,,,,155812.75*44

2021-02-16T15:58:12.610Z,1613491092.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.180000 m, bearing: 298.117813 deg, deltaT: 4.436693 s, approachRate: -0.689704 m/s, LOS rate: 0.144538 deg/s, posRepo size: 4
2021-02-16T15:58:12.612Z,1613491092.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.180000 m,
      bearing: 298.117813 deg,
      approachRate: -0.689704 m/s,
      LOS rate: 0.144538 deg/s,
      cmd update: 0.433615 deg/s,
      cmd heading: 297.601474 deg,
      new cmd heading: 297.532974 deg.

2021-02-16T15:58:15.023Z,1613491095.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:15.793Z,1613491095.793 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:16.198Z,1613491096.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:17.024Z,1613491097.024 [Micromodem](INFO): Nmea in: $SNTTA,0.060272,,,,155817.19*46

2021-02-16T15:58:17.064Z,1613491097.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.180000 m, bearing: 297.630547 deg, deltaT: 4.414495 s, approachRate: -0.679579 m/s, LOS rate: -0.110379 deg/s, posRepo size: 4
2021-02-16T15:58:17.066Z,1613491097.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.180000 m,
      bearing: 297.630547 deg,
      approachRate: -0.679579 m/s,
      LOS rate: -0.110379 deg/s,
      cmd update: -0.331136 deg/s,
      cmd heading: 299.515610 deg,
      new cmd heading: 299.710445 deg.

2021-02-16T15:58:19.641Z,1613491099.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:20.275Z,1613491100.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:20.712Z,1613491100.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:21.500Z,1613491101.500 [Micromodem](INFO): Nmea in: $SNTTA,0.058167,,,,155821.68*49

2021-02-16T15:58:21.525Z,1613491101.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.059998 m, bearing: 297.747562 deg, deltaT: 4.471246 s, approachRate: -0.697793 m/s, LOS rate: 0.026171 deg/s, posRepo size: 4
2021-02-16T15:58:21.527Z,1613491101.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.059998 m,
      bearing: 297.747562 deg,
      approachRate: -0.697793 m/s,
      LOS rate: 0.026171 deg/s,
      cmd update: 0.078512 deg/s,
      cmd heading: 298.034981 deg,
      new cmd heading: 297.889360 deg.

2021-02-16T15:58:23.927Z,1613491103.927 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:24.723Z,1613491104.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:25.137Z,1613491105.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:25.940Z,1613491105.940 [Micromodem](INFO): Nmea in: $SNTTA,0.056091,,,,155826.12*45

2021-02-16T15:58:25.982Z,1613491105.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.940002 m, bearing: 297.991127 deg, deltaT: 4.458060 s, approachRate: -0.699855 m/s, LOS rate: 0.054635 deg/s, posRepo size: 4
2021-02-16T15:58:25.984Z,1613491105.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 297.991127 deg,
      approachRate: -0.699855 m/s,
      LOS rate: 0.054635 deg/s,
      cmd update: 0.163904 deg/s,
      cmd heading: 298.383721 deg,
      new cmd heading: 298.419426 deg.

2021-02-16T15:58:28.374Z,1613491108.374 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:29.162Z,1613491109.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:29.554Z,1613491109.554 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:30.388Z,1613491110.388 [Micromodem](INFO): Nmea in: $SNTTA,0.053947,,,0.056453,155830.56*5A

2021-02-16T15:58:30.426Z,1613491110.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.700005 m, bearing: 298.643082 deg, deltaT: 4.454054 s, approachRate: -0.727427 m/s, LOS rate: 0.146373 deg/s, posRepo size: 4
2021-02-16T15:58:30.428Z,1613491110.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.700005 m,
      bearing: 298.643082 deg,
      approachRate: -0.727427 m/s,
      LOS rate: 0.146373 deg/s,
      cmd update: 0.439120 deg/s,
      cmd heading: 299.113793 deg,
      new cmd heading: 299.186524 deg.

2021-02-16T15:58:32.830Z,1613491112.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:33.598Z,1613491113.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:33.994Z,1613491113.994 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:34.828Z,1613491114.828 [Micromodem](INFO): Nmea in: $SNTTA,0.052023,,,,155835.00*49

2021-02-16T15:58:34.877Z,1613491114.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 298.733131 deg, deltaT: 4.422499 s, approachRate: -0.651217 m/s, LOS rate: 0.020362 deg/s, posRepo size: 4
2021-02-16T15:58:34.879Z,1613491114.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.820000 m,
      bearing: 298.733131 deg,
      approachRate: -0.651217 m/s,
      LOS rate: 0.020362 deg/s,
      cmd update: 0.061085 deg/s,
      cmd heading: 301.062711 deg,
      new cmd heading: 301.263317 deg.

2021-02-16T15:58:37.292Z,1613491117.292 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:38.036Z,1613491118.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:38.459Z,1613491118.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:39.277Z,1613491119.277 [Micromodem](INFO): Nmea in: $SNTTA,0.049847,,,,155839.44*45

2021-02-16T15:58:39.306Z,1613491119.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.580009 m, bearing: 298.202726 deg, deltaT: 4.453223 s, approachRate: -0.727561 m/s, LOS rate: -0.119106 deg/s, posRepo size: 4
2021-02-16T15:58:39.328Z,1613491119.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.580009 m,
      bearing: 298.202726 deg,
      approachRate: -0.727561 m/s,
      LOS rate: -0.119106 deg/s,
      cmd update: -0.357318 deg/s,
      cmd heading: 301.334750 deg,
      new cmd heading: 301.361164 deg.

2021-02-16T15:58:40.491Z,1613491120.491 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:58:41.742Z,1613491121.742 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:42.497Z,1613491122.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:42.888Z,1613491122.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:43.732Z,1613491123.732 [Micromodem](INFO): Nmea in: $SNTTA,0.047781,,,,155843.90*4A

2021-02-16T15:58:43.756Z,1613491123.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 299.103027 deg, deltaT: 4.460887 s, approachRate: -0.685965 m/s, LOS rate: 0.201821 deg/s, posRepo size: 4
2021-02-16T15:58:43.758Z,1613491123.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.519997 m,
      bearing: 299.103027 deg,
      approachRate: -0.685965 m/s,
      LOS rate: 0.201821 deg/s,
      cmd update: 0.605463 deg/s,
      cmd heading: 299.740819 deg,
      new cmd heading: 299.590034 deg.

2021-02-16T15:58:46.186Z,1613491126.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:46.929Z,1613491126.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:47.334Z,1613491127.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:48.172Z,1613491128.172 [Micromodem](INFO): Nmea in: $SNTTA,0.045658,,,,155848.33*4F

2021-02-16T15:58:48.217Z,1613491128.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.279999 m, bearing: 298.572868 deg, deltaT: 4.434658 s, approachRate: -0.730608 m/s, LOS rate: -0.119549 deg/s, posRepo size: 4
2021-02-16T15:58:48.219Z,1613491128.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.279999 m,
      bearing: 298.572868 deg,
      approachRate: -0.730608 m/s,
      LOS rate: -0.119549 deg/s,
      cmd update: -0.358647 deg/s,
      cmd heading: 302.425867 deg,
      new cmd heading: 302.697001 deg.

2021-02-16T15:58:50.595Z,1613491130.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:50.984Z,1613491130.984 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:58:51.389Z,1613491131.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:51.786Z,1613491131.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:52.615Z,1613491132.615 [Micromodem](INFO): Nmea in: $SNTTA,0.043632,,,,155852.79*40

2021-02-16T15:58:52.634Z,1613491132.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.280006 m, bearing: 299.602286 deg, deltaT: 4.447841 s, approachRate: -0.674483 m/s, LOS rate: 0.231442 deg/s, posRepo size: 4
2021-02-16T15:58:52.636Z,1613491132.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.280006 m,
      bearing: 299.602286 deg,
      approachRate: -0.674483 m/s,
      LOS rate: 0.231442 deg/s,
      cmd update: 0.694327 deg/s,
      cmd heading: 300.830656 deg,
      new cmd heading: 300.680942 deg.

2021-02-16T15:58:54.726Z,1613491134.726 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:55.414Z,1613491135.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:58:55.837Z,1613491135.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:58:55.857Z,1613491135.857 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T15:58:56.644Z,1613491136.644 [Micromodem](INFO): Nmea in: $SNTTA,0.041736,,,,155856.81*44

2021-02-16T15:58:56.713Z,1613491136.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.459999 m, bearing: 298.436592 deg, deltaT: 4.060144 s, approachRate: -0.694558 m/s, LOS rate: -0.287107 deg/s, posRepo size: 4
2021-02-16T15:58:56.722Z,1613491136.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.459999 m,
      bearing: 298.436592 deg,
      approachRate: -0.694558 m/s,
      LOS rate: -0.287107 deg/s,
      cmd update: -0.861320 deg/s,
      cmd heading: 303.642591 deg,
      new cmd heading: 303.939178 deg.

2021-02-16T15:58:59.106Z,1613491139.106 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:58:59.856Z,1613491139.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:00.312Z,1613491140.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:01.088Z,1613491141.088 [Micromodem](INFO): Nmea in: $SNTTA,0.039684,,,,155901.25*4E

2021-02-16T15:59:01.158Z,1613491141.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.400002 m, bearing: 298.031807 deg, deltaT: 4.490764 s, approachRate: -0.681398 m/s, LOS rate: -0.090137 deg/s, posRepo size: 4
2021-02-16T15:59:01.164Z,1613491141.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.400002 m,
      bearing: 298.031807 deg,
      approachRate: -0.681398 m/s,
      LOS rate: -0.090137 deg/s,
      cmd update: -0.270411 deg/s,
      cmd heading: 299.769225 deg,
      new cmd heading: 299.429978 deg.

2021-02-16T15:59:03.541Z,1613491143.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:04.321Z,1613491144.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:04.725Z,1613491144.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:05.556Z,1613491145.556 [Micromodem](INFO): Nmea in: $SNTTA,0.037657,,,,155905.72*48

2021-02-16T15:59:05.578Z,1613491145.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.279999 m, bearing: 298.708351 deg, deltaT: 4.425029 s, approachRate: -0.705081 m/s, LOS rate: 0.152890 deg/s, posRepo size: 4
2021-02-16T15:59:05.580Z,1613491145.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 298.708351 deg,
      approachRate: -0.705081 m/s,
      LOS rate: 0.152890 deg/s,
      cmd update: 0.458671 deg/s,
      cmd heading: 298.572633 deg,
      new cmd heading: 298.467353 deg.

2021-02-16T15:59:05.936Z,1613491145.936 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T15:59:07.972Z,1613491147.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:08.753Z,1613491148.753 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:09.164Z,1613491149.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:09.980Z,1613491149.980 [Micromodem](INFO): Nmea in: $SNTTA,0.035747,,,,155910.15*4F

2021-02-16T15:59:10.016Z,1613491150.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.460003 m, bearing: 298.024294 deg, deltaT: 4.397012 s, approachRate: -0.641344 m/s, LOS rate: -0.155573 deg/s, posRepo size: 4
2021-02-16T15:59:10.017Z,1613491150.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.460003 m,
      bearing: 298.024294 deg,
      approachRate: -0.641344 m/s,
      LOS rate: -0.155573 deg/s,
      cmd update: -0.466720 deg/s,
      cmd heading: 300.589410 deg,
      new cmd heading: 300.786453 deg.

2021-02-16T15:59:12.430Z,1613491152.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:13.189Z,1613491153.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:13.594Z,1613491153.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:14.420Z,1613491154.420 [Micromodem](INFO): Nmea in: $SNTTA,0.033552,,,,155914.59*43

2021-02-16T15:59:14.469Z,1613491154.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.160004 m, bearing: 298.044102 deg, deltaT: 4.479295 s, approachRate: -0.736723 m/s, LOS rate: 0.004422 deg/s, posRepo size: 4
2021-02-16T15:59:14.475Z,1613491154.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.160004 m,
      bearing: 298.044102 deg,
      approachRate: -0.736723 m/s,
      LOS rate: 0.004422 deg/s,
      cmd update: 0.013266 deg/s,
      cmd heading: 298.498859 deg,
      new cmd heading: 298.310304 deg.

2021-02-16T15:59:15.776Z,1613491155.776 [CTD_Seabird](ERROR): Failed to parse device response: ,1.7495,2.79624,2915.45
2021-02-16T15:59:16.040Z,1613491156.040 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T15:59:16.885Z,1613491156.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:17.637Z,1613491157.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:18.055Z,1613491158.055 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:18.868Z,1613491158.868 [Micromodem](INFO): Nmea in: $SNTTA,0.031610,,,,155919.04*41

2021-02-16T15:59:18.892Z,1613491158.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.219997 m, bearing: 297.442335 deg, deltaT: 4.429212 s, approachRate: -0.663776 m/s, LOS rate: -0.135863 deg/s, posRepo size: 4
2021-02-16T15:59:18.894Z,1613491158.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.219997 m,
      bearing: 297.442335 deg,
      approachRate: -0.663776 m/s,
      LOS rate: -0.135863 deg/s,
      cmd update: -0.407590 deg/s,
      cmd heading: 298.557617 deg,
      new cmd heading: 298.562893 deg.

2021-02-16T15:59:21.314Z,1613491161.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:21.722Z,1613491161.722 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T15:59:22.082Z,1613491162.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:22.492Z,1613491162.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:23.315Z,1613491163.315 [Micromodem](INFO): Nmea in: $SNTTA,0.029566,,,,155923.48*4B

2021-02-16T15:59:23.340Z,1613491163.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.160000 m, bearing: 297.619483 deg, deltaT: 4.426754 s, approachRate: -0.691251 m/s, LOS rate: 0.040018 deg/s, posRepo size: 4
2021-02-16T15:59:23.342Z,1613491163.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.160000 m,
      bearing: 297.619483 deg,
      approachRate: -0.691251 m/s,
      LOS rate: 0.040018 deg/s,
      cmd update: 0.120053 deg/s,
      cmd heading: 296.751658 deg,
      new cmd heading: 296.582586 deg.

2021-02-16T15:59:25.761Z,1613491165.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:26.520Z,1613491166.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:26.937Z,1613491166.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:27.748Z,1613491167.748 [Micromodem](INFO): Nmea in: $SNTTA,0.027443,,,,155927.92*40

2021-02-16T15:59:27.804Z,1613491167.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.980000 m, bearing: 297.799608 deg, deltaT: 4.451588 s, approachRate: -0.714352 m/s, LOS rate: 0.040463 deg/s, posRepo size: 4
2021-02-16T15:59:27.805Z,1613491167.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.980000 m,
      bearing: 297.799608 deg,
      approachRate: -0.714352 m/s,
      LOS rate: 0.040463 deg/s,
      cmd update: 0.121390 deg/s,
      cmd heading: 297.285599 deg,
      new cmd heading: 297.337208 deg.

2021-02-16T15:59:30.203Z,1613491170.203 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:31.011Z,1613491171.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:31.144Z,1613491171.144 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T15:59:31.370Z,1613491171.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:32.219Z,1613491172.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.799999 m, bearing: 297.248794 deg, deltaT: 4.424735 s, approachRate: -0.718687 m/s, LOS rate: -0.124485 deg/s, posRepo size: 4
2021-02-16T15:59:32.219Z,1613491172.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.80 m.
2021-02-16T15:59:32.221Z,1613491172.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.799999 m,
      bearing: 297.248794 deg,
      approachRate: -0.718687 m/s,
      LOS rate: -0.124485 deg/s,
      cmd update: -0.373455 deg/s,
      cmd heading: 297.823204 deg,
      new cmd heading: 297.873875 deg.

2021-02-16T15:59:32.592Z,1613491172.592 [Micromodem](INFO): Nmea in: $SNTTA,0.025332,,,,155932.49*41

2021-02-16T15:59:32.594Z,1613491172.594 [PowerOnly](INFO): Powering up loadControl
2021-02-16T15:59:34.629Z,1613491174.629 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:35.414Z,1613491175.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:35.821Z,1613491175.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:35.844Z,1613491175.844 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:59:36.660Z,1613491176.660 [Micromodem](INFO): Nmea in: $SNTTA,0.023272,,,,155936.81*42

2021-02-16T15:59:36.727Z,1613491176.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.680000 m, bearing: 298.387851 deg, deltaT: 4.493135 s, approachRate: -0.694392 m/s, LOS rate: 0.253511 deg/s, posRepo size: 4
2021-02-16T15:59:36.728Z,1613491176.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m.
2021-02-16T15:59:36.728Z,1613491176.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.68 m.
2021-02-16T15:59:36.728Z,1613491176.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T15:59:36.730Z,1613491176.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.680000 m,
      bearing: 298.387851 deg,
      approachRate: -0.694392 m/s,
      LOS rate: 0.253511 deg/s,
      cmd update: 0.760532 deg/s,
      cmd heading: 296.146060 deg,
      new cmd heading: 295.985181 deg.

2021-02-16T15:59:39.074Z,1613491179.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:39.853Z,1613491179.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:40.258Z,1613491180.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:41.098Z,1613491181.098 [Micromodem](INFO): Nmea in: $SNTTA,0.021180,,,,155941.25*40

2021-02-16T15:59:41.173Z,1613491181.173 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.559998 m, bearing: 298.551913 deg, deltaT: 4.386965 s, approachRate: -0.711198 m/s, LOS rate: 0.037397 deg/s, posRepo size: 4
2021-02-16T15:59:41.175Z,1613491181.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.559998 m,
      bearing: 298.551913 deg,
      approachRate: -0.711198 m/s,
      LOS rate: 0.037397 deg/s,
      cmd update: 0.112192 deg/s,
      cmd heading: 299.482037 deg,
      new cmd heading: 299.858380 deg.

2021-02-16T15:59:43.527Z,1613491183.527 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:44.301Z,1613491184.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:44.733Z,1613491184.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:45.528Z,1613491185.528 [Micromodem](INFO): Nmea in: $SNTTA,0.018980,,,,155945.70*46

2021-02-16T15:59:45.577Z,1613491185.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 297.946703 deg, deltaT: 4.484599 s, approachRate: -0.722472 m/s, LOS rate: -0.134953 deg/s, posRepo size: 4
2021-02-16T15:59:45.579Z,1613491185.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 297.946703 deg,
      approachRate: -0.722472 m/s,
      LOS rate: -0.134953 deg/s,
      cmd update: -0.404859 deg/s,
      cmd heading: 299.985027 deg,
      new cmd heading: 300.031617 deg.

2021-02-16T15:59:48.025Z,1613491188.025 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:48.758Z,1613491188.758 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:49.165Z,1613491189.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:49.989Z,1613491189.989 [Micromodem](INFO): Nmea in: $SNTTA,0.016964,,,,155950.16*46

2021-02-16T15:59:50.045Z,1613491190.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.259996 m, bearing: 298.051205 deg, deltaT: 4.427493 s, approachRate: -0.691137 m/s, LOS rate: 0.023603 deg/s, posRepo size: 4
2021-02-16T15:59:50.052Z,1613491190.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 298.051205 deg,
      approachRate: -0.691137 m/s,
      LOS rate: 0.023603 deg/s,
      cmd update: 0.070809 deg/s,
      cmd heading: 298.201336 deg,
      new cmd heading: 298.011841 deg.

2021-02-16T15:59:50.797Z,1613491190.797 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T15:59:52.420Z,1613491192.420 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:53.192Z,1613491193.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:53.602Z,1613491193.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:54.420Z,1613491194.420 [Micromodem](INFO): Nmea in: $SNTTA,0.014871,,,0.048283,155954.59*55

2021-02-16T15:59:54.460Z,1613491194.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.140001 m, bearing: 297.208114 deg, deltaT: 4.455585 s, approachRate: -0.700244 m/s, LOS rate: -0.189221 deg/s, posRepo size: 4
2021-02-16T15:59:54.461Z,1613491194.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.140001 m,
      bearing: 297.208114 deg,
      approachRate: -0.700244 m/s,
      LOS rate: -0.189221 deg/s,
      cmd update: -0.567664 deg/s,
      cmd heading: 298.518381 deg,
      new cmd heading: 298.547713 deg.

2021-02-16T15:59:56.874Z,1613491196.874 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T15:59:57.630Z,1613491197.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T15:59:58.034Z,1613491198.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T15:59:58.860Z,1613491198.860 [Micromodem](INFO): Nmea in: $SNTTA,0.012695,,,,155959.03*4E

2021-02-16T15:59:58.914Z,1613491198.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.840000 m, bearing: 298.199010 deg, deltaT: 4.412094 s, approachRate: -0.747944 m/s, LOS rate: 0.224586 deg/s, posRepo size: 4
2021-02-16T15:59:58.920Z,1613491198.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.840000 m,
      bearing: 298.199010 deg,
      approachRate: -0.747944 m/s,
      LOS rate: 0.224586 deg/s,
      cmd update: 0.673759 deg/s,
      cmd heading: 296.011508 deg,
      new cmd heading: 295.754268 deg.

2021-02-16T16:00:01.328Z,1613491201.328 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:02.078Z,1613491202.078 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:02.479Z,1613491202.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:03.308Z,1613491203.308 [Micromodem](INFO): Nmea in: $SNTTA,0.010669,,,,160003.48*40

2021-02-16T16:00:03.333Z,1613491203.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.840000 m, bearing: 298.390529 deg, deltaT: 4.449439 s, approachRate: -0.674242 m/s, LOS rate: 0.043043 deg/s, posRepo size: 4
2021-02-16T16:00:03.335Z,1613491203.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.840000 m,
      bearing: 298.390529 deg,
      approachRate: -0.674242 m/s,
      LOS rate: 0.043043 deg/s,
      cmd update: 0.129130 deg/s,
      cmd heading: 299.009217 deg,
      new cmd heading: 299.294171 deg.

2021-02-16T16:00:05.798Z,1613491205.798 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:06.516Z,1613491206.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:06.921Z,1613491206.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:07.752Z,1613491207.752 [Micromodem](INFO): Nmea in: $SNTTA,0.008716,,,,160007.91*40

2021-02-16T16:00:07.792Z,1613491207.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.840000 m, bearing: 298.677233 deg, deltaT: 4.452017 s, approachRate: -0.673852 m/s, LOS rate: 0.064399 deg/s, posRepo size: 4
2021-02-16T16:00:07.793Z,1613491207.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.840000 m,
      bearing: 298.677233 deg,
      approachRate: -0.673852 m/s,
      LOS rate: 0.064399 deg/s,
      cmd update: 0.193196 deg/s,
      cmd heading: 299.583609 deg,
      new cmd heading: 299.639494 deg.

2021-02-16T16:00:10.221Z,1613491210.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:10.965Z,1613491210.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:11.383Z,1613491211.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:12.192Z,1613491212.192 [Micromodem](INFO): Nmea in: $SNTTA,0.006693,,,,160012.37*4A

2021-02-16T16:00:12.234Z,1613491212.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.839999 m, bearing: 295.216158 deg, deltaT: 4.452181 s, approachRate: -0.673827 m/s, LOS rate: -0.777389 deg/s, posRepo size: 4
2021-02-16T16:00:12.236Z,1613491212.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 295.216158 deg,
      approachRate: -0.673827 m/s,
      LOS rate: -0.777389 deg/s,
      cmd update: -2.332166 deg/s,
      cmd heading: 300.443103 deg,
      new cmd heading: 300.525459 deg.

2021-02-16T16:00:14.613Z,1613491214.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:15.404Z,1613491215.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:15.455Z,1613491215.455 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:00:15.822Z,1613491215.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:16.632Z,1613491216.632 [Micromodem](INFO): Nmea in: $SNTTA,0.004821,,,,160016.80*47

2021-02-16T16:00:16.709Z,1613491216.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.900000 m, bearing: 291.216563 deg, deltaT: 4.442785 s, approachRate: -0.661747 m/s, LOS rate: -0.900245 deg/s, posRepo size: 4
2021-02-16T16:00:16.711Z,1613491216.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 291.216563 deg,
      approachRate: -0.661747 m/s,
      LOS rate: -0.900245 deg/s,
      cmd update: -2.700735 deg/s,
      cmd heading: 290.075374 deg,
      new cmd heading: 289.012216 deg.

2021-02-16T16:00:19.093Z,1613491219.093 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:19.853Z,1613491219.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:20.270Z,1613491220.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:21.093Z,1613491221.093 [Micromodem](INFO): Nmea in: $SNTTA,0.003126,0.032527,0.014476,,160021.25*44

2021-02-16T16:00:21.170Z,1613491221.170 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:00:21.170Z,1613491221.170 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:00:21.170Z,1613491221.170 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:00:21.170Z,1613491221.170 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:00:21.171Z,1613491221.171 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:00:21.175Z,1613491221.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T16:00:21.175Z,1613491221.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:00:21.175Z,1613491221.175 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:00:21.176Z,1613491221.176 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:00:21.178Z,1613491221.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 285.936663 deg, deltaT: 4.458088 s, approachRate: -0.551806 m/s, LOS rate: -1.184342 deg/s, posRepo size: 4
2021-02-16T16:00:21.184Z,1613491221.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 285.936663 deg,
      approachRate: -0.551806 m/s,
      LOS rate: -1.184342 deg/s,
      cmd update: -3.553026 deg/s,
      cmd heading: 278.060595 deg,
      new cmd heading: 276.774924 deg.

2021-02-16T16:00:21.494Z,1613491221.494 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T16:00:21.513Z,1613491221.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T160021: (41.552319, -70.708603)
2021-02-16T16:00:21.513Z,1613491221.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:00:21.514Z,1613491221.514 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:00:23.521Z,1613491223.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:24.299Z,1613491224.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:24.722Z,1613491224.722 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:25.528Z,1613491225.528 [Micromodem](INFO): Nmea in: $SNTTA,0.001613,,,,160025.70*42

2021-02-16T16:00:25.586Z,1613491225.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 2.520000 m, bearing: 287.485667 deg, deltaT: 4.442434 s, approachRate: -0.432196 m/s, LOS rate: 0.348684 deg/s, posRepo size: 4
2021-02-16T16:00:25.592Z,1613491225.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 2.520000 m,
      bearing: 287.485667 deg,
      approachRate: -0.432196 m/s,
      LOS rate: 0.348684 deg/s,
      cmd update: 1.046052 deg/s,
      cmd heading: 262.274595 deg,
      new cmd heading: 260.705995 deg.

2021-02-16T16:00:27.972Z,1613491227.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:28.746Z,1613491228.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:29.166Z,1613491229.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:29.968Z,1613491229.968 [Micromodem](INFO): Nmea in: $SNTTA,0.002663,,,,160030.14*40

2021-02-16T16:00:30.009Z,1613491230.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.140001 m, bearing: 211.367075 deg, deltaT: 4.400053 s, approachRate: 0.368178 m/s, LOS rate: -17.299472 deg/s, posRepo size: 4
2021-02-16T16:00:30.009Z,1613491230.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.299472 deg/s. Setting heading cmd to target bearing of 211.367075deg and heading rate command to 0 deg/s.
2021-02-16T16:00:32.433Z,1613491232.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:33.185Z,1613491233.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:33.586Z,1613491233.586 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:34.412Z,1613491234.412 [Micromodem](INFO): Nmea in: $SNTTA,0.004346,,,,160034.58*48

2021-02-16T16:00:34.454Z,1613491234.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.479999 m, bearing: 269.460689 deg, deltaT: 4.477858 s, approachRate: 0.522571 m/s, LOS rate: 12.973528 deg/s, posRepo size: 4
2021-02-16T16:00:34.454Z,1613491234.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.973528 deg/s. Setting heading cmd to target bearing of 269.460689deg and heading rate command to 0 deg/s.
2021-02-16T16:00:36.864Z,1613491236.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:37.629Z,1613491237.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:38.035Z,1613491238.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:38.864Z,1613491238.864 [Micromodem](INFO): Nmea in: $SNTTA,0.006325,,,,160039.03*4C

2021-02-16T16:00:38.894Z,1613491238.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.660001 m, bearing: 258.640194 deg, deltaT: 4.426039 s, approachRate: 0.718476 m/s, LOS rate: -2.444736 deg/s, posRepo size: 4
2021-02-16T16:00:38.920Z,1613491238.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.660001 m,
      bearing: 258.640194 deg,
      approachRate: 0.718476 m/s,
      LOS rate: -2.444736 deg/s,
      cmd update: -7.334207 deg/s,
      cmd heading: 269.460689 deg,
      new cmd heading: 269.460689 deg.

2021-02-16T16:00:41.314Z,1613491241.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:42.068Z,1613491242.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:42.479Z,1613491242.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:43.311Z,1613491243.311 [Micromodem](INFO): Nmea in: $SNTTA,0.008160,,,,160043.47*4C

2021-02-16T16:00:43.336Z,1613491243.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.360002 m, bearing: 227.504244 deg, deltaT: 4.444940 s, approachRate: 0.607432 m/s, LOS rate: -7.004808 deg/s, posRepo size: 4
2021-02-16T16:00:43.337Z,1613491243.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.36 m. Rolling out.
2021-02-16T16:00:43.337Z,1613491243.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:00:45.777Z,1613491245.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:46.513Z,1613491246.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:46.938Z,1613491246.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:47.752Z,1613491247.752 [Micromodem](INFO): Nmea in: $SNTTA,0.009993,0.030755,,,160047.91*5C

2021-02-16T16:00:47.777Z,1613491247.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.059998 m, bearing: 253.013621 deg, deltaT: 4.446917 s, approachRate: 0.607161 m/s, LOS rate: 5.736418 deg/s, posRepo size: 4
2021-02-16T16:00:50.221Z,1613491250.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:50.956Z,1613491250.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:51.368Z,1613491251.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:52.208Z,1613491252.208 [Micromodem](INFO): Nmea in: $SNTTA,0.011968,,,,160052.36*42

2021-02-16T16:00:52.234Z,1613491252.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.059998 m, bearing: 228.822839 deg, deltaT: 4.440926 s, approachRate: 0.675535 m/s, LOS rate: -5.447238 deg/s, posRepo size: 4
2021-02-16T16:00:54.613Z,1613491254.613 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:55.400Z,1613491255.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:00:55.836Z,1613491255.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:00:56.632Z,1613491256.632 [Micromodem](INFO): Nmea in: $SNTTA,0.013670,,,,160056.80*4F

2021-02-16T16:00:56.654Z,1613491256.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.639997 m, bearing: 199.469760 deg, deltaT: 4.457661 s, approachRate: 0.578779 m/s, LOS rate: -6.584861 deg/s, posRepo size: 4
2021-02-16T16:00:59.098Z,1613491259.098 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:00:59.849Z,1613491259.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:00.272Z,1613491260.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:01.101Z,1613491261.101 [Micromodem](INFO): Nmea in: $SNTTA,0.015446,,,,160101.25*42

2021-02-16T16:01:01.184Z,1613491261.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.339998 m, bearing: 205.391028 deg, deltaT: 4.468732 s, approachRate: 0.604198 m/s, LOS rate: 1.325044 deg/s, posRepo size: 4
2021-02-16T16:01:03.525Z,1613491263.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:04.297Z,1613491264.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:04.725Z,1613491264.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:05.520Z,1613491265.520 [Micromodem](INFO): Nmea in: $SNTTA,0.017590,,,,160105.70*4E

2021-02-16T16:01:05.562Z,1613491265.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.519999 m, bearing: 210.835604 deg, deltaT: 4.433527 s, approachRate: 0.717262 m/s, LOS rate: 1.228046 deg/s, posRepo size: 4
2021-02-16T16:01:07.139Z,1613491267.139 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:01:07.956Z,1613491267.956 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:08.732Z,1613491268.732 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:09.164Z,1613491269.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:09.968Z,1613491269.968 [Micromodem](INFO): Nmea in: $SNTTA,0.019493,,,,160110.13*43

2021-02-16T16:01:10.009Z,1613491270.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.059999 m, bearing: 234.743193 deg, deltaT: 4.437518 s, approachRate: 0.797743 m/s, LOS rate: 5.387604 deg/s, posRepo size: 4
2021-02-16T16:01:12.401Z,1613491272.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:13.177Z,1613491273.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:13.587Z,1613491273.587 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:14.408Z,1613491274.408 [Micromodem](INFO): Nmea in: $SNTTA,0.021664,,,,160114.58*49

2021-02-16T16:01:14.449Z,1613491274.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.639999 m, bearing: 212.047854 deg, deltaT: 4.447319 s, approachRate: 0.580125 m/s, LOS rate: -5.103151 deg/s, posRepo size: 4
2021-02-16T16:01:16.837Z,1613491276.837 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:17.635Z,1613491277.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:18.056Z,1613491278.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:18.856Z,1613491278.856 [Micromodem](INFO): Nmea in: $SNTTA,0.023929,,,,160119.03*4E

2021-02-16T16:01:18.900Z,1613491278.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.060001 m, bearing: 232.113652 deg, deltaT: 4.418529 s, approachRate: 0.774014 m/s, LOS rate: 4.541285 deg/s, posRepo size: 4
2021-02-16T16:01:21.318Z,1613491281.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:22.064Z,1613491282.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:22.476Z,1613491282.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:23.310Z,1613491283.310 [Micromodem](INFO): Nmea in: $SNTTA,0.026021,,,,160123.46*42

2021-02-16T16:01:23.373Z,1613491283.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.180000 m, bearing: 209.990874 deg, deltaT: 4.438914 s, approachRate: 0.702874 m/s, LOS rate: -4.983827 deg/s, posRepo size: 4
2021-02-16T16:01:25.756Z,1613491285.756 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:26.523Z,1613491286.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:26.914Z,1613491286.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:27.748Z,1613491287.748 [Micromodem](INFO): Nmea in: $SNTTA,0.027938,,,,160127.92*4F

2021-02-16T16:01:27.800Z,1613491287.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.060001 m, bearing: 227.325580 deg, deltaT: 4.467104 s, approachRate: 0.644713 m/s, LOS rate: 3.880524 deg/s, posRepo size: 4
2021-02-16T16:01:30.188Z,1613491290.188 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:30.957Z,1613491290.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:31.358Z,1613491291.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:32.184Z,1613491292.184 [Micromodem](INFO): Nmea in: $SNTTA,0.029741,,,,160132.36*4B

2021-02-16T16:01:32.244Z,1613491292.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.700001 m, bearing: 236.131551 deg, deltaT: 4.466239 s, approachRate: 0.591101 m/s, LOS rate: 1.971675 deg/s, posRepo size: 4
2021-02-16T16:01:34.610Z,1613491294.610 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:35.414Z,1613491295.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:35.833Z,1613491295.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:36.636Z,1613491296.636 [Micromodem](INFO): Nmea in: $SNTTA,0.031737,,,,160136.81*4B

2021-02-16T16:01:36.662Z,1613491296.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.759995 m, bearing: 232.233535 deg, deltaT: 4.522188 s, approachRate: 0.676662 m/s, LOS rate: -0.861976 deg/s, posRepo size: 4
2021-02-16T16:01:39.057Z,1613491299.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:39.855Z,1613491299.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:40.246Z,1613491300.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:41.080Z,1613491301.080 [Micromodem](INFO): Nmea in: $SNTTA,0.033604,,,,160141.26*45

2021-02-16T16:01:41.159Z,1613491301.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.580002 m, bearing: 231.085080 deg, deltaT: 4.313820 s, approachRate: 0.653715 m/s, LOS rate: -0.266227 deg/s, posRepo size: 4
2021-02-16T16:01:43.525Z,1613491303.525 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:44.309Z,1613491304.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:44.721Z,1613491304.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:45.524Z,1613491305.524 [Micromodem](INFO): Nmea in: $SNTTA,0.035659,,,,160145.71*4D

2021-02-16T16:01:45.563Z,1613491305.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.579998 m, bearing: 231.516830 deg, deltaT: 4.484638 s, approachRate: 0.668949 m/s, LOS rate: 0.096273 deg/s, posRepo size: 4
2021-02-16T16:01:47.951Z,1613491307.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:48.733Z,1613491308.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:49.156Z,1613491309.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:49.960Z,1613491309.960 [Micromodem](INFO): Nmea in: $SNTTA,0.037856,,0.076487,,160150.13*5A

2021-02-16T16:01:50.001Z,1613491310.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.939999 m, bearing: 231.684770 deg, deltaT: 4.420417 s, approachRate: 0.760109 m/s, LOS rate: 0.037992 deg/s, posRepo size: 4
2021-02-16T16:01:52.400Z,1613491312.400 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:53.172Z,1613491313.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:53.578Z,1613491313.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:54.404Z,1613491314.404 [Micromodem](INFO): Nmea in: $SNTTA,0.039820,,,0.059889,160154.57*5E

2021-02-16T16:01:54.500Z,1613491314.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.880005 m, bearing: 227.458236 deg, deltaT: 4.448191 s, approachRate: 0.660944 m/s, LOS rate: -0.950169 deg/s, posRepo size: 4
2021-02-16T16:01:56.846Z,1613491316.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:01:57.618Z,1613491317.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:01:58.022Z,1613491318.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:01:58.848Z,1613491318.848 [Micromodem](INFO): Nmea in: $SNTTA,0.041484,,,,160159.02*45

2021-02-16T16:01:58.872Z,1613491318.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.340004 m, bearing: 236.075762 deg, deltaT: 4.458185 s, approachRate: 0.551794 m/s, LOS rate: 1.932967 deg/s, posRepo size: 4
2021-02-16T16:02:01.312Z,1613491321.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:02.066Z,1613491322.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:02.487Z,1613491322.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:03.296Z,1613491323.296 [Micromodem](INFO): Nmea in: $SNTTA,0.043817,,,,160203.46*4D

2021-02-16T16:02:03.321Z,1613491323.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.820000 m, bearing: 230.293488 deg, deltaT: 4.414833 s, approachRate: 0.788251 m/s, LOS rate: -1.309738 deg/s, posRepo size: 4
2021-02-16T16:02:05.793Z,1613491325.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:06.521Z,1613491326.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:06.910Z,1613491326.910 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:07.752Z,1613491327.752 [Micromodem](INFO): Nmea in: $SNTTA,0.045837,,,,160207.92*44

2021-02-16T16:02:07.776Z,1613491327.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 241.870877 deg, deltaT: 4.449978 s, approachRate: 0.687643 m/s, LOS rate: 2.601673 deg/s, posRepo size: 4
2021-02-16T16:02:10.200Z,1613491330.200 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:10.950Z,1613491330.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:11.361Z,1613491331.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:12.200Z,1613491332.200 [Micromodem](INFO): Nmea in: $SNTTA,0.047751,,,,160212.35*40

2021-02-16T16:02:12.225Z,1613491332.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.760002 m, bearing: 233.387701 deg, deltaT: 4.455639 s, approachRate: 0.646373 m/s, LOS rate: -1.903919 deg/s, posRepo size: 4
2021-02-16T16:02:14.604Z,1613491334.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:15.392Z,1613491335.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:15.809Z,1613491335.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:16.620Z,1613491336.620 [Micromodem](INFO): Nmea in: $SNTTA,0.049724,,,,160216.79*40

2021-02-16T16:02:16.658Z,1613491336.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.700005 m, bearing: 233.004964 deg, deltaT: 4.453996 s, approachRate: 0.660082 m/s, LOS rate: -0.085931 deg/s, posRepo size: 4
2021-02-16T16:02:19.054Z,1613491339.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:19.841Z,1613491339.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:20.242Z,1613491340.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:21.068Z,1613491341.068 [Micromodem](INFO): Nmea in: $SNTTA,0.051678,,,,160221.24*4D

2021-02-16T16:02:21.133Z,1613491341.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.640007 m, bearing: 238.143343 deg, deltaT: 4.405899 s, approachRate: 0.667288 m/s, LOS rate: 1.166250 deg/s, posRepo size: 4
2021-02-16T16:02:23.505Z,1613491343.505 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:24.294Z,1613491344.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:24.717Z,1613491344.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:25.520Z,1613491345.520 [Micromodem](INFO): Nmea in: $SNTTA,0.053669,0.083361,,,160225.69*53

2021-02-16T16:02:25.569Z,1613491345.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.639999 m, bearing: 229.041392 deg, deltaT: 4.448379 s, approachRate: 0.674401 m/s, LOS rate: -2.046128 deg/s, posRepo size: 4
2021-02-16T16:02:27.959Z,1613491347.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:28.733Z,1613491348.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:29.159Z,1613491349.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:29.960Z,1613491349.960 [Micromodem](INFO): Nmea in: $SNTTA,0.055592,,,,160230.13*4A

2021-02-16T16:02:30.009Z,1613491350.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.519997 m, bearing: 238.276395 deg, deltaT: 4.444800 s, approachRate: 0.647948 m/s, LOS rate: 2.077709 deg/s, posRepo size: 4
2021-02-16T16:02:32.398Z,1613491352.398 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:33.172Z,1613491353.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:33.574Z,1613491353.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:34.404Z,1613491354.404 [Micromodem](INFO): Nmea in: $SNTTA,0.057482,,,,160234.57*4C

2021-02-16T16:02:34.450Z,1613491354.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.400002 m, bearing: 249.486019 deg, deltaT: 4.467967 s, approachRate: 0.644590 m/s, LOS rate: 2.508887 deg/s, posRepo size: 4
2021-02-16T16:02:36.841Z,1613491356.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:37.625Z,1613491357.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:38.058Z,1613491358.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:38.848Z,1613491358.848 [Micromodem](INFO): Nmea in: $SNTTA,0.059569,,,,160239.02*4B

2021-02-16T16:02:38.891Z,1613491358.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 239.542794 deg, deltaT: 4.443743 s, approachRate: 0.702110 m/s, LOS rate: -2.237579 deg/s, posRepo size: 4
2021-02-16T16:02:41.317Z,1613491361.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:42.056Z,1613491362.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:42.463Z,1613491362.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:43.300Z,1613491363.300 [Micromodem](INFO): Nmea in: $SNTTA,0.061493,,,,160243.45*4A

2021-02-16T16:02:43.325Z,1613491363.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 245.955495 deg, deltaT: 4.441378 s, approachRate: 0.648448 m/s, LOS rate: 1.443854 deg/s, posRepo size: 4
2021-02-16T16:02:45.760Z,1613491365.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:46.500Z,1613491366.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:46.907Z,1613491366.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:47.768Z,1613491367.768 [Micromodem](INFO): Nmea in: $SNTTA,0.063422,,,,160247.90*4E

2021-02-16T16:02:47.811Z,1613491367.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.279999 m, bearing: 244.469573 deg, deltaT: 4.440996 s, approachRate: 0.648503 m/s, LOS rate: -0.334592 deg/s, posRepo size: 4
2021-02-16T16:02:50.205Z,1613491370.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:50.961Z,1613491370.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:51.359Z,1613491371.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:52.188Z,1613491372.188 [Micromodem](INFO): Nmea in: $SNTTA,0.065576,,,,160252.36*40

2021-02-16T16:02:52.213Z,1613491372.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.460007 m, bearing: 235.476728 deg, deltaT: 4.432025 s, approachRate: 0.717507 m/s, LOS rate: -2.029060 deg/s, posRepo size: 4
2021-02-16T16:02:54.595Z,1613491374.595 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:55.403Z,1613491375.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:02:55.793Z,1613491375.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:02:56.629Z,1613491376.629 [Micromodem](INFO): Nmea in: $SNTTA,0.067429,,,,160256.80*40

2021-02-16T16:02:56.708Z,1613491376.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.279999 m, bearing: 240.071560 deg, deltaT: 4.444079 s, approachRate: 0.634550 m/s, LOS rate: 1.033922 deg/s, posRepo size: 4
2021-02-16T16:02:59.048Z,1613491379.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:02:59.845Z,1613491379.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:00.243Z,1613491380.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:01.068Z,1613491381.068 [Micromodem](INFO): Nmea in: $SNTTA,0.069453,,,,160301.24*4E

2021-02-16T16:03:01.126Z,1613491381.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.339996 m, bearing: 249.533093 deg, deltaT: 4.458682 s, approachRate: 0.686301 m/s, LOS rate: 2.122047 deg/s, posRepo size: 4
2021-02-16T16:03:03.493Z,1613491383.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:04.291Z,1613491384.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:04.698Z,1613491384.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:05.532Z,1613491385.532 [Micromodem](INFO): Nmea in: $SNTTA,0.071195,,,,160305.69*45

2021-02-16T16:03:05.572Z,1613491385.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.920006 m, bearing: 244.660491 deg, deltaT: 4.478167 s, approachRate: 0.576131 m/s, LOS rate: -1.088080 deg/s, posRepo size: 4
2021-02-16T16:03:07.946Z,1613491387.946 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:08.726Z,1613491388.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:09.161Z,1613491389.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:09.952Z,1613491389.952 [Micromodem](INFO): Nmea in: $SNTTA,0.073055,,,,160310.12*42

2021-02-16T16:03:09.996Z,1613491389.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 251.832736 deg, deltaT: 4.383943 s, approachRate: 0.643255 m/s, LOS rate: 1.636026 deg/s, posRepo size: 4
2021-02-16T16:03:12.395Z,1613491392.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:13.183Z,1613491393.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:13.582Z,1613491393.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:14.404Z,1613491394.404 [Micromodem](INFO): Nmea in: $SNTTA,0.075204,,,,160314.58*48

2021-02-16T16:03:14.434Z,1613491394.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.920006 m, bearing: 248.100611 deg, deltaT: 4.475620 s, approachRate: 0.710518 m/s, LOS rate: -0.833879 deg/s, posRepo size: 4
2021-02-16T16:03:16.841Z,1613491396.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:17.613Z,1613491397.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:18.020Z,1613491398.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:18.865Z,1613491398.865 [Micromodem](INFO): Nmea in: $SNTTA,0.076893,,,,160319.01*4E

2021-02-16T16:03:18.915Z,1613491398.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.500000 m, bearing: 241.726077 deg, deltaT: 4.427969 s, approachRate: 0.582659 m/s, LOS rate: -1.439607 deg/s, posRepo size: 4
2021-02-16T16:03:21.301Z,1613491401.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:22.065Z,1613491402.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:22.457Z,1613491402.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:23.293Z,1613491403.293 [Micromodem](INFO): Nmea in: $SNTTA,0.079143,,,,160323.47*4E

2021-02-16T16:03:23.338Z,1613491403.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.800003 m, bearing: 235.174888 deg, deltaT: 4.446742 s, approachRate: 0.742117 m/s, LOS rate: -1.473256 deg/s, posRepo size: 4
2021-02-16T16:03:25.748Z,1613491405.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:26.496Z,1613491406.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:26.908Z,1613491406.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:27.731Z,1613491407.731 [Micromodem](INFO): Nmea in: $SNTTA,0.081009,,,,160327.89*40

2021-02-16T16:03:28.542Z,1613491408.542 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:30.160Z,1613491410.160 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:03:31.390Z,1613491411.390 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:32.167Z,1613491412.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:32.557Z,1613491412.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:33.378Z,1613491413.378 [Micromodem](INFO): Nmea in: $SNTTA,0.083487,,,,160333.56*47

2021-02-16T16:03:34.223Z,1613491414.223 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:35.786Z,1613491415.786 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:03:37.037Z,1613491417.037 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:37.814Z,1613491417.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:38.215Z,1613491418.215 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:39.033Z,1613491419.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160339.21*53

2021-02-16T16:03:39.872Z,1613491419.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:41.448Z,1613491421.448 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:03:42.729Z,1613491422.729 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:43.464Z,1613491423.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:43.871Z,1613491423.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:44.708Z,1613491424.708 [Micromodem](INFO): Nmea in: $SNTTA,0.088800,,,,160344.86*42

2021-02-16T16:03:45.514Z,1613491425.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:47.104Z,1613491427.104 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:03:48.359Z,1613491428.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:49.141Z,1613491429.141 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:49.543Z,1613491429.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:50.371Z,1613491430.371 [Micromodem](INFO): Nmea in: $SNTTA,0.091652,,,,160350.54*49

2021-02-16T16:03:50.396Z,1613491430.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.660004 m, bearing: 241.702035 deg, deltaT: 27.099721 s, approachRate: 0.732849 m/s, LOS rate: 0.240857 deg/s, posRepo size: 4
2021-02-16T16:03:52.803Z,1613491432.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:53.564Z,1613491433.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:53.973Z,1613491433.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:54.804Z,1613491434.804 [Micromodem](INFO): Nmea in: $SNTTA,0.093704,,,,160354.96*43

2021-02-16T16:03:54.829Z,1613491434.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.699997 m, bearing: 245.943282 deg, deltaT: 4.407812 s, approachRate: 0.462813 m/s, LOS rate: 0.962211 deg/s, posRepo size: 4
2021-02-16T16:03:57.227Z,1613491437.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:03:58.009Z,1613491438.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:03:58.419Z,1613491438.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:03:59.248Z,1613491439.248 [Micromodem](INFO): Nmea in: $SNTTA,0.095824,,,,160359.41*4F

2021-02-16T16:03:59.297Z,1613491439.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 252.526382 deg, deltaT: 4.444358 s, approachRate: 0.715516 m/s, LOS rate: 1.481226 deg/s, posRepo size: 4
2021-02-16T16:04:01.673Z,1613491441.673 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:02.452Z,1613491442.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:02.867Z,1613491442.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:03.695Z,1613491443.695 [Micromodem](INFO): Nmea in: $SNTTA,0.097762,,,,160403.85*40

2021-02-16T16:04:03.752Z,1613491443.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.760010 m, bearing: 253.786771 deg, deltaT: 4.469535 s, approachRate: 0.644363 m/s, LOS rate: 0.281995 deg/s, posRepo size: 4
2021-02-16T16:04:06.159Z,1613491446.159 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:06.896Z,1613491446.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:07.305Z,1613491447.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:08.139Z,1613491448.139 [Micromodem](INFO): Nmea in: $SNTTA,0.099885,,,,160408.29*45

2021-02-16T16:04:08.187Z,1613491448.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.000000 m, bearing: 249.606422 deg, deltaT: 4.445058 s, approachRate: 0.728897 m/s, LOS rate: -0.940449 deg/s, posRepo size: 4
2021-02-16T16:04:08.188Z,1613491448.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.00 m. Resuming terminal guidance.
2021-02-16T16:04:08.188Z,1613491448.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:04:10.564Z,1613491450.564 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:11.341Z,1613491451.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:11.753Z,1613491451.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:12.557Z,1613491452.557 [Micromodem](INFO): Nmea in: $SNTTA,0.101779,,,,160412.74*4A

2021-02-16T16:04:13.392Z,1613491453.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:14.974Z,1613491454.974 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:04:16.214Z,1613491456.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:16.996Z,1613491456.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:17.401Z,1613491457.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:18.229Z,1613491458.229 [Micromodem](INFO): Nmea in: $SNTTA,0.104143,,,,160418.40*4D

2021-02-16T16:04:18.300Z,1613491458.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.360016 m, bearing: 240.908176 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:04:18.301Z,1613491458.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 240.908176deg and heading rate command to 0 deg/s.
2021-02-16T16:04:20.669Z,1613491460.669 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:21.450Z,1613491461.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:21.846Z,1613491461.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:22.684Z,1613491462.684 [Micromodem](INFO): Nmea in: $SNTTA,0.106378,,,,160422.85*45

2021-02-16T16:04:22.763Z,1613491462.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 257.837893 deg, deltaT: 4.473000 s, approachRate: 0.858480 m/s, LOS rate: 3.784869 deg/s, posRepo size: 2
2021-02-16T16:04:22.765Z,1613491462.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 257.837893 deg,
      approachRate: 0.858480 m/s,
      LOS rate: 3.784869 deg/s,
      cmd update: 11.354606 deg/s,
      cmd heading: 240.908176 deg,
      new cmd heading: 240.908176 deg.

2021-02-16T16:04:25.160Z,1613491465.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:25.890Z,1613491465.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:26.301Z,1613491466.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:27.117Z,1613491467.117 [Micromodem](INFO): Nmea in: $SNTTA,0.108584,,,,160427.29*4D

2021-02-16T16:04:27.935Z,1613491467.935 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:29.518Z,1613491469.518 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:04:30.760Z,1613491470.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:31.540Z,1613491471.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:31.963Z,1613491471.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:32.775Z,1613491472.775 [Micromodem](INFO): Nmea in: $SNTTA,0.110332,,,,160432.94*4D

2021-02-16T16:04:32.799Z,1613491472.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.419998 m, bearing: 252.636321 deg, deltaT: 10.085857 s, approachRate: 0.517557 m/s, LOS rate: -0.515729 deg/s, posRepo size: 3
2021-02-16T16:04:32.801Z,1613491472.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 252.636321 deg,
      approachRate: 0.517557 m/s,
      LOS rate: -0.515729 deg/s,
      cmd update: -1.547188 deg/s,
      cmd heading: 355.468061 deg,
      new cmd heading: 0.042479 deg.

2021-02-16T16:04:35.230Z,1613491475.230 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:35.985Z,1613491475.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:36.391Z,1613491476.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:37.204Z,1613491477.204 [Micromodem](INFO): Nmea in: $SNTTA,0.111827,,,,160437.38*40

2021-02-16T16:04:38.049Z,1613491478.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:39.624Z,1613491479.624 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:04:40.878Z,1613491480.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:41.651Z,1613491481.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:42.046Z,1613491482.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:42.105Z,1613491482.105 [lineCaptureDepth:NeedComms] Running Loop=1
2021-02-16T16:04:42.105Z,1613491482.105 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms
2021-02-16T16:04:42.105Z,1613491482.105 [lineCaptureDepth:NeedComms:B.GoToSurface] Running Loop=1
2021-02-16T16:04:42.105Z,1613491482.105 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T16:04:42.105Z,1613491482.105 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received depth rate setting nan m/s.
2021-02-16T16:04:42.106Z,1613491482.106 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch setting 19.999999 degrees.
2021-02-16T16:04:42.106Z,1613491482.106 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received speed setting 1.000000 m/s.
2021-02-16T16:04:42.106Z,1613491482.106 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T16:04:42.106Z,1613491482.106 [lineCaptureDepth:NeedComms:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T16:04:42.107Z,1613491482.107 [lineCaptureDepth:NeedComms:A] Running Loop=1
2021-02-16T16:04:42.133Z,1613491482.133 [lineCaptureDepth:NeedComms:A](INFO): last time_fix was: 1613486082.000000 second since 1970/01/01T00:00:00Z 
2021-02-16T16:04:42.133Z,1613491482.133 [lineCaptureDepth:NeedComms:A] Stopped
2021-02-16T16:04:42.453Z,1613491482.453 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F24,0,63,E4
6,186,80,80,41,FF
2021-02-16T16:04:42.865Z,1613491482.865 [Micromodem](INFO): Nmea in: $SNTTA,0.113577,,,,160443.05*47

2021-02-16T16:04:43.732Z,1613491483.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:46.521Z,1613491486.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:49.342Z,1613491489.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:50.158Z,1613491490.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:50.547Z,1613491490.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:51.364Z,1613491491.364 [Micromodem](INFO): Nmea in: $SNTTA,0.114059,,,,160451.56*4C

2021-02-16T16:04:51.782Z,1613491491.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.120010 m, bearing: 348.427566 deg, deltaT: 19.020234 s, approachRate: 0.299681 m/s, LOS rate: 5.036281 deg/s, posRepo size: 4
2021-02-16T16:04:51.784Z,1613491491.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.120010 m,
      bearing: 348.427566 deg,
      approachRate: 0.299681 m/s,
      LOS rate: 5.036281 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 326.045459 deg,
      new cmd heading: 325.474954 deg.

2021-02-16T16:04:54.208Z,1613491494.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:54.989Z,1613491494.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:55.456Z,1613491495.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:04:56.269Z,1613491496.269 [Micromodem](INFO): Nmea in: $SNTTA,0.114053,,,,160456.39*48

2021-02-16T16:04:56.322Z,1613491496.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 29.102818 deg, deltaT: 4.469438 s, approachRate: -0.013427 m/s, LOS rate: 9.100751 deg/s, posRepo size: 4
2021-02-16T16:04:56.328Z,1613491496.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 29.102818 deg,
      approachRate: -0.013427 m/s,
      LOS rate: 9.100751 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 19.724233 deg,
      new cmd heading: 24.954697 deg.

2021-02-16T16:04:58.754Z,1613491498.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:04:59.488Z,1613491499.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:04:59.894Z,1613491499.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:00.736Z,1613491500.736 [Micromodem](INFO): Nmea in: $SNTTA,0.114094,,,,160500.89*4A

2021-02-16T16:05:00.760Z,1613491500.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 303.173956 deg, deltaT: 4.463725 s, approachRate: 0.000000 m/s, LOS rate: -19.250480 deg/s, posRepo size: 4
2021-02-16T16:05:00.761Z,1613491500.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.250480 deg/s. Setting heading cmd to target bearing of 303.173956deg and heading rate command to 0 deg/s.
2021-02-16T16:05:03.195Z,1613491503.195 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:03.938Z,1613491503.938 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:04.339Z,1613491504.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:05.184Z,1613491505.184 [Micromodem](INFO): Nmea in: $SNTTA,0.113914,,,,160505.34*4F

2021-02-16T16:05:05.233Z,1613491505.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.059998 m, bearing: 323.025409 deg, deltaT: 4.425023 s, approachRate: 0.000000 m/s, LOS rate: 4.486181 deg/s, posRepo size: 4
2021-02-16T16:05:05.234Z,1613491505.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.059998 m,
      bearing: 323.025409 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.486181 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 303.173956 deg,
      new cmd heading: 303.173956 deg.

2021-02-16T16:05:07.584Z,1613491507.584 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:08.381Z,1613491508.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:08.793Z,1613491508.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:09.609Z,1613491509.609 [Micromodem](INFO): Nmea in: $SNTTA,0.113208,,,,160509.78*4D

2021-02-16T16:05:09.812Z,1613491509.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 169.139999 m, bearing: 22.476252 deg, deltaT: 4.467175 s, approachRate: -0.429801 m/s, LOS rate: 13.308373 deg/s, posRepo size: 4
2021-02-16T16:05:09.812Z,1613491509.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.308373 deg/s. Setting heading cmd to target bearing of 22.476252deg and heading rate command to 0 deg/s.
2021-02-16T16:05:12.043Z,1613491512.043 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:12.825Z,1613491512.825 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:13.226Z,1613491513.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:14.042Z,1613491514.042 [Micromodem](INFO): Nmea in: $SNTTA,0.112049,,,,160514.22*48

2021-02-16T16:05:14.877Z,1613491514.877 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:16.456Z,1613491516.456 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:05:17.708Z,1613491517.708 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:18.482Z,1613491518.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:18.883Z,1613491518.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:19.703Z,1613491519.703 [Micromodem](INFO): Nmea in: $SNTTA,0.111540,,,,160519.88*4A

2021-02-16T16:05:20.528Z,1613491520.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:21.387Z,1613491521.387 [lineCaptureDepth:NeedComms:C] Running Loop=1
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T16:05:21.722Z,1613491521.722 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T16:05:21.888Z,1613491521.888 [Radio_Surface](INFO): Powering up
2021-02-16T16:05:22.122Z,1613491522.122 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:05:23.392Z,1613491523.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:24.145Z,1613491524.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:24.538Z,1613491524.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:24.942Z,1613491524.942 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,CCB,0,63,E4
4,189,80,80,BB,FF
2021-02-16T16:05:25.364Z,1613491525.364 [Micromodem](INFO): Nmea in: $SNTTA,0.109663,,,,160525.54*4F

2021-02-16T16:05:26.221Z,1613491526.221 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:28.071Z,1613491528.071 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T16:05:29.023Z,1613491529.023 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:31.063Z,1613491531.063 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:05:31.834Z,1613491531.834 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:32.622Z,1613491532.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:33.031Z,1613491533.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:33.842Z,1613491533.842 [Micromodem](INFO): Nmea in: $SNTTA,0.107461,,,,160534.02*42

2021-02-16T16:05:34.656Z,1613491534.656 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:35.111Z,1613491535.111 [BuoyancyServo](FAULT): Overload Error
2021-02-16T16:05:35.111Z,1613491535.111 [BuoyancyServo] Hardware Fault, FailCount= 1
2021-02-16T16:05:35.111Z,1613491535.111 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T16:05:35.219Z,1613491535.219 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T16:05:36.257Z,1613491536.257 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:05:37.082Z,1613491537.082 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T16:05:37.082Z,1613491537.082 [BuoyancyServo](INFO): Powering down
2021-02-16T16:05:37.489Z,1613491537.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:37.497Z,1613491537.497 [BuoyancyServo](FAULT): LCB fault:  Current Limiter Activated.
2021-02-16T16:05:38.003Z,1613491538.003 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T16:05:38.003Z,1613491538.003 [BuoyancyServo] No Fault, FailCount= 1
2021-02-16T16:05:38.277Z,1613491538.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:38.437Z,1613491538.437 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T16:05:38.444Z,1613491538.444 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T16:05:38.718Z,1613491538.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:39.504Z,1613491539.504 [Micromodem](INFO): Nmea in: $SNTTA,0.106349,,,,160539.67*40

2021-02-16T16:05:39.544Z,1613491539.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 71.841070 deg, deltaT: 29.880909 s, approachRate: -0.325291 m/s, LOS rate: 1.652052 deg/s, posRepo size: 4
2021-02-16T16:05:39.546Z,1613491539.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.420013 m,
      bearing: 71.841070 deg,
      approachRate: -0.325291 m/s,
      LOS rate: 1.652052 deg/s,
      cmd update: 4.956156 deg/s,
      cmd heading: 22.476252 deg,
      new cmd heading: 22.476252 deg.

2021-02-16T16:05:41.944Z,1613491541.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:42.733Z,1613491542.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:43.125Z,1613491543.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:43.952Z,1613491543.952 [Micromodem](INFO): Nmea in: $SNTTA,0.105732,,,,160544.13*42

2021-02-16T16:05:43.991Z,1613491543.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 67.968107 deg, deltaT: 4.454385 s, approachRate: -0.228989 m/s, LOS rate: -0.869472 deg/s, posRepo size: 4
2021-02-16T16:05:43.993Z,1613491543.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 67.968107 deg,
      approachRate: -0.228989 m/s,
      LOS rate: -0.869472 deg/s,
      cmd update: -2.608416 deg/s,
      cmd heading: 44.552676 deg,
      new cmd heading: 46.599435 deg.

2021-02-16T16:05:46.394Z,1613491546.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:47.184Z,1613491547.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:47.571Z,1613491547.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:48.404Z,1613491548.404 [Micromodem](INFO): Nmea in: $SNTTA,0.105063,,,,160548.58*42

2021-02-16T16:05:48.450Z,1613491548.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.400009 m, bearing: 56.444297 deg, deltaT: 4.447148 s, approachRate: 0.000000 m/s, LOS rate: -2.591281 deg/s, posRepo size: 4
2021-02-16T16:05:48.452Z,1613491548.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.400009 m,
      bearing: 56.444297 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.591281 deg/s,
      cmd update: -7.773843 deg/s,
      cmd heading: 32.963872 deg,
      new cmd heading: 31.845529 deg.

2021-02-16T16:05:50.841Z,1613491550.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:51.609Z,1613491551.609 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:52.010Z,1613491552.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:52.836Z,1613491552.836 [Micromodem](INFO): Nmea in: $SNTTA,0.104575,,,,160553.01*47

2021-02-16T16:05:52.861Z,1613491552.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.720001 m, bearing: 81.177468 deg, deltaT: 4.434596 s, approachRate: -0.378841 m/s, LOS rate: 5.577322 deg/s, posRepo size: 4
2021-02-16T16:05:52.863Z,1613491552.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.720001 m,
      bearing: 81.177468 deg,
      approachRate: -0.378841 m/s,
      LOS rate: 5.577322 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 358.456545 deg,
      new cmd heading: 355.338860 deg.

2021-02-16T16:05:55.300Z,1613491555.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:56.066Z,1613491556.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:05:56.076Z,1613491556.076 [NAL9602](INFO): SBD MO Status=0, MOMSN=13443, MT Status=0, MTMSN=0
2021-02-16T16:05:56.076Z,1613491556.076 [NAL9602](INFO): No messages in MT queue
2021-02-16T16:05:56.475Z,1613491556.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:05:56.575Z,1613491556.575 [BuoyancyServo](FAULT): Overload Error
2021-02-16T16:05:56.575Z,1613491556.575 [BuoyancyServo] Hardware Fault, FailCount= 2
2021-02-16T16:05:56.575Z,1613491556.575 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T16:05:56.644Z,1613491556.644 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T16:05:57.276Z,1613491557.276 [Micromodem](INFO): Nmea in: $SNTTA,0.104020,,,,160557.46*45

2021-02-16T16:05:58.107Z,1613491558.107 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:05:58.215Z,1613491558.215 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:05:58.529Z,1613491558.529 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T16:05:58.530Z,1613491558.530 [BuoyancyServo](INFO): Powering down
2021-02-16T16:05:59.423Z,1613491559.423 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T16:05:59.423Z,1613491559.423 [BuoyancyServo] No Fault, FailCount= 2
2021-02-16T16:05:59.718Z,1613491559.718 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:05:59.776Z,1613491559.776 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T16:05:59.783Z,1613491559.783 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T16:06:00.936Z,1613491560.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:01.718Z,1613491561.718 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:02.138Z,1613491562.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:02.930Z,1613491562.930 [Micromodem](INFO): Nmea in: $SNTTA,0.102537,,,,160603.12*43

2021-02-16T16:06:03.780Z,1613491563.780 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:05.340Z,1613491565.340 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:06.592Z,1613491566.592 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:07.365Z,1613491567.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:07.777Z,1613491567.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:08.581Z,1613491568.581 [Micromodem](INFO): Nmea in: $SNTTA,0.102051,,,,160608.76*4F

2021-02-16T16:06:09.423Z,1613491569.423 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:11.006Z,1613491571.006 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:12.252Z,1613491572.252 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:13.016Z,1613491573.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:13.427Z,1613491573.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:14.232Z,1613491574.232 [Micromodem](INFO): Nmea in: $SNTTA,0.102187,,,,160614.41*4C

2021-02-16T16:06:15.103Z,1613491575.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:16.650Z,1613491576.650 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:17.889Z,1613491577.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:18.676Z,1613491578.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:18.824Z,1613491578.824 [BuoyancyServo](FAULT): Overload Error
2021-02-16T16:06:18.824Z,1613491578.824 [BuoyancyServo] Hardware Fault, FailCount= 3
2021-02-16T16:06:18.824Z,1613491578.824 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T16:06:18.932Z,1613491578.932 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T16:06:19.097Z,1613491579.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:19.890Z,1613491579.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160620.07*5A

2021-02-16T16:06:20.773Z,1613491580.773 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:20.789Z,1613491580.789 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T16:06:20.789Z,1613491580.789 [BuoyancyServo](INFO): Powering down
2021-02-16T16:06:21.217Z,1613491581.217 [BuoyancyServo](FAULT): LCB fault:  Software Overcurrent. Current Limiter Activated.
2021-02-16T16:06:21.645Z,1613491581.645 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T16:06:21.645Z,1613491581.645 [BuoyancyServo] No Fault, FailCount= 3
2021-02-16T16:06:21.986Z,1613491581.986 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T16:06:21.991Z,1613491581.991 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T16:06:22.308Z,1613491582.308 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:23.550Z,1613491583.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:24.330Z,1613491584.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:24.765Z,1613491584.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:25.556Z,1613491585.556 [Micromodem](INFO): Nmea in: $SNTTA,0.100750,,,,160625.73*41

2021-02-16T16:06:25.598Z,1613491585.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.020004 m, bearing: 311.213471 deg, deltaT: 32.826249 s, approachRate: -0.173641 m/s, LOS rate: -3.959148 deg/s, posRepo size: 4
2021-02-16T16:06:25.600Z,1613491585.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 311.213471 deg,
      approachRate: -0.173641 m/s,
      LOS rate: -3.959148 deg/s,
      cmd update: -11.877445 deg/s,
      cmd heading: 32.248710 deg,
      new cmd heading: 36.110983 deg.

2021-02-16T16:06:28.000Z,1613491588.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:28.774Z,1613491588.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:29.189Z,1613491589.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:29.989Z,1613491589.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160630.17*5A

2021-02-16T16:06:30.829Z,1613491590.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:32.412Z,1613491592.412 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:33.363Z,1613491593.363 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:06:33.661Z,1613491593.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:34.449Z,1613491594.449 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:34.839Z,1613491594.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:35.663Z,1613491595.663 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160635.85*54

2021-02-16T16:06:36.184Z,1613491596.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:38.088Z,1613491598.088 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:38.931Z,1613491598.931 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:39.726Z,1613491599.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:39.891Z,1613491599.891 [BuoyancyServo](FAULT): Overload Error
2021-02-16T16:06:39.892Z,1613491599.892 [BuoyancyServo] Hardware Fault, FailCount= 4
2021-02-16T16:06:39.892Z,1613491599.892 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T16:06:39.999Z,1613491599.999 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T16:06:40.085Z,1613491600.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:40.910Z,1613491600.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160641.12*59

2021-02-16T16:06:41.743Z,1613491601.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:41.751Z,1613491601.751 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T16:06:41.751Z,1613491601.751 [BuoyancyServo](INFO): Powering down
2021-02-16T16:06:42.651Z,1613491602.651 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T16:06:42.651Z,1613491602.651 [BuoyancyServo] No Fault, FailCount= 4
2021-02-16T16:06:42.992Z,1613491602.992 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T16:06:43.003Z,1613491603.003 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T16:06:43.314Z,1613491603.314 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:44.285Z,1613491604.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:44.934Z,1613491604.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:45.338Z,1613491605.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:46.177Z,1613491606.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160646.33*5D

2021-02-16T16:06:46.966Z,1613491606.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:48.566Z,1613491608.566 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:49.828Z,1613491609.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:50.588Z,1613491610.588 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:50.999Z,1613491610.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:51.809Z,1613491611.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160651.99*5B

2021-02-16T16:06:52.623Z,1613491612.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:54.223Z,1613491614.223 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:06:55.481Z,1613491615.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:56.262Z,1613491616.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:06:56.669Z,1613491616.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:06:57.474Z,1613491617.474 [Micromodem](INFO): Nmea in: $SNTTA,0.097795,,,,160657.66*46

2021-02-16T16:06:58.326Z,1613491618.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:06:59.543Z,1613491619.543 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:00.379Z,1613491620.379 [BuoyancyServo](FAULT): Overload Error
2021-02-16T16:07:00.379Z,1613491620.379 [BuoyancyServo] Hardware Fault, FailCount= 5
2021-02-16T16:07:00.379Z,1613491620.379 [BuoyancyServo](ERROR): Hardware Fault
2021-02-16T16:07:00.413Z,1613491620.413 [CBIT](ERROR): Hardware Fault in component: BuoyancyServo
2021-02-16T16:07:01.136Z,1613491621.136 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:01.902Z,1613491621.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:02.309Z,1613491622.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:02.404Z,1613491622.404 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T16:07:02.404Z,1613491622.404 [BuoyancyServo](INFO): Powering down
2021-02-16T16:07:03.122Z,1613491623.122 [Micromodem](INFO): Nmea in: $SNTTA,0.097399,,,,160703.30*4D

2021-02-16T16:07:03.291Z,1613491623.291 [CBIT](INFO): Clearing failed state for component BuoyancyServo
2021-02-16T16:07:03.292Z,1613491623.292 [BuoyancyServo] No Fault, FailCount= 5
2021-02-16T16:07:03.593Z,1613491623.593 [BuoyancyServo](DEBUG): Initializing EZServoServo.
2021-02-16T16:07:03.611Z,1613491623.611 [BuoyancyServo](DEBUG): Initializing BuoyancyServo.
2021-02-16T16:07:03.984Z,1613491623.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:05.540Z,1613491625.540 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:06.817Z,1613491626.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:07.556Z,1613491627.556 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:07.964Z,1613491627.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:08.503Z,1613491628.503 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:07:08.783Z,1613491628.783 [Micromodem](INFO): Nmea in: $SNTTA,0.095010,,,,160708.96*4A

2021-02-16T16:07:09.628Z,1613491629.628 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:11.327Z,1613491631.327 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:12.465Z,1613491632.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:13.212Z,1613491633.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:13.623Z,1613491633.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:14.434Z,1613491634.434 [Micromodem](INFO): Nmea in: $SNTTA,0.094993,,,,160714.61*4C

2021-02-16T16:07:15.305Z,1613491635.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:16.852Z,1613491636.852 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:18.114Z,1613491638.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:18.873Z,1613491638.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:19.281Z,1613491639.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:20.094Z,1613491640.094 [Micromodem](INFO): Nmea in: $SNTTA,0.094512,,,,160720.27*4C

2021-02-16T16:07:20.951Z,1613491640.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:22.508Z,1613491642.508 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:23.764Z,1613491643.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:23.765Z,1613491643.765 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T16:07:23.765Z,1613491643.765 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T16:07:23.765Z,1613491643.765 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T16:07:23.765Z,1613491643.765 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:07:23.765Z,1613491643.765 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T16:07:24.530Z,1613491644.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:24.935Z,1613491644.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:25.748Z,1613491645.748 [Micromodem](INFO): Nmea in: $SNTTA,0.093526,,0.096320,,160725.93*56

2021-02-16T16:07:26.604Z,1613491646.604 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:28.181Z,1613491648.181 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:29.412Z,1613491649.412 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:30.193Z,1613491650.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:30.592Z,1613491650.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:31.421Z,1613491651.421 [Micromodem](INFO): Nmea in: $SNTTA,0.091698,,,,160731.59*41

2021-02-16T16:07:32.380Z,1613491652.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:34.790Z,1613491654.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:35.206Z,1613491655.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:35.958Z,1613491655.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:36.363Z,1613491656.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:37.190Z,1613491657.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160737.36*5F

2021-02-16T16:07:37.988Z,1613491657.988 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:39.605Z,1613491659.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:39.610Z,1613491659.610 [NAL9602](INFO): SBD MO Status=1, MOMSN=13444, MT Status=0, MTMSN=0
2021-02-16T16:07:39.655Z,1613491659.655 [NAL9602](INFO): Sent 75 bytes from file Logs/20210216T042015/Courier0115.lzma
2021-02-16T16:07:39.656Z,1613491659.656 [NAL9602](INFO): Packets left to send: 0
2021-02-16T16:07:42.489Z,1613491662.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:43.010Z,1613491663.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:43.410Z,1613491663.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:43.643Z,1613491663.643 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:07:44.245Z,1613491664.245 [Micromodem](INFO): Nmea in: $SNTTA,0.090862,,,,160744.41*40

2021-02-16T16:07:45.060Z,1613491665.060 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:46.638Z,1613491666.638 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:47.872Z,1613491667.872 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:48.660Z,1613491668.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:49.091Z,1613491669.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:49.123Z,1613491669.123 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T16:07:49.876Z,1613491669.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160750.06*5D

2021-02-16T16:07:49.879Z,1613491669.879 [NAL9602](INFO): SBD MO Status=1, MOMSN=13445, MT Status=0, MTMSN=0
2021-02-16T16:07:49.939Z,1613491669.939 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:07:49.939Z,1613491669.939 [NAL9602](INFO): Packets left to send: 6
2021-02-16T16:07:50.480Z,1613491670.480 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:52.913Z,1613491672.913 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:53.363Z,1613491673.363 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:54.122Z,1613491674.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:07:54.528Z,1613491674.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:07:55.337Z,1613491675.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160755.52*59

2021-02-16T16:07:56.225Z,1613491676.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:07:56.552Z,1613491676.552 [NAL9602](INFO): SBD MO Status=1, MOMSN=13446, MT Status=0, MTMSN=0
2021-02-16T16:07:56.603Z,1613491676.603 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:07:56.603Z,1613491676.603 [NAL9602](INFO): Packets left to send: 5
2021-02-16T16:07:57.756Z,1613491677.756 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:07:59.850Z,1613491679.850 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:00.359Z,1613491680.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:00.778Z,1613491680.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:01.577Z,1613491681.577 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160801.76*51

2021-02-16T16:08:02.408Z,1613491682.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:03.992Z,1613491683.992 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:05.240Z,1613491685.240 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:06.012Z,1613491686.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:06.417Z,1613491686.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:07.234Z,1613491687.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160807.41*53

2021-02-16T16:08:08.065Z,1613491688.065 [NAL9602](INFO): SBD MO Status=1, MOMSN=13447, MT Status=0, MTMSN=0
2021-02-16T16:08:08.111Z,1613491688.111 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:08:08.112Z,1613491688.112 [NAL9602](INFO): Packets left to send: 4
2021-02-16T16:08:08.190Z,1613491688.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:10.934Z,1613491690.934 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:11.040Z,1613491691.040 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:13.515Z,1613491693.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:14.278Z,1613491694.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:14.680Z,1613491694.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:15.490Z,1613491695.490 [Micromodem](INFO): Nmea in: $SNTTA,0.085770,,,,160815.67*47

2021-02-16T16:08:16.371Z,1613491696.371 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:17.908Z,1613491697.908 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:18.791Z,1613491698.792 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:08:19.162Z,1613491699.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:19.952Z,1613491699.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:20.366Z,1613491700.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:21.188Z,1613491701.188 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160821.35*54

2021-02-16T16:08:21.209Z,1613491701.209 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:08:22.010Z,1613491702.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:23.588Z,1613491703.588 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:24.799Z,1613491704.799 [NAL9602](INFO): SBD MO Status=1, MOMSN=13448, MT Status=0, MTMSN=0
2021-02-16T16:08:24.851Z,1613491704.851 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:08:24.851Z,1613491704.851 [NAL9602](INFO): Packets left to send: 3
2021-02-16T16:08:24.893Z,1613491704.893 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:25.604Z,1613491705.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:27.638Z,1613491707.638 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:08:27.681Z,1613491707.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:27.787Z,1613491707.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:28.984Z,1613491708.984 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:30.344Z,1613491710.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:31.011Z,1613491711.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:31.411Z,1613491711.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:32.237Z,1613491712.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160832.41*55

2021-02-16T16:08:33.072Z,1613491713.072 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:34.650Z,1613491714.650 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:35.913Z,1613491715.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:36.663Z,1613491716.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:37.099Z,1613491717.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:37.881Z,1613491717.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160838.06*5C

2021-02-16T16:08:38.720Z,1613491718.720 [NAL9602](INFO): SBD MO Status=1, MOMSN=13449, MT Status=0, MTMSN=0
2021-02-16T16:08:38.775Z,1613491718.775 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:08:38.775Z,1613491718.775 [NAL9602](INFO): Packets left to send: 2
2021-02-16T16:08:38.819Z,1613491718.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:41.997Z,1613491721.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:42.111Z,1613491722.111 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:44.561Z,1613491724.561 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:45.330Z,1613491725.330 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:45.733Z,1613491725.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:46.223Z,1613491726.223 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-02-16T16:08:46.223Z,1613491726.223 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-02-16T16:08:46.223Z,1613491726.223 [RDI_Pathfinder](ERROR): Communications Fault
2021-02-16T16:08:46.288Z,1613491726.288 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-02-16T16:08:46.549Z,1613491726.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160846.73*57

2021-02-16T16:08:46.623Z,1613491726.623 [RDI_Pathfinder](INFO): Powering down
2021-02-16T16:08:47.405Z,1613491727.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:47.467Z,1613491727.467 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-02-16T16:08:47.467Z,1613491727.467 [RDI_Pathfinder] No Fault, FailCount= 1
2021-02-16T16:08:47.916Z,1613491727.916 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003614
2021-02-16T16:08:48.964Z,1613491728.964 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:50.206Z,1613491730.206 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:50.986Z,1613491730.986 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:51.401Z,1613491731.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:51.932Z,1613491731.932 [DataOverHttps](INFO): Sending 1221 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:08:52.223Z,1613491732.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160852.39*5C

2021-02-16T16:08:52.933Z,1613491732.933 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0107.lzma.bak
2021-02-16T16:08:52.933Z,1613491732.933 [DataOverHttps](INFO): SBD MOMSN=81846
2021-02-16T16:08:53.045Z,1613491733.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:54.619Z,1613491734.619 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:08:55.899Z,1613491735.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:08:56.640Z,1613491736.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:08:57.070Z,1613491737.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:08:57.454Z,1613491737.454 [NAL9602](INFO): SBD MO Status=1, MOMSN=13450, MT Status=0, MTMSN=0
2021-02-16T16:08:57.515Z,1613491737.515 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0107.lzma
2021-02-16T16:08:57.515Z,1613491737.515 [NAL9602](INFO): Packets left to send: 1
2021-02-16T16:08:57.861Z,1613491737.861 [Micromodem](INFO): Nmea in: $SNTTA,0.079157,,,,160858.04*4B

2021-02-16T16:08:58.737Z,1613491738.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:00.285Z,1613491740.285 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:01.547Z,1613491741.547 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:01.971Z,1613491741.971 [DataOverHttps](INFO): Sending 171 bytes from file Logs/20210216T042015/Express0110.lzma
2021-02-16T16:09:02.300Z,1613491742.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:02.716Z,1613491742.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:02.973Z,1613491742.973 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0110.lzma.bak
2021-02-16T16:09:02.973Z,1613491742.973 [DataOverHttps](INFO): SBD MOMSN=81851
2021-02-16T16:09:03.517Z,1613491743.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160903.70*54

2021-02-16T16:09:04.383Z,1613491744.383 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:05.938Z,1613491745.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:07.182Z,1613491747.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:07.952Z,1613491747.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:08.358Z,1613491748.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:09.170Z,1613491749.170 [Micromodem](INFO): Nmea in: $SNTTA,0.078171,,,,160909.35*49

2021-02-16T16:09:10.034Z,1613491750.034 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:11.591Z,1613491751.591 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:12.015Z,1613491752.015 [DataOverHttps](INFO): Sending 161 bytes from file Logs/20210216T042015/Express0113.lzma
2021-02-16T16:09:12.855Z,1613491752.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:13.017Z,1613491753.017 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0113.lzma.bak
2021-02-16T16:09:13.017Z,1613491753.017 [DataOverHttps](INFO): SBD MOMSN=81853
2021-02-16T16:09:13.633Z,1613491753.633 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:14.015Z,1613491754.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:14.843Z,1613491754.843 [Micromodem](INFO): Nmea in: $SNTTA,0.081674,,,,160915.03*45

2021-02-16T16:09:15.687Z,1613491755.687 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:17.252Z,1613491757.252 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:18.490Z,1613491758.490 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:19.280Z,1613491759.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:19.711Z,1613491759.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:20.487Z,1613491760.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160920.68*5C

2021-02-16T16:09:21.337Z,1613491761.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:22.061Z,1613491762.061 [DataOverHttps](INFO): Sending 1725 bytes from file Logs/20210216T042015/Express0116.lzma
2021-02-16T16:09:22.918Z,1613491762.918 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:23.061Z,1613491763.061 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0116.lzma.bak
2021-02-16T16:09:23.062Z,1613491763.062 [DataOverHttps](INFO): SBD MOMSN=81855
2021-02-16T16:09:24.177Z,1613491764.177 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:24.545Z,1613491764.545 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T16:09:24.546Z,1613491764.546 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T16:09:24.546Z,1613491764.546 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T16:09:24.546Z,1613491764.546 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:09:24.546Z,1613491764.546 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T16:09:24.931Z,1613491764.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:25.325Z,1613491765.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:26.153Z,1613491766.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160926.33*54

2021-02-16T16:09:26.980Z,1613491766.980 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:28.555Z,1613491768.555 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:29.819Z,1613491769.819 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:30.578Z,1613491770.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:30.995Z,1613491770.995 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:31.805Z,1613491771.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160931.97*5C

2021-02-16T16:09:32.710Z,1613491772.710 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:34.212Z,1613491774.212 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:35.463Z,1613491775.463 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:36.251Z,1613491776.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:36.671Z,1613491776.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:37.467Z,1613491777.467 [Micromodem](INFO): Nmea in: $SNTTA,0.074754,,,,160937.65*4C

2021-02-16T16:09:38.318Z,1613491778.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:39.870Z,1613491779.870 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:41.103Z,1613491781.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:41.890Z,1613491781.890 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:42.299Z,1613491782.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:43.111Z,1613491783.111 [Micromodem](INFO): Nmea in: $SNTTA,0.073920,,,,160943.29*4D

2021-02-16T16:09:43.985Z,1613491783.985 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:45.525Z,1613491785.525 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:46.820Z,1613491786.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:47.544Z,1613491787.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:47.951Z,1613491787.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:48.767Z,1613491788.767 [Micromodem](INFO): Nmea in: $SNTTA,0.072934,,,,160948.94*44

2021-02-16T16:09:49.647Z,1613491789.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:51.230Z,1613491791.230 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:52.450Z,1613491792.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:53.201Z,1613491793.201 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:53.646Z,1613491793.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:09:54.467Z,1613491794.467 [Micromodem](INFO): Nmea in: $SNTTA,0.071886,,,,160954.60*49

2021-02-16T16:09:55.290Z,1613491795.290 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:56.836Z,1613491796.836 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:09:58.148Z,1613491798.148 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:09:58.862Z,1613491798.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:09:59.263Z,1613491799.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:00.089Z,1613491800.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161000.26*5C

2021-02-16T16:10:00.953Z,1613491800.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:02.492Z,1613491802.492 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:03.790Z,1613491803.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:04.514Z,1613491804.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:04.923Z,1613491804.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:05.729Z,1613491805.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161005.91*55

2021-02-16T16:10:06.571Z,1613491806.571 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:08.154Z,1613491808.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:09.392Z,1613491809.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:10.168Z,1613491810.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:10.573Z,1613491810.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:11.384Z,1613491811.384 [Micromodem](INFO): Nmea in: $SNTTA,0.075724,,,,161011.56*46

2021-02-16T16:10:12.219Z,1613491812.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:13.802Z,1613491813.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:15.047Z,1613491815.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:15.833Z,1613491815.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:16.256Z,1613491816.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:17.064Z,1613491817.064 [Micromodem](INFO): Nmea in: $SNTTA,0.069415,,,,161017.23*4E

2021-02-16T16:10:17.882Z,1613491817.882 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:19.459Z,1613491819.459 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:20.749Z,1613491820.749 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:21.503Z,1613491821.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:21.886Z,1613491821.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:22.716Z,1613491822.716 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161022.90*51

2021-02-16T16:10:23.518Z,1613491823.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:25.114Z,1613491825.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:26.357Z,1613491826.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:27.153Z,1613491827.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:27.553Z,1613491827.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:28.358Z,1613491828.358 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161028.55*52

2021-02-16T16:10:29.184Z,1613491829.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:30.772Z,1613491830.772 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:32.065Z,1613491832.065 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:32.797Z,1613491832.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:33.203Z,1613491833.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:34.014Z,1613491834.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161034.20*5D

2021-02-16T16:10:34.885Z,1613491834.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:36.432Z,1613491836.432 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:37.714Z,1613491837.714 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:38.448Z,1613491838.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:38.859Z,1613491838.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:39.688Z,1613491839.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161039.84*5E

2021-02-16T16:10:40.511Z,1613491840.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:42.083Z,1613491842.083 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:43.340Z,1613491843.340 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:44.109Z,1613491844.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:44.515Z,1613491844.515 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:45.322Z,1613491845.322 [Micromodem](INFO): Nmea in: $SNTTA,0.066178,,,,161045.51*4D

2021-02-16T16:10:46.182Z,1613491846.182 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:47.744Z,1613491847.744 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:48.974Z,1613491848.974 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:10:49.013Z,1613491849.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:49.762Z,1613491849.762 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:50.172Z,1613491850.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:50.977Z,1613491850.977 [Micromodem](INFO): Nmea in: $SNTTA,0.065560,,,,161051.16*45

2021-02-16T16:10:51.825Z,1613491851.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:53.395Z,1613491853.395 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:10:54.657Z,1613491854.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:55.416Z,1613491855.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:10:55.828Z,1613491855.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:10:56.660Z,1613491856.660 [Micromodem](INFO): Nmea in: $SNTTA,0.064887,,,,161056.81*49

2021-02-16T16:10:57.452Z,1613491857.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:10:59.052Z,1613491859.052 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:00.317Z,1613491860.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:01.073Z,1613491861.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:01.484Z,1613491861.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:02.295Z,1613491862.295 [Micromodem](INFO): Nmea in: $SNTTA,0.064371,,,,161102.47*41

2021-02-16T16:11:03.126Z,1613491863.126 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:04.724Z,1613491864.724 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:05.976Z,1613491865.976 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:06.734Z,1613491866.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:07.135Z,1613491867.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:07.963Z,1613491867.963 [Micromodem](INFO): Nmea in: $SNTTA,0.063624,,,,161108.13*48

2021-02-16T16:11:08.810Z,1613491868.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:10.369Z,1613491870.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:11.594Z,1613491871.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:12.384Z,1613491872.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:12.791Z,1613491872.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:13.639Z,1613491873.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161113.78*54

2021-02-16T16:11:14.424Z,1613491874.424 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:16.024Z,1613491876.024 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:17.294Z,1613491877.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:18.067Z,1613491878.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:18.451Z,1613491878.451 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:19.270Z,1613491879.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161119.47*52

2021-02-16T16:11:20.080Z,1613491880.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:21.706Z,1613491881.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:22.933Z,1613491882.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:23.733Z,1613491883.733 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:24.103Z,1613491884.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:24.938Z,1613491884.938 [Micromodem](INFO): Nmea in: $SNTTA,0.062041,,,,161125.13*43

2021-02-16T16:11:25.786Z,1613491885.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Running Loop=1
2021-02-16T16:11:25.786Z,1613491885.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T16:11:25.786Z,1613491885.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Running Loop=1
2021-02-16T16:11:25.791Z,1613491885.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A](IMPORTANT): Acoustic timeout! Received last range of 151.020004 m  5.001207 min ago.
2021-02-16T16:11:25.791Z,1613491885.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:A] Stopped
2021-02-16T16:11:25.792Z,1613491885.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Running Loop=1
2021-02-16T16:11:25.793Z,1613491885.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:26.164Z,1613491886.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout:B] Stopped
2021-02-16T16:11:26.164Z,1613491886.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T16:11:26.164Z,1613491886.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout] Stopped
2021-02-16T16:11:26.164Z,1613491886.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:AcousticTimeout
2021-02-16T16:11:26.535Z,1613491886.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T16:11:26.536Z,1613491886.536 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-02-16T16:11:26.537Z,1613491886.537 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-02-16T16:11:26.539Z,1613491886.539 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-02-16T16:11:26.539Z,1613491886.539 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-02-16T16:11:26.539Z,1613491886.539 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-02-16T16:11:26.539Z,1613491886.539 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-02-16T16:11:27.337Z,1613491887.337 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:28.609Z,1613491888.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:29.352Z,1613491889.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:29.770Z,1613491889.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:30.567Z,1613491890.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161130.75*58

2021-02-16T16:11:31.467Z,1613491891.467 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:32.987Z,1613491892.987 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:34.260Z,1613491894.260 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:35.009Z,1613491895.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:35.415Z,1613491895.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:36.224Z,1613491896.224 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161136.41*59

2021-02-16T16:11:37.113Z,1613491897.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:38.670Z,1613491898.670 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:39.968Z,1613491899.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:40.704Z,1613491900.704 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:41.076Z,1613491901.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:41.907Z,1613491901.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161142.10*5E

2021-02-16T16:11:42.801Z,1613491902.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:44.308Z,1613491904.308 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:45.556Z,1613491905.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:46.358Z,1613491906.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:46.743Z,1613491906.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:47.566Z,1613491907.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161147.76*5B

2021-02-16T16:11:48.397Z,1613491908.397 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:49.960Z,1613491909.960 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:51.220Z,1613491911.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:51.981Z,1613491911.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:52.402Z,1613491912.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:53.197Z,1613491913.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161153.38*54

2021-02-16T16:11:54.055Z,1613491914.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:55.627Z,1613491915.627 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:11:56.866Z,1613491916.866 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:11:57.652Z,1613491917.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:11:58.076Z,1613491918.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:11:58.858Z,1613491918.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161159.05*50

2021-02-16T16:11:59.748Z,1613491919.748 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:01.277Z,1613491921.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:02.512Z,1613491922.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:03.302Z,1613491923.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:03.740Z,1613491923.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:04.517Z,1613491924.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161204.70*59

2021-02-16T16:12:05.344Z,1613491925.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:06.928Z,1613491926.928 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:08.169Z,1613491928.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:08.953Z,1613491928.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:09.359Z,1613491929.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:10.165Z,1613491930.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161210.35*5D

2021-02-16T16:12:11.046Z,1613491931.046 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:12.598Z,1613491932.598 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:13.869Z,1613491933.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:14.640Z,1613491934.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:15.038Z,1613491935.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:15.853Z,1613491935.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161216.04*59

2021-02-16T16:12:16.694Z,1613491936.694 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:18.246Z,1613491938.246 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:19.523Z,1613491939.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:20.267Z,1613491940.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:20.685Z,1613491940.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:21.487Z,1613491941.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161221.66*59

2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C](INFO): Timed out from 2021-02-16T16:05:21.4Z
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout] Running Loop=1
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout](DEBUG): Aggregate::initialize lineCaptureDepth:NeedComms:C:A_Timeout
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout:A] Running Loop=1
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout:A](IMPORTANT): first GPS update timeout
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout:A] Stopped
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C:A_Timeout](INFO): Completed lineCaptureDepth:NeedComms:C:A_Timeout
2021-02-16T16:12:21.504Z,1613491941.504 [lineCaptureDepth:NeedComms:C] Stopped
2021-02-16T16:12:21.505Z,1613491941.505 [lineCaptureDepth:NeedComms:D] Running Loop=1
2021-02-16T16:12:22.338Z,1613491942.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:23.818Z,1613491943.818 [DataOverHttps](INFO): Sending 51 bytes from file Logs/20210216T042015/Courier0118.lzma
2021-02-16T16:12:23.900Z,1613491943.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:24.821Z,1613491944.821 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0118.lzma.bak
2021-02-16T16:12:24.821Z,1613491944.821 [DataOverHttps](INFO): SBD MOMSN=81867
2021-02-16T16:12:25.147Z,1613491945.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:25.921Z,1613491945.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:26.358Z,1613491946.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:27.133Z,1613491947.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161227.32*5E

2021-02-16T16:12:27.973Z,1613491947.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:29.556Z,1613491949.556 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:30.803Z,1613491950.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:31.578Z,1613491951.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:31.987Z,1613491951.987 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:32.788Z,1613491952.788 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161232.97*55

2021-02-16T16:12:33.657Z,1613491953.657 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:33.865Z,1613491953.865 [DataOverHttps](INFO): Sending 2984 bytes from file Logs/20210216T042015/Express0119.lzma
2021-02-16T16:12:34.862Z,1613491954.862 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0119.lzma.bak
2021-02-16T16:12:34.862Z,1613491954.862 [DataOverHttps](INFO): SBD MOMSN=81869
2021-02-16T16:12:35.212Z,1613491955.212 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:36.057Z,1613491956.057 [lineCaptureDepth:NeedComms:D] Stopped
2021-02-16T16:12:36.057Z,1613491956.057 [lineCaptureDepth:NeedComms:E] Running Loop=1
2021-02-16T16:12:36.439Z,1613491956.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:37.248Z,1613491957.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:37.659Z,1613491957.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:38.452Z,1613491958.452 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161238.64*53

2021-02-16T16:12:39.288Z,1613491959.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:40.865Z,1613491960.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:42.112Z,1613491962.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:42.886Z,1613491962.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:43.303Z,1613491963.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:44.102Z,1613491964.102 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161244.28*50

2021-02-16T16:12:44.567Z,1613491964.567 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,161245.00,A,4133.14480,N,07042.57587,W,0.214,0.00,160221,,,A*7D
2021-02-16T16:12:44.569Z,1613491964.569 [NAL9602](INFO): GPS fix at 20210216T161245: (41.552413, -70.709598)
2021-02-16T16:12:44.642Z,1613491964.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:44.647Z,1613491964.647 [lineCaptureDepth:NeedComms:E] Stopped
2021-02-16T16:12:44.649Z,1613491964.649 [lineCaptureDepth:NeedComms](INFO): Completed lineCaptureDepth:NeedComms
2021-02-16T16:12:44.649Z,1613491964.649 [lineCaptureDepth:NeedComms] Stopped
2021-02-16T16:12:44.649Z,1613491964.649 [lineCaptureDepth:NeedComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:NeedComms
2021-02-16T16:12:44.649Z,1613491964.649 [lineCaptureDepth:NeedComms:B.GoToSurface] Stopped
2021-02-16T16:12:44.649Z,1613491964.649 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-02-16T16:12:45.332Z,1613491965.332 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-02-16T16:12:46.536Z,1613491966.536 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:47.377Z,1613491967.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:48.149Z,1613491968.149 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:48.542Z,1613491968.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:49.361Z,1613491969.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161249.55*57

2021-02-16T16:12:50.185Z,1613491970.185 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:51.775Z,1613491971.775 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:53.020Z,1613491973.020 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:53.792Z,1613491973.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:54.217Z,1613491974.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:12:55.226Z,1613491975.226 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161255.19*52

2021-02-16T16:12:55.683Z,1613491975.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:57.238Z,1613491977.238 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:12:58.496Z,1613491978.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:12:59.264Z,1613491979.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:12:59.706Z,1613491979.706 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:00.477Z,1613491980.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161300.66*5B

2021-02-16T16:13:01.317Z,1613491981.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:02.900Z,1613491982.900 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:03.821Z,1613491983.821 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:04.512Z,1613491984.512 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:04.924Z,1613491984.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:05.728Z,1613491985.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161305.91*56

2021-02-16T16:13:06.554Z,1613491986.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:08.156Z,1613491988.156 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:09.380Z,1613491989.380 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:10.168Z,1613491990.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:10.574Z,1613491990.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:11.404Z,1613491991.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161311.56*58

2021-02-16T16:13:12.256Z,1613491992.256 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:13.803Z,1613491993.803 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:15.049Z,1613491995.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:15.828Z,1613491995.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:16.235Z,1613491996.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:16.658Z,1613491996.658 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T16:13:17.070Z,1613491997.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161317.22*5D

2021-02-16T16:13:17.869Z,1613491997.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:19.464Z,1613491999.464 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:20.772Z,1613492000.772 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:21.481Z,1613492001.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:21.891Z,1613492001.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:22.713Z,1613492002.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161322.88*5B

2021-02-16T16:13:23.515Z,1613492003.515 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:25.114Z,1613492005.114 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:26.360Z,1613492006.360 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:27.153Z,1613492007.153 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:27.543Z,1613492007.543 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:28.385Z,1613492008.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161328.55*51

2021-02-16T16:13:29.210Z,1613492009.210 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:30.772Z,1613492010.772 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:31.725Z,1613492011.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:32.389Z,1613492012.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:32.796Z,1613492012.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:33.641Z,1613492013.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161333.79*55

2021-02-16T16:13:34.471Z,1613492014.471 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:36.023Z,1613492016.023 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:37.343Z,1613492017.343 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:37.700Z,1613492017.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:38.134Z,1613492018.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:38.922Z,1613492018.922 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161339.10*50

2021-02-16T16:13:39.860Z,1613492019.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:41.359Z,1613492021.359 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:41.782Z,1613492021.782 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T16:13:42.583Z,1613492022.583 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:43.366Z,1613492023.366 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:43.772Z,1613492023.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:44.582Z,1613492024.582 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161344.76*5A

2021-02-16T16:13:45.114Z,1613492025.114 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:47.002Z,1613492027.002 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:47.869Z,1613492027.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:48.663Z,1613492028.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:49.024Z,1613492029.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:49.872Z,1613492029.872 [Micromodem](INFO): Nmea in: $SNTTA,0.043209,,,,161350.06*4A

2021-02-16T16:13:50.264Z,1613492030.264 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-02-16T16:13:50.265Z,1613492030.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T16:13:50.265Z,1613492030.265 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-02-16T16:13:50.266Z,1613492030.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 64.620003 m 
2021-02-16T16:13:50.266Z,1613492030.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-02-16T16:13:50.266Z,1613492030.266 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-02-16T16:13:50.758Z,1613492030.758 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-02-16T16:13:50.758Z,1613492030.758 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T16:13:50.758Z,1613492030.758 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-02-16T16:13:50.758Z,1613492030.758 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-02-16T16:13:51.081Z,1613492031.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-02-16T16:13:51.082Z,1613492031.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-02-16T16:13:51.082Z,1613492031.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-02-16T16:13:51.082Z,1613492031.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-02-16T16:13:51.083Z,1613492031.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T16:13:51.084Z,1613492031.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 900.00 sec.
2021-02-16T16:13:51.084Z,1613492031.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-02-16T16:13:51.085Z,1613492031.085 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-02-16T16:13:51.505Z,1613492031.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.620003 m, bearing: 137.872136 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:13:51.506Z,1613492031.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 137.872136deg and heading rate command to 0 deg/s.
2021-02-16T16:13:52.321Z,1613492032.321 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:53.066Z,1613492033.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:53.480Z,1613492033.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:54.305Z,1613492034.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161354.46*58

2021-02-16T16:13:54.910Z,1613492034.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:56.735Z,1613492036.735 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:13:57.552Z,1613492037.552 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:13:58.342Z,1613492038.342 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:13:58.738Z,1613492038.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:13:59.551Z,1613492039.551 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161359.74*54

2021-02-16T16:14:00.359Z,1613492040.359 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:01.977Z,1613492041.977 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:03.208Z,1613492043.208 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:03.997Z,1613492043.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:04.388Z,1613492044.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:05.209Z,1613492045.209 [Micromodem](INFO): Nmea in: $SNTTA,0.040134,,,,161405.40*41

2021-02-16T16:14:06.076Z,1613492046.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:07.633Z,1613492047.633 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:08.891Z,1613492048.891 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:09.780Z,1613492049.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:10.042Z,1613492050.042 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:11.253Z,1613492051.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161411.18*55

2021-02-16T16:14:11.737Z,1613492051.737 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:13.277Z,1613492053.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:14.519Z,1613492054.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:15.300Z,1613492055.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:15.709Z,1613492055.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:16.525Z,1613492056.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161416.70*5C

2021-02-16T16:14:17.344Z,1613492057.344 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:18.934Z,1613492058.934 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:20.157Z,1613492060.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:20.953Z,1613492060.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:21.371Z,1613492061.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:22.169Z,1613492062.169 [Micromodem](INFO): Nmea in: $SNTTA,0.041427,,,,161422.35*40

2021-02-16T16:14:23.008Z,1613492063.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:24.605Z,1613492064.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:25.846Z,1613492065.846 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:26.635Z,1613492066.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:27.010Z,1613492067.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:27.849Z,1613492067.849 [Micromodem](INFO): Nmea in: $SNTTA,0.040988,,,,161428.03*46

2021-02-16T16:14:28.730Z,1613492068.730 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:30.239Z,1613492070.239 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:31.482Z,1613492071.482 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:32.286Z,1613492072.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:32.675Z,1613492072.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:33.490Z,1613492073.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161433.68*52

2021-02-16T16:14:34.305Z,1613492074.305 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:35.904Z,1613492075.904 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:37.134Z,1613492077.134 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:37.916Z,1613492077.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:38.323Z,1613492078.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:39.131Z,1613492079.131 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161439.31*54

2021-02-16T16:14:40.005Z,1613492080.005 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:41.556Z,1613492081.556 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:14:42.825Z,1613492082.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:43.582Z,1613492083.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:43.983Z,1613492083.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:44.812Z,1613492084.812 [Micromodem](INFO): Nmea in: $SNTTA,0.037802,,,,161444.98*4D

2021-02-16T16:14:44.888Z,1613492084.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.820004 m, bearing: 140.084393 deg, deltaT: 54.934015 s, approachRate: -0.141989 m/s, LOS rate: 0.040271 deg/s, posRepo size: 2
2021-02-16T16:14:44.890Z,1613492084.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 140.084393 deg,
      approachRate: -0.141989 m/s,
      LOS rate: 0.040271 deg/s,
      cmd update: 0.120814 deg/s,
      cmd heading: 137.872136 deg,
      new cmd heading: 137.872136 deg.

2021-02-16T16:14:47.238Z,1613492087.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:48.016Z,1613492088.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:48.436Z,1613492088.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:14:49.244Z,1613492089.244 [Micromodem](INFO): Nmea in: $SNTTA,0.037420,,,,161449.41*48

2021-02-16T16:14:49.295Z,1613492089.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.160004 m, bearing: 155.258027 deg, deltaT: 4.471652 s, approachRate: -0.147596 m/s, LOS rate: 3.393295 deg/s, posRepo size: 3
2021-02-16T16:14:49.297Z,1613492089.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.160004 m,
      bearing: 155.258027 deg,
      approachRate: -0.147596 m/s,
      LOS rate: 3.393295 deg/s,
      cmd update: 10.179885 deg/s,
      cmd heading: 138.411290 deg,
      new cmd heading: 138.460370 deg.

2021-02-16T16:14:50.440Z,1613492090.440 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.263054
2021-02-16T16:14:50.489Z,1613492090.489 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T16:14:50.489Z,1613492090.489 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T16:14:50.489Z,1613492090.489 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T16:14:50.489Z,1613492090.489 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:14:50.489Z,1613492090.489 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T16:14:50.972Z,1613492090.972 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B60790000005D00000400610000000000000000151D80030C5669BF92F9E55A9C82FB790E766CFEBADC180797ADBCD21F411927B8DAFF6CBA2739867955
2021-02-16T16:14:50.973Z,1613492090.973 [Micromodem](INFO): Outgoing frame #2, 37 bytes: 390F28F33E962A34E52A96DAD3E889C02DB13088F2BC78CDA309ADE8F175743DB6C2079C00
2021-02-16T16:14:50.973Z,1613492090.973 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T16:14:51.316Z,1613492091.316 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T16:14:51.733Z,1613492091.733 [Micromodem](INFO): Nmea in: $CADRQ,161452,1,10,0,64,1*73

2021-02-16T16:14:51.734Z,1613492091.734 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B60790000005D00000400610000000000000000151D80030C5669BF92F9E55A9C82FB790E766CFEBADC180797ADBCD21F411927B8DAFF6CBA2739867955*46

2021-02-16T16:14:51.880Z,1613492091.880 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:52.114Z,1613492092.114 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T16:14:52.512Z,1613492092.512 [Micromodem](INFO): Nmea in: $CADRQ,161453,1,10,0,64,2*71

2021-02-16T16:14:52.512Z,1613492092.512 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,390F28F33E962A34E52A96DAD3E889C02DB13088F2BC78CDA309ADE8F175743DB6C2079C00*37

2021-02-16T16:14:52.921Z,1613492092.921 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,37*4F

2021-02-16T16:14:52.921Z,1613492092.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:14:53.319Z,1613492093.319 [Micromodem](INFO): Nmea in: $CATXP,101*42

2021-02-16T16:14:53.320Z,1613492093.320 [Micromodem](ERROR): Response from modem unexpected: $CATXP,101*42

2021-02-16T16:14:54.548Z,1613492094.548 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:55.749Z,1613492095.749 [Micromodem](INFO): Nmea in: $CATXF,101*54

2021-02-16T16:14:55.749Z,1613492095.749 [Micromodem](ERROR): Response from modem unexpected: $CATXF,101*54

2021-02-16T16:14:56.149Z,1613492096.149 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,161453.917128,3,0,200,4000,14500,1,1,10,1,2,2,3,101*77

2021-02-16T16:14:56.149Z,1613492096.149 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,161453.917128,3,0,200,4000,14500,1,1,10,1,2,2,3,101*77

2021-02-16T16:14:57.428Z,1613492097.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:14:58.229Z,1613492098.229 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T16:14:58.677Z,1613492098.677 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T16:14:58.677Z,1613492098.677 [Micromodem](INFO): Sent 93 bytes from file Logs/20210216T042015/Courier0121.lzma.parts
2021-02-16T16:14:58.677Z,1613492098.677 [Micromodem](INFO): Packets left to send: 0
2021-02-16T16:14:59.083Z,1613492099.083 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216161458.576217,06,2354,33,0119,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,8.2,6.00,14,-3.00,-01,-0.25,37,14500,4000*47

2021-02-16T16:14:59.084Z,1613492099.084 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216161458.576217,06,2354,33,0119,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,8.2,6.00,14,-3.00,-01,-0.25,37,14500,4000*47

2021-02-16T16:14:59.179Z,1613492099.179 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T16:14:59.180Z,1613492099.180 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T16:14:59.180Z,1613492099.180 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T16:14:59.180Z,1613492099.180 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:14:59.180Z,1613492099.180 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T16:15:00.338Z,1613492100.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:03.152Z,1613492103.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:03.957Z,1613492103.957 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:04.343Z,1613492104.343 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:05.176Z,1613492105.176 [Micromodem](INFO): Nmea in: $SNTTA,0.040471,,,,161505.35*46

2021-02-16T16:15:05.191Z,1613492105.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 173.053716 deg, deltaT: 15.895629 s, approachRate: 0.249125 m/s, LOS rate: 1.119534 deg/s, posRepo size: 4
2021-02-16T16:15:05.193Z,1613492105.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.120007 m,
      bearing: 173.053716 deg,
      approachRate: 0.249125 m/s,
      LOS rate: 1.119534 deg/s,
      cmd update: 3.358601 deg/s,
      cmd heading: 300.311332 deg,
      new cmd heading: 304.378654 deg.

2021-02-16T16:15:07.638Z,1613492107.638 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:08.385Z,1613492108.385 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:08.794Z,1613492108.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:09.644Z,1613492109.644 [Micromodem](INFO): Nmea in: $SNTTA,0.041534,,,,161509.78*42

2021-02-16T16:15:09.669Z,1613492109.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.279999 m, bearing: 194.776942 deg, deltaT: 4.411161 s, approachRate: 0.489665 m/s, LOS rate: 4.924605 deg/s, posRepo size: 4
2021-02-16T16:15:09.671Z,1613492109.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.279999 m,
      bearing: 194.776942 deg,
      approachRate: 0.489665 m/s,
      LOS rate: 4.924605 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 315.127325 deg,
      new cmd heading: 316.692483 deg.

2021-02-16T16:15:12.057Z,1613492112.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:12.829Z,1613492112.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:13.235Z,1613492113.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:14.065Z,1613492114.065 [Micromodem](INFO): Nmea in: $SNTTA,0.043338,,,,161514.23*48

2021-02-16T16:15:14.119Z,1613492114.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.680008 m, bearing: 237.493546 deg, deltaT: 4.453719 s, approachRate: 0.538878 m/s, LOS rate: 9.591221 deg/s, posRepo size: 4
2021-02-16T16:15:14.121Z,1613492114.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.680008 m,
      bearing: 237.493546 deg,
      approachRate: 0.538878 m/s,
      LOS rate: 9.591221 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 8.577655 deg,
      new cmd heading: 14.118583 deg.

2021-02-16T16:15:16.517Z,1613492116.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:17.283Z,1613492117.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:17.678Z,1613492117.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:18.508Z,1613492118.508 [Micromodem](INFO): Nmea in: $SNTTA,0.044479,,,,161518.68*4E

2021-02-16T16:15:18.530Z,1613492118.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.720009 m, bearing: 264.857743 deg, deltaT: 4.438676 s, approachRate: 0.459597 m/s, LOS rate: 6.164946 deg/s, posRepo size: 4
2021-02-16T16:15:18.532Z,1613492118.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.720009 m,
      bearing: 264.857743 deg,
      approachRate: 0.459597 m/s,
      LOS rate: 6.164946 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 61.841817 deg,
      new cmd heading: 67.055745 deg.

2021-02-16T16:15:20.944Z,1613492120.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:21.746Z,1613492121.746 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:22.118Z,1613492122.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:22.964Z,1613492122.964 [Micromodem](INFO): Nmea in: $SNTTA,0.045795,,,,161523.14*4D

2021-02-16T16:15:23.016Z,1613492123.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.639999 m, bearing: 289.174008 deg, deltaT: 4.467617 s, approachRate: 0.429757 m/s, LOS rate: 5.442782 deg/s, posRepo size: 4
2021-02-16T16:15:23.018Z,1613492123.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.639999 m,
      bearing: 289.174008 deg,
      approachRate: 0.429757 m/s,
      LOS rate: 5.442782 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 115.418470 deg,
      new cmd heading: 120.882994 deg.

2021-02-16T16:15:25.101Z,1613492125.101 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:25.838Z,1613492125.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:26.242Z,1613492126.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:26.600Z,1613492126.600 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:15:27.094Z,1613492127.094 [Micromodem](INFO): Nmea in: $SNTTA,0.047616,,,,161527.24*42

2021-02-16T16:15:27.118Z,1613492127.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.400002 m, bearing: 206.685008 deg, deltaT: 4.107010 s, approachRate: 0.672022 m/s, LOS rate: -20.084928 deg/s, posRepo size: 4
2021-02-16T16:15:27.119Z,1613492127.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.084928 deg/s. Setting heading cmd to target bearing of 206.685008deg and heading rate command to 0 deg/s.
2021-02-16T16:15:29.493Z,1613492129.493 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:30.294Z,1613492130.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:30.732Z,1613492130.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:31.534Z,1613492131.534 [Micromodem](INFO): Nmea in: $SNTTA,0.049282,,,,161531.69*4B

2021-02-16T16:15:31.549Z,1613492131.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.920006 m, bearing: 240.544345 deg, deltaT: 4.450361 s, approachRate: 0.566247 m/s, LOS rate: 7.608223 deg/s, posRepo size: 4
2021-02-16T16:15:31.551Z,1613492131.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.920006 m,
      bearing: 240.544345 deg,
      approachRate: 0.566247 m/s,
      LOS rate: 7.608223 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 206.685008 deg,
      new cmd heading: 206.685008 deg.

2021-02-16T16:15:32.752Z,1613492132.752 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T16:15:33.964Z,1613492133.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:34.604Z,1613492134.604 [Radio_Surface](INFO): Powering down
2021-02-16T16:15:34.747Z,1613492134.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:35.180Z,1613492135.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:35.988Z,1613492135.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161536.14*5D

2021-02-16T16:15:36.027Z,1613492136.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.500000 m, bearing: 206.608127 deg, deltaT: 4.532363 s, approachRate: 0.569238 m/s, LOS rate: -7.487533 deg/s, posRepo size: 4
2021-02-16T16:15:36.029Z,1613492136.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.500000 m,
      bearing: 206.608127 deg,
      approachRate: 0.569238 m/s,
      LOS rate: -7.487533 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 261.268257 deg,
      new cmd heading: 265.760145 deg.

2021-02-16T16:15:38.452Z,1613492138.452 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:39.209Z,1613492139.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:39.643Z,1613492139.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:40.425Z,1613492140.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161540.61*5E

2021-02-16T16:15:41.259Z,1613492141.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:42.842Z,1613492142.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:15:43.764Z,1613492143.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:43.869Z,1613492143.869 [CTD_Seabird](ERROR): Failed to parse device response: 9,2.79592,4032.02
2021-02-16T16:15:44.460Z,1613492144.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:44.866Z,1613492144.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:45.695Z,1613492145.695 [Micromodem](INFO): Nmea in: $SNTTA,0.055631,,,,161545.86*48

2021-02-16T16:15:45.771Z,1613492145.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.460007 m, bearing: 268.185547 deg, deltaT: 9.661783 s, approachRate: 0.720365 m/s, LOS rate: 6.373298 deg/s, posRepo size: 4
2021-02-16T16:15:45.773Z,1613492145.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.460007 m,
      bearing: 268.185547 deg,
      approachRate: 0.720365 m/s,
      LOS rate: 6.373298 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 145.413882 deg,
      new cmd heading: 139.854054 deg.

2021-02-16T16:15:48.127Z,1613492148.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:48.909Z,1613492148.909 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:49.313Z,1613492149.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:50.140Z,1613492150.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161550.31*5A

2021-02-16T16:15:50.155Z,1613492150.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.159996 m, bearing: 234.581235 deg, deltaT: 4.476238 s, approachRate: 0.603183 m/s, LOS rate: -7.507267 deg/s, posRepo size: 4
2021-02-16T16:15:50.157Z,1613492150.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.159996 m,
      bearing: 234.581235 deg,
      approachRate: 0.603183 m/s,
      LOS rate: -7.507267 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 199.171027 deg,
      new cmd heading: 203.584892 deg.

2021-02-16T16:15:52.559Z,1613492152.559 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:53.356Z,1613492153.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:53.769Z,1613492153.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:54.587Z,1613492154.587 [Micromodem](INFO): Nmea in: $SNTTA,0.059135,,,,161554.75*4B

2021-02-16T16:15:54.653Z,1613492154.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.919998 m, bearing: 194.223328 deg, deltaT: 4.379153 s, approachRate: 0.630259 m/s, LOS rate: -9.215916 deg/s, posRepo size: 4
2021-02-16T16:15:54.662Z,1613492154.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.919998 m,
      bearing: 194.223328 deg,
      approachRate: 0.630259 m/s,
      LOS rate: -9.215916 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 146.571390 deg,
      new cmd heading: 140.775690 deg.

2021-02-16T16:15:57.047Z,1613492157.047 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:15:57.801Z,1613492157.801 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:15:58.203Z,1613492158.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:15:59.044Z,1613492159.044 [Micromodem](INFO): Nmea in: $SNTTA,0.060929,,,,161559.20*49

2021-02-16T16:15:59.074Z,1613492159.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.680008 m, bearing: 172.318091 deg, deltaT: 4.490200 s, approachRate: 0.614674 m/s, LOS rate: -4.878455 deg/s, posRepo size: 4
2021-02-16T16:15:59.076Z,1613492159.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.680008 m,
      bearing: 172.318091 deg,
      approachRate: 0.614674 m/s,
      LOS rate: -4.878455 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 92.688545 deg,
      new cmd heading: 87.726245 deg.

2021-02-16T16:16:01.455Z,1613492161.455 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:01.740Z,1613492161.740 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T16:16:02.242Z,1613492162.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:02.642Z,1613492162.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:02.743Z,1613492162.743 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T16:16:03.472Z,1613492163.472 [Micromodem](INFO): Nmea in: $SNTTA,0.062815,,,,161603.64*49

2021-02-16T16:16:03.518Z,1613492163.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.439995 m, bearing: 149.309260 deg, deltaT: 4.432499 s, approachRate: 0.622671 m/s, LOS rate: -5.190939 deg/s, posRepo size: 4
2021-02-16T16:16:03.520Z,1613492163.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.439995 m,
      bearing: 149.309260 deg,
      approachRate: 0.622671 m/s,
      LOS rate: -5.190939 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 39.546053 deg,
      new cmd heading: 34.394968 deg.

2021-02-16T16:16:05.908Z,1613492165.908 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:06.684Z,1613492166.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:07.098Z,1613492167.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:07.912Z,1613492167.912 [Micromodem](INFO): Nmea in: $SNTTA,0.063938,,,,161608.08*47

2021-02-16T16:16:07.961Z,1613492167.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.060005 m, bearing: 138.368294 deg, deltaT: 4.421541 s, approachRate: 0.366390 m/s, LOS rate: -2.474469 deg/s, posRepo size: 4
2021-02-16T16:16:07.962Z,1613492167.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.060005 m,
      bearing: 138.368294 deg,
      approachRate: 0.366390 m/s,
      LOS rate: -2.474469 deg/s,
      cmd update: -7.423406 deg/s,
      cmd heading: 346.584448 deg,
      new cmd heading: 341.087967 deg.

2021-02-16T16:16:10.357Z,1613492170.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:11.125Z,1613492171.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:11.551Z,1613492171.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:12.361Z,1613492172.361 [Micromodem](INFO): Nmea in: $SNTTA,0.064799,,,0.067318,161612.52*54

2021-02-16T16:16:12.402Z,1613492172.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 115.424883 deg, deltaT: 4.483784 s, approachRate: 0.267630 m/s, LOS rate: -5.116975 deg/s, posRepo size: 4
2021-02-16T16:16:12.404Z,1613492172.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.260002 m,
      bearing: 115.424883 deg,
      approachRate: 0.267630 m/s,
      LOS rate: -5.116975 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 313.239946 deg,
      new cmd heading: 310.215078 deg.

2021-02-16T16:16:14.829Z,1613492174.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:15.608Z,1613492175.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:15.975Z,1613492175.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:16.798Z,1613492176.798 [Micromodem](INFO): Nmea in: $SNTTA,0.065009,,,,161617.00*4C

2021-02-16T16:16:17.678Z,1613492177.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:19.204Z,1613492179.204 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:16:20.431Z,1613492180.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:21.235Z,1613492181.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:21.632Z,1613492181.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:22.460Z,1613492182.460 [Micromodem](INFO): Nmea in: $SNTTA,0.065484,,,,161622.63*4E

2021-02-16T16:16:22.506Z,1613492182.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 98.280006 m, bearing: 118.583750 deg, deltaT: 10.083361 s, approachRate: 0.101157 m/s, LOS rate: 0.313275 deg/s, posRepo size: 4
2021-02-16T16:16:22.515Z,1613492182.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.280006 m,
      bearing: 118.583750 deg,
      approachRate: 0.101157 m/s,
      LOS rate: 0.313275 deg/s,
      cmd update: 0.939826 deg/s,
      cmd heading: 192.239563 deg,
      new cmd heading: 187.095895 deg.

2021-02-16T16:16:24.907Z,1613492184.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:25.674Z,1613492185.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:26.074Z,1613492186.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:26.916Z,1613492186.916 [Micromodem](INFO): Nmea in: $SNTTA,0.066304,,,,161627.07*45

2021-02-16T16:16:26.970Z,1613492186.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 128.234971 deg, deltaT: 4.410122 s, approachRate: 0.353731 m/s, LOS rate: 2.188425 deg/s, posRepo size: 4
2021-02-16T16:16:26.973Z,1613492186.973 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 128.234971 deg,
      approachRate: 0.353731 m/s,
      LOS rate: 2.188425 deg/s,
      cmd update: 6.565275 deg/s,
      cmd heading: 196.388088 deg,
      new cmd heading: 196.833542 deg.

2021-02-16T16:16:29.354Z,1613492189.354 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:30.112Z,1613492190.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:30.517Z,1613492190.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:31.344Z,1613492191.344 [Micromodem](INFO): Nmea in: $SNTTA,0.067785,,,,161631.51*4D

2021-02-16T16:16:31.396Z,1613492191.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.940002 m, bearing: 151.679541 deg, deltaT: 4.484007 s, approachRate: 0.468331 m/s, LOS rate: 5.228486 deg/s, posRepo size: 4
2021-02-16T16:16:31.397Z,1613492191.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.940002 m,
      bearing: 151.679541 deg,
      approachRate: 0.468331 m/s,
      LOS rate: 5.228486 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 225.817202 deg,
      new cmd heading: 228.555125 deg.

2021-02-16T16:16:33.801Z,1613492193.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:34.568Z,1613492194.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:34.966Z,1613492194.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:35.792Z,1613492195.792 [Micromodem](INFO): Nmea in: $SNTTA,0.069383,,,,161635.96*4E

2021-02-16T16:16:35.852Z,1613492195.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.159996 m, bearing: 186.926677 deg, deltaT: 4.408455 s, approachRate: 0.503576 m/s, LOS rate: 7.995349 deg/s, posRepo size: 4
2021-02-16T16:16:35.854Z,1613492195.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 186.926677 deg,
      approachRate: 0.503576 m/s,
      LOS rate: 7.995349 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 278.730664 deg,
      new cmd heading: 284.345692 deg.

2021-02-16T16:16:38.207Z,1613492198.207 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:39.017Z,1613492199.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:39.405Z,1613492199.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:40.236Z,1613492200.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161640.41*5F

2021-02-16T16:16:40.259Z,1613492200.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.160004 m, bearing: 230.999375 deg, deltaT: 4.465017 s, approachRate: 0.671892 m/s, LOS rate: 9.870668 deg/s, posRepo size: 4
2021-02-16T16:16:40.262Z,1613492200.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.160004 m,
      bearing: 230.999375 deg,
      approachRate: 0.671892 m/s,
      LOS rate: 9.870668 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 332.316485 deg,
      new cmd heading: 337.226741 deg.

2021-02-16T16:16:42.681Z,1613492202.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:43.445Z,1613492203.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:43.850Z,1613492203.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:44.676Z,1613492204.676 [Micromodem](INFO): Nmea in: $SNTTA,0.073520,,,,161644.84*4F

2021-02-16T16:16:44.774Z,1613492204.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.220001 m, bearing: 187.566953 deg, deltaT: 4.440140 s, approachRate: 0.689167 m/s, LOS rate: -9.781768 deg/s, posRepo size: 4
2021-02-16T16:16:44.780Z,1613492204.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.220001 m,
      bearing: 187.566953 deg,
      approachRate: 0.689167 m/s,
      LOS rate: -9.781768 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.372675 deg,
      new cmd heading: 31.410091 deg.

2021-02-16T16:16:47.105Z,1613492207.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:47.888Z,1613492207.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:48.306Z,1613492208.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:49.116Z,1613492209.116 [Micromodem](INFO): Nmea in: $SNTTA,0.075062,,,,161649.28*41

2021-02-16T16:16:49.162Z,1613492209.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.620003 m, bearing: 287.037662 deg, deltaT: 4.468490 s, approachRate: 0.537095 m/s, LOS rate: 22.260474 deg/s, posRepo size: 4
2021-02-16T16:16:49.162Z,1613492209.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.260474 deg/s. Setting heading cmd to target bearing of 287.037662deg and heading rate command to 0 deg/s.
2021-02-16T16:16:51.593Z,1613492211.593 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:52.334Z,1613492212.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:52.741Z,1613492212.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:53.568Z,1613492213.568 [Micromodem](INFO): Nmea in: $SNTTA,0.076488,,,,161653.73*47

2021-02-16T16:16:53.632Z,1613492213.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 255.428584 deg, deltaT: 4.412289 s, approachRate: 0.475943 m/s, LOS rate: -7.163873 deg/s, posRepo size: 4
2021-02-16T16:16:53.634Z,1613492213.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.720001 m,
      bearing: 255.428584 deg,
      approachRate: 0.475943 m/s,
      LOS rate: -7.163873 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 287.037662 deg,
      new cmd heading: 287.037662 deg.

2021-02-16T16:16:55.990Z,1613492215.990 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T16:16:56.015Z,1613492216.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:16:56.781Z,1613492216.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:16:57.207Z,1613492217.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:16:58.016Z,1613492218.016 [Micromodem](INFO): Nmea in: $SNTTA,0.077202,,,,161658.18*44

2021-02-16T16:16:58.063Z,1613492218.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.800003 m, bearing: 326.204698 deg, deltaT: 4.472351 s, approachRate: 0.241484 m/s, LOS rate: 15.825260 deg/s, posRepo size: 4
2021-02-16T16:16:58.064Z,1613492218.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.825260 deg/s. Setting heading cmd to target bearing of 326.204698deg and heading rate command to 0 deg/s.
2021-02-16T16:17:00.425Z,1613492220.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:01.216Z,1613492221.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:01.656Z,1613492221.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:02.444Z,1613492222.444 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161702.61*5A

2021-02-16T16:17:02.466Z,1613492222.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 117.180000 m, bearing: 322.355750 deg, deltaT: 4.422397 s, approachRate: 0.312047 m/s, LOS rate: -0.870331 deg/s, posRepo size: 4
2021-02-16T16:17:02.468Z,1613492222.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.180000 m,
      bearing: 322.355750 deg,
      approachRate: 0.312047 m/s,
      LOS rate: -0.870331 deg/s,
      cmd update: -2.610992 deg/s,
      cmd heading: 326.204698 deg,
      new cmd heading: 326.204698 deg.

2021-02-16T16:17:04.892Z,1613492224.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:05.666Z,1613492225.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:06.083Z,1613492226.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:06.899Z,1613492226.899 [Micromodem](INFO): Nmea in: $SNTTA,0.079928,,,,161707.06*4D

2021-02-16T16:17:06.964Z,1613492226.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.940002 m, bearing: 315.391963 deg, deltaT: 4.420846 s, approachRate: 0.624315 m/s, LOS rate: -1.575216 deg/s, posRepo size: 4
2021-02-16T16:17:06.965Z,1613492226.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.940002 m,
      bearing: 315.391963 deg,
      approachRate: 0.624315 m/s,
      LOS rate: -1.575216 deg/s,
      cmd update: -4.725648 deg/s,
      cmd heading: 314.662024 deg,
      new cmd heading: 313.425487 deg.

2021-02-16T16:17:09.335Z,1613492229.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:10.111Z,1613492230.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:10.511Z,1613492230.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:11.336Z,1613492231.336 [Micromodem](INFO): Nmea in: $SNTTA,0.079325,,,,161711.51*4F

2021-02-16T16:17:11.358Z,1613492231.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.920006 m, bearing: 328.043249 deg, deltaT: 4.482027 s, approachRate: -0.227575 m/s, LOS rate: 2.822671 deg/s, posRepo size: 4
2021-02-16T16:17:11.360Z,1613492231.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.920006 m,
      bearing: 328.043249 deg,
      approachRate: -0.227575 m/s,
      LOS rate: 2.822671 deg/s,
      cmd update: 8.468012 deg/s,
      cmd heading: 293.484504 deg,
      new cmd heading: 291.636393 deg.

2021-02-16T16:17:13.789Z,1613492233.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:14.623Z,1613492234.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:14.957Z,1613492234.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:16.180Z,1613492236.180 [Micromodem](INFO): Nmea in: $SNTTA,0.080164,,,,161716.05*48

2021-02-16T16:17:16.226Z,1613492236.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.239998 m, bearing: 353.187279 deg, deltaT: 4.888610 s, approachRate: 0.270014 m/s, LOS rate: 5.143390 deg/s, posRepo size: 4
2021-02-16T16:17:16.232Z,1613492236.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.239998 m,
      bearing: 353.187279 deg,
      approachRate: 0.270014 m/s,
      LOS rate: 5.143390 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 334.623090 deg,
      new cmd heading: 338.018720 deg.

2021-02-16T16:17:18.667Z,1613492238.667 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:19.004Z,1613492239.004 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:17:19.397Z,1613492239.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:19.807Z,1613492239.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:20.648Z,1613492240.648 [Micromodem](INFO): Nmea in: $SNTTA,0.080118,,,,161720.79*4D

2021-02-16T16:17:20.734Z,1613492240.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.120003 m, bearing: 268.479792 deg, deltaT: 4.380603 s, approachRate: -0.027392 m/s, LOS rate: -19.336947 deg/s, posRepo size: 4
2021-02-16T16:17:20.739Z,1613492240.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.336947 deg/s. Setting heading cmd to target bearing of 268.479792deg and heading rate command to 0 deg/s.
2021-02-16T16:17:21.841Z,1613492241.841 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T16:17:23.056Z,1613492243.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:23.851Z,1613492243.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:24.246Z,1613492244.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:25.077Z,1613492245.077 [Micromodem](INFO): Nmea in: $SNTTA,0.078858,,,,161725.25*4B

2021-02-16T16:17:25.124Z,1613492245.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 15.561686 deg, deltaT: 4.479747 s, approachRate: -0.428597 m/s, LOS rate: 23.903558 deg/s, posRepo size: 4
2021-02-16T16:17:25.125Z,1613492245.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.903558 deg/s. Setting heading cmd to target bearing of 15.561686deg and heading rate command to 0 deg/s.
2021-02-16T16:17:27.517Z,1613492247.517 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:28.297Z,1613492248.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:28.724Z,1613492248.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:29.508Z,1613492249.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161729.69*5B

2021-02-16T16:17:30.341Z,1613492250.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:31.936Z,1613492251.936 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:17:31.951Z,1613492251.951 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:17:33.162Z,1613492253.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:33.944Z,1613492253.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:34.349Z,1613492254.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:35.173Z,1613492255.173 [Micromodem](INFO): Nmea in: $SNTTA,0.076393,,,,161735.34*48

2021-02-16T16:17:35.209Z,1613492255.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.419998 m, bearing: 36.228085 deg, deltaT: 10.097541 s, approachRate: -0.374348 m/s, LOS rate: 2.046676 deg/s, posRepo size: 4
2021-02-16T16:17:35.211Z,1613492255.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.419998 m,
      bearing: 36.228085 deg,
      approachRate: -0.374348 m/s,
      LOS rate: 2.046676 deg/s,
      cmd update: 6.140029 deg/s,
      cmd heading: 15.561686 deg,
      new cmd heading: 15.561686 deg.

2021-02-16T16:17:36.793Z,1613492256.793 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T16:17:37.642Z,1613492257.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:38.402Z,1613492258.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:38.799Z,1613492258.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:39.644Z,1613492259.644 [Micromodem](INFO): Nmea in: $SNTTA,0.074604,,0.075766,,161739.80*59

2021-02-16T16:17:39.689Z,1613492259.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.720009 m, bearing: 41.364613 deg, deltaT: 4.396571 s, approachRate: -0.614112 m/s, LOS rate: 1.168303 deg/s, posRepo size: 4
2021-02-16T16:17:39.696Z,1613492259.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.720009 m,
      bearing: 41.364613 deg,
      approachRate: -0.614112 m/s,
      LOS rate: 1.168303 deg/s,
      cmd update: 3.504909 deg/s,
      cmd heading: 42.556693 deg,
      new cmd heading: 45.474865 deg.

2021-02-16T16:17:41.672Z,1613492261.672 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:17:41.743Z,1613492261.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:42.436Z,1613492262.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:42.853Z,1613492262.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:43.664Z,1613492263.664 [Micromodem](INFO): Nmea in: $SNTTA,0.072710,,,,161743.83*4E

2021-02-16T16:17:43.746Z,1613492263.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 108.840004 m, bearing: 43.487172 deg, deltaT: 4.044070 s, approachRate: -0.712155 m/s, LOS rate: 0.524857 deg/s, posRepo size: 4
2021-02-16T16:17:43.748Z,1613492263.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.840004 m,
      bearing: 43.487172 deg,
      approachRate: -0.712155 m/s,
      LOS rate: 0.524857 deg/s,
      cmd update: 1.574572 deg/s,
      cmd heading: 56.730852 deg,
      new cmd heading: 58.452264 deg.

2021-02-16T16:17:46.095Z,1613492266.095 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:46.872Z,1613492266.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:47.288Z,1613492267.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:48.100Z,1613492268.100 [Micromodem](INFO): Nmea in: $SNTTA,0.070675,,,,161748.27*4B

2021-02-16T16:17:48.133Z,1613492268.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 42.988664 deg, deltaT: 4.548459 s, approachRate: -0.672756 m/s, LOS rate: -0.109599 deg/s, posRepo size: 4
2021-02-16T16:17:48.134Z,1613492268.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.779999 m,
      bearing: 42.988664 deg,
      approachRate: -0.672756 m/s,
      LOS rate: -0.109599 deg/s,
      cmd update: -0.328798 deg/s,
      cmd heading: 63.873750 deg,
      new cmd heading: 64.411106 deg.

2021-02-16T16:17:50.533Z,1613492270.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:51.316Z,1613492271.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:51.756Z,1613492271.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:52.548Z,1613492272.548 [Micromodem](INFO): Nmea in: $SNTTA,0.068874,,,,161752.71*45

2021-02-16T16:17:52.574Z,1613492272.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.020004 m, bearing: 41.216377 deg, deltaT: 4.372245 s, approachRate: -0.631253 m/s, LOS rate: -0.405349 deg/s, posRepo size: 4
2021-02-16T16:17:52.613Z,1613492272.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.020004 m,
      bearing: 41.216377 deg,
      approachRate: -0.631253 m/s,
      LOS rate: -0.405349 deg/s,
      cmd update: -1.216048 deg/s,
      cmd heading: 62.433527 deg,
      new cmd heading: 62.301096 deg.

2021-02-16T16:17:54.761Z,1613492274.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:55.356Z,1613492275.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:17:55.762Z,1613492275.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:17:56.591Z,1613492276.591 [Micromodem](INFO): Nmea in: $SNTTA,0.066983,,,,161756.75*42

2021-02-16T16:17:56.656Z,1613492276.656 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:17:56.710Z,1613492276.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.140007 m, bearing: 41.472359 deg, deltaT: 4.002805 s, approachRate: -0.719495 m/s, LOS rate: 0.063951 deg/s, posRepo size: 4
2021-02-16T16:17:56.726Z,1613492276.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 41.472359 deg,
      approachRate: -0.719495 m/s,
      LOS rate: 0.063951 deg/s,
      cmd update: 0.191852 deg/s,
      cmd heading: 57.561079 deg,
      new cmd heading: 56.932463 deg.

2021-02-16T16:17:59.032Z,1613492279.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:17:59.805Z,1613492279.805 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:00.214Z,1613492280.214 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:01.032Z,1613492281.032 [Micromodem](INFO): Nmea in: $SNTTA,0.064669,,,,161801.20*46

2021-02-16T16:18:01.069Z,1613492281.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.779999 m, bearing: 41.643650 deg, deltaT: 4.484307 s, approachRate: -0.749281 m/s, LOS rate: 0.038198 deg/s, posRepo size: 4
2021-02-16T16:18:01.071Z,1613492281.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.779999 m,
      bearing: 41.643650 deg,
      approachRate: -0.749281 m/s,
      LOS rate: 0.038198 deg/s,
      cmd update: 0.114594 deg/s,
      cmd heading: 58.421308 deg,
      new cmd heading: 58.499438 deg.

2021-02-16T16:18:03.462Z,1613492283.462 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:04.246Z,1613492284.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:04.650Z,1613492284.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:05.500Z,1613492285.500 [Micromodem](INFO): Nmea in: $SNTTA,0.062607,,,,161805.64*4C

2021-02-16T16:18:05.533Z,1613492285.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.660004 m, bearing: 40.736440 deg, deltaT: 4.403653 s, approachRate: -0.708502 m/s, LOS rate: -0.206013 deg/s, posRepo size: 4
2021-02-16T16:18:05.534Z,1613492285.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.660004 m,
      bearing: 40.736440 deg,
      approachRate: -0.708502 m/s,
      LOS rate: -0.206013 deg/s,
      cmd update: -0.618039 deg/s,
      cmd heading: 58.925998 deg,
      new cmd heading: 58.979435 deg.

2021-02-16T16:18:07.972Z,1613492287.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:08.725Z,1613492288.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:09.107Z,1613492289.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:09.936Z,1613492289.936 [Micromodem](INFO): Nmea in: $SNTTA,0.060897,,,,161810.12*4C

2021-02-16T16:18:09.989Z,1613492289.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.080009 m, bearing: 39.511924 deg, deltaT: 4.451934 s, approachRate: -0.579522 m/s, LOS rate: -0.275053 deg/s, posRepo size: 4
2021-02-16T16:18:10.008Z,1613492290.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.080009 m,
      bearing: 39.511924 deg,
      approachRate: -0.579522 m/s,
      LOS rate: -0.275053 deg/s,
      cmd update: -0.825158 deg/s,
      cmd heading: 56.174537 deg,
      new cmd heading: 55.883464 deg.

2021-02-16T16:18:12.355Z,1613492292.355 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:13.140Z,1613492293.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:13.548Z,1613492293.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:14.376Z,1613492294.376 [Micromodem](INFO): Nmea in: $SNTTA,0.058556,,,,161814.54*41

2021-02-16T16:18:14.394Z,1613492294.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.600006 m, bearing: 39.101556 deg, deltaT: 4.494603 s, approachRate: -0.774263 m/s, LOS rate: -0.091302 deg/s, posRepo size: 4
2021-02-16T16:18:14.396Z,1613492294.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.600006 m,
      bearing: 39.101556 deg,
      approachRate: -0.774263 m/s,
      LOS rate: -0.091302 deg/s,
      cmd update: -0.273907 deg/s,
      cmd heading: 52.469032 deg,
      new cmd heading: 52.151099 deg.

2021-02-16T16:18:16.824Z,1613492296.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:17.602Z,1613492297.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:17.996Z,1613492297.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:18.824Z,1613492298.824 [Micromodem](INFO): Nmea in: $SNTTA,0.056457,,,,161819.00*43

2021-02-16T16:18:18.859Z,1613492298.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.480003 m, bearing: 39.464843 deg, deltaT: 4.413326 s, approachRate: -0.706950 m/s, LOS rate: 0.082316 deg/s, posRepo size: 4
2021-02-16T16:18:18.861Z,1613492298.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.480003 m,
      bearing: 39.464843 deg,
      approachRate: -0.706950 m/s,
      LOS rate: 0.082316 deg/s,
      cmd update: 0.246948 deg/s,
      cmd heading: 51.260208 deg,
      new cmd heading: 51.140654 deg.

2021-02-16T16:18:21.251Z,1613492301.251 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:22.028Z,1613492302.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:22.440Z,1613492302.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:23.261Z,1613492303.261 [Micromodem](INFO): Nmea in: $SNTTA,0.054326,,,,161823.42*4F

2021-02-16T16:18:23.306Z,1613492303.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.239998 m, bearing: 39.061404 deg, deltaT: 4.458787 s, approachRate: -0.726656 m/s, LOS rate: -0.090482 deg/s, posRepo size: 4
2021-02-16T16:18:23.308Z,1613492303.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.239998 m,
      bearing: 39.061404 deg,
      approachRate: -0.726656 m/s,
      LOS rate: -0.090482 deg/s,
      cmd update: -0.271445 deg/s,
      cmd heading: 52.362267 deg,
      new cmd heading: 52.466277 deg.

2021-02-16T16:18:25.736Z,1613492305.736 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:26.477Z,1613492306.477 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:26.880Z,1613492306.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:27.732Z,1613492307.732 [Micromodem](INFO): Nmea in: $SNTTA,0.052310,,,,161827.87*41

2021-02-16T16:18:27.794Z,1613492307.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.300003 m, bearing: 37.602114 deg, deltaT: 4.431535 s, approachRate: -0.663426 m/s, LOS rate: -0.329297 deg/s, posRepo size: 4
2021-02-16T16:18:27.800Z,1613492307.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 37.602114 deg,
      approachRate: -0.663426 m/s,
      LOS rate: -0.329297 deg/s,
      cmd update: -0.987890 deg/s,
      cmd heading: 51.159347 deg,
      new cmd heading: 51.029629 deg.

2021-02-16T16:18:30.125Z,1613492310.125 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:30.922Z,1613492310.922 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:31.329Z,1613492311.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:32.148Z,1613492312.148 [Micromodem](INFO): Nmea in: $SNTTA,0.049994,,,,161832.32*47

2021-02-16T16:18:32.182Z,1613492312.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.820000 m, bearing: 37.330652 deg, deltaT: 4.500583 s, approachRate: -0.773234 m/s, LOS rate: -0.060317 deg/s, posRepo size: 4
2021-02-16T16:18:32.184Z,1613492312.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 37.330652 deg,
      approachRate: -0.773234 m/s,
      LOS rate: -0.060317 deg/s,
      cmd update: -0.180952 deg/s,
      cmd heading: 46.713158 deg,
      new cmd heading: 46.352432 deg.

2021-02-16T16:18:34.573Z,1613492314.573 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:35.360Z,1613492315.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:35.781Z,1613492315.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:36.602Z,1613492316.602 [Micromodem](INFO): Nmea in: $SNTTA,0.047648,,,,161836.76*43

2021-02-16T16:18:36.734Z,1613492316.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.280006 m, bearing: 38.354654 deg, deltaT: 4.365072 s, approachRate: -0.810982 m/s, LOS rate: 0.234590 deg/s, posRepo size: 4
2021-02-16T16:18:36.740Z,1613492316.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.280006 m,
      bearing: 38.354654 deg,
      approachRate: -0.810982 m/s,
      LOS rate: 0.234590 deg/s,
      cmd update: 0.703770 deg/s,
      cmd heading: 45.923296 deg,
      new cmd heading: 45.826750 deg.

2021-02-16T16:18:38.732Z,1613492318.732 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:39.410Z,1613492319.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:39.811Z,1613492319.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:40.656Z,1613492320.656 [Micromodem](INFO): Nmea in: $SNTTA,0.045708,,,,161840.80*4C

2021-02-16T16:18:40.718Z,1613492320.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 38.185470 deg, deltaT: 4.058962 s, approachRate: -0.724324 m/s, LOS rate: -0.041682 deg/s, posRepo size: 4
2021-02-16T16:18:40.731Z,1613492320.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.340004 m,
      bearing: 38.185470 deg,
      approachRate: -0.724324 m/s,
      LOS rate: -0.041682 deg/s,
      cmd update: -0.125045 deg/s,
      cmd heading: 48.779887 deg,
      new cmd heading: 49.112230 deg.

2021-02-16T16:18:43.066Z,1613492323.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:43.849Z,1613492323.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:44.264Z,1613492324.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:45.092Z,1613492325.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161845.25*56

2021-02-16T16:18:45.119Z,1613492325.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 64.860008 m, bearing: 35.968985 deg, deltaT: 4.515069 s, approachRate: -0.770751 m/s, LOS rate: -0.490908 deg/s, posRepo size: 4
2021-02-16T16:18:45.121Z,1613492325.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.860008 m,
      bearing: 35.968985 deg,
      approachRate: -0.770751 m/s,
      LOS rate: -0.490908 deg/s,
      cmd update: -1.472725 deg/s,
      cmd heading: 48.215332 deg,
      new cmd heading: 48.170542 deg.

2021-02-16T16:18:47.503Z,1613492327.503 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:48.295Z,1613492328.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:48.725Z,1613492328.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:49.531Z,1613492329.531 [Micromodem](INFO): Nmea in: $SNTTA,0.040995,,,,161849.70*45

2021-02-16T16:18:49.550Z,1613492329.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.259998 m, bearing: 37.393541 deg, deltaT: 4.378061 s, approachRate: -0.822284 m/s, LOS rate: 0.325385 deg/s, posRepo size: 4
2021-02-16T16:18:49.552Z,1613492329.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.259998 m,
      bearing: 37.393541 deg,
      approachRate: -0.822284 m/s,
      LOS rate: 0.325385 deg/s,
      cmd update: 0.976155 deg/s,
      cmd heading: 41.767346 deg,
      new cmd heading: 41.154482 deg.

2021-02-16T16:18:51.984Z,1613492331.984 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:52.741Z,1613492332.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:53.138Z,1613492333.138 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:53.968Z,1613492333.968 [Micromodem](INFO): Nmea in: $SNTTA,0.038841,,,,161854.14*4C

2021-02-16T16:18:54.030Z,1613492334.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.020004 m, bearing: 36.198479 deg, deltaT: 4.419838 s, approachRate: -0.733057 m/s, LOS rate: -0.270386 deg/s, posRepo size: 4
2021-02-16T16:18:54.036Z,1613492334.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.020004 m,
      bearing: 36.198479 deg,
      approachRate: -0.733057 m/s,
      LOS rate: -0.270386 deg/s,
      cmd update: -0.811157 deg/s,
      cmd heading: 46.081798 deg,
      new cmd heading: 46.546239 deg.

2021-02-16T16:18:56.409Z,1613492336.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:18:57.178Z,1613492337.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:18:57.612Z,1613492337.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:18:58.408Z,1613492338.408 [Micromodem](INFO): Nmea in: $SNTTA,0.036606,,,,161858.57*44

2021-02-16T16:18:58.442Z,1613492338.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.720005 m, bearing: 35.092907 deg, deltaT: 4.467028 s, approachRate: -0.738746 m/s, LOS rate: -0.247496 deg/s, posRepo size: 4
2021-02-16T16:18:58.444Z,1613492338.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.720005 m,
      bearing: 35.092907 deg,
      approachRate: -0.738746 m/s,
      LOS rate: -0.247496 deg/s,
      cmd update: -0.742488 deg/s,
      cmd heading: 42.458320 deg,
      new cmd heading: 42.116765 deg.

2021-02-16T16:19:00.848Z,1613492340.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:01.666Z,1613492341.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:02.031Z,1613492342.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:02.858Z,1613492342.858 [Micromodem](INFO): Nmea in: $SNTTA,0.034161,,,,161903.06*4B

2021-02-16T16:19:02.932Z,1613492342.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.059994 m, bearing: 35.353496 deg, deltaT: 4.437602 s, approachRate: -0.824772 m/s, LOS rate: 0.058723 deg/s, posRepo size: 4
2021-02-16T16:19:02.933Z,1613492342.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 35.353496 deg,
      approachRate: -0.824772 m/s,
      LOS rate: 0.058723 deg/s,
      cmd update: 0.176169 deg/s,
      cmd heading: 39.166570 deg,
      new cmd heading: 38.824334 deg.

2021-02-16T16:19:05.285Z,1613492345.285 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:06.064Z,1613492346.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:06.470Z,1613492346.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:07.301Z,1613492347.301 [Micromodem](INFO): Nmea in: $SNTTA,0.031943,,,,161907.46*46

2021-02-16T16:19:07.337Z,1613492347.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 34.512580 deg, deltaT: 4.472830 s, approachRate: -0.751200 m/s, LOS rate: -0.188005 deg/s, posRepo size: 4
2021-02-16T16:19:07.339Z,1613492347.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 34.512580 deg,
      approachRate: -0.751200 m/s,
      LOS rate: -0.188005 deg/s,
      cmd update: -0.564016 deg/s,
      cmd heading: 39.955284 deg,
      new cmd heading: 40.026780 deg.

2021-02-16T16:19:09.793Z,1613492349.793 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:10.508Z,1613492350.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:10.931Z,1613492350.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:11.760Z,1613492351.760 [Micromodem](INFO): Nmea in: $SNTTA,0.029661,,,,161911.90*4C

2021-02-16T16:19:11.786Z,1613492351.786 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:19:11.799Z,1613492351.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.279999 m, bearing: 34.236818 deg, deltaT: 4.399999 s, approachRate: -0.777274 m/s, LOS rate: -0.062673 deg/s, posRepo size: 4
2021-02-16T16:19:11.801Z,1613492351.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.279999 m,
      bearing: 34.236818 deg,
      approachRate: -0.777274 m/s,
      LOS rate: -0.062673 deg/s,
      cmd update: -0.188020 deg/s,
      cmd heading: 37.473622 deg,
      new cmd heading: 37.210194 deg.

2021-02-16T16:19:14.171Z,1613492354.171 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:14.957Z,1613492354.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:15.369Z,1613492355.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:16.184Z,1613492356.184 [Micromodem](INFO): Nmea in: $SNTTA,0.027537,,,,161916.35*4A

2021-02-16T16:19:16.221Z,1613492356.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.099998 m, bearing: 34.949378 deg, deltaT: 4.515767 s, approachRate: -0.704199 m/s, LOS rate: 0.157794 deg/s, posRepo size: 4
2021-02-16T16:19:16.223Z,1613492356.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.099998 m,
      bearing: 34.949378 deg,
      approachRate: -0.704199 m/s,
      LOS rate: 0.157794 deg/s,
      cmd update: 0.473381 deg/s,
      cmd heading: 36.625319 deg,
      new cmd heading: 36.554239 deg.

2021-02-16T16:19:17.022Z,1613492357.022 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:19:18.677Z,1613492358.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:19.402Z,1613492359.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:19.825Z,1613492359.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:20.640Z,1613492360.640 [Micromodem](INFO): Nmea in: $SNTTA,0.025214,,,,161920.80*45

2021-02-16T16:19:20.727Z,1613492360.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.620003 m, bearing: 35.556961 deg, deltaT: 4.410957 s, approachRate: -0.788943 m/s, LOS rate: 0.137744 deg/s, posRepo size: 4
2021-02-16T16:19:20.731Z,1613492360.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.62 m.
2021-02-16T16:19:20.733Z,1613492360.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.620003 m,
      bearing: 35.556961 deg,
      approachRate: -0.788943 m/s,
      LOS rate: 0.137744 deg/s,
      cmd update: 0.413232 deg/s,
      cmd heading: 38.709568 deg,
      new cmd heading: 38.936885 deg.

2021-02-16T16:19:21.038Z,1613492361.038 [PowerOnly](INFO): Powering up loadControl
2021-02-16T16:19:21.866Z,1613492361.866 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:19:23.079Z,1613492363.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:23.861Z,1613492363.861 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:24.266Z,1613492364.266 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:25.088Z,1613492365.088 [Micromodem](INFO): Nmea in: $SNTTA,0.022968,,0.041242,,161925.26*54

2021-02-16T16:19:25.113Z,1613492365.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.200001 m, bearing: 34.140274 deg, deltaT: 4.481903 s, approachRate: -0.763069 m/s, LOS rate: -0.316091 deg/s, posRepo size: 4
2021-02-16T16:19:25.113Z,1613492365.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m.
2021-02-16T16:19:25.114Z,1613492365.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 34.20 m.
2021-02-16T16:19:25.114Z,1613492365.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T16:19:25.116Z,1613492365.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 34.140274 deg,
      approachRate: -0.763069 m/s,
      LOS rate: -0.316091 deg/s,
      cmd update: -0.948272 deg/s,
      cmd heading: 40.563140 deg,
      new cmd heading: 40.720534 deg.

2021-02-16T16:19:27.497Z,1613492367.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:28.295Z,1613492368.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:28.724Z,1613492368.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:29.534Z,1613492369.534 [Micromodem](INFO): Nmea in: $SNTTA,0.020747,,,,161929.69*4D

2021-02-16T16:19:29.566Z,1613492369.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.900002 m, bearing: 32.995223 deg, deltaT: 4.392643 s, approachRate: -0.751256 m/s, LOS rate: -0.260675 deg/s, posRepo size: 4
2021-02-16T16:19:29.568Z,1613492369.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.900002 m,
      bearing: 32.995223 deg,
      approachRate: -0.751256 m/s,
      LOS rate: -0.260675 deg/s,
      cmd update: -0.782024 deg/s,
      cmd heading: 36.393612 deg,
      new cmd heading: 35.978821 deg.

2021-02-16T16:19:31.964Z,1613492371.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:32.744Z,1613492372.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:33.180Z,1613492373.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:33.988Z,1613492373.988 [Micromodem](INFO): Nmea in: $SNTTA,0.018928,,,,161934.14*47

2021-02-16T16:19:34.036Z,1613492374.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.199999 m, bearing: 31.710188 deg, deltaT: 4.513862 s, approachRate: -0.598158 m/s, LOS rate: -0.284686 deg/s, posRepo size: 4
2021-02-16T16:19:34.038Z,1613492374.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 31.710188 deg,
      approachRate: -0.598158 m/s,
      LOS rate: -0.284686 deg/s,
      cmd update: -0.854059 deg/s,
      cmd heading: 32.860493 deg,
      new cmd heading: 32.556311 deg.

2021-02-16T16:19:36.417Z,1613492376.417 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:36.840Z,1613492376.840 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:19:37.208Z,1613492377.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:37.633Z,1613492377.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:38.436Z,1613492378.436 [Micromodem](INFO): Nmea in: $SNTTA,0.016866,,,,161938.60*4D

2021-02-16T16:19:38.473Z,1613492378.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.079998 m, bearing: 32.304070 deg, deltaT: 4.418867 s, approachRate: -0.706064 m/s, LOS rate: 0.134397 deg/s, posRepo size: 4
2021-02-16T16:19:38.475Z,1613492378.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.079998 m,
      bearing: 32.304070 deg,
      approachRate: -0.706064 m/s,
      LOS rate: 0.134397 deg/s,
      cmd update: 0.403190 deg/s,
      cmd heading: 29.086581 deg,
      new cmd heading: 28.738317 deg.

2021-02-16T16:19:40.884Z,1613492380.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:41.658Z,1613492381.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:41.786Z,1613492381.786 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T16:19:42.060Z,1613492382.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:42.904Z,1613492382.904 [Micromodem](INFO): Nmea in: $SNTTA,0.014006,,,,161943.06*4D

2021-02-16T16:19:42.963Z,1613492382.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 33.591577 deg, deltaT: 4.428785 s, approachRate: -0.975437 m/s, LOS rate: 0.290714 deg/s, posRepo size: 4
2021-02-16T16:19:42.965Z,1613492382.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 33.591577 deg,
      approachRate: -0.975437 m/s,
      LOS rate: 0.290714 deg/s,
      cmd update: 0.872141 deg/s,
      cmd heading: 30.872253 deg,
      new cmd heading: 31.059469 deg.

2021-02-16T16:19:45.372Z,1613492385.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:46.096Z,1613492386.096 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:46.519Z,1613492386.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:47.324Z,1613492387.324 [Micromodem](INFO): Nmea in: $SNTTA,0.011994,,,,161947.49*45

2021-02-16T16:19:47.362Z,1613492387.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.820002 m, bearing: 35.458084 deg, deltaT: 4.468484 s, approachRate: -0.657941 m/s, LOS rate: 0.417705 deg/s, posRepo size: 4
2021-02-16T16:19:47.364Z,1613492387.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 35.458084 deg,
      approachRate: -0.657941 m/s,
      LOS rate: 0.417705 deg/s,
      cmd update: 1.253114 deg/s,
      cmd heading: 34.765905 deg,
      new cmd heading: 35.117776 deg.

2021-02-16T16:19:49.794Z,1613492389.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:50.541Z,1613492390.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:50.965Z,1613492390.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:51.785Z,1613492391.785 [Micromodem](INFO): Nmea in: $SNTTA,0.009891,,,,161951.94*4F

2021-02-16T16:19:51.837Z,1613492391.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.639997 m, bearing: 37.194441 deg, deltaT: 4.399663 s, approachRate: -0.722784 m/s, LOS rate: 0.394657 deg/s, posRepo size: 4
2021-02-16T16:19:51.839Z,1613492391.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.639997 m,
      bearing: 37.194441 deg,
      approachRate: -0.722784 m/s,
      LOS rate: 0.394657 deg/s,
      cmd update: 1.183970 deg/s,
      cmd heading: 40.284179 deg,
      new cmd heading: 40.878814 deg.

2021-02-16T16:19:53.025Z,1613492393.025 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T16:19:54.202Z,1613492394.202 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:55.010Z,1613492395.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:55.395Z,1613492395.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:19:56.228Z,1613492396.228 [Micromodem](INFO): Nmea in: $SNTTA,0.007658,,,,161956.40*44

2021-02-16T16:19:56.281Z,1613492396.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.100000 m, bearing: 33.766543 deg, deltaT: 4.491453 s, approachRate: -0.788163 m/s, LOS rate: -0.763205 deg/s, posRepo size: 4
2021-02-16T16:19:56.288Z,1613492396.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.100000 m,
      bearing: 33.766543 deg,
      approachRate: -0.788163 m/s,
      LOS rate: -0.763205 deg/s,
      cmd update: -2.289614 deg/s,
      cmd heading: 45.597217 deg,
      new cmd heading: 46.100968 deg.

2021-02-16T16:19:57.029Z,1613492397.029 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:19:58.660Z,1613492398.660 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:19:59.434Z,1613492399.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:19:59.839Z,1613492399.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:00.660Z,1613492400.660 [Micromodem](INFO): Nmea in: $SNTTA,0.005621,,,,162000.83*4E

2021-02-16T16:20:00.752Z,1613492400.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.800001 m, bearing: 29.238015 deg, deltaT: 4.430738 s, approachRate: -0.744797 m/s, LOS rate: -1.022071 deg/s, posRepo size: 4
2021-02-16T16:20:00.754Z,1613492400.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 29.238015 deg,
      approachRate: -0.744797 m/s,
      LOS rate: -1.022071 deg/s,
      cmd update: -3.066213 deg/s,
      cmd heading: 35.506358 deg,
      new cmd heading: 34.374144 deg.

2021-02-16T16:20:03.079Z,1613492403.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:03.877Z,1613492403.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:04.288Z,1613492404.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:05.115Z,1613492405.115 [Micromodem](INFO): Nmea in: $SNTTA,0.003439,,,,162005.27*48

2021-02-16T16:20:05.132Z,1613492405.132 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.860001 m 
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:20:05.133Z,1613492405.133 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:20:05.134Z,1613492405.134 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:20:05.136Z,1613492405.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.860001 m, bearing: 26.809022 deg, deltaT: 4.481019 s, approachRate: -0.656101 m/s, LOS rate: -0.542063 deg/s, posRepo size: 4
2021-02-16T16:20:05.138Z,1613492405.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.860001 m,
      bearing: 26.809022 deg,
      approachRate: -0.656101 m/s,
      LOS rate: -0.542063 deg/s,
      cmd update: -1.626188 deg/s,
      cmd heading: 21.682193 deg,
      new cmd heading: 20.547983 deg.

2021-02-16T16:20:05.521Z,1613492405.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T162005: (41.552319, -70.708603)
2021-02-16T16:20:05.521Z,1613492405.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:20:05.521Z,1613492405.521 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:20:05.522Z,1613492405.522 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:20:07.529Z,1613492407.529 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:08.316Z,1613492408.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:08.748Z,1613492408.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:09.551Z,1613492409.551 [Micromodem](INFO): Nmea in: $SNTTA,0.002464,,,,162009.71*4E

2021-02-16T16:20:09.574Z,1613492409.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 9.296984 deg, deltaT: 4.384610 s, approachRate: -0.301053 m/s, LOS rate: -3.993978 deg/s, posRepo size: 4
2021-02-16T16:20:09.576Z,1613492409.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 9.296984 deg,
      approachRate: -0.301053 m/s,
      LOS rate: -3.993978 deg/s,
      cmd update: -11.981934 deg/s,
      cmd heading: 14.552517 deg,
      new cmd heading: 13.862780 deg.

2021-02-16T16:20:12.019Z,1613492412.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:12.766Z,1613492412.766 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:13.167Z,1613492413.167 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:14.008Z,1613492414.008 [Micromodem](INFO): Nmea in: $SNTTA,0.003276,,,,162014.16*47

2021-02-16T16:20:14.086Z,1613492414.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.979999 m, bearing: 0.404030 deg, deltaT: 4.486298 s, approachRate: 0.320977 m/s, LOS rate: -1.982248 deg/s, posRepo size: 4
2021-02-16T16:20:14.092Z,1613492414.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 0.404030 deg,
      approachRate: 0.320977 m/s,
      LOS rate: -1.982248 deg/s,
      cmd update: -5.946743 deg/s,
      cmd heading: 320.842070 deg,
      new cmd heading: 315.418004 deg.

2021-02-16T16:20:16.419Z,1613492416.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:17.205Z,1613492417.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:17.633Z,1613492417.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:18.436Z,1613492418.436 [Micromodem](INFO): Nmea in: $SNTTA,0.005219,,,,162018.60*45

2021-02-16T16:20:18.473Z,1613492418.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.979999 m, bearing: 350.622679 deg, deltaT: 4.432241 s, approachRate: 0.676859 m/s, LOS rate: -2.206861 deg/s, posRepo size: 4
2021-02-16T16:20:18.475Z,1613492418.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 350.622679 deg,
      approachRate: 0.676859 m/s,
      LOS rate: -2.206861 deg/s,
      cmd update: -6.620583 deg/s,
      cmd heading: 294.484707 deg,
      new cmd heading: 292.058537 deg.

2021-02-16T16:20:20.889Z,1613492420.889 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:21.648Z,1613492421.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:22.028Z,1613492422.028 [CTD_Seabird](ERROR): Failed to parse device response: 7,2.79574,3081.59
2021-02-16T16:20:22.076Z,1613492422.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:22.876Z,1613492422.876 [Micromodem](INFO): Nmea in: $SNTTA,0.006639,,,,162023.04*4A

2021-02-16T16:20:22.931Z,1613492422.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.960000 m, bearing: 3.768590 deg, deltaT: 4.402004 s, approachRate: 0.449795 m/s, LOS rate: 2.986349 deg/s, posRepo size: 4
2021-02-16T16:20:22.933Z,1613492422.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.960000 m,
      bearing: 3.768590 deg,
      approachRate: 0.449795 m/s,
      LOS rate: 2.986349 deg/s,
      cmd update: 8.959046 deg/s,
      cmd heading: 265.314484 deg,
      new cmd heading: 262.269341 deg.

2021-02-16T16:20:24.982Z,1613492424.982 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:25.727Z,1613492425.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:26.142Z,1613492426.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:26.967Z,1613492426.967 [Micromodem](INFO): Nmea in: $SNTTA,0.007985,,,,162027.12*40

2021-02-16T16:20:27.001Z,1613492427.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.059997 m, bearing: 247.859096 deg, deltaT: 4.102576 s, approachRate: 0.511873 m/s, LOS rate: -28.252859 deg/s, posRepo size: 4
2021-02-16T16:20:27.001Z,1613492427.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 12.06 m. Rolling out.
2021-02-16T16:20:27.002Z,1613492427.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:20:29.388Z,1613492429.388 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:30.179Z,1613492430.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:30.604Z,1613492430.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:31.411Z,1613492431.411 [Micromodem](INFO): Nmea in: $SNTTA,0.009332,,,,162031.58*41

2021-02-16T16:20:31.430Z,1613492431.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.100001 m, bearing: 311.509710 deg, deltaT: 4.478738 s, approachRate: 0.455487 m/s, LOS rate: 14.211730 deg/s, posRepo size: 4
2021-02-16T16:20:33.840Z,1613492433.840 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:34.630Z,1613492434.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:35.039Z,1613492435.039 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:35.852Z,1613492435.852 [Micromodem](INFO): Nmea in: $SNTTA,0.010695,0.019687,,,162036.02*56

2021-02-16T16:20:35.908Z,1613492435.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 308.716737 deg, deltaT: 4.382121 s, approachRate: 0.465528 m/s, LOS rate: -0.637357 deg/s, posRepo size: 4
2021-02-16T16:20:38.301Z,1613492438.301 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:39.057Z,1613492439.057 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:39.461Z,1613492439.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:40.293Z,1613492440.293 [Micromodem](INFO): Nmea in: $SNTTA,0.012227,,,,162040.45*44

2021-02-16T16:20:40.329Z,1613492440.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 270.845578 deg, deltaT: 4.503941 s, approachRate: 0.519545 m/s, LOS rate: -8.408450 deg/s, posRepo size: 4
2021-02-16T16:20:42.777Z,1613492442.777 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:43.501Z,1613492443.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:43.923Z,1613492443.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:44.747Z,1613492444.747 [Micromodem](INFO): Nmea in: $SNTTA,0.014137,,,,162044.90*4C

2021-02-16T16:20:44.808Z,1613492444.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.359999 m, bearing: 285.218427 deg, deltaT: 4.406158 s, approachRate: 0.653631 m/s, LOS rate: 3.261991 deg/s, posRepo size: 4
2021-02-16T16:20:47.169Z,1613492447.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:47.946Z,1613492447.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:48.350Z,1613492448.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:49.176Z,1613492449.176 [Micromodem](INFO): Nmea in: $SNTTA,0.015857,,,,162049.34*41

2021-02-16T16:20:49.228Z,1613492449.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.000002 m, bearing: 284.306815 deg, deltaT: 4.466250 s, approachRate: 0.591101 m/s, LOS rate: -0.204111 deg/s, posRepo size: 4
2021-02-16T16:20:51.662Z,1613492451.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:52.393Z,1613492452.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:52.807Z,1613492452.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:53.640Z,1613492453.640 [Micromodem](INFO): Nmea in: $SNTTA,0.017836,,,,162053.79*46

2021-02-16T16:20:53.719Z,1613492453.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.939999 m, bearing: 292.551974 deg, deltaT: 4.419481 s, approachRate: 0.665236 m/s, LOS rate: 1.865639 deg/s, posRepo size: 4
2021-02-16T16:20:55.651Z,1613492455.651 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:20:56.066Z,1613492456.066 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:20:56.832Z,1613492456.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:20:57.246Z,1613492457.246 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:20:58.064Z,1613492458.064 [Micromodem](INFO): Nmea in: $SNTTA,0.019763,,,,162058.23*43

2021-02-16T16:20:58.117Z,1613492458.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.819998 m, bearing: 318.566553 deg, deltaT: 4.462376 s, approachRate: 0.645396 m/s, LOS rate: 5.829759 deg/s, posRepo size: 4
2021-02-16T16:21:00.512Z,1613492460.512 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:01.302Z,1613492461.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:01.724Z,1613492461.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:02.524Z,1613492462.524 [Micromodem](INFO): Nmea in: $SNTTA,0.021725,,,,162102.70*42

2021-02-16T16:21:02.546Z,1613492462.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.760002 m, bearing: 324.426855 deg, deltaT: 4.416872 s, approachRate: 0.665630 m/s, LOS rate: 1.326799 deg/s, posRepo size: 4
2021-02-16T16:21:05.007Z,1613492465.007 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:05.739Z,1613492465.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:06.130Z,1613492466.130 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:06.960Z,1613492466.960 [Micromodem](INFO): Nmea in: $SNTTA,0.023698,,,,162107.13*47

2021-02-16T16:21:07.008Z,1613492467.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 271.652961 deg, deltaT: 4.466840 s, approachRate: 0.658182 m/s, LOS rate: -11.814592 deg/s, posRepo size: 4
2021-02-16T16:21:09.391Z,1613492469.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:10.173Z,1613492470.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:10.578Z,1613492470.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:11.400Z,1613492471.400 [Micromodem](INFO): Nmea in: $SNTTA,0.025763,,,,162111.57*43

2021-02-16T16:21:11.422Z,1613492471.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.820000 m, bearing: 269.399709 deg, deltaT: 4.464933 s, approachRate: 0.698779 m/s, LOS rate: -0.504655 deg/s, posRepo size: 4
2021-02-16T16:21:13.852Z,1613492473.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:14.634Z,1613492474.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:15.018Z,1613492475.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:15.852Z,1613492475.852 [Micromodem](INFO): Nmea in: $SNTTA,0.027725,,,,162116.03*45

2021-02-16T16:21:15.902Z,1613492475.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.759998 m, bearing: 273.568665 deg, deltaT: 4.398192 s, approachRate: 0.668456 m/s, LOS rate: 0.947880 deg/s, posRepo size: 4
2021-02-16T16:21:18.296Z,1613492478.296 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:19.058Z,1613492479.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:19.462Z,1613492479.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:20.293Z,1613492480.293 [Micromodem](INFO): Nmea in: $SNTTA,0.029856,,,,162120.45*47

2021-02-16T16:21:20.346Z,1613492480.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.000000 m, bearing: 271.780822 deg, deltaT: 4.483870 s, approachRate: 0.722590 m/s, LOS rate: -0.398728 deg/s, posRepo size: 4
2021-02-16T16:21:22.752Z,1613492482.752 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:23.517Z,1613492483.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:23.906Z,1613492483.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:24.748Z,1613492484.748 [Micromodem](INFO): Nmea in: $SNTTA,0.031926,,,,162124.91*45

2021-02-16T16:21:24.794Z,1613492484.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.060001 m, bearing: 284.946558 deg, deltaT: 4.443702 s, approachRate: 0.688615 m/s, LOS rate: 2.962786 deg/s, posRepo size: 4
2021-02-16T16:21:27.167Z,1613492487.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:27.950Z,1613492487.950 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:28.370Z,1613492488.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:29.176Z,1613492489.176 [Micromodem](INFO): Nmea in: $SNTTA,0.034023,,,,162129.34*4E

2021-02-16T16:21:29.210Z,1613492489.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 282.544736 deg, deltaT: 4.462353 s, approachRate: 0.712629 m/s, LOS rate: -0.538241 deg/s, posRepo size: 4
2021-02-16T16:21:31.647Z,1613492491.647 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:32.388Z,1613492492.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:32.796Z,1613492492.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:33.660Z,1613492493.660 [Micromodem](INFO): Nmea in: $SNTTA,0.036102,,,,162133.78*4D

2021-02-16T16:21:33.691Z,1613492493.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.359993 m, bearing: 286.508049 deg, deltaT: 4.400306 s, approachRate: 0.709039 m/s, LOS rate: 0.900690 deg/s, posRepo size: 4
2021-02-16T16:21:36.084Z,1613492496.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:36.838Z,1613492496.838 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:37.244Z,1613492497.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:38.071Z,1613492498.071 [Micromodem](INFO): Nmea in: $SNTTA,0.038251,,,,162138.23*43

2021-02-16T16:21:38.095Z,1613492498.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.480007 m, bearing: 285.779841 deg, deltaT: 4.492336 s, approachRate: 0.694519 m/s, LOS rate: -0.162100 deg/s, posRepo size: 4
2021-02-16T16:21:40.485Z,1613492500.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:41.283Z,1613492501.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:41.702Z,1613492501.702 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:42.516Z,1613492502.516 [Micromodem](INFO): Nmea in: $SNTTA,0.040361,,,,162142.68*4C

2021-02-16T16:21:42.538Z,1613492502.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.720005 m, bearing: 274.768675 deg, deltaT: 4.380278 s, approachRate: 0.739679 m/s, LOS rate: -2.513805 deg/s, posRepo size: 4
2021-02-16T16:21:44.664Z,1613492504.664 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T16:21:44.952Z,1613492504.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:45.422Z,1613492505.422 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:45.734Z,1613492505.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:46.126Z,1613492506.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:46.425Z,1613492506.425 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:46.972Z,1613492506.972 [Micromodem](INFO): Nmea in: $SNTTA,0.042428,,,,162147.13*4D

2021-02-16T16:21:47.029Z,1613492507.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.780003 m, bearing: 273.679041 deg, deltaT: 4.456990 s, approachRate: 0.686561 m/s, LOS rate: -0.244477 deg/s, posRepo size: 4
2021-02-16T16:21:47.429Z,1613492507.429 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:48.433Z,1613492508.433 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:49.377Z,1613492509.377 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:49.438Z,1613492509.438 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:50.169Z,1613492510.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:50.441Z,1613492510.441 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:50.577Z,1613492510.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:51.400Z,1613492511.400 [Micromodem](INFO): Nmea in: $SNTTA,0.044566,,,,162151.56*46

2021-02-16T16:21:51.434Z,1613492511.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 67.019997 m, bearing: 278.443808 deg, deltaT: 4.465414 s, approachRate: 0.725575 m/s, LOS rate: 1.067038 deg/s, posRepo size: 4
2021-02-16T16:21:51.445Z,1613492511.445 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:52.449Z,1613492512.449 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:53.453Z,1613492513.453 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:53.842Z,1613492513.842 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:54.457Z,1613492514.457 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:54.629Z,1613492514.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:55.032Z,1613492515.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:21:55.461Z,1613492515.461 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-02-16T16:21:55.868Z,1613492515.868 [Micromodem](INFO): Nmea in: $SNTTA,0.046611,,,0.064666,162156.02*5B

2021-02-16T16:21:55.913Z,1613492515.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 70.079994 m, bearing: 284.447326 deg, deltaT: 4.410820 s, approachRate: 0.693748 m/s, LOS rate: 1.361089 deg/s, posRepo size: 4
2021-02-16T16:21:55.990Z,1613492515.990 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.065469
CHAN A1 (24V): 0.158016
CHAN A2 (12V): 0.059668
CHAN A3 (5V): 0.013657
CHAN B0 (3.3V): 0.003048
CHAN B1 (3.15aV): 0.002003
CHAN B2 (3.15bV): 0.002355
CHAN B3 (GND): 0.001885
OPEN: 0.006560
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T16:21:58.262Z,1613492518.262 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:21:59.052Z,1613492519.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:21:59.479Z,1613492519.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:00.295Z,1613492520.295 [Micromodem](INFO): Nmea in: $SNTTA,0.048724,,0.066111,,162200.45*54

2021-02-16T16:22:00.318Z,1613492520.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.260002 m, bearing: 285.004205 deg, deltaT: 4.470423 s, approachRate: 0.711344 m/s, LOS rate: 0.124570 deg/s, posRepo size: 4
2021-02-16T16:22:02.764Z,1613492522.764 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:03.500Z,1613492523.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:03.903Z,1613492523.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:04.729Z,1613492524.729 [Micromodem](INFO): Nmea in: $SNTTA,0.050742,,0.055548,,162204.89*51

2021-02-16T16:22:04.807Z,1613492524.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.320000 m, bearing: 298.886838 deg, deltaT: 4.432480 s, approachRate: 0.690358 m/s, LOS rate: 3.132024 deg/s, posRepo size: 4
2021-02-16T16:22:07.165Z,1613492527.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:07.948Z,1613492527.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:08.358Z,1613492528.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:09.183Z,1613492529.183 [Micromodem](INFO): Nmea in: $SNTTA,0.052959,,,,162209.34*4B

2021-02-16T16:22:09.206Z,1613492529.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.620003 m, bearing: 280.121385 deg, deltaT: 4.484600 s, approachRate: 0.735852 m/s, LOS rate: -4.184421 deg/s, posRepo size: 4
2021-02-16T16:22:11.654Z,1613492531.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:12.388Z,1613492532.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:12.805Z,1613492532.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:13.640Z,1613492533.640 [Micromodem](INFO): Nmea in: $SNTTA,0.055023,,,,162213.78*4B

2021-02-16T16:22:13.665Z,1613492533.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.680000 m, bearing: 285.495487 deg, deltaT: 4.403366 s, approachRate: 0.694922 m/s, LOS rate: 1.220453 deg/s, posRepo size: 4
2021-02-16T16:22:16.056Z,1613492536.056 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:16.840Z,1613492536.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:17.238Z,1613492537.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:18.060Z,1613492538.060 [Micromodem](INFO): Nmea in: $SNTTA,0.056991,,,,162218.24*4A

2021-02-16T16:22:18.907Z,1613492538.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:20.472Z,1613492540.472 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:22:21.765Z,1613492541.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:22.488Z,1613492542.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:22.899Z,1613492542.899 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:23.748Z,1613492543.748 [Micromodem](INFO): Nmea in: $SNTTA,0.059555,,,,162223.88*4F

2021-02-16T16:22:23.807Z,1613492543.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.519997 m, bearing: 291.255003 deg, deltaT: 10.109313 s, approachRate: 0.676603 m/s, LOS rate: 0.569724 deg/s, posRepo size: 4
2021-02-16T16:22:26.156Z,1613492546.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:26.937Z,1613492546.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:27.339Z,1613492547.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:28.164Z,1613492548.164 [Micromodem](INFO): Nmea in: $SNTTA,0.061675,,,,162228.33*4E

2021-02-16T16:22:28.249Z,1613492548.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.700005 m, bearing: 276.894749 deg, deltaT: 4.483264 s, approachRate: 0.709306 m/s, LOS rate: -3.203080 deg/s, posRepo size: 4
2021-02-16T16:22:30.641Z,1613492550.641 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:31.383Z,1613492551.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:31.797Z,1613492551.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:32.636Z,1613492552.636 [Micromodem](INFO): Nmea in: $SNTTA,0.063691,,,,162232.78*42

2021-02-16T16:22:32.661Z,1613492552.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.640007 m, bearing: 297.734284 deg, deltaT: 4.409791 s, approachRate: 0.666699 m/s, LOS rate: 4.725742 deg/s, posRepo size: 4
2021-02-16T16:22:35.084Z,1613492555.084 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:35.822Z,1613492555.822 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:36.225Z,1613492556.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:37.039Z,1613492557.039 [Micromodem](INFO): Nmea in: $SNTTA,0.065677,,,,162237.22*46

2021-02-16T16:22:37.888Z,1613492557.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:39.454Z,1613492559.454 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:22:40.757Z,1613492560.757 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:41.476Z,1613492561.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:41.897Z,1613492561.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:42.748Z,1613492562.748 [Micromodem](INFO): Nmea in: $SNTTA,0.068275,,,,162242.87*40

2021-02-16T16:22:42.802Z,1613492562.802 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.600006 m, bearing: 277.917474 deg, deltaT: 10.086165 s, approachRate: 0.690054 m/s, LOS rate: -1.964752 deg/s, posRepo size: 4
2021-02-16T16:22:45.140Z,1613492565.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:45.934Z,1613492565.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:46.334Z,1613492566.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:47.160Z,1613492567.160 [Micromodem](INFO): Nmea in: $SNTTA,0.070435,,,,162247.33*41

2021-02-16T16:22:47.183Z,1613492567.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.779999 m, bearing: 285.532343 deg, deltaT: 4.499623 s, approachRate: 0.706724 m/s, LOS rate: 1.692335 deg/s, posRepo size: 4
2021-02-16T16:22:49.831Z,1613492569.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:50.382Z,1613492570.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:50.784Z,1613492570.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:51.634Z,1613492571.634 [Micromodem](INFO): Nmea in: $SNTTA,0.072601,,,,162251.78*4E

2021-02-16T16:22:51.659Z,1613492571.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.079994 m, bearing: 292.441981 deg, deltaT: 4.380062 s, approachRate: 0.753413 m/s, LOS rate: 1.577521 deg/s, posRepo size: 4
2021-02-16T16:22:54.048Z,1613492574.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:54.821Z,1613492574.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:55.237Z,1613492575.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:22:56.052Z,1613492576.052 [Micromodem](INFO): Nmea in: $SNTTA,0.074608,,,0.077116,162256.22*51

2021-02-16T16:22:56.090Z,1613492576.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.080002 m, bearing: 287.994052 deg, deltaT: 4.479244 s, approachRate: 0.669758 m/s, LOS rate: -0.993009 deg/s, posRepo size: 4
2021-02-16T16:22:58.476Z,1613492578.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:22:59.261Z,1613492579.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:22:59.666Z,1613492579.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:00.497Z,1613492580.497 [Micromodem](INFO): Nmea in: $SNTTA,0.076815,,,,162300.66*4B

2021-02-16T16:23:00.541Z,1613492580.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.380005 m, bearing: 288.207755 deg, deltaT: 4.434516 s, approachRate: 0.744163 m/s, LOS rate: 0.048191 deg/s, posRepo size: 4
2021-02-16T16:23:02.944Z,1613492582.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:03.731Z,1613492583.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:04.195Z,1613492584.195 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:05.028Z,1613492585.028 [Micromodem](INFO): Nmea in: $SNTTA,0.078825,,,,162305.13*41

2021-02-16T16:23:05.077Z,1613492585.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.379997 m, bearing: 283.446102 deg, deltaT: 4.570377 s, approachRate: 0.656399 m/s, LOS rate: -1.041851 deg/s, posRepo size: 4
2021-02-16T16:23:07.444Z,1613492587.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:08.245Z,1613492588.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:08.644Z,1613492588.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:09.472Z,1613492589.472 [Micromodem](INFO): Nmea in: $SNTTA,0.081007,,,,162309.64*43

2021-02-16T16:23:09.558Z,1613492589.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.620010 m, bearing: 278.610684 deg, deltaT: 4.392641 s, approachRate: 0.737600 m/s, LOS rate: -1.100800 deg/s, posRepo size: 4
2021-02-16T16:23:11.933Z,1613492591.933 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:12.700Z,1613492592.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:13.082Z,1613492593.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:13.920Z,1613492593.920 [Micromodem](INFO): Nmea in: $SNTTA,0.083051,,,,162314.09*45

2021-02-16T16:23:13.967Z,1613492593.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.739998 m, bearing: 284.685809 deg, deltaT: 4.430390 s, approachRate: 0.704224 m/s, LOS rate: 1.371239 deg/s, posRepo size: 4
2021-02-16T16:23:16.348Z,1613492596.348 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:17.128Z,1613492597.128 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:17.526Z,1613492597.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:18.352Z,1613492598.352 [Micromodem](INFO): Nmea in: $SNTTA,0.085086,,,,162318.52*4B

2021-02-16T16:23:18.374Z,1613492598.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.800003 m, bearing: 293.165817 deg, deltaT: 4.476625 s, approachRate: 0.683552 m/s, LOS rate: 1.894286 deg/s, posRepo size: 4
2021-02-16T16:23:20.806Z,1613492600.806 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:21.569Z,1613492601.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:21.975Z,1613492601.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:22.788Z,1613492602.788 [Micromodem](INFO): Nmea in: $SNTTA,0.087014,,,,162322.96*43

2021-02-16T16:23:23.643Z,1613492603.643 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:25.204Z,1613492605.204 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:23:26.442Z,1613492606.442 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:27.221Z,1613492607.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:27.642Z,1613492607.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:28.452Z,1613492608.452 [Micromodem](INFO): Nmea in: $SNTTA,0.089704,,,,162328.62*4A

2021-02-16T16:23:28.494Z,1613492608.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 288.971479 deg, deltaT: 10.129046 s, approachRate: 0.681209 m/s, LOS rate: -0.414090 deg/s, posRepo size: 4
2021-02-16T16:23:30.911Z,1613492610.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:31.674Z,1613492611.674 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:32.070Z,1613492612.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:32.916Z,1613492612.916 [Micromodem](INFO): Nmea in: $SNTTA,0.091653,,,,162333.07*49

2021-02-16T16:23:32.980Z,1613492612.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.639999 m, bearing: 295.182362 deg, deltaT: 4.383898 s, approachRate: 0.670637 m/s, LOS rate: 1.416749 deg/s, posRepo size: 4
2021-02-16T16:23:35.320Z,1613492615.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:36.113Z,1613492616.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:36.527Z,1613492616.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:37.344Z,1613492617.344 [Micromodem](INFO): Nmea in: $SNTTA,0.093695,,,,162337.51*46

2021-02-16T16:23:37.390Z,1613492617.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.699997 m, bearing: 286.845815 deg, deltaT: 4.493655 s, approachRate: 0.680960 m/s, LOS rate: -1.855182 deg/s, posRepo size: 4
2021-02-16T16:23:39.801Z,1613492619.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:40.553Z,1613492620.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:40.971Z,1613492620.971 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:41.784Z,1613492621.784 [Micromodem](INFO): Nmea in: $SNTTA,0.095767,,,,162341.95*45

2021-02-16T16:23:41.871Z,1613492621.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 310.295439 deg, deltaT: 4.418328 s, approachRate: 0.719731 m/s, LOS rate: 5.307352 deg/s, posRepo size: 4
2021-02-16T16:23:44.214Z,1613492624.214 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:45.005Z,1613492625.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:45.410Z,1613492625.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:46.239Z,1613492626.239 [Micromodem](INFO): Nmea in: $SNTTA,0.097905,,,,162346.40*42

2021-02-16T16:23:46.258Z,1613492626.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.000000 m, bearing: 276.327980 deg, deltaT: 4.452500 s, approachRate: 0.700729 m/s, LOS rate: -7.628851 deg/s, posRepo size: 4
2021-02-16T16:23:48.664Z,1613492628.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:49.440Z,1613492629.440 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:49.855Z,1613492629.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:50.660Z,1613492630.660 [Micromodem](INFO): Nmea in: $SNTTA,0.099810,,,,162350.84*46

2021-02-16T16:23:51.476Z,1613492631.476 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:53.075Z,1613492633.075 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:23:54.326Z,1613492634.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:55.098Z,1613492635.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:23:55.502Z,1613492635.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:23:56.316Z,1613492636.316 [Micromodem](INFO): Nmea in: $SNTTA,0.102413,,,,162356.49*4D

2021-02-16T16:23:57.156Z,1613492637.156 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:23:58.738Z,1613492638.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:23:59.993Z,1613492639.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:00.752Z,1613492640.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:01.164Z,1613492641.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:01.974Z,1613492641.974 [Micromodem](INFO): Nmea in: $SNTTA,0.105020,,,,162402.15*41

2021-02-16T16:24:02.808Z,1613492642.808 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:04.388Z,1613492644.388 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:05.659Z,1613492645.659 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:06.408Z,1613492646.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:06.813Z,1613492646.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:07.644Z,1613492647.644 [Micromodem](INFO): Nmea in: $SNTTA,0.107628,,,,162407.80*44

2021-02-16T16:24:07.703Z,1613492647.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 299.595675 deg, deltaT: 21.386451 s, approachRate: 0.681739 m/s, LOS rate: 1.087964 deg/s, posRepo size: 4
2021-02-16T16:24:07.705Z,1613492647.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 161.58 m. Resuming terminal guidance.
2021-02-16T16:24:07.705Z,1613492647.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:24:10.094Z,1613492650.094 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:10.863Z,1613492650.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:11.258Z,1613492651.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:12.092Z,1613492652.092 [Micromodem](INFO): Nmea in: $SNTTA,0.109690,,,,162412.26*41

2021-02-16T16:24:12.134Z,1613492652.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.579987 m, bearing: 297.859659 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:24:12.135Z,1613492652.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 297.859659deg and heading rate command to 0 deg/s.
2021-02-16T16:24:14.626Z,1613492654.626 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:15.301Z,1613492655.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:15.754Z,1613492655.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:16.524Z,1613492656.524 [Micromodem](INFO): Nmea in: $SNTTA,0.112196,,,,162416.70*4D

2021-02-16T16:24:17.337Z,1613492657.337 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:17.758Z,1613492657.758 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-02-16T16:24:18.939Z,1613492658.939 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:20.165Z,1613492660.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:20.956Z,1613492660.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:21.367Z,1613492661.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:22.177Z,1613492662.177 [Micromodem](INFO): Nmea in: $SNTTA,0.114281,,,,162422.35*48

2021-02-16T16:24:23.012Z,1613492663.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:24.622Z,1613492664.622 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:25.864Z,1613492665.864 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:26.630Z,1613492666.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:27.018Z,1613492667.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:27.430Z,1613492667.430 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
6,184,80,80,43,FF
2021-02-16T16:24:27.841Z,1613492667.841 [Micromodem](INFO): Nmea in: $SNTTA,0.116870,,,,162428.03*41

2021-02-16T16:24:28.661Z,1613492668.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:31.475Z,1613492671.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:34.317Z,1613492674.317 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:35.101Z,1613492675.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:35.502Z,1613492675.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:36.321Z,1613492676.321 [Micromodem](INFO): Nmea in: $SNTTA,0.120973,,,,162436.50*4F

2021-02-16T16:24:37.150Z,1613492677.150 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:38.740Z,1613492678.740 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:40.024Z,1613492680.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:40.752Z,1613492680.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:41.166Z,1613492681.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:41.973Z,1613492681.973 [Micromodem](INFO): Nmea in: $SNTTA,0.123581,,,,162442.15*4F

2021-02-16T16:24:42.812Z,1613492682.812 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:44.397Z,1613492684.397 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:45.664Z,1613492685.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:46.413Z,1613492686.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:46.821Z,1613492686.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:47.632Z,1613492687.632 [Micromodem](INFO): Nmea in: $SNTTA,0.126177,,,,162447.81*4F

2021-02-16T16:24:48.451Z,1613492688.451 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:50.060Z,1613492690.060 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:24:51.307Z,1613492691.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:52.075Z,1613492692.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:52.470Z,1613492692.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:53.295Z,1613492693.295 [Micromodem](INFO): Nmea in: $SNTTA,0.128681,,,,162453.47*40

2021-02-16T16:24:53.764Z,1613492693.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 193.199982 m, bearing: 291.264784 deg, deltaT: 41.571158 s, approachRate: 0.760623 m/s, LOS rate: -0.158641 deg/s, posRepo size: 2
2021-02-16T16:24:53.766Z,1613492693.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.199982 m,
      bearing: 291.264784 deg,
      approachRate: 0.760623 m/s,
      LOS rate: -0.158641 deg/s,
      cmd update: -0.475922 deg/s,
      cmd heading: 297.859659 deg,
      new cmd heading: 297.859659 deg.

2021-02-16T16:24:56.127Z,1613492696.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:24:56.914Z,1613492696.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:24:57.323Z,1613492697.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:24:58.150Z,1613492698.150 [Micromodem](INFO): Nmea in: $SNTTA,0.131127,,,,162458.31*49

2021-02-16T16:24:58.973Z,1613492698.973 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:00.552Z,1613492700.552 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:25:01.824Z,1613492701.824 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:02.583Z,1613492702.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:02.974Z,1613492702.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:03.794Z,1613492703.794 [Micromodem](INFO): Nmea in: $SNTTA,0.133708,,,,162503.98*4C

2021-02-16T16:25:04.649Z,1613492704.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:06.202Z,1613492706.202 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:25:07.443Z,1613492707.443 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:08.224Z,1613492708.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:08.637Z,1613492708.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:09.447Z,1613492709.447 [Micromodem](INFO): Nmea in: $SNTTA,0.136245,,,0.138741,162509.62*5C

2021-02-16T16:25:09.922Z,1613492709.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.600006 m, bearing: 318.982101 deg, deltaT: 16.150374 s, approachRate: 0.705868 m/s, LOS rate: 1.716203 deg/s, posRepo size: 3
2021-02-16T16:25:09.928Z,1613492709.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.600006 m,
      bearing: 318.982101 deg,
      approachRate: 0.705868 m/s,
      LOS rate: 1.716203 deg/s,
      cmd update: 5.148609 deg/s,
      cmd heading: 290.173287 deg,
      new cmd heading: 289.954031 deg.

2021-02-16T16:25:12.308Z,1613492712.308 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:13.072Z,1613492713.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:13.479Z,1613492713.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:14.309Z,1613492714.309 [Micromodem](INFO): Nmea in: $SNTTA,0.138533,,,,162514.47*49

2021-02-16T16:25:15.119Z,1613492715.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:16.729Z,1613492716.729 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:25:17.972Z,1613492717.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:18.741Z,1613492718.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:19.153Z,1613492719.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:19.975Z,1613492719.975 [Micromodem](INFO): Nmea in: $SNTTA,0.141356,,,,162520.13*44

2021-02-16T16:25:20.389Z,1613492720.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 211.679977 m, bearing: 339.479062 deg, deltaT: 10.587738 s, approachRate: 0.668695 m/s, LOS rate: 1.935915 deg/s, posRepo size: 4
2021-02-16T16:25:20.392Z,1613492720.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.679977 m,
      bearing: 339.479062 deg,
      approachRate: 0.668695 m/s,
      LOS rate: 1.935915 deg/s,
      cmd update: 5.807745 deg/s,
      cmd heading: 344.582706 deg,
      new cmd heading: 346.422232 deg.

2021-02-16T16:25:22.826Z,1613492722.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:23.613Z,1613492723.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:23.999Z,1613492723.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:24.815Z,1613492724.815 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162525.01*58

2021-02-16T16:25:25.237Z,1613492725.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 214.559998 m, bearing: 19.253796 deg, deltaT: 4.800873 s, approachRate: 0.599895 m/s, LOS rate: 8.284894 deg/s, posRepo size: 4
2021-02-16T16:25:25.239Z,1613492725.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.559998 m,
      bearing: 19.253796 deg,
      approachRate: 0.599895 m/s,
      LOS rate: 8.284894 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 12.580979 deg,
      new cmd heading: 14.829918 deg.

2021-02-16T16:25:27.664Z,1613492727.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:28.429Z,1613492728.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:28.830Z,1613492728.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:29.661Z,1613492729.661 [Micromodem](INFO): Nmea in: $SNTTA,0.144828,,,,162529.82*42

2021-02-16T16:25:30.472Z,1613492730.472 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:32.084Z,1613492732.084 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:25:33.303Z,1613492733.303 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:34.086Z,1613492734.086 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:34.489Z,1613492734.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:35.305Z,1613492735.305 [Micromodem](INFO): Nmea in: $SNTTA,0.146577,,,,162535.48*4C

2021-02-16T16:25:35.750Z,1613492735.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.959976 m, bearing: 7.136593 deg, deltaT: 10.469649 s, approachRate: 0.515775 m/s, LOS rate: -1.157365 deg/s, posRepo size: 4
2021-02-16T16:25:35.773Z,1613492735.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.959976 m,
      bearing: 7.136593 deg,
      approachRate: 0.515775 m/s,
      LOS rate: -1.157365 deg/s,
      cmd update: -3.472094 deg/s,
      cmd heading: 138.216134 deg,
      new cmd heading: 143.333990 deg.

2021-02-16T16:25:38.141Z,1613492738.141 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:38.930Z,1613492738.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:39.336Z,1613492739.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:40.149Z,1613492740.149 [Micromodem](INFO): Nmea in: $SNTTA,0.147285,,,,162540.33*49

2021-02-16T16:25:40.627Z,1613492740.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.919983 m, bearing: 77.853563 deg, deltaT: 4.845382 s, approachRate: 0.198128 m/s, LOS rate: 14.594716 deg/s, posRepo size: 4
2021-02-16T16:25:40.628Z,1613492740.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.594716 deg/s. Setting heading cmd to target bearing of 77.853563deg and heading rate command to 0 deg/s.
2021-02-16T16:25:43.008Z,1613492743.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:43.786Z,1613492743.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:44.199Z,1613492744.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:44.998Z,1613492744.998 [Micromodem](INFO): Nmea in: $SNTTA,0.147330,,,,162545.18*4A

2021-02-16T16:25:45.450Z,1613492745.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 220.979980 m, bearing: 22.344547 deg, deltaT: 4.908326 s, approachRate: 0.012224 m/s, LOS rate: -11.309154 deg/s, posRepo size: 4
2021-02-16T16:25:45.456Z,1613492745.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.979980 m,
      bearing: 22.344547 deg,
      approachRate: 0.012224 m/s,
      LOS rate: -11.309154 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.853563 deg,
      new cmd heading: 77.853563 deg.

2021-02-16T16:25:47.862Z,1613492747.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:48.635Z,1613492748.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:49.049Z,1613492749.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:49.846Z,1613492749.846 [Micromodem](INFO): Nmea in: $SNTTA,0.146646,,,,162550.03*41

2021-02-16T16:25:50.276Z,1613492750.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 219.779984 m, bearing: 129.138141 deg, deltaT: 4.832630 s, approachRate: -0.248311 m/s, LOS rate: 22.098442 deg/s, posRepo size: 4
2021-02-16T16:25:50.277Z,1613492750.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 22.098442 deg/s. Setting heading cmd to target bearing of 129.138141deg and heading rate command to 0 deg/s.
2021-02-16T16:25:52.743Z,1613492752.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:53.472Z,1613492753.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:53.879Z,1613492753.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:54.720Z,1613492754.720 [Micromodem](INFO): Nmea in: $SNTTA,0.145667,,,,162554.87*49

2021-02-16T16:25:55.136Z,1613492755.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 218.339996 m, bearing: 93.787069 deg, deltaT: 4.895378 s, approachRate: -0.294152 m/s, LOS rate: -7.221316 deg/s, posRepo size: 4
2021-02-16T16:25:55.138Z,1613492755.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.339996 m,
      bearing: 93.787069 deg,
      approachRate: -0.294152 m/s,
      LOS rate: -7.221316 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 129.138141 deg,
      new cmd heading: 129.138141 deg.

2021-02-16T16:25:57.558Z,1613492757.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:25:58.317Z,1613492758.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:25:58.742Z,1613492758.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:25:59.548Z,1613492759.548 [Micromodem](INFO): Nmea in: $SNTTA,0.145049,,,,162559.71*47

2021-02-16T16:25:59.988Z,1613492759.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 217.500000 m, bearing: 110.845310 deg, deltaT: 4.762075 s, approachRate: -0.176393 m/s, LOS rate: 3.582103 deg/s, posRepo size: 4
2021-02-16T16:25:59.990Z,1613492759.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.500000 m,
      bearing: 110.845310 deg,
      approachRate: -0.176393 m/s,
      LOS rate: 3.582103 deg/s,
      cmd update: 10.746307 deg/s,
      cmd heading: 71.945419 deg,
      new cmd heading: 66.848983 deg.

2021-02-16T16:26:02.379Z,1613492762.379 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:03.164Z,1613492763.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:03.574Z,1613492763.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:04.383Z,1613492764.383 [Micromodem](INFO): Nmea in: $SNTTA,0.144576,,,,162604.56*41

2021-02-16T16:26:04.849Z,1613492764.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 216.719986 m, bearing: 121.269271 deg, deltaT: 4.834791 s, approachRate: -0.161334 m/s, LOS rate: 2.156031 deg/s, posRepo size: 4
2021-02-16T16:26:04.855Z,1613492764.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.719986 m,
      bearing: 121.269271 deg,
      approachRate: -0.161334 m/s,
      LOS rate: 2.156031 deg/s,
      cmd update: 6.468094 deg/s,
      cmd heading: 123.901815 deg,
      new cmd heading: 128.752537 deg.

2021-02-16T16:26:07.220Z,1613492767.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:08.012Z,1613492768.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:08.418Z,1613492768.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:09.231Z,1613492769.231 [Micromodem](INFO): Nmea in: $SNTTA,0.143725,,,,162609.41*49

2021-02-16T16:26:09.676Z,1613492769.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 215.459991 m, bearing: 144.993537 deg, deltaT: 4.847976 s, approachRate: -0.259901 m/s, LOS rate: 4.893644 deg/s, posRepo size: 4
2021-02-16T16:26:09.678Z,1613492769.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.459991 m,
      bearing: 144.993537 deg,
      approachRate: -0.259901 m/s,
      LOS rate: 4.893644 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.259188 deg,
      new cmd heading: 158.040708 deg.

2021-02-16T16:26:12.076Z,1613492772.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:12.860Z,1613492772.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:13.270Z,1613492773.270 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:14.079Z,1613492774.079 [Micromodem](INFO): Nmea in: $SNTTA,0.142174,,,,162614.25*44

2021-02-16T16:26:14.526Z,1613492774.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 213.059998 m, bearing: 137.743756 deg, deltaT: 4.877612 s, approachRate: -0.492043 m/s, LOS rate: -1.486338 deg/s, posRepo size: 4
2021-02-16T16:26:14.528Z,1613492774.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.059998 m,
      bearing: 137.743756 deg,
      approachRate: -0.492043 m/s,
      LOS rate: -1.486338 deg/s,
      cmd update: -4.459015 deg/s,
      cmd heading: 213.790245 deg,
      new cmd heading: 218.620786 deg.

2021-02-16T16:26:16.952Z,1613492776.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:17.722Z,1613492777.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:18.114Z,1613492778.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:18.935Z,1613492778.935 [Micromodem](INFO): Nmea in: $SNTTA,0.140220,,,,162619.12*4D

2021-02-16T16:26:19.358Z,1613492779.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 210.119980 m, bearing: 138.024599 deg, deltaT: 4.870183 s, approachRate: -0.603677 m/s, LOS rate: 0.057666 deg/s, posRepo size: 4
2021-02-16T16:26:19.360Z,1613492779.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.119980 m,
      bearing: 138.024599 deg,
      approachRate: -0.603677 m/s,
      LOS rate: 0.057666 deg/s,
      cmd update: 0.172998 deg/s,
      cmd heading: 192.181204 deg,
      new cmd heading: 190.448672 deg.

2021-02-16T16:26:21.804Z,1613492781.804 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:22.562Z,1613492782.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:22.973Z,1613492782.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:23.789Z,1613492783.789 [Micromodem](INFO): Nmea in: $SNTTA,0.137967,,,,162623.96*40

2021-02-16T16:26:24.215Z,1613492784.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.759979 m, bearing: 136.043940 deg, deltaT: 4.829120 s, approachRate: -0.695779 m/s, LOS rate: -0.410149 deg/s, posRepo size: 4
2021-02-16T16:26:24.217Z,1613492784.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.759979 m,
      bearing: 136.043940 deg,
      approachRate: -0.695779 m/s,
      LOS rate: -0.410149 deg/s,
      cmd update: -1.230447 deg/s,
      cmd heading: 193.020787 deg,
      new cmd heading: 193.088552 deg.

2021-02-16T16:26:26.692Z,1613492786.692 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:27.410Z,1613492787.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:27.811Z,1613492787.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:28.641Z,1613492788.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162628.81*5E

2021-02-16T16:26:29.066Z,1613492789.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 203.459991 m, bearing: 133.823596 deg, deltaT: 4.902294 s, approachRate: -0.673152 m/s, LOS rate: -0.452919 deg/s, posRepo size: 4
2021-02-16T16:26:29.069Z,1613492789.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.459991 m,
      bearing: 133.823596 deg,
      approachRate: -0.673152 m/s,
      LOS rate: -0.452919 deg/s,
      cmd update: -1.358758 deg/s,
      cmd heading: 186.993737 deg,
      new cmd heading: 186.569398 deg.

2021-02-16T16:26:31.485Z,1613492791.485 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:32.258Z,1613492792.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:32.669Z,1613492792.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:33.478Z,1613492793.478 [Micromodem](INFO): Nmea in: $SNTTA,0.133757,,,,162633.65*44

2021-02-16T16:26:33.929Z,1613492793.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 200.520004 m, bearing: 132.866495 deg, deltaT: 4.792444 s, approachRate: -0.613463 m/s, LOS rate: -0.199710 deg/s, posRepo size: 4
2021-02-16T16:26:33.931Z,1613492793.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.520004 m,
      bearing: 132.866495 deg,
      approachRate: -0.613463 m/s,
      LOS rate: -0.199710 deg/s,
      cmd update: -0.599131 deg/s,
      cmd heading: 180.476745 deg,
      new cmd heading: 179.917204 deg.

2021-02-16T16:26:36.330Z,1613492796.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:37.102Z,1613492797.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:37.506Z,1613492797.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:38.318Z,1613492798.318 [Micromodem](INFO): Nmea in: $SNTTA,0.132151,,,,162638.50*48

2021-02-16T16:26:38.789Z,1613492798.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 198.059998 m, bearing: 129.220636 deg, deltaT: 4.815986 s, approachRate: -0.510800 m/s, LOS rate: -0.757033 deg/s, posRepo size: 4
2021-02-16T16:26:38.791Z,1613492798.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.059998 m,
      bearing: 129.220636 deg,
      approachRate: -0.510800 m/s,
      LOS rate: -0.757033 deg/s,
      cmd update: -2.271099 deg/s,
      cmd heading: 177.591202 deg,
      new cmd heading: 177.318493 deg.

2021-02-16T16:26:41.168Z,1613492801.168 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:41.954Z,1613492801.954 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:42.359Z,1613492802.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:43.170Z,1613492803.170 [Micromodem](INFO): Nmea in: $SNTTA,0.130297,,,,162643.35*4C

2021-02-16T16:26:43.634Z,1613492803.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 131.271646 deg, deltaT: 4.872930 s, approachRate: -0.566393 m/s, LOS rate: 0.420899 deg/s, posRepo size: 4
2021-02-16T16:26:43.640Z,1613492803.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 131.271646 deg,
      approachRate: -0.566393 m/s,
      LOS rate: 0.420899 deg/s,
      cmd update: 1.262696 deg/s,
      cmd heading: 166.524863 deg,
      new cmd heading: 165.553728 deg.

2021-02-16T16:26:46.012Z,1613492806.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:46.798Z,1613492806.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:47.213Z,1613492807.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:48.028Z,1613492808.028 [Micromodem](INFO): Nmea in: $SNTTA,0.128300,,,,162648.19*4F

2021-02-16T16:26:48.067Z,1613492808.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 130.338191 deg, deltaT: 4.483897 s, approachRate: 0.000000 m/s, LOS rate: -0.208179 deg/s, posRepo size: 4
2021-02-16T16:26:48.069Z,1613492808.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 130.338191 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.208179 deg/s,
      cmd update: -0.624538 deg/s,
      cmd heading: 172.156780 deg,
      new cmd heading: 172.662409 deg.

2021-02-16T16:26:50.468Z,1613492810.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:51.247Z,1613492811.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:51.645Z,1613492811.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:52.472Z,1613492812.472 [Micromodem](INFO): Nmea in: $SNTTA,0.126364,,,,162652.64*42

2021-02-16T16:26:52.508Z,1613492812.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 195.300003 m, bearing: 128.186996 deg, deltaT: 4.415809 s, approachRate: 0.000000 m/s, LOS rate: -0.487158 deg/s, posRepo size: 4
2021-02-16T16:26:52.510Z,1613492812.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.300003 m,
      bearing: 128.186996 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.487158 deg/s,
      cmd update: -1.461473 deg/s,
      cmd heading: 169.384986 deg,
      new cmd heading: 169.132802 deg.

2021-02-16T16:26:54.936Z,1613492814.936 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:26:55.705Z,1613492815.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:26:56.090Z,1613492816.090 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:26:56.917Z,1613492816.917 [Micromodem](INFO): Nmea in: $SNTTA,0.124319,,,,162657.10*4C

2021-02-16T16:26:57.342Z,1613492817.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.360001 m, bearing: 127.541885 deg, deltaT: 4.869923 s, approachRate: -1.835758 m/s, LOS rate: -0.132468 deg/s, posRepo size: 4
2021-02-16T16:26:57.344Z,1613492817.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.360001 m,
      bearing: 127.541885 deg,
      approachRate: -1.835758 m/s,
      LOS rate: -0.132468 deg/s,
      cmd update: -0.397405 deg/s,
      cmd heading: 162.265783 deg,
      new cmd heading: 161.730317 deg.

2021-02-16T16:26:59.794Z,1613492819.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:00.543Z,1613492820.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:00.938Z,1613492820.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:01.772Z,1613492821.772 [Micromodem](INFO): Nmea in: $SNTTA,0.122203,,,,162701.94*4E

2021-02-16T16:27:02.189Z,1613492822.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 183.000000 m, bearing: 128.412406 deg, deltaT: 4.869575 s, approachRate: -0.689999 m/s, LOS rate: 0.178767 deg/s, posRepo size: 4
2021-02-16T16:27:02.191Z,1613492822.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.000000 m,
      bearing: 128.412406 deg,
      approachRate: -0.689999 m/s,
      LOS rate: 0.178767 deg/s,
      cmd update: 0.536302 deg/s,
      cmd heading: 160.332093 deg,
      new cmd heading: 160.194681 deg.

2021-02-16T16:27:04.634Z,1613492824.634 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:05.409Z,1613492825.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:05.786Z,1613492825.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:06.640Z,1613492826.640 [Micromodem](INFO): Nmea in: $SNTTA,0.120002,,,0.122520,162706.80*55

2021-02-16T16:27:07.088Z,1613492827.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 179.700012 m, bearing: 129.854382 deg, deltaT: 4.862938 s, approachRate: -0.678600 m/s, LOS rate: 0.296524 deg/s, posRepo size: 4
2021-02-16T16:27:07.090Z,1613492827.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 179.700012 m,
      bearing: 129.854382 deg,
      approachRate: -0.678600 m/s,
      LOS rate: 0.296524 deg/s,
      cmd update: 0.889571 deg/s,
      cmd heading: 162.929845 deg,
      new cmd heading: 163.145862 deg.

2021-02-16T16:27:09.450Z,1613492829.450 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:10.233Z,1613492830.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:10.649Z,1613492830.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:11.449Z,1613492831.449 [Micromodem](INFO): Nmea in: $SNTTA,0.118226,,,,162711.63*49

2021-02-16T16:27:11.913Z,1613492831.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 125.865756 deg, deltaT: 4.755124 s, approachRate: -0.555194 m/s, LOS rate: -0.838806 deg/s, posRepo size: 4
2021-02-16T16:27:11.914Z,1613492831.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 125.865756 deg,
      approachRate: -0.555194 m/s,
      LOS rate: -0.838806 deg/s,
      cmd update: -2.516418 deg/s,
      cmd heading: 167.180256 deg,
      new cmd heading: 167.579686 deg.

2021-02-16T16:27:14.294Z,1613492834.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:15.076Z,1613492835.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:15.487Z,1613492835.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:16.308Z,1613492836.308 [Micromodem](INFO): Nmea in: $SNTTA,0.115975,,,,162716.47*48

2021-02-16T16:27:16.323Z,1613492836.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 124.644068 deg, deltaT: 4.495752 s, approachRate: 0.000000 m/s, LOS rate: -0.271743 deg/s, posRepo size: 4
2021-02-16T16:27:16.325Z,1613492836.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 124.644068 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.271743 deg/s,
      cmd update: -0.815229 deg/s,
      cmd heading: 155.882777 deg,
      new cmd heading: 154.951808 deg.

2021-02-16T16:27:18.788Z,1613492838.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:19.526Z,1613492839.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:19.926Z,1613492839.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:20.760Z,1613492840.760 [Micromodem](INFO): Nmea in: $SNTTA,0.113445,,,,162720.92*4D

2021-02-16T16:27:20.827Z,1613492840.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.059998 m, bearing: 124.933531 deg, deltaT: 4.398092 s, approachRate: 0.000000 m/s, LOS rate: 0.065816 deg/s, posRepo size: 4
2021-02-16T16:27:20.829Z,1613492840.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.059998 m,
      bearing: 124.933531 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.065816 deg/s,
      cmd update: 0.197447 deg/s,
      cmd heading: 152.293113 deg,
      new cmd heading: 151.912857 deg.

2021-02-16T16:27:23.173Z,1613492843.173 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:23.964Z,1613492843.964 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:24.377Z,1613492844.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:25.208Z,1613492845.208 [Micromodem](INFO): Nmea in: $SNTTA,0.111597,,,,162725.36*4A

2021-02-16T16:27:25.249Z,1613492845.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 124.787775 deg, deltaT: 4.494172 s, approachRate: -2.229552 m/s, LOS rate: -0.032432 deg/s, posRepo size: 4
2021-02-16T16:27:25.250Z,1613492845.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 124.787775 deg,
      approachRate: -2.229552 m/s,
      LOS rate: -0.032432 deg/s,
      cmd update: -0.097297 deg/s,
      cmd heading: 153.177571 deg,
      new cmd heading: 153.259074 deg.

2021-02-16T16:27:27.664Z,1613492847.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:28.417Z,1613492848.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:28.814Z,1613492848.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:29.644Z,1613492849.644 [Micromodem](INFO): Nmea in: $SNTTA,0.109476,,,,162729.81*4D

2021-02-16T16:27:29.690Z,1613492849.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 124.808334 deg, deltaT: 4.387721 s, approachRate: 0.000000 m/s, LOS rate: 0.004686 deg/s, posRepo size: 4
2021-02-16T16:27:29.704Z,1613492849.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 124.808334 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.004686 deg/s,
      cmd update: 0.014057 deg/s,
      cmd heading: 152.749222 deg,
      new cmd heading: 152.705299 deg.

2021-02-16T16:27:32.105Z,1613492852.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:32.854Z,1613492852.854 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:33.257Z,1613492853.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:34.084Z,1613492854.084 [Micromodem](INFO): Nmea in: $SNTTA,0.106969,,,,162734.25*43

2021-02-16T16:27:34.138Z,1613492854.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.199997 m, bearing: 125.435113 deg, deltaT: 4.502315 s, approachRate: -1.519221 m/s, LOS rate: 0.139213 deg/s, posRepo size: 4
2021-02-16T16:27:34.144Z,1613492854.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 125.435113 deg,
      approachRate: -1.519221 m/s,
      LOS rate: 0.139213 deg/s,
      cmd update: 0.417638 deg/s,
      cmd heading: 152.812469 deg,
      new cmd heading: 152.818102 deg.

2021-02-16T16:27:36.509Z,1613492856.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:37.301Z,1613492857.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:37.732Z,1613492857.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:38.528Z,1613492858.528 [Micromodem](INFO): Nmea in: $SNTTA,0.104705,,,,162738.70*49

2021-02-16T16:27:38.570Z,1613492858.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 124.674626 deg, deltaT: 4.416902 s, approachRate: -0.760714 m/s, LOS rate: -0.172177 deg/s, posRepo size: 4
2021-02-16T16:27:38.574Z,1613492858.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.839996 m,
      bearing: 124.674626 deg,
      approachRate: -0.760714 m/s,
      LOS rate: -0.172177 deg/s,
      cmd update: -0.516530 deg/s,
      cmd heading: 154.653873 deg,
      new cmd heading: 154.830684 deg.

2021-02-16T16:27:40.989Z,1613492860.989 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:41.755Z,1613492861.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:42.163Z,1613492862.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:42.984Z,1613492862.984 [Micromodem](INFO): Nmea in: $SNTTA,0.102588,,,,162743.15*47

2021-02-16T16:27:43.031Z,1613492863.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 122.247313 deg, deltaT: 4.469664 s, approachRate: -0.724888 m/s, LOS rate: -0.543064 deg/s, posRepo size: 4
2021-02-16T16:27:43.033Z,1613492863.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 122.247313 deg,
      approachRate: -0.724888 m/s,
      LOS rate: -0.543064 deg/s,
      cmd update: -1.629191 deg/s,
      cmd heading: 152.343579 deg,
      new cmd heading: 152.131055 deg.

2021-02-16T16:27:45.392Z,1613492865.392 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:46.184Z,1613492866.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:46.619Z,1613492866.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:47.416Z,1613492867.416 [Micromodem](INFO): Nmea in: $SNTTA,0.100456,,,,162747.58*4A

2021-02-16T16:27:47.450Z,1613492867.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.419998 m, bearing: 121.551631 deg, deltaT: 4.404503 s, approachRate: -0.721987 m/s, LOS rate: -0.157948 deg/s, posRepo size: 4
2021-02-16T16:27:47.452Z,1613492867.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 121.551631 deg,
      approachRate: -0.721987 m/s,
      LOS rate: -0.157948 deg/s,
      cmd update: -0.473844 deg/s,
      cmd heading: 145.153441 deg,
      new cmd heading: 144.473548 deg.

2021-02-16T16:27:49.868Z,1613492869.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:50.653Z,1613492870.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:51.035Z,1613492871.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:51.872Z,1613492871.872 [Micromodem](INFO): Nmea in: $SNTTA,0.098401,,,,162752.05*44

2021-02-16T16:27:51.920Z,1613492871.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.180008 m, bearing: 122.784057 deg, deltaT: 4.441763 s, approachRate: -0.729438 m/s, LOS rate: 0.277463 deg/s, posRepo size: 4
2021-02-16T16:27:51.922Z,1613492871.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.180008 m,
      bearing: 122.784057 deg,
      approachRate: -0.729438 m/s,
      LOS rate: 0.277463 deg/s,
      cmd update: 0.832389 deg/s,
      cmd heading: 143.056625 deg,
      new cmd heading: 142.837730 deg.

2021-02-16T16:27:54.291Z,1613492874.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:55.072Z,1613492875.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:55.485Z,1613492875.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:27:56.315Z,1613492876.315 [Micromodem](INFO): Nmea in: $SNTTA,0.096151,,,,162756.47*48

2021-02-16T16:27:56.334Z,1613492876.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 143.880005 m, bearing: 123.509122 deg, deltaT: 4.455893 s, approachRate: -0.740593 m/s, LOS rate: 0.162721 deg/s, posRepo size: 4
2021-02-16T16:27:56.336Z,1613492876.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.880005 m,
      bearing: 123.509122 deg,
      approachRate: -0.740593 m/s,
      LOS rate: 0.162721 deg/s,
      cmd update: 0.488162 deg/s,
      cmd heading: 146.779345 deg,
      new cmd heading: 147.115452 deg.

2021-02-16T16:27:58.763Z,1613492878.763 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:27:59.522Z,1613492879.522 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:27:59.942Z,1613492879.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:00.756Z,1613492880.756 [Micromodem](INFO): Nmea in: $SNTTA,0.093633,,,,162800.91*49

2021-02-16T16:28:00.810Z,1613492880.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.220001 m, bearing: 122.095423 deg, deltaT: 4.410490 s, approachRate: -0.829841 m/s, LOS rate: -0.320531 deg/s, posRepo size: 4
2021-02-16T16:28:00.812Z,1613492880.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.220001 m,
      bearing: 122.095423 deg,
      approachRate: -0.829841 m/s,
      LOS rate: -0.320531 deg/s,
      cmd update: -0.961593 deg/s,
      cmd heading: 148.932491 deg,
      new cmd heading: 149.161207 deg.

2021-02-16T16:28:03.167Z,1613492883.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:03.977Z,1613492883.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:04.366Z,1613492884.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:05.200Z,1613492885.200 [Micromodem](INFO): Nmea in: $SNTTA,0.091361,,,,162805.37*40

2021-02-16T16:28:05.222Z,1613492885.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.860001 m, bearing: 122.327008 deg, deltaT: 4.492256 s, approachRate: -0.747954 m/s, LOS rate: 0.051552 deg/s, posRepo size: 4
2021-02-16T16:28:05.248Z,1613492885.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.860001 m,
      bearing: 122.327008 deg,
      approachRate: -0.747954 m/s,
      LOS rate: 0.051552 deg/s,
      cmd update: 0.154656 deg/s,
      cmd heading: 144.616817 deg,
      new cmd heading: 144.238733 deg.

2021-02-16T16:28:07.653Z,1613492887.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:08.421Z,1613492888.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:08.810Z,1613492888.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:09.655Z,1613492889.655 [Micromodem](INFO): Nmea in: $SNTTA,0.089086,,,,162809.82*41

2021-02-16T16:28:09.685Z,1613492889.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.380005 m, bearing: 121.571179 deg, deltaT: 4.413121 s, approachRate: -0.788557 m/s, LOS rate: -0.171269 deg/s, posRepo size: 4
2021-02-16T16:28:09.694Z,1613492889.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.380005 m,
      bearing: 121.571179 deg,
      approachRate: -0.788557 m/s,
      LOS rate: -0.171269 deg/s,
      cmd update: -0.513806 deg/s,
      cmd heading: 145.297463 deg,
      new cmd heading: 145.367695 deg.

2021-02-16T16:28:12.091Z,1613492892.091 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:12.859Z,1613492892.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:13.256Z,1613492893.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:14.092Z,1613492894.092 [Micromodem](INFO): Nmea in: $SNTTA,0.086953,,,,162814.26*4D

2021-02-16T16:28:14.128Z,1613492894.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 121.515732 deg, deltaT: 4.513798 s, approachRate: -0.704508 m/s, LOS rate: -0.012284 deg/s, posRepo size: 4
2021-02-16T16:28:14.130Z,1613492894.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 121.515732 deg,
      approachRate: -0.704508 m/s,
      LOS rate: -0.012284 deg/s,
      cmd update: -0.036852 deg/s,
      cmd heading: 142.969989 deg,
      new cmd heading: 142.781146 deg.

2021-02-16T16:28:16.520Z,1613492896.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:17.305Z,1613492897.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:17.728Z,1613492897.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:18.533Z,1613492898.533 [Micromodem](INFO): Nmea in: $SNTTA,0.084678,,,,162818.70*46

2021-02-16T16:28:18.570Z,1613492898.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.839996 m, bearing: 121.868934 deg, deltaT: 4.364284 s, approachRate: -0.769886 m/s, LOS rate: 0.080930 deg/s, posRepo size: 4
2021-02-16T16:28:18.572Z,1613492898.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.839996 m,
      bearing: 121.868934 deg,
      approachRate: -0.769886 m/s,
      LOS rate: 0.080930 deg/s,
      cmd update: 0.242791 deg/s,
      cmd heading: 142.809467 deg,
      new cmd heading: 142.792717 deg.

2021-02-16T16:28:20.972Z,1613492900.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:21.742Z,1613492901.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:22.156Z,1613492902.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:22.988Z,1613492902.988 [Micromodem](INFO): Nmea in: $SNTTA,0.082479,,,,162823.14*49

2021-02-16T16:28:23.031Z,1613492903.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.360001 m, bearing: 120.977936 deg, deltaT: 4.443937 s, approachRate: -0.783088 m/s, LOS rate: -0.200497 deg/s, posRepo size: 4
2021-02-16T16:28:23.033Z,1613492903.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.360001 m,
      bearing: 120.977936 deg,
      approachRate: -0.783088 m/s,
      LOS rate: -0.200497 deg/s,
      cmd update: -0.601492 deg/s,
      cmd heading: 143.889409 deg,
      new cmd heading: 144.002751 deg.

2021-02-16T16:28:25.389Z,1613492905.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:26.182Z,1613492906.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:26.623Z,1613492906.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:27.412Z,1613492907.412 [Micromodem](INFO): Nmea in: $SNTTA,0.080083,,,,162827.58*46

2021-02-16T16:28:27.434Z,1613492907.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.700005 m, bearing: 121.038834 deg, deltaT: 4.486866 s, approachRate: -0.815713 m/s, LOS rate: 0.013572 deg/s, posRepo size: 4
2021-02-16T16:28:27.436Z,1613492907.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 121.038834 deg,
      approachRate: -0.815713 m/s,
      LOS rate: 0.013572 deg/s,
      cmd update: 0.040717 deg/s,
      cmd heading: 141.190285 deg,
      new cmd heading: 140.959834 deg.

2021-02-16T16:28:29.852Z,1613492909.852 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:30.634Z,1613492910.634 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:31.029Z,1613492911.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:31.860Z,1613492911.860 [Micromodem](INFO): Nmea in: $SNTTA,0.077691,,,,162832.03*41

2021-02-16T16:28:31.914Z,1613492911.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.340004 m, bearing: 120.661603 deg, deltaT: 4.390646 s, approachRate: -0.765263 m/s, LOS rate: -0.085917 deg/s, posRepo size: 4
2021-02-16T16:28:31.920Z,1613492911.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.340004 m,
      bearing: 120.661603 deg,
      approachRate: -0.765263 m/s,
      LOS rate: -0.085917 deg/s,
      cmd update: -0.257751 deg/s,
      cmd heading: 141.369224 deg,
      new cmd heading: 141.388292 deg.

2021-02-16T16:28:34.294Z,1613492914.294 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:35.070Z,1613492915.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:35.493Z,1613492915.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:36.300Z,1613492916.300 [Micromodem](INFO): Nmea in: $SNTTA,0.075635,,,,162836.46*48

2021-02-16T16:28:36.337Z,1613492916.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.040001 m, bearing: 119.800671 deg, deltaT: 4.492855 s, approachRate: -0.734500 m/s, LOS rate: -0.191622 deg/s, posRepo size: 4
2021-02-16T16:28:36.338Z,1613492916.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.040001 m,
      bearing: 119.800671 deg,
      approachRate: -0.734500 m/s,
      LOS rate: -0.191622 deg/s,
      cmd update: -0.574867 deg/s,
      cmd heading: 140.212274 deg,
      new cmd heading: 140.108595 deg.

2021-02-16T16:28:38.783Z,1613492918.783 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:39.530Z,1613492919.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:39.923Z,1613492919.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:40.765Z,1613492920.765 [Micromodem](INFO): Nmea in: $SNTTA,0.073395,,,,162840.92*49

2021-02-16T16:28:40.846Z,1613492920.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.739998 m, bearing: 119.731782 deg, deltaT: 4.415510 s, approachRate: -0.747366 m/s, LOS rate: -0.015602 deg/s, posRepo size: 4
2021-02-16T16:28:40.852Z,1613492920.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 119.731782 deg,
      approachRate: -0.747366 m/s,
      LOS rate: -0.015602 deg/s,
      cmd update: -0.046805 deg/s,
      cmd heading: 137.671611 deg,
      new cmd heading: 137.389129 deg.

2021-02-16T16:28:43.189Z,1613492923.189 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:43.963Z,1613492923.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:44.363Z,1613492924.363 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:45.196Z,1613492925.196 [Micromodem](INFO): Nmea in: $SNTTA,0.071093,,,,162845.36*45

2021-02-16T16:28:45.234Z,1613492925.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.260002 m, bearing: 119.517560 deg, deltaT: 4.474861 s, approachRate: -0.777677 m/s, LOS rate: -0.047872 deg/s, posRepo size: 4
2021-02-16T16:28:45.240Z,1613492925.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.260002 m,
      bearing: 119.517560 deg,
      approachRate: -0.777677 m/s,
      LOS rate: -0.047872 deg/s,
      cmd update: -0.143617 deg/s,
      cmd heading: 137.462670 deg,
      new cmd heading: 137.443197 deg.

2021-02-16T16:28:47.649Z,1613492927.649 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:48.401Z,1613492928.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:48.808Z,1613492928.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:49.652Z,1613492929.652 [Micromodem](INFO): Nmea in: $SNTTA,0.068956,,,,162849.80*4C

2021-02-16T16:28:49.719Z,1613492929.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.200005 m, bearing: 118.977715 deg, deltaT: 4.430608 s, approachRate: -0.690650 m/s, LOS rate: -0.121844 deg/s, posRepo size: 4
2021-02-16T16:28:49.725Z,1613492929.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.200005 m,
      bearing: 118.977715 deg,
      approachRate: -0.690650 m/s,
      LOS rate: -0.121844 deg/s,
      cmd update: -0.365533 deg/s,
      cmd heading: 136.825649 deg,
      new cmd heading: 136.759419 deg.

2021-02-16T16:28:52.062Z,1613492932.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:52.844Z,1613492932.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:53.320Z,1613492933.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:54.076Z,1613492934.076 [Micromodem](INFO): Nmea in: $SNTTA,0.066702,,,,162854.24*4F

2021-02-16T16:28:54.115Z,1613492934.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.840004 m, bearing: 118.790418 deg, deltaT: 4.486154 s, approachRate: -0.748971 m/s, LOS rate: -0.041750 deg/s, posRepo size: 4
2021-02-16T16:28:54.117Z,1613492934.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.840004 m,
      bearing: 118.790418 deg,
      approachRate: -0.748971 m/s,
      LOS rate: -0.041750 deg/s,
      cmd update: -0.125250 deg/s,
      cmd heading: 135.185081 deg,
      new cmd heading: 135.048884 deg.

2021-02-16T16:28:56.522Z,1613492936.522 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:28:57.304Z,1613492937.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:28:57.737Z,1613492937.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:28:58.528Z,1613492938.528 [Micromodem](INFO): Nmea in: $SNTTA,0.064473,,,,162858.70*45

2021-02-16T16:28:58.567Z,1613492938.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.479996 m, bearing: 118.259330 deg, deltaT: 4.380123 s, approachRate: -0.767104 m/s, LOS rate: -0.121250 deg/s, posRepo size: 4
2021-02-16T16:28:58.569Z,1613492938.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.479996 m,
      bearing: 118.259330 deg,
      approachRate: -0.767104 m/s,
      LOS rate: -0.121250 deg/s,
      cmd update: -0.363749 deg/s,
      cmd heading: 134.636962 deg,
      new cmd heading: 134.581208 deg.

2021-02-16T16:29:00.993Z,1613492940.993 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:01.740Z,1613492941.740 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:02.169Z,1613492942.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:02.973Z,1613492942.973 [Micromodem](INFO): Nmea in: $SNTTA,0.062213,,0.074288,,162903.13*56

2021-02-16T16:29:03.013Z,1613492943.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.120003 m, bearing: 117.312187 deg, deltaT: 4.442327 s, approachRate: -0.756359 m/s, LOS rate: -0.213209 deg/s, posRepo size: 4
2021-02-16T16:29:03.033Z,1613492943.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.120003 m,
      bearing: 117.312187 deg,
      approachRate: -0.756359 m/s,
      LOS rate: -0.213209 deg/s,
      cmd update: -0.639626 deg/s,
      cmd heading: 133.019795 deg,
      new cmd heading: 132.856833 deg.

2021-02-16T16:29:05.396Z,1613492945.396 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:06.188Z,1613492946.188 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:06.627Z,1613492946.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:07.416Z,1613492947.416 [Micromodem](INFO): Nmea in: $SNTTA,0.060033,0.064764,,,162907.58*59

2021-02-16T16:29:07.454Z,1613492947.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.640007 m, bearing: 118.302934 deg, deltaT: 4.471936 s, approachRate: -0.778185 m/s, LOS rate: 0.221547 deg/s, posRepo size: 4
2021-02-16T16:29:07.456Z,1613492947.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.640007 m,
      bearing: 118.302934 deg,
      approachRate: -0.778185 m/s,
      LOS rate: 0.221547 deg/s,
      cmd update: 0.664643 deg/s,
      cmd heading: 130.162013 deg,
      new cmd heading: 129.892298 deg.

2021-02-16T16:29:09.868Z,1613492949.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:10.636Z,1613492950.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:11.051Z,1613492951.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:11.864Z,1613492951.864 [Micromodem](INFO): Nmea in: $SNTTA,0.057611,,,,162912.03*48

2021-02-16T16:29:11.919Z,1613492951.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.220001 m, bearing: 118.743877 deg, deltaT: 4.411354 s, approachRate: -0.775274 m/s, LOS rate: 0.099956 deg/s, posRepo size: 4
2021-02-16T16:29:11.921Z,1613492951.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.220001 m,
      bearing: 118.743877 deg,
      approachRate: -0.775274 m/s,
      LOS rate: 0.099956 deg/s,
      cmd update: 0.299869 deg/s,
      cmd heading: 133.099637 deg,
      new cmd heading: 133.410011 deg.

2021-02-16T16:29:14.323Z,1613492954.323 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:15.089Z,1613492955.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:15.477Z,1613492955.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:16.316Z,1613492956.316 [Micromodem](INFO): Nmea in: $SNTTA,0.055477,,,,162916.48*43

2021-02-16T16:29:16.358Z,1613492956.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.980003 m, bearing: 118.775514 deg, deltaT: 4.463349 s, approachRate: -0.725912 m/s, LOS rate: 0.007088 deg/s, posRepo size: 4
2021-02-16T16:29:16.372Z,1613492956.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.980003 m,
      bearing: 118.775514 deg,
      approachRate: -0.725912 m/s,
      LOS rate: 0.007088 deg/s,
      cmd update: 0.021265 deg/s,
      cmd heading: 134.438046 deg,
      new cmd heading: 134.570972 deg.

2021-02-16T16:29:18.768Z,1613492958.768 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:19.521Z,1613492959.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:19.922Z,1613492959.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:20.761Z,1613492960.761 [Micromodem](INFO): Nmea in: $SNTTA,0.053255,,,,162920.92*41

2021-02-16T16:29:20.821Z,1613492960.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.559998 m, bearing: 116.613363 deg, deltaT: 4.427492 s, approachRate: -0.772448 m/s, LOS rate: -0.488347 deg/s, posRepo size: 4
2021-02-16T16:29:20.839Z,1613492960.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.559998 m,
      bearing: 116.613363 deg,
      approachRate: -0.772448 m/s,
      LOS rate: -0.488347 deg/s,
      cmd update: -1.465040 deg/s,
      cmd heading: 134.532197 deg,
      new cmd heading: 134.542378 deg.

2021-02-16T16:29:23.191Z,1613492963.191 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:23.966Z,1613492963.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:24.375Z,1613492964.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:25.196Z,1613492965.196 [Micromodem](INFO): Nmea in: $SNTTA,0.050809,,,,162925.36*4A

2021-02-16T16:29:25.238Z,1613492965.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.900002 m, bearing: 115.217805 deg, deltaT: 4.480531 s, approachRate: -0.816867 m/s, LOS rate: -0.311472 deg/s, posRepo size: 4
2021-02-16T16:29:25.244Z,1613492965.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.900002 m,
      bearing: 115.217805 deg,
      approachRate: -0.816867 m/s,
      LOS rate: -0.311472 deg/s,
      cmd update: -0.934415 deg/s,
      cmd heading: 127.973907 deg,
      new cmd heading: 127.359484 deg.

2021-02-16T16:29:27.679Z,1613492967.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:28.407Z,1613492968.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:28.810Z,1613492968.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:29.644Z,1613492969.644 [Micromodem](INFO): Nmea in: $SNTTA,0.048500,,,,162929.80*46

2021-02-16T16:29:29.724Z,1613492969.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 72.599998 m, bearing: 116.745992 deg, deltaT: 4.403123 s, approachRate: -0.749469 m/s, LOS rate: 0.347069 deg/s, posRepo size: 4
2021-02-16T16:29:29.726Z,1613492969.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.599998 m,
      bearing: 116.745992 deg,
      approachRate: -0.749469 m/s,
      LOS rate: 0.347069 deg/s,
      cmd update: 1.041206 deg/s,
      cmd heading: 123.855913 deg,
      new cmd heading: 123.395068 deg.

2021-02-16T16:29:31.751Z,1613492971.751 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:32.450Z,1613492972.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:32.851Z,1613492972.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:33.679Z,1613492973.679 [Micromodem](INFO): Nmea in: $SNTTA,0.046359,,,,162933.84*4D

2021-02-16T16:29:33.757Z,1613492973.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.360001 m, bearing: 115.963307 deg, deltaT: 4.056354 s, approachRate: -0.798746 m/s, LOS rate: -0.192953 deg/s, posRepo size: 4
2021-02-16T16:29:33.760Z,1613492973.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.360001 m,
      bearing: 115.963307 deg,
      approachRate: -0.798746 m/s,
      LOS rate: -0.192953 deg/s,
      cmd update: -0.578859 deg/s,
      cmd heading: 128.077483 deg,
      new cmd heading: 128.573360 deg.

2021-02-16T16:29:36.097Z,1613492976.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:36.888Z,1613492976.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:37.308Z,1613492977.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:38.116Z,1613492978.116 [Micromodem](INFO): Nmea in: $SNTTA,0.044133,,,,162938.28*4C

2021-02-16T16:29:38.158Z,1613492978.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.000000 m, bearing: 116.570757 deg, deltaT: 4.500436 s, approachRate: -0.746594 m/s, LOS rate: 0.134976 deg/s, posRepo size: 4
2021-02-16T16:29:38.160Z,1613492978.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.000000 m,
      bearing: 116.570757 deg,
      approachRate: -0.746594 m/s,
      LOS rate: 0.134976 deg/s,
      cmd update: 0.404927 deg/s,
      cmd heading: 125.480490 deg,
      new cmd heading: 125.253947 deg.

2021-02-16T16:29:40.554Z,1613492980.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:41.349Z,1613492981.349 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:41.752Z,1613492981.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:42.568Z,1613492982.568 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162942.74*57

2021-02-16T16:29:42.634Z,1613492982.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.340004 m, bearing: 116.971538 deg, deltaT: 4.408189 s, approachRate: -0.830272 m/s, LOS rate: 0.090918 deg/s, posRepo size: 4
2021-02-16T16:29:42.640Z,1613492982.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.340004 m,
      bearing: 116.971538 deg,
      approachRate: -0.830272 m/s,
      LOS rate: 0.090918 deg/s,
      cmd update: 0.272753 deg/s,
      cmd heading: 127.257024 deg,
      new cmd heading: 127.451294 deg.

2021-02-16T16:29:45.008Z,1613492985.008 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:45.781Z,1613492985.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:46.182Z,1613492986.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:47.024Z,1613492987.024 [Micromodem](INFO): Nmea in: $SNTTA,0.039557,,,,162947.17*44

2021-02-16T16:29:47.049Z,1613492987.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.100006 m, bearing: 116.189823 deg, deltaT: 4.467232 s, approachRate: -0.725281 m/s, LOS rate: -0.174989 deg/s, posRepo size: 4
2021-02-16T16:29:47.051Z,1613492987.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.100006 m,
      bearing: 116.189823 deg,
      approachRate: -0.725281 m/s,
      LOS rate: -0.174989 deg/s,
      cmd update: -0.524966 deg/s,
      cmd heading: 128.483354 deg,
      new cmd heading: 128.592040 deg.

2021-02-16T16:29:49.453Z,1613492989.453 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:50.225Z,1613492990.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:50.641Z,1613492990.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:51.452Z,1613492991.452 [Micromodem](INFO): Nmea in: $SNTTA,0.037213,,,,162951.62*48

2021-02-16T16:29:51.493Z,1613492991.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.619995 m, bearing: 114.509522 deg, deltaT: 4.416276 s, approachRate: -0.787997 m/s, LOS rate: -0.380479 deg/s, posRepo size: 4
2021-02-16T16:29:51.494Z,1613492991.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.619995 m,
      bearing: 114.509522 deg,
      approachRate: -0.787997 m/s,
      LOS rate: -0.380479 deg/s,
      cmd update: -1.141438 deg/s,
      cmd heading: 126.160833 deg,
      new cmd heading: 125.941287 deg.

2021-02-16T16:29:53.913Z,1613492993.913 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:54.665Z,1613492994.665 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:54.766Z,1613492994.766 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:29:55.075Z,1613492995.075 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:29:55.898Z,1613492995.898 [Micromodem](INFO): Nmea in: $SNTTA,0.034807,,,,162956.06*41

2021-02-16T16:29:55.951Z,1613492995.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.079994 m, bearing: 114.582530 deg, deltaT: 4.420360 s, approachRate: -0.800840 m/s, LOS rate: 0.016516 deg/s, posRepo size: 4
2021-02-16T16:29:55.953Z,1613492995.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.079994 m,
      bearing: 114.582530 deg,
      approachRate: -0.800840 m/s,
      LOS rate: 0.016516 deg/s,
      cmd update: 0.049549 deg/s,
      cmd heading: 121.120730 deg,
      new cmd heading: 120.594724 deg.

2021-02-16T16:29:58.331Z,1613492998.331 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:29:59.108Z,1613492999.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:29:59.525Z,1613492999.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:00.336Z,1613493000.336 [Micromodem](INFO): Nmea in: $SNTTA,0.032756,,,,163000.50*44

2021-02-16T16:30:00.370Z,1613493000.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 48.960003 m, bearing: 114.942098 deg, deltaT: 4.467529 s, approachRate: -0.698371 m/s, LOS rate: 0.080485 deg/s, posRepo size: 4
2021-02-16T16:30:00.372Z,1613493000.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.960003 m,
      bearing: 114.942098 deg,
      approachRate: -0.698371 m/s,
      LOS rate: 0.080485 deg/s,
      cmd update: 0.241455 deg/s,
      cmd heading: 121.342335 deg,
      new cmd heading: 121.362502 deg.

2021-02-16T16:30:02.788Z,1613493002.788 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:03.552Z,1613493003.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:03.958Z,1613493003.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:04.788Z,1613493004.788 [Micromodem](INFO): Nmea in: $SNTTA,0.030671,0.058809,,,163004.95*5D

2021-02-16T16:30:04.836Z,1613493004.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.780003 m, bearing: 113.762272 deg, deltaT: 4.411679 s, approachRate: -0.720814 m/s, LOS rate: -0.267433 deg/s, posRepo size: 4
2021-02-16T16:30:04.838Z,1613493004.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.780003 m,
      bearing: 113.762272 deg,
      approachRate: -0.720814 m/s,
      LOS rate: -0.267433 deg/s,
      cmd update: -0.802297 deg/s,
      cmd heading: 122.407559 deg,
      new cmd heading: 122.518959 deg.

2021-02-16T16:30:07.248Z,1613493007.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:08.007Z,1613493008.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:08.401Z,1613493008.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:09.237Z,1613493009.237 [Micromodem](INFO): Nmea in: $SNTTA,0.028305,0.049888,,,163009.40*5E

2021-02-16T16:30:09.291Z,1613493009.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.299999 m, bearing: 113.745777 deg, deltaT: 4.492596 s, approachRate: -0.774609 m/s, LOS rate: -0.003672 deg/s, posRepo size: 4
2021-02-16T16:30:09.294Z,1613493009.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.299999 m,
      bearing: 113.745777 deg,
      approachRate: -0.774609 m/s,
      LOS rate: -0.003672 deg/s,
      cmd update: -0.011015 deg/s,
      cmd heading: 118.809213 deg,
      new cmd heading: 118.466528 deg.

2021-02-16T16:30:11.678Z,1613493011.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:12.445Z,1613493012.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:12.846Z,1613493012.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:13.675Z,1613493013.675 [Micromodem](INFO): Nmea in: $SNTTA,0.026074,,,,163013.84*4D

2021-02-16T16:30:13.751Z,1613493013.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.879997 m, bearing: 115.289741 deg, deltaT: 4.405980 s, approachRate: -0.776218 m/s, LOS rate: 0.350425 deg/s, posRepo size: 4
2021-02-16T16:30:13.751Z,1613493013.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.88 m.
2021-02-16T16:30:13.753Z,1613493013.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.879997 m,
      bearing: 115.289741 deg,
      approachRate: -0.776218 m/s,
      LOS rate: 0.350425 deg/s,
      cmd update: 1.051274 deg/s,
      cmd heading: 118.760625 deg,
      new cmd heading: 118.755381 deg.

2021-02-16T16:30:14.078Z,1613493014.078 [PowerOnly](INFO): Powering up loadControl
2021-02-16T16:30:16.097Z,1613493016.097 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:16.884Z,1613493016.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:17.299Z,1613493017.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:18.119Z,1613493018.119 [Micromodem](INFO): Nmea in: $SNTTA,0.023892,,,,163018.28*45

2021-02-16T16:30:18.138Z,1613493018.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.699997 m, bearing: 115.682764 deg, deltaT: 4.497909 s, approachRate: -0.706995 m/s, LOS rate: 0.087379 deg/s, posRepo size: 4
2021-02-16T16:30:18.139Z,1613493018.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.70 m.
2021-02-16T16:30:18.139Z,1613493018.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 35.70 m.
2021-02-16T16:30:18.140Z,1613493018.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T16:30:18.141Z,1613493018.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.699997 m,
      bearing: 115.682764 deg,
      approachRate: -0.706995 m/s,
      LOS rate: 0.087379 deg/s,
      cmd update: 0.262137 deg/s,
      cmd heading: 123.491545 deg,
      new cmd heading: 123.878083 deg.

2021-02-16T16:30:20.535Z,1613493020.535 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:21.333Z,1613493021.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:21.741Z,1613493021.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:22.583Z,1613493022.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163022.73*5E

2021-02-16T16:30:22.637Z,1613493022.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.340000 m, bearing: 113.737048 deg, deltaT: 4.399607 s, approachRate: -0.763704 m/s, LOS rate: -0.442248 deg/s, posRepo size: 4
2021-02-16T16:30:22.639Z,1613493022.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 113.737048 deg,
      approachRate: -0.763704 m/s,
      LOS rate: -0.442248 deg/s,
      cmd update: -1.326743 deg/s,
      cmd heading: 124.643797 deg,
      new cmd heading: 124.767152 deg.

2021-02-16T16:30:25.021Z,1613493025.021 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:25.774Z,1613493025.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:26.183Z,1613493026.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:27.020Z,1613493027.020 [Micromodem](INFO): Nmea in: $SNTTA,0.019501,,,,163027.17*4B

2021-02-16T16:30:27.063Z,1613493027.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.860003 m, bearing: 110.757098 deg, deltaT: 4.508850 s, approachRate: -0.771815 m/s, LOS rate: -0.660911 deg/s, posRepo size: 4
2021-02-16T16:30:27.065Z,1613493027.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.860003 m,
      bearing: 110.757098 deg,
      approachRate: -0.771815 m/s,
      LOS rate: -0.660911 deg/s,
      cmd update: -1.982734 deg/s,
      cmd heading: 118.665030 deg,
      new cmd heading: 118.147491 deg.

2021-02-16T16:30:29.429Z,1613493029.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:30.224Z,1613493030.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:30.649Z,1613493030.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:31.472Z,1613493031.472 [Micromodem](INFO): Nmea in: $SNTTA,0.017223,,,,163031.62*47

2021-02-16T16:30:31.505Z,1613493031.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.679996 m, bearing: 111.621718 deg, deltaT: 4.402205 s, approachRate: -0.722367 m/s, LOS rate: 0.196406 deg/s, posRepo size: 4
2021-02-16T16:30:31.507Z,1613493031.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 111.621718 deg,
      approachRate: -0.722367 m/s,
      LOS rate: 0.196406 deg/s,
      cmd update: 0.589218 deg/s,
      cmd heading: 109.923633 deg,
      new cmd heading: 109.083225 deg.

2021-02-16T16:30:33.903Z,1613493033.903 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:34.667Z,1613493034.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:35.066Z,1613493035.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:35.896Z,1613493035.896 [Micromodem](INFO): Nmea in: $SNTTA,0.015081,,0.032187,,163036.06*5B

2021-02-16T16:30:35.949Z,1613493035.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.440001 m, bearing: 112.771116 deg, deltaT: 4.401933 s, approachRate: -0.736039 m/s, LOS rate: 0.261112 deg/s, posRepo size: 4
2021-02-16T16:30:35.951Z,1613493035.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 112.771116 deg,
      approachRate: -0.736039 m/s,
      LOS rate: 0.261112 deg/s,
      cmd update: 0.783336 deg/s,
      cmd heading: 112.517301 deg,
      new cmd heading: 112.791924 deg.

2021-02-16T16:30:38.318Z,1613493038.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:39.122Z,1613493039.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:39.517Z,1613493039.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:40.344Z,1613493040.344 [Micromodem](INFO): Nmea in: $SNTTA,0.012894,,,,163040.51*42

2021-02-16T16:30:40.389Z,1613493040.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 113.701135 deg, deltaT: 4.492032 s, approachRate: -0.734634 m/s, LOS rate: 0.207037 deg/s, posRepo size: 4
2021-02-16T16:30:40.390Z,1613493040.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.140001 m,
      bearing: 113.701135 deg,
      approachRate: -0.734634 m/s,
      LOS rate: 0.207037 deg/s,
      cmd update: 0.621112 deg/s,
      cmd heading: 116.032831 deg,
      new cmd heading: 116.359930 deg.

2021-02-16T16:30:42.803Z,1613493042.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:43.548Z,1613493043.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:43.959Z,1613493043.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:44.789Z,1613493044.789 [Micromodem](INFO): Nmea in: $SNTTA,0.010587,,,,163044.94*42

2021-02-16T16:30:44.862Z,1613493044.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.660002 m, bearing: 113.084573 deg, deltaT: 4.451458 s, approachRate: -0.781766 m/s, LOS rate: -0.138508 deg/s, posRepo size: 4
2021-02-16T16:30:44.868Z,1613493044.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 113.084573 deg,
      approachRate: -0.781766 m/s,
      LOS rate: -0.138508 deg/s,
      cmd update: -0.415523 deg/s,
      cmd heading: 118.797785 deg,
      new cmd heading: 119.070530 deg.

2021-02-16T16:30:47.205Z,1613493047.205 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:48.015Z,1613493048.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:48.398Z,1613493048.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:49.236Z,1613493049.236 [Micromodem](INFO): Nmea in: $SNTTA,0.008373,,,,163049.41*43

2021-02-16T16:30:49.288Z,1613493049.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.299998 m, bearing: 111.212835 deg, deltaT: 4.437381 s, approachRate: -0.757204 m/s, LOS rate: -0.421811 deg/s, posRepo size: 4
2021-02-16T16:30:49.295Z,1613493049.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.299998 m,
      bearing: 111.212835 deg,
      approachRate: -0.757204 m/s,
      LOS rate: -0.421811 deg/s,
      cmd update: -1.265434 deg/s,
      cmd heading: 116.955724 deg,
      new cmd heading: 116.778160 deg.

2021-02-16T16:30:51.734Z,1613493051.734 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:52.442Z,1613493052.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:52.859Z,1613493052.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:53.672Z,1613493053.672 [Micromodem](INFO): Nmea in: $SNTTA,0.006269,0.037971,,,163053.83*57

2021-02-16T16:30:53.756Z,1613493053.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.059999 m, bearing: 110.932552 deg, deltaT: 4.404672 s, approachRate: -0.735582 m/s, LOS rate: -0.063633 deg/s, posRepo size: 4
2021-02-16T16:30:53.757Z,1613493053.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 110.932552 deg,
      approachRate: -0.735582 m/s,
      LOS rate: -0.063633 deg/s,
      cmd update: -0.190900 deg/s,
      cmd heading: 111.375115 deg,
      new cmd heading: 110.761051 deg.

2021-02-16T16:30:56.127Z,1613493056.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:30:56.891Z,1613493056.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:30:57.306Z,1613493057.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:30:58.116Z,1613493058.116 [Micromodem](INFO): Nmea in: $SNTTA,0.004126,,,,163058.28*42

2021-02-16T16:30:58.163Z,1613493058.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 114.442483 deg, deltaT: 4.526569 s, approachRate: -0.689264 m/s, LOS rate: 0.775407 deg/s, posRepo size: 4
2021-02-16T16:30:58.165Z,1613493058.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 114.442483 deg,
      approachRate: -0.689264 m/s,
      LOS rate: 0.775407 deg/s,
      cmd update: 2.326220 deg/s,
      cmd heading: 110.511204 deg,
      new cmd heading: 110.440297 deg.

2021-02-16T16:31:00.531Z,1613493060.531 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:01.324Z,1613493061.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:01.758Z,1613493061.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:02.552Z,1613493062.552 [Micromodem](INFO): Nmea in: $SNTTA,0.002362,,,,163102.72*47

2021-02-16T16:31:02.632Z,1613493062.632 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:31:02.632Z,1613493062.632 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:31:02.632Z,1613493062.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:31:02.632Z,1613493062.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:31:02.632Z,1613493062.632 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:31:02.633Z,1613493062.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.360000 m 
2021-02-16T16:31:02.633Z,1613493062.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:31:02.633Z,1613493062.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:31:02.633Z,1613493062.633 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:31:02.639Z,1613493062.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.360000 m, bearing: 122.963677 deg, deltaT: 4.367361 s, approachRate: -0.590746 m/s, LOS rate: 1.951108 deg/s, posRepo size: 4
2021-02-16T16:31:02.641Z,1613493062.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.360000 m,
      bearing: 122.963677 deg,
      approachRate: -0.590746 m/s,
      LOS rate: 1.951108 deg/s,
      cmd update: 5.853324 deg/s,
      cmd heading: 120.642778 deg,
      new cmd heading: 121.778632 deg.

2021-02-16T16:31:02.996Z,1613493062.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T163102: (41.552319, -70.708603)
2021-02-16T16:31:02.996Z,1613493062.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:31:02.996Z,1613493062.996 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:31:02.997Z,1613493062.997 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:31:05.022Z,1613493065.022 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:05.788Z,1613493065.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:06.180Z,1613493066.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:07.012Z,1613493067.012 [Micromodem](INFO): Nmea in: $SNTTA,0.004677,,,,163107.18*49

2021-02-16T16:31:07.069Z,1613493067.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.900000 m, bearing: 132.442340 deg, deltaT: 4.490971 s, approachRate: 0.788248 m/s, LOS rate: 2.110604 deg/s, posRepo size: 4
2021-02-16T16:31:07.072Z,1613493067.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 132.442340 deg,
      approachRate: 0.788248 m/s,
      LOS rate: 2.110604 deg/s,
      cmd update: 6.331813 deg/s,
      cmd heading: 147.023384 deg,
      new cmd heading: 149.446491 deg.

2021-02-16T16:31:09.428Z,1613493069.428 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:10.236Z,1613493070.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:10.657Z,1613493070.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:11.457Z,1613493071.457 [Micromodem](INFO): Nmea in: $SNTTA,0.003887,,,0.014554,163111.63*5B

2021-02-16T16:31:11.478Z,1613493071.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.820000 m, bearing: 108.246750 deg, deltaT: 4.383905 s, approachRate: -0.246356 m/s, LOS rate: -5.519187 deg/s, posRepo size: 4
2021-02-16T16:31:11.504Z,1613493071.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.820000 m,
      bearing: 108.246750 deg,
      approachRate: -0.246356 m/s,
      LOS rate: -5.519187 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 174.781446 deg,
      new cmd heading: 177.569647 deg.

2021-02-16T16:31:13.928Z,1613493073.928 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:14.656Z,1613493074.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:15.064Z,1613493075.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:15.904Z,1613493075.904 [Micromodem](INFO): Nmea in: $SNTTA,0.005878,,,,163116.05*45

2021-02-16T16:31:15.963Z,1613493075.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.999999 m, bearing: 112.746807 deg, deltaT: 4.458877 s, approachRate: 0.713184 m/s, LOS rate: 1.009235 deg/s, posRepo size: 4
2021-02-16T16:31:15.968Z,1613493075.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.999999 m,
      bearing: 112.746807 deg,
      approachRate: 0.713184 m/s,
      LOS rate: 1.009235 deg/s,
      cmd update: 3.027706 deg/s,
      cmd heading: 121.274633 deg,
      new cmd heading: 115.682944 deg.

2021-02-16T16:31:18.316Z,1613493078.316 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:19.101Z,1613493079.101 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:19.509Z,1613493079.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:20.339Z,1613493080.339 [Micromodem](INFO): Nmea in: $SNTTA,0.007583,,,,163120.50*4B

2021-02-16T16:31:20.358Z,1613493080.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.500002 m, bearing: 117.748336 deg, deltaT: 4.459071 s, approachRate: 1.009179 m/s, LOS rate: 1.121653 deg/s, posRepo size: 4
2021-02-16T16:31:20.360Z,1613493080.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.500002 m,
      bearing: 117.748336 deg,
      approachRate: 1.009179 m/s,
      LOS rate: 1.121653 deg/s,
      cmd update: 3.364958 deg/s,
      cmd heading: 134.775338 deg,
      new cmd heading: 135.993653 deg.

2021-02-16T16:31:22.825Z,1613493082.825 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:23.544Z,1613493083.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:23.951Z,1613493083.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:24.772Z,1613493084.772 [Micromodem](INFO): Nmea in: $SNTTA,0.010908,,,,163124.94*4E

2021-02-16T16:31:24.826Z,1613493084.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.079996 m, bearing: 145.653525 deg, deltaT: 4.428858 s, approachRate: 0.582542 m/s, LOS rate: 6.300764 deg/s, posRepo size: 4
2021-02-16T16:31:24.844Z,1613493084.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.079996 m,
      bearing: 145.653525 deg,
      approachRate: 0.582542 m/s,
      LOS rate: 6.300764 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 149.678451 deg,
      new cmd heading: 151.162814 deg.

2021-02-16T16:31:27.311Z,1613493087.311 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:27.989Z,1613493087.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:28.413Z,1613493088.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:29.236Z,1613493089.236 [Micromodem](INFO): Nmea in: $SNTTA,0.012201,,0.055490,,163129.38*56

2021-02-16T16:31:29.274Z,1613493089.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.420000 m, bearing: 144.088182 deg, deltaT: 4.479019 s, approachRate: 0.522437 m/s, LOS rate: -0.349483 deg/s, posRepo size: 4
2021-02-16T16:31:29.274Z,1613493089.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 18.42 m. Rolling out.
2021-02-16T16:31:29.274Z,1613493089.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:31:31.682Z,1613493091.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:32.432Z,1613493092.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:32.838Z,1613493092.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:33.664Z,1613493093.664 [Micromodem](INFO): Nmea in: $SNTTA,0.014480,,,,163133.82*46

2021-02-16T16:31:33.735Z,1613493093.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.659998 m, bearing: 178.305613 deg, deltaT: 4.405693 s, approachRate: 0.735412 m/s, LOS rate: 7.766640 deg/s, posRepo size: 4
2021-02-16T16:31:36.104Z,1613493096.104 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:36.893Z,1613493096.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:37.325Z,1613493097.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:38.116Z,1613493098.116 [Micromodem](INFO): Nmea in: $SNTTA,0.016250,,,,163138.29*45

2021-02-16T16:31:38.150Z,1613493098.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.659998 m, bearing: 214.040507 deg, deltaT: 4.528065 s, approachRate: 0.662535 m/s, LOS rate: 7.891869 deg/s, posRepo size: 4
2021-02-16T16:31:40.533Z,1613493100.533 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:41.325Z,1613493101.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:41.743Z,1613493101.743 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:42.572Z,1613493102.572 [Micromodem](INFO): Nmea in: $SNTTA,0.018846,,,,163142.72*45

2021-02-16T16:31:42.636Z,1613493102.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.320000 m, bearing: 216.405186 deg, deltaT: 4.345381 s, approachRate: 0.842274 m/s, LOS rate: 0.544182 deg/s, posRepo size: 4
2021-02-16T16:31:44.000Z,1613493105.000 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:45.781Z,1613493105.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:46.181Z,1613493106.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:47.003Z,1613493107.003 [Micromodem](INFO): Nmea in: $SNTTA,0.019764,,,,163147.17*4D

2021-02-16T16:31:47.038Z,1613493107.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.760000 m, bearing: 209.152974 deg, deltaT: 4.493063 s, approachRate: 0.320494 m/s, LOS rate: -1.614091 deg/s, posRepo size: 4
2021-02-16T16:31:48.636Z,1613493108.636 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:31:49.421Z,1613493109.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:50.208Z,1613493110.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:50.651Z,1613493110.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:51.436Z,1613493111.436 [Micromodem](INFO): Nmea in: $SNTTA,0.021179,,,,163151.60*4B

2021-02-16T16:31:51.473Z,1613493111.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.799999 m, bearing: 210.701842 deg, deltaT: 4.424049 s, approachRate: 0.461116 m/s, LOS rate: 0.350102 deg/s, posRepo size: 4
2021-02-16T16:31:53.920Z,1613493113.920 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:54.659Z,1613493114.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:55.099Z,1613493115.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:31:55.912Z,1613493115.912 [Micromodem](INFO): Nmea in: $SNTTA,0.022704,,,,163156.05*40

2021-02-16T16:31:55.964Z,1613493115.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 34.139996 m, bearing: 211.016878 deg, deltaT: 4.471152 s, approachRate: 0.523354 m/s, LOS rate: 0.070460 deg/s, posRepo size: 4
2021-02-16T16:31:58.345Z,1613493118.345 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:31:59.137Z,1613493119.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:31:59.570Z,1613493119.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:00.388Z,1613493120.388 [Micromodem](INFO): Nmea in: $SNTTA,0.024380,,,,163200.53*4D

2021-02-16T16:32:00.426Z,1613493120.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.959999 m, bearing: 220.093065 deg, deltaT: 4.523056 s, approachRate: 0.623473 m/s, LOS rate: 2.006649 deg/s, posRepo size: 4
2021-02-16T16:32:02.841Z,1613493122.841 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:03.636Z,1613493123.636 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:04.016Z,1613493124.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:04.852Z,1613493124.852 [Micromodem](INFO): Nmea in: $SNTTA,0.026163,,,,163205.03*40

2021-02-16T16:32:04.923Z,1613493124.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.360001 m, bearing: 226.532199 deg, deltaT: 4.377496 s, approachRate: 0.548259 m/s, LOS rate: 1.470963 deg/s, posRepo size: 4
2021-02-16T16:32:07.289Z,1613493127.289 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:08.061Z,1613493128.061 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:08.464Z,1613493128.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:09.308Z,1613493129.308 [Micromodem](INFO): Nmea in: $SNTTA,0.028092,,,,163209.45*4F

2021-02-16T16:32:09.338Z,1613493129.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.240002 m, bearing: 220.070061 deg, deltaT: 4.503486 s, approachRate: 0.639505 m/s, LOS rate: -1.434919 deg/s, posRepo size: 4
2021-02-16T16:32:11.796Z,1613493131.796 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:12.498Z,1613493132.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:12.902Z,1613493132.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:13.758Z,1613493133.758 [Micromodem](INFO): Nmea in: $SNTTA,0.029939,,,,163213.89*4D

2021-02-16T16:32:13.793Z,1613493133.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.119999 m, bearing: 198.850412 deg, deltaT: 4.386657 s, approachRate: 0.656536 m/s, LOS rate: -4.837317 deg/s, posRepo size: 4
2021-02-16T16:32:16.147Z,1613493136.147 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:16.945Z,1613493136.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:17.368Z,1613493137.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:18.172Z,1613493138.172 [Micromodem](INFO): Nmea in: $SNTTA,0.045645,,,,163218.34*4E

2021-02-16T16:32:18.208Z,1613493138.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.940006 m, bearing: 196.621489 deg, deltaT: 4.488218 s, approachRate: 0.628313 m/s, LOS rate: -0.496616 deg/s, posRepo size: 4
2021-02-16T16:32:20.642Z,1613493140.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:21.384Z,1613493141.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:21.790Z,1613493141.790 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:22.636Z,1613493142.636 [Micromodem](INFO): Nmea in: $SNTTA,0.034031,,,,163222.78*4C

2021-02-16T16:32:22.661Z,1613493142.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.000004 m, bearing: 187.719116 deg, deltaT: 4.413908 s, approachRate: 0.693263 m/s, LOS rate: -2.016891 deg/s, posRepo size: 4
2021-02-16T16:32:25.050Z,1613493145.050 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:25.833Z,1613493145.833 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:26.235Z,1613493146.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:27.060Z,1613493147.060 [Micromodem](INFO): Nmea in: $SNTTA,0.035937,,,,163227.23*49

2021-02-16T16:32:27.108Z,1613493147.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.820000 m, bearing: 190.514289 deg, deltaT: 4.479143 s, approachRate: 0.629584 m/s, LOS rate: 0.624042 deg/s, posRepo size: 4
2021-02-16T16:32:29.550Z,1613493149.550 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:30.278Z,1613493150.278 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:30.682Z,1613493150.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:31.504Z,1613493151.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163231.67*5B

2021-02-16T16:32:31.545Z,1613493151.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.879997 m, bearing: 181.543546 deg, deltaT: 4.424315 s, approachRate: 0.691632 m/s, LOS rate: -2.027601 deg/s, posRepo size: 4
2021-02-16T16:32:33.959Z,1613493153.959 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:34.754Z,1613493154.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:35.129Z,1613493155.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:35.963Z,1613493155.963 [Micromodem](INFO): Nmea in: $SNTTA,0.039820,,,,163236.15*47

2021-02-16T16:32:35.997Z,1613493155.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.820000 m, bearing: 184.212224 deg, deltaT: 4.432484 s, approachRate: 0.663285 m/s, LOS rate: 0.602073 deg/s, posRepo size: 4
2021-02-16T16:32:38.372Z,1613493158.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:39.166Z,1613493159.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:39.577Z,1613493159.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:40.398Z,1613493160.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163240.56*5F

2021-02-16T16:32:40.434Z,1613493160.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.640007 m, bearing: 184.731496 deg, deltaT: 4.469788 s, approachRate: 0.630904 m/s, LOS rate: 0.116174 deg/s, posRepo size: 4
2021-02-16T16:32:41.630Z,1613493161.630 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T16:32:42.855Z,1613493162.855 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:43.629Z,1613493163.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:44.019Z,1613493164.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:44.852Z,1613493164.852 [Micromodem](INFO): Nmea in: $SNTTA,0.043688,,0.071126,,163245.02*59

2021-02-16T16:32:44.902Z,1613493164.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.700005 m, bearing: 180.368480 deg, deltaT: 4.416900 s, approachRate: 0.692793 m/s, LOS rate: -0.987800 deg/s, posRepo size: 4
2021-02-16T16:32:47.266Z,1613493167.266 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:48.048Z,1613493168.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:48.459Z,1613493168.459 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:49.291Z,1613493169.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163249.44*55

2021-02-16T16:32:49.314Z,1613493169.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.879997 m, bearing: 183.017378 deg, deltaT: 4.484532 s, approachRate: 0.709102 m/s, LOS rate: 0.590674 deg/s, posRepo size: 4
2021-02-16T16:32:51.760Z,1613493171.760 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:52.493Z,1613493172.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:52.900Z,1613493172.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:53.744Z,1613493173.744 [Micromodem](INFO): Nmea in: $SNTTA,0.071099,,,,163253.89*47

2021-02-16T16:32:53.778Z,1613493173.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 183.645741 deg, deltaT: 4.403421 s, approachRate: 0.694914 m/s, LOS rate: 0.142699 deg/s, posRepo size: 4
2021-02-16T16:32:56.154Z,1613493176.154 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:32:56.941Z,1613493176.941 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:32:57.395Z,1613493177.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:32:58.168Z,1613493178.168 [Micromodem](INFO): Nmea in: $SNTTA,,,0.057518,,163258.33*45

2021-02-16T16:32:58.202Z,1613493178.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.360001 m, bearing: 185.211180 deg, deltaT: 4.460953 s, approachRate: 0.766654 m/s, LOS rate: 0.350920 deg/s, posRepo size: 4
2021-02-16T16:33:00.630Z,1613493180.630 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:01.381Z,1613493181.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:01.786Z,1613493181.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:02.645Z,1613493182.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163302.77*5B

2021-02-16T16:33:02.728Z,1613493182.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.480003 m, bearing: 186.933699 deg, deltaT: 4.436931 s, approachRate: 0.703189 m/s, LOS rate: 0.388223 deg/s, posRepo size: 4
2021-02-16T16:33:05.049Z,1613493185.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:05.829Z,1613493185.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:06.251Z,1613493186.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:07.058Z,1613493187.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163307.28*54

2021-02-16T16:33:07.124Z,1613493187.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.720001 m, bearing: 185.242066 deg, deltaT: 4.498454 s, approachRate: 0.720247 m/s, LOS rate: -0.376048 deg/s, posRepo size: 4
2021-02-16T16:33:09.481Z,1613493189.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:10.292Z,1613493190.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:10.704Z,1613493190.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:11.515Z,1613493191.515 [Micromodem](INFO): Nmea in: $SNTTA,0.056278,,,,163311.68*47

2021-02-16T16:33:11.537Z,1613493191.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.599998 m, bearing: 245.088033 deg, deltaT: 4.404900 s, approachRate: 0.653817 m/s, LOS rate: 13.586226 deg/s, posRepo size: 4
2021-02-16T16:33:13.951Z,1613493193.951 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:14.736Z,1613493194.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:15.118Z,1613493195.118 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:15.956Z,1613493195.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163316.13*5C

2021-02-16T16:33:16.020Z,1613493196.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.780006 m, bearing: 253.733140 deg, deltaT: 4.425277 s, approachRate: 0.718601 m/s, LOS rate: 1.953574 deg/s, posRepo size: 4
2021-02-16T16:33:18.365Z,1613493198.365 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:19.157Z,1613493199.157 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:19.598Z,1613493199.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:20.396Z,1613493200.396 [Micromodem](INFO): Nmea in: $SNTTA,0.060441,0.064824,,,163320.55*50

2021-02-16T16:33:20.427Z,1613493200.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.840004 m, bearing: 254.081944 deg, deltaT: 4.442328 s, approachRate: 0.688827 m/s, LOS rate: 0.078518 deg/s, posRepo size: 4
2021-02-16T16:33:22.838Z,1613493202.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:23.625Z,1613493203.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:24.006Z,1613493204.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:24.852Z,1613493204.852 [Micromodem](INFO): Nmea in: $SNTTA,0.062819,,,,163325.02*46

2021-02-16T16:33:24.938Z,1613493204.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.200005 m, bearing: 251.697635 deg, deltaT: 4.424612 s, approachRate: 0.759389 m/s, LOS rate: -0.538874 deg/s, posRepo size: 4
2021-02-16T16:33:27.288Z,1613493207.288 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:28.054Z,1613493208.054 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:28.462Z,1613493208.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:29.281Z,1613493209.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163329.45*53

2021-02-16T16:33:29.319Z,1613493209.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.260002 m, bearing: 235.020444 deg, deltaT: 4.486151 s, approachRate: 0.682099 m/s, LOS rate: -3.717483 deg/s, posRepo size: 4
2021-02-16T16:33:31.765Z,1613493211.765 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:32.490Z,1613493212.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:32.911Z,1613493212.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:33.720Z,1613493213.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163333.88*59

2021-02-16T16:33:33.800Z,1613493213.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.800011 m, bearing: 230.952438 deg, deltaT: 4.411888 s, approachRate: 0.802379 m/s, LOS rate: -0.922056 deg/s, posRepo size: 4
2021-02-16T16:33:36.151Z,1613493216.151 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:36.932Z,1613493216.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:37.339Z,1613493217.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:38.160Z,1613493218.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163338.32*53

2021-02-16T16:33:38.195Z,1613493218.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.800003 m, bearing: 258.304996 deg, deltaT: 4.465153 s, approachRate: 0.671868 m/s, LOS rate: 6.125783 deg/s, posRepo size: 4
2021-02-16T16:33:40.639Z,1613493220.639 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:41.380Z,1613493221.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:41.799Z,1613493221.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:42.646Z,1613493222.646 [Micromodem](INFO): Nmea in: $SNTTA,0.071686,,,,163342.77*4F

2021-02-16T16:33:42.671Z,1613493222.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.400009 m, bearing: 248.541158 deg, deltaT: 4.409904 s, approachRate: 0.816346 m/s, LOS rate: -2.214070 deg/s, posRepo size: 4
2021-02-16T16:33:45.080Z,1613493225.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:45.820Z,1613493225.820 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:46.226Z,1613493226.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:47.048Z,1613493227.048 [Micromodem](INFO): Nmea in: $SNTTA,0.091141,,,,163347.22*48

2021-02-16T16:33:47.097Z,1613493227.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 110.339996 m, bearing: 241.992127 deg, deltaT: 4.490080 s, approachRate: 0.654774 m/s, LOS rate: -1.458556 deg/s, posRepo size: 4
2021-02-16T16:33:49.511Z,1613493229.511 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:50.276Z,1613493230.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:50.686Z,1613493230.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:51.489Z,1613493231.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163351.67*5C

2021-02-16T16:33:52.314Z,1613493232.314 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:53.904Z,1613493233.904 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:33:55.140Z,1613493235.140 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:55.926Z,1613493235.926 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:33:56.325Z,1613493236.325 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:33:57.157Z,1613493237.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163357.32*5A

2021-02-16T16:33:57.994Z,1613493237.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:33:59.554Z,1613493239.554 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:34:00.815Z,1613493240.815 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:01.605Z,1613493241.605 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:02.001Z,1613493242.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:02.816Z,1613493242.816 [Micromodem](INFO): Nmea in: $SNTTA,0.081773,,,,163403.00*49

2021-02-16T16:34:02.866Z,1613493242.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.740005 m, bearing: 237.232988 deg, deltaT: 15.758783 s, approachRate: 0.723407 m/s, LOS rate: -0.301999 deg/s, posRepo size: 4
2021-02-16T16:34:05.234Z,1613493245.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:06.020Z,1613493246.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:06.426Z,1613493246.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:07.250Z,1613493247.250 [Micromodem](INFO): Nmea in: $SNTTA,0.083974,,,,163407.41*43

2021-02-16T16:34:07.302Z,1613493247.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.159996 m, bearing: 240.197426 deg, deltaT: 4.450874 s, approachRate: 0.768386 m/s, LOS rate: 0.666035 deg/s, posRepo size: 4
2021-02-16T16:34:09.774Z,1613493249.774 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:10.473Z,1613493250.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:10.870Z,1613493250.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:11.688Z,1613493251.688 [Micromodem](INFO): Nmea in: $SNTTA,0.086287,,,,163411.87*4C

2021-02-16T16:34:12.519Z,1613493252.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:14.104Z,1613493254.104 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:34:15.342Z,1613493255.342 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:16.125Z,1613493256.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:16.530Z,1613493256.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:17.352Z,1613493257.352 [Micromodem](INFO): Nmea in: $SNTTA,0.089359,,,,163417.52*4F

2021-02-16T16:34:17.398Z,1613493257.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.199997 m, bearing: 244.220681 deg, deltaT: 10.090631 s, approachRate: 0.796779 m/s, LOS rate: 0.398712 deg/s, posRepo size: 4
2021-02-16T16:34:19.826Z,1613493259.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:20.574Z,1613493260.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:20.970Z,1613493260.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:21.804Z,1613493261.804 [Micromodem](INFO): Nmea in: $SNTTA,0.091512,,,,163421.97*43

2021-02-16T16:34:21.857Z,1613493261.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.440002 m, bearing: 239.996018 deg, deltaT: 4.399448 s, approachRate: 0.736457 m/s, LOS rate: -0.960271 deg/s, posRepo size: 4
2021-02-16T16:34:24.259Z,1613493264.259 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:25.014Z,1613493265.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:25.425Z,1613493265.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:26.256Z,1613493266.256 [Micromodem](INFO): Nmea in: $SNTTA,0.092902,,,,163426.41*41

2021-02-16T16:34:26.284Z,1613493266.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.500000 m, bearing: 239.310759 deg, deltaT: 4.480695 s, approachRate: 0.682929 m/s, LOS rate: -0.152936 deg/s, posRepo size: 4
2021-02-16T16:34:28.683Z,1613493268.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:29.452Z,1613493269.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:29.864Z,1613493269.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:30.707Z,1613493270.707 [Micromodem](INFO): Nmea in: $SNTTA,0.095185,,,,163430.85*4E

2021-02-16T16:34:30.767Z,1613493270.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.919998 m, bearing: 241.099804 deg, deltaT: 4.434090 s, approachRate: 0.771297 m/s, LOS rate: 0.403475 deg/s, posRepo size: 4
2021-02-16T16:34:33.105Z,1613493273.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:33.896Z,1613493273.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:34.316Z,1613493274.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:35.133Z,1613493275.133 [Micromodem](INFO): Nmea in: $SNTTA,0.097226,,0.103669,,163435.29*50

2021-02-16T16:34:35.148Z,1613493275.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 145.979996 m, bearing: 246.023113 deg, deltaT: 4.473671 s, approachRate: 0.684001 m/s, LOS rate: 1.100508 deg/s, posRepo size: 4
2021-02-16T16:34:37.556Z,1613493277.556 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:38.340Z,1613493278.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:38.752Z,1613493278.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:39.570Z,1613493279.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163439.73*50

2021-02-16T16:34:39.636Z,1613493279.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.040009 m, bearing: 240.334795 deg, deltaT: 4.407698 s, approachRate: 0.694243 m/s, LOS rate: -1.290542 deg/s, posRepo size: 4
2021-02-16T16:34:42.012Z,1613493282.012 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:42.786Z,1613493282.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:43.192Z,1613493283.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:44.019Z,1613493284.019 [Micromodem](INFO): Nmea in: $SNTTA,0.101263,,,,163444.18*4E

2021-02-16T16:34:44.044Z,1613493284.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 152.040009 m, bearing: 239.724941 deg, deltaT: 4.542129 s, approachRate: 0.660483 m/s, LOS rate: -0.134266 deg/s, posRepo size: 4
2021-02-16T16:34:44.044Z,1613493284.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 152.04 m. Resuming terminal guidance.
2021-02-16T16:34:44.044Z,1613493284.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:34:46.437Z,1613493286.437 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:47.228Z,1613493287.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:47.643Z,1613493287.643 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:48.456Z,1613493288.456 [Micromodem](INFO): Nmea in: $SNTTA,0.103383,,,,163448.62*42

2021-02-16T16:34:48.491Z,1613493288.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 240.947873 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:34:48.492Z,1613493288.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 240.947873deg and heading rate command to 0 deg/s.
2021-02-16T16:34:50.906Z,1613493290.906 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:51.686Z,1613493291.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:52.085Z,1613493292.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:52.908Z,1613493292.908 [Micromodem](INFO): Nmea in: $SNTTA,0.105793,,,,163453.08*47

2021-02-16T16:34:52.961Z,1613493292.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 155.220001 m, bearing: 259.190926 deg, deltaT: 4.439530 s, approachRate: 0.000000 m/s, LOS rate: 4.109230 deg/s, posRepo size: 2
2021-02-16T16:34:52.979Z,1613493292.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.220001 m,
      bearing: 259.190926 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.109230 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 240.947873 deg,
      new cmd heading: 240.947873 deg.

2021-02-16T16:34:55.326Z,1613493295.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:34:56.126Z,1613493296.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:34:56.522Z,1613493296.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:34:57.352Z,1613493297.352 [Micromodem](INFO): Nmea in: $SNTTA,0.107478,,,,163457.52*48

2021-02-16T16:34:57.398Z,1613493297.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 161.940018 m, bearing: 222.087590 deg, deltaT: 4.469630 s, approachRate: 1.503484 m/s, LOS rate: -8.301210 deg/s, posRepo size: 3
2021-02-16T16:34:57.406Z,1613493297.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 222.087590 deg,
      approachRate: 1.503484 m/s,
      LOS rate: -8.301210 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.637027 deg,
      new cmd heading: 299.545747 deg.

2021-02-16T16:34:59.820Z,1613493299.820 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:00.560Z,1613493300.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:00.966Z,1613493300.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:01.796Z,1613493301.796 [Micromodem](INFO): Nmea in: $SNTTA,0.109224,,,,163501.95*40

2021-02-16T16:35:01.858Z,1613493301.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.980011 m, bearing: 256.876202 deg, deltaT: 4.405187 s, approachRate: 0.463089 m/s, LOS rate: 7.897193 deg/s, posRepo size: 4
2021-02-16T16:35:01.864Z,1613493301.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.980011 m,
      bearing: 256.876202 deg,
      approachRate: 0.463089 m/s,
      LOS rate: 7.897193 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 241.776270 deg,
      new cmd heading: 236.204490 deg.

2021-02-16T16:35:04.227Z,1613493304.227 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:05.012Z,1613493305.012 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:05.409Z,1613493305.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:06.240Z,1613493306.240 [Micromodem](INFO): Nmea in: $SNTTA,0.110660,,,,163506.40*43

2021-02-16T16:35:06.300Z,1613493306.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 290.115290 deg, deltaT: 4.488258 s, approachRate: 0.454518 m/s, LOS rate: 7.405788 deg/s, posRepo size: 4
2021-02-16T16:35:06.302Z,1613493306.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 290.115290 deg,
      approachRate: 0.454518 m/s,
      LOS rate: 7.405788 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 295.636207 deg,
      new cmd heading: 300.586927 deg.

2021-02-16T16:35:08.675Z,1613493308.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:09.448Z,1613493309.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:09.861Z,1613493309.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:10.683Z,1613493310.683 [Micromodem](INFO): Nmea in: $SNTTA,0.111849,,,,163510.84*48

2021-02-16T16:35:10.754Z,1613493310.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 166.020004 m, bearing: 316.020832 deg, deltaT: 4.403509 s, approachRate: 0.000000 m/s, LOS rate: 5.882932 deg/s, posRepo size: 4
2021-02-16T16:35:10.760Z,1613493310.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.020004 m,
      bearing: 316.020832 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.882932 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 348.446445 deg,
      new cmd heading: 354.100485 deg.

2021-02-16T16:35:13.099Z,1613493313.099 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:13.892Z,1613493313.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:14.307Z,1613493314.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:15.138Z,1613493315.138 [Micromodem](INFO): Nmea in: $SNTTA,0.112277,,,,163515.28*4F

2021-02-16T16:35:15.186Z,1613493315.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 249.052821 deg, deltaT: 4.504244 s, approachRate: 0.532829 m/s, LOS rate: -14.867758 deg/s, posRepo size: 4
2021-02-16T16:35:15.187Z,1613493315.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.867758 deg/s. Setting heading cmd to target bearing of 249.052821deg and heading rate command to 0 deg/s.
2021-02-16T16:35:17.549Z,1613493317.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:18.348Z,1613493318.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:18.748Z,1613493318.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:19.576Z,1613493319.576 [Micromodem](INFO): Nmea in: $SNTTA,0.112156,,,,163519.74*4A

2021-02-16T16:35:19.639Z,1613493319.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 354.298195 deg, deltaT: 4.376775 s, approachRate: 0.000000 m/s, LOS rate: 24.046330 deg/s, posRepo size: 4
2021-02-16T16:35:19.640Z,1613493319.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.046330 deg/s. Setting heading cmd to target bearing of 354.298195deg and heading rate command to 0 deg/s.
2021-02-16T16:35:22.019Z,1613493322.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:22.781Z,1613493322.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:23.186Z,1613493323.186 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:24.028Z,1613493324.028 [Micromodem](INFO): Nmea in: $SNTTA,0.111561,,,,163524.18*4D

2021-02-16T16:35:24.052Z,1613493324.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.220001 m, bearing: 327.383289 deg, deltaT: 4.488351 s, approachRate: -0.267358 m/s, LOS rate: -5.996614 deg/s, posRepo size: 4
2021-02-16T16:35:24.054Z,1613493324.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 327.383289 deg,
      approachRate: -0.267358 m/s,
      LOS rate: -5.996614 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 354.298195 deg,
      new cmd heading: 354.298195 deg.

2021-02-16T16:35:26.431Z,1613493326.431 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:27.229Z,1613493327.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:27.646Z,1613493327.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:28.460Z,1613493328.460 [Micromodem](INFO): Nmea in: $SNTTA,0.110464,,,,163528.62*49

2021-02-16T16:35:28.500Z,1613493328.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.540009 m, bearing: 18.118989 deg, deltaT: 4.426791 s, approachRate: -0.379506 m/s, LOS rate: 11.461057 deg/s, posRepo size: 4
2021-02-16T16:35:28.501Z,1613493328.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.461057 deg/s. Setting heading cmd to target bearing of 18.118989deg and heading rate command to 0 deg/s.
2021-02-16T16:35:30.917Z,1613493330.917 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:31.707Z,1613493331.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:32.101Z,1613493332.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:33.312Z,1613493333.312 [Micromodem](INFO): Nmea in: $SNTTA,0.109110,,,,163533.15*4D

2021-02-16T16:35:33.353Z,1613493333.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.500000 m, bearing: 20.416441 deg, deltaT: 4.894029 s, approachRate: -0.416836 m/s, LOS rate: 0.469440 deg/s, posRepo size: 4
2021-02-16T16:35:33.355Z,1613493333.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.500000 m,
      bearing: 20.416441 deg,
      approachRate: -0.416836 m/s,
      LOS rate: 0.469440 deg/s,
      cmd update: 1.408319 deg/s,
      cmd heading: 18.118989 deg,
      new cmd heading: 18.118989 deg.

2021-02-16T16:35:35.784Z,1613493335.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:36.532Z,1613493336.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:36.925Z,1613493336.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:37.772Z,1613493337.772 [Micromodem](INFO): Nmea in: $SNTTA,0.107986,,,,163537.92*4F

2021-02-16T16:35:37.814Z,1613493337.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 329.935594 deg, deltaT: 4.394224 s, approachRate: -3.495498 m/s, LOS rate: -11.488002 deg/s, posRepo size: 4
2021-02-16T16:35:37.815Z,1613493337.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.488002 deg/s. Setting heading cmd to target bearing of 329.935594deg and heading rate command to 0 deg/s.
2021-02-16T16:35:40.186Z,1613493340.186 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:40.982Z,1613493340.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:41.371Z,1613493341.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:42.254Z,1613493342.254 [Micromodem](INFO): Nmea in: $SNTTA,0.106795,,,,163542.37*4F

2021-02-16T16:35:42.288Z,1613493342.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 32.963753 deg, deltaT: 4.451464 s, approachRate: 0.000000 m/s, LOS rate: 14.158973 deg/s, posRepo size: 4
2021-02-16T16:35:42.289Z,1613493342.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.158973 deg/s. Setting heading cmd to target bearing of 32.963753deg and heading rate command to 0 deg/s.
2021-02-16T16:35:44.654Z,1613493344.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:45.413Z,1613493345.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:45.825Z,1613493345.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:46.656Z,1613493346.656 [Micromodem](INFO): Nmea in: $SNTTA,0.105430,,,,163546.81*49

2021-02-16T16:35:46.685Z,1613493346.685 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.979996 m, bearing: 21.438002 deg, deltaT: 4.435114 s, approachRate: 2.218657 m/s, LOS rate: -2.598750 deg/s, posRepo size: 4
2021-02-16T16:35:46.687Z,1613493346.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.979996 m,
      bearing: 21.438002 deg,
      approachRate: 2.218657 m/s,
      LOS rate: -2.598750 deg/s,
      cmd update: -7.796249 deg/s,
      cmd heading: 32.963753 deg,
      new cmd heading: 32.963753 deg.

2021-02-16T16:35:49.090Z,1613493349.090 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:49.852Z,1613493349.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:50.258Z,1613493350.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:51.080Z,1613493351.080 [Micromodem](INFO): Nmea in: $SNTTA,0.104323,,,,163551.24*44

2021-02-16T16:35:51.128Z,1613493351.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.300003 m, bearing: 23.583707 deg, deltaT: 4.488597 s, approachRate: -0.374280 m/s, LOS rate: 0.478035 deg/s, posRepo size: 4
2021-02-16T16:35:51.130Z,1613493351.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.300003 m,
      bearing: 23.583707 deg,
      approachRate: -0.374280 m/s,
      LOS rate: 0.478035 deg/s,
      cmd update: 1.434104 deg/s,
      cmd heading: 357.970553 deg,
      new cmd heading: 354.958410 deg.

2021-02-16T16:35:53.519Z,1613493353.519 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:54.321Z,1613493354.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:54.732Z,1613493354.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:55.540Z,1613493355.540 [Micromodem](INFO): Nmea in: $SNTTA,0.102565,,,,163555.71*42

2021-02-16T16:35:55.607Z,1613493355.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.599991 m, bearing: 25.978358 deg, deltaT: 4.403313 s, approachRate: -0.613177 m/s, LOS rate: 0.543829 deg/s, posRepo size: 4
2021-02-16T16:35:55.617Z,1613493355.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 25.978358 deg,
      approachRate: -0.613177 m/s,
      LOS rate: 0.543829 deg/s,
      cmd update: 1.631488 deg/s,
      cmd heading: 4.285036 deg,
      new cmd heading: 4.931195 deg.

2021-02-16T16:35:57.990Z,1613493357.990 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:35:58.751Z,1613493358.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:35:59.145Z,1613493359.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:35:59.988Z,1613493359.988 [Micromodem](INFO): Nmea in: $SNTTA,0.100745,,,,163600.15*41

2021-02-16T16:36:00.044Z,1613493360.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.899994 m, bearing: 23.431444 deg, deltaT: 4.425990 s, approachRate: -0.610032 m/s, LOS rate: -0.575445 deg/s, posRepo size: 4
2021-02-16T16:36:00.046Z,1613493360.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.899994 m,
      bearing: 23.431444 deg,
      approachRate: -0.610032 m/s,
      LOS rate: -0.575445 deg/s,
      cmd update: -1.726335 deg/s,
      cmd heading: 11.512616 deg,
      new cmd heading: 12.271503 deg.

2021-02-16T16:36:02.391Z,1613493362.391 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:03.195Z,1613493363.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:03.630Z,1613493363.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:04.425Z,1613493364.425 [Micromodem](INFO): Nmea in: $SNTTA,0.098893,,,,163604.59*49

2021-02-16T16:36:04.466Z,1613493364.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.139999 m, bearing: 24.910588 deg, deltaT: 4.474998 s, approachRate: -0.616759 m/s, LOS rate: 0.330535 deg/s, posRepo size: 4
2021-02-16T16:36:04.472Z,1613493364.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.139999 m,
      bearing: 24.910588 deg,
      approachRate: -0.616759 m/s,
      LOS rate: 0.330535 deg/s,
      cmd update: 0.991605 deg/s,
      cmd heading: 3.786728 deg,
      new cmd heading: 3.067836 deg.

2021-02-16T16:36:06.869Z,1613493366.869 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:07.635Z,1613493367.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:08.044Z,1613493368.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:08.860Z,1613493368.860 [Micromodem](INFO): Nmea in: $SNTTA,0.096766,,,,163609.03*40

2021-02-16T16:36:08.912Z,1613493368.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 24.842385 deg, deltaT: 4.425229 s, approachRate: -0.718609 m/s, LOS rate: -0.015412 deg/s, posRepo size: 4
2021-02-16T16:36:08.913Z,1613493368.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.959991 m,
      bearing: 24.842385 deg,
      approachRate: -0.718609 m/s,
      LOS rate: -0.015412 deg/s,
      cmd update: -0.046237 deg/s,
      cmd heading: 8.170766 deg,
      new cmd heading: 8.607313 deg.

2021-02-16T16:36:11.309Z,1613493371.309 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:12.072Z,1613493372.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:12.480Z,1613493372.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:13.311Z,1613493373.311 [Micromodem](INFO): Nmea in: $SNTTA,0.094951,,,,163613.47*43

2021-02-16T16:36:13.330Z,1613493373.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.199997 m, bearing: 25.917406 deg, deltaT: 4.454220 s, approachRate: -0.619636 m/s, LOS rate: 0.241349 deg/s, posRepo size: 4
2021-02-16T16:36:13.332Z,1613493373.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.199997 m,
      bearing: 25.917406 deg,
      approachRate: -0.619636 m/s,
      LOS rate: 0.241349 deg/s,
      cmd update: 0.724046 deg/s,
      cmd heading: 7.964631 deg,
      new cmd heading: 7.946095 deg.

2021-02-16T16:36:15.800Z,1613493375.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:16.516Z,1613493376.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:16.921Z,1613493376.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:17.756Z,1613493377.756 [Micromodem](INFO): Nmea in: $SNTTA,0.092982,,,,163617.91*44

2021-02-16T16:36:17.810Z,1613493377.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.259995 m, bearing: 26.975894 deg, deltaT: 4.419284 s, approachRate: -0.665267 m/s, LOS rate: 0.239516 deg/s, posRepo size: 4
2021-02-16T16:36:17.816Z,1613493377.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.259995 m,
      bearing: 26.975894 deg,
      approachRate: -0.665267 m/s,
      LOS rate: 0.239516 deg/s,
      cmd update: 0.718547 deg/s,
      cmd heading: 11.164021 deg,
      new cmd heading: 11.498510 deg.

2021-02-16T16:36:20.167Z,1613493380.167 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:20.960Z,1613493380.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:21.367Z,1613493381.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:22.188Z,1613493382.188 [Micromodem](INFO): Nmea in: $SNTTA,0.090849,,,,163622.35*48

2021-02-16T16:36:22.222Z,1613493382.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.080002 m, bearing: 29.604478 deg, deltaT: 4.468273 s, approachRate: -0.711683 m/s, LOS rate: 0.588278 deg/s, posRepo size: 4
2021-02-16T16:36:22.224Z,1613493382.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.080002 m,
      bearing: 29.604478 deg,
      approachRate: -0.711683 m/s,
      LOS rate: 0.588278 deg/s,
      cmd update: 1.764833 deg/s,
      cmd heading: 14.375053 deg,
      new cmd heading: 14.666033 deg.

2021-02-16T16:36:24.652Z,1613493384.652 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:25.405Z,1613493385.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:25.827Z,1613493385.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:26.647Z,1613493386.647 [Micromodem](INFO): Nmea in: $SNTTA,0.089106,,,,163626.80*48

2021-02-16T16:36:26.673Z,1613493386.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.440002 m, bearing: 30.554083 deg, deltaT: 4.430160 s, approachRate: -0.595915 m/s, LOS rate: 0.214350 deg/s, posRepo size: 4
2021-02-16T16:36:26.674Z,1613493386.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.440002 m,
      bearing: 30.554083 deg,
      approachRate: -0.595915 m/s,
      LOS rate: 0.214350 deg/s,
      cmd update: 0.643050 deg/s,
      cmd heading: 22.193175 deg,
      new cmd heading: 22.944852 deg.

2021-02-16T16:36:29.079Z,1613493389.079 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:29.853Z,1613493389.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:30.255Z,1613493390.255 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:31.088Z,1613493391.088 [Micromodem](INFO): Nmea in: $SNTTA,0.086930,,,,163631.25*43

2021-02-16T16:36:31.123Z,1613493391.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.199997 m, bearing: 30.509294 deg, deltaT: 4.464560 s, approachRate: -0.725717 m/s, LOS rate: -0.010032 deg/s, posRepo size: 4
2021-02-16T16:36:31.125Z,1613493391.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.199997 m,
      bearing: 30.509294 deg,
      approachRate: -0.725717 m/s,
      LOS rate: -0.010032 deg/s,
      cmd update: -0.030096 deg/s,
      cmd heading: 25.057388 deg,
      new cmd heading: 25.328883 deg.

2021-02-16T16:36:33.520Z,1613493393.520 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:34.301Z,1613493394.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:34.733Z,1613493394.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:35.528Z,1613493395.528 [Micromodem](INFO): Nmea in: $SNTTA,0.084762,,,,163635.70*4C

2021-02-16T16:36:35.570Z,1613493395.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 126.900002 m, bearing: 30.492481 deg, deltaT: 4.438293 s, approachRate: -0.743528 m/s, LOS rate: -0.003788 deg/s, posRepo size: 4
2021-02-16T16:36:35.572Z,1613493395.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.900002 m,
      bearing: 30.492481 deg,
      approachRate: -0.743528 m/s,
      LOS rate: -0.003788 deg/s,
      cmd update: -0.011364 deg/s,
      cmd heading: 24.923499 deg,
      new cmd heading: 24.910834 deg.

2021-02-16T16:36:37.969Z,1613493397.969 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:38.742Z,1613493398.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:39.142Z,1613493399.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:39.980Z,1613493399.980 [Micromodem](INFO): Nmea in: $SNTTA,0.082717,,,,163640.14*48

2021-02-16T16:36:40.029Z,1613493400.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.840004 m, bearing: 30.970916 deg, deltaT: 4.416610 s, approachRate: -0.692839 m/s, LOS rate: 0.108326 deg/s, posRepo size: 4
2021-02-16T16:36:40.030Z,1613493400.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.840004 m,
      bearing: 30.970916 deg,
      approachRate: -0.692839 m/s,
      LOS rate: 0.108326 deg/s,
      cmd update: 0.324978 deg/s,
      cmd heading: 24.873327 deg,
      new cmd heading: 24.868053 deg.

2021-02-16T16:36:42.421Z,1613493402.421 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:43.192Z,1613493403.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:43.622Z,1613493403.622 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:44.416Z,1613493404.416 [Micromodem](INFO): Nmea in: $SNTTA,0.080900,,,,163644.58*4E

2021-02-16T16:36:44.453Z,1613493404.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.139999 m, bearing: 31.583802 deg, deltaT: 4.469637 s, approachRate: -0.604077 m/s, LOS rate: 0.137122 deg/s, posRepo size: 4
2021-02-16T16:36:44.454Z,1613493404.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.139999 m,
      bearing: 31.583802 deg,
      approachRate: -0.604077 m/s,
      LOS rate: 0.137122 deg/s,
      cmd update: 0.411367 deg/s,
      cmd heading: 26.318641 deg,
      new cmd heading: 26.461851 deg.

2021-02-16T16:36:46.862Z,1613493406.862 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:47.632Z,1613493407.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:48.030Z,1613493408.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:48.860Z,1613493408.860 [Micromodem](INFO): Nmea in: $SNTTA,0.078919,,,,163649.02*43

2021-02-16T16:36:48.918Z,1613493408.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.199997 m, bearing: 31.041874 deg, deltaT: 4.460161 s, approachRate: -0.659170 m/s, LOS rate: -0.121504 deg/s, posRepo size: 4
2021-02-16T16:36:48.924Z,1613493408.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.199997 m,
      bearing: 31.041874 deg,
      approachRate: -0.659170 m/s,
      LOS rate: -0.121504 deg/s,
      cmd update: -0.364512 deg/s,
      cmd heading: 28.159976 deg,
      new cmd heading: 28.337041 deg.

2021-02-16T16:36:51.299Z,1613493411.299 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:52.074Z,1613493412.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:52.473Z,1613493412.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:53.304Z,1613493413.304 [Micromodem](INFO): Nmea in: $SNTTA,0.077017,,,,163653.47*41

2021-02-16T16:36:53.342Z,1613493413.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.320000 m, bearing: 31.495379 deg, deltaT: 4.447258 s, approachRate: -0.647589 m/s, LOS rate: 0.101974 deg/s, posRepo size: 4
2021-02-16T16:36:53.344Z,1613493413.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.320000 m,
      bearing: 31.495379 deg,
      approachRate: -0.647589 m/s,
      LOS rate: 0.101974 deg/s,
      cmd update: 0.305922 deg/s,
      cmd heading: 26.537381 deg,
      new cmd heading: 26.390521 deg.

2021-02-16T16:36:55.786Z,1613493415.786 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:36:56.529Z,1613493416.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:36:56.939Z,1613493416.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:36:57.759Z,1613493417.759 [Micromodem](INFO): Nmea in: $SNTTA,0.074955,,,,163657.92*41

2021-02-16T16:36:57.793Z,1613493417.793 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.199997 m, bearing: 30.656085 deg, deltaT: 4.418999 s, approachRate: -0.706043 m/s, LOS rate: -0.189928 deg/s, posRepo size: 4
2021-02-16T16:36:57.795Z,1613493417.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.199997 m,
      bearing: 30.656085 deg,
      approachRate: -0.706043 m/s,
      LOS rate: -0.189928 deg/s,
      cmd update: -0.569785 deg/s,
      cmd heading: 27.889210 deg,
      new cmd heading: 28.022237 deg.

2021-02-16T16:37:00.174Z,1613493420.174 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:00.956Z,1613493420.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:01.362Z,1613493421.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:02.211Z,1613493422.211 [Micromodem](INFO): Nmea in: $SNTTA,0.072873,,,,163702.35*4E

2021-02-16T16:37:02.235Z,1613493422.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.139999 m, bearing: 31.268640 deg, deltaT: 4.467492 s, approachRate: -0.684947 m/s, LOS rate: 0.137114 deg/s, posRepo size: 4
2021-02-16T16:37:02.237Z,1613493422.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.139999 m,
      bearing: 31.268640 deg,
      approachRate: -0.684947 m/s,
      LOS rate: 0.137114 deg/s,
      cmd update: 0.411342 deg/s,
      cmd heading: 25.343624 deg,
      new cmd heading: 25.110685 deg.

2021-02-16T16:37:04.655Z,1613493424.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:05.413Z,1613493425.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:05.811Z,1613493425.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:06.644Z,1613493426.644 [Micromodem](INFO): Nmea in: $SNTTA,0.070901,,,0.073410,163706.81*5C

2021-02-16T16:37:06.729Z,1613493426.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.080002 m, bearing: 31.899770 deg, deltaT: 4.395827 s, approachRate: -0.696114 m/s, LOS rate: 0.143575 deg/s, posRepo size: 4
2021-02-16T16:37:06.736Z,1613493426.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 31.899770 deg,
      approachRate: -0.696114 m/s,
      LOS rate: 0.143575 deg/s,
      cmd update: 0.430724 deg/s,
      cmd heading: 27.153469 deg,
      new cmd heading: 27.357227 deg.

2021-02-16T16:37:09.063Z,1613493429.063 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:09.844Z,1613493429.844 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:10.277Z,1613493430.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:11.088Z,1613493431.088 [Micromodem](INFO): Nmea in: $SNTTA,0.068953,,,,163711.24*44

2021-02-16T16:37:11.127Z,1613493431.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.260010 m, bearing: 32.705644 deg, deltaT: 4.519717 s, approachRate: -0.623931 m/s, LOS rate: 0.178302 deg/s, posRepo size: 4
2021-02-16T16:37:11.129Z,1613493431.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.260010 m,
      bearing: 32.705644 deg,
      approachRate: -0.623931 m/s,
      LOS rate: 0.178302 deg/s,
      cmd update: 0.534905 deg/s,
      cmd heading: 29.098494 deg,
      new cmd heading: 29.264482 deg.

2021-02-16T16:37:13.513Z,1613493433.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:14.310Z,1613493434.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:14.726Z,1613493434.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:15.532Z,1613493435.532 [Micromodem](INFO): Nmea in: $SNTTA,0.066839,,,,163715.70*42

2021-02-16T16:37:15.570Z,1613493435.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 100.019997 m, bearing: 31.972508 deg, deltaT: 4.379227 s, approachRate: -0.739860 m/s, LOS rate: -0.167412 deg/s, posRepo size: 4
2021-02-16T16:37:15.572Z,1613493435.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.019997 m,
      bearing: 31.972508 deg,
      approachRate: -0.739860 m/s,
      LOS rate: -0.167412 deg/s,
      cmd update: -0.502236 deg/s,
      cmd heading: 31.438840 deg,
      new cmd heading: 31.681234 deg.

2021-02-16T16:37:17.975Z,1613493437.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:18.745Z,1613493438.745 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:19.147Z,1613493439.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:19.972Z,1613493439.972 [Micromodem](INFO): Nmea in: $SNTTA,0.064789,0.074725,,,163720.14*5D

2021-02-16T16:37:20.025Z,1613493440.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.959999 m, bearing: 32.888751 deg, deltaT: 4.439604 s, approachRate: -0.689250 m/s, LOS rate: 0.206379 deg/s, posRepo size: 4
2021-02-16T16:37:20.027Z,1613493440.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.959999 m,
      bearing: 32.888751 deg,
      approachRate: -0.689250 m/s,
      LOS rate: 0.206379 deg/s,
      cmd update: 0.619138 deg/s,
      cmd heading: 29.207360 deg,
      new cmd heading: 28.973575 deg.

2021-02-16T16:37:22.409Z,1613493442.409 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:23.185Z,1613493443.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:23.613Z,1613493443.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:24.412Z,1613493444.412 [Micromodem](INFO): Nmea in: $SNTTA,0.062820,,,,163724.58*46

2021-02-16T16:37:24.464Z,1613493444.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.019997 m, bearing: 34.328087 deg, deltaT: 4.465110 s, approachRate: -0.658439 m/s, LOS rate: 0.322352 deg/s, posRepo size: 4
2021-02-16T16:37:24.466Z,1613493444.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 34.328087 deg,
      approachRate: -0.658439 m/s,
      LOS rate: 0.322352 deg/s,
      cmd update: 0.967055 deg/s,
      cmd heading: 31.972169 deg,
      new cmd heading: 32.242858 deg.

2021-02-16T16:37:26.860Z,1613493446.860 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:27.645Z,1613493447.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:27.676Z,1613493447.676 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:37:28.026Z,1613493448.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:28.864Z,1613493448.864 [Micromodem](INFO): Nmea in: $SNTTA,0.060821,,,,163729.04*41

2021-02-16T16:37:28.923Z,1613493448.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.020004 m, bearing: 34.863570 deg, deltaT: 4.418450 s, approachRate: -0.678969 m/s, LOS rate: 0.121193 deg/s, posRepo size: 4
2021-02-16T16:37:28.925Z,1613493448.925 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.020004 m,
      bearing: 34.863570 deg,
      approachRate: -0.678969 m/s,
      LOS rate: 0.121193 deg/s,
      cmd update: 0.363578 deg/s,
      cmd heading: 36.248927 deg,
      new cmd heading: 36.704299 deg.

2021-02-16T16:37:31.276Z,1613493451.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:32.073Z,1613493452.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:32.470Z,1613493452.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:33.312Z,1613493453.312 [Micromodem](INFO): Nmea in: $SNTTA,0.058741,,,,163733.47*4F

2021-02-16T16:37:33.338Z,1613493453.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.900002 m, bearing: 34.704048 deg, deltaT: 4.487808 s, approachRate: -0.695217 m/s, LOS rate: -0.035546 deg/s, posRepo size: 4
2021-02-16T16:37:33.360Z,1613493453.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.900002 m,
      bearing: 34.704048 deg,
      approachRate: -0.695217 m/s,
      LOS rate: -0.035546 deg/s,
      cmd update: -0.106637 deg/s,
      cmd heading: 37.874071 deg,
      new cmd heading: 38.026811 deg.

2021-02-16T16:37:35.790Z,1613493455.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:36.513Z,1613493456.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:36.914Z,1613493456.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:37.756Z,1613493457.756 [Micromodem](INFO): Nmea in: $SNTTA,0.056788,0.062313,,,163737.90*51

2021-02-16T16:37:37.804Z,1613493457.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.020004 m, bearing: 34.371189 deg, deltaT: 4.395388 s, approachRate: -0.655232 m/s, LOS rate: -0.075729 deg/s, posRepo size: 4
2021-02-16T16:37:37.806Z,1613493457.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.020004 m,
      bearing: 34.371189 deg,
      approachRate: -0.655232 m/s,
      LOS rate: -0.075729 deg/s,
      cmd update: -0.227187 deg/s,
      cmd heading: 37.403450 deg,
      new cmd heading: 37.353010 deg.

2021-02-16T16:37:40.165Z,1613493460.165 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:40.952Z,1613493460.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:41.375Z,1613493461.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:42.187Z,1613493462.187 [Micromodem](INFO): Nmea in: $SNTTA,0.055170,,,,163742.34*44

2021-02-16T16:37:42.202Z,1613493462.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.560005 m, bearing: 34.064158 deg, deltaT: 4.477491 s, approachRate: -0.549415 m/s, LOS rate: -0.068572 deg/s, posRepo size: 4
2021-02-16T16:37:42.204Z,1613493462.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.560005 m,
      bearing: 34.064158 deg,
      approachRate: -0.549415 m/s,
      LOS rate: -0.068572 deg/s,
      cmd update: -0.205716 deg/s,
      cmd heading: 36.386206 deg,
      new cmd heading: 36.296763 deg.

2021-02-16T16:37:42.641Z,1613493462.641 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:37:44.662Z,1613493464.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:45.396Z,1613493465.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:45.802Z,1613493465.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:46.660Z,1613493466.660 [Micromodem](INFO): Nmea in: $SNTTA,0.053072,,,,163746.79*4C

2021-02-16T16:37:46.693Z,1613493466.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.440002 m, bearing: 34.171815 deg, deltaT: 4.501734 s, approachRate: -0.693067 m/s, LOS rate: 0.023915 deg/s, posRepo size: 4
2021-02-16T16:37:46.698Z,1613493466.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 79.440002 m,
      bearing: 34.171815 deg,
      approachRate: -0.693067 m/s,
      LOS rate: 0.023915 deg/s,
      cmd update: 0.071744 deg/s,
      cmd heading: 35.460956 deg,
      new cmd heading: 35.381523 deg.

2021-02-16T16:37:49.076Z,1613493469.076 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:49.846Z,1613493469.846 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:50.258Z,1613493470.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:51.092Z,1613493471.092 [Micromodem](INFO): Nmea in: $SNTTA,0.051000,,0.052144,,163751.24*5D

2021-02-16T16:37:51.122Z,1613493471.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.259995 m, bearing: 33.963724 deg, deltaT: 4.394899 s, approachRate: -0.723568 m/s, LOS rate: -0.047349 deg/s, posRepo size: 4
2021-02-16T16:37:51.124Z,1613493471.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 33.963724 deg,
      approachRate: -0.723568 m/s,
      LOS rate: -0.047349 deg/s,
      cmd update: -0.142046 deg/s,
      cmd heading: 35.775211 deg,
      new cmd heading: 35.806478 deg.

2021-02-16T16:37:52.708Z,1613493472.708 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:37:53.496Z,1613493473.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:54.294Z,1613493474.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:54.730Z,1613493474.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:55.520Z,1613493475.520 [Micromodem](INFO): Nmea in: $SNTTA,0.048792,,,,163755.69*4C

2021-02-16T16:37:55.562Z,1613493475.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.019997 m, bearing: 34.081169 deg, deltaT: 4.400897 s, approachRate: -0.736213 m/s, LOS rate: 0.026687 deg/s, posRepo size: 4
2021-02-16T16:37:55.564Z,1613493475.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.019997 m,
      bearing: 34.081169 deg,
      approachRate: -0.736213 m/s,
      LOS rate: 0.026687 deg/s,
      cmd update: 0.080060 deg/s,
      cmd heading: 35.147432 deg,
      new cmd heading: 35.082700 deg.

2021-02-16T16:37:57.972Z,1613493477.972 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:37:58.747Z,1613493478.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:37:59.134Z,1613493479.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:37:59.968Z,1613493479.968 [Micromodem](INFO): Nmea in: $SNTTA,0.046450,,,,163800.14*4A

2021-02-16T16:38:00.031Z,1613493480.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.540001 m, bearing: 34.016398 deg, deltaT: 4.449290 s, approachRate: -0.782146 m/s, LOS rate: -0.014558 deg/s, posRepo size: 4
2021-02-16T16:38:00.033Z,1613493480.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.540001 m,
      bearing: 34.016398 deg,
      approachRate: -0.782146 m/s,
      LOS rate: -0.014558 deg/s,
      cmd update: -0.043673 deg/s,
      cmd heading: 35.503643 deg,
      new cmd heading: 35.541382 deg.

2021-02-16T16:38:02.394Z,1613493482.394 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:02.796Z,1613493482.796 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:38:03.178Z,1613493483.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:03.594Z,1613493483.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:04.407Z,1613493484.407 [Micromodem](INFO): Nmea in: $SNTTA,0.044180,,,,163804.57*43

2021-02-16T16:38:04.426Z,1613493484.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.060005 m, bearing: 33.884224 deg, deltaT: 4.459390 s, approachRate: -0.780375 m/s, LOS rate: -0.029640 deg/s, posRepo size: 4
2021-02-16T16:38:04.428Z,1613493484.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.060005 m,
      bearing: 33.884224 deg,
      approachRate: -0.780375 m/s,
      LOS rate: -0.029640 deg/s,
      cmd update: -0.088919 deg/s,
      cmd heading: 35.308890 deg,
      new cmd heading: 35.290926 deg.

2021-02-16T16:38:06.885Z,1613493486.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:07.649Z,1613493487.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:08.030Z,1613493488.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:08.862Z,1613493488.862 [Micromodem](INFO): Nmea in: $SNTTA,0.042065,,,,163809.04*44

2021-02-16T16:38:08.875Z,1613493488.875 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:38:08.897Z,1613493488.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.879997 m, bearing: 34.313743 deg, deltaT: 4.439798 s, approachRate: -0.716251 m/s, LOS rate: 0.096743 deg/s, posRepo size: 4
2021-02-16T16:38:08.899Z,1613493488.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.879997 m,
      bearing: 34.313743 deg,
      approachRate: -0.716251 m/s,
      LOS rate: 0.096743 deg/s,
      cmd update: 0.290229 deg/s,
      cmd heading: 34.914464 deg,
      new cmd heading: 34.874768 deg.

2021-02-16T16:38:11.287Z,1613493491.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:12.066Z,1613493492.066 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:12.466Z,1613493492.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:12.894Z,1613493492.894 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:38:13.301Z,1613493493.301 [Micromodem](INFO): Nmea in: $SNTTA,0.040167,,,,163813.46*48

2021-02-16T16:38:13.342Z,1613493493.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.060001 m, bearing: 35.051674 deg, deltaT: 4.478883 s, approachRate: -0.629620 m/s, LOS rate: 0.164758 deg/s, posRepo size: 4
2021-02-16T16:38:13.348Z,1613493493.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.060001 m,
      bearing: 35.051674 deg,
      approachRate: -0.629620 m/s,
      LOS rate: 0.164758 deg/s,
      cmd update: 0.494273 deg/s,
      cmd heading: 36.215503 deg,
      new cmd heading: 36.334177 deg.

2021-02-16T16:38:15.787Z,1613493495.787 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:16.509Z,1613493496.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:16.930Z,1613493496.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:17.752Z,1613493497.752 [Micromodem](INFO): Nmea in: $SNTTA,0.038147,,,,163817.90*4A

2021-02-16T16:38:17.808Z,1613493497.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.060005 m, bearing: 35.044328 deg, deltaT: 4.398980 s, approachRate: -0.681975 m/s, LOS rate: -0.001670 deg/s, posRepo size: 4
2021-02-16T16:38:17.810Z,1613493497.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.060005 m,
      bearing: 35.044328 deg,
      approachRate: -0.681975 m/s,
      LOS rate: -0.001670 deg/s,
      cmd update: -0.005010 deg/s,
      cmd heading: 38.389855 deg,
      new cmd heading: 38.622916 deg.

2021-02-16T16:38:19.847Z,1613493499.847 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:20.561Z,1613493500.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:20.950Z,1613493500.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:21.788Z,1613493501.788 [Micromodem](INFO): Nmea in: $SNTTA,0.035969,,0.051962,,163821.96*57

2021-02-16T16:38:21.843Z,1613493501.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.759995 m, bearing: 33.870222 deg, deltaT: 4.034062 s, approachRate: -0.818037 m/s, LOS rate: -0.291048 deg/s, posRepo size: 4
2021-02-16T16:38:21.845Z,1613493501.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.759995 m,
      bearing: 33.870222 deg,
      approachRate: -0.818037 m/s,
      LOS rate: -0.291048 deg/s,
      cmd update: -0.873144 deg/s,
      cmd heading: 38.369646 deg,
      new cmd heading: 38.367261 deg.

2021-02-16T16:38:24.201Z,1613493504.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:24.988Z,1613493504.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:25.402Z,1613493505.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:26.216Z,1613493506.216 [Micromodem](INFO): Nmea in: $SNTTA,0.033632,,,,163826.38*44

2021-02-16T16:38:26.253Z,1613493506.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 50.219994 m, bearing: 33.048243 deg, deltaT: 4.475299 s, approachRate: -0.791009 m/s, LOS rate: -0.183670 deg/s, posRepo size: 4
2021-02-16T16:38:26.255Z,1613493506.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.219994 m,
      bearing: 33.048243 deg,
      approachRate: -0.791009 m/s,
      LOS rate: -0.183670 deg/s,
      cmd update: -0.551011 deg/s,
      cmd heading: 34.461995 deg,
      new cmd heading: 34.102733 deg.

2021-02-16T16:38:28.703Z,1613493508.703 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:29.434Z,1613493509.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:29.838Z,1613493509.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:30.663Z,1613493510.663 [Micromodem](INFO): Nmea in: $SNTTA,0.031332,,,,163830.83*44

2021-02-16T16:38:30.688Z,1613493510.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.800003 m, bearing: 34.465008 deg, deltaT: 4.419196 s, approachRate: -0.773894 m/s, LOS rate: 0.320594 deg/s, posRepo size: 4
2021-02-16T16:38:30.690Z,1613493510.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 34.465008 deg,
      approachRate: -0.773894 m/s,
      LOS rate: 0.320594 deg/s,
      cmd update: 0.961781 deg/s,
      cmd heading: 32.027368 deg,
      new cmd heading: 31.791879 deg.

2021-02-16T16:38:33.083Z,1613493513.083 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:33.888Z,1613493513.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:34.289Z,1613493514.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:35.112Z,1613493515.112 [Micromodem](INFO): Nmea in: $SNTTA,0.028962,,,,163835.28*47

2021-02-16T16:38:35.161Z,1613493515.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.259998 m, bearing: 34.008888 deg, deltaT: 4.522067 s, approachRate: -0.782829 m/s, LOS rate: -0.100865 deg/s, posRepo size: 4
2021-02-16T16:38:35.163Z,1613493515.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.259998 m,
      bearing: 34.008888 deg,
      approachRate: -0.782829 m/s,
      LOS rate: -0.100865 deg/s,
      cmd update: -0.302596 deg/s,
      cmd heading: 36.373380 deg,
      new cmd heading: 36.740778 deg.

2021-02-16T16:38:37.528Z,1613493517.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:38.320Z,1613493518.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:38.742Z,1613493518.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:39.548Z,1613493519.548 [Micromodem](INFO): Nmea in: $SNTTA,0.026789,,,,163839.71*42

2021-02-16T16:38:39.634Z,1613493519.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.019997 m, bearing: 33.773236 deg, deltaT: 4.367395 s, approachRate: -0.741861 m/s, LOS rate: -0.053957 deg/s, posRepo size: 4
2021-02-16T16:38:39.640Z,1613493519.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.019997 m,
      bearing: 33.773236 deg,
      approachRate: -0.741861 m/s,
      LOS rate: -0.053957 deg/s,
      cmd update: -0.161871 deg/s,
      cmd heading: 35.050607 deg,
      new cmd heading: 34.904210 deg.

2021-02-16T16:38:41.999Z,1613493521.999 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:42.781Z,1613493522.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:43.172Z,1613493523.172 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:44.011Z,1613493524.011 [Micromodem](INFO): Nmea in: $SNTTA,0.024698,,,,163844.17*4B

2021-02-16T16:38:44.046Z,1613493524.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.840000 m, bearing: 33.856664 deg, deltaT: 4.484893 s, approachRate: -0.709046 m/s, LOS rate: 0.018602 deg/s, posRepo size: 4
2021-02-16T16:38:44.046Z,1613493524.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.84 m.
2021-02-16T16:38:44.048Z,1613493524.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.840000 m,
      bearing: 33.856664 deg,
      approachRate: -0.709046 m/s,
      LOS rate: 0.018602 deg/s,
      cmd update: 0.055806 deg/s,
      cmd heading: 34.324680 deg,
      new cmd heading: 34.258219 deg.

2021-02-16T16:38:44.397Z,1613493524.397 [PowerOnly](INFO): Powering up loadControl
2021-02-16T16:38:46.430Z,1613493526.430 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:47.209Z,1613493527.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:47.640Z,1613493527.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:47.735Z,1613493527.735 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:38:48.436Z,1613493528.436 [Micromodem](INFO): Nmea in: $SNTTA,0.022616,,,,163848.60*47

2021-02-16T16:38:48.476Z,1613493528.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.719997 m, bearing: 34.243310 deg, deltaT: 4.414854 s, approachRate: -0.706706 m/s, LOS rate: 0.087579 deg/s, posRepo size: 4
2021-02-16T16:38:48.476Z,1613493528.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2021-02-16T16:38:48.477Z,1613493528.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.72 m.
2021-02-16T16:38:48.477Z,1613493528.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T16:38:48.478Z,1613493528.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 34.243310 deg,
      approachRate: -0.706706 m/s,
      LOS rate: 0.087579 deg/s,
      cmd update: 0.262736 deg/s,
      cmd heading: 34.571070 deg,
      new cmd heading: 34.594806 deg.

2021-02-16T16:38:50.909Z,1613493530.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:51.676Z,1613493531.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:52.077Z,1613493532.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:52.892Z,1613493532.892 [Micromodem](INFO): Nmea in: $SNTTA,0.020575,,,,163853.07*48

2021-02-16T16:38:52.931Z,1613493532.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.659998 m, bearing: 34.542340 deg, deltaT: 4.438883 s, approachRate: -0.689363 m/s, LOS rate: 0.067366 deg/s, posRepo size: 4
2021-02-16T16:38:52.933Z,1613493532.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 34.542340 deg,
      approachRate: -0.689363 m/s,
      LOS rate: 0.067366 deg/s,
      cmd update: 0.202098 deg/s,
      cmd heading: 35.737323 deg,
      new cmd heading: 35.853461 deg.

2021-02-16T16:38:55.318Z,1613493535.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:38:56.114Z,1613493536.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:38:56.519Z,1613493536.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:38:57.336Z,1613493537.336 [Micromodem](INFO): Nmea in: $SNTTA,0.018859,,,,163857.51*47

2021-02-16T16:38:57.352Z,1613493537.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 28.079998 m, bearing: 33.840032 deg, deltaT: 4.487018 s, approachRate: -0.574992 m/s, LOS rate: -0.156520 deg/s, posRepo size: 4
2021-02-16T16:38:57.353Z,1613493537.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.079998 m,
      bearing: 33.840032 deg,
      approachRate: -0.574992 m/s,
      LOS rate: -0.156520 deg/s,
      cmd update: -0.469559 deg/s,
      cmd heading: 36.641679 deg,
      new cmd heading: 36.719949 deg.

2021-02-16T16:38:59.794Z,1613493539.794 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:00.545Z,1613493540.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:00.957Z,1613493540.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:01.776Z,1613493541.776 [Micromodem](INFO): Nmea in: $SNTTA,0.016176,,,,163901.94*46

2021-02-16T16:39:01.830Z,1613493541.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.059999 m, bearing: 32.392049 deg, deltaT: 4.386555 s, approachRate: -0.916436 m/s, LOS rate: -0.330096 deg/s, posRepo size: 4
2021-02-16T16:39:01.836Z,1613493541.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.059999 m,
      bearing: 32.392049 deg,
      approachRate: -0.916436 m/s,
      LOS rate: -0.330096 deg/s,
      cmd update: -0.990287 deg/s,
      cmd heading: 34.576230 deg,
      new cmd heading: 34.356714 deg.

2021-02-16T16:39:04.192Z,1613493544.192 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:04.989Z,1613493544.989 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:05.402Z,1613493545.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:06.222Z,1613493546.222 [Micromodem](INFO): Nmea in: $SNTTA,0.013982,,0.028639,,163906.38*59

2021-02-16T16:39:06.267Z,1613493546.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.759998 m, bearing: 32.376989 deg, deltaT: 4.496007 s, approachRate: -0.733985 m/s, LOS rate: -0.003350 deg/s, posRepo size: 4
2021-02-16T16:39:06.270Z,1613493546.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.759998 m,
      bearing: 32.376989 deg,
      approachRate: -0.733985 m/s,
      LOS rate: -0.003350 deg/s,
      cmd update: -0.010049 deg/s,
      cmd heading: 30.127836 deg,
      new cmd heading: 29.720029 deg.

2021-02-16T16:39:07.846Z,1613493547.846 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:39:08.681Z,1613493548.681 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:09.437Z,1613493549.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:09.834Z,1613493549.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:10.664Z,1613493550.664 [Micromodem](INFO): Nmea in: $SNTTA,0.011815,,,,163910.83*4B

2021-02-16T16:39:10.738Z,1613493550.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 17.459999 m, bearing: 33.997717 deg, deltaT: 4.392013 s, approachRate: -0.751364 m/s, LOS rate: 0.369017 deg/s, posRepo size: 4
2021-02-16T16:39:10.745Z,1613493550.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.459999 m,
      bearing: 33.997717 deg,
      approachRate: -0.751364 m/s,
      LOS rate: 0.369017 deg/s,
      cmd update: 1.107052 deg/s,
      cmd heading: 30.083659 deg,
      new cmd heading: 30.078757 deg.

2021-02-16T16:39:12.770Z,1613493552.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:13.468Z,1613493553.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:13.875Z,1613493553.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:14.748Z,1613493554.748 [Micromodem](INFO): Nmea in: $SNTTA,0.010063,,,,163914.86*42

2021-02-16T16:39:14.809Z,1613493554.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 14.879999 m, bearing: 35.448450 deg, deltaT: 4.073849 s, approachRate: -0.633308 m/s, LOS rate: 0.356108 deg/s, posRepo size: 4
2021-02-16T16:39:14.810Z,1613493554.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 35.448450 deg,
      approachRate: -0.633308 m/s,
      LOS rate: 0.356108 deg/s,
      cmd update: 1.068325 deg/s,
      cmd heading: 34.589252 deg,
      new cmd heading: 35.129473 deg.

2021-02-16T16:39:17.120Z,1613493557.120 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:17.935Z,1613493557.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:18.323Z,1613493558.323 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:19.156Z,1613493559.156 [Micromodem](INFO): Nmea in: $SNTTA,0.007999,,0.018074,,163919.33*5F

2021-02-16T16:39:19.204Z,1613493559.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.759997 m, bearing: 35.912277 deg, deltaT: 4.478701 s, approachRate: -0.696631 m/s, LOS rate: 0.103563 deg/s, posRepo size: 4
2021-02-16T16:39:19.205Z,1613493559.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 35.912277 deg,
      approachRate: -0.696631 m/s,
      LOS rate: 0.103563 deg/s,
      cmd update: 0.310689 deg/s,
      cmd heading: 39.373901 deg,
      new cmd heading: 39.784467 deg.

2021-02-16T16:39:21.591Z,1613493561.591 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:22.358Z,1613493562.358 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:22.767Z,1613493562.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:23.596Z,1613493563.596 [Micromodem](INFO): Nmea in: $SNTTA,0.006150,,0.008893,,163923.75*58

2021-02-16T16:39:23.648Z,1613493563.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.939999 m, bearing: 36.701356 deg, deltaT: 4.413633 s, approachRate: -0.638929 m/s, LOS rate: 0.178782 deg/s, posRepo size: 4
2021-02-16T16:39:23.650Z,1613493563.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 36.701356 deg,
      approachRate: -0.638929 m/s,
      LOS rate: 0.178782 deg/s,
      cmd update: 0.536346 deg/s,
      cmd heading: 40.739690 deg,
      new cmd heading: 40.880271 deg.

2021-02-16T16:39:26.032Z,1613493566.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:26.800Z,1613493566.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:27.217Z,1613493567.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:28.028Z,1613493568.028 [Micromodem](INFO): Nmea in: $SNTTA,0.004100,,,,163928.19*4A

2021-02-16T16:39:28.074Z,1613493568.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.940001 m, bearing: 35.673668 deg, deltaT: 4.444737 s, approachRate: -0.674955 m/s, LOS rate: -0.231214 deg/s, posRepo size: 4
2021-02-16T16:39:28.076Z,1613493568.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 35.673668 deg,
      approachRate: -0.674955 m/s,
      LOS rate: -0.231214 deg/s,
      cmd update: -0.693643 deg/s,
      cmd heading: 43.135226 deg,
      new cmd heading: 43.356625 deg.

2021-02-16T16:39:30.475Z,1613493570.475 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:31.249Z,1613493571.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:31.669Z,1613493571.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:32.476Z,1613493572.476 [Micromodem](INFO): Nmea in: $SNTTA,0.002545,,,,163932.64*48

2021-02-16T16:39:32.512Z,1613493572.512 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:39:32.512Z,1613493572.512 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:39:32.512Z,1613493572.512 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.599999 m 
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:39:32.513Z,1613493572.513 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:39:32.516Z,1613493572.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.599999 m, bearing: 30.256813 deg, deltaT: 4.426104 s, approachRate: -0.528682 m/s, LOS rate: -1.223843 deg/s, posRepo size: 4
2021-02-16T16:39:32.517Z,1613493572.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.599999 m,
      bearing: 30.256813 deg,
      approachRate: -0.528682 m/s,
      LOS rate: -1.223843 deg/s,
      cmd update: -3.671528 deg/s,
      cmd heading: 40.076188 deg,
      new cmd heading: 39.768309 deg.

2021-02-16T16:39:32.901Z,1613493572.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T163932: (41.552319, -70.708603)
2021-02-16T16:39:32.901Z,1613493572.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:39:32.901Z,1613493572.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:39:32.901Z,1613493572.901 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:39:32.902Z,1613493572.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:39:32.902Z,1613493572.902 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:39:32.902Z,1613493572.902 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:39:32.902Z,1613493572.902 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:39:32.902Z,1613493572.902 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:39:33.740Z,1613493573.740 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:39:34.943Z,1613493574.943 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:35.703Z,1613493575.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:36.094Z,1613493576.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:36.934Z,1613493576.934 [Micromodem](INFO): Nmea in: $SNTTA,0.002729,,,,163937.10*46

2021-02-16T16:39:37.011Z,1613493577.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.959999 m, bearing: 19.048018 deg, deltaT: 4.422558 s, approachRate: 0.081401 m/s, LOS rate: -2.534460 deg/s, posRepo size: 4
2021-02-16T16:39:37.013Z,1613493577.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.959999 m,
      bearing: 19.048018 deg,
      approachRate: 0.081401 m/s,
      LOS rate: -2.534460 deg/s,
      cmd update: -7.603379 deg/s,
      cmd heading: 23.780359 deg,
      new cmd heading: 21.942216 deg.

2021-02-16T16:39:39.351Z,1613493579.351 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:40.155Z,1613493580.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:40.538Z,1613493580.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:41.379Z,1613493581.379 [Micromodem](INFO): Nmea in: $SNTTA,0.004142,,,,163941.55*4B

2021-02-16T16:39:41.394Z,1613493581.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.300001 m, bearing: 22.661000 deg, deltaT: 4.496314 s, approachRate: 0.520427 m/s, LOS rate: 0.803543 deg/s, posRepo size: 4
2021-02-16T16:39:41.396Z,1613493581.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 22.661000 deg,
      approachRate: 0.520427 m/s,
      LOS rate: 0.803543 deg/s,
      cmd update: 2.410629 deg/s,
      cmd heading: 349.622729 deg,
      new cmd heading: 346.644987 deg.

2021-02-16T16:39:43.817Z,1613493583.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:44.593Z,1613493584.593 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:44.982Z,1613493584.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:45.836Z,1613493585.836 [Micromodem](INFO): Nmea in: $SNTTA,0.005398,,0.032666,,163945.99*52

2021-02-16T16:39:45.885Z,1613493585.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.219998 m, bearing: 342.816784 deg, deltaT: 4.392292 s, approachRate: 0.437129 m/s, LOS rate: -9.071397 deg/s, posRepo size: 4
2021-02-16T16:39:45.887Z,1613493585.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 342.816784 deg,
      approachRate: 0.437129 m/s,
      LOS rate: -9.071397 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 0.220541 deg,
      new cmd heading: 1.393208 deg.

2021-02-16T16:39:48.238Z,1613493588.238 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:49.026Z,1613493589.026 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:49.062Z,1613493589.062 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:39:49.426Z,1613493589.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:50.252Z,1613493590.252 [Micromodem](INFO): Nmea in: $SNTTA,0.007203,,,,163950.42*48

2021-02-16T16:39:50.275Z,1613493590.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 10.920002 m, bearing: 19.545963 deg, deltaT: 4.504453 s, approachRate: 0.599408 m/s, LOS rate: 8.153969 deg/s, posRepo size: 4
2021-02-16T16:39:50.277Z,1613493590.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.920002 m,
      bearing: 19.545963 deg,
      approachRate: 0.599408 m/s,
      LOS rate: 8.153969 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 306.455464 deg,
      new cmd heading: 301.720132 deg.

2021-02-16T16:39:52.747Z,1613493592.747 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:53.086Z,1613493593.086 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T16:39:53.464Z,1613493593.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:53.887Z,1613493593.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:54.700Z,1613493594.700 [Micromodem](INFO): Nmea in: $SNTTA,0.008740,,,,163954.85*4A

2021-02-16T16:39:54.778Z,1613493594.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.260000 m, bearing: 357.810607 deg, deltaT: 4.419266 s, approachRate: 0.529499 m/s, LOS rate: -4.918316 deg/s, posRepo size: 4
2021-02-16T16:39:54.778Z,1613493594.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.26 m. Rolling out.
2021-02-16T16:39:54.778Z,1613493594.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:39:57.130Z,1613493597.130 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:39:57.925Z,1613493597.925 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:39:58.034Z,1613493598.034 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T16:39:58.327Z,1613493598.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:39:59.155Z,1613493599.155 [Micromodem](INFO): Nmea in: $SNTTA,0.010362,,,,163959.32*46

2021-02-16T16:39:59.174Z,1613493599.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 344.431413 deg, deltaT: 4.453108 s, approachRate: 0.552423 m/s, LOS rate: -3.004462 deg/s, posRepo size: 4
2021-02-16T16:40:01.624Z,1613493601.624 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:02.360Z,1613493602.360 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:02.759Z,1613493602.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:02.810Z,1613493602.810 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:40:03.593Z,1613493603.593 [Micromodem](INFO): Nmea in: $SNTTA,0.011951,,,,164003.75*4F

2021-02-16T16:40:03.664Z,1613493603.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.120001 m, bearing: 306.195031 deg, deltaT: 4.398550 s, approachRate: 0.545635 m/s, LOS rate: -8.692952 deg/s, posRepo size: 4
2021-02-16T16:40:04.016Z,1613493604.016 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:40:05.678Z,1613493605.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:06.398Z,1613493606.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:06.813Z,1613493606.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:07.643Z,1613493607.643 [Micromodem](INFO): Nmea in: $SNTTA,0.013646,,,,164007.79*4C

2021-02-16T16:40:07.649Z,1613493607.649 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:40:07.666Z,1613493607.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.580000 m, bearing: 359.098234 deg, deltaT: 4.040269 s, approachRate: 0.608870 m/s, LOS rate: 13.093981 deg/s, posRepo size: 4
2021-02-16T16:40:08.859Z,1613493608.859 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T16:40:10.068Z,1613493610.068 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:10.842Z,1613493610.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:11.241Z,1613493611.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:12.076Z,1613493612.076 [Micromodem](INFO): Nmea in: $SNTTA,0.015615,,,,164012.23*47

2021-02-16T16:40:12.121Z,1613493612.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.519997 m, bearing: 359.749151 deg, deltaT: 4.470076 s, approachRate: 0.657706 m/s, LOS rate: 0.145617 deg/s, posRepo size: 4
2021-02-16T16:40:12.898Z,1613493612.898 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T16:40:14.509Z,1613493614.509 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:15.289Z,1613493615.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:15.689Z,1613493615.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:16.516Z,1613493616.516 [Micromodem](INFO): Nmea in: $SNTTA,0.017427,,,,164016.68*4D

2021-02-16T16:40:16.553Z,1613493616.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.219999 m, bearing: 2.509087 deg, deltaT: 4.417919 s, approachRate: 0.611148 m/s, LOS rate: 0.624713 deg/s, posRepo size: 4
2021-02-16T16:40:18.927Z,1613493618.927 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:40:18.962Z,1613493618.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:19.737Z,1613493619.737 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:20.135Z,1613493620.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:20.960Z,1613493620.960 [Micromodem](INFO): Nmea in: $SNTTA,0.019493,,,,164021.13*44

2021-02-16T16:40:21.008Z,1613493621.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.399998 m, bearing: 14.039034 deg, deltaT: 4.443673 s, approachRate: 0.715624 m/s, LOS rate: 2.594688 deg/s, posRepo size: 4
2021-02-16T16:40:22.989Z,1613493622.989 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T16:40:23.384Z,1613493623.384 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:24.174Z,1613493624.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:24.597Z,1613493624.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:25.400Z,1613493625.400 [Micromodem](INFO): Nmea in: $SNTTA,0.021455,,,,164025.57*41

2021-02-16T16:40:25.433Z,1613493625.433 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.279999 m, bearing: 8.198818 deg, deltaT: 4.474807 s, approachRate: 0.643603 m/s, LOS rate: -1.305132 deg/s, posRepo size: 4
2021-02-16T16:40:27.885Z,1613493627.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:28.629Z,1613493628.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:29.023Z,1613493629.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:29.852Z,1613493629.852 [Micromodem](INFO): Nmea in: $SNTTA,0.023748,,,,164030.02*48

2021-02-16T16:40:29.887Z,1613493629.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.760002 m, bearing: 7.658491 deg, deltaT: 4.418471 s, approachRate: 0.787604 m/s, LOS rate: -0.122288 deg/s, posRepo size: 4
2021-02-16T16:40:32.284Z,1613493632.284 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:33.056Z,1613493633.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:33.462Z,1613493633.462 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:34.293Z,1613493634.293 [Micromodem](INFO): Nmea in: $SNTTA,0.025919,,0.032875,,164034.45*56

2021-02-16T16:40:34.333Z,1613493634.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.999996 m, bearing: 10.316232 deg, deltaT: 4.483541 s, approachRate: 0.722642 m/s, LOS rate: 0.592777 deg/s, posRepo size: 4
2021-02-16T16:40:36.766Z,1613493636.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:37.506Z,1613493637.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:37.908Z,1613493637.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:38.740Z,1613493638.740 [Micromodem](INFO): Nmea in: $SNTTA,0.028189,,,,164038.90*4B

2021-02-16T16:40:38.817Z,1613493638.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.419998 m, bearing: 10.113541 deg, deltaT: 4.425862 s, approachRate: 0.772731 m/s, LOS rate: -0.045797 deg/s, posRepo size: 4
2021-02-16T16:40:41.163Z,1613493641.163 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:41.962Z,1613493641.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:42.350Z,1613493642.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:43.192Z,1613493643.192 [Micromodem](INFO): Nmea in: $SNTTA,0.030550,,,,164043.35*41

2021-02-16T16:40:43.234Z,1613493643.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 45.959999 m, bearing: 7.789183 deg, deltaT: 4.480314 s, approachRate: 0.790123 m/s, LOS rate: -0.518794 deg/s, posRepo size: 4
2021-02-16T16:40:45.642Z,1613493645.642 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:46.389Z,1613493646.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:46.794Z,1613493646.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:47.640Z,1613493647.640 [Micromodem](INFO): Nmea in: $SNTTA,0.032796,,,,164047.78*46

2021-02-16T16:40:47.708Z,1613493647.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.259998 m, bearing: 8.834722 deg, deltaT: 4.394594 s, approachRate: 0.750922 m/s, LOS rate: 0.237915 deg/s, posRepo size: 4
2021-02-16T16:40:50.054Z,1613493650.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:50.832Z,1613493650.832 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:51.244Z,1613493651.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:52.060Z,1613493652.060 [Micromodem](INFO): Nmea in: $SNTTA,0.034990,,,,164052.22*43

2021-02-16T16:40:52.102Z,1613493652.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.559998 m, bearing: 0.224738 deg, deltaT: 4.463834 s, approachRate: 0.739275 m/s, LOS rate: -1.928832 deg/s, posRepo size: 4
2021-02-16T16:40:54.489Z,1613493654.489 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:55.282Z,1613493655.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:40:55.693Z,1613493655.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:40:56.515Z,1613493656.515 [Micromodem](INFO): Nmea in: $SNTTA,0.037116,,,,164056.67*43

2021-02-16T16:40:56.534Z,1613493656.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.799995 m, bearing: 357.464371 deg, deltaT: 4.428195 s, approachRate: 0.731675 m/s, LOS rate: -0.623362 deg/s, posRepo size: 4
2021-02-16T16:40:58.953Z,1613493658.953 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:40:59.738Z,1613493659.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:00.127Z,1613493660.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:00.972Z,1613493660.972 [Micromodem](INFO): Nmea in: $SNTTA,0.039162,,,,164101.13*4E

2021-02-16T16:41:01.023Z,1613493661.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.860004 m, bearing: 13.045854 deg, deltaT: 4.434283 s, approachRate: 0.690080 m/s, LOS rate: 3.513867 deg/s, posRepo size: 4
2021-02-16T16:41:03.378Z,1613493663.378 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:04.169Z,1613493664.169 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:04.574Z,1613493664.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:05.396Z,1613493665.396 [Micromodem](INFO): Nmea in: $SNTTA,0.041075,,0.051993,,164105.56*5A

2021-02-16T16:41:05.438Z,1613493665.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.740002 m, bearing: 21.821544 deg, deltaT: 4.493049 s, approachRate: 0.640989 m/s, LOS rate: 1.953170 deg/s, posRepo size: 4
2021-02-16T16:41:07.851Z,1613493667.851 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:08.631Z,1613493668.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:09.035Z,1613493669.035 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:09.852Z,1613493669.852 [Micromodem](INFO): Nmea in: $SNTTA,0.043197,,,,164110.02*49

2021-02-16T16:41:09.906Z,1613493669.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 5.252634 deg, deltaT: 4.398504 s, approachRate: 0.750255 m/s, LOS rate: -3.766942 deg/s, posRepo size: 4
2021-02-16T16:41:12.300Z,1613493672.300 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:13.053Z,1613493673.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:13.476Z,1613493673.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:14.297Z,1613493674.297 [Micromodem](INFO): Nmea in: $SNTTA,0.045471,,,,164114.45*45

2021-02-16T16:41:14.332Z,1613493674.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 1.399135 deg, deltaT: 4.477228 s, approachRate: 0.737064 m/s, LOS rate: -0.860689 deg/s, posRepo size: 4
2021-02-16T16:41:16.770Z,1613493676.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:17.526Z,1613493677.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:17.907Z,1613493677.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:18.757Z,1613493678.757 [Micromodem](INFO): Nmea in: $SNTTA,0.047608,,,,164118.92*4D

2021-02-16T16:41:18.812Z,1613493678.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.519997 m, bearing: 11.633616 deg, deltaT: 4.414697 s, approachRate: 0.720320 m/s, LOS rate: 2.318275 deg/s, posRepo size: 4
2021-02-16T16:41:21.152Z,1613493681.152 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:21.956Z,1613493681.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:22.346Z,1613493682.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:23.184Z,1613493683.184 [Micromodem](INFO): Nmea in: $SNTTA,0.049735,0.071560,,,164123.35*52

2021-02-16T16:41:23.226Z,1613493683.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.700005 m, bearing: 1.725478 deg, deltaT: 4.494704 s, approachRate: 0.707501 m/s, LOS rate: -2.204403 deg/s, posRepo size: 4
2021-02-16T16:41:25.655Z,1613493685.655 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:26.389Z,1613493686.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:26.789Z,1613493686.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:27.644Z,1613493687.644 [Micromodem](INFO): Nmea in: $SNTTA,0.051811,,,,164127.78*44

2021-02-16T16:41:27.669Z,1613493687.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.820000 m, bearing: 358.975509 deg, deltaT: 4.417211 s, approachRate: 0.706327 m/s, LOS rate: -0.622556 deg/s, posRepo size: 4
2021-02-16T16:41:30.062Z,1613493690.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:30.845Z,1613493690.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:31.240Z,1613493691.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:32.068Z,1613493692.068 [Micromodem](INFO): Nmea in: $SNTTA,0.053829,,,,164132.24*40

2021-02-16T16:41:32.098Z,1613493692.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.880005 m, bearing: 6.418222 deg, deltaT: 4.431152 s, approachRate: 0.690567 m/s, LOS rate: 1.679633 deg/s, posRepo size: 4
2021-02-16T16:41:34.481Z,1613493694.481 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:35.276Z,1613493695.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:35.698Z,1613493695.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:36.511Z,1613493696.511 [Micromodem](INFO): Nmea in: $SNTTA,0.055871,0.123949,,,164136.67*52

2021-02-16T16:41:36.530Z,1613493696.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.000000 m, bearing: 3.638831 deg, deltaT: 4.428483 s, approachRate: 0.704529 m/s, LOS rate: -0.627617 deg/s, posRepo size: 4
2021-02-16T16:41:38.968Z,1613493698.968 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:39.738Z,1613493699.738 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:40.123Z,1613493700.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:40.960Z,1613493700.960 [Micromodem](INFO): Nmea in: $SNTTA,0.057956,,,,164141.13*4D

2021-02-16T16:41:41.045Z,1613493701.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 87.120003 m, bearing: 20.771782 deg, deltaT: 4.433225 s, approachRate: 0.703777 m/s, LOS rate: 3.864670 deg/s, posRepo size: 4
2021-02-16T16:41:43.372Z,1613493703.372 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:44.172Z,1613493704.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:44.574Z,1613493704.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:45.396Z,1613493705.396 [Micromodem](INFO): Nmea in: $SNTTA,0.060233,,,,164145.57*45

2021-02-16T16:41:45.450Z,1613493705.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 90.540001 m, bearing: 12.844920 deg, deltaT: 4.487163 s, approachRate: 0.762174 m/s, LOS rate: -1.766564 deg/s, posRepo size: 4
2021-02-16T16:41:47.887Z,1613493707.887 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:48.630Z,1613493708.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:49.016Z,1613493709.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:49.852Z,1613493709.852 [Micromodem](INFO): Nmea in: $SNTTA,0.062197,,,,164150.02*4E

2021-02-16T16:41:49.911Z,1613493709.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.480003 m, bearing: 7.617114 deg, deltaT: 4.421797 s, approachRate: 0.664889 m/s, LOS rate: -1.182281 deg/s, posRepo size: 4
2021-02-16T16:41:52.261Z,1613493712.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:53.048Z,1613493713.048 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:53.464Z,1613493713.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:54.277Z,1613493714.277 [Micromodem](INFO): Nmea in: $SNTTA,0.064285,,,,164154.44*4E

2021-02-16T16:41:54.314Z,1613493714.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.660004 m, bearing: 7.436127 deg, deltaT: 4.456582 s, approachRate: 0.713551 m/s, LOS rate: -0.040611 deg/s, posRepo size: 4
2021-02-16T16:41:56.766Z,1613493716.766 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:41:57.496Z,1613493717.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:41:57.903Z,1613493717.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:41:58.748Z,1613493718.748 [Micromodem](INFO): Nmea in: $SNTTA,0.066394,,,,164158.89*40

2021-02-16T16:41:58.796Z,1613493718.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.779999 m, bearing: 358.029418 deg, deltaT: 4.418081 s, approachRate: 0.706188 m/s, LOS rate: -2.129141 deg/s, posRepo size: 4
2021-02-16T16:42:01.176Z,1613493721.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:01.936Z,1613493721.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:02.342Z,1613493722.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:03.168Z,1613493723.168 [Micromodem](INFO): Nmea in: $SNTTA,0.068615,,0.073429,,164203.33*5B

2021-02-16T16:42:03.190Z,1613493723.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 103.020004 m, bearing: 5.346766 deg, deltaT: 4.535992 s, approachRate: 0.714288 m/s, LOS rate: 1.613172 deg/s, posRepo size: 4
2021-02-16T16:42:05.635Z,1613493725.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:06.388Z,1613493726.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:06.805Z,1613493726.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:07.642Z,1613493727.642 [Micromodem](INFO): Nmea in: $SNTTA,0.070505,,,,164207.78*4E

2021-02-16T16:42:07.667Z,1613493727.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.900002 m, bearing: 9.798688 deg, deltaT: 4.349409 s, approachRate: 0.662158 m/s, LOS rate: 1.023569 deg/s, posRepo size: 4
2021-02-16T16:42:10.057Z,1613493730.057 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:10.824Z,1613493730.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:11.230Z,1613493731.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:12.052Z,1613493732.052 [Micromodem](INFO): Nmea in: $SNTTA,0.072561,,,,164212.22*45

2021-02-16T16:42:12.105Z,1613493732.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.020004 m, bearing: 9.192961 deg, deltaT: 4.522617 s, approachRate: 0.689867 m/s, LOS rate: -0.133933 deg/s, posRepo size: 4
2021-02-16T16:42:14.484Z,1613493734.484 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:15.270Z,1613493735.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:15.675Z,1613493735.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:16.496Z,1613493736.496 [Micromodem](INFO): Nmea in: $SNTTA,0.074690,,,,164216.66*4A

2021-02-16T16:42:16.530Z,1613493736.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.260002 m, bearing: 9.706939 deg, deltaT: 4.382344 s, approachRate: 0.739330 m/s, LOS rate: 0.117284 deg/s, posRepo size: 4
2021-02-16T16:42:18.962Z,1613493738.962 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:19.747Z,1613493739.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:20.151Z,1613493740.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:20.968Z,1613493740.968 [Micromodem](INFO): Nmea in: $SNTTA,0.076885,,,,164221.14*43

2021-02-16T16:42:21.031Z,1613493741.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 9.133151 deg, deltaT: 4.442517 s, approachRate: 0.742823 m/s, LOS rate: -0.129159 deg/s, posRepo size: 4
2021-02-16T16:42:23.416Z,1613493743.416 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:24.165Z,1613493744.165 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:24.751Z,1613493744.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:25.434Z,1613493745.434 [Micromodem](INFO): Nmea in: $SNTTA,0.079087,,,,164225.56*44

2021-02-16T16:42:25.454Z,1613493745.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.740005 m, bearing: 8.154512 deg, deltaT: 4.476704 s, approachRate: 0.710344 m/s, LOS rate: -0.218607 deg/s, posRepo size: 4
2021-02-16T16:42:27.878Z,1613493747.878 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:28.629Z,1613493748.629 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:29.023Z,1613493749.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:29.852Z,1613493749.852 [Micromodem](INFO): Nmea in: $SNTTA,0.081334,,,,164230.02*4D

2021-02-16T16:42:29.902Z,1613493749.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.160004 m, bearing: 3.601626 deg, deltaT: 4.412618 s, approachRate: 0.775050 m/s, LOS rate: -1.031788 deg/s, posRepo size: 4
2021-02-16T16:42:32.261Z,1613493752.261 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:33.053Z,1613493753.053 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:33.464Z,1613493753.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:34.285Z,1613493754.285 [Micromodem](INFO): Nmea in: $SNTTA,0.083444,,,,164234.44*49

2021-02-16T16:42:34.332Z,1613493754.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.340004 m, bearing: 12.989086 deg, deltaT: 4.477396 s, approachRate: 0.710234 m/s, LOS rate: 2.096634 deg/s, posRepo size: 4
2021-02-16T16:42:36.790Z,1613493756.790 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:37.504Z,1613493757.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:37.907Z,1613493757.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:38.780Z,1613493758.780 [Micromodem](INFO): Nmea in: $SNTTA,0.085552,,,,164238.90*4C

2021-02-16T16:42:38.846Z,1613493758.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.520004 m, bearing: 11.949960 deg, deltaT: 4.527153 s, approachRate: 0.702428 m/s, LOS rate: -0.229532 deg/s, posRepo size: 4
2021-02-16T16:42:41.166Z,1613493761.166 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:41.949Z,1613493761.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:42.350Z,1613493762.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:43.180Z,1613493763.180 [Micromodem](INFO): Nmea in: $SNTTA,0.087718,,,,164243.34*40

2021-02-16T16:42:43.222Z,1613493763.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.759995 m, bearing: 5.676907 deg, deltaT: 4.376843 s, approachRate: 0.740257 m/s, LOS rate: -1.433237 deg/s, posRepo size: 4
2021-02-16T16:42:45.683Z,1613493765.683 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:46.389Z,1613493766.389 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:46.795Z,1613493766.795 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:47.640Z,1613493767.640 [Micromodem](INFO): Nmea in: $SNTTA,0.089871,,,,164247.78*42

2021-02-16T16:42:47.684Z,1613493767.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 135.000000 m, bearing: 3.488285 deg, deltaT: 4.386329 s, approachRate: 0.738660 m/s, LOS rate: -0.498964 deg/s, posRepo size: 4
2021-02-16T16:42:50.070Z,1613493770.070 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:50.849Z,1613493770.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:51.247Z,1613493771.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:52.104Z,1613493772.104 [Micromodem](INFO): Nmea in: $SNTTA,0.092120,,,,164252.24*48

2021-02-16T16:42:52.134Z,1613493772.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.300003 m, bearing: 12.109307 deg, deltaT: 4.635505 s, approachRate: 0.711897 m/s, LOS rate: 1.859780 deg/s, posRepo size: 4
2021-02-16T16:42:54.507Z,1613493774.507 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:42:55.338Z,1613493775.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:42:55.705Z,1613493775.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:42:56.904Z,1613493776.904 [Micromodem](INFO): Nmea in: $SNTTA,0.094187,,,,164256.73*45

2021-02-16T16:42:56.938Z,1613493776.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.420013 m, bearing: 11.499814 deg, deltaT: 4.704247 s, approachRate: 0.663233 m/s, LOS rate: -0.129562 deg/s, posRepo size: 4
2021-02-16T16:42:59.364Z,1613493779.364 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:00.124Z,1613493780.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:00.540Z,1613493780.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:01.368Z,1613493781.368 [Micromodem](INFO): Nmea in: $SNTTA,0.096544,,,,164301.52*4C

2021-02-16T16:43:01.390Z,1613493781.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.959991 m, bearing: 11.093253 deg, deltaT: 4.425589 s, approachRate: 0.799889 m/s, LOS rate: -0.091866 deg/s, posRepo size: 4
2021-02-16T16:43:03.817Z,1613493783.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:04.641Z,1613493784.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:05.071Z,1613493785.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:05.878Z,1613493785.878 [Micromodem](INFO): Nmea in: $SNTTA,0.098874,,,,164306.08*44

2021-02-16T16:43:05.955Z,1613493785.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 148.500000 m, bearing: 6.797372 deg, deltaT: 4.557176 s, approachRate: 0.776799 m/s, LOS rate: -0.942663 deg/s, posRepo size: 4
2021-02-16T16:43:08.265Z,1613493788.265 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:09.040Z,1613493789.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:09.447Z,1613493789.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:10.269Z,1613493790.269 [Micromodem](INFO): Nmea in: $SNTTA,0.100750,,,,164310.43*45

2021-02-16T16:43:10.290Z,1613493790.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.320007 m, bearing: 8.072751 deg, deltaT: 4.380269 s, approachRate: 0.643798 m/s, LOS rate: 0.291165 deg/s, posRepo size: 4
2021-02-16T16:43:10.291Z,1613493790.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 151.32 m. Resuming terminal guidance.
2021-02-16T16:43:10.291Z,1613493790.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:43:12.746Z,1613493792.746 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:13.485Z,1613493793.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:13.891Z,1613493793.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:14.742Z,1613493794.742 [Micromodem](INFO): Nmea in: $SNTTA,0.102890,,,,164314.88*47

2021-02-16T16:43:14.776Z,1613493794.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.500015 m, bearing: 20.480717 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:43:14.777Z,1613493794.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 20.480717deg and heading rate command to 0 deg/s.
2021-02-16T16:43:17.144Z,1613493797.144 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:17.946Z,1613493797.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:18.401Z,1613493798.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:19.188Z,1613493799.188 [Micromodem](INFO): Nmea in: $SNTTA,0.104995,,,,164319.34*4F

2021-02-16T16:43:19.210Z,1613493799.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 158.460007 m, bearing: 15.316136 deg, deltaT: 4.554525 s, approachRate: 0.869463 m/s, LOS rate: -1.133945 deg/s, posRepo size: 2
2021-02-16T16:43:19.235Z,1613493799.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.460007 m,
      bearing: 15.316136 deg,
      approachRate: 0.869463 m/s,
      LOS rate: -1.133945 deg/s,
      cmd update: -3.401835 deg/s,
      cmd heading: 20.480717 deg,
      new cmd heading: 20.480717 deg.

2021-02-16T16:43:21.609Z,1613493801.609 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:22.373Z,1613493802.373 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:22.797Z,1613493802.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:23.636Z,1613493803.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164323.76*5E

2021-02-16T16:43:23.660Z,1613493803.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.920013 m, bearing: 57.133105 deg, deltaT: 4.330072 s, approachRate: 0.568121 m/s, LOS rate: 9.657338 deg/s, posRepo size: 3
2021-02-16T16:43:23.662Z,1613493803.662 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 57.133105 deg,
      approachRate: 0.568121 m/s,
      LOS rate: 9.657338 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 5.766511 deg,
      new cmd heading: 4.265234 deg.

2021-02-16T16:43:26.054Z,1613493806.054 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:26.821Z,1613493806.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:27.234Z,1613493807.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:28.071Z,1613493808.071 [Micromodem](INFO): Nmea in: $SNTTA,0.109852,,,,164328.21*4E

2021-02-16T16:43:28.103Z,1613493808.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.160004 m, bearing: 52.177366 deg, deltaT: 4.461377 s, approachRate: 0.726231 m/s, LOS rate: -1.110809 deg/s, posRepo size: 4
2021-02-16T16:43:28.105Z,1613493808.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.160004 m,
      bearing: 52.177366 deg,
      approachRate: 0.726231 m/s,
      LOS rate: -1.110809 deg/s,
      cmd update: -3.332428 deg/s,
      cmd heading: 59.353653 deg,
      new cmd heading: 64.372029 deg.

2021-02-16T16:43:30.468Z,1613493810.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:31.274Z,1613493811.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:31.763Z,1613493811.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:32.580Z,1613493812.580 [Micromodem](INFO): Nmea in: $SNTTA,0.111572,,,,164332.67*41

2021-02-16T16:43:32.619Z,1613493812.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.220001 m, bearing: 63.864878 deg, deltaT: 4.459025 s, approachRate: 0.686248 m/s, LOS rate: 2.621091 deg/s, posRepo size: 4
2021-02-16T16:43:32.621Z,1613493812.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 63.864878 deg,
      approachRate: 0.686248 m/s,
      LOS rate: 2.621091 deg/s,
      cmd update: 7.863274 deg/s,
      cmd heading: 44.503061 deg,
      new cmd heading: 42.910174 deg.

2021-02-16T16:43:34.664Z,1613493814.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:35.306Z,1613493815.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:35.728Z,1613493815.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:36.541Z,1613493816.541 [Micromodem](INFO): Nmea in: $SNTTA,0.113050,,,,164336.70*44

2021-02-16T16:43:36.621Z,1613493816.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.220001 m, bearing: 40.109323 deg, deltaT: 3.990279 s, approachRate: 0.000000 m/s, LOS rate: -5.953357 deg/s, posRepo size: 4
2021-02-16T16:43:36.623Z,1613493816.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.220001 m,
      bearing: 40.109323 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -5.953357 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 75.894745 deg,
      new cmd heading: 79.729215 deg.

2021-02-16T16:43:38.977Z,1613493818.977 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:39.772Z,1613493819.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:40.151Z,1613493820.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:40.985Z,1613493820.985 [Micromodem](INFO): Nmea in: $SNTTA,0.114528,,,,164341.16*49

2021-02-16T16:43:41.403Z,1613493821.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.960007 m, bearing: 71.951419 deg, deltaT: 4.911179 s, approachRate: 0.965146 m/s, LOS rate: 6.483595 deg/s, posRepo size: 4
2021-02-16T16:43:41.405Z,1613493821.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.960007 m,
      bearing: 71.951419 deg,
      approachRate: 0.965146 m/s,
      LOS rate: 6.483595 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.945799 deg,
      new cmd heading: 12.661247 deg.

2021-02-16T16:43:43.848Z,1613493823.848 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:44.623Z,1613493824.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:45.012Z,1613493825.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:45.868Z,1613493825.868 [Micromodem](INFO): Nmea in: $SNTTA,0.115844,,,0.118337,164346.01*5F

2021-02-16T16:43:45.911Z,1613493825.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.759995 m, bearing: 61.399576 deg, deltaT: 4.444641 s, approachRate: 0.404979 m/s, LOS rate: -2.374060 deg/s, posRepo size: 4
2021-02-16T16:43:45.913Z,1613493825.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.759995 m,
      bearing: 61.399576 deg,
      approachRate: 0.404979 m/s,
      LOS rate: -2.374060 deg/s,
      cmd update: -7.122179 deg/s,
      cmd heading: 70.282849 deg,
      new cmd heading: 75.328453 deg.

2021-02-16T16:43:48.254Z,1613493828.254 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:49.037Z,1613493829.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:49.449Z,1613493829.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:50.269Z,1613493830.269 [Micromodem](INFO): Nmea in: $SNTTA,0.117132,,,,164350.43*45

2021-02-16T16:43:50.326Z,1613493830.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 173.759995 m, bearing: 60.009257 deg, deltaT: 4.431246 s, approachRate: 0.000000 m/s, LOS rate: -0.313754 deg/s, posRepo size: 4
2021-02-16T16:43:50.333Z,1613493830.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.759995 m,
      bearing: 60.009257 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.313754 deg/s,
      cmd update: -0.941261 deg/s,
      cmd heading: 38.751352 deg,
      new cmd heading: 35.850439 deg.

2021-02-16T16:43:52.753Z,1613493832.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:53.500Z,1613493833.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:53.903Z,1613493833.903 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:54.735Z,1613493834.735 [Micromodem](INFO): Nmea in: $SNTTA,0.118770,,,,164354.89*48

2021-02-16T16:43:55.138Z,1613493835.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 59.560882 deg, deltaT: 4.884974 s, approachRate: 0.908913 m/s, LOS rate: -0.091786 deg/s, posRepo size: 4
2021-02-16T16:43:55.140Z,1613493835.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.200012 m,
      bearing: 59.560882 deg,
      approachRate: 0.908913 m/s,
      LOS rate: -0.091786 deg/s,
      cmd update: -0.275359 deg/s,
      cmd heading: 34.157093 deg,
      new cmd heading: 33.838028 deg.

2021-02-16T16:43:57.538Z,1613493837.538 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:43:58.329Z,1613493838.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:43:58.833Z,1613493838.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:43:59.597Z,1613493839.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164359.72*57

2021-02-16T16:43:59.631Z,1613493839.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 30.279236 deg, deltaT: 4.380511 s, approachRate: 0.000000 m/s, LOS rate: -6.684527 deg/s, posRepo size: 4
2021-02-16T16:43:59.633Z,1613493839.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.200012 m,
      bearing: 30.279236 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.684527 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 32.953186 deg,
      new cmd heading: 32.826392 deg.

2021-02-16T16:44:02.055Z,1613493842.055 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:02.781Z,1613493842.781 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:03.180Z,1613493843.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:04.008Z,1613493844.008 [Micromodem](INFO): Nmea in: $SNTTA,,,0.128174,,164404.17*4C

2021-02-16T16:44:04.063Z,1613493844.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 178.200012 m, bearing: 54.884050 deg, deltaT: 4.464684 s, approachRate: 0.000000 m/s, LOS rate: 5.510987 deg/s, posRepo size: 4
2021-02-16T16:44:04.065Z,1613493844.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.200012 m,
      bearing: 54.884050 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.510987 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.186165 deg,
      new cmd heading: 334.250085 deg.

2021-02-16T16:44:06.429Z,1613493846.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:07.222Z,1613493847.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:07.638Z,1613493847.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:08.440Z,1613493848.440 [Micromodem](INFO): Nmea in: $SNTTA,0.124433,,,,164408.61*4B

2021-02-16T16:44:08.885Z,1613493848.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 186.779999 m, bearing: 25.043379 deg, deltaT: 4.802769 s, approachRate: 1.786467 m/s, LOS rate: -6.213222 deg/s, posRepo size: 4
2021-02-16T16:44:08.887Z,1613493848.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.779999 m,
      bearing: 25.043379 deg,
      approachRate: 1.786467 m/s,
      LOS rate: -6.213222 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 36.824903 deg,
      new cmd heading: 41.993675 deg.

2021-02-16T16:44:11.291Z,1613493851.291 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:12.138Z,1613493852.138 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:12.479Z,1613493852.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:13.383Z,1613493853.383 [Micromodem](INFO): Nmea in: $SNTTA,0.126649,,,,164413.53*4D

2021-02-16T16:44:13.790Z,1613493853.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 190.080002 m, bearing: 347.172505 deg, deltaT: 4.943188 s, approachRate: 0.667586 m/s, LOS rate: -7.661225 deg/s, posRepo size: 4
2021-02-16T16:44:13.792Z,1613493853.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.080002 m,
      bearing: 347.172505 deg,
      approachRate: 0.667586 m/s,
      LOS rate: -7.661225 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 337.506177 deg,
      new cmd heading: 332.793465 deg.

2021-02-16T16:44:16.119Z,1613493856.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:16.914Z,1613493856.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:17.333Z,1613493857.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:18.149Z,1613493858.149 [Micromodem](INFO): Nmea in: $SNTTA,0.129332,,,,164418.30*45

2021-02-16T16:44:19.017Z,1613493859.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:20.558Z,1613493860.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:44:21.816Z,1613493861.816 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:22.577Z,1613493862.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:22.983Z,1613493862.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:23.795Z,1613493863.795 [Micromodem](INFO): Nmea in: $SNTTA,0.131412,,,,164423.97*4C

2021-02-16T16:44:24.229Z,1613493864.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 197.279984 m, bearing: 335.879306 deg, deltaT: 10.455847 s, approachRate: 0.688608 m/s, LOS rate: -1.080084 deg/s, posRepo size: 4
2021-02-16T16:44:24.233Z,1613493864.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.279984 m,
      bearing: 335.879306 deg,
      approachRate: 0.688608 m/s,
      LOS rate: -1.080084 deg/s,
      cmd update: -3.240253 deg/s,
      cmd heading: 212.325317 deg,
      new cmd heading: 207.529409 deg.

2021-02-16T16:44:26.801Z,1613493866.801 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:27.450Z,1613493867.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:27.847Z,1613493867.847 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:28.656Z,1613493868.656 [Micromodem](INFO): Nmea in: $SNTTA,0.133278,,,,164428.84*4D

2021-02-16T16:44:29.456Z,1613493869.456 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:31.056Z,1613493871.056 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:44:32.318Z,1613493872.318 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:33.088Z,1613493873.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:33.482Z,1613493873.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:34.308Z,1613493874.308 [Micromodem](INFO): Nmea in: $SNTTA,0.135393,,,,164434.48*42

2021-02-16T16:44:35.121Z,1613493875.121 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:36.738Z,1613493876.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:44:38.015Z,1613493878.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:38.742Z,1613493878.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:39.212Z,1613493879.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:39.973Z,1613493879.973 [Micromodem](INFO): Nmea in: $SNTTA,0.137072,,,,164440.13*41

2021-02-16T16:44:40.838Z,1613493880.838 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:42.367Z,1613493882.367 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:44:43.645Z,1613493883.645 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:44.396Z,1613493884.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:44.811Z,1613493884.811 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:45.640Z,1613493885.640 [Micromodem](INFO): Nmea in: $SNTTA,0.137205,,,,164445.79*4A

2021-02-16T16:44:46.077Z,1613493886.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 205.800003 m, bearing: 242.443193 deg, deltaT: 21.811281 s, approachRate: 0.390624 m/s, LOS rate: -4.283843 deg/s, posRepo size: 4
2021-02-16T16:44:46.078Z,1613493886.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 205.800003 m,
      bearing: 242.443193 deg,
      approachRate: 0.390624 m/s,
      LOS rate: -4.283843 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 141.573086 deg,
      new cmd heading: 140.239005 deg.

2021-02-16T16:44:48.458Z,1613493888.458 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:49.242Z,1613493889.242 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:49.642Z,1613493889.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:50.459Z,1613493890.459 [Micromodem](INFO): Nmea in: $SNTTA,0.137113,,,,164450.63*41

2021-02-16T16:44:50.906Z,1613493890.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 206.399979 m, bearing: 271.928327 deg, deltaT: 4.809119 s, approachRate: 0.124758 m/s, LOS rate: 6.131089 deg/s, posRepo size: 4
2021-02-16T16:44:50.908Z,1613493890.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.399979 m,
      bearing: 271.928327 deg,
      approachRate: 0.124758 m/s,
      LOS rate: 6.131089 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 83.864316 deg,
      new cmd heading: 78.677604 deg.

2021-02-16T16:44:52.992Z,1613493892.992 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:53.755Z,1613493893.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:54.131Z,1613493894.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:55.336Z,1613493895.336 [Micromodem](INFO): Nmea in: $SNTTA,0.136328,,,,164455.15*4E

2021-02-16T16:44:55.360Z,1613493895.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 204.359985 m, bearing: 169.823679 deg, deltaT: 4.525117 s, approachRate: -0.450816 m/s, LOS rate: -22.563979 deg/s, posRepo size: 4
2021-02-16T16:44:55.361Z,1613493895.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.563979 deg/s. Setting heading cmd to target bearing of 169.823679deg and heading rate command to 0 deg/s.
2021-02-16T16:44:57.770Z,1613493897.770 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:44:58.530Z,1613493898.530 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:44:58.939Z,1613493898.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:44:59.351Z,1613493899.351 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-02-16T16:44:59.352Z,1613493899.352 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-02-16T16:44:59.352Z,1613493899.352 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-02-16T16:44:59.352Z,1613493899.352 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:44:59.352Z,1613493899.352 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-02-16T16:44:59.757Z,1613493899.757 [Micromodem](INFO): Nmea in: $SNTTA,0.134973,,,,164459.92*4B

2021-02-16T16:44:59.818Z,1613493899.818 [Micromodem](INFO): Outgoing frame #1, 64 bytes: FF472B607C0000005D00000400320000000000000000151D80030C5669BF92F9E570940CEBF083379CC545A1E2961A9B22D595F48C994E6C846FA085AB5636EA
2021-02-16T16:44:59.818Z,1613493899.818 [Micromodem](INFO): Outgoing frame #2, 6 bytes: 4DAEAB677800
2021-02-16T16:44:59.819Z,1613493899.819 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-02-16T16:45:00.186Z,1613493900.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 202.319992 m, bearing: 172.834536 deg, deltaT: 4.905433 s, approachRate: -0.415864 m/s, LOS rate: 0.613780 deg/s, posRepo size: 4
2021-02-16T16:45:00.188Z,1613493900.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.319992 m,
      bearing: 172.834536 deg,
      approachRate: -0.415864 m/s,
      LOS rate: 0.613780 deg/s,
      cmd update: 1.841340 deg/s,
      cmd heading: 169.823679 deg,
      new cmd heading: 169.823679 deg.

2021-02-16T16:45:00.976Z,1613493900.976 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-02-16T16:45:01.428Z,1613493901.428 [Micromodem](INFO): Nmea in: $CADRQ,164501,1,10,0,64,1*71

2021-02-16T16:45:01.429Z,1613493901.429 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,FF472B607C0000005D00000400320000000000000000151D80030C5669BF92F9E570940CEBF083379CC545A1E2961A9B22D595F48C994E6C846FA085AB5636EA*41

2021-02-16T16:45:01.804Z,1613493901.804 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-02-16T16:45:02.207Z,1613493902.207 [Micromodem](INFO): Nmea in: $CADRQ,164502,1,10,0,64,2*71

2021-02-16T16:45:02.207Z,1613493902.207 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4DAEAB677800*30

2021-02-16T16:45:02.628Z,1613493902.628 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,6*7D

2021-02-16T16:45:02.699Z,1613493902.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:03.013Z,1613493903.013 [Micromodem](INFO): Nmea in: $CATXP,70*75

2021-02-16T16:45:03.400Z,1613493903.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:05.440Z,1613493905.440 [Micromodem](INFO): Nmea in: $CATXF,70*63

2021-02-16T16:45:05.440Z,1613493905.440 [Micromodem](ERROR): Response from modem unexpected: $CATXF,70*63

2021-02-16T16:45:05.497Z,1613493905.497 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:05.825Z,1613493905.825 [Micromodem](INFO): Nmea in: $CAXST,6,20210216,164503.572420,3,0,200,4000,14500,1,1,10,1,2,2,3,70*43

2021-02-16T16:45:05.826Z,1613493905.826 [Micromodem](ERROR): Response from modem unexpected: $CAXST,6,20210216,164503.572420,3,0,200,4000,14500,1,1,10,1,2,2,3,70*43

2021-02-16T16:45:08.017Z,1613493908.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:08.275Z,1613493908.275 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-02-16T16:45:08.653Z,1613493908.653 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-02-16T16:45:08.653Z,1613493908.653 [Micromodem](INFO): Sent 62 bytes from file Logs/20210216T042015/Courier0124.lzma.parts
2021-02-16T16:45:08.653Z,1613493908.653 [Micromodem](INFO): Packets left to send: 0
2021-02-16T16:45:09.072Z,1613493909.072 [Micromodem](INFO): Nmea in: $CACST,6,0,20210216164508.423807,06,2787,34,0282,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,14.6,6.00,13,-3.00,-01,1.14,28,14500,4000*5E

2021-02-16T16:45:09.072Z,1613493909.072 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210216164508.423807,06,2787,34,0282,0150,29,01,01,00,03,1,010,001,0,4,1,0,150,14.6,6.00,13,-3.00,-01,1.14,28,14500,4000*5E

2021-02-16T16:45:09.205Z,1613493909.205 [lineCaptureDepth:MicromodemComms] Stopped
2021-02-16T16:45:09.205Z,1613493909.205 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-02-16T16:45:09.205Z,1613493909.205 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-02-16T16:45:09.205Z,1613493909.205 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-02-16T16:45:09.205Z,1613493909.205 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-02-16T16:45:10.753Z,1613493910.753 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:13.521Z,1613493913.521 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:14.742Z,1613493914.742 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:15.129Z,1613493915.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:15.949Z,1613493915.949 [Micromodem](INFO): Nmea in: $SNTTA,0.127630,,,,164516.13*42

2021-02-16T16:45:16.378Z,1613493916.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 172.467304 deg, deltaT: 16.098173 s, approachRate: -0.689519 m/s, LOS rate: -0.022812 deg/s, posRepo size: 4
2021-02-16T16:45:16.380Z,1613493916.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 172.467304 deg,
      approachRate: -0.689519 m/s,
      LOS rate: -0.022812 deg/s,
      cmd update: -0.068436 deg/s,
      cmd heading: 199.428850 deg,
      new cmd heading: 200.156990 deg.

2021-02-16T16:45:18.805Z,1613493918.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:19.566Z,1613493919.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:20.091Z,1613493920.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:20.824Z,1613493920.824 [Micromodem](INFO): Nmea in: $SNTTA,0.125408,,,,164520.96*41

2021-02-16T16:45:20.858Z,1613493920.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 191.220001 m, bearing: 169.100075 deg, deltaT: 4.438861 s, approachRate: 0.000000 m/s, LOS rate: -0.758579 deg/s, posRepo size: 4
2021-02-16T16:45:20.860Z,1613493920.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.220001 m,
      bearing: 169.100075 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.758579 deg/s,
      cmd update: -2.275738 deg/s,
      cmd heading: 199.124424 deg,
      new cmd heading: 199.095167 deg.

2021-02-16T16:45:23.213Z,1613493923.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:24.004Z,1613493924.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:24.410Z,1613493924.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:25.223Z,1613493925.223 [Micromodem](INFO): Nmea in: $SNTTA,0.123372,,,,164525.40*43

2021-02-16T16:45:25.684Z,1613493925.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.680008 m, bearing: 170.139261 deg, deltaT: 4.795768 s, approachRate: -1.363701 m/s, LOS rate: 0.216688 deg/s, posRepo size: 4
2021-02-16T16:45:25.686Z,1613493925.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.680008 m,
      bearing: 170.139261 deg,
      approachRate: -1.363701 m/s,
      LOS rate: 0.216688 deg/s,
      cmd update: 0.650064 deg/s,
      cmd heading: 188.186274 deg,
      new cmd heading: 187.206760 deg.

2021-02-16T16:45:28.074Z,1613493928.074 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:28.872Z,1613493928.872 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:29.258Z,1613493929.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:30.092Z,1613493930.092 [Micromodem](INFO): Nmea in: $SNTTA,0.121085,,,,164530.26*4E

2021-02-16T16:45:30.135Z,1613493930.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 184.680008 m, bearing: 164.294504 deg, deltaT: 4.526211 s, approachRate: 0.000000 m/s, LOS rate: -1.291313 deg/s, posRepo size: 4
2021-02-16T16:45:30.136Z,1613493930.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.680008 m,
      bearing: 164.294504 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.291313 deg/s,
      cmd update: -3.873940 deg/s,
      cmd heading: 191.128612 deg,
      new cmd heading: 191.369748 deg.

2021-02-16T16:45:32.514Z,1613493932.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:33.322Z,1613493933.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:33.859Z,1613493933.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:34.572Z,1613493934.572 [Micromodem](INFO): Nmea in: $SNTTA,0.118687,,,,164534.71*46

2021-02-16T16:45:35.006Z,1613493935.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.840012 m, bearing: 168.129929 deg, deltaT: 4.871003 s, approachRate: -1.404227 m/s, LOS rate: 0.787399 deg/s, posRepo size: 4
2021-02-16T16:45:35.008Z,1613493935.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.840012 m,
      bearing: 168.129929 deg,
      approachRate: -1.404227 m/s,
      LOS rate: 0.787399 deg/s,
      cmd update: 2.362198 deg/s,
      cmd heading: 172.367179 deg,
      new cmd heading: 170.818371 deg.

2021-02-16T16:45:37.352Z,1613493937.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:38.146Z,1613493938.146 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:38.555Z,1613493938.555 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:39.378Z,1613493939.378 [Micromodem](INFO): Nmea in: $SNTTA,0.116253,,,,164539.54*4F

2021-02-16T16:45:39.398Z,1613493939.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 177.840012 m, bearing: 172.730280 deg, deltaT: 4.383823 s, approachRate: 0.000000 m/s, LOS rate: 1.049393 deg/s, posRepo size: 4
2021-02-16T16:45:39.400Z,1613493939.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 177.840012 m,
      bearing: 172.730280 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.049393 deg/s,
      cmd update: 3.148178 deg/s,
      cmd heading: 182.787935 deg,
      new cmd heading: 183.685842 deg.

2021-02-16T16:45:41.830Z,1613493941.830 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:42.618Z,1613493942.618 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:43.022Z,1613493943.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:43.035Z,1613493943.035 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T16:45:43.839Z,1613493943.839 [Micromodem](INFO): Nmea in: $SNTTA,0.113863,,,,164544.01*49

2021-02-16T16:45:44.238Z,1613493944.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.580017 m, bearing: 172.368730 deg, deltaT: 4.855184 s, approachRate: -1.495308 m/s, LOS rate: -0.074467 deg/s, posRepo size: 4
2021-02-16T16:45:44.240Z,1613493944.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.580017 m,
      bearing: 172.368730 deg,
      approachRate: -1.495308 m/s,
      LOS rate: -0.074467 deg/s,
      cmd update: -0.223400 deg/s,
      cmd heading: 198.073697 deg,
      new cmd heading: 199.222030 deg.

2021-02-16T16:45:46.678Z,1613493946.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:47.572Z,1613493947.572 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:47.855Z,1613493947.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:49.069Z,1613493949.069 [Micromodem](INFO): Nmea in: $SNTTA,0.111532,,,,164548.96*40

2021-02-16T16:45:49.113Z,1613493949.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 168.798686 deg, deltaT: 4.905520 s, approachRate: -0.721638 m/s, LOS rate: -0.727761 deg/s, posRepo size: 4
2021-02-16T16:45:49.114Z,1613493949.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 168.798686 deg,
      approachRate: -0.721638 m/s,
      LOS rate: -0.727761 deg/s,
      cmd update: -2.183282 deg/s,
      cmd heading: 196.978974 deg,
      new cmd heading: 196.903272 deg.

2021-02-16T16:45:51.523Z,1613493951.523 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:52.290Z,1613493952.290 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:52.721Z,1613493952.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:53.520Z,1613493953.520 [Micromodem](INFO): Nmea in: $SNTTA,0.109359,,,,164553.68*49

2021-02-16T16:45:53.558Z,1613493953.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 166.492937 deg, deltaT: 4.347756 s, approachRate: 0.000000 m/s, LOS rate: -0.530331 deg/s, posRepo size: 4
2021-02-16T16:45:53.560Z,1613493953.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 166.492937 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.530331 deg/s,
      cmd update: -1.590992 deg/s,
      cmd heading: 187.510722 deg,
      new cmd heading: 186.534542 deg.

2021-02-16T16:45:55.967Z,1613493955.967 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:45:56.743Z,1613493956.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:45:57.135Z,1613493957.135 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:45:57.964Z,1613493957.964 [Micromodem](INFO): Nmea in: $SNTTA,0.107234,,,,164558.13*4A

2021-02-16T16:45:58.058Z,1613493958.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.040009 m, bearing: 168.551706 deg, deltaT: 4.461604 s, approachRate: 0.000000 m/s, LOS rate: 0.461441 deg/s, posRepo size: 4
2021-02-16T16:45:58.064Z,1613493958.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.040009 m,
      bearing: 168.551706 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.461441 deg/s,
      cmd update: 1.384324 deg/s,
      cmd heading: 180.404192 deg,
      new cmd heading: 179.639492 deg.

2021-02-16T16:46:00.381Z,1613493960.381 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:01.304Z,1613493961.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:01.675Z,1613493961.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:02.499Z,1613493962.499 [Micromodem](INFO): Nmea in: $SNTTA,0.104851,,,,164602.69*41

2021-02-16T16:46:02.935Z,1613493962.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.839996 m, bearing: 167.285908 deg, deltaT: 4.963959 s, approachRate: -2.054814 m/s, LOS rate: -0.254998 deg/s, posRepo size: 4
2021-02-16T16:46:02.937Z,1613493962.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.839996 m,
      bearing: 167.285908 deg,
      approachRate: -2.054814 m/s,
      LOS rate: -0.254998 deg/s,
      cmd update: -0.764993 deg/s,
      cmd heading: 187.279007 deg,
      new cmd heading: 187.813141 deg.

2021-02-16T16:46:05.307Z,1613493965.307 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:06.098Z,1613493966.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:06.486Z,1613493966.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:07.327Z,1613493967.327 [Micromodem](INFO): Nmea in: $SNTTA,0.102135,,,,164607.49*4B

2021-02-16T16:46:07.360Z,1613493967.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.000015 m, bearing: 167.721442 deg, deltaT: 4.415720 s, approachRate: -0.869616 m/s, LOS rate: 0.098633 deg/s, posRepo size: 4
2021-02-16T16:46:07.362Z,1613493967.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.000015 m,
      bearing: 167.721442 deg,
      approachRate: -0.869616 m/s,
      LOS rate: 0.098633 deg/s,
      cmd update: 0.295898 deg/s,
      cmd heading: 183.900349 deg,
      new cmd heading: 183.594618 deg.

2021-02-16T16:46:09.782Z,1613493969.782 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:10.533Z,1613493970.533 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:10.935Z,1613493970.935 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:11.764Z,1613493971.764 [Micromodem](INFO): Nmea in: $SNTTA,0.099915,,,,164611.92*43

2021-02-16T16:46:11.829Z,1613493971.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 149.699997 m, bearing: 167.288422 deg, deltaT: 4.392162 s, approachRate: -0.751343 m/s, LOS rate: -0.098589 deg/s, posRepo size: 4
2021-02-16T16:46:11.830Z,1613493971.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.699997 m,
      bearing: 167.288422 deg,
      approachRate: -0.751343 m/s,
      LOS rate: -0.098589 deg/s,
      cmd update: -0.295768 deg/s,
      cmd heading: 185.202269 deg,
      new cmd heading: 185.340962 deg.

2021-02-16T16:46:14.176Z,1613493974.176 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:15.120Z,1613493975.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:15.568Z,1613493975.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:16.344Z,1613493976.344 [Micromodem](INFO): Nmea in: $SNTTA,0.097647,,,,164616.51*4D

2021-02-16T16:46:16.366Z,1613493976.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 146.279999 m, bearing: 167.767983 deg, deltaT: 4.645393 s, approachRate: -0.736213 m/s, LOS rate: 0.103234 deg/s, posRepo size: 4
2021-02-16T16:46:16.368Z,1613493976.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.279999 m,
      bearing: 167.767983 deg,
      approachRate: -0.736213 m/s,
      LOS rate: 0.103234 deg/s,
      cmd update: 0.309701 deg/s,
      cmd heading: 183.828179 deg,
      new cmd heading: 183.721526 deg.

2021-02-16T16:46:18.831Z,1613493978.831 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:19.548Z,1613493979.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:19.975Z,1613493979.975 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:20.780Z,1613493980.780 [Micromodem](INFO): Nmea in: $SNTTA,0.095520,,,,164620.94*41

2021-02-16T16:46:20.814Z,1613493980.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 142.860001 m, bearing: 166.369843 deg, deltaT: 4.371480 s, approachRate: -0.782343 m/s, LOS rate: -0.319832 deg/s, posRepo size: 4
2021-02-16T16:46:20.816Z,1613493980.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.860001 m,
      bearing: 166.369843 deg,
      approachRate: -0.782343 m/s,
      LOS rate: -0.319832 deg/s,
      cmd update: -0.959496 deg/s,
      cmd heading: 185.181999 deg,
      new cmd heading: 185.317446 deg.

2021-02-16T16:46:23.213Z,1613493983.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:23.993Z,1613493983.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:24.401Z,1613493984.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:25.220Z,1613493985.220 [Micromodem](INFO): Nmea in: $SNTTA,0.093410,,,,164625.38*46

2021-02-16T16:46:25.261Z,1613493985.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 139.740005 m, bearing: 167.314609 deg, deltaT: 4.479699 s, approachRate: -0.696474 m/s, LOS rate: 0.210899 deg/s, posRepo size: 4
2021-02-16T16:46:25.263Z,1613493985.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.740005 m,
      bearing: 167.314609 deg,
      approachRate: -0.696474 m/s,
      LOS rate: 0.210899 deg/s,
      cmd update: 0.632698 deg/s,
      cmd heading: 180.883654 deg,
      new cmd heading: 180.496017 deg.

2021-02-16T16:46:27.677Z,1613493987.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:28.460Z,1613493988.460 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:28.872Z,1613493988.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:29.734Z,1613493989.734 [Micromodem](INFO): Nmea in: $SNTTA,0.091061,,,,164629.85*4C

2021-02-16T16:46:29.785Z,1613493989.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 136.380005 m, bearing: 167.370398 deg, deltaT: 4.449614 s, approachRate: -0.755122 m/s, LOS rate: 0.012538 deg/s, posRepo size: 4
2021-02-16T16:46:29.786Z,1613493989.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.380005 m,
      bearing: 167.370398 deg,
      approachRate: -0.755122 m/s,
      LOS rate: 0.012538 deg/s,
      cmd update: 0.037614 deg/s,
      cmd heading: 183.695701 deg,
      new cmd heading: 184.001469 deg.

2021-02-16T16:46:32.092Z,1613493992.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:32.888Z,1613493992.888 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:33.307Z,1613493993.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:34.112Z,1613493994.112 [Micromodem](INFO): Nmea in: $SNTTA,0.088733,,,,164634.28*4F

2021-02-16T16:46:34.158Z,1613493994.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 132.900009 m, bearing: 166.408352 deg, deltaT: 4.493845 s, approachRate: -0.774392 m/s, LOS rate: -0.214081 deg/s, posRepo size: 4
2021-02-16T16:46:34.164Z,1613493994.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 166.408352 deg,
      approachRate: -0.774392 m/s,
      LOS rate: -0.214081 deg/s,
      cmd update: -0.642242 deg/s,
      cmd heading: 183.864612 deg,
      new cmd heading: 183.878368 deg.

2021-02-16T16:46:36.541Z,1613493996.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:37.338Z,1613493997.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:37.747Z,1613493997.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:38.560Z,1613493998.560 [Micromodem](INFO): Nmea in: $SNTTA,0.086501,,,,164638.73*40

2021-02-16T16:46:38.638Z,1613493998.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 129.600006 m, bearing: 165.653398 deg, deltaT: 4.364816 s, approachRate: -0.756046 m/s, LOS rate: -0.172964 deg/s, posRepo size: 4
2021-02-16T16:46:38.642Z,1613493998.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.600006 m,
      bearing: 165.653398 deg,
      approachRate: -0.756046 m/s,
      LOS rate: -0.172964 deg/s,
      cmd update: -0.518891 deg/s,
      cmd heading: 181.066549 deg,
      new cmd heading: 180.752043 deg.

2021-02-16T16:46:41.048Z,1613494001.048 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:41.896Z,1613494001.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:42.260Z,1613494002.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:43.091Z,1613494003.091 [Micromodem](INFO): Nmea in: $SNTTA,0.084079,,,,164643.29*4B

2021-02-16T16:46:43.148Z,1613494003.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.880005 m, bearing: 165.079593 deg, deltaT: 4.587427 s, approachRate: -0.810912 m/s, LOS rate: -0.125082 deg/s, posRepo size: 4
2021-02-16T16:46:43.150Z,1613494003.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 165.079593 deg,
      approachRate: -0.810912 m/s,
      LOS rate: -0.125082 deg/s,
      cmd update: -0.375246 deg/s,
      cmd heading: 178.682188 deg,
      new cmd heading: 178.472874 deg.

2021-02-16T16:46:45.468Z,1613494005.468 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:46.266Z,1613494006.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:46.671Z,1613494006.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:47.504Z,1613494007.504 [Micromodem](INFO): Nmea in: $SNTTA,0.081786,,,,164647.66*46

2021-02-16T16:46:47.526Z,1613494007.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 122.460007 m, bearing: 165.283843 deg, deltaT: 4.333593 s, approachRate: -0.789183 m/s, LOS rate: 0.047132 deg/s, posRepo size: 4
2021-02-16T16:46:47.530Z,1613494007.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.460007 m,
      bearing: 165.283843 deg,
      approachRate: -0.789183 m/s,
      LOS rate: 0.047132 deg/s,
      cmd update: 0.141395 deg/s,
      cmd heading: 177.052784 deg,
      new cmd heading: 176.887682 deg.

2021-02-16T16:46:49.635Z,1613494009.635 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:50.307Z,1613494010.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:50.750Z,1613494010.750 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:51.536Z,1613494011.536 [Micromodem](INFO): Nmea in: $SNTTA,0.079855,,,,164651.70*40

2021-02-16T16:46:51.632Z,1613494011.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 119.579994 m, bearing: 166.578793 deg, deltaT: 4.033690 s, approachRate: -0.713990 m/s, LOS rate: 0.321033 deg/s, posRepo size: 4
2021-02-16T16:46:51.634Z,1613494011.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 166.578793 deg,
      approachRate: -0.713990 m/s,
      LOS rate: 0.321033 deg/s,
      cmd update: 0.963100 deg/s,
      cmd heading: 177.623125 deg,
      new cmd heading: 177.694798 deg.

2021-02-16T16:46:53.996Z,1613494013.996 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:54.773Z,1613494014.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:55.283Z,1613494015.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:46:56.028Z,1613494016.028 [Micromodem](INFO): Nmea in: $SNTTA,0.077517,,,,164656.16*42

2021-02-16T16:46:56.079Z,1613494016.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.099998 m, bearing: 166.828873 deg, deltaT: 4.558783 s, approachRate: -0.763361 m/s, LOS rate: 0.054857 deg/s, posRepo size: 4
2021-02-16T16:46:56.081Z,1613494016.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.099998 m,
      bearing: 166.828873 deg,
      approachRate: -0.763361 m/s,
      LOS rate: 0.054857 deg/s,
      cmd update: 0.164571 deg/s,
      cmd heading: 182.002253 deg,
      new cmd heading: 182.395201 deg.

2021-02-16T16:46:58.408Z,1613494018.408 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:46:59.184Z,1613494019.184 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:46:59.621Z,1613494019.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:00.430Z,1613494020.430 [Micromodem](INFO): Nmea in: $SNTTA,0.075337,,,,164700.58*4C

2021-02-16T16:47:00.466Z,1613494020.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.799995 m, bearing: 164.175017 deg, deltaT: 4.357694 s, approachRate: -0.757282 m/s, LOS rate: -0.609005 deg/s, posRepo size: 4
2021-02-16T16:47:00.472Z,1613494020.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.799995 m,
      bearing: 164.175017 deg,
      approachRate: -0.757282 m/s,
      LOS rate: -0.609005 deg/s,
      cmd update: -1.827014 deg/s,
      cmd heading: 182.721355 deg,
      new cmd heading: 182.792121 deg.

2021-02-16T16:47:02.868Z,1613494022.868 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:03.640Z,1613494023.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:04.040Z,1613494024.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:04.868Z,1613494024.868 [Micromodem](INFO): Nmea in: $SNTTA,0.073135,,,,164705.03*41

2021-02-16T16:47:04.931Z,1613494024.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 163.415008 deg, deltaT: 4.422855 s, approachRate: -0.746123 m/s, LOS rate: -0.171837 deg/s, posRepo size: 4
2021-02-16T16:47:04.933Z,1613494024.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.500000 m,
      bearing: 163.415008 deg,
      approachRate: -0.746123 m/s,
      LOS rate: -0.171837 deg/s,
      cmd update: -0.515510 deg/s,
      cmd heading: 174.641164 deg,
      new cmd heading: 173.786439 deg.

2021-02-16T16:47:07.310Z,1613494027.310 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:08.216Z,1613494028.216 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:08.509Z,1613494028.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:09.758Z,1613494029.758 [Micromodem](INFO): Nmea in: $SNTTA,0.070766,,,,164709.61*4A

2021-02-16T16:47:09.798Z,1613494029.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 105.960007 m, bearing: 165.118403 deg, deltaT: 4.893560 s, approachRate: -0.723398 m/s, LOS rate: 0.348089 deg/s, posRepo size: 4
2021-02-16T16:47:09.800Z,1613494029.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.960007 m,
      bearing: 165.118403 deg,
      approachRate: -0.723398 m/s,
      LOS rate: 0.348089 deg/s,
      cmd update: 1.044267 deg/s,
      cmd heading: 172.118451 deg,
      new cmd heading: 171.888894 deg.

2021-02-16T16:47:12.133Z,1613494032.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:12.920Z,1613494032.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:13.326Z,1613494033.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:14.152Z,1613494034.152 [Micromodem](INFO): Nmea in: $SNTTA,0.068400,,,,164714.31*49

2021-02-16T16:47:14.194Z,1613494034.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.420006 m, bearing: 165.616651 deg, deltaT: 4.432898 s, approachRate: -0.798575 m/s, LOS rate: 0.112398 deg/s, posRepo size: 4
2021-02-16T16:47:14.196Z,1613494034.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.420006 m,
      bearing: 165.616651 deg,
      approachRate: -0.798575 m/s,
      LOS rate: 0.112398 deg/s,
      cmd update: 0.337194 deg/s,
      cmd heading: 176.747585 deg,
      new cmd heading: 177.174381 deg.

2021-02-16T16:47:16.587Z,1613494036.587 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:17.364Z,1613494037.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:17.770Z,1613494037.770 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:18.620Z,1613494038.620 [Micromodem](INFO): Nmea in: $SNTTA,0.066130,,,,164718.75*4D

2021-02-16T16:47:18.668Z,1613494038.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 164.815074 deg, deltaT: 4.444226 s, approachRate: -0.769539 m/s, LOS rate: -0.180364 deg/s, posRepo size: 4
2021-02-16T16:47:18.669Z,1613494038.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.000000 m,
      bearing: 164.815074 deg,
      approachRate: -0.769539 m/s,
      LOS rate: -0.180364 deg/s,
      cmd update: -0.541091 deg/s,
      cmd heading: 178.242876 deg,
      new cmd heading: 178.389666 deg.

2021-02-16T16:47:20.743Z,1613494040.743 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:21.478Z,1613494041.478 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:21.925Z,1613494041.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:22.670Z,1613494042.670 [Micromodem](INFO): Nmea in: $SNTTA,0.064027,,,,164722.87*4C

2021-02-16T16:47:22.764Z,1613494042.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.820007 m, bearing: 164.721364 deg, deltaT: 4.059300 s, approachRate: -0.783385 m/s, LOS rate: -0.023085 deg/s, posRepo size: 4
2021-02-16T16:47:22.765Z,1613494042.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.820007 m,
      bearing: 164.721364 deg,
      approachRate: -0.783385 m/s,
      LOS rate: -0.023085 deg/s,
      cmd update: -0.069256 deg/s,
      cmd heading: 176.046737 deg,
      new cmd heading: 175.784308 deg.

2021-02-16T16:47:25.071Z,1613494045.071 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:25.853Z,1613494045.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:26.254Z,1613494046.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:27.080Z,1613494047.080 [Micromodem](INFO): Nmea in: $SNTTA,0.061963,,,,164727.24*4C

2021-02-16T16:47:27.105Z,1613494047.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.459999 m, bearing: 164.017936 deg, deltaT: 4.417360 s, approachRate: -0.760637 m/s, LOS rate: -0.159242 deg/s, posRepo size: 4
2021-02-16T16:47:27.106Z,1613494047.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.459999 m,
      bearing: 164.017936 deg,
      approachRate: -0.760637 m/s,
      LOS rate: -0.159242 deg/s,
      cmd update: -0.477725 deg/s,
      cmd heading: 175.741310 deg,
      new cmd heading: 175.712497 deg.

2021-02-16T16:47:29.518Z,1613494049.518 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:30.302Z,1613494050.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:30.738Z,1613494050.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:31.524Z,1613494051.524 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164731.69*57

2021-02-16T16:47:31.577Z,1613494051.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.220009 m, bearing: 164.278726 deg, deltaT: 4.457863 s, approachRate: -0.726803 m/s, LOS rate: 0.058501 deg/s, posRepo size: 4
2021-02-16T16:47:31.586Z,1613494051.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.220009 m,
      bearing: 164.278726 deg,
      approachRate: -0.726803 m/s,
      LOS rate: 0.058501 deg/s,
      cmd update: 0.175504 deg/s,
      cmd heading: 173.605117 deg,
      new cmd heading: 173.406250 deg.

2021-02-16T16:47:33.998Z,1613494053.998 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:34.754Z,1613494054.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:35.144Z,1613494055.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:36.016Z,1613494056.016 [Micromodem](INFO): Nmea in: $SNTTA,0.057283,,,,164736.15*4E

2021-02-16T16:47:36.058Z,1613494056.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 85.740005 m, bearing: 164.270202 deg, deltaT: 4.615871 s, approachRate: -0.753921 m/s, LOS rate: -0.001847 deg/s, posRepo size: 4
2021-02-16T16:47:36.064Z,1613494056.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.740005 m,
      bearing: 164.270202 deg,
      approachRate: -0.753921 m/s,
      LOS rate: -0.001847 deg/s,
      cmd update: -0.005540 deg/s,
      cmd heading: 174.415887 deg,
      new cmd heading: 174.464602 deg.

2021-02-16T16:47:38.021Z,1613494058.021 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-02-16T16:47:38.429Z,1613494058.429 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:39.218Z,1613494059.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:39.652Z,1613494059.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:40.460Z,1613494060.460 [Micromodem](INFO): Nmea in: $SNTTA,0.054962,,,,164740.61*4B

2021-02-16T16:47:40.503Z,1613494060.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 82.259995 m, bearing: 163.555314 deg, deltaT: 4.269118 s, approachRate: -0.815159 m/s, LOS rate: -0.167456 deg/s, posRepo size: 4
2021-02-16T16:47:40.505Z,1613494060.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 82.259995 m,
      bearing: 163.555314 deg,
      approachRate: -0.815159 m/s,
      LOS rate: -0.167456 deg/s,
      cmd update: -0.502367 deg/s,
      cmd heading: 174.392235 deg,
      new cmd heading: 174.389745 deg.

2021-02-16T16:47:42.911Z,1613494062.911 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:43.684Z,1613494063.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:44.067Z,1613494064.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:44.915Z,1613494064.915 [Micromodem](INFO): Nmea in: $SNTTA,0.052596,,,,164745.08*40

2021-02-16T16:47:44.953Z,1613494064.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.720009 m, bearing: 163.164982 deg, deltaT: 4.456870 s, approachRate: -0.794276 m/s, LOS rate: -0.087580 deg/s, posRepo size: 4
2021-02-16T16:47:44.955Z,1613494064.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 163.164982 deg,
      approachRate: -0.794276 m/s,
      LOS rate: -0.087580 deg/s,
      cmd update: -0.262739 deg/s,
      cmd heading: 172.153234 deg,
      new cmd heading: 171.928876 deg.

2021-02-16T16:47:47.333Z,1613494067.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:48.124Z,1613494068.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:48.519Z,1613494068.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:49.388Z,1613494069.388 [Micromodem](INFO): Nmea in: $SNTTA,0.050422,,,,164749.52*4F

2021-02-16T16:47:49.414Z,1613494069.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.479996 m, bearing: 163.576747 deg, deltaT: 4.607295 s, approachRate: -0.703235 m/s, LOS rate: 0.089372 deg/s, posRepo size: 4
2021-02-16T16:47:49.421Z,1613494069.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.479996 m,
      bearing: 163.576747 deg,
      approachRate: -0.703235 m/s,
      LOS rate: 0.089372 deg/s,
      cmd update: 0.268117 deg/s,
      cmd heading: 170.943757 deg,
      new cmd heading: 170.863664 deg.

2021-02-16T16:47:51.809Z,1613494071.809 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:52.550Z,1613494072.550 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:52.967Z,1613494072.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:53.776Z,1613494073.776 [Micromodem](INFO): Nmea in: $SNTTA,0.047939,,,,164753.94*4F

2021-02-16T16:47:53.810Z,1613494073.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 162.462852 deg, deltaT: 4.263246 s, approachRate: -0.886646 m/s, LOS rate: -0.261279 deg/s, posRepo size: 4
2021-02-16T16:47:53.812Z,1613494073.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.700005 m,
      bearing: 162.462852 deg,
      approachRate: -0.886646 m/s,
      LOS rate: -0.261279 deg/s,
      cmd update: -0.783835 deg/s,
      cmd heading: 172.087847 deg,
      new cmd heading: 172.204162 deg.

2021-02-16T16:47:56.201Z,1613494076.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:47:57.005Z,1613494077.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:47:57.398Z,1613494077.398 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:47:58.232Z,1613494078.232 [Micromodem](INFO): Nmea in: $SNTTA,0.045682,,,,164758.40*40

2021-02-16T16:47:58.254Z,1613494078.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.340004 m, bearing: 161.764903 deg, deltaT: 4.462533 s, approachRate: -0.752936 m/s, LOS rate: -0.156402 deg/s, posRepo size: 4
2021-02-16T16:47:58.256Z,1613494078.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.340004 m,
      bearing: 161.764903 deg,
      approachRate: -0.752936 m/s,
      LOS rate: -0.156402 deg/s,
      cmd update: -0.469206 deg/s,
      cmd heading: 168.589918 deg,
      new cmd heading: 168.264514 deg.

2021-02-16T16:48:00.668Z,1613494080.668 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:01.441Z,1613494081.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:01.976Z,1613494081.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:02.708Z,1613494082.708 [Micromodem](INFO): Nmea in: $SNTTA,0.043472,,,,164802.83*44

2021-02-16T16:48:02.781Z,1613494082.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.040001 m, bearing: 162.886925 deg, deltaT: 4.453147 s, approachRate: -0.741050 m/s, LOS rate: 0.251962 deg/s, posRepo size: 4
2021-02-16T16:48:02.782Z,1613494082.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.040001 m,
      bearing: 162.886925 deg,
      approachRate: -0.741050 m/s,
      LOS rate: 0.251962 deg/s,
      cmd update: 0.755885 deg/s,
      cmd heading: 166.508949 deg,
      new cmd heading: 166.271315 deg.

2021-02-16T16:48:05.113Z,1613494085.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:05.880Z,1613494085.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:06.291Z,1613494086.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:07.128Z,1613494087.128 [Micromodem](INFO): Nmea in: $SNTTA,0.041200,,0.144825,,164807.27*5E

2021-02-16T16:48:07.176Z,1613494087.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 61.619995 m, bearing: 163.430472 deg, deltaT: 4.475966 s, approachRate: -0.764082 m/s, LOS rate: 0.121437 deg/s, posRepo size: 4
2021-02-16T16:48:07.178Z,1613494087.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.619995 m,
      bearing: 163.430472 deg,
      approachRate: -0.764082 m/s,
      LOS rate: 0.121437 deg/s,
      cmd update: 0.364310 deg/s,
      cmd heading: 169.902951 deg,
      new cmd heading: 170.214337 deg.

2021-02-16T16:48:09.594Z,1613494089.594 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:10.325Z,1613494090.325 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:10.757Z,1613494090.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:11.556Z,1613494091.556 [Micromodem](INFO): Nmea in: $SNTTA,0.038903,,,,164811.72*4F

2021-02-16T16:48:11.579Z,1613494091.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 58.139999 m, bearing: 162.995088 deg, deltaT: 4.385791 s, approachRate: -0.793471 m/s, LOS rate: -0.099271 deg/s, posRepo size: 4
2021-02-16T16:48:11.605Z,1613494091.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.139999 m,
      bearing: 162.995088 deg,
      approachRate: -0.793471 m/s,
      LOS rate: -0.099271 deg/s,
      cmd update: -0.297814 deg/s,
      cmd heading: 171.502177 deg,
      new cmd heading: 171.656646 deg.

2021-02-16T16:48:14.010Z,1613494094.010 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:14.769Z,1613494094.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:15.307Z,1613494095.307 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:16.036Z,1613494096.036 [Micromodem](INFO): Nmea in: $SNTTA,0.036548,,,,164816.16*47

2021-02-16T16:48:16.072Z,1613494096.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 54.599998 m, bearing: 161.322129 deg, deltaT: 4.576534 s, approachRate: -0.773511 m/s, LOS rate: -0.365552 deg/s, posRepo size: 4
2021-02-16T16:48:16.074Z,1613494096.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 161.322129 deg,
      approachRate: -0.773511 m/s,
      LOS rate: -0.365552 deg/s,
      cmd update: -1.096655 deg/s,
      cmd heading: 170.142919 deg,
      new cmd heading: 170.038807 deg.

2021-02-16T16:48:18.425Z,1613494098.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:19.213Z,1613494099.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:19.638Z,1613494099.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:20.440Z,1613494100.440 [Micromodem](INFO): Nmea in: $SNTTA,0.034253,,,,164820.60*4C

2021-02-16T16:48:20.482Z,1613494100.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 51.240005 m, bearing: 161.048265 deg, deltaT: 4.338601 s, approachRate: -0.774442 m/s, LOS rate: -0.063122 deg/s, posRepo size: 4
2021-02-16T16:48:20.484Z,1613494100.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.240005 m,
      bearing: 161.048265 deg,
      approachRate: -0.774442 m/s,
      LOS rate: -0.063122 deg/s,
      cmd update: -0.189367 deg/s,
      cmd heading: 165.375800 deg,
      new cmd heading: 164.918892 deg.

2021-02-16T16:48:22.895Z,1613494102.895 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:23.657Z,1613494103.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:24.073Z,1613494104.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:24.896Z,1613494104.896 [Micromodem](INFO): Nmea in: $SNTTA,0.031943,,,,164825.05*45

2021-02-16T16:48:24.958Z,1613494104.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.700005 m, bearing: 162.088134 deg, deltaT: 4.423001 s, approachRate: -0.800362 m/s, LOS rate: 0.235105 deg/s, posRepo size: 4
2021-02-16T16:48:24.964Z,1613494104.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 162.088134 deg,
      approachRate: -0.800362 m/s,
      LOS rate: 0.235105 deg/s,
      cmd update: 0.705315 deg/s,
      cmd heading: 164.537510 deg,
      new cmd heading: 164.449234 deg.

2021-02-16T16:48:27.341Z,1613494107.341 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:28.207Z,1613494108.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:28.511Z,1613494108.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:29.446Z,1613494109.446 [Micromodem](INFO): Nmea in: $SNTTA,0.029445,,,,164829.60*48

2021-02-16T16:48:29.491Z,1613494109.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.980000 m, bearing: 162.992725 deg, deltaT: 4.483162 s, approachRate: -0.829773 m/s, LOS rate: 0.201775 deg/s, posRepo size: 4
2021-02-16T16:48:29.493Z,1613494109.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.980000 m,
      bearing: 162.992725 deg,
      approachRate: -0.829773 m/s,
      LOS rate: 0.201775 deg/s,
      cmd update: 0.605325 deg/s,
      cmd heading: 167.699772 deg,
      new cmd heading: 168.063159 deg.

2021-02-16T16:48:31.789Z,1613494111.789 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:32.555Z,1613494112.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:32.952Z,1613494112.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:33.784Z,1613494113.784 [Micromodem](INFO): Nmea in: $SNTTA,0.027192,,,0.039273,164833.95*5A

2021-02-16T16:48:33.830Z,1613494113.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 40.620003 m, bearing: 161.939346 deg, deltaT: 4.434120 s, approachRate: -0.757760 m/s, LOS rate: -0.237562 deg/s, posRepo size: 4
2021-02-16T16:48:33.832Z,1613494113.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.620003 m,
      bearing: 161.939346 deg,
      approachRate: -0.757760 m/s,
      LOS rate: -0.237562 deg/s,
      cmd update: -0.712686 deg/s,
      cmd heading: 170.381440 deg,
      new cmd heading: 170.638535 deg.

2021-02-16T16:48:36.213Z,1613494116.213 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:36.993Z,1613494116.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:37.395Z,1613494117.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:38.232Z,1613494118.232 [Micromodem](INFO): Nmea in: $SNTTA,0.025054,,,,164838.38*4D

2021-02-16T16:48:38.272Z,1613494118.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 37.139999 m, bearing: 159.295243 deg, deltaT: 4.452465 s, approachRate: -0.781590 m/s, LOS rate: -0.593851 deg/s, posRepo size: 4
2021-02-16T16:48:38.273Z,1613494118.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.14 m.
2021-02-16T16:48:38.276Z,1613494118.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.139999 m,
      bearing: 159.295243 deg,
      approachRate: -0.781590 m/s,
      LOS rate: -0.593851 deg/s,
      cmd update: -1.781554 deg/s,
      cmd heading: 167.208345 deg,
      new cmd heading: 166.913637 deg.

2021-02-16T16:48:38.642Z,1613494118.642 [PowerOnly](INFO): Powering up loadControl
2021-02-16T16:48:40.676Z,1613494120.676 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:41.445Z,1613494121.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:41.927Z,1613494121.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:42.249Z,1613494122.249 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-02-16T16:48:42.252Z,1613494122.252 [BPC1](INFO): Received data from all battery sticks.
2021-02-16T16:48:42.668Z,1613494122.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164842.84*5F

2021-02-16T16:48:42.758Z,1613494122.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.480000 m, bearing: 159.963386 deg, deltaT: 4.433128 s, approachRate: -0.825602 m/s, LOS rate: 0.150716 deg/s, posRepo size: 4
2021-02-16T16:48:42.758Z,1613494122.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.48 m.
2021-02-16T16:48:42.760Z,1613494122.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.48 m.
2021-02-16T16:48:42.760Z,1613494122.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T16:48:42.762Z,1613494122.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.480000 m,
      bearing: 159.963386 deg,
      approachRate: -0.825602 m/s,
      LOS rate: 0.150716 deg/s,
      cmd update: 0.452148 deg/s,
      cmd heading: 159.314185 deg,
      new cmd heading: 158.478515 deg.

2021-02-16T16:48:45.105Z,1613494125.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:45.878Z,1613494125.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:46.309Z,1613494126.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:47.119Z,1613494127.119 [Micromodem](INFO): Nmea in: $SNTTA,0.020124,,,,164847.27*48

2021-02-16T16:48:47.148Z,1613494127.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 30.000002 m, bearing: 163.015824 deg, deltaT: 4.477118 s, approachRate: -0.777285 m/s, LOS rate: 0.681787 deg/s, posRepo size: 4
2021-02-16T16:48:47.150Z,1613494127.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.000002 m,
      bearing: 163.015824 deg,
      approachRate: -0.777285 m/s,
      LOS rate: 0.681787 deg/s,
      cmd update: 2.045360 deg/s,
      cmd heading: 161.341136 deg,
      new cmd heading: 161.510497 deg.

2021-02-16T16:48:49.543Z,1613494129.543 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:50.333Z,1613494130.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:50.759Z,1613494130.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:51.568Z,1613494131.568 [Micromodem](INFO): Nmea in: $SNTTA,0.017647,,,,164851.73*48

2021-02-16T16:48:51.634Z,1613494131.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 26.280003 m, bearing: 162.167078 deg, deltaT: 4.370886 s, approachRate: -0.851086 m/s, LOS rate: -0.194182 deg/s, posRepo size: 4
2021-02-16T16:48:51.640Z,1613494131.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.280003 m,
      bearing: 162.167078 deg,
      approachRate: -0.851086 m/s,
      LOS rate: -0.194182 deg/s,
      cmd update: -0.582545 deg/s,
      cmd heading: 170.281944 deg,
      new cmd heading: 171.286424 deg.

2021-02-16T16:48:54.002Z,1613494134.002 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:54.774Z,1613494134.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:55.182Z,1613494135.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:48:56.004Z,1613494136.004 [Micromodem](INFO): Nmea in: $SNTTA,0.016073,,,,164856.16*4C

2021-02-16T16:48:56.050Z,1613494136.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 157.183007 deg, deltaT: 4.524636 s, approachRate: -0.755862 m/s, LOS rate: -1.101541 deg/s, posRepo size: 4
2021-02-16T16:48:56.052Z,1613494136.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.860001 m,
      bearing: 157.183007 deg,
      approachRate: -0.755862 m/s,
      LOS rate: -1.101541 deg/s,
      cmd update: -3.304622 deg/s,
      cmd heading: 167.646152 deg,
      new cmd heading: 167.423329 deg.

2021-02-16T16:48:58.449Z,1613494138.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:48:59.208Z,1613494139.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:48:59.635Z,1613494139.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:00.436Z,1613494140.436 [Micromodem](INFO): Nmea in: $SNTTA,0.013126,,,,164900.60*4B

2021-02-16T16:49:00.474Z,1613494140.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.499998 m, bearing: 159.339093 deg, deltaT: 4.394534 s, approachRate: -0.764587 m/s, LOS rate: 0.490629 deg/s, posRepo size: 4
2021-02-16T16:49:00.476Z,1613494140.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.499998 m,
      bearing: 159.339093 deg,
      approachRate: -0.764587 m/s,
      LOS rate: 0.490629 deg/s,
      cmd update: 1.471887 deg/s,
      cmd heading: 153.123765 deg,
      new cmd heading: 151.765060 deg.

2021-02-16T16:49:02.888Z,1613494142.888 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:03.653Z,1613494143.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:04.063Z,1613494144.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:04.884Z,1613494144.884 [Micromodem](INFO): Nmea in: $SNTTA,0.011006,,,,164905.05*4C

2021-02-16T16:49:04.939Z,1613494144.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.319998 m, bearing: 162.900435 deg, deltaT: 4.415422 s, approachRate: -0.720203 m/s, LOS rate: 0.806569 deg/s, posRepo size: 4
2021-02-16T16:49:04.941Z,1613494144.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 162.900435 deg,
      approachRate: -0.720203 m/s,
      LOS rate: 0.806569 deg/s,
      cmd update: 2.419707 deg/s,
      cmd heading: 159.622802 deg,
      new cmd heading: 160.301644 deg.

2021-02-16T16:49:07.350Z,1613494147.350 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:08.105Z,1613494148.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:08.519Z,1613494148.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:09.336Z,1613494149.336 [Micromodem](INFO): Nmea in: $SNTTA,0.008927,,,,164909.50*42

2021-02-16T16:49:09.377Z,1613494149.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.139999 m, bearing: 162.572928 deg, deltaT: 4.480918 s, approachRate: -0.709676 m/s, LOS rate: -0.073089 deg/s, posRepo size: 4
2021-02-16T16:49:09.380Z,1613494149.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.139999 m,
      bearing: 162.572928 deg,
      approachRate: -0.709676 m/s,
      LOS rate: -0.073089 deg/s,
      cmd update: -0.219268 deg/s,
      cmd heading: 170.465186 deg,
      new cmd heading: 171.472510 deg.

2021-02-16T16:49:11.803Z,1613494151.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:12.547Z,1613494152.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:12.969Z,1613494152.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:13.787Z,1613494153.787 [Micromodem](INFO): Nmea in: $SNTTA,0.006837,,,,164913.94*4F

2021-02-16T16:49:13.835Z,1613494153.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 154.792099 deg, deltaT: 4.405103 s, approachRate: -0.735511 m/s, LOS rate: -1.766322 deg/s, posRepo size: 4
2021-02-16T16:49:13.837Z,1613494153.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 154.792099 deg,
      approachRate: -0.735511 m/s,
      LOS rate: -1.766322 deg/s,
      cmd update: -5.298965 deg/s,
      cmd heading: 169.499279 deg,
      new cmd heading: 169.396010 deg.

2021-02-16T16:49:16.197Z,1613494156.197 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:16.992Z,1613494156.992 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:17.395Z,1613494157.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:18.240Z,1613494158.240 [Micromodem](INFO): Nmea in: $SNTTA,0.005052,,,,164918.38*4A

2021-02-16T16:49:18.262Z,1613494158.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 7.020000 m, bearing: 155.340331 deg, deltaT: 4.473557 s, approachRate: -0.643782 m/s, LOS rate: 0.122549 deg/s, posRepo size: 4
2021-02-16T16:49:18.264Z,1613494158.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 155.340331 deg,
      approachRate: -0.643782 m/s,
      LOS rate: 0.122549 deg/s,
      cmd update: 0.367648 deg/s,
      cmd heading: 145.794725 deg,
      new cmd heading: 143.543608 deg.

2021-02-16T16:49:20.661Z,1613494160.661 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:21.432Z,1613494161.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:21.835Z,1613494161.835 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:22.680Z,1613494162.680 [Micromodem](INFO): Nmea in: $SNTTA,0.003377,,,,164922.82*40

2021-02-16T16:49:22.766Z,1613494162.766 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:49:22.766Z,1613494162.766 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:49:22.766Z,1613494162.766 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:49:22.766Z,1613494162.766 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:49:22.766Z,1613494162.766 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:49:22.767Z,1613494162.767 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-02-16T16:49:22.767Z,1613494162.767 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:49:22.767Z,1613494162.767 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:49:22.767Z,1613494162.767 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:49:22.769Z,1613494162.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.440000 m, bearing: 156.441617 deg, deltaT: 4.428172 s, approachRate: -0.582633 m/s, LOS rate: 0.248700 deg/s, posRepo size: 4
2021-02-16T16:49:22.771Z,1613494162.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 156.441617 deg,
      approachRate: -0.582633 m/s,
      LOS rate: 0.248700 deg/s,
      cmd update: 0.746100 deg/s,
      cmd heading: 147.422142 deg,
      new cmd heading: 147.608034 deg.

2021-02-16T16:49:23.085Z,1613494163.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T164923: (41.552319, -70.708603)
2021-02-16T16:49:23.085Z,1613494163.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:49:23.085Z,1613494163.085 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:49:23.086Z,1613494163.086 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:49:25.109Z,1613494165.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:25.881Z,1613494165.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:26.285Z,1613494166.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:27.108Z,1613494167.108 [Micromodem](INFO): Nmea in: $SNTTA,0.002534,,,,164927.27*4A

2021-02-16T16:49:27.154Z,1613494167.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.779998 m, bearing: 138.435640 deg, deltaT: 4.515330 s, approachRate: -0.146169 m/s, LOS rate: -3.987743 deg/s, posRepo size: 4
2021-02-16T16:49:27.160Z,1613494167.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.779998 m,
      bearing: 138.435640 deg,
      approachRate: -0.146169 m/s,
      LOS rate: -3.987743 deg/s,
      cmd update: -11.963230 deg/s,
      cmd heading: 150.789333 deg,
      new cmd heading: 151.070819 deg.

2021-02-16T16:49:29.544Z,1613494169.544 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:30.318Z,1613494170.318 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:30.757Z,1613494170.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:31.548Z,1613494171.548 [Micromodem](INFO): Nmea in: $SNTTA,0.003626,,,,164931.71*4F

2021-02-16T16:49:31.601Z,1613494171.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.580000 m, bearing: 153.614547 deg, deltaT: 4.374613 s, approachRate: 0.411465 m/s, LOS rate: 3.469771 deg/s, posRepo size: 4
2021-02-16T16:49:31.621Z,1613494171.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 153.614547 deg,
      approachRate: 0.411465 m/s,
      LOS rate: 3.469771 deg/s,
      cmd update: 10.409314 deg/s,
      cmd heading: 98.414767 deg,
      new cmd heading: 93.120093 deg.

2021-02-16T16:49:33.997Z,1613494173.997 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:34.760Z,1613494174.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:35.191Z,1613494175.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:36.000Z,1613494176.000 [Micromodem](INFO): Nmea in: $SNTTA,0.005603,,,,164936.15*4B

2021-02-16T16:49:36.054Z,1613494176.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 8.460000 m, bearing: 145.825563 deg, deltaT: 4.481956 s, approachRate: 0.642577 m/s, LOS rate: -1.737854 deg/s, posRepo size: 4
2021-02-16T16:49:36.060Z,1613494176.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.460000 m,
      bearing: 145.825563 deg,
      approachRate: 0.642577 m/s,
      LOS rate: -1.737854 deg/s,
      cmd update: -5.213561 deg/s,
      cmd heading: 145.032996 deg,
      new cmd heading: 149.411798 deg.

2021-02-16T16:49:38.415Z,1613494178.415 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:39.208Z,1613494179.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:39.631Z,1613494179.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:40.448Z,1613494180.448 [Micromodem](INFO): Nmea in: $SNTTA,0.007587,,,,164940.60*45

2021-02-16T16:49:40.474Z,1613494180.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 11.520001 m, bearing: 145.143501 deg, deltaT: 4.401247 s, approachRate: 0.695258 m/s, LOS rate: -0.154970 deg/s, posRepo size: 4
2021-02-16T16:49:40.492Z,1613494180.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 145.143501 deg,
      approachRate: 0.695258 m/s,
      LOS rate: -0.154970 deg/s,
      cmd update: -0.464911 deg/s,
      cmd heading: 122.065533 deg,
      new cmd heading: 119.794699 deg.

2021-02-16T16:49:42.885Z,1613494182.885 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:43.652Z,1613494183.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:44.071Z,1613494184.071 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:44.881Z,1613494184.881 [Micromodem](INFO): Nmea in: $SNTTA,0.009607,,0.032219,,164945.04*52

2021-02-16T16:49:44.915Z,1613494184.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 15.719999 m, bearing: 118.641260 deg, deltaT: 4.556866 s, approachRate: 0.921686 m/s, LOS rate: -5.815892 deg/s, posRepo size: 4
2021-02-16T16:49:44.916Z,1613494184.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.72 m. Rolling out.
2021-02-16T16:49:44.916Z,1613494184.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:49:47.312Z,1613494187.312 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:48.107Z,1613494188.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:48.502Z,1613494188.502 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:49.336Z,1613494189.336 [Micromodem](INFO): Nmea in: $SNTTA,0.011544,,,,164949.50*47

2021-02-16T16:49:49.358Z,1613494189.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.479998 m, bearing: 103.950609 deg, deltaT: 4.373045 s, approachRate: 0.631139 m/s, LOS rate: -3.359364 deg/s, posRepo size: 4
2021-02-16T16:49:51.839Z,1613494191.839 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:52.554Z,1613494192.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:52.945Z,1613494192.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:53.780Z,1613494193.780 [Micromodem](INFO): Nmea in: $SNTTA,0.013584,,,,164953.94*4A

2021-02-16T16:49:53.833Z,1613494193.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.519997 m, bearing: 132.877437 deg, deltaT: 4.390711 s, approachRate: 0.464617 m/s, LOS rate: 6.588187 deg/s, posRepo size: 4
2021-02-16T16:49:56.190Z,1613494196.190 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:49:56.982Z,1613494196.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:49:57.389Z,1613494197.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:49:58.266Z,1613494198.266 [Micromodem](INFO): Nmea in: $SNTTA,0.015722,0.054337,,,164958.37*58

2021-02-16T16:49:58.317Z,1613494198.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 23.760000 m, bearing: 77.467876 deg, deltaT: 4.496271 s, approachRate: 0.720598 m/s, LOS rate: -12.323448 deg/s, posRepo size: 4
2021-02-16T16:50:00.713Z,1613494200.713 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:01.445Z,1613494201.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:01.831Z,1613494201.831 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:02.706Z,1613494202.706 [Micromodem](INFO): Nmea in: $SNTTA,0.017688,,,,165002.84*4C

2021-02-16T16:50:02.782Z,1613494202.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.420002 m, bearing: 90.242474 deg, deltaT: 4.393140 s, approachRate: 0.833117 m/s, LOS rate: 2.907851 deg/s, posRepo size: 4
2021-02-16T16:50:04.761Z,1613494204.761 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:05.473Z,1613494205.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:05.873Z,1613494205.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:06.712Z,1613494206.712 [Micromodem](INFO): Nmea in: $SNTTA,0.019769,,,,165006.86*4A

2021-02-16T16:50:06.801Z,1613494206.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.699997 m, bearing: 125.004264 deg, deltaT: 4.067532 s, approachRate: 0.560535 m/s, LOS rate: 8.546162 deg/s, posRepo size: 4
2021-02-16T16:50:09.119Z,1613494209.119 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:09.928Z,1613494209.928 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:10.317Z,1613494210.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:11.160Z,1613494211.160 [Micromodem](INFO): Nmea in: $SNTTA,0.021931,,0.044263,,165011.32*52

2021-02-16T16:50:11.196Z,1613494211.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.060001 m, bearing: 90.977847 deg, deltaT: 4.471413 s, approachRate: 0.751441 m/s, LOS rate: -7.609768 deg/s, posRepo size: 4
2021-02-16T16:50:13.159Z,1613494213.159 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:50:13.619Z,1613494213.619 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:14.377Z,1613494214.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:14.758Z,1613494214.758 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:15.624Z,1613494215.624 [Micromodem](INFO): Nmea in: $SNTTA,0.024183,,,,165015.77*4A

2021-02-16T16:50:15.676Z,1613494215.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.419998 m, bearing: 129.109618 deg, deltaT: 4.413018 s, approachRate: 0.761383 m/s, LOS rate: 8.640747 deg/s, posRepo size: 4
2021-02-16T16:50:18.013Z,1613494218.013 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:18.797Z,1613494218.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:19.209Z,1613494219.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:20.044Z,1613494220.044 [Micromodem](INFO): Nmea in: $SNTTA,0.026388,,,0.028888,165020.19*53

2021-02-16T16:50:20.071Z,1613494220.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.719997 m, bearing: 104.656530 deg, deltaT: 4.588309 s, approachRate: 0.719219 m/s, LOS rate: -5.329434 deg/s, posRepo size: 4
2021-02-16T16:50:22.449Z,1613494222.449 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:23.260Z,1613494223.260 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:23.680Z,1613494223.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:24.489Z,1613494224.489 [Micromodem](INFO): Nmea in: $SNTTA,0.028599,0.032468,,,165024.65*5D

2021-02-16T16:50:24.528Z,1613494224.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 43.019997 m, bearing: 109.561664 deg, deltaT: 4.316059 s, approachRate: 0.764586 m/s, LOS rate: 1.136485 deg/s, posRepo size: 4
2021-02-16T16:50:26.938Z,1613494226.938 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:27.714Z,1613494227.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:28.094Z,1613494228.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:28.933Z,1613494228.933 [Micromodem](INFO): Nmea in: $SNTTA,0.030847,,,,165029.11*41

2021-02-16T16:50:28.990Z,1613494228.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.439999 m, bearing: 116.326017 deg, deltaT: 4.402258 s, approachRate: 0.776874 m/s, LOS rate: 1.536564 deg/s, posRepo size: 4
2021-02-16T16:50:31.338Z,1613494231.338 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:32.137Z,1613494232.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:32.534Z,1613494232.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:33.372Z,1613494233.372 [Micromodem](INFO): Nmea in: $SNTTA,0.033176,,,,165033.53*44

2021-02-16T16:50:33.418Z,1613494233.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.920002 m, bearing: 106.622456 deg, deltaT: 4.479301 s, approachRate: 0.776908 m/s, LOS rate: -2.166311 deg/s, posRepo size: 4
2021-02-16T16:50:35.828Z,1613494235.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:36.604Z,1613494236.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:36.980Z,1613494236.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:37.816Z,1613494237.816 [Micromodem](INFO): Nmea in: $SNTTA,0.035368,,,,165037.99*4D

2021-02-16T16:50:37.850Z,1613494237.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 53.280003 m, bearing: 105.982331 deg, deltaT: 4.439486 s, approachRate: 0.756845 m/s, LOS rate: -0.144189 deg/s, posRepo size: 4
2021-02-16T16:50:40.234Z,1613494240.234 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:41.017Z,1613494241.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:41.422Z,1613494241.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:42.248Z,1613494242.248 [Micromodem](INFO): Nmea in: $SNTTA,0.037586,,,,165042.41*4E

2021-02-16T16:50:42.302Z,1613494242.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 56.520000 m, bearing: 104.365693 deg, deltaT: 4.481313 s, approachRate: 0.723002 m/s, LOS rate: -0.360751 deg/s, posRepo size: 4
2021-02-16T16:50:44.691Z,1613494244.691 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:45.470Z,1613494245.470 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:45.894Z,1613494245.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:46.728Z,1613494246.728 [Micromodem](INFO): Nmea in: $SNTTA,0.039967,,,,165046.86*4C

2021-02-16T16:50:46.782Z,1613494246.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.120007 m, bearing: 102.024872 deg, deltaT: 4.399952 s, approachRate: 0.818192 m/s, LOS rate: -0.532011 deg/s, posRepo size: 4
2021-02-16T16:50:49.143Z,1613494249.143 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:49.921Z,1613494249.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:50.317Z,1613494250.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:51.146Z,1613494251.146 [Micromodem](INFO): Nmea in: $SNTTA,0.042096,,,,165051.31*4D

2021-02-16T16:50:51.204Z,1613494251.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.299999 m, bearing: 112.539436 deg, deltaT: 4.485881 s, approachRate: 0.708889 m/s, LOS rate: 2.343924 deg/s, posRepo size: 4
2021-02-16T16:50:53.576Z,1613494253.576 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:54.376Z,1613494254.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:54.772Z,1613494254.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:50:55.622Z,1613494255.622 [Micromodem](INFO): Nmea in: $SNTTA,0.044339,,,,165055.77*4B

2021-02-16T16:50:55.658Z,1613494255.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.660004 m, bearing: 108.456342 deg, deltaT: 4.393441 s, approachRate: 0.764777 m/s, LOS rate: -0.929361 deg/s, posRepo size: 4
2021-02-16T16:50:58.030Z,1613494258.030 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:50:58.813Z,1613494258.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:50:59.207Z,1613494259.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:00.040Z,1613494260.040 [Micromodem](INFO): Nmea in: $SNTTA,0.046543,,,0.071413,165100.20*5F

2021-02-16T16:51:00.081Z,1613494260.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 69.959999 m, bearing: 113.458007 deg, deltaT: 4.663233 s, approachRate: 0.707663 m/s, LOS rate: 1.072575 deg/s, posRepo size: 4
2021-02-16T16:51:02.465Z,1613494262.465 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:03.245Z,1613494263.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:03.642Z,1613494263.642 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:04.472Z,1613494264.472 [Micromodem](INFO): Nmea in: $SNTTA,0.048690,,,,165104.64*46

2021-02-16T16:51:04.510Z,1613494264.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 73.199997 m, bearing: 102.245630 deg, deltaT: 4.240812 s, approachRate: 0.764004 m/s, LOS rate: -2.643922 deg/s, posRepo size: 4
2021-02-16T16:51:06.918Z,1613494266.918 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:07.698Z,1613494267.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:08.086Z,1613494268.086 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:08.920Z,1613494268.920 [Micromodem](INFO): Nmea in: $SNTTA,0.050985,,,,165109.09*42

2021-02-16T16:51:08.968Z,1613494268.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 76.620003 m, bearing: 94.479705 deg, deltaT: 4.439367 s, approachRate: 0.770381 m/s, LOS rate: -1.749332 deg/s, posRepo size: 4
2021-02-16T16:51:11.357Z,1613494271.357 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:12.125Z,1613494272.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:12.539Z,1613494272.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:13.356Z,1613494273.356 [Micromodem](INFO): Nmea in: $SNTTA,0.053087,,,,165113.51*4C

2021-02-16T16:51:13.393Z,1613494273.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 79.799995 m, bearing: 103.201795 deg, deltaT: 4.457024 s, approachRate: 0.713479 m/s, LOS rate: 1.956931 deg/s, posRepo size: 4
2021-02-16T16:51:15.814Z,1613494275.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:16.574Z,1613494276.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:16.977Z,1613494276.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:17.808Z,1613494277.808 [Micromodem](INFO): Nmea in: $SNTTA,0.055372,,,,165117.96*4C

2021-02-16T16:51:17.882Z,1613494277.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.220001 m, bearing: 111.775540 deg, deltaT: 4.403310 s, approachRate: 0.776690 m/s, LOS rate: 1.947114 deg/s, posRepo size: 4
2021-02-16T16:51:20.220Z,1613494280.220 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:21.021Z,1613494281.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:21.418Z,1613494281.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:22.252Z,1613494282.252 [Micromodem](INFO): Nmea in: $SNTTA,0.057519,,,,165122.41*49

2021-02-16T16:51:22.306Z,1613494282.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.459999 m, bearing: 114.172978 deg, deltaT: 4.514017 s, approachRate: 0.717764 m/s, LOS rate: 0.531110 deg/s, posRepo size: 4
2021-02-16T16:51:24.701Z,1613494284.701 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:25.465Z,1613494285.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:25.867Z,1613494285.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:26.692Z,1613494286.692 [Micromodem](INFO): Nmea in: $SNTTA,0.059748,,,,165126.86*4E

2021-02-16T16:51:26.781Z,1613494286.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.760002 m, bearing: 115.003747 deg, deltaT: 4.389751 s, approachRate: 0.751752 m/s, LOS rate: 0.189252 deg/s, posRepo size: 4
2021-02-16T16:51:29.113Z,1613494289.113 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:29.912Z,1613494289.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:30.320Z,1613494290.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:31.152Z,1613494291.152 [Micromodem](INFO): Nmea in: $SNTTA,0.061902,,,,165131.30*4E

2021-02-16T16:51:31.174Z,1613494291.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 93.060005 m, bearing: 114.482904 deg, deltaT: 4.508194 s, approachRate: 0.732001 m/s, LOS rate: -0.115532 deg/s, posRepo size: 4
2021-02-16T16:51:33.598Z,1613494293.598 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:34.365Z,1613494294.365 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:34.771Z,1613494294.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:35.603Z,1613494295.603 [Micromodem](INFO): Nmea in: $SNTTA,0.064115,,,,165135.75*40

2021-02-16T16:51:35.642Z,1613494295.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 96.360001 m, bearing: 108.190319 deg, deltaT: 4.364315 s, approachRate: 0.756131 m/s, LOS rate: -1.441826 deg/s, posRepo size: 4
2021-02-16T16:51:38.031Z,1613494298.031 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:38.789Z,1613494298.789 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:39.206Z,1613494299.206 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:40.024Z,1613494300.024 [Micromodem](INFO): Nmea in: $SNTTA,0.066360,,,,165140.18*4B

2021-02-16T16:51:40.056Z,1613494300.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.720001 m, bearing: 102.163641 deg, deltaT: 4.484537 s, approachRate: 0.749241 m/s, LOS rate: -1.343880 deg/s, posRepo size: 4
2021-02-16T16:51:42.441Z,1613494302.441 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:43.241Z,1613494303.241 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:43.644Z,1613494303.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:44.480Z,1613494304.480 [Micromodem](INFO): Nmea in: $SNTTA,0.068513,,,,165144.63*4F

2021-02-16T16:51:44.500Z,1613494304.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.959999 m, bearing: 95.735210 deg, deltaT: 4.430622 s, approachRate: 0.731274 m/s, LOS rate: -1.450909 deg/s, posRepo size: 4
2021-02-16T16:51:46.909Z,1613494306.909 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:47.688Z,1613494307.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:48.088Z,1613494308.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:48.920Z,1613494308.920 [Micromodem](INFO): Nmea in: $SNTTA,0.070863,,,,165149.08*4C

2021-02-16T16:51:48.978Z,1613494308.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 106.500000 m, bearing: 87.179093 deg, deltaT: 4.421708 s, approachRate: 0.800596 m/s, LOS rate: -1.935025 deg/s, posRepo size: 4
2021-02-16T16:51:51.333Z,1613494311.333 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:52.120Z,1613494312.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:52.525Z,1613494312.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:53.360Z,1613494313.360 [Micromodem](INFO): Nmea in: $SNTTA,0.073135,,,,165153.51*42

2021-02-16T16:51:53.382Z,1613494313.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.860008 m, bearing: 95.006640 deg, deltaT: 4.486515 s, approachRate: 0.748913 m/s, LOS rate: 1.744683 deg/s, posRepo size: 4
2021-02-16T16:51:55.826Z,1613494315.826 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:51:56.575Z,1613494316.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:51:56.970Z,1613494316.970 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:51:57.800Z,1613494317.800 [Micromodem](INFO): Nmea in: $SNTTA,0.075464,,,,165157.97*4B

2021-02-16T16:51:57.849Z,1613494317.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 113.340004 m, bearing: 102.826640 deg, deltaT: 4.396522 s, approachRate: 0.791534 m/s, LOS rate: 1.778679 deg/s, posRepo size: 4
2021-02-16T16:52:00.237Z,1613494320.237 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:01.017Z,1613494321.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:01.423Z,1613494321.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:02.248Z,1613494322.248 [Micromodem](INFO): Nmea in: $SNTTA,0.077727,,,,165202.41*45

2021-02-16T16:52:02.262Z,1613494322.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 116.760002 m, bearing: 108.502561 deg, deltaT: 4.476084 s, approachRate: 0.764060 m/s, LOS rate: 1.268055 deg/s, posRepo size: 4
2021-02-16T16:52:04.678Z,1613494324.678 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:05.452Z,1613494325.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:05.865Z,1613494325.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:06.705Z,1613494326.705 [Micromodem](INFO): Nmea in: $SNTTA,0.080108,,,,165206.85*4A

2021-02-16T16:52:06.772Z,1613494326.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 120.300003 m, bearing: 112.540043 deg, deltaT: 4.440530 s, approachRate: 0.797202 m/s, LOS rate: 0.909234 deg/s, posRepo size: 4
2021-02-16T16:52:09.127Z,1613494329.127 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:09.901Z,1613494329.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:10.310Z,1613494330.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:11.132Z,1613494331.132 [Micromodem](INFO): Nmea in: $SNTTA,0.082395,,,,165211.29*4E

2021-02-16T16:52:11.170Z,1613494331.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 123.720001 m, bearing: 109.043383 deg, deltaT: 4.491529 s, approachRate: 0.761433 m/s, LOS rate: -0.778501 deg/s, posRepo size: 4
2021-02-16T16:52:13.557Z,1613494333.557 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:14.345Z,1613494334.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:14.803Z,1613494334.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:15.572Z,1613494335.572 [Micromodem](INFO): Nmea in: $SNTTA,0.084624,,,,165215.74*4B

2021-02-16T16:52:15.636Z,1613494335.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 127.080002 m, bearing: 102.298400 deg, deltaT: 4.371639 s, approachRate: 0.768591 m/s, LOS rate: -1.542896 deg/s, posRepo size: 4
2021-02-16T16:52:18.024Z,1613494338.024 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:18.802Z,1613494338.802 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:19.193Z,1613494339.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:20.024Z,1613494340.024 [Micromodem](INFO): Nmea in: $SNTTA,0.086818,,,,165220.19*45

2021-02-16T16:52:20.048Z,1613494340.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 130.380005 m, bearing: 96.749705 deg, deltaT: 4.498966 s, approachRate: 0.733503 m/s, LOS rate: -1.233327 deg/s, posRepo size: 4
2021-02-16T16:52:22.444Z,1613494342.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:23.234Z,1613494343.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:23.662Z,1613494343.662 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:24.492Z,1613494344.492 [Micromodem](INFO): Nmea in: $SNTTA,0.089082,,,,165224.62*49

2021-02-16T16:52:24.514Z,1613494344.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 93.291286 deg, deltaT: 4.411386 s, approachRate: 0.775266 m/s, LOS rate: -0.783975 deg/s, posRepo size: 4
2021-02-16T16:52:26.952Z,1613494346.952 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:27.744Z,1613494347.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:28.102Z,1613494348.102 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:28.957Z,1613494348.957 [Micromodem](INFO): Nmea in: $SNTTA,0.091437,,0.111056,,165229.13*5D

2021-02-16T16:52:28.998Z,1613494348.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 133.800003 m, bearing: 98.516408 deg, deltaT: 4.453774 s, approachRate: 0.000000 m/s, LOS rate: 1.173190 deg/s, posRepo size: 4
2021-02-16T16:52:31.349Z,1613494351.349 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:32.147Z,1613494352.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:32.546Z,1613494352.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:33.392Z,1613494353.392 [Micromodem](INFO): Nmea in: $SNTTA,0.093774,,,,165233.54*4F

2021-02-16T16:52:33.414Z,1613494353.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 140.880005 m, bearing: 104.091455 deg, deltaT: 4.464764 s, approachRate: 1.585750 m/s, LOS rate: 1.248677 deg/s, posRepo size: 4
2021-02-16T16:52:35.814Z,1613494355.814 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:36.619Z,1613494356.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:36.993Z,1613494356.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:37.836Z,1613494357.836 [Micromodem](INFO): Nmea in: $SNTTA,0.095970,,,,165238.01*48

2021-02-16T16:52:37.889Z,1613494357.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.059998 m, bearing: 118.611522 deg, deltaT: 4.429515 s, approachRate: 0.717910 m/s, LOS rate: 3.278026 deg/s, posRepo size: 4
2021-02-16T16:52:40.244Z,1613494360.244 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:41.028Z,1613494361.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:41.439Z,1613494361.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:42.259Z,1613494362.259 [Micromodem](INFO): Nmea in: $SNTTA,0.098191,,,,165242.42*48

2021-02-16T16:52:42.284Z,1613494362.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.420013 m, bearing: 118.266010 deg, deltaT: 4.452641 s, approachRate: 0.754612 m/s, LOS rate: -0.077597 deg/s, posRepo size: 4
2021-02-16T16:52:44.721Z,1613494364.721 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:45.474Z,1613494365.474 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:45.895Z,1613494365.895 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:46.732Z,1613494366.732 [Micromodem](INFO): Nmea in: $SNTTA,0.100518,,,,165246.87*40

2021-02-16T16:52:46.787Z,1613494366.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.960007 m, bearing: 111.700326 deg, deltaT: 4.432099 s, approachRate: 0.798717 m/s, LOS rate: -1.481394 deg/s, posRepo size: 4
2021-02-16T16:52:46.788Z,1613494366.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.96 m. Resuming terminal guidance.
2021-02-16T16:52:46.788Z,1613494366.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T16:52:48.817Z,1613494368.817 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:49.514Z,1613494369.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:49.921Z,1613494369.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:50.756Z,1613494370.756 [Micromodem](INFO): Nmea in: $SNTTA,0.102594,,,,165250.90*47

2021-02-16T16:52:50.804Z,1613494370.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 154.020004 m, bearing: 109.494093 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T16:52:50.804Z,1613494370.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 109.494093deg and heading rate command to 0 deg/s.
2021-02-16T16:52:53.246Z,1613494373.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:53.957Z,1613494373.957 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:54.367Z,1613494374.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:55.200Z,1613494375.200 [Micromodem](INFO): Nmea in: $SNTTA,0.104731,,,0.111450,165255.35*58

2021-02-16T16:52:55.244Z,1613494375.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.260010 m, bearing: 98.947810 deg, deltaT: 4.609355 s, approachRate: 0.702919 m/s, LOS rate: -2.288017 deg/s, posRepo size: 2
2021-02-16T16:52:55.246Z,1613494375.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.260010 m,
      bearing: 98.947810 deg,
      approachRate: 0.702919 m/s,
      LOS rate: -2.288017 deg/s,
      cmd update: -6.864052 deg/s,
      cmd heading: 109.494093 deg,
      new cmd heading: 109.494093 deg.

2021-02-16T16:52:57.662Z,1613494377.662 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:52:58.405Z,1613494378.405 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:52:58.806Z,1613494378.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:52:59.668Z,1613494379.668 [Micromodem](INFO): Nmea in: $SNTTA,0.106839,,,,165259.80*41

2021-02-16T16:52:59.721Z,1613494379.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.320007 m, bearing: 107.634082 deg, deltaT: 4.271261 s, approachRate: 0.716415 m/s, LOS rate: 2.033655 deg/s, posRepo size: 3
2021-02-16T16:52:59.743Z,1613494379.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.320007 m,
      bearing: 107.634082 deg,
      approachRate: 0.716415 m/s,
      LOS rate: 2.033655 deg/s,
      cmd update: 6.100966 deg/s,
      cmd heading: 80.177022 deg,
      new cmd heading: 76.851979 deg.

2021-02-16T16:53:01.741Z,1613494381.741 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:02.442Z,1613494382.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:02.869Z,1613494382.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:03.684Z,1613494383.684 [Micromodem](INFO): Nmea in: $SNTTA,0.108485,,,,165303.83*49

2021-02-16T16:53:03.788Z,1613494383.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.899994 m, bearing: 100.731705 deg, deltaT: 4.071181 s, approachRate: 0.633719 m/s, LOS rate: -1.695424 deg/s, posRepo size: 4
2021-02-16T16:53:03.789Z,1613494383.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.899994 m,
      bearing: 100.731705 deg,
      approachRate: 0.633719 m/s,
      LOS rate: -1.695424 deg/s,
      cmd update: -5.086272 deg/s,
      cmd heading: 104.957778 deg,
      new cmd heading: 107.936361 deg.

2021-02-16T16:53:06.111Z,1613494386.111 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:06.894Z,1613494386.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:07.301Z,1613494387.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:08.144Z,1613494388.144 [Micromodem](INFO): Nmea in: $SNTTA,0.110360,,,,165308.28*46

2021-02-16T16:53:08.177Z,1613494388.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.660019 m, bearing: 94.203157 deg, deltaT: 4.472175 s, approachRate: 0.617155 m/s, LOS rate: -1.459815 deg/s, posRepo size: 4
2021-02-16T16:53:08.179Z,1613494388.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 94.203157 deg,
      approachRate: 0.617155 m/s,
      LOS rate: -1.459815 deg/s,
      cmd update: -4.379445 deg/s,
      cmd heading: 82.161158 deg,
      new cmd heading: 80.125841 deg.

2021-02-16T16:53:10.537Z,1613494390.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:11.334Z,1613494391.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:11.740Z,1613494391.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:12.582Z,1613494392.582 [Micromodem](INFO): Nmea in: $SNTTA,0.112227,,,,165312.73*43

2021-02-16T16:53:12.644Z,1613494392.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.540009 m, bearing: 84.241299 deg, deltaT: 4.443744 s, approachRate: 0.648100 m/s, LOS rate: -2.241771 deg/s, posRepo size: 4
2021-02-16T16:53:12.646Z,1613494392.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.540009 m,
      bearing: 84.241299 deg,
      approachRate: 0.648100 m/s,
      LOS rate: -2.241771 deg/s,
      cmd update: -6.725314 deg/s,
      cmd heading: 62.717466 deg,
      new cmd heading: 60.865062 deg.

2021-02-16T16:53:15.014Z,1613494395.014 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:15.774Z,1613494395.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:16.189Z,1613494396.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:17.008Z,1613494397.008 [Micromodem](INFO): Nmea in: $SNTTA,0.113874,,,,165317.17*49

2021-02-16T16:53:17.050Z,1613494397.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 48.467453 deg, deltaT: 4.442451 s, approachRate: 0.526732 m/s, LOS rate: -8.052727 deg/s, posRepo size: 4
2021-02-16T16:53:17.052Z,1613494397.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 48.467453 deg,
      approachRate: 0.526732 m/s,
      LOS rate: -8.052727 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 32.816477 deg,
      new cmd heading: 30.212651 deg.

2021-02-16T16:53:19.433Z,1613494399.433 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:20.217Z,1613494400.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:20.646Z,1613494400.646 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:21.444Z,1613494401.444 [Micromodem](INFO): Nmea in: $SNTTA,0.114835,,,,165321.61*4F

2021-02-16T16:53:21.486Z,1613494401.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 64.417051 deg, deltaT: 4.410979 s, approachRate: 0.000000 m/s, LOS rate: 3.615886 deg/s, posRepo size: 4
2021-02-16T16:53:21.492Z,1613494401.492 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 64.417051 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.615886 deg/s,
      cmd update: 10.847659 deg/s,
      cmd heading: 339.880384 deg,
      new cmd heading: 334.936912 deg.

2021-02-16T16:53:23.907Z,1613494403.907 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:24.660Z,1613494404.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:25.089Z,1613494405.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:25.922Z,1613494405.922 [Micromodem](INFO): Nmea in: $SNTTA,0.115213,,,,165326.05*45

2021-02-16T16:53:25.956Z,1613494405.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 5.875866 deg, deltaT: 4.417511 s, approachRate: 0.000000 m/s, LOS rate: -13.252074 deg/s, posRepo size: 4
2021-02-16T16:53:25.957Z,1613494405.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.252074 deg/s. Setting heading cmd to target bearing of 5.875866deg and heading rate command to 0 deg/s.
2021-02-16T16:53:28.352Z,1613494408.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:29.116Z,1613494409.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:29.512Z,1613494409.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:30.344Z,1613494410.344 [Micromodem](INFO): Nmea in: $SNTTA,0.115004,,,,165330.50*46

2021-02-16T16:53:30.359Z,1613494410.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.879990 m, bearing: 26.378833 deg, deltaT: 4.500838 s, approachRate: 0.000000 m/s, LOS rate: 4.555366 deg/s, posRepo size: 4
2021-02-16T16:53:30.361Z,1613494410.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 26.378833 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.555366 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 5.875866 deg,
      new cmd heading: 5.875866 deg.

2021-02-16T16:53:32.784Z,1613494412.784 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:33.578Z,1613494413.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:33.956Z,1613494413.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:34.790Z,1613494414.790 [Micromodem](INFO): Nmea in: $SNTTA,0.114383,,,,165334.97*44

2021-02-16T16:53:35.205Z,1613494415.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 171.480011 m, bearing: 300.262001 deg, deltaT: 4.851627 s, approachRate: 0.123674 m/s, LOS rate: -17.750096 deg/s, posRepo size: 4
2021-02-16T16:53:35.206Z,1613494415.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.750096 deg/s. Setting heading cmd to target bearing of 300.262001deg and heading rate command to 0 deg/s.
2021-02-16T16:53:37.658Z,1613494417.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:38.436Z,1613494418.436 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:38.807Z,1613494418.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:39.652Z,1613494419.652 [Micromodem](INFO): Nmea in: $SNTTA,0.113571,,0.126352,,165339.83*5F

2021-02-16T16:53:40.048Z,1613494420.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 323.156194 deg, deltaT: 4.904859 s, approachRate: -0.244658 m/s, LOS rate: 4.667656 deg/s, posRepo size: 4
2021-02-16T16:53:40.049Z,1613494420.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.279999 m,
      bearing: 323.156194 deg,
      approachRate: -0.244658 m/s,
      LOS rate: 4.667656 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 300.262001 deg,
      new cmd heading: 300.262001 deg.

2021-02-16T16:53:42.461Z,1613494422.461 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:43.245Z,1613494423.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:43.651Z,1613494423.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:44.492Z,1613494424.492 [Micromodem](INFO): Nmea in: $SNTTA,0.113294,,,,165344.64*4F

2021-02-16T16:53:44.514Z,1613494424.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 170.279999 m, bearing: 42.710887 deg, deltaT: 4.371045 s, approachRate: 0.000000 m/s, LOS rate: 18.200385 deg/s, posRepo size: 4
2021-02-16T16:53:44.535Z,1613494424.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.200385 deg/s. Setting heading cmd to target bearing of 42.710887deg and heading rate command to 0 deg/s.
2021-02-16T16:53:46.937Z,1613494426.937 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:47.702Z,1613494427.702 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:48.107Z,1613494428.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:48.916Z,1613494428.916 [Micromodem](INFO): Nmea in: $SNTTA,0.112924,,,,165349.09*48

2021-02-16T16:53:49.779Z,1613494429.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:51.332Z,1613494431.332 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:53:52.554Z,1613494432.554 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:53.346Z,1613494433.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:53.773Z,1613494433.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:54.595Z,1613494434.595 [Micromodem](INFO): Nmea in: $SNTTA,0.112315,,,,165354.78*4A

2021-02-16T16:53:54.995Z,1613494434.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.419998 m, bearing: 359.848571 deg, deltaT: 10.557275 s, approachRate: -0.176182 m/s, LOS rate: -4.059980 deg/s, posRepo size: 4
2021-02-16T16:53:54.997Z,1613494434.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.419998 m,
      bearing: 359.848571 deg,
      approachRate: -0.176182 m/s,
      LOS rate: -4.059980 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 42.710887 deg,
      new cmd heading: 42.710887 deg.

2021-02-16T16:53:57.401Z,1613494437.401 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:53:58.192Z,1613494438.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:53:58.628Z,1613494438.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:53:59.440Z,1613494439.440 [Micromodem](INFO): Nmea in: $SNTTA,0.112132,,,0.114632,165359.58*5F

2021-02-16T16:53:59.462Z,1613494439.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.240005 m, bearing: 326.409331 deg, deltaT: 4.369211 s, approachRate: -0.041196 m/s, LOS rate: -7.653381 deg/s, posRepo size: 4
2021-02-16T16:53:59.464Z,1613494439.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.240005 m,
      bearing: 326.409331 deg,
      approachRate: -0.041196 m/s,
      LOS rate: -7.653381 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 350.233146 deg,
      new cmd heading: 345.250062 deg.

2021-02-16T16:54:01.884Z,1613494441.884 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:02.640Z,1613494442.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:03.057Z,1613494443.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:03.868Z,1613494443.868 [Micromodem](INFO): Nmea in: $SNTTA,0.112231,,,,165404.03*43

2021-02-16T16:54:03.919Z,1613494443.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 168.240005 m, bearing: 358.297080 deg, deltaT: 4.432464 s, approachRate: 0.000000 m/s, LOS rate: 7.194136 deg/s, posRepo size: 4
2021-02-16T16:54:03.921Z,1613494443.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.240005 m,
      bearing: 358.297080 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 7.194136 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 297.051940 deg,
      new cmd heading: 291.769888 deg.

2021-02-16T16:54:06.330Z,1613494446.330 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:07.080Z,1613494447.080 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:07.489Z,1613494447.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:08.324Z,1613494448.324 [Micromodem](INFO): Nmea in: $SNTTA,0.111948,,,,165408.47*49

2021-02-16T16:54:08.346Z,1613494448.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 10.269519 deg, deltaT: 4.478267 s, approachRate: -0.093789 m/s, LOS rate: 2.673453 deg/s, posRepo size: 4
2021-02-16T16:54:08.368Z,1613494448.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.819992 m,
      bearing: 10.269519 deg,
      approachRate: -0.093789 m/s,
      LOS rate: 2.673453 deg/s,
      cmd update: 8.020360 deg/s,
      cmd heading: 350.752266 deg,
      new cmd heading: 355.464930 deg.

2021-02-16T16:54:10.805Z,1613494450.805 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:11.529Z,1613494451.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:11.938Z,1613494451.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:12.780Z,1613494452.780 [Micromodem](INFO): Nmea in: $SNTTA,0.110982,,,,165412.92*4D

2021-02-16T16:54:12.826Z,1613494452.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 167.819992 m, bearing: 285.657526 deg, deltaT: 4.418313 s, approachRate: 0.000000 m/s, LOS rate: -19.150293 deg/s, posRepo size: 4
2021-02-16T16:54:12.831Z,1613494452.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.150293 deg/s. Setting heading cmd to target bearing of 285.657526deg and heading rate command to 0 deg/s.
2021-02-16T16:54:15.184Z,1613494455.184 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:15.971Z,1613494455.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:16.376Z,1613494456.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:17.204Z,1613494457.204 [Micromodem](INFO): Nmea in: $SNTTA,0.110125,,,,165417.36*43

2021-02-16T16:54:17.220Z,1613494457.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.059998 m, bearing: 290.786725 deg, deltaT: 4.483769 s, approachRate: -0.615552 m/s, LOS rate: 1.143948 deg/s, posRepo size: 4
2021-02-16T16:54:17.221Z,1613494457.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.059998 m,
      bearing: 290.786725 deg,
      approachRate: -0.615552 m/s,
      LOS rate: 1.143948 deg/s,
      cmd update: 3.431844 deg/s,
      cmd heading: 285.657526 deg,
      new cmd heading: 285.657526 deg.

2021-02-16T16:54:19.666Z,1613494459.666 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:20.414Z,1613494460.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:20.820Z,1613494460.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:21.660Z,1613494461.660 [Micromodem](INFO): Nmea in: $SNTTA,0.109739,,,,165421.81*49

2021-02-16T16:54:21.740Z,1613494461.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 164.580002 m, bearing: 356.100600 deg, deltaT: 4.420378 s, approachRate: -0.108587 m/s, LOS rate: 14.775630 deg/s, posRepo size: 4
2021-02-16T16:54:21.741Z,1613494461.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.775630 deg/s. Setting heading cmd to target bearing of 356.100600deg and heading rate command to 0 deg/s.
2021-02-16T16:54:24.080Z,1613494464.080 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:24.856Z,1613494464.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:25.268Z,1613494465.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:26.084Z,1613494466.084 [Micromodem](INFO): Nmea in: $SNTTA,0.108808,,,,165426.25*4C

2021-02-16T16:54:26.126Z,1613494466.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 163.080002 m, bearing: 282.116866 deg, deltaT: 4.474397 s, approachRate: -0.335241 m/s, LOS rate: -16.534906 deg/s, posRepo size: 4
2021-02-16T16:54:26.127Z,1613494466.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.534906 deg/s. Setting heading cmd to target bearing of 282.116866deg and heading rate command to 0 deg/s.
2021-02-16T16:54:28.514Z,1613494468.514 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:29.307Z,1613494469.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:29.747Z,1613494469.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:30.544Z,1613494470.544 [Micromodem](INFO): Nmea in: $SNTTA,0.107641,,,,165430.70*47

2021-02-16T16:54:30.634Z,1613494470.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.120010 m, bearing: 282.989928 deg, deltaT: 4.377342 s, approachRate: -0.219309 m/s, LOS rate: 0.199450 deg/s, posRepo size: 4
2021-02-16T16:54:30.640Z,1613494470.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.120010 m,
      bearing: 282.989928 deg,
      approachRate: -0.219309 m/s,
      LOS rate: 0.199450 deg/s,
      cmd update: 0.598351 deg/s,
      cmd heading: 282.116866 deg,
      new cmd heading: 282.116866 deg.

2021-02-16T16:54:32.975Z,1613494472.975 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:33.755Z,1613494473.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:34.151Z,1613494474.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:34.988Z,1613494474.988 [Micromodem](INFO): Nmea in: $SNTTA,0.106382,,,,165435.14*4B

2021-02-16T16:54:35.043Z,1613494475.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 159.420013 m, bearing: 286.024253 deg, deltaT: 4.461051 s, approachRate: -0.605238 m/s, LOS rate: 0.680182 deg/s, posRepo size: 4
2021-02-16T16:54:35.045Z,1613494475.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.420013 m,
      bearing: 286.024253 deg,
      approachRate: -0.605238 m/s,
      LOS rate: 0.680182 deg/s,
      cmd update: 2.040545 deg/s,
      cmd heading: 284.780068 deg,
      new cmd heading: 285.055923 deg.

2021-02-16T16:54:37.395Z,1613494477.395 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:38.235Z,1613494478.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:38.631Z,1613494478.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:39.819Z,1613494479.819 [Micromodem](INFO): Nmea in: $SNTTA,0.104895,,,,165439.66*4D

2021-02-16T16:54:39.820Z,1613494479.820 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,165440,AUV,2.0,COPROC,0.10.0.46*42
 expected 2C
2021-02-16T16:54:39.854Z,1613494479.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 157.019989 m, bearing: 280.114145 deg, deltaT: 4.825001 s, approachRate: -0.497414 m/s, LOS rate: -1.224893 deg/s, posRepo size: 4
2021-02-16T16:54:39.856Z,1613494479.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.019989 m,
      bearing: 280.114145 deg,
      approachRate: -0.497414 m/s,
      LOS rate: -1.224893 deg/s,
      cmd update: -3.674678 deg/s,
      cmd heading: 294.645277 deg,
      new cmd heading: 295.538364 deg.

2021-02-16T16:54:42.246Z,1613494482.246 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:43.036Z,1613494483.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:43.468Z,1613494483.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:44.278Z,1613494484.278 [Micromodem](INFO): Nmea in: $SNTTA,0.102994,,0.107469,,165444.43*55

2021-02-16T16:54:44.328Z,1613494484.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.959991 m, bearing: 280.087644 deg, deltaT: 4.468681 s, approachRate: -0.684765 m/s, LOS rate: -0.005930 deg/s, posRepo size: 4
2021-02-16T16:54:44.329Z,1613494484.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.959991 m,
      bearing: 280.087644 deg,
      approachRate: -0.684765 m/s,
      LOS rate: -0.005930 deg/s,
      cmd update: -0.017791 deg/s,
      cmd heading: 278.218409 deg,
      new cmd heading: 276.671326 deg.

2021-02-16T16:54:46.725Z,1613494486.725 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:47.514Z,1613494487.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:47.888Z,1613494487.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:48.748Z,1613494488.748 [Micromodem](INFO): Nmea in: $SNTTA,0.100647,,,,165448.90*47

2021-02-16T16:54:48.795Z,1613494488.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 151.079987 m, bearing: 279.785121 deg, deltaT: 4.442831 s, approachRate: -0.648236 m/s, LOS rate: -0.068092 deg/s, posRepo size: 4
2021-02-16T16:54:48.797Z,1613494488.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 279.785121 deg,
      approachRate: -0.648236 m/s,
      LOS rate: -0.068092 deg/s,
      cmd update: -0.204277 deg/s,
      cmd heading: 278.139366 deg,
      new cmd heading: 278.131148 deg.

2021-02-16T16:54:51.133Z,1613494491.133 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:51.929Z,1613494491.929 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:52.330Z,1613494492.330 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:53.182Z,1613494493.182 [Micromodem](INFO): Nmea in: $SNTTA,0.098278,,,,165453.32*4D

2021-02-16T16:54:53.205Z,1613494493.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.240005 m, bearing: 278.622759 deg, deltaT: 4.509073 s, approachRate: -0.851612 m/s, LOS rate: -0.257783 deg/s, posRepo size: 4
2021-02-16T16:54:53.207Z,1613494493.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.240005 m,
      bearing: 278.622759 deg,
      approachRate: -0.851612 m/s,
      LOS rate: -0.257783 deg/s,
      cmd update: -0.773348 deg/s,
      cmd heading: 277.219077 deg,
      new cmd heading: 277.143296 deg.

2021-02-16T16:54:55.620Z,1613494495.620 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:54:56.381Z,1613494496.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:54:56.779Z,1613494496.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:54:57.636Z,1613494497.636 [Micromodem](INFO): Nmea in: $SNTTA,0.096329,,,0.098841,165457.77*51

2021-02-16T16:54:57.661Z,1613494497.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.300003 m, bearing: 280.315526 deg, deltaT: 4.444046 s, approachRate: -0.661560 m/s, LOS rate: 0.380907 deg/s, posRepo size: 4
2021-02-16T16:54:57.663Z,1613494497.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 280.315526 deg,
      approachRate: -0.661560 m/s,
      LOS rate: 0.380907 deg/s,
      cmd update: 1.142720 deg/s,
      cmd heading: 273.782654 deg,
      new cmd heading: 273.486173 deg.

2021-02-16T16:55:00.049Z,1613494500.049 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:00.814Z,1613494500.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:01.241Z,1613494501.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:02.048Z,1613494502.048 [Micromodem](INFO): Nmea in: $SNTTA,0.094266,,,,165502.20*48

2021-02-16T16:55:02.092Z,1613494502.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.180008 m, bearing: 280.977208 deg, deltaT: 4.386863 s, approachRate: -0.711213 m/s, LOS rate: 0.150832 deg/s, posRepo size: 4
2021-02-16T16:55:02.094Z,1613494502.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 280.977208 deg,
      approachRate: -0.711213 m/s,
      LOS rate: 0.150832 deg/s,
      cmd update: 0.452497 deg/s,
      cmd heading: 278.800477 deg,
      new cmd heading: 279.284442 deg.

2021-02-16T16:55:04.491Z,1613494504.491 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:05.258Z,1613494505.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:05.665Z,1613494505.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:06.488Z,1613494506.488 [Micromodem](INFO): Nmea in: $SNTTA,0.092109,,,,165506.65*41

2021-02-16T16:55:06.551Z,1613494506.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 137.940002 m, bearing: 281.068131 deg, deltaT: 4.439075 s, approachRate: -0.729883 m/s, LOS rate: 0.020483 deg/s, posRepo size: 4
2021-02-16T16:55:06.558Z,1613494506.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.940002 m,
      bearing: 281.068131 deg,
      approachRate: -0.729883 m/s,
      LOS rate: 0.020483 deg/s,
      cmd update: 0.061448 deg/s,
      cmd heading: 280.800124 deg,
      new cmd heading: 281.009116 deg.

2021-02-16T16:55:08.944Z,1613494508.944 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:09.748Z,1613494509.748 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:10.106Z,1613494510.106 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:10.960Z,1613494510.960 [Micromodem](INFO): Nmea in: $SNTTA,0.089855,,,,165511.14*4B

2021-02-16T16:55:11.003Z,1613494511.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.580002 m, bearing: 280.521770 deg, deltaT: 4.426084 s, approachRate: -0.759136 m/s, LOS rate: -0.123441 deg/s, posRepo size: 4
2021-02-16T16:55:11.005Z,1613494511.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.580002 m,
      bearing: 280.521770 deg,
      approachRate: -0.759136 m/s,
      LOS rate: -0.123441 deg/s,
      cmd update: -0.370323 deg/s,
      cmd heading: 281.073270 deg,
      new cmd heading: 281.102109 deg.

2021-02-16T16:55:13.352Z,1613494513.352 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:14.160Z,1613494514.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:14.550Z,1613494514.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:15.407Z,1613494515.407 [Micromodem](INFO): Nmea in: $SNTTA,0.087732,,,,165515.55*4A

2021-02-16T16:55:15.426Z,1613494515.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.399994 m, bearing: 280.515705 deg, deltaT: 4.492835 s, approachRate: -0.707795 m/s, LOS rate: -0.001350 deg/s, posRepo size: 4
2021-02-16T16:55:15.428Z,1613494515.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.399994 m,
      bearing: 280.515705 deg,
      approachRate: -0.707795 m/s,
      LOS rate: -0.001350 deg/s,
      cmd update: -0.004050 deg/s,
      cmd heading: 279.412851 deg,
      new cmd heading: 279.261286 deg.

2021-02-16T16:55:17.844Z,1613494517.844 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:18.619Z,1613494518.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:19.007Z,1613494519.007 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:19.840Z,1613494519.840 [Micromodem](INFO): Nmea in: $SNTTA,0.085568,,,,165520.01*42

2021-02-16T16:55:19.892Z,1613494519.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.160004 m, bearing: 280.622994 deg, deltaT: 4.393759 s, approachRate: -0.737407 m/s, LOS rate: 0.024418 deg/s, posRepo size: 4
2021-02-16T16:55:19.894Z,1613494519.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.160004 m,
      bearing: 280.622994 deg,
      approachRate: -0.737407 m/s,
      LOS rate: 0.024418 deg/s,
      cmd update: 0.073255 deg/s,
      cmd heading: 279.395015 deg,
      new cmd heading: 279.393108 deg.

2021-02-16T16:55:22.245Z,1613494522.245 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:23.032Z,1613494523.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:23.445Z,1613494523.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:24.301Z,1613494524.301 [Micromodem](INFO): Nmea in: $SNTTA,0.083436,,,,165524.42*4D

2021-02-16T16:55:24.348Z,1613494524.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 124.979996 m, bearing: 281.727135 deg, deltaT: 4.505982 s, approachRate: -0.705730 m/s, LOS rate: 0.245039 deg/s, posRepo size: 4
2021-02-16T16:55:24.350Z,1613494524.350 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.979996 m,
      bearing: 281.727135 deg,
      approachRate: -0.705730 m/s,
      LOS rate: 0.245039 deg/s,
      cmd update: 0.735117 deg/s,
      cmd heading: 279.724805 deg,
      new cmd heading: 279.755858 deg.

2021-02-16T16:55:26.803Z,1613494526.803 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:27.520Z,1613494527.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:27.922Z,1613494527.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:28.762Z,1613494528.762 [Micromodem](INFO): Nmea in: $SNTTA,0.081249,,,,165528.91*43

2021-02-16T16:55:28.842Z,1613494528.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.680000 m, bearing: 281.969470 deg, deltaT: 4.447517 s, approachRate: -0.741986 m/s, LOS rate: 0.054488 deg/s, posRepo size: 4
2021-02-16T16:55:28.844Z,1613494528.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.680000 m,
      bearing: 281.969470 deg,
      approachRate: -0.741986 m/s,
      LOS rate: 0.054488 deg/s,
      cmd update: 0.163463 deg/s,
      cmd heading: 282.994117 deg,
      new cmd heading: 283.341290 deg.

2021-02-16T16:55:31.169Z,1613494531.169 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:31.967Z,1613494531.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:32.362Z,1613494532.362 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:33.200Z,1613494533.200 [Micromodem](INFO): Nmea in: $SNTTA,0.078863,,,0.088874,165533.36*55

2021-02-16T16:55:33.231Z,1613494533.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.080002 m, bearing: 281.535289 deg, deltaT: 4.451633 s, approachRate: -0.808692 m/s, LOS rate: -0.097533 deg/s, posRepo size: 4
2021-02-16T16:55:33.233Z,1613494533.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.080002 m,
      bearing: 281.535289 deg,
      approachRate: -0.808692 m/s,
      LOS rate: -0.097533 deg/s,
      cmd update: -0.292599 deg/s,
      cmd heading: 283.721782 deg,
      new cmd heading: 283.788656 deg.

2021-02-16T16:55:35.653Z,1613494535.653 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:36.416Z,1613494536.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:36.805Z,1613494536.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:37.648Z,1613494537.648 [Micromodem](INFO): Nmea in: $SNTTA,0.076605,,,,165537.81*48

2021-02-16T16:55:37.740Z,1613494537.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 114.720001 m, bearing: 281.921140 deg, deltaT: 4.395866 s, approachRate: -0.764355 m/s, LOS rate: 0.087776 deg/s, posRepo size: 4
2021-02-16T16:55:37.742Z,1613494537.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.720001 m,
      bearing: 281.921140 deg,
      approachRate: -0.764355 m/s,
      LOS rate: 0.087776 deg/s,
      cmd update: 0.263328 deg/s,
      cmd heading: 282.434296 deg,
      new cmd heading: 282.282580 deg.

2021-02-16T16:55:40.115Z,1613494540.115 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:40.850Z,1613494540.850 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:41.251Z,1613494541.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:42.076Z,1613494542.076 [Micromodem](INFO): Nmea in: $SNTTA,0.074344,,,,165542.24*47

2021-02-16T16:55:42.101Z,1613494542.101 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 111.300003 m, bearing: 282.253469 deg, deltaT: 4.477258 s, approachRate: -0.763860 m/s, LOS rate: 0.074226 deg/s, posRepo size: 4
2021-02-16T16:55:42.102Z,1613494542.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.300003 m,
      bearing: 282.253469 deg,
      approachRate: -0.763860 m/s,
      LOS rate: 0.074226 deg/s,
      cmd update: 0.222678 deg/s,
      cmd heading: 283.611662 deg,
      new cmd heading: 283.718992 deg.

2021-02-16T16:55:44.506Z,1613494544.506 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:45.295Z,1613494545.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:45.716Z,1613494545.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:46.520Z,1613494546.520 [Micromodem](INFO): Nmea in: $SNTTA,0.071994,,,,165546.69*48

2021-02-16T16:55:46.557Z,1613494546.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 107.760002 m, bearing: 281.380161 deg, deltaT: 4.435438 s, approachRate: -0.798118 m/s, LOS rate: -0.196893 deg/s, posRepo size: 4
2021-02-16T16:55:46.559Z,1613494546.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.760002 m,
      bearing: 281.380161 deg,
      approachRate: -0.798118 m/s,
      LOS rate: -0.196893 deg/s,
      cmd update: -0.590680 deg/s,
      cmd heading: 284.600704 deg,
      new cmd heading: 284.694847 deg.

2021-02-16T16:55:49.015Z,1613494549.015 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:49.744Z,1613494549.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:50.151Z,1613494550.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:50.973Z,1613494550.973 [Micromodem](INFO): Nmea in: $SNTTA,0.069781,,,,165551.13*40

2021-02-16T16:55:51.008Z,1613494551.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 104.460007 m, bearing: 282.724944 deg, deltaT: 4.437127 s, approachRate: -0.743723 m/s, LOS rate: 0.303075 deg/s, posRepo size: 4
2021-02-16T16:55:51.009Z,1613494551.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.460007 m,
      bearing: 282.724944 deg,
      approachRate: -0.743723 m/s,
      LOS rate: 0.303075 deg/s,
      cmd update: 0.909225 deg/s,
      cmd heading: 281.979916 deg,
      new cmd heading: 281.722461 deg.

2021-02-16T16:55:53.405Z,1613494553.405 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:54.181Z,1613494554.181 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:54.615Z,1613494554.615 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:55.416Z,1613494555.416 [Micromodem](INFO): Nmea in: $SNTTA,0.067586,,,,165555.57*4F

2021-02-16T16:55:55.461Z,1613494555.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 101.160004 m, bearing: 284.847958 deg, deltaT: 4.454110 s, approachRate: -0.740889 m/s, LOS rate: 0.476642 deg/s, posRepo size: 4
2021-02-16T16:55:55.463Z,1613494555.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.160004 m,
      bearing: 284.847958 deg,
      approachRate: -0.740889 m/s,
      LOS rate: 0.476642 deg/s,
      cmd update: 1.429925 deg/s,
      cmd heading: 286.015242 deg,
      new cmd heading: 286.425604 deg.

2021-02-16T16:55:57.870Z,1613494557.870 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:55:58.641Z,1613494558.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:55:59.037Z,1613494559.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:55:59.876Z,1613494559.876 [Micromodem](INFO): Nmea in: $SNTTA,0.065460,0.069154,,,165600.03*57

2021-02-16T16:55:59.930Z,1613494559.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 97.980003 m, bearing: 283.199123 deg, deltaT: 4.428513 s, approachRate: -0.718074 m/s, LOS rate: -0.372322 deg/s, posRepo size: 4
2021-02-16T16:55:59.932Z,1613494559.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.980003 m,
      bearing: 283.199123 deg,
      approachRate: -0.718074 m/s,
      LOS rate: -0.372322 deg/s,
      cmd update: -1.116968 deg/s,
      cmd heading: 292.370736 deg,
      new cmd heading: 293.051362 deg.

2021-02-16T16:56:02.287Z,1613494562.287 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:03.064Z,1613494563.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:03.470Z,1613494563.470 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:04.305Z,1613494564.305 [Micromodem](INFO): Nmea in: $SNTTA,0.063158,,,,165604.45*48

2021-02-16T16:56:04.330Z,1613494564.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 94.560005 m, bearing: 283.599344 deg, deltaT: 4.483726 s, approachRate: -0.762758 m/s, LOS rate: 0.089261 deg/s, posRepo size: 4
2021-02-16T16:56:04.332Z,1613494564.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.560005 m,
      bearing: 283.599344 deg,
      approachRate: -0.762758 m/s,
      LOS rate: 0.089261 deg/s,
      cmd update: 0.267783 deg/s,
      cmd heading: 287.384937 deg,
      new cmd heading: 286.925314 deg.

2021-02-16T16:56:06.775Z,1613494566.775 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:07.508Z,1613494567.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:07.914Z,1613494567.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:08.756Z,1613494568.756 [Micromodem](INFO): Nmea in: $SNTTA,0.061070,,,,165608.90*45

2021-02-16T16:56:08.806Z,1613494568.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 91.379997 m, bearing: 283.965934 deg, deltaT: 4.399904 s, approachRate: -0.722745 m/s, LOS rate: 0.083318 deg/s, posRepo size: 4
2021-02-16T16:56:08.808Z,1613494568.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.379997 m,
      bearing: 283.965934 deg,
      approachRate: -0.722745 m/s,
      LOS rate: 0.083318 deg/s,
      cmd update: 0.249953 deg/s,
      cmd heading: 288.568498 deg,
      new cmd heading: 288.693854 deg.

2021-02-16T16:56:11.160Z,1613494571.160 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:11.952Z,1613494571.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:12.364Z,1613494572.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:13.187Z,1613494573.187 [Micromodem](INFO): Nmea in: $SNTTA,0.058889,,,,165613.34*45

2021-02-16T16:56:13.217Z,1613494573.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 88.140007 m, bearing: 284.058169 deg, deltaT: 4.467686 s, approachRate: -0.725205 m/s, LOS rate: 0.020645 deg/s, posRepo size: 4
2021-02-16T16:56:13.218Z,1613494573.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 284.058169 deg,
      approachRate: -0.725205 m/s,
      LOS rate: 0.020645 deg/s,
      cmd update: 0.061935 deg/s,
      cmd heading: 289.685239 deg,
      new cmd heading: 289.787990 deg.

2021-02-16T16:56:15.654Z,1613494575.654 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:16.396Z,1613494576.396 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:16.807Z,1613494576.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:17.652Z,1613494577.652 [Micromodem](INFO): Nmea in: $SNTTA,0.056678,,,,165617.78*47

2021-02-16T16:56:17.679Z,1613494577.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 84.840004 m, bearing: 283.568909 deg, deltaT: 4.432292 s, approachRate: -0.744536 m/s, LOS rate: -0.110385 deg/s, posRepo size: 4
2021-02-16T16:56:17.705Z,1613494577.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.840004 m,
      bearing: 283.568909 deg,
      approachRate: -0.744536 m/s,
      LOS rate: -0.110385 deg/s,
      cmd update: -0.331156 deg/s,
      cmd heading: 289.959501 deg,
      new cmd heading: 289.986944 deg.

2021-02-16T16:56:20.062Z,1613494580.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:20.840Z,1613494580.840 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:21.264Z,1613494581.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:22.088Z,1613494582.088 [Micromodem](INFO): Nmea in: $SNTTA,0.054357,,,,165622.23*45

2021-02-16T16:56:22.132Z,1613494582.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 81.300003 m, bearing: 284.287882 deg, deltaT: 4.440250 s, approachRate: -0.797253 m/s, LOS rate: 0.161922 deg/s, posRepo size: 4
2021-02-16T16:56:22.134Z,1613494582.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.300003 m,
      bearing: 284.287882 deg,
      approachRate: -0.797253 m/s,
      LOS rate: 0.161922 deg/s,
      cmd update: 0.485765 deg/s,
      cmd heading: 288.489210 deg,
      new cmd heading: 288.344151 deg.

2021-02-16T16:56:24.496Z,1613494584.496 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:25.292Z,1613494585.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:25.697Z,1613494585.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:26.516Z,1613494586.516 [Micromodem](INFO): Nmea in: $SNTTA,0.052229,,,,165626.68*40

2021-02-16T16:56:26.531Z,1613494586.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 78.180000 m, bearing: 283.942193 deg, deltaT: 4.456461 s, approachRate: -0.700108 m/s, LOS rate: -0.077570 deg/s, posRepo size: 4
2021-02-16T16:56:26.533Z,1613494586.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.180000 m,
      bearing: 283.942193 deg,
      approachRate: -0.700108 m/s,
      LOS rate: -0.077570 deg/s,
      cmd update: -0.232711 deg/s,
      cmd heading: 290.654151 deg,
      new cmd heading: 290.848558 deg.

2021-02-16T16:56:28.994Z,1613494588.994 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:29.752Z,1613494589.752 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:30.137Z,1613494590.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:30.972Z,1613494590.972 [Micromodem](INFO): Nmea in: $SNTTA,0.050170,,,,165631.14*40

2021-02-16T16:56:31.029Z,1613494591.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 75.000008 m, bearing: 283.894135 deg, deltaT: 4.422090 s, approachRate: -0.719115 m/s, LOS rate: -0.010868 deg/s, posRepo size: 4
2021-02-16T16:56:31.031Z,1613494591.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.000008 m,
      bearing: 283.894135 deg,
      approachRate: -0.719115 m/s,
      LOS rate: -0.010868 deg/s,
      cmd update: -0.032603 deg/s,
      cmd heading: 289.624126 deg,
      new cmd heading: 289.514256 deg.

2021-02-16T16:56:33.389Z,1613494593.389 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:34.200Z,1613494594.200 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:34.593Z,1613494594.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:35.420Z,1613494595.420 [Micromodem](INFO): Nmea in: $SNTTA,0.048103,,,,165635.59*40

2021-02-16T16:56:35.456Z,1613494595.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.939995 m, bearing: 284.078960 deg, deltaT: 4.450757 s, approachRate: -0.687526 m/s, LOS rate: 0.041527 deg/s, posRepo size: 4
2021-02-16T16:56:35.458Z,1613494595.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.939995 m,
      bearing: 284.078960 deg,
      approachRate: -0.687526 m/s,
      LOS rate: 0.041527 deg/s,
      cmd update: 0.124580 deg/s,
      cmd heading: 289.479019 deg,
      new cmd heading: 289.464406 deg.

2021-02-16T16:56:37.871Z,1613494597.871 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:38.632Z,1613494598.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:39.027Z,1613494599.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:39.856Z,1613494599.856 [Micromodem](INFO): Nmea in: $SNTTA,0.045967,,,,165640.02*4B

2021-02-16T16:56:39.913Z,1613494599.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 283.961836 deg, deltaT: 4.438115 s, approachRate: -0.716519 m/s, LOS rate: -0.026391 deg/s, posRepo size: 4
2021-02-16T16:56:39.914Z,1613494599.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.760002 m,
      bearing: 283.961836 deg,
      approachRate: -0.716519 m/s,
      LOS rate: -0.026391 deg/s,
      cmd update: -0.079172 deg/s,
      cmd heading: 290.031908 deg,
      new cmd heading: 290.090109 deg.

2021-02-16T16:56:42.272Z,1613494602.272 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:43.060Z,1613494603.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:43.466Z,1613494603.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:44.297Z,1613494604.297 [Micromodem](INFO): Nmea in: $SNTTA,0.043948,,,,165644.45*47

2021-02-16T16:56:44.338Z,1613494604.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 65.400002 m, bearing: 283.197347 deg, deltaT: 4.481835 s, approachRate: -0.749693 m/s, LOS rate: -0.170575 deg/s, posRepo size: 4
2021-02-16T16:56:44.341Z,1613494604.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.400002 m,
      bearing: 283.197347 deg,
      approachRate: -0.749693 m/s,
      LOS rate: -0.170575 deg/s,
      cmd update: -0.511725 deg/s,
      cmd heading: 289.677383 deg,
      new cmd heading: 289.644804 deg.

2021-02-16T16:56:46.785Z,1613494606.785 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:47.517Z,1613494607.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:47.927Z,1613494607.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:48.756Z,1613494608.756 [Micromodem](INFO): Nmea in: $SNTTA,0.041622,,,,165648.91*43

2021-02-16T16:56:48.813Z,1613494608.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 62.220009 m, bearing: 283.474325 deg, deltaT: 4.411300 s, approachRate: -0.720874 m/s, LOS rate: 0.062788 deg/s, posRepo size: 4
2021-02-16T16:56:48.815Z,1613494608.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.220009 m,
      bearing: 283.474325 deg,
      approachRate: -0.720874 m/s,
      LOS rate: 0.062788 deg/s,
      cmd update: 0.188365 deg/s,
      cmd heading: 287.417983 deg,
      new cmd heading: 287.175280 deg.

2021-02-16T16:56:51.157Z,1613494611.157 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:51.948Z,1613494611.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:52.356Z,1613494612.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:53.192Z,1613494613.192 [Micromodem](INFO): Nmea in: $SNTTA,0.039552,,,,165653.34*4D

2021-02-16T16:56:53.218Z,1613494613.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 59.159996 m, bearing: 283.873618 deg, deltaT: 4.468167 s, approachRate: -0.684847 m/s, LOS rate: 0.089364 deg/s, posRepo size: 4
2021-02-16T16:56:53.220Z,1613494613.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.159996 m,
      bearing: 283.873618 deg,
      approachRate: -0.684847 m/s,
      LOS rate: 0.089364 deg/s,
      cmd update: 0.268092 deg/s,
      cmd heading: 288.259630 deg,
      new cmd heading: 288.337055 deg.

2021-02-16T16:56:55.644Z,1613494615.644 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:56:56.392Z,1613494616.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:56:56.807Z,1613494616.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:56:57.632Z,1613494617.632 [Micromodem](INFO): Nmea in: $SNTTA,0.037275,,,,165657.78*4D

2021-02-16T16:56:57.657Z,1613494617.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.740002 m, bearing: 284.514699 deg, deltaT: 4.428640 s, approachRate: -0.772245 m/s, LOS rate: 0.144758 deg/s, posRepo size: 4
2021-02-16T16:56:57.659Z,1613494617.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.740002 m,
      bearing: 284.514699 deg,
      approachRate: -0.772245 m/s,
      LOS rate: 0.144758 deg/s,
      cmd update: 0.434274 deg/s,
      cmd heading: 289.446911 deg,
      new cmd heading: 289.559946 deg.

2021-02-16T16:57:00.062Z,1613494620.062 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:00.842Z,1613494620.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:01.241Z,1613494621.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:02.077Z,1613494622.077 [Micromodem](INFO): Nmea in: $SNTTA,0.035132,,,,165702.23*40

2021-02-16T16:57:02.120Z,1613494622.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.499996 m, bearing: 283.802146 deg, deltaT: 4.432670 s, approachRate: -0.730938 m/s, LOS rate: -0.160750 deg/s, posRepo size: 4
2021-02-16T16:57:02.122Z,1613494622.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 283.802146 deg,
      approachRate: -0.730938 m/s,
      LOS rate: -0.160750 deg/s,
      cmd update: -0.482251 deg/s,
      cmd heading: 291.371809 deg,
      new cmd heading: 291.567912 deg.

2021-02-16T16:57:04.513Z,1613494624.513 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:05.314Z,1613494625.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:05.685Z,1613494625.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:06.544Z,1613494626.544 [Micromodem](INFO): Nmea in: $SNTTA,0.033015,,,,165706.70*40

2021-02-16T16:57:06.570Z,1613494626.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.320000 m, bearing: 282.951323 deg, deltaT: 4.433954 s, approachRate: -0.717192 m/s, LOS rate: -0.191888 deg/s, posRepo size: 4
2021-02-16T16:57:06.572Z,1613494626.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.320000 m,
      bearing: 282.951323 deg,
      approachRate: -0.717192 m/s,
      LOS rate: -0.191888 deg/s,
      cmd update: -0.575664 deg/s,
      cmd heading: 289.233413 deg,
      new cmd heading: 289.008042 deg.

2021-02-16T16:57:08.924Z,1613494628.924 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:57:08.966Z,1613494628.966 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:09.750Z,1613494629.750 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:10.174Z,1613494630.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:10.992Z,1613494630.992 [Micromodem](INFO): Nmea in: $SNTTA,0.030904,,,,165711.14*4E

2021-02-16T16:57:11.040Z,1613494631.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 46.199997 m, bearing: 283.718927 deg, deltaT: 4.564911 s, approachRate: -0.683475 m/s, LOS rate: 0.168153 deg/s, posRepo size: 4
2021-02-16T16:57:11.042Z,1613494631.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.199997 m,
      bearing: 283.718927 deg,
      approachRate: -0.683475 m/s,
      LOS rate: 0.168153 deg/s,
      cmd update: 0.504459 deg/s,
      cmd heading: 286.607933 deg,
      new cmd heading: 286.404693 deg.

2021-02-16T16:57:13.419Z,1613494633.419 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:14.218Z,1613494634.218 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:14.709Z,1613494634.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:15.448Z,1613494635.448 [Micromodem](INFO): Nmea in: $SNTTA,0.028781,0.030793,,,165715.61*52

2021-02-16T16:57:15.494Z,1613494635.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 42.959999 m, bearing: 284.373833 deg, deltaT: 4.366945 s, approachRate: -0.741937 m/s, LOS rate: 0.149969 deg/s, posRepo size: 4
2021-02-16T16:57:15.501Z,1613494635.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 284.373833 deg,
      approachRate: -0.741937 m/s,
      LOS rate: 0.149969 deg/s,
      cmd update: 0.449907 deg/s,
      cmd heading: 288.812875 deg,
      new cmd heading: 289.045017 deg.

2021-02-16T16:57:17.901Z,1613494637.901 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:18.661Z,1613494638.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:18.708Z,1613494638.708 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:57:19.084Z,1613494639.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:19.888Z,1613494639.888 [Micromodem](INFO): Nmea in: $SNTTA,0.026310,,,,165720.05*44

2021-02-16T16:57:19.923Z,1613494639.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 39.240002 m, bearing: 284.251491 deg, deltaT: 4.465597 s, approachRate: -0.833035 m/s, LOS rate: -0.027397 deg/s, posRepo size: 4
2021-02-16T16:57:19.939Z,1613494639.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-02-16T16:57:19.941Z,1613494639.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 284.251491 deg,
      approachRate: -0.833035 m/s,
      LOS rate: -0.027397 deg/s,
      cmd update: -0.082190 deg/s,
      cmd heading: 290.822024 deg,
      new cmd heading: 291.012310 deg.

2021-02-16T16:57:20.290Z,1613494640.290 [PowerOnly](INFO): Powering up loadControl
2021-02-16T16:57:22.320Z,1613494642.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:23.100Z,1613494643.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:23.511Z,1613494643.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:24.337Z,1613494644.337 [Micromodem](INFO): Nmea in: $SNTTA,0.024181,,,,165724.49*40

2021-02-16T16:57:24.391Z,1613494644.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 36.060001 m, bearing: 285.384209 deg, deltaT: 4.465582 s, approachRate: -0.712113 m/s, LOS rate: 0.253655 deg/s, posRepo size: 4
2021-02-16T16:57:24.392Z,1613494644.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.06 m.
2021-02-16T16:57:24.392Z,1613494644.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.06 m.
2021-02-16T16:57:24.392Z,1613494644.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-02-16T16:57:24.394Z,1613494644.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.060001 m,
      bearing: 285.384209 deg,
      approachRate: -0.712113 m/s,
      LOS rate: 0.253655 deg/s,
      cmd update: 0.760966 deg/s,
      cmd heading: 290.455323 deg,
      new cmd heading: 290.420003 deg.

2021-02-16T16:57:26.799Z,1613494646.799 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:27.548Z,1613494647.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:27.950Z,1613494647.950 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:28.788Z,1613494648.788 [Micromodem](INFO): Nmea in: $SNTTA,0.021929,,,,165728.94*43

2021-02-16T16:57:28.842Z,1613494648.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 32.699997 m, bearing: 285.323475 deg, deltaT: 4.412039 s, approachRate: -0.761554 m/s, LOS rate: -0.013766 deg/s, posRepo size: 4
2021-02-16T16:57:28.848Z,1613494648.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.699997 m,
      bearing: 285.323475 deg,
      approachRate: -0.761554 m/s,
      LOS rate: -0.013766 deg/s,
      cmd update: -0.041297 deg/s,
      cmd heading: 293.815682 deg,
      new cmd heading: 294.169740 deg.

2021-02-16T16:57:31.201Z,1613494651.201 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:31.993Z,1613494651.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:32.404Z,1613494652.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:33.228Z,1613494653.228 [Micromodem](INFO): Nmea in: $SNTTA,0.019976,,,,165733.38*4E

2021-02-16T16:57:33.257Z,1613494653.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.519999 m, bearing: 284.617125 deg, deltaT: 4.497807 s, approachRate: -0.707011 m/s, LOS rate: -0.157043 deg/s, posRepo size: 4
2021-02-16T16:57:33.259Z,1613494653.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 284.617125 deg,
      approachRate: -0.707011 m/s,
      LOS rate: -0.157043 deg/s,
      cmd update: -0.471130 deg/s,
      cmd heading: 293.630175 deg,
      new cmd heading: 293.614165 deg.

2021-02-16T16:57:35.664Z,1613494655.664 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:36.438Z,1613494656.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:36.850Z,1613494656.850 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:37.679Z,1613494657.679 [Micromodem](INFO): Nmea in: $SNTTA,0.017327,,0.052298,,165737.83*50

2021-02-16T16:57:37.750Z,1613494657.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.799997 m, bearing: 288.984320 deg, deltaT: 4.428047 s, approachRate: -0.840100 m/s, LOS rate: 0.986258 deg/s, posRepo size: 4
2021-02-16T16:57:37.756Z,1613494657.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.799997 m,
      bearing: 288.984320 deg,
      approachRate: -0.840100 m/s,
      LOS rate: 0.986258 deg/s,
      cmd update: 2.958773 deg/s,
      cmd heading: 291.543684 deg,
      new cmd heading: 291.330823 deg.

2021-02-16T16:57:38.890Z,1613494658.890 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T16:57:40.103Z,1613494660.103 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:40.880Z,1613494660.880 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:41.299Z,1613494661.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:42.108Z,1613494662.108 [Micromodem](INFO): Nmea in: $SNTTA,0.014860,,,,165742.27*4D

2021-02-16T16:57:42.142Z,1613494662.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.079998 m, bearing: 288.414874 deg, deltaT: 4.467206 s, approachRate: -0.832735 m/s, LOS rate: -0.127473 deg/s, posRepo size: 4
2021-02-16T16:57:42.144Z,1613494662.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.079998 m,
      bearing: 288.414874 deg,
      approachRate: -0.832735 m/s,
      LOS rate: -0.127473 deg/s,
      cmd update: -0.382418 deg/s,
      cmd heading: 304.776442 deg,
      new cmd heading: 305.877304 deg.

2021-02-16T16:57:43.758Z,1613494663.758 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:57:44.551Z,1613494664.551 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:45.341Z,1613494665.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:45.748Z,1613494665.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:46.562Z,1613494666.562 [Micromodem](INFO): Nmea in: $SNTTA,0.013000,,,,165746.73*41

2021-02-16T16:57:46.644Z,1613494666.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.140001 m, bearing: 281.007697 deg, deltaT: 4.396662 s, approachRate: -0.668688 m/s, LOS rate: -1.684727 deg/s, posRepo size: 4
2021-02-16T16:57:46.645Z,1613494666.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.140001 m,
      bearing: 281.007697 deg,
      approachRate: -0.668688 m/s,
      LOS rate: -1.684727 deg/s,
      cmd update: -5.054182 deg/s,
      cmd heading: 303.096613 deg,
      new cmd heading: 302.912857 deg.

2021-02-16T16:57:49.006Z,1613494669.006 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:49.776Z,1613494669.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:50.174Z,1613494670.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:51.004Z,1613494671.004 [Micromodem](INFO): Nmea in: $SNTTA,0.010960,,,,165751.16*48

2021-02-16T16:57:51.053Z,1613494671.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 16.139999 m, bearing: 280.266513 deg, deltaT: 4.481470 s, approachRate: -0.669424 m/s, LOS rate: -0.165389 deg/s, posRepo size: 4
2021-02-16T16:57:51.055Z,1613494671.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.139999 m,
      bearing: 280.266513 deg,
      approachRate: -0.669424 m/s,
      LOS rate: -0.165389 deg/s,
      cmd update: -0.496166 deg/s,
      cmd heading: 280.475986 deg,
      new cmd heading: 278.381059 deg.

2021-02-16T16:57:53.436Z,1613494673.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:53.827Z,1613494673.827 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:57:54.213Z,1613494674.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:54.648Z,1613494674.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:55.452Z,1613494675.452 [Micromodem](INFO): Nmea in: $SNTTA,0.008670,,,,165755.60*4A

2021-02-16T16:57:55.474Z,1613494675.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.779997 m, bearing: 284.540982 deg, deltaT: 4.394919 s, approachRate: -0.764520 m/s, LOS rate: 0.972593 deg/s, posRepo size: 4
2021-02-16T16:57:55.476Z,1613494675.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 284.540982 deg,
      approachRate: -0.764520 m/s,
      LOS rate: 0.972593 deg/s,
      cmd update: 2.917780 deg/s,
      cmd heading: 278.291930 deg,
      new cmd heading: 278.076764 deg.

2021-02-16T16:57:57.899Z,1613494677.899 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:57:58.658Z,1613494678.658 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:57:58.729Z,1613494678.729 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:57:59.067Z,1613494679.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:57:59.896Z,1613494679.896 [Micromodem](INFO): Nmea in: $SNTTA,0.006542,,0.007742,,165800.05*52

2021-02-16T16:57:59.948Z,1613494679.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.540000 m, bearing: 288.096232 deg, deltaT: 4.441420 s, approachRate: -0.729496 m/s, LOS rate: 0.800476 deg/s, posRepo size: 4
2021-02-16T16:57:59.949Z,1613494679.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 288.096232 deg,
      approachRate: -0.729496 m/s,
      LOS rate: 0.800476 deg/s,
      cmd update: 2.401428 deg/s,
      cmd heading: 291.256825 deg,
      new cmd heading: 292.609184 deg.

2021-02-16T16:58:02.319Z,1613494682.319 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:03.102Z,1613494683.102 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:03.526Z,1613494683.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:03.937Z,1613494683.937 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-02-16T16:58:04.328Z,1613494684.328 [Micromodem](INFO): Nmea in: $SNTTA,0.004419,,,,165804.49*4B

2021-02-16T16:58:04.366Z,1613494684.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 6.419999 m, bearing: 286.137252 deg, deltaT: 4.474601 s, approachRate: -0.697269 m/s, LOS rate: -0.437800 deg/s, posRepo size: 4
2021-02-16T16:58:04.368Z,1613494684.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.419999 m,
      bearing: 286.137252 deg,
      approachRate: -0.697269 m/s,
      LOS rate: -0.437800 deg/s,
      cmd update: -1.313400 deg/s,
      cmd heading: 302.004293 deg,
      new cmd heading: 302.981672 deg.

2021-02-16T16:58:06.791Z,1613494686.791 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:07.553Z,1613494687.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:07.967Z,1613494687.967 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:08.804Z,1613494688.804 [Micromodem](INFO): Nmea in: $SNTTA,0.002836,,,,165808.94*40

2021-02-16T16:58:08.881Z,1613494688.881 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-02-16T16:58:08.881Z,1613494688.881 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:58:08.881Z,1613494688.881 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-02-16T16:58:08.881Z,1613494688.881 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:58:08.882Z,1613494688.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-02-16T16:58:08.882Z,1613494688.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.080000 m 
2021-02-16T16:58:08.882Z,1613494688.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-02-16T16:58:08.882Z,1613494688.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-02-16T16:58:08.882Z,1613494688.882 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-02-16T16:58:08.885Z,1613494688.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 4.080000 m, bearing: 287.589760 deg, deltaT: 4.408764 s, approachRate: -0.530761 m/s, LOS rate: 0.329459 deg/s, posRepo size: 4
2021-02-16T16:58:08.886Z,1613494688.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.080000 m,
      bearing: 287.589760 deg,
      approachRate: -0.530761 m/s,
      LOS rate: 0.329459 deg/s,
      cmd update: 0.988378 deg/s,
      cmd heading: 296.214007 deg,
      new cmd heading: 295.535291 deg.

2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210216T165809: (41.552319, -70.708603)
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-02-16T16:58:09.202Z,1613494689.202 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-02-16T16:58:11.273Z,1613494691.273 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:12.009Z,1613494692.009 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:12.394Z,1613494692.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:13.234Z,1613494693.234 [Micromodem](INFO): Nmea in: $SNTTA,0.002403,,,,165813.40*49

2021-02-16T16:58:13.254Z,1613494693.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 3.539999 m, bearing: 291.771201 deg, deltaT: 4.484937 s, approachRate: -0.120403 m/s, LOS rate: 0.932330 deg/s, posRepo size: 4
2021-02-16T16:58:13.256Z,1613494693.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 3.539999 m,
      bearing: 291.771201 deg,
      approachRate: -0.120403 m/s,
      LOS rate: 0.932330 deg/s,
      cmd update: 2.796990 deg/s,
      cmd heading: 300.646945 deg,
      new cmd heading: 301.043440 deg.

2021-02-16T16:58:13.676Z,1613494693.676 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-02-16T16:58:15.682Z,1613494695.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:16.437Z,1613494696.437 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:16.843Z,1613494696.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:17.684Z,1613494697.684 [Micromodem](INFO): Nmea in: $SNTTA,0.003666,,,,165817.83*42

2021-02-16T16:58:17.762Z,1613494697.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 5.639998 m, bearing: 305.589712 deg, deltaT: 4.401311 s, approachRate: 0.477130 m/s, LOS rate: 3.139635 deg/s, posRepo size: 4
2021-02-16T16:58:17.764Z,1613494697.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 305.589712 deg,
      approachRate: 0.477130 m/s,
      LOS rate: 3.139635 deg/s,
      cmd update: 9.418906 deg/s,
      cmd heading: 312.957408 deg,
      new cmd heading: 314.378579 deg.

2021-02-16T16:58:20.109Z,1613494700.109 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:20.877Z,1613494700.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:21.291Z,1613494701.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:22.104Z,1613494702.104 [Micromodem](INFO): Nmea in: $SNTTA,0.006772,,,,165822.27*4B

2021-02-16T16:58:22.150Z,1613494702.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 9.899997 m, bearing: 328.013305 deg, deltaT: 4.527986 s, approachRate: 0.940815 m/s, LOS rate: 4.952222 deg/s, posRepo size: 4
2021-02-16T16:58:22.156Z,1613494702.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 328.013305 deg,
      approachRate: 0.940815 m/s,
      LOS rate: 4.952222 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 355.606940 deg,
      new cmd heading: 359.072090 deg.

2021-02-16T16:58:24.528Z,1613494704.528 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:25.321Z,1613494705.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:25.748Z,1613494705.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:26.548Z,1613494706.548 [Micromodem](INFO): Nmea in: $SNTTA,0.020685,,,,165826.71*41

2021-02-16T16:58:26.629Z,1613494706.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 12.540001 m, bearing: 341.019625 deg, deltaT: 4.385767 s, approachRate: 0.601948 m/s, LOS rate: 2.965575 deg/s, posRepo size: 4
2021-02-16T16:58:26.630Z,1613494706.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.540001 m,
      bearing: 341.019625 deg,
      approachRate: 0.601948 m/s,
      LOS rate: 2.965575 deg/s,
      cmd update: 8.896724 deg/s,
      cmd heading: 47.993819 deg,
      new cmd heading: 53.761487 deg.

2021-02-16T16:58:29.032Z,1613494709.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:29.765Z,1613494709.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:30.175Z,1613494710.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:30.996Z,1613494710.996 [Micromodem](INFO): Nmea in: $SNTTA,0.009031,,,,165831.15*47

2021-02-16T16:58:31.046Z,1613494711.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 13.680001 m, bearing: 333.085158 deg, deltaT: 4.470696 s, approachRate: 0.254994 m/s, LOS rate: -1.774772 deg/s, posRepo size: 4
2021-02-16T16:58:31.046Z,1613494711.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.68 m. Rolling out.
2021-02-16T16:58:31.047Z,1613494711.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-02-16T16:58:33.434Z,1613494713.434 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:34.213Z,1613494714.213 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:34.633Z,1613494714.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:35.437Z,1613494715.437 [Micromodem](INFO): Nmea in: $SNTTA,0.010571,,,0.048451,165835.60*5A

2021-02-16T16:58:36.258Z,1613494716.258 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:37.844Z,1613494717.844 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T16:58:39.092Z,1613494719.092 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:39.870Z,1613494719.870 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:40.271Z,1613494720.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:41.096Z,1613494721.096 [Micromodem](INFO): Nmea in: $SNTTA,0.012171,,,,165841.26*4F

2021-02-16T16:58:41.120Z,1613494721.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 18.240002 m, bearing: 44.750867 deg, deltaT: 10.122490 s, approachRate: 0.450482 m/s, LOS rate: 7.079848 deg/s, posRepo size: 4
2021-02-16T16:58:43.537Z,1613494723.537 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:44.314Z,1613494724.314 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:44.757Z,1613494724.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:45.548Z,1613494725.548 [Micromodem](INFO): Nmea in: $SNTTA,0.013103,,,,165845.70*4C

2021-02-16T16:58:45.574Z,1613494725.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 19.740000 m, bearing: 52.179848 deg, deltaT: 4.400574 s, approachRate: 0.340864 m/s, LOS rate: 1.688185 deg/s, posRepo size: 4
2021-02-16T16:58:48.004Z,1613494728.004 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:48.773Z,1613494728.773 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:49.162Z,1613494729.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:49.992Z,1613494729.992 [Micromodem](INFO): Nmea in: $SNTTA,0.013916,,,,165850.16*44

2021-02-16T16:58:50.045Z,1613494730.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 20.820002 m, bearing: 93.542685 deg, deltaT: 4.475774 s, approachRate: 0.241299 m/s, LOS rate: 9.241494 deg/s, posRepo size: 4
2021-02-16T16:58:52.425Z,1613494732.425 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:53.205Z,1613494733.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:53.629Z,1613494733.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:54.438Z,1613494734.438 [Micromodem](INFO): Nmea in: $SNTTA,0.014348,,,,165854.59*4D

2021-02-16T16:58:54.475Z,1613494734.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.260002 m, bearing: 50.920901 deg, deltaT: 4.419267 s, approachRate: 0.325846 m/s, LOS rate: -9.644537 deg/s, posRepo size: 4
2021-02-16T16:58:54.845Z,1613494734.845 [PowerOnly](INFO): Powering down loadControl
2021-02-16T16:58:56.875Z,1613494736.875 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:58:57.644Z,1613494737.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:58:58.046Z,1613494738.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:58:58.872Z,1613494738.872 [Micromodem](INFO): Nmea in: $SNTTA,0.014522,,,,165859.03*45

2021-02-16T16:58:58.926Z,1613494738.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 21.840002 m, bearing: 69.316318 deg, deltaT: 4.405189 s, approachRate: -0.095342 m/s, LOS rate: 4.175852 deg/s, posRepo size: 4
2021-02-16T16:59:01.320Z,1613494741.320 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:02.090Z,1613494742.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:02.490Z,1613494742.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:03.325Z,1613494743.325 [Micromodem](INFO): Nmea in: $SNTTA,0.014858,,0.016046,,165903.48*5F

2021-02-16T16:59:03.358Z,1613494743.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.320000 m, bearing: 149.339778 deg, deltaT: 4.494064 s, approachRate: 0.106807 m/s, LOS rate: 17.806479 deg/s, posRepo size: 4
2021-02-16T16:59:05.810Z,1613494745.810 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:06.534Z,1613494746.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:06.951Z,1613494746.951 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:07.767Z,1613494747.767 [Micromodem](INFO): Nmea in: $SNTTA,0.015283,,,,165907.92*4A

2021-02-16T16:59:07.805Z,1613494747.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 22.860001 m, bearing: 147.728864 deg, deltaT: 4.402148 s, approachRate: 0.122668 m/s, LOS rate: -0.365938 deg/s, posRepo size: 4
2021-02-16T16:59:10.180Z,1613494750.180 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:10.977Z,1613494750.977 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:11.389Z,1613494751.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:12.208Z,1613494752.208 [Micromodem](INFO): Nmea in: $SNTTA,0.016113,,,,165912.37*48

2021-02-16T16:59:12.230Z,1613494752.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 24.180000 m, bearing: 131.573677 deg, deltaT: 4.470333 s, approachRate: 0.295280 m/s, LOS rate: -3.613867 deg/s, posRepo size: 4
2021-02-16T16:59:14.679Z,1613494754.679 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:15.416Z,1613494755.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:15.833Z,1613494755.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:16.660Z,1613494756.660 [Micromodem](INFO): Nmea in: $SNTTA,0.017030,,,,165916.80*41

2021-02-16T16:59:16.752Z,1613494756.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 25.619999 m, bearing: 99.124623 deg, deltaT: 4.429218 s, approachRate: 0.325114 m/s, LOS rate: -7.326136 deg/s, posRepo size: 4
2021-02-16T16:59:18.762Z,1613494758.762 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:19.456Z,1613494759.456 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:19.879Z,1613494759.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:20.692Z,1613494760.692 [Micromodem](INFO): Nmea in: $SNTTA,0.018017,,0.028137,,165920.85*5A

2021-02-16T16:59:20.781Z,1613494760.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 27.059999 m, bearing: 91.774984 deg, deltaT: 4.034589 s, approachRate: 0.356914 m/s, LOS rate: -1.821657 deg/s, posRepo size: 4
2021-02-16T16:59:23.110Z,1613494763.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:23.908Z,1613494763.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:24.318Z,1613494764.318 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:25.149Z,1613494765.149 [Micromodem](INFO): Nmea in: $SNTTA,0.019361,,,,165925.30*43

2021-02-16T16:59:25.177Z,1613494765.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 29.099998 m, bearing: 106.038181 deg, deltaT: 4.500969 s, approachRate: 0.453236 m/s, LOS rate: 3.168917 deg/s, posRepo size: 4
2021-02-16T16:59:27.568Z,1613494767.568 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:28.352Z,1613494768.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:28.759Z,1613494768.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:29.592Z,1613494769.592 [Micromodem](INFO): Nmea in: $SNTTA,0.020762,,,,165929.74*42

2021-02-16T16:59:29.642Z,1613494769.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 31.320002 m, bearing: 112.280606 deg, deltaT: 4.388696 s, approachRate: 0.505846 m/s, LOS rate: 1.422387 deg/s, posRepo size: 4
2021-02-16T16:59:32.032Z,1613494772.032 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:32.795Z,1613494772.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:33.200Z,1613494773.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:34.027Z,1613494774.027 [Micromodem](INFO): Nmea in: $SNTTA,0.022484,,,,165934.18*4D

2021-02-16T16:59:34.092Z,1613494774.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 33.779999 m, bearing: 121.542697 deg, deltaT: 4.535268 s, approachRate: 0.542415 m/s, LOS rate: 2.042237 deg/s, posRepo size: 4
2021-02-16T16:59:36.444Z,1613494776.444 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:37.232Z,1613494777.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:37.639Z,1613494777.639 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:38.469Z,1613494778.469 [Micromodem](INFO): Nmea in: $SNTTA,0.023813,0.027301,,0.052052,165938.62*48

2021-02-16T16:59:38.505Z,1613494778.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 35.939999 m, bearing: 111.961745 deg, deltaT: 4.372205 s, approachRate: 0.494030 m/s, LOS rate: -2.191332 deg/s, posRepo size: 4
2021-02-16T16:59:38.883Z,1613494778.883 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T16:59:40.919Z,1613494780.919 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:41.678Z,1613494781.678 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:42.082Z,1613494782.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:42.908Z,1613494782.908 [Micromodem](INFO): Nmea in: $SNTTA,0.025911,,,,165943.07*45

2021-02-16T16:59:42.974Z,1613494782.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 38.939999 m, bearing: 83.603319 deg, deltaT: 4.408579 s, approachRate: 0.680491 m/s, LOS rate: -6.432555 deg/s, posRepo size: 4
2021-02-16T16:59:45.358Z,1613494785.358 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:46.121Z,1613494786.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:46.526Z,1613494786.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:47.352Z,1613494787.352 [Micromodem](INFO): Nmea in: $SNTTA,0.027778,,,,165947.51*41

2021-02-16T16:59:47.397Z,1613494787.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 41.700001 m, bearing: 80.941225 deg, deltaT: 4.497532 s, approachRate: 0.613670 m/s, LOS rate: -0.591901 deg/s, posRepo size: 4
2021-02-16T16:59:48.975Z,1613494788.975 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T16:59:49.800Z,1613494789.800 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:50.568Z,1613494790.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:50.973Z,1613494790.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:51.796Z,1613494791.796 [Micromodem](INFO): Nmea in: $SNTTA,0.029515,,,,165951.96*4A

2021-02-16T16:59:51.867Z,1613494791.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 44.400002 m, bearing: 136.840354 deg, deltaT: 4.389945 s, approachRate: 0.615042 m/s, LOS rate: 12.733447 deg/s, posRepo size: 4
2021-02-16T16:59:54.248Z,1613494794.248 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:55.021Z,1613494795.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:55.418Z,1613494795.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T16:59:56.248Z,1613494796.248 [Micromodem](INFO): Nmea in: $SNTTA,0.031406,,,,165956.41*4D

2021-02-16T16:59:56.291Z,1613494796.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 47.280003 m, bearing: 76.576570 deg, deltaT: 4.531488 s, approachRate: 0.635553 m/s, LOS rate: -13.298895 deg/s, posRepo size: 4
2021-02-16T16:59:58.677Z,1613494798.677 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T16:59:59.454Z,1613494799.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T16:59:59.872Z,1613494799.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:00.682Z,1613494800.682 [Micromodem](INFO): Nmea in: $SNTTA,0.033040,,,,170000.84*4E

2021-02-16T17:00:00.767Z,1613494800.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 49.679996 m, bearing: 80.201447 deg, deltaT: 4.389837 s, approachRate: 0.546716 m/s, LOS rate: 0.825743 deg/s, posRepo size: 4
2021-02-16T17:00:03.116Z,1613494803.116 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:03.901Z,1613494803.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:04.314Z,1613494804.314 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:05.124Z,1613494805.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170005.29*56

2021-02-16T17:00:05.160Z,1613494805.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 52.620003 m, bearing: 77.399868 deg, deltaT: 4.479653 s, approachRate: 0.656302 m/s, LOS rate: -0.625401 deg/s, posRepo size: 4
2021-02-16T17:00:07.558Z,1613494807.558 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:08.357Z,1613494808.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:08.768Z,1613494808.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:09.583Z,1613494809.583 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170009.75*53

2021-02-16T17:00:09.642Z,1613494809.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 55.140003 m, bearing: 81.633642 deg, deltaT: 4.393871 s, approachRate: 0.573526 m/s, LOS rate: 0.963564 deg/s, posRepo size: 4
2021-02-16T17:00:12.033Z,1613494812.033 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:12.784Z,1613494812.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:13.199Z,1613494813.199 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:14.015Z,1613494814.015 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170014.17*5B

2021-02-16T17:00:14.039Z,1613494814.039 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 57.780003 m, bearing: 84.282069 deg, deltaT: 4.466940 s, approachRate: 0.591008 m/s, LOS rate: 0.592895 deg/s, posRepo size: 4
2021-02-16T17:00:16.436Z,1613494816.436 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:17.246Z,1613494817.246 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:17.638Z,1613494817.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:18.468Z,1613494818.468 [Micromodem](INFO): Nmea in: $SNTTA,0.040389,,,,170018.63*4C

2021-02-16T17:00:18.513Z,1613494818.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 60.540005 m, bearing: 87.401109 deg, deltaT: 4.441134 s, approachRate: 0.621463 m/s, LOS rate: 0.702307 deg/s, posRepo size: 4
2021-02-16T17:00:20.900Z,1613494820.900 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:21.677Z,1613494821.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:22.078Z,1613494822.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:22.908Z,1613494822.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170023.07*5E

2021-02-16T17:00:22.968Z,1613494822.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 63.420006 m, bearing: 145.463918 deg, deltaT: 4.431026 s, approachRate: 0.649963 m/s, LOS rate: 13.103694 deg/s, posRepo size: 4
2021-02-16T17:00:25.326Z,1613494825.326 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:26.132Z,1613494826.132 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:26.522Z,1613494826.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:27.372Z,1613494827.372 [Micromodem](INFO): Nmea in: $SNTTA,0.044120,,,,170027.52*47

2021-02-16T17:00:27.402Z,1613494827.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 66.300003 m, bearing: 137.348110 deg, deltaT: 4.468732 s, approachRate: 0.644477 m/s, LOS rate: -1.816132 deg/s, posRepo size: 4
2021-02-16T17:00:29.822Z,1613494829.822 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:30.574Z,1613494830.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:30.972Z,1613494830.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:31.800Z,1613494831.800 [Micromodem](INFO): Nmea in: $SNTTA,0.045708,,,,170031.96*45

2021-02-16T17:00:31.853Z,1613494831.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 68.760002 m, bearing: 141.712738 deg, deltaT: 4.397862 s, approachRate: 0.559362 m/s, LOS rate: 0.992443 deg/s, posRepo size: 4
2021-02-16T17:00:34.255Z,1613494834.255 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:35.025Z,1613494835.025 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:35.422Z,1613494835.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:36.250Z,1613494836.250 [Micromodem](INFO): Nmea in: $SNTTA,0.047666,,,,170036.42*40

2021-02-16T17:00:36.272Z,1613494836.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 71.700005 m, bearing: 139.077514 deg, deltaT: 4.479173 s, approachRate: 0.656372 m/s, LOS rate: -0.588328 deg/s, posRepo size: 4
2021-02-16T17:00:38.675Z,1613494838.675 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:39.459Z,1613494839.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:39.858Z,1613494839.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:40.688Z,1613494840.688 [Micromodem](INFO): Nmea in: $SNTTA,0.049609,,,,170040.85*4D

2021-02-16T17:00:40.767Z,1613494840.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 74.520004 m, bearing: 133.736484 deg, deltaT: 4.438301 s, approachRate: 0.635378 m/s, LOS rate: -1.203395 deg/s, posRepo size: 4
2021-02-16T17:00:43.112Z,1613494843.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:43.914Z,1613494843.914 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:44.311Z,1613494844.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:45.136Z,1613494845.136 [Micromodem](INFO): Nmea in: $SNTTA,0.051527,,,,170045.30*40

2021-02-16T17:00:45.166Z,1613494845.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 77.460007 m, bearing: 133.361315 deg, deltaT: 4.491258 s, approachRate: 0.654606 m/s, LOS rate: -0.083533 deg/s, posRepo size: 4
2021-02-16T17:00:47.549Z,1613494847.549 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:48.340Z,1613494848.340 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:48.781Z,1613494848.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:49.572Z,1613494849.572 [Micromodem](INFO): Nmea in: $SNTTA,0.053569,,,,170049.73*43

2021-02-16T17:00:49.640Z,1613494849.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 80.520004 m, bearing: 131.087367 deg, deltaT: 4.379387 s, approachRate: 0.698727 m/s, LOS rate: -0.519239 deg/s, posRepo size: 4
2021-02-16T17:00:52.017Z,1613494852.017 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:52.784Z,1613494852.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:53.200Z,1613494853.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:54.016Z,1613494854.016 [Micromodem](INFO): Nmea in: $SNTTA,0.055455,,,,170054.17*45

2021-02-16T17:00:54.069Z,1613494854.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 83.340004 m, bearing: 123.411177 deg, deltaT: 4.474592 s, approachRate: 0.630225 m/s, LOS rate: -1.715506 deg/s, posRepo size: 4
2021-02-16T17:00:56.445Z,1613494856.445 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:00:57.234Z,1613494857.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:00:57.640Z,1613494857.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:00:58.473Z,1613494858.473 [Micromodem](INFO): Nmea in: $SNTTA,0.057415,,0.068033,,170058.62*5D

2021-02-16T17:00:58.510Z,1613494858.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 86.280006 m, bearing: 126.205189 deg, deltaT: 4.425366 s, approachRate: 0.664352 m/s, LOS rate: 0.631363 deg/s, posRepo size: 4
2021-02-16T17:00:58.876Z,1613494858.876 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-02-16T17:01:00.905Z,1613494860.905 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:01.676Z,1613494861.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:02.084Z,1613494862.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:02.908Z,1613494862.908 [Micromodem](INFO): Nmea in: $SNTTA,0.059553,,,,170103.07*4C

2021-02-16T17:01:02.942Z,1613494862.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 89.459999 m, bearing: 119.740538 deg, deltaT: 4.443817 s, approachRate: 0.715599 m/s, LOS rate: -1.454752 deg/s, posRepo size: 4
2021-02-16T17:01:05.336Z,1613494865.336 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:06.116Z,1613494866.116 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:06.528Z,1613494866.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:07.376Z,1613494867.376 [Micromodem](INFO): Nmea in: $SNTTA,0.061510,,,,170107.54*42

2021-02-16T17:01:07.418Z,1613494867.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 92.400002 m, bearing: 122.505645 deg, deltaT: 4.479222 s, approachRate: 0.656365 m/s, LOS rate: 0.617318 deg/s, posRepo size: 4
2021-02-16T17:01:09.829Z,1613494869.829 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:10.567Z,1613494870.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:10.966Z,1613494870.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:11.792Z,1613494871.792 [Micromodem](INFO): Nmea in: $SNTTA,0.063586,,,,170111.96*46

2021-02-16T17:01:11.851Z,1613494871.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 95.520004 m, bearing: 122.165897 deg, deltaT: 4.384507 s, approachRate: 0.711597 m/s, LOS rate: -0.077488 deg/s, posRepo size: 4
2021-02-16T17:01:14.225Z,1613494874.225 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:15.008Z,1613494875.008 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:15.425Z,1613494875.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:16.236Z,1613494876.236 [Micromodem](INFO): Nmea in: $SNTTA,0.065892,,,,170116.40*44

2021-02-16T17:01:16.277Z,1613494876.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 99.000000 m, bearing: 123.686803 deg, deltaT: 4.480357 s, approachRate: 0.776723 m/s, LOS rate: 0.339461 deg/s, posRepo size: 4
2021-02-16T17:01:18.682Z,1613494878.682 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:19.454Z,1613494879.454 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:19.863Z,1613494879.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:20.686Z,1613494880.686 [Micromodem](INFO): Nmea in: $SNTTA,0.068007,,,,170120.84*40

2021-02-16T17:01:20.786Z,1613494880.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 102.120003 m, bearing: 116.785334 deg, deltaT: 4.416656 s, approachRate: 0.706417 m/s, LOS rate: -1.562601 deg/s, posRepo size: 4
2021-02-16T17:01:23.105Z,1613494883.105 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:23.908Z,1613494883.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:24.309Z,1613494884.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:25.120Z,1613494885.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170125.30*5D

2021-02-16T17:01:25.964Z,1613494885.964 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:27.530Z,1613494887.530 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-02-16T17:01:28.828Z,1613494888.828 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:29.555Z,1613494889.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:29.958Z,1613494889.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:30.784Z,1613494890.784 [Micromodem](INFO): Nmea in: $SNTTA,0.072909,,,,170130.94*4C

2021-02-16T17:01:30.850Z,1613494890.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 109.500000 m, bearing: 111.082713 deg, deltaT: 10.159919 s, approachRate: 0.726383 m/s, LOS rate: -0.561286 deg/s, posRepo size: 4
2021-02-16T17:01:33.219Z,1613494893.219 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:33.997Z,1613494893.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:34.413Z,1613494894.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:35.228Z,1613494895.228 [Micromodem](INFO): Nmea in: $SNTTA,0.074825,,,,170135.39*47

2021-02-16T17:01:35.254Z,1613494895.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 112.379997 m, bearing: 111.315684 deg, deltaT: 4.437339 s, approachRate: 0.649037 m/s, LOS rate: 0.052502 deg/s, posRepo size: 4
2021-02-16T17:01:37.699Z,1613494897.699 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:38.452Z,1613494898.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:38.851Z,1613494898.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:39.676Z,1613494899.676 [Micromodem](INFO): Nmea in: $SNTTA,0.076935,,,,170139.84*4F

2021-02-16T17:01:39.757Z,1613494899.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 115.560005 m, bearing: 113.794066 deg, deltaT: 4.385893 s, approachRate: 0.725054 m/s, LOS rate: 0.565080 deg/s, posRepo size: 4
2021-02-16T17:01:42.112Z,1613494902.112 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:42.889Z,1613494902.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:43.309Z,1613494903.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:44.116Z,1613494904.116 [Micromodem](INFO): Nmea in: $SNTTA,0.079137,,,,170144.28*46

2021-02-16T17:01:44.157Z,1613494904.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 118.860001 m, bearing: 106.660794 deg, deltaT: 4.539208 s, approachRate: 0.726998 m/s, LOS rate: -1.571479 deg/s, posRepo size: 4
2021-02-16T17:01:46.541Z,1613494906.541 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:47.328Z,1613494907.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:47.752Z,1613494907.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:48.566Z,1613494908.566 [Micromodem](INFO): Nmea in: $SNTTA,0.081123,,,,170148.72*47

2021-02-16T17:01:48.627Z,1613494908.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 121.860001 m, bearing: 108.386127 deg, deltaT: 4.351081 s, approachRate: 0.689484 m/s, LOS rate: 0.396530 deg/s, posRepo size: 4
2021-02-16T17:01:51.027Z,1613494911.027 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:51.780Z,1613494911.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:52.178Z,1613494912.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:53.008Z,1613494913.008 [Micromodem](INFO): Nmea in: $SNTTA,0.083331,,,,170153.17*4D

2021-02-16T17:01:53.060Z,1613494913.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 125.100006 m, bearing: 109.400205 deg, deltaT: 4.488150 s, approachRate: 0.721902 m/s, LOS rate: 0.225946 deg/s, posRepo size: 4
2021-02-16T17:01:55.422Z,1613494915.422 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:01:56.222Z,1613494916.222 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:01:56.634Z,1613494916.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:01:57.448Z,1613494917.448 [Micromodem](INFO): Nmea in: $SNTTA,0.085390,,,,170157.61*45

2021-02-16T17:01:57.470Z,1613494917.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 128.220001 m, bearing: 104.760041 deg, deltaT: 4.428941 s, approachRate: 0.704456 m/s, LOS rate: -1.047692 deg/s, posRepo size: 4
2021-02-16T17:01:59.910Z,1613494919.910 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:00.667Z,1613494920.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:01.066Z,1613494921.066 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:01.892Z,1613494921.892 [Micromodem](INFO): Nmea in: $SNTTA,0.087408,,,,170202.06*43

2021-02-16T17:02:01.955Z,1613494921.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 131.279999 m, bearing: 103.028383 deg, deltaT: 4.445683 s, approachRate: 0.688308 m/s, LOS rate: -0.389514 deg/s, posRepo size: 4
2021-02-16T17:02:04.335Z,1613494924.335 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:05.114Z,1613494925.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:05.510Z,1613494925.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:06.344Z,1613494926.344 [Micromodem](INFO): Nmea in: $SNTTA,0.089718,,,,170206.50*48

2021-02-16T17:02:06.390Z,1613494926.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 134.699997 m, bearing: 107.737614 deg, deltaT: 4.458988 s, approachRate: 0.766990 m/s, LOS rate: 1.056121 deg/s, posRepo size: 4
2021-02-16T17:02:08.856Z,1613494928.856 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:09.621Z,1613494929.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:10.031Z,1613494930.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:10.851Z,1613494930.851 [Micromodem](INFO): Nmea in: $SNTTA,0.092012,,,,170211.01*4D

2021-02-16T17:02:10.885Z,1613494930.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 138.120010 m, bearing: 108.512506 deg, deltaT: 4.471895 s, approachRate: 0.764779 m/s, LOS rate: 0.173280 deg/s, posRepo size: 4
2021-02-16T17:02:13.276Z,1613494933.276 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:14.060Z,1613494934.060 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:14.466Z,1613494934.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:15.293Z,1613494935.293 [Micromodem](INFO): Nmea in: $SNTTA,0.094235,,,,170215.45*48

2021-02-16T17:02:15.333Z,1613494935.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 141.479996 m, bearing: 109.942454 deg, deltaT: 4.477068 s, approachRate: 0.750488 m/s, LOS rate: 0.319394 deg/s, posRepo size: 4
2021-02-16T17:02:17.779Z,1613494937.779 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:18.504Z,1613494938.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:18.911Z,1613494938.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:19.764Z,1613494939.764 [Micromodem](INFO): Nmea in: $SNTTA,0.096208,,,,170219.89*48

2021-02-16T17:02:19.828Z,1613494939.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 144.480011 m, bearing: 109.997731 deg, deltaT: 4.427115 s, approachRate: 0.677646 m/s, LOS rate: 0.012486 deg/s, posRepo size: 4
2021-02-16T17:02:22.162Z,1613494942.162 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:22.965Z,1613494942.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:23.371Z,1613494943.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:24.191Z,1613494944.191 [Micromodem](INFO): Nmea in: $SNTTA,0.098418,,,,170224.35*48

2021-02-16T17:02:24.210Z,1613494944.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 147.779999 m, bearing: 116.714587 deg, deltaT: 4.504204 s, approachRate: 0.732646 m/s, LOS rate: 1.491241 deg/s, posRepo size: 4
2021-02-16T17:02:26.658Z,1613494946.658 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:27.392Z,1613494947.392 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:27.797Z,1613494947.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:28.644Z,1613494948.644 [Micromodem](INFO): Nmea in: $SNTTA,0.100505,,,,170228.78*40

2021-02-16T17:02:28.700Z,1613494948.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 150.899994 m, bearing: 105.440916 deg, deltaT: 4.366638 s, approachRate: 0.714507 m/s, LOS rate: -2.581774 deg/s, posRepo size: 4
2021-02-16T17:02:28.701Z,1613494948.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 150.90 m. Resuming terminal guidance.
2021-02-16T17:02:28.702Z,1613494948.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-02-16T17:02:30.754Z,1613494950.754 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:31.432Z,1613494951.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:31.845Z,1613494951.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:32.680Z,1613494952.680 [Micromodem](INFO): Nmea in: $SNTTA,0.102476,,,,170232.82*49

2021-02-16T17:02:32.761Z,1613494952.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 153.840012 m, bearing: 96.597125 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-02-16T17:02:32.761Z,1613494952.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 96.597125deg and heading rate command to 0 deg/s.
2021-02-16T17:02:35.110Z,1613494955.110 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:35.878Z,1613494955.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:36.290Z,1613494956.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:37.115Z,1613494957.115 [Micromodem](INFO): Nmea in: $SNTTA,0.104514,,,,170237.27*40

2021-02-16T17:02:37.142Z,1613494957.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 156.960007 m, bearing: 103.556036 deg, deltaT: 4.514935 s, approachRate: 0.691039 m/s, LOS rate: 1.541309 deg/s, posRepo size: 2
2021-02-16T17:02:37.144Z,1613494957.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.960007 m,
      bearing: 103.556036 deg,
      approachRate: 0.691039 m/s,
      LOS rate: 1.541309 deg/s,
      cmd update: 4.623928 deg/s,
      cmd heading: 96.597125 deg,
      new cmd heading: 96.597125 deg.

2021-02-16T17:02:39.536Z,1613494959.536 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:40.327Z,1613494960.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:40.749Z,1613494960.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:41.552Z,1613494961.552 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170241.71*59

2021-02-16T17:02:41.617Z,1613494961.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 160.139999 m, bearing: 142.182436 deg, deltaT: 4.372126 s, approachRate: 0.727333 m/s, LOS rate: 8.834695 deg/s, posRepo size: 3
2021-02-16T17:02:41.624Z,1613494961.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.139999 m,
      bearing: 142.182436 deg,
      approachRate: 0.727333 m/s,
      LOS rate: 8.834695 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 116.752462 deg,
      new cmd heading: 118.788137 deg.

2021-02-16T17:02:44.019Z,1613494964.019 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:44.774Z,1613494964.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:45.169Z,1613494965.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:45.996Z,1613494965.996 [Micromodem](INFO): Nmea in: $SNTTA,0.108528,,,,170246.16*47

2021-02-16T17:02:46.044Z,1613494966.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 162.720001 m, bearing: 103.649698 deg, deltaT: 4.474010 s, approachRate: 0.576664 m/s, LOS rate: -8.612573 deg/s, posRepo size: 4
2021-02-16T17:02:46.046Z,1613494966.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.720001 m,
      bearing: 103.649698 deg,
      approachRate: 0.576664 m/s,
      LOS rate: -8.612573 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 170.599224 deg,
      new cmd heading: 175.445100 deg.

2021-02-16T17:02:48.439Z,1613494968.439 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:49.210Z,1613494969.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:49.633Z,1613494969.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:50.440Z,1613494970.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170250.60*59

2021-02-16T17:02:50.474Z,1613494970.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new traget pos. range: 165.479996 m, bearing: 149.712542 deg, deltaT: 4.417036 s, approachRate: 0.624852 m/s, LOS rate: 10.428451 deg/s, posRepo size: 4
2021-02-16T17:02:50.476Z,1613494970.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 149.712542 deg,
      approachRate: 0.624852 m/s,
      LOS rate: 10.428451 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.546766 deg,
      new cmd heading: 112.600210 deg.

2021-02-16T17:02:52.892Z,1613494972.892 [lineCaptureDepth:J.](INFO): *** querying acoustic contact ***
2021-02-16T17:02:53.653Z,1613494973.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:02:54.063Z,1613494974.063 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:02:54.896Z,1613494974.896 [Micromodem](INFO): Nmea in: $SNTTA,0.111621,,,,170255.04*44

2021-02-16T17:02:54.939Z,1613494974.939 [lineCaptureDepth](INFO): Timed out from 2021-02-16T05:02:54.9Z
2021-02-16T17:02:54.939Z,1613494974.939 [MissionManager](INFO): lineCaptureDepth is completed.
2021-02-16T17:02:54.940Z,1613494974.940 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:B] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:C] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-02-16T17:02:54.940Z,1613494974.940 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:J.] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-02-16T17:02:54.941Z,1613494974.941 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:G] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:H] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-02-16T17:02:54.942Z,1613494974.942 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-02-16T17:02:54.943Z,1613494974.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:Lap] Stopped
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:Lap:B] Stopped
2021-02-16T17:02:54.944Z,1613494974.944 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-02-16T17:02:55.231Z,1613494975.231 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-02-16T17:02:55.300Z,1613494975.300 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-02-16T17:02:55.300Z,1613494975.300 [DefaultWithUndock] Running Loop=1
2021-02-16T17:02:55.300Z,1613494975.300 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-02-16T17:02:55.301Z,1613494975.301 [DefaultWithUndock:A.Wait] Running Loop=1
2021-02-16T17:02:55.301Z,1613494975.301 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-02-16T17:02:55.635Z,1613494975.635 [WetLabsSeaOWL_UV_A](FAULT): LCB fault:  Software Overcurrent.
2021-02-16T17:02:55.636Z,1613494975.636 [WetLabsSeaOWL_UV_A] Hardware Fault, FailCount= 1
2021-02-16T17:02:55.636Z,1613494975.636 [WetLabsSeaOWL_UV_A](ERROR): Hardware Fault
2021-02-16T17:02:55.807Z,1613494975.807 [CBIT](ERROR): Hardware Fault in component: WetLabsSeaOWL_UV_A
2021-02-16T17:02:56.143Z,1613494976.143 [CBIT](INFO): Clearing failed state for component WetLabsSeaOWL_UV_A
2021-02-16T17:02:56.143Z,1613494976.143 [WetLabsSeaOWL_UV_A] No Fault, FailCount= 1
2021-02-16T17:02:56.444Z,1613494976.444 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-02-16T17:02:58.600Z,1613494978.600 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-02-16T17:03:25.621Z,1613495005.621 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-02-16T17:03:25.621Z,1613495005.621 [DefaultWithUndock:A.Wait] Stopped
2021-02-16T17:03:25.621Z,1613495005.621 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-02-16T17:03:25.622Z,1613495005.622 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-02-16T17:03:26.013Z,1613495006.013 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T17:03:26.382Z,1613495006.382 [PowerOnly](INFO): Powering up loadControl
2021-02-16T17:03:26.430Z,1613495006.430 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T17:03:26.835Z,1613495006.835 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T17:03:27.202Z,1613495007.202 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T17:03:27.202Z,1613495007.202 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-02-16T17:03:27.643Z,1613495007.643 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-02-16T17:03:28.012Z,1613495008.012 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-02-16T17:03:28.404Z,1613495008.404 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -9.14 mm.
2021-02-16T17:03:28.408Z,1613495008.408 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-02-16T17:03:28.409Z,1613495008.409 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T17:03:29.210Z,1613495009.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:03:29.630Z,1613495009.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:03:30.439Z,1613495010.439 [Micromodem](INFO): Nmea in: $SNTTA,0.116980,,,,170330.60*47

2021-02-16T17:03:32.879Z,1613495012.879 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T17:03:33.648Z,1613495013.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:03:34.059Z,1613495014.059 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:03:34.883Z,1613495014.883 [Micromodem](INFO): Nmea in: $SNTTA,0.117273,,,,170335.04*46

2021-02-16T17:03:37.301Z,1613495017.301 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T17:03:38.097Z,1613495018.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:03:38.500Z,1613495018.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:03:39.331Z,1613495019.331 [Micromodem](INFO): Nmea in: $SNTTA,0.117619,,,,170339.48*4A

2021-02-16T17:03:41.798Z,1613495021.798 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T17:03:42.536Z,1613495022.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:03:42.942Z,1613495022.942 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:03:43.772Z,1613495023.772 [Micromodem](INFO): Nmea in: $SNTTA,0.117962,,,,170343.92*43

2021-02-16T17:03:46.188Z,1613495026.188 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-02-16T17:03:46.980Z,1613495026.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-02-16T17:03:47.387Z,1613495027.387 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-02-16T17:03:48.212Z,1613495028.212 [Micromodem](INFO): Nmea in: $SNTTA,0.117895,,,,170348.37*4E

2021-02-16T17:03:48.661Z,1613495028.661 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 177.42 m. Transitioning DDM to standby.
2021-02-16T17:03:49.052Z,1613495029.052 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM isn't loaded, so simply satisfying DDM request.
2021-02-16T17:03:49.052Z,1613495029.052 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-02-16T17:03:49.435Z,1613495029.435 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-02-16T17:03:49.435Z,1613495029.435 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:LeaveDock] Stopped
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-02-16T17:03:49.436Z,1613495029.436 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-02-16T17:03:49.437Z,1613495029.437 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-02-16T17:03:49.437Z,1613495029.437 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-02-16T17:03:49.437Z,1613495029.437 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-02-16T17:03:49.438Z,1613495029.438 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-02-16T17:03:49.438Z,1613495029.438 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-02-16T17:03:49.848Z,1613495029.848 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-02-16T17:03:49.848Z,1613495029.848 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-02-16T17:03:49.848Z,1613495029.848 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-02-16T17:03:49.849Z,1613495029.849 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A](DEBUG): Initialize ReadDataComponent to sense DDM.DDMMode
2021-02-16T17:03:50.221Z,1613495030.221 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -25.00 mm (2 active estimators).
2021-02-16T17:03:50.315Z,1613495030.315 [Radio_Surface](INFO): Powering up
2021-02-16T17:03:55.695Z,1613495035.695 [DataOverHttps](INFO): Radio surface powered ON.
2021-02-16T17:04:25.824Z,1613495065.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:04:57.703Z,1613495097.703 [PowerOnly](INFO): Powering down loadControl
2021-02-16T17:05:00.971Z,1613495100.971 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:05:36.116Z,1613495136.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:05:52.673Z,1613495152.673 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-02-16T17:05:52.673Z,1613495152.673 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:05:52.674Z,1613495152.674 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T17:05:52.674Z,1613495152.674 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-02-16T17:05:52.674Z,1613495152.674 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T17:05:52.674Z,1613495152.674 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-02-16T17:05:52.674Z,1613495152.674 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-02-16T17:05:55.094Z,1613495155.094 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-02-16T17:05:55.094Z,1613495155.094 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T17:05:55.094Z,1613495155.094 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-02-16T17:05:55.094Z,1613495155.094 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-02-16T17:05:56.294Z,1613495156.294 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-02-16T17:05:56.294Z,1613495156.294 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-02-16T17:05:56.295Z,1613495156.295 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-02-16T17:05:56.295Z,1613495156.295 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-02-16T17:06:11.260Z,1613495171.260 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:06:24.566Z,1613495184.566 [NAL9602](INFO): SBD MO Status=0, MOMSN=13451, MT Status=0, MTMSN=0
2021-02-16T17:06:24.567Z,1613495184.567 [NAL9602](INFO): No messages in MT queue
2021-02-16T17:06:25.767Z,1613495185.767 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,170626.00,A,4133.08459,N,07042.38905,W,0.700,134.84,160221,,,A*70
2021-02-16T17:06:25.769Z,1613495185.769 [NAL9602](INFO): GPS fix at 20210216T170626: (41.551410, -70.706484)
2021-02-16T17:06:25.790Z,1613495185.790 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T17:06:25.791Z,1613495185.791 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T17:06:35.979Z,1613495195.979 [NAL9602](INFO): SBD MO Status=1, MOMSN=13452, MT Status=0, MTMSN=0
2021-02-16T17:06:36.040Z,1613495196.040 [NAL9602](INFO): Sent 100 bytes from file Logs/20210216T042015/Courier0127.lzma
2021-02-16T17:06:36.040Z,1613495196.040 [NAL9602](INFO): Packets left to send: 0
2021-02-16T17:06:46.419Z,1613495206.419 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:06:51.047Z,1613495211.047 [NAL9602](INFO): SBD MO Status=1, MOMSN=13453, MT Status=0, MTMSN=0
2021-02-16T17:06:51.095Z,1613495211.095 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0122.lzma
2021-02-16T17:06:51.095Z,1613495211.095 [NAL9602](INFO): Packets left to send: 2
2021-02-16T17:07:00.886Z,1613495220.886 [NAL9602](INFO): SBD MO Status=1, MOMSN=13454, MT Status=0, MTMSN=0
2021-02-16T17:07:00.939Z,1613495220.939 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0122.lzma
2021-02-16T17:07:00.939Z,1613495220.939 [NAL9602](INFO): Packets left to send: 1
2021-02-16T17:07:13.133Z,1613495233.133 [NAL9602](INFO): SBD MO Status=1, MOMSN=13455, MT Status=0, MTMSN=0
2021-02-16T17:07:13.187Z,1613495233.187 [NAL9602](INFO): Sent 45 bytes from file Logs/20210216T042015/Express0122.lzma
2021-02-16T17:07:13.187Z,1613495233.187 [NAL9602](INFO): Packets left to send: 0
2021-02-16T17:07:16.544Z,1613495236.544 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003240
2021-02-16T17:07:20.559Z,1613495240.559 [DataOverHttps](INFO): Sending 406 bytes from file Logs/20210216T042015/Express0125.lzma
2021-02-16T17:07:21.562Z,1613495241.562 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0125.lzma.bak
2021-02-16T17:07:21.562Z,1613495241.562 [DataOverHttps](INFO): SBD MOMSN=81884
2021-02-16T17:07:25.461Z,1613495245.461 [NAL9602](INFO): SBD MO Status=1, MOMSN=13456, MT Status=0, MTMSN=0
2021-02-16T17:07:25.511Z,1613495245.511 [NAL9602](INFO): Sent 184 bytes from file Logs/20210216T042015/Express0125.lzma
2021-02-16T17:07:25.511Z,1613495245.511 [NAL9602](INFO): Packets left to send: 2
2021-02-16T17:07:30.599Z,1613495250.599 [DataOverHttps](INFO): Sending 283 bytes from file Logs/20210216T042015/Express0128.lzma
2021-02-16T17:07:31.610Z,1613495251.610 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0128.lzma.bak
2021-02-16T17:07:31.610Z,1613495251.610 [DataOverHttps](INFO): SBD MOMSN=81888
2021-02-16T17:07:32.876Z,1613495252.876 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T17:07:32.877Z,1613495252.877 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T17:07:32.877Z,1613495252.877 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T17:07:56.173Z,1613495276.173 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T17:08:03.735Z,1613495283.735 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-02-16T17:08:45.091Z,1613495325.091 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T17:10:50.651Z,1613495450.651 [CommandLine](IMPORTANT): got command gfscan
2021-02-16T17:10:50.786Z,1613495450.786 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T17:11:01.743Z,1613495461.743 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.043784
CHAN A1 (24V): 0.073744
CHAN A2 (12V): 0.037124
CHAN A3 (5V): 0.009550
CHAN B0 (3.3V): 0.004034
CHAN B1 (3.15aV): 0.002206
CHAN B2 (3.15bV): 0.002736
CHAN B3 (GND): 0.001954
OPEN: 0.006766
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T17:12:01.339Z,1613495521.339 [CommandLine](IMPORTANT): got command gfscan
2021-02-16T17:12:01.493Z,1613495521.493 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T17:12:04.267Z,1613495524.267 [AHRS_M2](FAULT): Failed to acquire valid data within timeout.
2021-02-16T17:12:04.267Z,1613495524.267 [AHRS_M2] Data Fault, FailCount= 1
2021-02-16T17:12:04.267Z,1613495524.267 [AHRS_M2](ERROR): Data Fault
2021-02-16T17:12:04.335Z,1613495524.335 [CBIT](ERROR): Data Fault in component: AHRS_M2
2021-02-16T17:12:04.652Z,1613495524.652 [AHRS_M2](INFO): Powering down
2021-02-16T17:12:05.065Z,1613495525.065 [AHRS_M2](FAULT): LCB fault:  Software Overcurrent.
2021-02-16T17:12:05.065Z,1613495525.065 [AHRS_M2] Hardware Fault, FailCount= 1
2021-02-16T17:12:05.065Z,1613495525.065 [AHRS_M2](ERROR): Hardware Fault
2021-02-16T17:12:05.488Z,1613495525.488 [CBIT](INFO): Clearing failed state for component AHRS_M2
2021-02-16T17:12:05.488Z,1613495525.488 [AHRS_M2] No Fault, FailCount= 1
2021-02-16T17:12:05.864Z,1613495525.864 [AHRS_M2](DEBUG): Initializing AHRS_M2.
2021-02-16T17:12:12.362Z,1613495532.362 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.071896
CHAN A1 (24V): 0.107462
CHAN A2 (12V): 0.056626
CHAN A3 (5V): 0.015374
CHAN B0 (3.3V): 0.005066
CHAN B1 (3.15aV): 0.004310
CHAN B2 (3.15bV): 0.004660
CHAN B3 (GND): 0.001903
OPEN: 0.006618
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T17:12:33.363Z,1613495553.363 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T17:12:33.363Z,1613495553.363 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T17:12:33.363Z,1613495553.363 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T17:12:33.364Z,1613495553.364 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T17:12:33.780Z,1613495553.780 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T17:12:33.780Z,1613495553.780 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 9.641333 min 
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-02-16T17:12:34.192Z,1613495554.192 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:12:34.193Z,1613495554.193 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T17:12:36.183Z,1613495556.183 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171237.00,A,4133.08900,N,07042.37354,W,0.447,37.62,160221,,,A*4F
2021-02-16T17:12:36.185Z,1613495556.185 [NAL9602](INFO): GPS fix at 20210216T171237: (41.551483, -70.706226)
2021-02-16T17:12:36.205Z,1613495556.205 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T17:12:36.206Z,1613495556.206 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T17:12:39.922Z,1613495559.922 [DataOverHttps](INFO): Sending 72 bytes from file Logs/20210216T042015/Courier0130.lzma
2021-02-16T17:12:40.925Z,1613495560.925 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Courier0130.lzma.bak
2021-02-16T17:12:40.925Z,1613495560.925 [DataOverHttps](INFO): SBD MOMSN=81897
2021-02-16T17:12:49.964Z,1613495569.964 [DataOverHttps](INFO): Sending 477 bytes from file Logs/20210216T042015/Express0131.lzma
2021-02-16T17:12:50.965Z,1613495570.965 [DataOverHttps](INFO): Moved sent file to Logs/20210216T042015/Express0131.lzma.bak
2021-02-16T17:12:50.966Z,1613495570.966 [DataOverHttps](INFO): SBD MOMSN=81900
2021-02-16T17:12:51.139Z,1613495571.139 [NAL9602](INFO): SBD MO Status=0, MOMSN=13457, MT Status=0, MTMSN=0
2021-02-16T17:12:51.139Z,1613495571.139 [NAL9602](INFO): No messages in MT queue
2021-02-16T17:12:52.353Z,1613495572.353 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T17:12:52.353Z,1613495572.353 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T17:12:52.354Z,1613495572.354 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T17:13:21.833Z,1613495601.833 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T17:13:34.270Z,1613495614.270 [CommandLine](IMPORTANT): got command gfscan
2021-02-16T17:13:34.453Z,1613495614.453 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T17:13:45.322Z,1613495625.322 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.063006
CHAN A1 (24V): 0.106912
CHAN A2 (12V): 0.047430
CHAN A3 (5V): 0.012759
CHAN B0 (3.3V): 0.004348
CHAN B1 (3.15aV): 0.003548
CHAN B2 (3.15bV): 0.003151
CHAN B3 (GND): 0.001860
OPEN: 0.006482
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T17:14:57.590Z,1613495697.590 [CommandLine](IMPORTANT): got command gfscan
2021-02-16T17:14:57.664Z,1613495697.664 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T17:15:08.532Z,1613495708.532 [CBIT](IMPORTANT): Ground fault detected
mA:
CHAN A0 (Batt): 0.060872
CHAN A1 (24V): 0.107553
CHAN A2 (12V): 0.049784
CHAN A3 (5V): 0.013236
CHAN B0 (3.3V): 0.004631
CHAN B1 (3.15aV): 0.003418
CHAN B2 (3.15bV): 0.002952
CHAN B3 (GND): 0.002053
OPEN: 0.006132
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T17:15:47.521Z,1613495747.521 [CommandLine](IMPORTANT): got command gfscan
2021-02-16T17:15:47.834Z,1613495747.834 [CBIT](IMPORTANT): Beginning ground fault scan
2021-02-16T17:15:58.642Z,1613495758.642 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.009445
CHAN A1 (24V): -0.029235
CHAN A2 (12V): -0.006735
CHAN A3 (5V): -0.001745
CHAN B0 (3.3V): 0.000126
CHAN B1 (3.15aV): -0.000052
CHAN B2 (3.15bV): 0.001055
CHAN B3 (GND): 0.001978
OPEN: 0.005851
Full Scale Calc: 4.765 mA, -1.589 mA
2021-02-16T17:17:10.920Z,1613495830.920 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-02-16T17:17:52.959Z,1613495872.959 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-02-16T17:17:52.959Z,1613495872.959 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T17:17:52.959Z,1613495872.959 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T17:17:52.960Z,1613495872.960 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-02-16T17:17:53.346Z,1613495873.346 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-02-16T17:17:53.346Z,1613495873.346 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 14.967438 min 
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:17:53.769Z,1613495873.769 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-02-16T17:17:54.960Z,1613495874.960 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-02-16T17:17:55.755Z,1613495875.755 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,171756.00,A,4133.09387,N,07042.36234,W,0.505,359.29,160221,,,A*7C
2021-02-16T17:17:55.757Z,1613495875.757 [NAL9602](INFO): GPS fix at 20210216T171756: (41.551564, -70.706039)
2021-02-16T17:17:55.807Z,1613495875.807 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-02-16T17:17:55.807Z,1613495875.807 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-02-16T17:17:56.574Z,1613495876.574 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-02-16T17:17:56.574Z,1613495876.574 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-02-16T17:17:56.574Z,1613495876.574 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-02-16T17:18:07.881Z,1613495887.881 [NAL9602](INFO): SBD MO Status=0, MOMSN=13458, MT Status=0, MTMSN=0
2021-02-16T17:18:07.881Z,1613495887.881 [NAL9602](INFO): No messages in MT queue
2021-02-16T17:18:38.589Z,1613495918.589 [NAL9602](INFO): Not Powering down - fast GPS
2021-02-16T17:18:52.015Z,1613495932.015 [CommandLine](IMPORTANT): got command configSet CTD_Seabird.loadAtStartup 0.000000 bool persist
2021-02-16T17:18:52.015Z,1613495932.015 [CommandLine](IMPORTANT): configSet CTD_Seabird.loadAtStartup requires a restart to take effect.
2021-02-16T17:19:00.745Z,1613495940.745 [CommandLine](IMPORTANT): got command restart application
2021-02-16T17:19:01.755Z,1613495941.755 [Supervisor](INFO): Stop Mission called by Supervisor::terminate
2021-02-16T17:19:01.755Z,1613495941.755 [CommandLine ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:01.756Z,1613495941.756 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:01.951Z,1613495941.951 [Supervisor](DEBUG): Uninitializing supervisor and starting cleanup.  Bye!
2021-02-16T17:19:01.951Z,1613495941.951 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:01.952Z,1613495941.952 [CommandLine](INFO): Join timeout helper Thread ID is 4923
2021-02-16T17:19:01.952Z,1613495941.952 [ComponentRegistry](INFO): Shutting down NavChartDb ThreadHandler
2021-02-16T17:19:01.952Z,1613495941.952 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:01.953Z,1613495941.953 [NavChartDb](INFO): Join timeout helper Thread ID is 4924
2021-02-16T17:19:02.271Z,1613495942.271 [NavChartDb ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:02.271Z,1613495942.271 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.279Z,1613495942.279 [ComponentRegistry](INFO): Shutting down WetLabsSeaOWL_UV_A ThreadHandler
2021-02-16T17:19:02.279Z,1613495942.279 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.279Z,1613495942.279 [WetLabsSeaOWL_UV_A](INFO): Join timeout helper Thread ID is 4925
2021-02-16T17:19:02.283Z,1613495942.283 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:02.283Z,1613495942.283 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-02-16T17:19:02.284Z,1613495942.284 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.299Z,1613495942.299 [ComponentRegistry](INFO): Shutting down CTD_Seabird ThreadHandler
2021-02-16T17:19:02.299Z,1613495942.299 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.300Z,1613495942.300 [CTD_Seabird](INFO): Join timeout helper Thread ID is 4926
2021-02-16T17:19:02.751Z,1613495942.751 [CTD_Seabird](INFO): Powering down
2021-02-16T17:19:02.764Z,1613495942.764 [CTD_Seabird ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:02.764Z,1613495942.764 [CTD_Seabird](INFO): Powering down
2021-02-16T17:19:02.779Z,1613495942.779 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.796Z,1613495942.796 [ComponentRegistry](INFO): Shutting down Radio_Surface ThreadHandler
2021-02-16T17:19:02.796Z,1613495942.796 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:02.797Z,1613495942.797 [Radio_Surface](INFO): Join timeout helper Thread ID is 4927
2021-02-16T17:19:03.055Z,1613495943.055 [Radio_Surface](INFO): Powering down
2021-02-16T17:19:03.056Z,1613495943.056 [Radio_Surface ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:03.056Z,1613495943.056 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:03.068Z,1613495943.068 [ComponentRegistry](INFO): Shutting down Onboard ThreadHandler
2021-02-16T17:19:03.068Z,1613495943.068 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:03.068Z,1613495943.068 [Onboard](INFO): Join timeout helper Thread ID is 4928
2021-02-16T17:19:03.487Z,1613495943.487 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-02-16T17:19:04.647Z,1613495944.647 [Onboard ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:04.647Z,1613495944.647 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:04.668Z,1613495944.668 [ComponentRegistry](INFO): Shutting down DataOverHttps ThreadHandler
2021-02-16T17:19:04.668Z,1613495944.668 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:04.668Z,1613495944.668 [DataOverHttps](INFO): Join timeout helper Thread ID is 4929
2021-02-16T17:19:05.495Z,1613495945.495 [DataOverHttps ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:05.495Z,1613495945.495 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:05.516Z,1613495945.516 [ComponentRegistry](INFO): Shutting down logger ThreadHandler
2021-02-16T17:19:05.516Z,1613495945.516 [logger ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:05.516Z,1613495945.516 [logger](INFO): Join timeout helper Thread ID is 4930
2021-02-16T17:19:05.527Z,1613495945.527 [logger ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:05.527Z,1613495945.527 [logger ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:05.536Z,1613495945.536 [ComponentRegistry](INFO): Shutting down CommandLine ThreadHandler
2021-02-16T17:19:05.536Z,1613495945.536 [CommandLine ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:05.536Z,1613495945.536 [ComponentRegistry](INFO): Shutting down controlThread ThreadHandler
2021-02-16T17:19:05.536Z,1613495945.536 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:05.536Z,1613495945.536 [controlThread](INFO): Join timeout helper Thread ID is 4931
2021-02-16T17:19:05.624Z,1613495945.624 [controlThread ThreadHandler](INFO): Uninitializing protected caller thread.
2021-02-16T17:19:05.625Z,1613495945.625 [controlThread](DEBUG): Uninitializing ControlThread
2021-02-16T17:19:05.626Z,1613495945.626 [AHRS_M2](INFO): Powering down
2021-02-16T17:19:05.700Z,1613495945.700 [DUSBL_Hydroid](INFO): Powering down
2021-02-16T17:19:05.771Z,1613495945.771 [Micromodem](INFO): Powering down
2021-02-16T17:19:05.867Z,1613495945.867 [NAL9602](INFO): Powering down
2021-02-16T17:19:05.939Z,1613495945.939 [RDI_Pathfinder](INFO): Powering down
2021-02-16T17:19:06.011Z,1613495946.011 [RDI_PathfinderUp](INFO): Powering down
2021-02-16T17:19:06.012Z,1613495946.012 [DepthRateCalculator](DEBUG): Uninitializing DepthRateCalculator.
2021-02-16T17:19:06.013Z,1613495946.013 [ElevatorOffsetCalculator](DEBUG): Uninitializing ElevatorOffsetCalculator.
2021-02-16T17:19:06.014Z,1613495946.014 [NavChart](DEBUG): Uninitialize NavChart Navigation.
2021-02-16T17:19:06.014Z,1613495946.014 [MissionManager](INFO): Uninitializing Mission DefaultWithUndock
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock] Stopped
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault] Stopped
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-02-16T17:19:06.015Z,1613495946.015 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-02-16T17:19:06.023Z,1613495946.023 [VerticalControl](DEBUG): Uninitialize VerticalControlComponent.
2021-02-16T17:19:06.023Z,1613495946.023 [HorizontalControl](DEBUG): Uninitialize HorizontalControlComponent.
2021-02-16T17:19:06.023Z,1613495946.023 [SpeedControl](DEBUG): Uninitialize SpeedControlComponent.
2021-02-16T17:19:06.024Z,1613495946.024 [LoopControl](DEBUG): Uninitialize LoopControlComponent.
2021-02-16T17:19:06.024Z,1613495946.024 [BuoyancyServo](DEBUG): Uninitialize Buoyancy Servo.
2021-02-16T17:19:06.024Z,1613495946.024 [BuoyancyServo](INFO): Powering down
2021-02-16T17:19:06.039Z,1613495946.039 [ElevatorServo](DEBUG): Uninitialize Elevator Servo.
2021-02-16T17:19:06.039Z,1613495946.039 [ElevatorServo](INFO): Powering down
2021-02-16T17:19:06.040Z,1613495946.040 [MassServo](DEBUG): Uninitialize Mass Servo.
2021-02-16T17:19:06.040Z,1613495946.040 [MassServo](INFO): Powering down
2021-02-16T17:19:06.041Z,1613495946.041 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2021-02-16T17:19:06.041Z,1613495946.041 [RudderServo](INFO): Powering down
2021-02-16T17:19:06.042Z,1613495946.042 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-02-16T17:19:06.042Z,1613495946.042 [ThrusterServo](INFO): Powering down
2021-02-16T17:19:06.043Z,1613495946.043 [SBIT](DEBUG): Uninitialize SBIT Component.
2021-02-16T17:19:06.043Z,1613495946.043 [IBIT](DEBUG): Uninitialize IBIT Component.
2021-02-16T17:19:06.043Z,1613495946.043 [CBIT](DEBUG): Uninitialize CBIT Component.
2021-02-16T17:19:06.043Z,1613495946.043 [CBIT](DEBUG): Powering off loads.
2021-02-16T17:19:06.055Z,1613495946.055 [CBIT](DEBUG): Disabling WDT.
2021-02-16T17:19:06.067Z,1613495946.067 [CBIT](DEBUG): Opening all GF detection circuits.
2021-02-16T17:19:06.068Z,1613495946.068 [controlThread ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.083Z,1613495946.083 [Radio_Surface ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.086Z,1613495946.086 [Onboard ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.096Z,1613495946.096 [DataOverHttps ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.180Z,1613495946.180 [WetLabsSeaOWL_UV_A ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.184Z,1613495946.184 [CTD_Seabird ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.238Z,1613495946.238 [NavChartDb ThreadHandler](INFO): Thread cancelled.
2021-02-16T17:19:06.305Z,1613495946.305 [logger ThreadHandler](INFO): Thread cancelled.